JP3835921B2 - Fastening device for temporary fastening of shoe link belt - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a fastening device for temporary fastening of a shoe and a link belt.
[0002]
[Prior art]
In assembling crawler belts (endless track belts) often used around construction machinery legs, the shoes and link belts are fastened by bolts and nuts. In this work, place the shoe on the link belt, align both bolt holes, insert the bolt into the bolt hole of the shoe from above, supply the nut from the window of the link belt, and fasten them together It is done by. However, since the link belt window is small compared to the size of the nut, workability is poor, and automation has been studied so far, but it is difficult to match the positions of the holes in the shoe and the link belt, so Even insertion could not be realized.
The reason why automation was not possible is as follows.
a. Since the shoes are placed on the link belt in the upper process and the positions of both holes are aligned, the shoes are moved to the fastening position without being fixed. Shifts.
b. Since there is a horizontal shift called “swell” in the length direction of the link belt, the bolt hole position is not constant, and the supply position of the bolt and nut cannot be specified.
c. When inserting the bolts, the position of the link belt and the hole of the shoe does not match due to the badness of the bolt hole position accuracy of the link belt, the assembly accuracy, the accuracy of the shoe set position, and the like.
d. Since the link belt window is smaller than the size of the nut, the nut cannot be automatically supplied.
e. Usually, it takes time to automatically fasten four pairs of bolts and nuts per shoe, and it cannot be completed within the time limited by the preceding and following processes.
[0003]
[Problems to be solved by the invention]
In the production of the crawler belt, the shoe and the link belt are temporarily fastened by manually setting bolts and nuts. The automation of this work has been studied in the past, but as described above, there were many restrictions and was not successful.
An object of the present invention is to provide a fastening device for temporary fastening of a shoe and a link belt capable of automating temporary fastening.
[0004]
[Means for Solving the Problems]
The present invention for achieving the above object is as follows.
(1) a conveyor for transporting a shoe and a link belt having a locating pin insertion position set in the middle of a conveying path and a bolt / nut fastening position set below the locating pin insertion position;
A locate pin unit provided with a locate pin, a locate pin position sensor, a locate pin traversing device, and a locate pin lifting device; and a locate pin disposed movably between the bolt and nut fastening position and a locate pin retracted position above the conveyor;
A nut supply device comprising a nut guide driving device for moving a nut guide movable in a direction orthogonal to the conveyor conveyance direction with respect to the window position of the link belt at the bolt and nut fastening position;
A bolt receiving guide that is above the nut supplying device and has a guide groove for feeding the bolts in an aligned manner; a bolt supplying slide that is connected to one end of the bolt receiving guide and is movable in two directions perpendicular to each other; and the bolt supplying slide A bolt supply device having a slide drive device for moving
A bolt chuck unit having a claw that is openable and closable above the bolt supply device;
A bolt socket that is below the bolt chuck unit and that can be fitted to the bolt head and that can be raised and lowered; and a bolt runner unit that includes a rotating device that rotationally drives the bolt socket;
A fastening device for temporary fastening of a shoe link belt.
(2) The shoe / link belt temporary fastening fastening device according to (1), wherein the bolt chuck unit and the bolt runner unit are mounted on a common substrate.
[0005]
The fastening device for temporary fastening according to the above (1) and (2) is provided with a locate pin unit that holds the shoe and the link belt in a state where the bolt holes are aligned in advance, with the bolt holes penetrating, bolts and nuts Temporary fastening was automated by measuring the deviation between the fastening position and the reference position with a sensor and correcting the position of the nut supply device and the bolt chuck unit based on the information.
In addition, workability has been improved because the bolt chuck unit and bolt runner unit are installed on a common substrate to form an integral structure.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
1 to 10 show an embodiment of the present invention. FIG. 11 shows a state in which the shoe 5 that is a subject of temporary fastening according to the present invention is placed on the link belt 6 and placed on the conveyor 2 for temporary fastening. Moreover, the right end shows a state in which a part thereof is temporarily fastened. FIG. 12 shows the assembled state of the shoe 5 and one set of two links (single unit) (however, the bolt is omitted). The link belt 6 has a link (single unit) seen at the right end in parallel with a constant interval. It is connected in the longitudinal direction by a holding pin to form a belt-like shape, and one shoe 5 is passed over a pair of links thereon, and usually two bolts for one shoe 5, a total of four bolts It is concluded with.
The fastening device 1 for temporary fastening according to the present invention generally includes a locate pin insertion position X and a bolt / nut fastening position Y set in the middle of the transport path of the conveyor 2 that transports the shoe 5 and the link belt 6 to be temporarily fastened. , A locate pin unit 10, a nut supply device 90, a bolt supply device 80, a bolt chuck unit 40, a bolt runner unit 50, and driving devices for these devices.
Furthermore, in order to make the operation | movement of the fastening apparatus 1 for temporary fastening sufficient, there exist the 1 pitch feeder 3, the locate pin position sensor, the shoe press mechanism 16, etc.
[0007]
The conveyor 2 for conveying the shoe 5 and the link belt 6 is composed of a plurality of rollers parallel to each other, and at least some of the rollers are drive rollers driven by a motor or the like. Below the conveyor 2 is a 1-pitch feeding device 3 that engages with the link belt 6 to move the shoe 5 and the link belt 6 to the lower side of the conveyor 2 by 1 pitch. The roller in the center in the width direction is divided into two so that the one-pitch feeding device 3 can move in the conveying direction of the conveyor 2.
Here, 1 pitch refers to the distance between the corresponding bolt holes in two consecutive shoes in the conveying direction of the conveyor 2 (hereinafter referred to as the x direction).
In the middle of the conveying path of the conveyor 2, the bolt / nut fastening position Y set as a fixed position and the bolt / nut fastening position Y are set one pitch higher according to the size of the shoe 5 and the link belt 6. There is a locate pin insertion position X. The bolt / nut fastening position Y is also a nut supply position described later.
[0008]
Above the conveyor 2 is a locate pin unit 10 that can move in the transport direction and the vertical direction perpendicular thereto.
The locate pin 15 of the locate pin unit 10 is made of, for example, a steel round bar having the same length, and is perpendicular to the transport surface (hereinafter referred to as an xy plane) of the conveyor 2 and parallel to each other, and has one end on the locate pin substrate 16. Is fixed, and the other end extends perpendicularly to the xy plane with a taper whose tip is a circle center of the pin cross section. Although the diameter is smaller than the bolt hole which the shoe 5 and the link belt 6 have, it has the thickness which does not bend even if it inserts into a bolt hole for bolt hole position adjustment. The number of locate pins 15 and the positional relationship between them match the number of bolt holes and the positions of the holes of the shoe 5 and the link belt 6.
To change the sizes of the shoe 5 and the link belt 6, a jig in which the locate pin 15 and the locate pin substrate 16 are integrated is prepared for each size of the shoe 5 and the link belt 6, and is replaced with a corresponding jig.
The locate pin position sensor includes an x direction sensor 12 provided on the bracket of the locate pin unit 10 above the locate pin 15, a y direction sensor 13 which is also provided on the bracket and is in the y direction perpendicular to the x direction, and the locate pin substrate 16. The θ sensor 14 is provided on the back side of the locating pin fixing surface and detects the twist angle θ of the xy plane.
[0009]
The locate pin unit 10 is provided with a shoe pressing mechanism 17 shown in FIG. The shoe pressing mechanism 17 includes a shoe pressing 19 and a shoe pressing driving device 18. The shoe presser 19 is formed of a plurality of hard materials, for example, two steel round bars, which extend perpendicularly to the xy plane and are parallel to each other and have a shoe presser portion made of a soft material at the contact end with the shoe 5. It is provided in parallel in the y direction across the bolt hole of the shoe 5.
[0010]
The nut supply device 90 is above the conveyor 2, and as shown in FIG. 5, a nut guide 91, a nut pushing drive device 92, a nut guide drive device 93, a common plate 94, an x-axis drive motor, a y-axis drive motor, x -Y Cross rail.
The nut guide 91 is fixed on the common plate 94, has an L shape that can accommodate a plurality of nuts 9, and has two different lengths corresponding to the two bolt holes in the x direction of the single link. 91 is one set, and is opposed to the other set located on the other side of the link belt 6 so as to be able to advance and retreat in the direction of the window 7 of the link belt 6 (y direction). The height of the nut guide 91 is such that the upper surface position of the nut 9 on the nut guide 91 and the upper side position of the window 7 of the link belt 6 are substantially the same height. At the corners of each L-shaped nut guide 91, there is a nut push drive device 92 that feeds the nut 9 one by one in the direction in which the nut 9 is advanced and retracted.
A set of an integrated nut guide 91 and a common plate 94 is prepared in accordance with the size of the link belt 6 and replaced with a set that matches the size of the link belt 6.
[0011]
As shown in FIG. 6, the bolt supply device 80 includes a bolt receiving guide 81, bolt supply slides 82 a, 82 b, 82 c, 82 d, slide drive devices 83 a, 83 b, 83 c, 83 d, 85, and a substrate 88. Is located above the shoe 5 and below the bolt / nut fastening position Y, and is fixed to the frame column of the fastening device 1 for temporary fastening according to the present invention by cantilevering.
The bolt receiving guide 81 is connected to a parts feeder (not shown) and aligns a plurality of bolts received from the parts feeder. The bolt receiving guide 81 has two parallel guide grooves. The two guide grooves are connected to bolt supply slides 82a, 82b, 82c, and 82d that are orthogonal to the two guide grooves at one end of the bolt receiving guide 81.
The bolt supply slides 82a and 82b and 82c and 82d are each in a straight line and are divided at positions intersecting with the bolt receiving guide 81, and can be moved back and forth symmetrically in the y direction. The bolt supply slides 82a and 82b and 82c and 82d are parallel to each other.
The slide driving devices 83a, 83b, 83c, and 83d are engaged with the bolt supply slides 82a, 82b, 82c, and 82d, respectively, to drive the respective bolt supply slides in the y direction, and the slide driving device 85 is a bolt supply slide. Each of them is also driven in the x direction by engaging with 82c and 82d. Each bolt supply slide is positioned at a position corresponding to the bolt hole position of the shoe 5 and the link belt 6 by this mechanism.
Below the substrate 88 of the bolt supply device 80 is provided another substrate 89 in which a bolt push-up pin 87 is implanted to push up the bolt 8 from below when the bolt 8 is chucked by the bolt chuck unit 40 described later. The substrate 89 is connected to a bolt push-up pin driving device 86 and can be moved up and down. The bolt push-up pin driving device 86 pushes the bolt 8 to a height at which the claw 45 of the bolt chuck unit 40 enters between the bolt head and the bolt supply slide, and the body of the bolt 8 is moved by the claw 45 of the bolt chuck unit 40. It is configured to ensure a sufficient distance for gripping. The bolt push-up pins 87 are usually four bolts to be fastened, are smaller than the diameter of the bolt holes, and have a thickness and strength that do not deform even when the bolts are pushed up.
As the bolt push-up pin 87, a jig having an arrangement corresponding to the size of the shoe 5 and the link belt 6 is prepared, and a jig having a size suitable for the size of the shoe 5 and the link belt 6 to be temporarily fastened is mounted.
[0012]
The bolt chuck unit 40 is above the bolt supply device 80 and is movable in the x direction. As shown in FIG. 8, the bolt chuck unit 40 includes a rack 42, a pinion 43, a rack guide 44, a claw 45, and a motor. The claw 45 has a vertical portion extending vertically in parallel toward the conveyor 2 and a grip portion 45a made of two L-shaped hard materials having a notch at the tip and extending perpendicularly to the vertical portion and facing each other. Consists of. Each claw 45 engages with each rack 42 with which the pinion 43 engages, and when the pinion 43 rotates, the claw 45 opens and closes. By opening and closing the tip of the claw 45, the body of the bolt 8 pushed up by the bolt push-up pin 87 is gripped.
The claw 45 is automatically adjusted by inputting the size change of the shoe 5 and the link belt 6 so as to be arranged according to the size of the shoe 5 and the link belt 6.
The fastening device 1 for temporary fastening according to the present invention usually requires four bolt chuck units 40 corresponding to the number of bolts and nuts to be temporarily fastened.
[0013]
The bolt runner unit 50 is below the bolt chuck unit 40 and can be fitted to the bolt head and can be lifted / lowered, the rotating device 51 that rotationally drives the bolt socket 54, and the bolt runner unit 50 is lifted / lowered. A bolt runner unit elevating cylinder 55 is provided. The output torque of the rotating device 51 is transmitted to the socket 54 through the paths of the V pulley 52a, the V belt 53, and the V pulley 52b.
A bolt socket 54 having a size corresponding to the size of the bolt 8 to be fastened and having a pitch corresponding to the position of the bolt hole of the shoe 5 and the link belt 6 is prepared, and a suitable bolt socket 54 is mounted when the size is changed.
The fastening device 1 for temporary fastening according to the present invention usually requires four bolt runner units 50 corresponding to the number of bolts and nuts to be temporarily fastened.
[0014]
A second embodiment of the present invention is a fastening device 1 for temporary fastening of a shoe and a link belt in which a bolt chuck unit 40 and a bolt runner unit 50 shown in FIG. 10 are mounted on a common substrate 56.
In this embodiment, the center line of the claw 45 of the bolt chuck unit 40 and the center line of the bolt socket 54 of the bolt runner unit 50 are on the same line.
[0015]
The operation of the present invention will be described below.
The locating pin 15 can be moved in the x direction between the locating pin retracting position and the bolt / nut fastening position Y, which is higher than the locating pin insertion position X, by a locating pin traversing device 20 which is a servo motor, for example. It can also move in a direction perpendicular to the xy plane, and can swing in a plane parallel to the xy plane.
When the shoe 5 is placed on the link belt 6 and conveyed on the conveyor 2 with the bolt holes aligned in the upper process, the locate pin is inserted at the locate pin insertion position X determined according to the size of the shoe 5 and the link belt 6. The locating pin unit 10 is lowered by the elevating device 30 and passes through the bolt holes of the shoe 5 and the link belt 6 to determine the relative positions of the two. Thereafter, the locate pin unit 10 is sent to the bolt / nut fastening position Y of the lower pitch of the conveyor 2 by the 1 pitch feeding device 3 while passing through the bolt holes of the shoe 5 and the link belt 6. This transfer is performed by the feed claw 4 engaging with the bush portion of the link belt 6.
[0016]
The displacement between the bolt / nut fastening position Y and the x-direction reference position 23 in the x direction is measured by pressing the end of the base plate 21 opposite to the locate pin traversing apparatus 20 against the x-direction reference position 23 by the locate pin traversing apparatus 20.
The displacement of the y direction and the θ direction is detected in advance at the start of the operation using the reference measuring jig and the position of the shoe 5 and the link belt 6 restrained at the bolt / nut fastening position Y by the locate pin 15. Measured by detecting deviation from the absolute absolute origin. The measured value is given to the nut supply device 90 and the bolt chuck unit 40 and used for position correction of each device.
After the displacement measurement, the locate pin unit 10 is lifted by the locate pin lifting device 30 and moved to the locate pin retracting position which is higher in the conveying direction of the conveyor 2 by the locate pin traversing device 20.
When the locate pin unit 10 is raised, the shoe 5 is restrained by the shoe retainer 19 of the shoe retainer mechanism 17 until the locate pin 15 is separated from the shoe to prevent the shoe 5 and the bolt hole of the link belt 6 from being displaced due to the lift of the shoe 5.
[0017]
At the bolt / nut fastening position Y, the insertion position of the bolt / nut is corrected by the x-axis drive motor, the y-axis drive motor, and the xy cross rail provided under the common plate 94 based on the measured value of the locate pin position sensor. Is done. Thereafter, the nut guide 91 on which the nut 9 is mounted is inserted into the window 7 of the link belt 6 simultaneously with the nut guide 91 on the other side of the link belt 6 by the nut supply driving device 93 of the nut supply device 90. The nut 9 is held by the nut guide 91 from below until temporarily tightened with the bolt 8.
At the same time as the nut guide 91 is inserted into the window 7 of the link belt, the bolt 8 is adjusted to the positions of the bolt holes of the shoe 5 and the link belt 6 by the bolt supply slides 82a, 82b, 82c, 82d of the bolt supply device 80. Arranged. Then, it is clamped by the bolt chuck unit 40 lowered by the bolt chuck / bolt runner lifting device 60.
Thereafter, the bolt chuck unit 40 is lifted by the bolt chuck / bolt runner elevating device 60 and traversed by the bolt chuck / bolt runner traverse cylinder 70 to reach the bolt / nut fastening position Y. The bolt chuck unit 40 corrects the position based on the measured value of the locate pin position sensor at the bolt / nut fastening position Y and then descends above the bolt hole of the shoe 5 to release the bolt 8 and insert it into the bolt hole. After the bolt 8 is inserted into the bolt hole, the bolt head engages with the bolt socket 54 of the bolt runner unit 50 and is given a rotational torque to temporarily fasten with the nut 9.
After the bolt 8 and the nut 9 are temporarily fastened, the nut guide 91 is retracted, and the nut push driving device 92 pushes one nut 9 to the tip of the nut guide 91 in preparation for the next temporary fastening.
[0018]
Although the fastening device of the present invention has been described above, the present device can be widely applied to fastening using bolts and nuts, particularly fastening where the bolt hole position is easily shifted, and is extremely useful.
[0019]
【The invention's effect】
According to the fastening device for temporary fastening according to claim 1, the bolt and nut can be held to the temporary fastening position by the locate pin unit through the bolt hole of the shoe and the link belt, and the reference position measured by the locate pin position sensor. Temporary fastening can be automated by applying a shift to the nut supply device and the bolt chuck unit to correct the work position.
According to the fastening device for temporary fastening according to claim 2, since the bolt chuck unit and the bolt runner unit are integrally mounted on the common substrate, the working efficiency is improved.
[Brief description of the drawings]
FIG. 1 is a side view of an overall view of the present invention.
FIG. 2 is a perspective view showing a combined state of a locate pin and a substrate and an attached state of a θ sensor.
FIG. 3 is a side view of the one-pitch driving device.
FIG. 4 is a front view of a shoe pressing mechanism.
FIG. 5 is a plan view of the nut supply device.
FIG. 6 is a plan view of the bolt supply device.
FIG. 7 is a side view of the bolt push-up mechanism.
FIG. 8 is a side view of the bolt chuck unit.
FIG. 9 is a side view of the bolt runner unit.
FIG. 10 is a side view of an apparatus in which a bolt chuck unit and a bolt runner unit are integrated.
FIG. 11 is a side view showing a relationship between a shoe, a link belt, and a conveyor.
FIG. 12 is a plan view showing a partial relationship between a shoe and a link belt.
[Explanation of symbols]
1 Fastening Fastening Device 2 Conveyor 5 Shoe 6 Link Belt 7 Link Belt Window 8 Bolt 9 Nut 10 Locate Pin Unit 15 Locate Pin 20 Locate Pin Traverse Device 30 Locate Pin Lifting Device 40 Bolt Chuck Unit 50 Bolt Runner Unit 51 Rotating Device 54 Bolt Socket 56 Common substrate 80 Bolt supply device 81 Bolt receiving guides 82a, 82b, 82c, 82d Bolt supply slides 83a, 83b, 83c, 83d, 85 Slide drive device 90 Nut supply device 91 Nut guide 93 Nut guide drive device

Claims (2)

A conveyor for conveying a shoe and a link belt having a locating pin insertion position set in the middle of the conveying path and a bolt / nut fastening position set below the locating pin insertion position;
A locate pin unit provided with a locate pin, a locate pin position sensor, a locate pin traversing device, and a locate pin lifting device; and a locate pin disposed movably between the bolt and nut fastening position and a locate pin retracted position above the conveyor;
A nut supply device comprising a nut guide driving device for moving a nut guide movable in a direction orthogonal to the conveyor conveyance direction with respect to the window position of the link belt at the bolt and nut fastening position;
A bolt receiving guide that is above the nut supplying device and has a guide groove for feeding the bolts in an aligned manner; a bolt supplying slide that is connected to one end of the bolt receiving guide and is movable in two directions perpendicular to each other; and the bolt supplying slide A bolt supply device having a slide drive device for moving
A bolt chuck unit having a claw that is openable and closable above the bolt supply device;
A bolt socket that is below the bolt chuck unit and that can be fitted to the bolt head and that can be raised and lowered; and a bolt runner unit that includes a rotating device that rotationally drives the bolt socket;
A fastening device for temporary fastening of a shoe link belt. The fastening device for temporary fastening of a shoe / link belt according to claim 1, wherein the bolt chuck unit and the bolt runner unit are mounted on a common substrate.

Images