JPH11263253A - Tightening device for temporarily-tightening shoe link belt - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automated device for temporarily-tightening a shoe and a link belt. SOLUTION: A locating pin unit 10 is fitted, which retains a shoe and a link belt whose bolt hole positions are met, passing through both the bolt holes so that they may not be dislocated while they are being carried on a conveyer 2. By determining dislocation from a reference position at a bolt and nut fastening position Y and collecting the positions of a nut feeder and a bolt chuck unit 40, it is possible to automate temporary tightening.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fastening device for temporarily fastening a shoe and a link belt.

[0002]

2. Description of the Related Art In assembling crawler belts (crawler belts) frequently used around construction machine legs, shoes and link belts are fastened by bolts and nuts. This work involves placing the shoe on the link belt, aligning the two bolt holes, inserting the bolt from above into the shoe bolt hole, supplying the nut from the link belt window, and fastening the two. It is done by. However, the workability is poor because the window of the link belt is small compared to the size of the nut, and automation has been considered so far.However, since it is difficult to match the hole positions of the shoe and the link belt, the bolt Even insertion could not be realized. The reason why automation was not possible is as follows. a. After the shoe is placed on the link belt in the above process, the holes are aligned, and the two are transferred to the fastening position in a state where they are not fixed. Shifts. b. The position of the bolt hole is not constant due to a lateral shift called "undulation" in the length direction of the link belt, and the supply positions of the bolt and nut cannot be specified. c) In inserting the bolts, the positions of the holes of the link belt and the shoe do not match due to poor accuracy of the position of the bolt holes in the link belt, the accuracy of assembly, and the accuracy of the set position of the shoes. d. Since the window of the link belt is smaller than the size of the nut, automatic supply of the nut is not possible. e. Usually, it takes time to automatically fasten four sets of bolts and nuts per shoe, and it cannot be completed within the time restricted by the preceding and following steps.

[0003]

In the production of crawler tracks,
The shoe and 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, many restrictions have been unsuccessful. An object of the present invention is to provide a fastening device for temporary fastening of a shoe and a link belt that can automate temporary fastening.

[0004]

The present invention to achieve the above object is as follows. (1) A conveyor for conveying shoes and link belts having a locating pin insertion position set in the middle of the conveyance path and a bolt / nut fastening position set below the locating pin insertion position, and a conveyor above the conveyor. A locating pin movably disposed between the bolt / nut fastening position and the locating pin retracting position, a locating pin position sensor, a locating pin traversing device, a locating pin unit including a locating pin elevating device; A nut feeding device having 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 in a direction orthogonal to the conveyor conveyance direction; and a nut feeding device above the nut feeding device. Bolt with guide groove to align and send bolts A bolt supply device including a receiving guide, a bolt supply slide connected to one end of the bolt receiving guide, and movable in two directions orthogonal to each other, a slide driving device for moving the bolt supply slide, and an upper portion of the bolt supply device A bolt chuck unit having an openable and closable claw, a bolt socket below the bolt chuck unit, which can be fitted to the head of the bolt and can be raised and lowered, and a rotating device for rotating the bolt socket. And a unit for temporarily fastening a shoe link belt. (2) The 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 of the above (1) and (2) is provided with a locating pin unit for holding a shoe and a link belt with bolt holes aligned in advance with the bolt holes passed through. The deviation between the bolt / nut fastening position and the reference position was measured by a sensor, and the position of the nut supply device and the bolt chuck unit was corrected based on the information, thereby automating the temporary fastening. Further, the workability is improved because the bolt chuck unit and the bolt runner unit are installed on a common substrate to form an integrated structure.

[0006]

1 to 10 show an embodiment of the present invention. FIG. 11 shows a state in which the shoe 5 to be temporarily fastened according to the present invention is placed on the link belt 6 and placed on the conveyor 2 for temporary fastening. The right end shows a state where a part thereof is temporarily fastened. FIG. 12 shows the shoe 5
And a set of two links (single unit) (although bolts are omitted), and the link belt 6 is such that the links (single unit) seen at the right end are parallel to each other at a constant interval, and are longitudinally moved by pins. To form a band, and one shoe 5 is passed over a set of links,
One shoe 5 is normally fastened with two bolts, for a total of four bolts. The fastening device 1 for temporary fastening according to the present invention generally includes a locating 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 shoes 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 a driving device for these devices.
Further, in order to sufficiently operate the fastening device 1 for temporary fastening, there are a one-pitch feed device 3, a locate pin position sensor, a shoe pressing mechanism 16, and the like.

The conveyor 2 for transporting the shoe 5 and the link belt 6 includes a plurality of rollers arranged in parallel with each other, and at least some of the rollers are driving rollers driven by a motor or the like. At the lower part of the conveyor 2, there is provided a one-pitch feeder 3 which engages with the link belt 6 to move the shoe 5 and the link belt 6 one pitch to the lower side of the conveyor 2; The roller at the center in the width direction is divided into two, and the one-pitch feeder 3 can move in the conveying direction of the conveyor 2. Here, one pitch refers to the distance between the corresponding bolt holes of two consecutive shoes in the conveying direction of the conveyor 2 (hereinafter referred to as x direction). In the middle of the conveying path of the conveyor 2, the bolt / nut fastening position Y set as the fixed position and the bolt / nut fastening position Y
There is a locate pin insertion position X set according to the size of the shoe 5 and the link belt 6 well on the pitch. The bolt / nut fastening position Y is also a nut supply position described later.

Above the conveyor 2, there is a locate pin unit 10 which can be moved in the transport direction and in the vertical direction perpendicular thereto. The locating pins 15 of the locating pin unit 10 are made of, for example, steel round bars of the same length, are perpendicular to the conveying surface of the conveyor 2 (hereinafter referred to as an xy plane) and are parallel to each other, and have one end on the locating pin substrate 16. Is fixed, and the other end extends perpendicularly to the xy plane with a taper having the center of the pin cross section as a tip. Although its diameter is smaller than the bolt hole of the shoe 5 and the link belt 6, it has such a thickness that it does not bend even when inserted into the bolt hole for adjusting the position of the bolt hole. The number of the locate pins 15 and their mutual positional relationship are determined by the shoe 5 and the link belt 6.
And the number of bolt holes and the positions of the holes. To change the size of the shoe 5 and the link belt 6, a jig in which the locate pin 15 and the locate pin board 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 is an x-direction sensor 1 provided on a bracket of the locate pin unit 10 above the locate pin 15.
2, y also provided on the bracket and orthogonal to the x direction
Y-direction sensor 13 for the direction and locate pin substrate 1
6 is provided on the back side of the locating pin fixing surface and includes a θ sensor 14 for detecting a twist angle θ in the xy plane.

The locate pin unit 10 is provided with a shoe press mechanism 17 shown in FIG. The shoe press mechanism 17 includes a shoe press 19 and a shoe press driving device 18. The shoe retainer 19 is made of a plurality of hard materials, for example, two steel rods, which extend perpendicular to the xy plane and are parallel to each other and have a shoe retainer made of a soft material at a contact end with the shoe 5. That is, they are provided in parallel in the y direction across the bolt holes of the shoe 5.

The nut feeder 90 is located above the conveyor 2 and has a nut guide 91, a nut pushing drive 92, a nut guide drive 93, and a common plate 9 as shown in FIG.
4. X-axis drive motor, y-axis drive motor, xy cross rail. The nut guide 91 is fixed on the common plate 94, has an L-shape capable of accommodating a plurality of nuts 9, and has two nut guides having different total lengths corresponding to two bolt holes in the x direction of the unitary link. One set 91 includes the other set located on the other side of the link belt 6 and the direction of the window 7 of the link belt 6 sandwiching the link belt 6 (y direction).
Opposite to go back and forth. The height of the nut guide 91 has a structure in which 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 almost the same height. At the corner of each of the L-shaped nut guides 91, there is a nut pushing drive device 92 that feeds the nuts 9 one by one in a direction of moving the nuts 9 to the link belt 6. A set of the nut guide 91 and the common plate 94 integrated according to the size of the link belt 6 is prepared, and is replaced with a set suitable for the size of the link belt 6.

As shown in FIG. 6, a bolt supply device 80 includes a bolt receiving guide 81 and bolt supply slides 82a and 82.
2b, 82c, 82d, slide driving devices 83a, 83
b, 83c, 83d, 85, and a substrate 88, which are located above the nut supply device 90 and above the shoe 5, and which are below the bolt and nut fastening position Y of the temporary fastening device 1 for temporary fastening of the present invention. The cantilever is fixed to the column. 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 for the bolt receiving guide 8
One end is connected to bolt supply slides 82a, 82b, 82c, 82d orthogonal to the two guide grooves. The bolt supply slides 82a and 82b and the bolt supply slides 82c and 82d
It is divided at a position where it intersects with 1, and can be moved symmetrically in the y direction from there. Also, the bolt supply slide 82
a and 82b and 82c and 82d are parallel to each other. Slide driving devices 83a, 83b, 83c, 83d
Are respectively bolted slides 82a, 82b, 82
Each of the bolt supply slides is driven in the y direction in association with c and 82d, and the slide driving device 85 is also associated with the bolt supply slides 82c and 82d and also drives each in the x direction. With this mechanism, each bolt supply slide is positioned at a position corresponding to a bolt hole position of the shoe 5 and the link belt 6. Below the substrate 88 of the bolt supply device 80, there is provided another substrate 89 in which a bolt push-up pin 87 for pushing up the bolt 8 from below when the bolt 8 is chucked by the bolt chuck unit 40 described later. The board 89 is connected to a bolt push-up pin driving device 86 and can be moved up and down. The bolt 4 of the bolt chuck unit 40 is driven by the bolt lifting pin driving device 86.
The bolt 8 is pushed up to a height at which the bolt 5 enters between the bolt head and the bolt supply slide, so that a sufficient distance is secured to hold the body of the bolt 8 with the claw 45 of the bolt chuck unit 40. ing. Bolt push-up pin 8
Reference numeral 7 denotes the number of bolts to be fastened, usually four, which is smaller than the diameter of the bolt hole, and has a thickness and strength that do not deform even when the bolt is pushed up. A jig having an arrangement corresponding to the size of the shoe 5 and the link belt 6 is prepared as the bolt push-up pin 87, 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.

The bolt chuck unit 40 is located 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 includes a vertical portion extending in parallel to the conveyor 2 and a vertical portion, and two gripping portions 45a formed of two L-shaped hard materials facing each other and extending at right angles to the vertical portion with a notch at the front end. 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 pushing up pin 87 is gripped. The claw 45 is automatically adjusted by inputting a change in the size of the shoe 5 and the link belt 6 so that the arrangement is in accordance with the size of the shoe 5 and the link belt 6. The temporary fastening device 1 for temporary fastening of the present invention usually requires four bolt chuck units 40 corresponding to the number of bolts and nuts to be temporarily fastened.

The bolt runner unit 50 is located below the bolt chuck unit 40 and can be fitted to the head of the bolt and can move up and down, a rotating device 51 for rotating the bolt socket 54, and a bolt runner unit 50. Is provided with a bolt runner unit elevating cylinder 55 for elevating and lowering. The output torque of the rotating device 51 is transmitted to the socket 54 via a path 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 temporary fastening device 1 for temporary fastening of the present invention usually requires four bolt runner units 50 corresponding to the number of bolts and nuts to be temporarily fastened.

In a second embodiment of the present invention, a bolt chuck unit 40 and a bolt runner unit 50 shown in FIG.
Is a fastening device 1 for temporarily fastening a shoe and a link belt 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.

The operation of the present invention will be described below. The locating pin 15 can be moved in the x direction between a locating pin retracting position higher than the locating pin inserting position X and a bolt / nut fastening position Y by a locating pin traversing device 20 which is, for example, a servomotor. It can 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 with the bolt holes aligned in the upper process and is conveyed on the conveyor 2, the locating pin is located at the locating 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 penetrates through the bolt holes of the shoe 5 and the link belt 6 to determine a relative position between the two. Thereafter, the locate pin unit 10 is sent to the bolt / nut fastening position Y one pitch below the conveyor 2 by the one pitch feeder 3 while penetrating the bolt holes of the shoe 5 and the link belt 6. This transfer is performed by engaging the feed pawl 4 with the bush portion of the link belt 6.

The displacement between the bolt / nut fastening position Y and the x-direction reference position 23 in the x-direction is performed by pressing the end of the base plate 21 on the opposite side of the locating pin traversing device 20 to the x-direction reference position 23 by the locating pin traversing device 20. measure. The deviations in the y direction and the θ direction are determined by the position of the shoe 5 and the link belt 6 restrained at the bolt / nut fastening position Y by the locating pin 15 and the machine of the conveyor 2 detected in advance at the start of the operation using the reference measuring jig. It measures by detecting the deviation from the target absolute origin. The measured values are 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 locating pin unit 10 is moved up by the locating pin lifting / lowering device 30 and is moved by the locating pin traversing device 20 to the locating pin retracting position on the upper side in the transport direction of the conveyor 2. When the locate pin unit 10 is raised, in order to prevent the bolt holes of the shoe 5 and the link belt 6 from shifting due to the lifting of the shoe 5, the shoe press 19 of the shoe press mechanism 17 until the locate pin 15 is separated from the shoe.
Restrains the shoe 5.

At the bolt / nut fastening position Y, an x-axis driving motor, a y-axis driving motor, and an x-axis driving motor provided below the common plate 94 based on the measured values of the locate pin position sensor.
The insertion position of the bolt / nut is corrected by the -y cross rail. Thereafter, the nut guide 91 on which the nut 9 is placed is inserted into the window 7 of the link belt 6 at the same time as 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 it is temporarily fastened to the bolt 8. At the same time that the nut guide 91 is inserted into the window 7 of the link belt, the bolts 8 are aligned with 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. Are arranged. Then, it is clamped by the bolt chuck unit 40 lowered by the bolt chuck / bolt runner elevating 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 traversing cylinder 70 to reach the bolt / nut fastening position Y. The bolt chuck unit 40 includes a bolt
At the nut fastening position Y, after the position is corrected based on the measurement value of the locate pin position sensor, the shoe 8 descends above the bolt hole of the shoe 5, releases the bolt 8, and inserts 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 a rotational torque force is applied, thereby temporarily fastening the nut 9. After the bolt 8 and the nut 9 are temporarily fastened, the nut guide 91 retreats,
In preparation for the next temporary fastening, the nut pushing drive 92
Pushes out one nut 9 to the tip of the nut guide 91.

Although the fastening device of the present invention has been described above, the present device is widely applicable and extremely useful for fastening using bolts and nuts, particularly for fastening in which the position of a bolt hole is likely to shift.

[0019]

According to the temporary fastening device of the first aspect,
The locating pin unit allows the bolt and nut to be held to the temporary fastening position while the shoe and link belt bolt holes are penetrated, and the deviation from the reference position measured by the locating pin position sensor is transferred to the nut feeder and bolt chuck unit. By performing the given work position correction, the temporary fastening can be automated. According to the temporary fastening device of the second aspect, the bolt chuck unit and the bolt runner unit are mounted and integrated on the common substrate, which leads to an improvement in work efficiency.

[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 coupling state between a locating pin and a substrate and a mounting state of a θ sensor.

FIG. 3 is a side view of the one-pitch driving device.

FIG. 4 is a front view of the 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 lifting 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 among 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]

DESCRIPTION OF SYMBOLS 1 Temporary 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 traversing device 30 Locate pin elevating device 40 Bolt chuck unit 50 Bolt runner unit 51 Rotating device 54 Bolt socket 56 Common board 80 Bolt supply device 81 Bolt receiving guide 82a, 82b, 82c, 82d Bolt supply slide 83a, 83b, 83c, 83d, 85 Slide drive device 90 Nut supply device 91 Nut guide 93 Nut guide drive device

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Sachi Kamada 5-9, Yonbancho, Chiyoda-ku, Tokyo Topy Industries, Ltd.

Claims (2)

[Claims] 1. A conveyor for conveying shoes and link belts having a locating pin insertion position set in the middle of a conveyance path and a bolt / nut fastening position set below the locating pin insertion position; and A locating pin movably disposed above the bolt / nut fastening position and the locating pin retracting position, a locating pin position sensor, a locating pin traversing device, and a locating pin unit including a locating pin elevating device; A nut feeding device having 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 a position in the direction orthogonal to the conveyor conveyance direction, and above the nut feeding device. Has a guide groove for aligning and sending bolts. A bolt supply guide comprising: a bolt receiving guide; a bolt supply slide connected to one end of the bolt receiving guide and movable in two directions orthogonal to each other; a slide driving device for moving the bolt supply slide; A bolt chuck unit having an openable / closable claw above the apparatus, a bolt socket below the bolt chuck unit that can be fitted to a bolt head and that can be raised and lowered, and a rotating device that rotationally drives the bolt socket. A shoe / link belt temporary fastening device comprising a bolt runner unit. 2. The shoe link belt temporary fastening device according to claim 1, wherein the bolt chuck unit and the bolt runner unit are mounted on a common substrate.