CN114871993A - Crawler maintenance device and crawler maintenance method - Google Patents

Abstract

The present disclosure relates to a crawler maintenance device and a crawler maintenance method, wherein the crawler maintenance device includes: a platform (1) configured to support a track to be repaired; a conveying mechanism (2) configured to convey a crawler onto the platform (1); an identification component (3) configured to identify a mark on the track to be repaired; a dismounting mechanism (4) for selectively mounting the ejector pin (10) or the pin (101) to be replaced, configured to enable ejection and mounting of the pin (101); a first support mechanism (5) configured to realize lateral support of the track and to accommodate the withdrawn pin (101); and a controller (6) configured to cause the conveying mechanism (2) to convey the crawler to the pin hole of the caterpillar link (102) to be aligned with the knock pin (10) when the identification component (3) identifies the mark, to cause the disassembling and assembling mechanism (4) to eject the pin (101) when the knock pin (10) is installed, and to realize the replacement of the pin (101) when the pin (101) to be replaced is installed.

Description

Crawler maintenance device and crawler maintenance method

Technical Field

The disclosure relates to the technical field of mechanical maintenance, in particular to a crawler maintenance device and a crawler maintenance method.

Background

The crawler belt is used as an important walking part of engineering machinery, the operation environment is often severe working conditions such as mine rocks, swamp mud and the like, faults such as deformation, elongation, fracture, pin channeling and the like of a caterpillar track link often occur, the crawler belt needs to be disassembled and maintained, and the crawler belt pin shaft is disassembled and maintained in a fire baking or hammering beating or other manual disassembling and assembling modes.

The crawler belt has the advantages that the weight of the crawler belt is large, manual moving is time-consuming, labor-consuming and dangerous, the interference magnitude of the caterpillar track sections and the pin shafts forming the crawler belt connection is large, the pressing force among the caterpillar track sections is also large, the connecting pin shafts are very dangerous when being manually operated and disassembled in the crawler belt maintenance process, workers can easily deform the caterpillar track sections by baking or knocking the pin shafts or disassembling the pin shafts in other manual modes, secondary damage and even scrapping of the crawler belt are caused, a large amount of labor and maintenance time are wasted, the operation process is dangerous, the efficiency is low, and the crawler belt maintenance effect is not obvious.

Disclosure of Invention

The embodiment of the disclosure provides a crawler maintenance device and a crawler maintenance method, which can improve crawler maintenance efficiency and maintenance quality.

According to an aspect of the present disclosure, there is provided a track maintenance device, including:

the platform is configured to support a to-be-maintained crawler belt, the to-be-maintained crawler belt comprises at least two caterpillar track sections, and adjacent caterpillar track sections are connected through pin shafts;

the conveying mechanism is configured to convey the to-be-repaired crawler belt to a platform along a first direction;

an identification component configured to identify markings on the track to be serviced;

the dismounting mechanism is arranged on one side of the platform along a second direction, selectively installs a top pin or a pin shaft to be replaced, and is configured to realize the ejection and installation of the pin shaft, and the second direction is perpendicular to the first direction;

the first supporting mechanism is arranged on the other side of the platform along the second direction, is opposite to the dismounting mechanism, and is configured to support the side surface of the crawler to be maintained and accommodate the withdrawn pin shaft; and

and the controller is configured to enable the conveying mechanism to convey the track to be maintained to the pin shaft hole position of the caterpillar track section to be aligned with the ejector pin along the second direction when the mark is identified by the identification component, enable the dismounting mechanism to eject the pin shaft when the ejector pin is installed, and enable the pin shaft to be replaced when the pin shaft to be replaced is installed.

In some embodiments, the track maintenance device further comprises:

and the lifting mechanism is configured to adjust the position of the platform along a third direction to adjust the crawler to be repaired to be suitable for the dismounting height, and the third direction is perpendicular to the first direction and the second direction.

In some embodiments, the track maintenance device further comprises:

a second support mechanism configured to enable internal support of the track link.

In some embodiments, the second support mechanism comprises:

the two support plates are respectively provided with a U-shaped opening, the diameter of each U-shaped opening is larger than the outer diameter of the pin bush of the crawler belt to be maintained, and the two support plates are arranged in the inner space of the caterpillar track section at intervals along the second direction and form wedge-shaped grooves;

the adjusting cushion block is provided with a wedge-shaped structure, the wedge-shaped structure is embedded into the wedge-shaped groove, and the interval between the two supporting plates can be adjusted when the adjusting cushion block moves along the third direction; and

and the two support lugs are respectively fixed on the outer sides of the two support plates relative to the adjusting cushion block and are respectively used for abutting against two inner side surfaces of the caterpillar track section.

In some embodiments, the identification component is further configured to identify a pin or pin to be replaced, the track maintenance device further comprising:

a clamping mechanism configured to clamp and mount the knock pin or the pin shaft to be replaced.

In some embodiments, the track maintenance device further comprises:

and the clamping mechanism is configured to clamp the second supporting mechanism to be clamped into the pin sleeve of the crawler belt to be repaired.

In some embodiments, the disassembly and assembly mechanism comprises:

the first driving component is configured to drive the ejector pin or the pin shaft to be replaced to move along the axial direction of the ejector pin or the pin shaft to be replaced, and the axial direction is consistent with the second direction;

the first supporting piece is arranged at the output end of the first driving part;

the second supporting piece is arranged at one end of the first supporting piece far away from the first driving part;

the supporting column is arranged at one end of the second supporting piece far away from the first supporting piece; and

the end cover is provided with a first through hole, a first end of the first through hole is used for the support column to penetrate through, a second end of the first through hole is used for installing a top pin or a pin shaft to be replaced, and the end cover is movably connected to the second supporting piece along the second direction;

wherein the first support member, the second support member and the support column are connected by fasteners.

In some embodiments, the disassembly and assembly mechanism further comprises:

and the elastic piece is sleeved outside the support column, is positioned between the second support piece and the support column and is used for elastically connecting the second support piece and the end cover.

In some embodiments, the ejector pin has a stepped structure, a diameter of a thick end of the ejector pin is equal to a diameter of the pin shaft to be inserted into the first through hole, a diameter of a thin end of the ejector pin is smaller than the diameter of the pin shaft to eject the pin shaft, and a length of the ejector pin is greater than that of the pin shaft.

In some embodiments, the first support mechanism comprises:

the base body is provided with a U-shaped notch, the U-shaped notch is formed in the end face, facing the to-be-maintained crawler belt, of the base body, the U-shaped notch is provided with a straight section and an arc section, the diameter of the arc section is larger than that of the pin shaft, a second through hole is formed in the bottom face of the arc section, and the second through hole is used for accommodating the withdrawn pin shaft; and

the second driving part is configured to drive the substrate to move along a third direction, and the third direction is perpendicular to the first direction and the second direction;

the base body is provided with a first position and a second position relative to the pin shaft, the first position is higher than the second position in the third direction, the straight section is used for providing guidance for movement of the base body in the third direction under the condition that the base body is located at the first position, the arc section is used for limiting the protruding end of the pin shaft in the third direction under the condition that the base body is located at the second position, and the side face of the chain track section is supported by the end face, facing the track to be maintained, of the base body.

In some embodiments, the platform is provided with a limiting component configured to limit the crawler belt to be repaired.

In some embodiments, the identifying means comprises:

the image acquisition module is configured to acquire images of the crawler to be maintained, the ejector pin and the pin shaft to be replaced;

the input module is configured to input corresponding parameters and images of a track ejector pin to be repaired and a pin shaft to be replaced; and

and the image processing module is configured to combine the data of the input module to perform recognition judgment on the image and feed back the result to the controller.

According to another aspect of the present disclosure, a track maintenance method based on the track maintenance device of the above embodiment is provided, including:

conveying the crawler to be maintained to the platform through the conveying mechanism;

identifying the mark through the identification component, and enabling the conveying mechanism to convey the track to be maintained to the pin shaft hole position of the caterpillar track section to be aligned with the ejector pin along the second direction when the mark is identified;

enabling the dismounting mechanism to be provided with a top pin so as to eject the pin shaft;

the pin shaft to be replaced is installed on the disassembling and assembling mechanism so as to realize the replacement of the pin shaft.

In some embodiments, before the mounting and dismounting mechanism is mounted to the ejector pin to eject the pin shaft, the mounting and dismounting mechanism further comprises:

and moving the base body to a second position along the third direction through the second driving part, so that the end surface of the base body facing the crawler to be maintained supports the side surface of the chain track section.

In some embodiments, before the mounting and dismounting mechanism is mounted to the ejector pin to eject the pin shaft, the mounting and dismounting mechanism further comprises:

the second supporting mechanism is clamped through the clamping mechanism, the U-shaped opening of the second supporting mechanism is clamped into a pin bush of the track to be maintained, and the interval between the two supporting plates is adjusted by adjusting the adjusting cushion block along the third direction, so that the two support lugs are attached to the two inner side faces of the caterpillar track section.

In some embodiments, the disassembly and assembly mechanism is caused to mount a knock-out pin to eject the pin shaft; make the round pin axle that the dismouting mechanism installation was treated and is changed to the change that realizes the round pin axle includes:

moving the base body to a second position along a third direction through a second driving part, and clamping the arc section of the U-shaped notch at the protruding end of the pin shaft so as to align the pin shaft hole position of the caterpillar link with the second through hole along the second direction;

the ejector pin is driven by the first driving component to move forward along the second direction, so that the ejector pin ejects the pin shaft to the second through hole, and the pin shaft is ejected;

the ejector pin is driven by the first driving part to retreat along the second direction, the ejector pin is taken out by the clamping mechanism, and the pin shaft to be replaced is inserted into the first through hole of the end cover;

the first driving part drives the pin shaft to be replaced to move forward along the second direction, so that the pin shaft to be replaced is pressed into the caterpillar track section, and the pin shaft is replaced.

In some embodiments, driving the pin to be replaced by the first drive component in the second direction to press the pin to be replaced into the track link comprises:

the first driving part drives the pin shaft to be replaced to move forward along the second direction, the end cover is tightly attached to the outer side face of the caterpillar track section after moving for a certain distance, and the first driving part drives the pin shaft to be replaced to continue to move forward along the second direction;

the distance between the end cover and the second supporting piece is shortened by compressing the elastic piece so as to ensure the protruding amount of the protruding end of the track pin shaft;

and pressing the pin shaft to be replaced into the pin shaft hole position of the caterpillar track section.

In some embodiments, driving the pin to be replaced by the first drive component in the second direction to press the pin to be replaced into the track link comprises:

and under the condition that the elastic part is compressed until the end cover is tightly attached to the second supporting part, judging that the pin shaft to be replaced is pressed in place.

Based on above-mentioned technical scheme, this track maintenance device of this disclosed embodiment, through discernment part identification mark, conveyor carries the dismouting position department of waiting to maintain track to platform, and the change of round pin axle is accomplished in cooperation dismouting mechanism, can realize improving track maintenance efficiency and maintenance quality, practices thrift track cost of maintenance to the automatic maintenance of track.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:

FIG. 1 is a schematic structural view of some embodiments of the track maintenance device of the present disclosure.

Fig. 2 is a schematic structural view of some embodiments of a second support mechanism of the track maintenance device of the present disclosure.

Figure 3 is a schematic structural view of some embodiments of the disassembly and assembly mechanism of the track maintenance device of the present disclosure.

Fig. 4 is a schematic structural view of some embodiments of a first support mechanism of the track maintenance device of the present disclosure.

FIG. 5 is a schematic diagram of some embodiments of identification components of track maintenance devices of the present disclosure.

FIG. 6 is a schematic illustration of control system connections for some embodiments of track maintenance devices of the present disclosure.

Description of the reference numerals

1. A platform; 2. a conveying mechanism; 3. identifying a component; 4. a disassembly and assembly mechanism; 5. a first support mechanism; 6. a controller; 7. a lifting mechanism; 8. a second support mechanism; 9. a clamping mechanism; 10. a knock pin;

101. a pin shaft; 102. a caterpillar link; 103. a pin bush;

301. an image acquisition module; 302. an input module; 303. an image processing module;

401. a first support member; 402. a second support member; 403. a support pillar; 404. an end cap; 405. a first through hole; 406. an elastic member; 407. a fastener; 410. a first drive member;

501. a substrate; 502. a second through hole; 520. a second drive member; 530. a U-shaped notch; 531. a straight section; 532. a circular arc section;

801. a support plate; 802. adjusting the cushion block; 803. supporting a lug; 804. a U-shaped opening; 805. a wedge-shaped groove.

Detailed Description

The present disclosure is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous.

The terms "first", "second", and the like in the present disclosure are merely for convenience of description to distinguish different constituent elements having the same name, and do not denote a sequential or primary-secondary relationship.

In the description of the present disclosure, it is to be understood that the terms "inner", "outer", "upper", "lower", "front" and "rear", etc., indicate orientations or positional relationships that are defined with reference to track links, pin bushings, tracks to be serviced, knock pins, etc., merely to facilitate the description of the disclosure, and are not intended to indicate or imply that the device being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be taken as limiting the scope of the disclosure.

In some exemplary embodiments, as shown in fig. 1 and 6, a track maintenance device includes:

the platform 1 is configured to support a track to be maintained, the track to be maintained comprises at least two track links 102, and the adjacent track links 102 are connected through a pin shaft 101;

a conveying mechanism 2 configured to convey the track to be repaired onto the platform 1 in a first direction x;

an identification component 3 configured to identify a mark on the track to be repaired;

the dismounting mechanism 4 is arranged on one side of the platform 1 along a second direction y, selectively installs the ejector pin 10 or the pin shaft 101 to be replaced, and is configured to realize the ejection and installation of the pin shaft 101, and the second direction y is perpendicular to the first direction x;

the first supporting mechanism 5 is arranged on the other side of the platform 1 along the second direction y, is opposite to the dismounting mechanism 4, and is configured to support the side surface of the crawler to be maintained and accommodate the withdrawn pin shaft 101; and

and a controller 6 configured to, when the identification component 3 identifies the mark, cause the conveying mechanism 2 to convey the track to be repaired to the pin hole of the track link 102 to be aligned with the knock pin 10 in the second direction y, cause the attachment and detachment mechanism 4 to eject the pin 101 when the knock pin 10 is installed, and implement the replacement of the pin 101 when the pin 101 to be replaced is installed.

Specifically, the length of the knock pin 10 is greater than the length of the pin shaft 101. Specifically, the track to be repaired may be placed on the conveyor 2 with the bolt hole facing upward. Specifically, the first support mechanism 5 may laterally support both the protruding end of the pin 101 and the track link 102, so as to prevent the track link 102 from being deformed during the assembly and disassembly of the pin 101. Specifically, the controller 6 may be a central processor or the like for controlling the movement of the conveying mechanism 2, the attaching and detaching mechanism 4, the first supporting mechanism 5, and the like.

Alternatively, the platform 1 may be configured to support only a part of the two track links 102, that is, only one pin 101 is provided on the platform 1, may be configured to support all of the two track links 102, that is, three pins 101 are provided on the platform 1, and may be configured to support a plurality of track links 102, that is, a plurality of pins 101 are provided on the platform 1. Alternatively, the dismounting mechanism 4 may be configured to mount one knock pin 10 or a pin 101 to be replaced, or may be configured to mount a plurality of knock pins 10 or pins 101 to be replaced at the same time. Correspondingly, the identification part 3 can simultaneously identify one or more marks, the number of which is the same as the number of pins 101 to be replaced, and the first support mechanism 5 can also be arranged to simultaneously support and accommodate one or more withdrawn pins 101. For example, the controller 6 controls the mounting and demounting mechanism 4 to complete mounting and demounting of one or more pins 101 placed on the platform 1 at a time after receiving the signal identifying the component 3.

Alternatively, the conveying mechanism 2 may be a belt conveyor, a chain conveyor, or a roller conveyor, and may also be a robot conveyor or the like. Alternatively, the conveying mechanism 2 may be set to continuous conveyance or may be set to intermittent conveyance. Alternatively, the conveying mechanism 2 may be disposed on only one side of the platform 1 along the first direction x, or may be disposed on both sides of the platform 1. Optionally, in the assembling and disassembling process of the pin 101, the limit of the track to be maintained in the second direction y direction is mainly completed by the first supporting mechanism 5, and the limit component on the platform 1 can also play an auxiliary role. Alternatively, the first direction x and the second direction y may be located in a horizontal plane.

For example, in fig. 1, the first direction x and the second direction y are in a horizontal plane, and the third direction z is perpendicular to the horizontal plane, and in fig. 1, the crawler to be repaired is illustrated in a three-dimensional structure in order to more clearly show the overall structure of the crawler to be repaired.

Alternatively, the identification means 3 may be an image identification means, or any other means capable of identifying the mark on the track to be repaired, such as a photoelectric identification means. Alternatively, the markings on the track to be serviced are provided in any manner and may be provided at any location on the track to be serviced. For example, when the identification component 3 is an image identification component, the indicia may be graphical indicia that may be provided on the outer surface of the track link 102, for example, on the outer surface of the track link 102 remote from the platform 1 and in the same vertical plane (y-z plane) as the pin 101, to facilitate identification of the graphical indicia by the identification component 3. For example, when the identification member 3 is a photoelectric identification member, the mark may be a photosensitive mark or the like.

Alternatively, the controller 6 may be connected to an operating panel on which parameters of the track to be serviced and operating instructions for the mechanisms may be set.

The conveying mechanism 2 conveys the track to be maintained to the pin hole position of the track link 102 to be aligned with the ejector pin 10 along the second direction y, and for the following simplicity of description, the position of the track to be maintained at this time is referred to as an alignment position.

This embodiment treats dismouting track mark department position through the accurate discernment of identification element 3, coaxial dismouting and accurate positioning are adjusted well in realization that can be better, promote the stability and the security of round pin axle 101 dismouting, and cooperation conveying mechanism 2 and dismouting mechanism 4 can reduce workman intensity of labour, improve the accuracy of track dismouting maintenance operation.

When the mark is identified by the identification component 3, the controller 6 controls the dismounting mechanism 4 to automatically dismount the pin shaft 101 of the to-be-maintained crawler belt, so that the deformation of the track link 102 caused by the pin shaft 101 can be replaced by baking or hammering or other manual modes, the maintenance quality of the crawler belt is improved, the reuse rate of the crawler belt after maintenance is improved, and the use cost is reduced.

The track maintenance device of this embodiment will be discerned through conveying mechanism 2 and wait to maintain the track and carry to adjusting the position well, carry out the dismouting of round pin axle 101 by dismouting mechanism 4 again, can realize the automatic maintenance to the track, solve the track and break down the back artifical maintenance danger, difficulty and the inefficiency problem, safe and reliable, labour saving and time saving, be convenient for operate and can alleviate operating personnel's intensity of labour by a wide margin to improve track maintenance efficiency, reduce track cost of maintenance.

In some specific embodiments, the transmission mode of the conveying mechanism 2 is intermittent transmission, which can drive the track to be maintained to step by taking the length of a single track link 102 as a transmission unit, and when the identification component 3 identifies a mark, the conveying mechanism 2 stops moving, so that the pin hole position of the track to be maintained, which is conveyed to the track link 102, can be aligned with the ejector pin 10 along the second direction y.

In other specific embodiments, the controller 6, after receiving the signal identifying the component 3, can selectively control the movement of the ejector pin 10 corresponding to the pin 101 marked in position or the pin 101 to be replaced in the dismounting mechanism 4 to respectively eject and replace the pin 101.

In some embodiments, as shown in fig. 6, the track maintenance device further comprises:

and the lifting mechanism 7 is configured to adjust the position of the platform 1 along a third direction z to adjust the crawler to be repaired to be suitable for the dismounting height, wherein the third direction z is perpendicular to the first direction x and the second direction y, and the third direction z can be consistent with the vertical direction.

Specifically, the controller 6 controls the lifting mechanism 7 to lift and lower to adjust the position of the platform 1 along the third direction z, so as to adjust the height of the track to be repaired, thereby aligning the pin hole position of the track link 102 with the ejector pin 10 along the third direction z, and facilitating adjustment of the track to be repaired to the aligned position.

Alternatively, the lifting mechanism 7 may be a lifting cylinder, or may be any member for adjusting the height, such as a ball screw. For example, when the lifting mechanism 7 is a lift cylinder, the position of the lifting mechanism 7 may be controlled by a photoelectric limit or the like.

This embodiment is through the lift of elevating system 7 control platform 1, and then adjusts the position height of waiting to maintain the track to realize accurate location and dismouting to the track, can improve the security and the reliability of track dismouting.

In some embodiments, as shown in fig. 1 and 6, the track maintenance device further comprises:

a second support mechanism 8, the second support mechanism 8 being configured to enable internal support of the track link 102.

Specifically, the second support mechanism 8 is placed at the inner space of the track link 102 after the track to be repaired reaches the alignment position.

Alternatively, the second support mechanism 8 may be adjustable in the second direction y to better accommodate different track link 102 sizes and adjust the amount of support force, or may be fixed in position to improve support stability. Alternatively, the second support mechanism 8 may be provided at the inner space of one track link 102, or may be provided at the inner spaces of a plurality of track links 102.

The middle support of the second support mechanism 8 can effectively prevent the side stress deformation of the track dismounting process, improve the safety and stability of track dismounting, can be used for supporting the track dismounting pin shaft 101 by placing the middle support in the track to be maintained, prevent the track dismounting deformation, and ensure the flexibility of track rotation and the plate mounting size after dismounting.

The second support mechanism 8 of this embodiment supports the link 102 inside, so that the deformation of the link 102 during the assembling and disassembling process of the pin 101 can be further reduced, and the assembling and disassembling stability can be improved; second supporting mechanism 8 and first supporting mechanism 5 can provide the dual support to caterpillar link 102 at the dismouting in-process, effectively prevent caterpillar link 102 and warp, improve dismouting stability, reduce because of the secondary damage that the dismouting produced, reduce cost of maintenance, guarantee the security of dismouting process.

In some embodiments, as shown in fig. 1 and 2, the second support mechanism 8 comprises:

the two support plates 801 are respectively provided with a U-shaped opening 804, the diameter of each U-shaped opening 804 is larger than the outer diameter of the pin bush 103 of the crawler belt to be maintained, and the two support plates 801 are arranged in the inner space of the caterpillar track section 102 at intervals along the second direction y and form a wedge-shaped groove 805;

an adjusting pad 802 having a wedge structure which is inserted into the wedge groove 805 and can adjust the interval between the two support plates 801 when moving in the third direction z; and

the two lugs 803 are respectively fixed to the outer sides of the two support plates 801 opposite to the adjusting pad 802, and are respectively used for abutting against the two inner side surfaces of the track link 102.

Specifically, when the two lugs 803 abut against the two inner side surfaces of the track link 102, the larger the interval between the two support plates 801, the larger the inner side surface supporting force of the second support mechanism 8 against the track link 102, and the smaller the interval between the two support plates 801, the smaller the inner side surface supporting force of the second support mechanism 8 against the track link 102.

Alternatively, the adjusting pad 802 may be moved along the third direction z by a bolt structure, or may be moved along the third direction z by any other mechanical or electrical structure.

Alternatively, the two lugs 803 may be disposed on both sides of the U-shaped opening 804, or on both sides of the U-shaped opening 804.

The second supporting mechanism 8 of the embodiment crosses over the pin bush 103 of the track to be maintained through the U-shaped opening 804, so that the second supporting mechanism can cross over the internal space of the two track links 102, effective supports are provided on two sides of the pin shaft 101, the pin shaft 101 is favorably assembled and disassembled, the track links 102 are favorably internally supported, and the track links 102 are effectively prevented from deforming; the second supporting mechanism 8 of this embodiment can both make the second supporting mechanism 8 adapt to the caterpillar link 102 with different sizes and adjust the supporting force to the inner side of the caterpillar link 102 by moving the adjusting cushion block 802 along the third direction z, thereby further improving the dismounting stability while increasing the universality of the caterpillar track maintenance device.

The second supporting mechanism 8 of this embodiment can further improve the dismouting stability of track maintenance device, reduces the secondary damage because of the dismouting produces, reduces cost of maintenance, guarantees the security of dismouting process, can also increase track maintenance device's universality simultaneously.

In some embodiments, as shown in fig. 6, the controller 6 may cause movement of the leveling block 802 in the third direction z to further increase the level of automation of the track maintenance device.

In some embodiments, as shown in fig. 6, the identification component 3 is also configured to identify the pin 10 or the pin 101 to be replaced, and the track maintenance device further comprises:

a clamping mechanism 9 configured to clamp and mount the knock pin 10 or the pin shaft 101 to be replaced.

Specifically, the recognition part 3 transmits a signal to the controller 6 after recognizing the knock pin 10 or the pin 101 to be replaced, and the gripping mechanism 9 grips and mounts the knock pin 10 or the pin 101 to be replaced under the control of the controller 6. Correspondingly, the holding device 9 can also remove the ejector pin 10 or the pin 101 to be replaced.

Alternatively, the clamping mechanism 9 may be a robot assembly, or may be any other mechanism or assembly having a function of clamping a cylindrical workpiece, such as an electromagnetic adsorption assembly.

The track maintenance device of this embodiment passes through 9 centre gripping of fixture and installs knock pin 10 or treat the round pin axle 101 of changing, can make round pin axle 101 dismouting convenient and fast more, reduces maintenance duration, guarantees track maintenance quality, can also reduce workman intensity of labour, promotes work efficiency.

In some embodiments, as shown in fig. 6, the track maintenance device further comprises:

and the clamping mechanism 9 is configured to clamp the second supporting mechanism 8 to be clamped at the pin sleeve 103 of the crawler belt to be repaired.

Specifically, the clamping mechanism 9 clamps the second support mechanism 8 clamped into the pin bushing 103 of the track to be repaired under the control of the controller 6.

Alternatively, the clamping mechanism 9 may be a robot assembly, or may be any other mechanism or assembly capable of clamping the second supporting mechanism 8, such as an electromagnetic adsorption assembly.

The track maintenance device of this embodiment passes through 8 cards of fixture 9 centre gripping second supporting mechanism and goes into the round pin bush 103 department of waiting to maintain the track, can make placing of second supporting mechanism 8 link up convenient and fast more after waiting to maintain the track and reach the normal position to reduce maintenance duration, guarantee track maintenance quality, can also reduce workman intensity of labour, promote work efficiency.

In some embodiments, the identification component 3 is further configured to identify the second support mechanism 8 and transmit a signal to the controller 6 for subsequent control.

In some embodiments, as shown in fig. 1 and 3, the dismounting mechanism 4 comprises:

a first driving part 410 configured to drive the knock pin 10 or the pin shaft 101 to be replaced to move in an axial direction thereof, the axial direction being in agreement with the second direction y;

a first support 401 provided at an output end of the first driving part 410;

a second support 402 disposed at an end of the first support 401 away from the first driving part 410;

a support column 403 disposed at an end of the second support 402 away from the first support 401; and

an end cover 404, which is provided with a first through hole 405, a first end of the first through hole 405 is used for the support column 403 to penetrate, a second end of the first through hole 405 is used for installing the top pin 10 or the pin shaft 101 to be replaced, and the end cover 404 is movably connected to the second support 402 along the second direction y;

wherein the first support 401, the second support 402 and the support column 403 are connected by a fastener 407.

Specifically, the first driving part 410 outputs the power for moving the knock pin 10 or the pin shaft 101 to be replaced in the second direction y under the control of the controller 6. Specifically, the support column 403 is used to support the knock pin 10 or the pin 101 to be replaced when the pin 101 is disassembled. Alternatively, the radial dimension of the support posts 403 may be the same as the radial dimension of the pin 101. Alternatively, the size of the first through hole 405 may be slightly larger than the radial size of the pin 101 to facilitate the quick-insertion fixing of the knock pin 10 and the pin 101 to be replaced.

Specifically, end cap 404 and second support 402 may be removably coupled using a bolt, for example, a bolt passing through a smooth through hole in end cap 404, with external threads of the bolt mating with an internally threaded hole in second support 402 and with end cap 404 spaced from second support 402. For example, the smooth through-hole may be a stepped hole, with the head of the bolt abutting against the stepped surface, thereby limiting the maximum displacement of the end cap 404 in a direction away from the second support 402. Alternatively, the end cap 404 and the second support 402 may be movably connected in any other manner.

Alternatively, the first driving member 410 may be an ejection cylinder, an electric motor, or any driving member such as a ball screw. Alternatively, the first through hole 405 may be a cylindrical through hole, or may be a polygonal through hole with an inner diameter tangent to the outer diameter of the pin 101. Optionally, the size of the first through hole 405 may be adaptively changed and adjusted according to the radial size of the pin 101.

In the component layout mode of the dismounting mechanism 4 in the embodiment, the output of the first driving component 410 can be stably transmitted to the ejector pin 10 and the pin shaft 101 to be replaced under the control of the controller 6, so that the automation is realized, and the safety and the stability of the dismounting and the maintenance of the crawler belt are improved; the first through hole 405 in the end cover 404 can realize quick insertion and fixation of the ejector pin 10 and the pin shaft 101 to be replaced, so that the disassembly, assembly and maintenance efficiency of the crawler belt is improved; the end cover 404 and the second support 402 are movably connected, so that the protruding amount of the pin shaft 101 during installation can be ensured, the pin shaft 101 is completely installed in place, and the maintenance quality of the crawler belt is improved.

In some embodiments, as shown in fig. 1 and 3, the dismounting mechanism 4 further comprises:

and the elastic member 406 is sleeved outside the supporting column 403 and located between the second supporting member 402 and the supporting column 403, and is used for elastically connecting the second supporting member 402 and the end cover 404.

Specifically, the elastic member 406 may be a spring or the like.

In the embodiment, the elastic part 406 is arranged between the second support part 402 and the support column end cover 404, so that the end cover 404 can compress the elastic part 406 to shrink in the process of replacing the pin shaft 101 of the crawler to be repaired, the protruding amount of the pin shaft 101 can be ensured, the pin shaft 101 is completely installed in place, and the crawler maintenance quality is improved; after the pin shaft 101 of the crawler belt to be repaired is replaced, the elastic part 406 can automatically reset under the action of elastic force so as to facilitate subsequent application, and the crawler belt dismounting and repairing efficiency is improved.

In some embodiments, the knock pin 10 has a stepped structure, a thick end having a diameter equal to that of the pin 101 for being inserted into the first through hole 405, a thin end having a diameter smaller than that of the pin 101 for being pushed out of the pin 101, and a length of the knock pin 10 greater than that of the pin 101.

Specifically, the thick end of the knock pin 10 is inserted into the second end of the first through hole 405, and during the advancement of the attachment and detachment mechanism 4 in the second direction y, the thick end of the knock pin 10 is supported by the support column 403 inserted into the first end of the first through hole 405.

The length of the ejector pin 10 in the embodiment is greater than that of the pin shaft 101, so that in the process that the ejector pin 10 ejects the pin shaft 101 of the crawler belt to be repaired, no matter whether the end cover 404 retreats or not, the ejector pin 10 always keeps the margin length in the first through hole 405, and the safety and the stability of crawler belt dismounting and repairing can be improved; the butt pin 10's butt pin diameter equals round pin axle 101 diameter, and the tip diameter of butt pin 10 is less than round pin axle 101, can increase the convenience of location and change, reduces maintenance duration, promotes work efficiency, guarantees track maintenance quality.

In some embodiments, as shown in fig. 1 and 4, the first support mechanism 5 includes:

the base body 501 is provided with a U-shaped notch 530, the U-shaped notch 530 is arranged on the end face, facing the crawler to be maintained, of the base body 501, the U-shaped notch 530 is provided with a straight section 531 and an arc section 532, the straight section 531 is tangent to the arc section 532, the diameter of the arc section 532 is larger than that of the pin shaft 101, the bottom face of the arc section 532 is provided with a second through hole 502, and the second through hole 502 is used for accommodating the withdrawn pin shaft 101; and

a second driving part 520 configured to drive the substrate 501 to move along a third direction z, wherein the third direction z is perpendicular to the first direction x and the second direction y;

the base 501 has a first position and a second position relative to the pin 101, the first position is higher than the second position in the third direction z, the straight section 531 is used for providing guidance for the movement of the base 501 in the third direction z when the base 501 is at the first position, and the circular arc section 532 is used for limiting the protruding end of the pin 101 in the third direction z when the base 501 is at the second position, and provides lateral support for the track link 102 through the end surface of the base 501 facing the track to be repaired.

Specifically, the U-shaped notch 530, the circular arc segment 532 and the straight segment 531 are described for convenience of describing the present disclosure, and should not be construed as limiting the shape thereof to the U-shape, the circular arc and the straight segment 531, for example, the circular arc segment 532 may be any circumscribed polygon of a circle, and correspondingly, the straight segment 531 is tangent to an inscribed circle of a polygon having a diameter larger than that of the pin shaft 101, and the U-shaped notch 530 becomes a polygonal notch.

Specifically, the controller 6 may drive the substrate 501 to move along the third direction z by controlling the second driving part 520. Specifically, the diameter of the circular arc 532 of the U-shaped notch 530 is the same as the size of the second through hole 502, and because the straight section 531 and the circular arc 532 are tangent, the width of the straight section 531 and the diameter of the circular arc 532 are the same.

Alternatively, the second driving component 520 may be a lift cylinder, an electric push rod, or an air cylinder, or may be implemented by an electric motor or a motor in cooperation with a transmission component, where the transmission component may be a ball screw or the like. For example, the base 501 is moved up and down by the lift cylinder.

Optionally, the second through hole 502 has a size larger than the radial size of the pin 101 to increase the ease of receiving the pin 101. Optionally, the second through hole 502 may be a cylindrical through hole, or may be a polygonal through hole whose inner diameter is tangential to the outer diameter of the pin 101, and correspondingly, the shape of the U-shaped notch 530 may also be adaptively modified according to the shape of the second through hole 502. Specifically, when the second through hole 502 is a polygonal through hole, the arc segment 532 may also be a multi-deformation through hole, and the straight segment may also vary with the variation of the arc segment 532. Optionally, the shape of the circular arc segment 532 may be the same as or different from the shape of the second through hole 502, for example, the circular arc segment 532 is a polygon, and the second through hole 502 is a circular through hole inscribed in the polygon. Optionally, the size of the second through hole 502 can be adaptively changed and adjusted according to the radial size of the pin 101.

The straight section 531 of the U-shaped notch 530 in this embodiment is capable of providing guidance for the movement of the substrate 501 in the third direction z with the substrate 501 in the first position; under the condition that the base 501 is located at the second position, the arc 532 of the U-shaped notch 530 can clamp the protruding end of the pin 101 of the track to be maintained in the third direction z to position, so that the pin 101 of the track to be maintained is aligned with the second through hole 502 to enable the pin 101 to exit, and meanwhile, the end face, facing the track to be maintained, of the base 501 at the periphery of the U-shaped notch 530 can be matched with the side end face of the track link 102 in the second direction y to provide side support for the track link 102, so that the track is prevented from being inclined due to vibration caused by stress in the dismounting process.

The arrangement of the first supporting mechanism 5 in the embodiment can realize the positioning of the pin shaft 101 of the crawler belt to be maintained and the accommodation of the withdrawn pin shaft 101 by the base body 501, and can realize automatic operation under the control of the controller 6, thereby reducing the labor intensity of workers; the side support of the caterpillar track section 102 can be provided, the side support of the base body 501 and the blocking of the U-shaped notch 530 can increase the stress area, prevent the caterpillar track to be maintained from inclining after being stressed, and improve the safety of the dismounting and the maintenance of the caterpillar track; meanwhile, the protruding amount and the coaxiality of the pin shaft 101 can be ensured, and the crawler belt dismounting efficiency is improved.

In some embodiments, the base 501 may also move along the second direction y under the action of the driving component, so as to more conveniently position the protruding end of the pin 101, further ensure the coaxiality of the pin 101 during assembling and disassembling, and improve the maintenance quality of the crawler.

For example, the positioning of the base 501 to the pin 101 in the second direction y is completed when the side end surface of the protruding end of the pin 101 contacts the straight section 531, while the straight section 531 provides a guide for the movement of the base 501 in the third direction z, and the positioning of the base 501 to the pin 101 in the third direction z is completed when the upper side surface of the protruding end of the pin 101 contacts the circular arc section 532.

In some embodiments, the platform 1 is provided with a limiting component configured to limit the crawler belt to be repaired.

Alternatively, the limiting component may be any type of limiting component, may be a mechanical limiting component, such as a snap-in structure, and the like, may be an electromagnetic absorption limiting component, such as an electromagnet, and the like, and may also be a pressure type limiting component, and the like.

The position of the track to be maintained can be accurately fixed by the limiting component, the stability of the track to be maintained in the whole dismounting process is guaranteed, the safety and the stability of dismounting and mounting of the pin shaft 101 are improved, and the track maintenance efficiency and the maintenance quality are improved.

In some embodiments, as shown in fig. 5 and 6, the identification component 3 comprises:

an image acquisition module 301 configured to acquire images of the crawler to be repaired, the knock pin 10, and the pin shaft 101 to be replaced;

an input module 302 configured to input respective parameters and images of the crawler top pin 10 to be repaired and the pin 101 to be replaced; and

and an image processing module 303 configured to perform recognition judgment on the image in combination with the data of the input module 302 and feed back the result to the controller 6.

Specifically, the image acquisition module 301, the input module 302, and the image processing module 303 are all connected to the controller 6. Specifically, the image processing module 303 can perform processing such as noise removal, subject enhancement, and the like on the acquired image data.

Optionally, the image acquisition module 301 may also be configured to simultaneously acquire the peripheral images of the expected storage locations of the parts, so as to increase the accuracy of the image recognition by the recognition component 3.

The identification component 3 of the embodiment can collect necessary images, parameter data and the like for safely and accurately carrying out crawler dismounting and maintenance, and the automatic operation of the identification component under the control of the controller 6 can reduce the labor intensity of workers and improve the crawler maintenance efficiency.

Secondly, this disclosure provides a track maintenance method based on the track maintenance device of above-mentioned embodiment, including:

111, conveying the crawler belt to be maintained to the platform 1 through the conveying mechanism 2;

112, identifying the mark through the identification component 3, and when the mark is identified, enabling the conveying mechanism 2 to convey the track to be maintained to the pin shaft hole position of the caterpillar track section 102 to be aligned with the ejector pin 10 along the second direction y;

113, enabling the dismounting mechanism 4 to mount the ejector pin 10 so as to eject the pin shaft 101;

and step 114, enabling the dismounting mechanism 4 to mount the pin shaft 101 to be replaced so as to replace the pin shaft 101.

Wherein, the steps 111 to 114 are sequentially performed. According to the crawler maintenance method, the marks of the crawler to be disassembled and assembled are identified by the identification component 3, and the conveying action of the conveying mechanism 2 and the advancing action of the disassembling and assembling mechanism 4 along the second direction y are matched, so that alignment, coaxial disassembling and assembling and accurate positioning can be better realized, the disassembling and assembling stability and safety of the pin shaft 101 are improved, and the labor intensity of workers is reduced; by adopting the maintenance method, the deformation of the caterpillar track section 102 caused by baking or hammering or other manual modes for disassembling and assembling the pin shaft 101 can be avoided, so that the maintenance quality of the caterpillar track is improved, the reuse rate of the caterpillar track after maintenance is further improved, and the use cost is reduced.

The track maintenance method of the embodiment can realize automatic maintenance of the track, solves the problems of danger, difficulty and low efficiency of manual maintenance after the track breaks down, is safe, reliable, time-saving and labor-saving, is convenient to operate, and can greatly reduce the labor intensity of operators, thereby improving the track maintenance efficiency and reducing the track maintenance cost.

In some embodiments, before the detaching mechanism 4 is caused to mount the knock pin 10 to eject the pin shaft 101, the detaching mechanism further includes:

the base 501 is moved by the second drive member 520 in the third direction z to the second position so that the end surface of the base 501 facing the track to be serviced provides lateral support to the track link 102.

According to the crawler maintenance method, automatic operation can be achieved under the control of the controller 6, and the labor intensity of workers is reduced; the side support of the caterpillar track section 102 can be provided, the caterpillar track to be maintained is prevented from inclining after being stressed, the safety of disassembling and assembling maintenance of the caterpillar track is improved, and the maintenance efficiency of the caterpillar track is improved.

In some embodiments, before the detaching mechanism 4 is caused to mount the knock pin 10 to eject the pin shaft 101, the detaching mechanism further includes:

the second supporting mechanism 8 is clamped by the clamping mechanism 9, the U-shaped opening 804 is clamped into the pin sleeve 103 of the track to be repaired, and the position of the adjusting cushion block 802 is adjusted along the third direction z to adjust the interval between the two supporting plates 801, so that the two support lugs 803 are attached to the two inner side surfaces of the track link 102.

In particular, the controller 6 may be used to control the movement of the clamping mechanism 9 and adjust the position of the setting block 802 along the third direction z.

In the crawler maintenance method of the embodiment, the clamping mechanism 9 clamps the second support mechanism 8, so that the U-shaped opening of the second support mechanism is clamped into the pin bush 103 of the crawler to be maintained, internal support can be provided for the crawler link 102, and the deformation of the crawler link 102 is effectively prevented; in the crawler maintenance method according to this embodiment, the adjusting pad 802 is moved in the third direction z, so that the second support mechanism 8 can be adapted to the track links 102 of different sizes, and the supporting force for the inner side surface of the track link 102 can be adjusted, thereby increasing the universality of the crawler maintenance method and further improving the disassembly and assembly stability.

The maintenance method of the embodiment can realize automatic operation under the control of the controller 6, reduce maintenance time, ensure the maintenance quality of the crawler, reduce the labor intensity of workers and improve the working efficiency.

In some embodiments, the dismounting mechanism 4 is caused to mount the knock pin 10 to eject the pin shaft 101; making the dismounting mechanism 4 mount the pin 101 to be replaced so as to realize the replacement of the pin 101 comprises:

the base body 501 is moved to a second position along the third direction z by the second driving component 520, so that the arc section 532 of the U-shaped notch 530 is clamped at the protruding end of the pin shaft 101, and the pin shaft hole position of the caterpillar link 102 is aligned with the second through hole 502 along the second direction y;

the ejector pin 10 is driven by the first driving component 410 to advance along the second direction y, so that the ejector pin 10 ejects out of the pin shaft 101 to the second through hole 502, and the ejection of the pin shaft 101 is completed;

the ejector pin 10 is driven to retreat along the second direction y by the first driving part 410, the ejector pin 10 is taken out by the clamping mechanism 9, and the pin shaft 101 to be replaced is inserted into the first through hole 405 of the end cover 404;

the first driving part 410 drives the pin shaft 101 to be replaced to move forward along the second direction y, so that the pin shaft 101 to be replaced is pressed into the caterpillar link 102, and the pin shaft 101 is replaced.

Specifically, the controller 6 may be used to control the movement of the first drive member 410, the second drive member 520, and the clamping mechanism 9.

The maintenance method of the embodiment can realize automatic operation under the control of the controller 6 through logic coding, thereby reducing maintenance time, improving the maintenance efficiency of the crawler and ensuring the maintenance quality of the crawler.

In some embodiments, driving the pin 101 to be replaced by the first driving part 410 to advance along the second direction y, and pressing the pin 101 to be replaced into the track link 102 includes:

the first driving part 410 drives the pin shaft 101 to be replaced to move forward along the second direction y, after the pin shaft moves for a certain distance, the end cover 404 is tightly attached to the outer side face of the caterpillar track section 102, and the first driving part 410 drives the pin shaft 101 to be replaced to continue to move forward along the second direction y;

the distance between the end cap 404 and the second support 402 is shortened by compressing the elastic member 406 to secure the protruding amount of the protruding end of the track pin 101;

the pin 101 to be replaced is pressed into the pin hole position of the caterpillar link 102.

In the crawler maintenance method of the embodiment, the end cover 404 is closely attached to the outer side surface of the crawler track section 102, so that the output of the first driving part 410 can be stably transmitted to the pin shaft 101 to be replaced under the control of the controller 6, and the safety and the stability of crawler track dismounting maintenance are improved while automation is realized; meanwhile, the elastic piece 406 is compressed, so that the protruding amount of the pin shaft 101 during installation can be ensured, the pin shaft 101 is completely installed in place, and the maintenance quality of the crawler belt is improved; after the pin shaft 101 of the crawler belt to be repaired is replaced, the elastic part 406 can automatically reset under the action of elastic force so as to facilitate subsequent application, and the crawler belt dismounting and repairing efficiency is improved.

In some embodiments, driving the pin 101 to be replaced by the first driving part 410 to advance along the second direction y, and pressing the pin 101 to be replaced into the track link 102 includes:

the pin 101 to be replaced is judged to be pressed in place under the condition that the elastic member 406 is compressed until the end cover 404 and the second support member 402 are attached tightly.

According to the crawler maintenance method, the judgment condition that the pin shaft 101 is pressed in place is set to be that the end cover 404 and the second supporting piece 402 are tightly attached, so that the protruding amount of the pin shaft can be controlled quantitatively, the danger of pin falling and the quality hidden trouble in the using process are reduced, and the crawler maintenance quality is improved.

The track maintenance method of the present disclosure will be specifically described below with reference to fig. 1 to 6. In some embodiments, a track maintenance method comprises:

placing the bolt hole surface of the crawler to be maintained on the conveying mechanism 2 upwards, and conveying the crawler to be maintained to the platform 1 through the conveying mechanism 2;

the position of the platform 1 along the third direction z is adjusted through the lifting mechanism 7, so that the crawler belt to be maintained is adjusted to be suitable for the dismounting height;

the mark is identified through the identification component 3, and when the mark is identified, the conveying mechanism 2 conveys the track to be repaired to the pin shaft hole position of the caterpillar track section 102 to be aligned with the ejector pin 10 along the second direction y;

moving the base 501 to the first position along the third direction z by the second driving member 520, so that the straight section 531 of the U-shaped notch 530 supports the protruding end of the pin shaft 101 in the second direction y;

the second supporting mechanism 8 is clamped by the clamping mechanism 9, the U-shaped opening 804 of the second supporting mechanism is clamped into the pin bush 103 of the track to be maintained, and the interval between the two supporting plates 801 is adjusted by adjusting the adjusting cushion block 802 along the third direction z, so that the two support lugs 803 are attached to the two inner side faces of the caterpillar link 102;

the base body 501 is moved to a second position along the third direction z by the second driving component 520, so that the arc section 532 of the U-shaped notch 530 is clamped at the protruding end of the pin shaft 101, and the pin shaft hole position of the caterpillar link 102 is aligned with the second through hole 502 along the second direction y;

recognizing the knock pin 10 by the recognition part 3, clamping the knock pin 10 by the clamping mechanism 9 and inserting the knock pin 10 into the first through hole 405 of the cap 404;

the ejector pin 10 is driven by the first driving component 410 to advance along the second direction y, so that the ejector pin 10 ejects out of the pin shaft 101 to the second through hole 502, and the ejection of the pin shaft 101 is completed;

the ejector pin 10 is driven by the first driving component 410 to retreat along the second direction y, the pin shaft 101 to be replaced is identified by the identification component 3, the ejector pin 10 is taken out by the clamping mechanism 9, and the pin shaft 101 to be replaced is inserted into the first through hole 405 of the end cover 404;

the first driving part 410 drives the pin shaft 101 to be replaced to move forward along the second direction y, after the pin shaft moves for a certain distance, the end cover 404 is tightly attached to the outer side face of the caterpillar track section 102, and the first driving part 410 drives the pin shaft 101 to be replaced to continue to move forward along the second direction y;

the distance between the end cap 404 and the second support 402 is shortened by compressing the elastic member 406 until the end cap 404 and the second support 402 are tightly attached;

it is determined that the pin 101 to be replaced is pressed in place.

Thus, the removal and installation of the pin 101 of the crawler to be repaired is completed.

The track maintenance device and the track maintenance method provided by the present disclosure are described in detail above. The principles and embodiments of the present disclosure are explained herein using specific examples, which are set forth only to help understand the method and its core ideas of the present disclosure. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present disclosure without departing from the principle of the present disclosure, and such improvements and modifications also fall within the scope of the claims of the present disclosure.

Claims (18)

1. A track maintenance device, comprising:

-a platform (1) configured to support a track to be repaired comprising at least two track links (102), adjacent track links (102) being connected by a pin (101);

-a conveying mechanism (2) configured to convey the track to be repaired onto the platform (1) along a first direction (x);

-an identification component (3) configured to identify markings on the track to be repaired;

a dismounting mechanism (4) provided at one side of the platform (1) along a second direction (y) and selectively mounting a knock pin (10) or a pin (101) to be replaced, configured to enable the knock and mounting of the pin (101), the second direction (y) being perpendicular to the first direction (x);

the first supporting mechanism (5) is arranged on the other side of the platform (1) along the second direction (y) and is opposite to the dismounting mechanism (4), and is configured to support the side surface of the crawler to be maintained and accommodate the withdrawn pin shaft (101); and

a controller (6) configured to cause the conveying mechanism (2) to convey the track to be repaired to the pin hole position of the track link (102) and the knock pin (10) to be aligned in the second direction (y) when the identification component (3) identifies the mark, and cause the disassembling and assembling mechanism (4) to eject the pin (101) when the knock pin (10) is installed, and to effect the replacement of the pin (101) when the pin (101) to be replaced is installed.

2. The track maintenance device of claim 1, further comprising:

-a lifting mechanism (7) configured to adjust the position of the platform (1) along a third direction (z) perpendicular to the first direction (x) and the second direction (y) to adjust the crawler to be serviced to a suitable disassembly height.

3. The track maintenance device of claim 1, further comprising:

a second support mechanism (8), the second support mechanism (8) being configured to enable internal support of the track link (102).

4. Track maintenance device according to claim 3, characterized in that said second support means (8) comprise:

the two support plates (801) are respectively provided with a U-shaped opening (804), the diameter of each U-shaped opening (804) is larger than the outer diameter of the pin bush (103) of the track to be repaired, and the two support plates (801) are arranged in the inner space of the track link (102) at intervals along the second direction (y) and form wedge-shaped grooves (805);

an adjusting pad (802) having a wedge-shaped structure which is embedded in the wedge-shaped groove (805) and can adjust the interval between the two support plates (801) when moving in a third direction (z); and

and the two support lugs (803) are respectively fixed on the outer sides of the two support plates (801) relative to the adjusting cushion block (802) and are respectively used for abutting against two inner side surfaces of the caterpillar track section (102).

5. The track maintenance device according to claim 1, characterized in that said identification means (3) are also configured to identify said pin (10) or pin (101) to be replaced, said track maintenance device further comprising:

a clamping mechanism (9) configured to clamp and mount the ejector pin (10) or the pin shaft (101) to be replaced.

6. The track maintenance device of claim 3, further comprising:

a clamping mechanism (9) configured to clamp the second supporting mechanism (8) to be clamped at the pin sleeve (103) of the track to be repaired.

7. Track servicing device according to claim 1, characterized in that the disassembly and assembly means (4) comprise:

-a first driving member (410) configured to drive the knock pin (10) or the pin shaft (101) to be replaced to move along an axial direction thereof, said axial direction coinciding with the second direction (y);

a first support member (401) provided at an output end of the first drive member (410);

a second support (402) provided at an end of the first support (401) remote from the first drive part (410);

a support column (403) provided at an end of the second support (402) remote from the first support (401); and

an end cover (404) provided with a first through hole (405), wherein a first end of the first through hole (405) is used for the support column (403) to penetrate through, a second end of the first through hole (405) is used for installing the ejector pin (10) or the pin shaft (101) to be replaced, and the end cover (404) is movably connected to the second support (402) along the second direction (y);

wherein the first support (401), the second support (402), and the support column (403) are connected by fasteners (407).

8. Track servicing device according to claim 7, characterized in that the disassembly and assembly means (4) further comprise:

and the elastic piece (406) is sleeved outside the supporting column (403) and positioned between the second supporting piece (402) and the supporting column (403) and is used for elastically connecting the second supporting piece (402) and the end cover (404).

9. The track maintenance device according to claim 7, characterized in that said knock pin (10) has a stepped structure with a diameter of a thick end equal to the diameter of said pin (101) to be inserted into said first through hole (405) and a diameter of a thin end smaller than the diameter of said pin (101) to eject said pin (101), said knock pin (10) having a length greater than the length of said pin (101).

10. Track maintenance device according to any of claims 1 to 9, characterized in that said first support means (5) comprise:

the base body (501) is provided with a U-shaped notch (530), the U-shaped notch (530) is formed in the end face, facing the to-be-maintained crawler belt, of the base body (501), the U-shaped notch (530) is provided with a straight section (531) and an arc section (532), the diameter of the arc section (532) is larger than that of the pin shaft (101), a second through hole (502) is formed in the bottom face of the arc section (532), and the second through hole (502) is used for accommodating the withdrawn pin shaft (101); and

a second drive member (520) configured to move the substrate (501) along a third direction (z), the third direction (z) being perpendicular to the first direction (x) and the second direction (y);

wherein the base body (501) has a first position and a second position relative to the pin (101), the first position being higher in the third direction (z) than the second position, the straight section (531) being configured to guide the movement of the base body (501) in the third direction (z) with the base body (501) in the first position, the circular arc section (532) being configured to limit the protruding end of the pin (101) in the third direction (z) with the base body (501) in the second position and to support the side of the track section (102) with the end face of the base body (501) facing the track to be repaired.

11. Track servicing device according to any of claims 1 to 9, characterized in that the platform (1) is provided with a limiting member configured to limit the track to be serviced.

12. Track servicing device according to any one of claims 1 to 9, characterized in that the identification means (3) comprise:

an image acquisition module (301) configured to acquire images of the track to be repaired, the ejector pin (10) and the pin (101) to be replaced;

-an input module (302) configured to input the respective parameters and the image of the crown pin (10) of the track to be repaired and of the pin (101) to be replaced; and

an image processing module (303) configured to perform recognition judgment on the image in combination with the data of the input module (302) and feed back the result to the controller (6).

13. A crawler maintenance method based on the crawler maintenance device according to any one of claims 1 to 12, comprising:

conveying the crawler to be maintained to the platform (1) through the conveying mechanism (2);

identifying the mark through the identification component (3), and enabling the conveying mechanism (2) to convey the track to be repaired to a pin hole position of the track link (102) to be aligned with the ejector pin (10) along the second direction (y) when the mark is identified;

enabling the dismounting mechanism (4) to mount the ejector pin (10) so as to eject the pin shaft (101);

the pin shaft (101) to be replaced is installed on the disassembling and assembling mechanism (4) so as to realize the replacement of the pin shaft (101).

14. Track servicing method according to claim 13, characterized in that before having the dismounting mechanism (4) mount the ejector pin (10) to eject the pin (101) it further comprises:

-moving the base body (501) in a third direction (z) to a second position by means of a second drive member (520), such that the end of the base body (501) facing the track to be serviced is supported against the side of the track link (102).

15. Track servicing method according to claim 13, characterized in that before having the dismounting mechanism (4) mount the ejector pin (10) to eject the pin (101) it further comprises:

the second supporting mechanism (8) is clamped through the clamping mechanism (9), the U-shaped opening (804) of the second supporting mechanism is clamped into the pin bush (103) of the track to be maintained, and the interval between the two supporting plates (801) is adjusted by adjusting the adjusting cushion block (802) along the third direction (z), so that the two support lugs (803) are attached to the two inner side faces of the caterpillar track section (102).

16. Track servicing method according to any one of claims 13 to 15, characterized in that the dismounting mechanism (4) is fitted with a knock pin (10) to knock out the pin (101); making the dismounting mechanism (4) mount the pin (101) to be replaced, so as to realize the replacement of the pin (101) comprising:

moving the base body (501) to a second position along a third direction (z) through a second driving part (520), and clamping a circular arc section (532) of a U-shaped notch (530) at the protruding end of the pin shaft (101) so as to align a pin shaft hole position of the caterpillar link (102) with a second through hole (502) along the second direction (y);

the ejector pin (10) is driven by the first driving component (410) to advance along the second direction (y), so that the ejector pin (10) ejects the pin shaft (101) to the second through hole (502), and the pin shaft (101) is ejected;

driving the ejector pin (10) to retreat along the second direction (y) through the first driving component (410), taking out the ejector pin (10) through a clamping mechanism (9) and inserting the pin shaft (101) to be replaced into a first through hole (405) of an end cover (404);

the first driving part (410) drives the pin shaft (101) to be replaced to move forward along the second direction (y), so that the pin shaft (101) to be replaced is pressed into the caterpillar track section (102), and the pin shaft (101) is replaced.

17. Track servicing method according to claim 16, wherein driving the pin (101) to be replaced by the first driving member (410) to advance in the second direction (y) so that the pin (101) to be replaced is pressed into the track link (102) comprises:

the first driving part (410) drives the pin shaft (101) to be replaced to move forward along the second direction (y), after the pin shaft moves for a certain distance, an end cover (404) is attached to the outer side face of the caterpillar track section (102), and the first driving part (410) drives the pin shaft (101) to be replaced to continue to move forward along the second direction (y);

shortening the distance between the end cover (404) and the second support (402) by compressing the elastic member (406) to ensure the protruding amount of the protruding end of the track pin shaft (101);

and pressing the pin shaft (101) to be replaced into the pin shaft hole position of the caterpillar track section (102).

18. Track servicing method according to claim 16, wherein driving the pin (101) to be replaced by the first driving member (410) to advance in the second direction (y) so that the pin (101) to be replaced is pressed into the track link (102) comprises:

and under the condition that the elastic piece (406) is compressed until the end cover (404) and the second supporting piece (402) are tightly attached, judging that the pin shaft (101) to be replaced is pressed in place.

Images