Rubber ring mounting device

Abstract

To provide a rubber ring mounting device capable of inserting a spacer into the inner side of a rubber ring without causing interference between the spacer and an end surface of the rubber ring when inserting the spacer into the inner side of the rubber ring by a handling robot.SOLUTION: A rubber ring mounting device comprises: a correcting member that is provided on a handling robot that supports a spacer from an inner diameter side and configured to correct radial deformation of a rubber ring supported by a storage section; and a movement mechanism that moves the correcting member between a correcting position in which the correcting member corrects deformation of the rubber ring and a retracted position in which the correcting member is retracted from the correcting position. The correcting member located at the correcting position contacts an inner circumferential surface of the rubber ring in advance of the spacer when the handling robot moves the spacer toward the inner side of the rubber ring in an axial direction of the rubber ring, and corrects deformation of the rubber ring so that the inner diameter of the rubber ring becomes an inner diameter that allows the rubber ring to be mounted on an outer circumferential surface of the spacer by pressing the rubber ring radially outward from the inner circumferential side.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a rubber ring mounting device. [Background technology]

[0002] Conventionally, automatic blade changers have been used to attach and detach the circular blades of a circular blade shear-type slitter, the spacers that determine the spacing between the circular blades, and the rubber rings attached to the outer peripheries of the spacers, to and from an arbor (see, for example, Patent Document 1). Patent Document 1 describes a technique for attaching a rubber ring to the outer periphery of a spacer. Specifically, a plurality of rubber rings are arranged in a storage shelf, sorted by thickness. Next, a robot hand holding the spacer moves to the location on the storage shelf where the rubber ring is to be placed. The robot hand of a handling robot holds the spacer from the inner diameter side of the spacer with three fingers. Next, the robot hand inserts the spacer into the inner diameter portion of the rubber ring and attaches the rubber ring to the outside of the spacer. The spacer with the attached rubber ring is then attached to an arbor for the circular blade shear-type slitter by the handling robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-185773 Summary of the Invention [Problem to be solved by the invention]

[0004] The rubber rings may be deformed radially over time when stored, for example, leaned against a storage shelf. The rubber rings may also be deformed when the slitter cuts the object. If the rubber rings are deformed radially, when a robot hand tries to insert a spacer into the rubber ring, the spacer may interfere with the end face of the rubber ring, making it impossible to insert the spacer into the rubber ring.

[0005] Therefore, in view of the above problems, the present invention aims to provide a rubber ring mounting device that can insert a spacer into the inside of a rubber ring without causing the spacer to interfere with the end face of the rubber ring when inserting the spacer into the inside of the rubber ring using a handling robot. [Means for solving the problem]

[0006] The rubber ring mounting device of the present invention is a rubber ring mounting device for mounting a substantially circular rubber ring supported in a storage section onto the outer periphery of a substantially circular spacer supported by a handling robot, and the rubber ring mounting device includes: a correcting member provided on the handling robot that supports the spacer from the inner diameter side and configured to correct radial deformation of the rubber ring; and a moving mechanism that moves the correcting member between a correction position where the correcting member corrects the deformation of the rubber ring and a retracted position where the correcting member is retracted from the correction position, and the correcting member positioned at the correction position contacts the inner periphery of the rubber ring ahead of the spacer when the handling robot moves the spacer toward the inside of the rubber ring in the axial direction of the rubber ring, and presses the rubber ring radially outward from the inner periphery side, thereby correcting the deformation of the rubber ring so that the inner diameter of the rubber ring becomes an inner diameter that can be mounted on the outer periphery of the spacer. [Effects of the Invention]

[0007] According to the present invention, a rubber ring mounting device can be provided that can insert a spacer into the inside of a rubber ring without causing the spacer to interfere with the end face of the rubber ring when inserting the spacer into the inside of the rubber ring using a handling robot. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view schematically showing the configuration of a tool changing system in which a rubber ring attaching device according to an embodiment of the present invention is used. [Figure 2] 1 is a perspective view schematically showing a rubber ring mounting device according to an embodiment of the present invention; [Figure 3] 1 is a view showing an example of a correcting member according to an embodiment of the present invention as viewed from a radial direction of a spacer. FIG. [Figure 4] 1 is a view showing an example of a correcting member according to an embodiment of the present invention as viewed from the axial direction of a spacer. [Figure 5] 3 is a diagram schematically illustrating an example of a state in which a correcting member is in a retracted position in the rubber ring attaching device illustrated in FIG. 2, as viewed from the axial direction of a spacer. FIG. [Figure 6] 3 is a diagram schematically illustrating an example of a state in which a correcting member is in a retracted position in the rubber ring attaching device illustrated in FIG. 2, as viewed from the radial and horizontal directions of the spacer. FIG. [Figure 7] 3 is a diagram schematically illustrating an example of a state in which a correcting member is at a correcting position in the rubber ring attaching device illustrated in FIG. 2, as viewed from the axial direction of the spacer. FIG. [Figure 8] 3 is a diagram schematically illustrating an example of a state in which a correcting member is at a correcting position in the rubber ring attaching device illustrated in FIG. 2, as viewed from the radial and horizontal directions of the spacer. FIG. [Figure 9] 10A and 10B are diagrams schematically illustrating a state in which the straightening member is in a retracted position and a state in which the straightening member is in a straightening position, as viewed from the radial and horizontal directions of the spacer. [Figure 10]FIG. 10 is a diagram showing a schematic view, viewed from the radial and horizontal directions of the spacer, of the state changed from that shown in FIG. 9, in which the correcting member in the correcting position corrects the deformation of the first of the two rubber rings. [Figure 11] 11 is a diagram showing a schematic view, viewed from the radial and horizontal directions of the spacer, of the state changed from that shown in FIG. 10, in which the correcting member in the correcting position corrects the deformation of the second of the two rubber rings. [Figure 12] 12 is a diagram showing a state in which a spacer is inserted inside one of the two rubber rings, as viewed from the radial and horizontal directions of the spacer, which is a change from the state shown in FIG. 11. FIG. [Figure 13] FIG. 13 is a diagram showing a state in which, as viewed from the radial and horizontal directions of the spacers, two spacers are inserted into the inner sides of the two rubber rings, respectively, and the correcting member is retracted to a retracted position, as changed from the state shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a rubber ring installation device according to an embodiment of the present invention will be described with reference to the drawings. Note that the embodiment shown below is merely an example, and the rubber ring installation device of the present invention is not limited to the following embodiment.

[0010] The rubber ring fitting device 1 according to this embodiment is a device that fits a substantially circular rubber ring G supported in a storage unit 203 (see FIG. 1) to the outer periphery of a substantially circular spacer S supported by a handling robot 202. The spacer S is a member used when cutting a cutting object such as a metal plate. In this embodiment, the spacer S is a member that maintains the spacing between multiple substantially circular blades (hereinafter also referred to as circular blades) in a cutting device (specifically, for example, a circular blade shear slitter). In this embodiment, the circular blades and the spacer S have the same inner diameter, but the circular blades have a larger outer diameter than the spacer S. The rubber ring G fitted to the outer periphery of the spacer S has an outer diameter smaller (or larger) than that of the circular blades and an inner diameter substantially equal to the outer shape of the spacer S. The spacer S is formed in a cylindrical shape with a through-hole penetrating in the axial direction D1 of the spacer S (see FIGS. 5 and 7). The spacer S is gripped from the inner diameter side by the handling robot 202. The spacer S can be gripped by the fingers 202d (see FIGS. 2 and 5) of the handling robot 202 at its inner peripheral surface facing the through-hole. The spacer S, with a rubber ring G attached to its outer periphery, is attached by the handling robot 202 to a shaft portion that is the arbor of a cutting device such as a circular blade shear slitter. In the following description, the spacer S with the rubber ring G attached and the circular blade may be collectively referred to as a cutting tool T.

[0011] The rubber ring G is a ring-shaped member made of a rubber-like elastic material (see FIGS. 5 and 7). The rubber ring G has the following functions, for example. That is, the rubber ring G presses an object to be cut, such as a metal plate, between the circular blades to prevent the object from bending in the thickness direction between the circular blades. The rubber ring G also rotates in conjunction with the rotation of the circular blades and spacer S while pressing the object, thereby applying a thrust to the object and transporting it.

[0012] The rubber ring G is stored, for example, leaned against the storage unit 203 (in an upright position). Specifically, the storage unit 203 holds the underside of the rubber ring G that is upright. In this case, the rubber ring G is likely to deform radially over time. Specifically, in this case, the inner diameter of the rubber ring G is likely to become smaller in the vertical direction D2 (see FIGS. 5 and 6) and larger in the horizontal direction D3 (see FIGS. 5 and 6) compared to the initial inner diameter (original inner diameter). Furthermore, the rubber ring G may be stored, for example, suspended from the storage unit 203. In this case, the rubber ring G is likely to deform radially over time. Specifically, in this case, the inner diameter of the rubber ring G is likely to become larger in the vertical direction D2 (see FIGS. 5 and 6) and larger in the horizontal direction D3 (see FIGS. 5 and 6) compared to the initial inner diameter. The rubber ring attachment device 1 is configured to correct such deformation of the rubber ring G, as will be described later. 5 and 6, the horizontal direction D3 indicates a direction parallel to the radial direction of the rubber ring G among the horizontal directions.

[0013] In this embodiment, the rubber ring fitting device 1 is provided on a handling robot 202 (see FIG. 2). The rubber ring fitting device 1 is configured to fit a desired number of rubber rings G (for example, one, or two in the examples shown in FIGS. 9 to 13) out of a plurality of rubber rings G arranged continuously along the axial direction D1 of the rubber rings G in a storage section 203 by the handling robot 202 onto the outer peripheries of a desired number of spacers S (for example, one, or two in the examples shown in FIGS. 9 to 13) supported by the handling robot 202.

[0014] The handling robot 202 is configured to grip the spacer S from the inner diameter side with the fingers 202d shown in FIG. 2 and transport the spacer S. The handling robot 202 can also grip a circular blade (not shown) from the inner diameter side with the fingers 202d shown in FIG. 2 and transport the circular blade. The handling robot 202 is configured to insert the spacer S into the rubber ring G by moving the rubber ring attachment device 1 shown in FIG. 2 in the axial direction D1 of the spacer S toward the inside of the rubber ring G while supporting the spacer S. That is, the handling robot 202 is configured to attach the rubber ring G to the outer periphery of the spacer S by moving the rubber ring attachment device 1 in the axial direction D1 of the spacer S toward the inside of the rubber ring G while supporting (holding) the spacer S. The handling robot 202 is also configured to grip and transport the spacer S with the rubber ring G attached. Specifically, for example, the handling robot 202 can attach a spacer S with a rubber ring G attached to a shaft portion that is an arbor for a circular blade shear type slitter.

[0015] As shown in FIG. 1, the handling robot 202 includes a base 202a, an arm 202b having multiple joints and rotatably fixed to the base 202a, and multiple fingers 202d (see FIG. 2) provided at the tip of the arm 202b for gripping a spacer S. The handling robot 202 also includes a finger frame 202c for supporting the fingers 202d (see FIG. 2). The handling robot 202 can grip a spacer S with the multiple fingers 202d and transport the spacer S by operating the arm 202b. The handling robot 202 can grip a circular blade with the multiple fingers 202d and transport the circular blade by operating the arm 202b.

[0016] As shown in FIG. 2, the handling robot 202 has three fingers 202d. Each finger 202d is arranged to extend substantially horizontally from the tip of the arm 202b via a finger frame 202c. In this embodiment, the handling robot 202 has two fingers 202d that abut the inner circumferential surface of the spacer S at the upper part and one finger 202d that abuts the inner circumferential surface of the spacer S at the lower part (see FIGS. 5 and 7). The three fingers 202d approach the storage unit 203 or the shaft part and transfer the spacer S between the storage unit 203 or the shaft part. The three fingers 202d are arranged in the through-hole of the spacer S, and the upper two fingers 202d and the lower finger 202d move in directions away from each other to press the inner circumferential surface of the spacer S facing the through-hole, thereby gripping the spacer S. Furthermore, when transferring the spacer S, the three fingers 202d are placed inside the through hole of the spacer S, and the two upper fingers 202d and the one lower finger 202d move in a direction approaching each other, thereby releasing the pressure on the inner surface of the spacer S facing the through hole, thereby releasing the grip on the spacer S (releasing the spacer S).

[0017] The handling robot 202, for example, removes the cutting tool T attached to the shaft portion 201a (see FIG. 1) of the temporary shaft assembly device 201 from the shaft portion 201a, and stores the removed cutting tool T in the storage unit 203. The handling robot 202 also takes out the spacer S from an area in the storage unit 203 where the spacers S are stored, approaches the rubber ring G in an area in the storage unit 203 where the rubber ring G is stored, and attaches the rubber ring G to the outer periphery of the spacer S. The handling robot 202 then attaches the spacer S with the rubber ring G attached to the shaft portion 201a of the temporary shaft assembly device 201.

[0018] In the storage unit 203, a plurality of rubber rings G are stored, sorted by type, for example, according to thickness, in a line. The plurality of rubber rings G are stored in a state in which they are adjacent to each other in the axial direction D1 of the rubber rings G. The storage unit 203 may store the rubber rings G in a state in which they are leaned against a mounting surface (standing state), or may store the rubber rings G in a state in which they are hung from a bar or the like extending in a substantially horizontal direction.

[0019] In the storage unit 203, a plurality of spacers S are stored, sorted by type, for example, according to thickness, in a line. The plurality of spacers S are stored adjacent to each other in the axial direction D1 of the spacers S. The storage unit 203 may store the spacers S in a state in which they are leaned against the mounting surface (standing state), or may store the spacers S in a state in which they are hung from a bar or the like extending in a substantially horizontal direction.

[0020] The rubber ring fitting device 1 includes a correcting member 2 and a moving mechanism 3. The correcting member 2 is provided on a handling robot 202 that supports the spacer S from the inner diameter side. In this embodiment, the handling robot 202 is a robot that constitutes a tool exchange device that exchanges cutting tools T (spacer S with rubber ring G attached and circular blade) of a cutting device. Specifically, the handling robot 202 moves the spacer S from the storage unit 203 where the spacer S is stored to the storage unit 203 where the rubber ring G is stored, and fits the rubber ring G around the outer periphery of the spacer S. The handling robot 202 also moves the spacer S with the rubber ring G attached to the shaft portion 201a and attaches it to the shaft portion 201a. The handling robot 202 also removes the spacer S (spacer S with rubber ring G attached) attached to the shaft portion 201a from the shaft portion 201a, moves the removed spacer S to the storage unit 203, and stores it in the storage unit 203.

[0021] The straightening member 2 is configured to correct radial deformation of the rubber ring G. Specifically, the straightening member 2 is moved by a moving mechanism 3, which will be described later, between a straightening position (see FIGS. 2, 5, and 6) where the straightening member 2 corrects deformation of the rubber ring G and a retracted position (see FIGS. 2, 7, and 8) where the straightening member 2 is retracted from the straightening position. The straightening member 2 (see FIGS. 2, 5, and 6) positioned at the straightening position is configured to come into contact with the inner periphery of the rubber ring G ahead of the spacer S when the handling robot 202 moves the spacer S toward the inside of the rubber ring G in the axial direction D1 of the rubber ring G, and to press the rubber ring G from the inner periphery side outward in the radial direction, thereby correcting deformation of the rubber ring G so that the inner diameter of the rubber ring G becomes an inner diameter that can be fitted to the outer periphery of the spacer S.

[0022] The straightening position is not particularly limited as long as the straightening member 2 can contact the inner periphery of the rubber ring G before the spacer S and press the rubber ring G radially outward from the inner periphery side. In this embodiment, the straightening position is located closer to the rubber ring G than the tip of the finger 202d in the axial direction D1 (see FIG. 8). Also, the straightening position is located outside the finger 202d in a direction perpendicular to the axial direction D1 (the radial direction of the rubber ring G) (see FIG. 7). By positioning the straightening position closer to the rubber ring G than the tip of the finger 202d in the axial direction D1 and outside the finger 202d in the radial direction of the rubber ring G, it is possible to prevent the rubber ring G from interfering with the finger 202d when a guide surface 21 (described later) of the straightening member 2 guides the inner periphery of the rubber ring G to the outer periphery of the spacer S (see FIGS. 7 and 8).

[0023] The retracted position is not particularly limited as long as it is a position where the straightening member 2 is retracted from the straightening position. In this embodiment, the retracted position is located closer to the base end of the fingers 202d (toward the finger frame 202c) than the tip of the fingers 202d in the axial direction D1 (see FIG. 6). In addition, the retracted position is located more inward than the fingers 202d in the radial direction of the rubber ring G (radial direction of the spacer S) (see FIG. 5). By positioning the retracted position closer to the base end of the fingers 202d than the tip of the fingers 202d in the axial direction D1 and more inward than the fingers 202d in the radial direction of the rubber ring G, it is possible to prevent the straightening member 2 from interfering with the spacer S when the fingers 202d grip the spacer S stored in the storage unit 203. Therefore, the fingers 202d can smoothly grip the spacer S. Furthermore, when the fingers 202d attach the spacer S (the spacer S with the rubber ring G attached) to the shaft portion 201a, the correcting member 2 can be prevented from interfering with the spacer S. Therefore, the fingers 202d can smoothly attach the spacer S to the shaft portion 201a.

[0024] The correcting member 2 contacts the inner periphery of the rubber ring G before the spacer S and presses the rubber ring G radially outward from the inner periphery side, thereby correcting deformation of the rubber ring G before the spacer S contacts the rubber ring G. Therefore, it is possible to prevent the spacer S from interfering with the end face of the rubber ring G.

[0025] The straightening member 2 is provided on the inner periphery of the rubber ring G at a position corresponding to a portion (a portion deformed radially inward; hereinafter also referred to as an inner deformed portion) where the inner diameter of the rubber ring G is smaller than the original inner diameter (original inner diameter). That is, the straightening member 2 is provided so as to press the portion of the rubber ring G where the inner diameter is smaller than the original inner diameter radially outward in the circumferential direction of the rubber ring G. As a result, the straightening member 2 is positioned closer to the inner deformed portion of the rubber ring G than when the straightening member 2 is provided at a position offset circumferentially from the inner deformed portion of the rubber ring G, and therefore the pressing force can be efficiently transmitted to the inner deformed portion of the rubber ring G. Therefore, the straightening member 2 can quickly and sufficiently press the inner deformed portion of the rubber ring G. As a result, the straightening member 2 can quickly and sufficiently correct the deformation of the rubber ring G by matching the position of the inner deformed portion of the rubber ring G in the circumferential direction of the rubber ring G.

[0026] Specifically, for example, the straightening member 2 can be configured to straighten a rubber ring G placed in the storage unit 203. In this case, a guide surface 21 (described later) of the straightening member 2 is configured to come into contact with the inner periphery of the rubber ring G at an upper portion of the rubber ring G in the vertical direction D2 (see FIGS. 7 and 8). As described above, when the rubber ring G is stored leaning against the storage unit 203, it is likely to deform radially over time. Specifically, in this case, the inner diameter of the rubber ring G is likely to deform so as to become smaller in the vertical direction D2 and larger in the horizontal direction D3 than its original inner diameter. In such a case, by configuring the guide surface 21 (described later) of the straightening member 2 to come into contact with the inner periphery of the rubber ring G at an upper portion of the rubber ring G in the vertical direction D2, the straightening member 2 can press the inner periphery of the rubber ring G radially outward (for example, in a direction along the vertical direction) at an upper portion of the rubber ring G in the vertical direction D2 (see FIGS. 7 and 8). Therefore, the correcting member 2 can press the inner deformed portion of the rubber ring G quickly and sufficiently.

[0027] The straightening member 2 can also be configured to straighten a rubber ring G suspended in the storage unit 203. In this case, a guide surface 21 (described later) of the straightening member 2 is configured to contact the inner periphery of the rubber ring G at the center of the rubber ring G in the vertical direction D2. As described above, when the rubber ring G is suspended and stored in the storage unit 203, it is likely to deform radially over time. Specifically, in this case, the inner diameter of the rubber ring G is likely to deform so as to become larger in the vertical direction D2 and smaller in the horizontal direction D3 relative to its original inner diameter. In such a case, by configuring the guide surface 21 (described later) of the straightening member 2 to contact the inner periphery of the rubber ring G at the center of the rubber ring G in the vertical direction D2, the straightening member 2 can press the inner periphery of the rubber ring G radially outward (for example, in a direction along the horizontal direction D3) at the center of the rubber ring G in the vertical direction D2. Therefore, the straightening member 2 can quickly and sufficiently press the inner deformed portion of the rubber ring G.

[0028] The form of the straightening member 2 is not particularly limited as long as it can correct the deformation of the rubber ring G. In this embodiment, the straightening member 2 is configured to correct the deformation of the rubber ring G by pressing radially outward a portion of the inner periphery of the rubber ring G where the inner diameter is smaller than the original inner diameter (which is approximately the same as the outer diameter of the spacer S) (a portion deformed radially inward) (see FIG. 7). Specifically, the straightening member 2 has a guide surface 21 that guides the inner periphery of the rubber ring G to a position corresponding to the outer periphery of the spacer S when the handling robot 202 moves the spacer S toward the inside of the rubber ring G in the axial direction D1 of the rubber ring G (see FIGS. 3 to 8). The "position corresponding to the outer periphery of the spacer S" means a position that is approximately flush with the outer periphery of the spacer S in the radial direction of the spacer S. The straightening member 21 presses radially outward a portion of the inner periphery of the spacer S that is deformed radially inward (an inwardly deformed portion) by using the force with which the handling robot 202 moves the straightening member 2 in the axial direction D1. The guide surface 21 is inclined with respect to the axial direction D1 of the rubber ring G so that the guide surface 21 can press the inner deformed portion of the rubber ring G radially outward by moving the straightening member 2 in the axial direction D1 (leftward in FIGS. 3 and 10 , or in the direction approaching the rubber ring G in FIG. 10 ) (see FIGS. 3 and 10 ). The inclination direction and inclination angle of the guide surface 21 are not particularly limited as long as the guide surface 21 can press the inner deformed portion of the rubber ring G radially outward. In the example shown in FIGS. 3 , 4 , and 6 , the guide surface 21 has a tapered portion 211 that is inclined in the axial direction D1 so that the distance from the radial center C of the rubber ring G gradually increases from the rubber ring G side toward the spacer S side (see FIGS. 3 and 6 ). The tapered portion 211 of the guide surface 21 is inclined in the axial direction D1 so that the distance from the radial center C of the rubber ring G gradually increases from the rubber ring G side toward the spacer S side only when the straightening member 2 is positioned at the straightening position (see FIGS. 7 and 8 ). When the correcting member 2 is in the retracted position, the tapered portion 211 does not necessarily have to be in such an inclined state. In the example shown in Figures 5 and 6, even when the correcting member 2 is in the retracted position, the tapered portion 211 is in the same inclined state as in Figures 7 and 8.

[0029] Because the tapered portion 211 has such an inclination, when the spacer S moves toward the inside of the rubber ring G in the axial direction D1 of the rubber ring G, the tapered portion 211 can press the inner periphery of the rubber ring G radially outward (see FIG. 10 ). Therefore, the tapered portion 211 can press the portion of the inner periphery of the rubber ring G that is deformed radially inward radially outward. This allows the tapered portion 211 to correct the deformation of the rubber ring G. Furthermore, in this embodiment, when the correcting member 2 is in the correcting position, the end of the tapered portion 211 on the spacer S side (the end on the right side in FIG. 10 ) is located at a position corresponding to the outer periphery of the spacer S (see FIG. 10 ). Specifically, when the correcting member 2 is in the correcting position, the end of the tapered portion 211 on the spacer S side is located at a position that is approximately flush with the outer periphery of the spacer S. Therefore, the tapered portion 211 can correct the deformation of the rubber ring G at the end on the spacer S side so that the inner diameter of the rubber ring G becomes approximately equal to the outer diameter of the spacer S. This allows the outer periphery of the spacer S to be inserted inside the rubber ring G without interfering with the end face of the rubber ring G. In addition, in Fig. 10 to Fig. 13, in order to easily understand the positional relationship (approximately flush positional relationship) between the end of the tapered portion 211 on the spacer S side and the outer periphery of the spacer S when the straightening member 2 is in the straightening position, the end and the outer periphery of the spacer S are shown in a state where they are approximately flush with each other.

[0030] In the present embodiment, the tapered portion 211 may be configured to press one position in the circumferential direction on the inner periphery of the rubber ring G, or may be configured to press multiple positions in the circumferential direction by changing the position of the correcting member 2 in the circumferential direction of the rubber ring G. For example, in the example shown in FIGS. 3 and 4, the tapered portion 211 is configured to press multiple positions in the circumferential direction on the inner periphery of the rubber ring G. In the example shown in FIGS. 3 and 4, the tapered portion 211 has a portion (hereinafter also referred to as a first tapered portion) 211a that presses an upper portion of the rubber ring G with respect to the radial center C, and a portion (hereinafter also referred to as a second tapered portion) 211b that presses an obliquely upper portion of the rubber ring G with respect to the radial center C. The first tapered portion 211a and the second tapered portion 211b are each inclined to follow (approximately follow) the original inclination in the circumferential direction of the portion of the rubber ring G to be pressed, as viewed from the axial direction D1. Which part to press can be selected depending on the position of the inner deformed portion in the circumferential direction of the rubber ring G. For example, in the example shown in Fig. 7, the guide surface 21 can press an obliquely upper part with respect to the radial center C of the rubber ring G by the second tapered portion 211b shown in Figs. 3 and 4. Note that the first tapered portion 211a and the second tapered portion 211b may each be inclined at an angle different from the original inclination in the circumferential direction of the part of the rubber ring G to be pressed, as viewed from the axial direction D1.

[0031] In this embodiment, the guide surface 21 has a retaining portion 212 that retains the inner diameter of the rubber ring G, which is enlarged by the tapered portion 211 (see FIGS. 3, 4, and 6). The retaining portion 212 is formed so as to be approximately flush with the outer periphery of the spacer S. Because the retaining portion 212 is formed so as to be approximately flush with the outer periphery of the spacer S, the retaining portion 212 retains the inner periphery of the rubber ring G, thereby making it possible to make the shape and inner diameter of the inner periphery of the rubber ring G approximately coincident with the outer periphery of the spacer S. Therefore, the outer periphery of the spacer S can be inserted more smoothly into the inside of the rubber ring G.

[0032] In this embodiment, the retaining portion 212 may be configured to press one position in the circumferential direction on the inner periphery of the rubber ring G, or may be configured to press multiple positions in the circumferential direction by changing the position of the correcting member 2 in the circumferential direction of the rubber ring G. For example, in the example shown in FIGS. 3 and 4, the retaining portion 212 is configured to press multiple positions in the circumferential direction on the inner periphery of the rubber ring G. In the example shown in FIGS. 3 and 4, the retaining portion 212 has a portion 212a (hereinafter also referred to as a first retaining portion) that presses an upper portion of the rubber ring G relative to the radial center C, and a portion 212b (hereinafter also referred to as a second retaining portion) that presses an obliquely upper portion of the rubber ring G relative to the radial center C. The first retaining portion 212a and the second retaining portion 212b are each inclined to follow (approximately follow) the original inclination in the circumferential direction of the portion of the rubber ring G to be pressed, as viewed from the axial direction D1. Which part to press can be selected depending on the position of the inner deformation portion. For example, in the example shown in Fig. 7, the guide surface 21 can press an obliquely upper part of the rubber ring G with respect to the radial center C by the second holding portion 212b shown in Figs. 3 and 4. Note that the first holding portion 212a and the second holding portion 212b may each be inclined at an angle different from the original inclination in the circumferential direction of the part of the rubber ring G to be pressed, as viewed from the axial direction D1.

[0033] It is preferable that the length L (see FIG. 3) of the retaining portion 212 in the axial direction D1 is approximately equal to the thickness of the rubber ring G. Since the length L of the retaining portion 212 is approximately equal to the thickness of the rubber ring G, the retaining portion 212 can retain the inner periphery of the rubber ring G over approximately the entire length in the axial direction D1. Therefore, the shape and inner diameter of the inner periphery of the rubber ring G can be made to match the outer periphery of the spacer S over approximately the entire length in the axial direction D1. This allows the outer periphery of the spacer S to be inserted more smoothly into the inside of the rubber ring G.

[0034] Furthermore, it is preferable that the tapered portion 211 and the retaining portion 212 have a shape that follows the original inner peripheral shape of the rubber ring G when viewed from the axial direction D1. For example, the tapered portion 211 and the retaining portion 212 can be formed in a substantially arc shape so as to follow (approximately follow) the original inner peripheral shape of the rubber ring G when viewed from the axial direction D1. When the tapered portion 211 and the retaining portion 212 have a shape that follows the original inner peripheral shape of the rubber ring G when viewed from the axial direction D1, it is easy to correct the inner peripheral shape of the rubber ring G to a shape that follows the original inner peripheral shape.

[0035] The number and position of the straightening member 2 in the circumferential direction of the rubber ring G are not particularly limited as long as the straightening member 2 can correct the deformation of the rubber ring G. For example, in the example shown in FIG. 7, there is one straightening member 2, but there may be more than one. When there are more than one straightening members 2, the multiple straightening members 2 at the straightening positions are arranged at intervals from each other along the circumferential direction of the rubber ring G. Furthermore, in the example shown in FIG. 7, the straightening member 2 at the straightening position is arranged near one finger 202d, but this is not limited to this. For example, the straightening members 2 at the straightening positions may be arranged one near each of two fingers 202d (e.g., the two upper fingers 202d). In this case, the straightening member 2 at the straightening position can be arranged outside or inside the two fingers 202d in the horizontal direction. Furthermore, the multiple straightening members 2 may be arranged at intervals from each other along a predetermined region in the circumferential direction of the rubber ring G (e.g., a region corresponding to the inner deformed portion). For example, the multiple correcting members 2 may be arranged at intervals from one another along a partial region in the circumferential direction of the rubber ring G or along the entire circumferential direction.

[0036] In this embodiment, the correcting member 2 is provided on the finger frame 202c (see FIGS. 2, 6, and 8). Specifically, the rubber ring attaching device 1 includes a moving mechanism 3 (see FIGS. 2 and 6) that moves the correcting member 2 relative to the finger frame 202c in the length direction of the fingers 202d (parallel to the axial direction D1 of the spacer S held by the fingers 202d) and in a direction perpendicular to the length direction of the fingers 202d (hereinafter also referred to as the length-perpendicular direction). The rubber ring attaching device 1 is provided on the finger frame 202c via the moving mechanism 3. The configuration of the moving mechanism 3 is not particularly limited as long as it can move the correcting member 2 relative to the finger frame 202c in the length direction of the fingers 202d and the length-perpendicular direction. The moving mechanism 3 can be configured by a driving device such as a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder.

[0037] The moving mechanism 3 is configured to move the straightening member 2 between a straightening position (FIGS. 2, 7 to 13) where the straightening member 2 straightens the deformation of the rubber ring G and a retracted position where the straightening member 2 is retracted from the straightening position (see FIGS. 2, 5, 6, 9, and 13). In FIG. 2, the straightening position of the straightening member 2 is indicated by a two-dot chain line, and the retracted position of the straightening member 2 is indicated by a solid line. In addition, in FIGS. 9 and 13, the straightening position of the straightening member 2 is indicated by a solid line, and the retracted position of the straightening member 2 is indicated by a two-dot chain line. The moving mechanism 3 can move the straightening member 2 between the straightening position and the retracted position by moving the straightening member 2 in the length direction and the direction perpendicular to the length of the finger 202d. The moving mechanism 3 is configured to move the straightening member 2 without interfering with the finger 202d. This prevents the straightening member 2 from interfering with the finger 202d. As long as the straightening member 2 does not interfere with the finger 202d, the moving mechanism 3 may move the straightening member 2 linearly between the straightening position and the retracted position, or may move the straightening member 2 so as to bypass the finger 202d.

[0038] Next, the operations of the handling robot 202 and the rubber ring fitting device 1 will be described with reference to FIGS. 9 to 13. Here, the operation will be described in which the handling robot 202 holding a spacer S approaches the storage unit 203 in which rubber rings G are stored, and the rubber ring fitting device 1 fits the rubber ring G onto the outer periphery of the spacer S. Here, the following conditions are assumed. That is, a plurality of rubber rings G are stored adjacent to one another in the axial direction D1 on the storage table 203. Also, a plurality of rubber rings G are stored leaning upright in the storage unit 203 (storage in a state of being placed upright on the placement surface). Also, the handling robot 202 holds a plurality of spacers S (two in the example shown in FIGS. 9 to 13). Specifically, the plurality of spacers S are held adjacent to one another by the fingers 202d. Also, the correcting member 2 is located at the retracted position. Note that the following operation is an example, and the operation of the tool holding device 1 is not limited to the following example.

[0039] First, the handling robot 202, while holding the spacer S, brings the rubber ring attaching device 1 close to an area in the storage section 203 where the rubber rings G are stored. Specifically, the handling robot 202 moves the rubber ring attaching device 1 and the spacer S toward the inside of the rubber ring G in the axial direction D1 of the rubber ring G (see FIG. 9). In the process of approaching the inside of the rubber ring G, the rubber ring attaching device 1 moves the straightening member 2 from the retracted position (shown by the two-dot chain line) to the straightening position (shown by the solid line) by the movement mechanism 3 (see FIG. 9). More specifically, the handling robot 202 brings the guide surface 21 of the straightening member 2 close to the inner deformed portion of the rubber ring G.

[0040] Next, the handling robot 202 brings the guide surface 21 of the correcting member 2 into contact with the inner deformed portion of the rubber ring G. Specifically, the handling robot 202 brings the guide surface 21 of the correcting member 2 into contact with an edge (hereinafter also referred to as a boundary edge) that is a boundary portion between the inner circumference of the rubber ring G and the end face of the rubber ring G, at the inner deformed portion of the rubber ring G. More specifically, the handling robot 202 brings the tapered portion 211 of the guide surface 21 into contact with the boundary edge of the rubber ring G, at the inner deformed portion of the rubber ring G. With the tapered portion 211 of the guide surface 21 in contact with the inner deformed portion of the rubber ring G, the handling robot 202 moves the correcting member 2 toward the inside of the rubber ring G in the axial direction D1 of the rubber ring G. As a result, the tapered portion 211 of the guide surface 21 comes into contact with the inner circumference of the rubber ring G before the spacer S, and can press the inner deformed portion of the rubber ring G radially outward from the inner circumference side (see FIG. 10 ). Therefore, deformation of the rubber ring G can be corrected before the spacer S comes into contact with the rubber ring G. The inner diameter of the rubber ring G after the deformation has been corrected can return to its original inner diameter (initial inner diameter). In other words, the inner diameter of the rubber ring G after the deformation has been corrected becomes approximately equal to the outer diameter of the spacer S. Therefore, the rubber ring G can be attached to the outer periphery of the spacer S without the spacer S interfering with the end face of the rubber ring G (see FIG. 11).

[0041] In the example shown in FIG. 10 , the tapered portion 211 of the guide surface 21 presses the inner periphery of one of the two adjacent rubber rings G, which is located closer to the spacer S, radially outward. This corrects the deformation of the one rubber ring G located closer to the spacer S. Furthermore, the distance between the tapered portion 211 of the guide surface 21 and the radial center C of the rubber ring G is greater for a rubber ring G closer to the spacer S of the two adjacent rubber rings G. Therefore, the amount of correction of deformation of the rubber ring G closer to the spacer S is greater than the amount of correction of deformation of the rubber ring G farther from the spacer S of the two adjacent rubber rings G. In other words, the amount of correction of deformation of the rubber ring G gradually increases as it approaches the spacer S. The amount of correction of deformation of the rubber ring G is greatest at the end of the tapered portion 211 on the spacer S side in the axial direction D1. At the position where the amount of deformation correction by the tapered portion 211 is greatest (the right end position of the tapered portion 211 in FIG. 11), the inner diameter of the rubber ring G after deformation correction becomes approximately equal to the outer diameter of the spacer S (see FIG. 11).

[0042] When the amount of deformation correction by the tapered portion 211 has reached its maximum, the inner periphery of the rubber ring G comes into contact with the holding portion 212 on the guide surface 21 as the handling robot 202 further moves the spacer S in the axial direction D1, and is held by the holding portion 212. Because the holding portion 212 is formed so as to be substantially flush with the outer periphery of the spacer S, the holding portion 212 can make the shape and inner diameter of the inner periphery of the rubber ring G substantially coincide with the outer periphery of the spacer S (see FIG. 11).

[0043] When the spacer S moves further in the axial direction D1 toward the inside of the rubber ring G by the operation of the handling robot 202, the spacer S is inserted into the inner periphery of the rubber ring G. Specifically, of the two adjacent rubber rings G, one spacer S that is closer to the rubber ring G is inserted into the inner periphery of the rubber ring G that is closer to the spacer S (see FIG. 12).

[0044] When the spacer S is further moved in the axial direction D1 toward the inside of the rubber ring G by the operation of the handling robot 202, two adjacent spacers S are inserted inside two adjacent rubber rings G, respectively. This allows two rubber rings G to be attached to the outer peripheries of the two spacers S, respectively (see FIG. 13). After the rubber rings G are attached to the spacers S, the correcting member 2 is moved by the moving mechanism 3 from the correcting position (shown by the solid line) to the retracted position (shown by the two-dot chain line) (see FIG. 13).

[0045] The handling robot 202 moves the spacer S with the rubber ring G attached to the shaft portion 201a and attaches it to the shaft portion 201a. When the spacer S with the rubber ring G attached is attached to the shaft portion 201a, the correcting member 2 has already moved to the retracted position, so the spacer S can be attached to the shaft portion 201a without interfering with the correcting member 2.

[0046] As described above, the rubber ring fitting device 1 according to this embodiment brings the correcting member 2 into contact with the inner periphery of the rubber ring G prior to the spacer S, and presses the rubber ring G radially outward from the inner periphery side, thereby correcting deformation of the rubber ring G so that the inner diameter of the rubber ring G becomes an inner diameter that can be fitted to the outer periphery of the spacer S. Therefore, when the handling robot 202 inserts the spacer S into the inside of the rubber ring G, the spacer S can be inserted into the inside of the rubber ring G without interfering with the end face of the rubber ring G.

[0047] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. Note that the above-described embodiments mainly describe the invention having the following configurations.

[0048] (1) A rubber ring fitting device for fitting a substantially circular rubber ring supported by a storage unit to an outer periphery of a substantially circular spacer supported by a handling robot, The rubber ring mounting device a correcting member provided on the handling robot that supports the spacer from an inner diameter side, the correcting member being configured to correct radial deformation of the rubber ring; a moving mechanism that moves the correcting member between a correcting position where the correcting member corrects the deformation of the rubber ring and a retracted position where the correcting member is retracted from the correcting position, The correction member positioned at the correction position contacts the inner circumference of the rubber ring ahead of the spacer when the handling robot moves the spacer toward the inside of the rubber ring in the axial direction of the rubber ring, and presses the rubber ring radially outward from the inner circumference side, thereby correcting deformation of the rubber ring so that the inner diameter of the rubber ring becomes an inner diameter that can be attached to the outer circumference of the spacer.

[0049] (2) The rubber ring mounting device described in (1), wherein the correcting member has a guide surface that guides the inner circumference of the rubber ring to a position corresponding to the outer circumference of the spacer when the handling robot moves the spacer toward the inside of the rubber ring in the axial direction of the rubber ring.

[0050] (3) A rubber ring mounting device as described in (1) or (2), wherein the guide surface has a tapered portion that is inclined in the axial direction so that the distance from the radial center of the rubber ring gradually increases from the rubber ring side toward the spacer side.

[0051] (4) The guide surface has a holding portion that holds the inner diameter of the rubber ring enlarged by the tapered portion, The rubber ring attaching device according to any one of (1) to (3), wherein the holding portion is formed so as to be substantially flush with the outer periphery of the spacer.

[0052] (5) The correcting member is configured to correct the rubber ring suspended in the storage section, A rubber ring mounting device according to any one of (1) to (4), wherein the guide surface of the correcting member is configured to contact the inner circumference of the rubber ring at the center of the rubber ring in the vertical direction.

[0053] (6) The correcting member is configured to correct the rubber ring placed in the storage section, A rubber ring fitting device according to any one of (1) to (5), wherein the guide surface of the correcting member is configured to contact the inner circumference of the rubber ring at an upper portion of the rubber ring in the vertical direction. [Explanation of symbols]

[0054] 1 Rubber ring attachment device 2 Correction member 21 Guide surface 211 Tapered section 212 Holding part 3 Moving mechanism 201 Temporary assembly shaft device 201a Shaft 202 Handling Robot 202a Pedestal 202b Arm part 202c Finger Frame 202d Finger 203 Storage Department D1 Axial direction of rubber ring (axial direction of spacer) D2 Vertical direction D3 Horizontal G Rubber ring C Radial center of rubber ring S spacer

Claims

1. A rubber ring fitting device for fitting a substantially circular rubber ring supported by a storage unit to an outer periphery of a substantially circular spacer supported by a handling robot, comprising: The rubber ring mounting device a correcting member provided on the handling robot that supports the spacer from an inner diameter side, the correcting member being configured to correct radial deformation of the rubber ring; a moving mechanism that moves the straightening member between a straightening position where the straightening member corrects the deformation of the rubber ring and a retracted position where the straightening member is retracted from the straightening position, The correction member positioned at the correction position contacts the inner circumference of the rubber ring ahead of the spacer when the handling robot moves the spacer toward the inside of the rubber ring in the axial direction of the rubber ring, and presses the rubber ring radially outward from the inner circumference side, thereby correcting deformation of the rubber ring so that the inner diameter of the rubber ring becomes an inner diameter that can be attached to the outer circumference of the spacer.

2. 2. The rubber ring mounting device according to claim 1, wherein the correcting member has a guide surface that guides the inner periphery of the rubber ring to a position corresponding to the outer periphery of the spacer when the handling robot moves the spacer toward the inside of the rubber ring in the axial direction of the rubber ring.

3. 3. The rubber ring mounting device according to claim 2, wherein the guide surface has a tapered portion that is inclined in the axial direction so that the distance from the radial center of the rubber ring gradually increases from the rubber ring side toward the spacer side.

4. the guide surface has a holding portion that holds the inner diameter of the rubber ring expanded by the tapered portion, The rubber ring mounting device according to claim 3 , wherein the holding portion is formed so as to be substantially flush with the outer periphery of the spacer.

5. The straightening member is configured to straighten the rubber ring suspended in the storage section, 3. The rubber ring mounting device according to claim 2, wherein the guide surface of the correcting member is configured to come into contact with the inner periphery of the rubber ring at a central portion of the rubber ring in the vertical direction.

6. The correcting member is configured to correct the rubber ring placed in the storage section, 3. The rubber ring mounting device according to claim 2, wherein the guide surface of the correcting member is configured to come into contact with the inner periphery of the rubber ring at an upper portion of the rubber ring in the vertical direction.

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