WO2023185128A1 - Système d'assemblage d'ensemble de chenille et procédé d'assemblage d'ensemble de chenille - Google Patents

Système d'assemblage d'ensemble de chenille et procédé d'assemblage d'ensemble de chenille Download PDF

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Publication number
WO2023185128A1
WO2023185128A1 PCT/CN2022/141129 CN2022141129W WO2023185128A1 WO 2023185128 A1 WO2023185128 A1 WO 2023185128A1 CN 2022141129 W CN2022141129 W CN 2022141129W WO 2023185128 A1 WO2023185128 A1 WO 2023185128A1
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WO
WIPO (PCT)
Prior art keywords
assembly
track
identification
unit
component
Prior art date
Application number
PCT/CN2022/141129
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English (en)
Chinese (zh)
Inventor
陈琬
张正杰
封小鹏
Original Assignee
索特传动设备有限公司
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Application filed by 索特传动设备有限公司 filed Critical 索特传动设备有限公司
Publication of WO2023185128A1 publication Critical patent/WO2023185128A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/32—Assembly, disassembly, repair or servicing of endless-track systems

Definitions

  • This application relates to the technical field of industrial machinery, and specifically to a crawler assembly assembly system and a crawler assembly assembly method.
  • the track assembly includes the chain rail assembly, track plates, track bolts and track nuts, as shown in Figure 2.
  • the assembly of the track plates on the chain rail assembly is mainly manual.
  • the track shoes need to be lifted to the chain rail assembly.
  • Corresponding bolt holes are provided on the track shoes and the chain rail assembly.
  • the corresponding bolt holes of the track bolts and track nuts need to be tightened.
  • due to the The weight is heavy, manual handling is too labor-intensive, and poses safety risks.
  • track bolts, nut loading, and bolt tightening require multiple people to work together, resulting in low labor efficiency.
  • manual installation is Assembly accuracy and stability are difficult to guarantee, and assembly misalignment of track shoes and link rail assemblies is prone to occur.
  • the technical problem to be solved by this application is to overcome the defects in the prior art that the assembly of the crawler assembly is labor-intensive, low-efficiency, and has poor assembly accuracy and stability, thereby providing a crawler assembly assembly system and a crawler assembly Assembly method.
  • This application provides a crawler assembly assembly system, including: a conveying unit, an assembly unit and an identification unit.
  • the conveying unit is suitable for conveying the chain rail assembly;
  • the assembly unit is arranged adjacent to the conveying unit, and is adapted to drive the track shoe to move and assemble it correspondingly on the chain rail assembly;
  • the identification unit is adjacent to the conveying unit It is configured and communicated with the assembly unit, and is suitable for detecting the structure and position of the link rail assembly and the track shoe.
  • the assembly unit includes: a first assembly device and a second assembly device.
  • the first assembly device is arranged adjacent to the conveying unit and is communicatively connected with the identification unit, and is provided with a first picking device suitable for picking up and moving the track shoes;
  • a second assembly device suitable for picking up and assembling track bolts and track nuts is arranged adjacent to the conveying unit, is arranged on the downstream side of the first assembly device along the conveying direction of the conveying unit, and communicates with the identification unit Connection, on which a tightening device, a first grabbing device and a second grabbing device are provided.
  • the second assembly device includes at least one set of first assembly components and a second assembly assembly that are arranged adjacently.
  • the tightening device and the first grabbing device are provided on the first assembly component, and the second assembly assembly is provided with the first assembly component.
  • the assembly assembly is provided with said second gripping device.
  • the identification unit includes: a first identification device and a second identification device.
  • the first identification device is arranged adjacent to the conveying unit and is communicatively connected to the first assembly device and the second assembly device respectively; the second identification device suitable for detecting the installation surface is arranged along the conveying direction of the conveying unit. On the upstream side of the first identification device, it is communicatively connected with the first assembly device.
  • the first identification device includes: a first identification piece and a second identification piece.
  • a first identification piece suitable for detecting the position of the connecting piece mounting hole on the link rail assembly is arranged adjacent to the conveying unit and is respectively connected to the first assembly device, the second assembly component and the The first assembly component is communicatively connected;
  • a second identification member suitable for detecting the position of the connecting member mounting hole on the track plate is arranged adjacent to the first assembly device and is respectively connected to the first assembly device and the The second assembly component is communicatively connected to the first assembly component.
  • the first identification device also includes a third identification piece, and the third identification piece is adapted to detect the position of the connecting piece mounting hole that is not provided with the crawler bolt on the crawler plate.
  • the third identification piece is arranged on the second identification piece along the conveying direction of the conveying unit.
  • the downstream side of the component is communicatively connected with at least another first assembly component located at a position adjacent to the third identification component.
  • the conveying unit includes: directional conveying device and limiting structure.
  • a power component is provided on the directional conveying device;
  • a limiting structure is provided on the directional conveying device and has a limiting state for limiting the movement of the chain rail assembly.
  • the directional conveying device is also provided with: a first clamping component and a second clamping component.
  • the first clamping component is arranged adjacent to the limiting structure; the second clamping component is arranged on the downstream side of the first clamping component along the conveying direction of the directional conveying device.
  • the conveying unit also includes a turning unit.
  • the overturning unit is arranged adjacent to the first assembly device and is communicatively connected with the second identification device, and is adapted to overturn the track shoe so that the teeth thereof face upward.
  • the crawler assembly assembly system also includes a loading device, which includes: a first loading tray, a second loading tray, and a third loading tray.
  • the first loading tray suitable for carrying track shoes is arranged on the lower side of the second identification device and adjacent to the first assembly device; the second loading tray suitable for carrying crawler bolts is adjacent to the first assembly assembly.
  • the third loading tray is arranged adjacent to the second assembly component and is suitable for carrying track nuts.
  • a fourth identification piece is also provided on it, and the fourth identification piece is communicatively connected to the second assembly assembly. , suitable for detecting the orientation of the track nut.
  • This application also provides a crawler assembly assembly method, including:
  • the control identification unit obtains the position information and structural information of both the link rail assembly and the track shoe, and feeds it back to the assembly unit;
  • the control assembly unit drives the track shoe to move toward the link rail assembly, and corresponds to the link mounting holes on the link rail assembly and the track board, and is placed on the link rail assembly through the track connector.
  • Step S1 includes:
  • the first clamping component is centered and pressed against the link rail assembly.
  • Step S2 includes:
  • step S2 it also includes:
  • control the flipping mechanism to flip the track shoes to the mounting surface If not, control the flipping mechanism to flip the track shoes to the mounting surface, and return to the judgment step. If yes, proceed to the next step.
  • Step S3 includes:
  • Step S32 includes:
  • step S321 it also includes: S320. Control the first preset first assembly component, and the first grabbing device on it grabs the positioning pin, moves it to the position of the connector mounting hole corresponding to the non-target track bolt, and then inserts it;
  • step S321 it also includes: controlling the first grabbing device to take out the positioning pin.
  • Step S322 includes:
  • the limit structure is controlled to leave the limit state, and after the chain rail assembly moves a single pitch, the limit structure is controlled to start the limit state;
  • step S13 for the link rail assembly adjacent to the limiting structure. If yes, return to step S13 for the link rail assembly adjacent to the limiting structure. At the same time, control the second clamp. Align and tighten the link assembly with the assembly, and perform the next step.
  • Step S321 and step S323 also include:
  • Control the second vibration device to start, drive the track nut to the position to be grasped, obtain the orientation of the track nut, and feed it back to the second assembly component.
  • the crawler assembly assembly system includes: a conveying unit, suitable for conveying the chain rail assembly; an assembly unit, located adjacent to the conveying unit, to move the track shoes and assemble them correspondingly on the chain rail assembly Upper; the identification unit is arranged adjacent to the conveying unit and is communicatively connected with the assembly unit, and is suitable for detecting the structure and position of the link rail assembly and the track shoe.
  • an identification unit is set up to communicate with the assembly unit.
  • the identification unit can accurately identify the positions of the link rail assembly and track shoes, making it easier for the assembly unit to accurately grasp the track shoes. , move in the direction of the link rail assembly and place the track shoe at the corresponding position of the link rail assembly.
  • the setting of the identification unit can also identify the structural information of the link rail assembly and the track shoe, so that the assembly unit can accurately grab and move the track shoe.
  • the track shoes can also be accurately assembled on the chain rail assembly according to the specific structure of the two, effectively aligning them, avoiding assembly misalignment, improving assembly accuracy, and further improving the automation of the overall structure. degree, effectively overcoming the defects in the prior art of high manual labor intensity, low efficiency, and poor assembly accuracy and stability of the crawler assembly.
  • the first identification device also includes: a third identification piece suitable for detecting the position of the connecting piece mounting hole on the crawler plate where no crawler bolts are installed, along the The conveying direction of the conveying unit is arranged on the downstream side of the second identification piece, and is communicatively connected with at least another first assembly component disposed adjacent to the third identification piece.
  • the track bolts need to be mechanically positioned to prevent collisions when they are inserted into the track plates and link rail assemblies, and the distance between the mounting holes of each connecting piece is small, it is difficult for the tightening device to simultaneously insert the track bolts and track nuts in multiple holes. Tighten, by setting the third identification piece on the downstream side of the second identification piece, the connection mounting holes of the link rail assembly and the track plate on the downstream side station can be detected and positioned. This setting is combined with the first identification piece.
  • the installation holes of the connectors in different areas can be positioned in batches at different workstations.
  • the track bolts installed on the workstation on the front side of the conveyor can be used to install the installation holes on the workstation on the rear side of the conveyor.
  • the track bolts provided are installed and positioned to avoid offset and provide effective space for the tightening device to work.
  • the directional conveying device is also provided with: a first clamping component arranged adjacent to the limiting structure; a second clamping component along the directional conveying device The conveying direction is set on the downstream side of the first clamping component.
  • the chain rail assembly is connected by multiple chain links, and each chain link is arranged and transported along the directional conveying device, by setting at least two sets of clamping structures, the chain rail assembly at different stations can be effectively centered and clamped. , which facilitates accurate identification of the identification device and stable assembly of the assembly unit.
  • the conveying unit also includes a flipping unit, which is arranged adjacent to the first assembly device and is communicatively connected to the second identification device, and is suitable for flipping the crawler plate to the installation surface. .
  • the track shoes placed at the material storage position may have problems such as inconsistency of incoming materials and different orientations of the track shoes due to different material supply sources and transportation processes.
  • the positions of the track shoes at the material storage position can be rearranged. Set the track shoe teeth upward to facilitate installation with the chain rail assembly and reduce the operating requirements of the first assembly device.
  • the crawler assembly assembly system also includes a loading device.
  • the loading device includes: a first loading tray suitable for carrying the track shoe, which is arranged on the lower side of the second identification device and is connected with the first loading tray.
  • An assembly device is arranged adjacently; a second loading tray suitable for carrying track bolts is arranged adjacent to the first assembly assembly; a third loading tray is arranged adjacent to the second assembly assembly and is suitable for carrying
  • the crawler nut is also provided with a fourth identification piece.
  • the fourth identification piece is communicatively connected with the second assembly component and is suitable for detecting the orientation of the crawler nut.
  • Vibrating devices are installed on the second loading tray and the third loading tray to realize automatic transportation of parts and facilitate the clamping of each assembly device.
  • the track nuts are lock nuts, there is a need to fix the installation direction.
  • the fourth identification piece By disposing the fourth identification piece on the third loading tray, the direction of the nut can be effectively identified, which facilitates accurate clamping and accurate matching of the second assembly component.
  • the crawler assembly assembly method provided by this application also includes: S320. Control the first preset first assembly component, and the first grabbing device on it grabs a number of positioning pins and moves them to a non-target position. The track bolts are inserted into the corresponding connector mounting holes; step S321 also includes: controlling the first grabbing device to remove the positioning pin.
  • positioning can be performed by installing the positioning pins in the mounting holes of the connector, thus preventing the installation of the first set of track bolts from being offset and improving the work station on the front side of the conveyor. Installation accuracy of track bolts installed on.
  • step S322 includes: controlling the limiting structure to leave the limiting state, and after the chain rail assembly moves a single pitch, controlling the limiting structure to activate the limiting state, and at the same time, judging the chain rail Whether the assembly moves to the position adjacent to the second clamping component; if not, return to step S13 for the chain rail assembly at the position adjacent to the limiting structure. If so, move to the chain rail assembly at the position adjacent to the limiting structure. rail assembly, return to step S13, and at the same time, control the second clamping component to center and compress the chain rail assembly, and perform the next step.
  • the chain rail assembly can move along the directional conveying device according to the pitch, and the track shoes, track bolts and track nuts can be installed and assembled section by section, while improving the automation of the overall system. , so that the chain rail assembly advances more regularly during the assembly process, making it easier to accurately position the position of the chain rail assembly.
  • Figure 1 is a schematic structural diagram of the crawler assembly assembly system provided in the embodiment of the present application.
  • Figure 2 is a schematic structural diagram of a crawler assembly in the prior art
  • Figure 3 is a schematic structural diagram of the track plate and the mounting holes for its upper connectors in the track assembly assembly system shown in Figure 1;
  • 11-directional conveying device 12-limiting structure; 13-first clamping component; 14-second clamping component; 2-first assembly device; 21-first picking device; 31-first assembly component; 311 -The first grabbing device; 32-the second assembly component; 41-the first identification part; 42-the second identification part; 43-the third identification part; 44-the second identification device; 51-the first loading tray; 52-Second loading tray; 53-Third loading tray; 6-Chain rail assembly; 7-Track plates; 8-Track bolts; 9-Track nuts; 10-Connector mounting holes.
  • connection should be understood in a broad sense.
  • connection or integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components.
  • connection or integral connection
  • connection or integral connection
  • connection can be a mechanical connection or an electrical connection
  • it can be a direct connection or an indirect connection through an intermediate medium
  • it can be an internal connection between two components.
  • specific meanings of the above terms in this application can be understood on a case-by-case basis.
  • this embodiment provides a crawler assembly assembly system, including: a conveying unit, an assembly unit and an identification unit.
  • the conveying unit includes a directional conveying device 11 and a limiting structure 12.
  • the directional conveying device 11 is specifically a power roller, or it can also be a chain conveyor, etc., and can be used to convey the chain rail assembly 6. In this embodiment, It is also equipped with a weight detection device or a quantity detection device of the chain rail assembly 6, which can be communicated with the previous process, such as connecting with a press machine to avoid material accumulation on the directional conveying device 11.
  • the directional conveying device 11 is provided with a power component, specifically a stepping conveyor motor, and the directional conveying device 11 can carry and transport the chain rail assembly 6 under the action of the power component.
  • the limiting structure 12 is provided on the directional conveying device 11 , specifically an opening and closing baffle. The limiting structure 12 has a limiting state that can limit the movement of the chain rail assembly 6 on the directional conveying device 11 .
  • the assembly unit is arranged adjacent to the conveying unit, and can drive the track shoe 7 to move and assemble it correspondingly on the chain rail assembly 6;
  • the identification unit is arranged adjacent to the conveying unit, and is electrically connected to the assembly unit, specifically a wire connection, or It can be connected by wireless communication and is suitable for detecting information such as the structure and position of the link rail assembly 6 and the track shoe 7 .
  • This embodiment also includes a controller, specifically a PLC, or other controllers such as a PC or a single-chip microcomputer, which are electrically connected to the transport unit, assembly unit and identification unit respectively.
  • an identification unit is set up to communicate with the assembly unit.
  • the identification unit can accurately identify the positions of the link rail assembly 6 and the track shoe 7, which facilitates the assembly unit to accurately grasp Take the track shoe 7 and move it in the direction of the link rail assembly 6 and place the track shoe 7 in the corresponding position of the link rail assembly 6.
  • the setting of the identification unit can also identify the structural information of the link rail assembly 6 and the track shoe 7, so that the assembly While the unit accurately grabs and moves the track shoe 7 to the position of the link rail assembly 6, it can also accurately assemble the track shoe 7 on the link rail assembly 6 according to the specific structure of the two, effectively aligning it and avoiding assembly misalignment. It improves the accuracy of assembly and further improves the degree of automation of the overall structure, effectively overcoming the defects in the existing technology of high manual labor intensity and low efficiency of assembly of the crawler assembly, as well as poor assembly accuracy and stability.
  • the assembly unit includes a first assembly device 2 and a second assembly device.
  • the first assembly device 2 and the second assembly device are specifically six-axis robots, and may also be other types of robotic arms or hoisting structures.
  • the first assembly device 2 is arranged adjacent to the directional conveying device 11 and is electrically connected to the identification unit.
  • a first pickup device 21 is provided on it, specifically a magnetic pickup mechanism or a cylinder holding mechanism.
  • the first pick-up device 21 has a first working state. In the first working state, the magnetic poles on the first pick-up device 21 pick up the track shoe 7 according to the information given by the identification unit, and move it to the upper side of the link rail assembly 6, corresponding to The connecting piece mounting holes 10 on the chain rail assembly 6 and the track shoe 7 are used to place the track shoe 7.
  • the second assembly device is also disposed adjacent to the directional conveying device 11 and is disposed on the downstream side of the first assembly device 2 along the conveying direction of the directional conveying device 11. It is electrically connected to the identification unit and is provided with a tightening device and a first grabbing device.
  • the device 311 and the second grabbing device are adapted to pick up the track connectors and move them to the connector mounting holes 10 respectively.
  • the connector mounting holes 10 are bolt holes.
  • the crawler track connectors include crawler track bolts 8 and track nuts 9.
  • Corresponding connectors can also be provided according to different forms of crawler track assemblies.
  • the second assembly device includes at least one set of first assembly components 31 and second assembly components 32 that are adjacently arranged.
  • the tightening device and the first grabbing device 311 are both arranged on the first assembly component 31.
  • the second grabbing device The device is provided on the second assembly assembly 32 .
  • the first grabbing device 311 is used to grab the track bolts 8 and pass them through the top of the connector mounting hole 10.
  • the second grabbing device is used to grab the track nuts 9 and set them correspondingly on the connection.
  • the lower end of the mounting hole 10 is matched with the track bolt 8, and the tightening device is used to tighten the track bolt 8 and the track nut 9.
  • the first grabbing device 311 is a bolt clamping cylinder.
  • the first grabbing device 311 is also equipped with a positioning pin clamping cylinder for inserting and extracting positioning pins.
  • the second grabbing device is a nut clamping cylinder, and the tightening device is specifically an electric tightening gun.
  • the specific number can be adjusted adaptively according to needs.
  • a single second assembly device is provided with two 195 Nm electric tightening guns. gun.
  • the number of the first assembly components 31 and the second assembly components 32 is at least two.
  • there are two first assembly components 31 and three second assembly components 32 and They are arranged along both sides of the directional conveying device 11 .
  • the conveying direction of the directional conveying device 11 is conveying from left to right, and the first assembly assembly 31 and the second assembly assembly 32 adjacent to the first clamping assembly 13 are set as the first preset device, and the The first assembly component 31 and the second assembly component 32 at adjacent positions of the two clamping components 14 are configured as second preset devices.
  • the track bolts 8 When the track bolts 8 are inserted into the track shoes 7, they need to be mechanically positioned to prevent collisions. Moreover, the distance between the bolt holes is small and the tightening device is difficult to completely arrange. Therefore, the track bolts 8 and track nuts 9 need to be inserted in at least two batches and the track bolts 8 should be installed correspondingly each time. The track bolts 8 that have been installed in the previous batch need to be replaced. The bolt holes serve as mechanical positioning holes. Therefore, the first and second preset devices are respectively two sets of first assembly components 31 and second assembly components 32 required in the two batches of installation processes.
  • the number of the first assembly component 31 and the second assembly component 32 may be one, and all bolt holes may be installed in a single batch.
  • the identification unit includes: a first identification device and a second identification device 44 .
  • the first identification device is arranged adjacent to the conveying unit and is communicatively connected with the first assembly device 2 and the first assembly device 2 respectively, specifically the first preset second assembly component 32 and the first preset first assembly component 31.
  • the positions of the connector mounting holes 10 on the link rail assembly 6 and the track shoe 7 can be detected respectively;
  • the second identification device 44 is specifically a 3D camera, which is arranged on the upstream side of the first identification device along the conveying direction of the conveyor unit. It is communicatively connected with the first assembly device 2 and can detect the outline of the track shoe 7 and the orientation of its teeth.
  • the first identification device is a 2D camera, including: a first identification part 41 , a second identification part 42 and a third identification part 43 .
  • the first identification piece 41 is arranged on the top side of the directional conveying device 11, adjacent to the limiting structure 12, and can detect the position of the connecting piece mounting hole 10 on the link rail assembly 6 from the top, and connect it to the first assembly device respectively.
  • the first preset second assembly component 32 and the first preset first assembly component 31 are electrically connected;
  • the second identification member 42 is adjacent to the first assembly device 2 and is suitable for detecting and identifying the position of the connecting piece mounting hole 10 on the track shoe 7 from the bottom side, and is respectively connected to the first assembly device 2 and the first preset second assembly.
  • the component 32 is electrically connected to the first preset first assembly component 31 .
  • the third identification part 43 is arranged on the downstream side of the second identification part 42 along the conveying direction of the directional conveying device 11, and can detect the position of the connecting piece mounting hole 10 on the track plate 7, at least for the connection where the track bolt 8 is not installed. position of the component mounting hole 10 and is electrically connected to the second preset first assembly component 31 and the second preset second assembly component 32 disposed adjacent to the third identification component 43 .
  • the track bolts 8 need to be mechanically positioned to prevent collisions when they are inserted into the track shoes 7 and the chain rail assembly 6, and the distance between the mounting holes 10 of each connector is small, it is difficult for the tightening device to realize the track bolts 8 with multiple holes. Tighten the track nut 9 at the same time.
  • the third identification piece 43 By arranging the third identification piece 43 and disposing it on the downstream side of the second identification piece 42, the connection mounting hole 10 of the link rail assembly 6 and the track plate 7 on the downstream side station can be adjusted. Detection and positioning are carried out.
  • the connector mounting holes 10 in different areas can be positioned in batches at different work stations.
  • the work stations on the front side of the conveyor can be
  • the installed crawler bolts 8 are used for installation and positioning of the installed crawler bolts 8 on the rear side of the conveyor to avoid offset and provide effective space for the tightening device to work.
  • the directional conveying device 11 is also provided with two sets of clamping structures, specifically the first clamping assembly 13 and the second clamping assembly 14, which are suitable for centering and clamping the chain rail assembly 6.
  • the clamping component 13 is arranged adjacent to the limiting structure 12
  • the second clamping component 14 is arranged on the downstream side of the first clamping component 13 along the conveying direction of the directional conveying device 11 .
  • multiple sets of clamping structures can also be provided.
  • the first clamping component 13 and the second clamping component 14 are both left and right clamping cylinders provided on the directional conveying device 11 .
  • the chain rail assembly 6 is connected by a plurality of chain links, and each chain link is arranged and transported along the directional conveying device 11, by providing at least two sets of clamping structures, the chain rail assembly 6 at different work stations can be effectively aligned. Central clamping facilitates accurate identification of the identification device and stable assembly of the assembly unit.
  • the conveying unit also includes a flipping unit, which is disposed adjacent to the first assembly device 2 and electrically connected to the second identification device 44, and can flip the track shoe 7 to the mounting surface with the teeth on it facing upward.
  • the track shoes 7 placed at the material storage position may have problems such as inconsistency of incoming materials and different orientations of the track shoes 7 due to different material supply sources and transportation processes.
  • the track shoes at the material storage position can be rearranged. 7 position, so that the teeth of the track shoe 7 are arranged upward, which facilitates installation with the chain rail assembly 6 and reduces the operating requirements of the first assembly device 2.
  • the turning unit is a mechanical arm equipped with a turning and clamping cylinder.
  • the crawler assembly assembly system also includes a loading device, which includes: a first loading tray 51 , a second loading tray 52 and a third loading tray 53 .
  • the loading device can also be arranged in a box-like shape.
  • the first loading tray 51 is arranged on the lower side of the second identification device 44 and is arranged adjacent to the first assembly device 2. It can carry the track shoes 7 and transport the track shoes 7 to the first assembly device 2;
  • the second loading tray 52 is arranged adjacent to the first assembly assembly 31 and can carry the track bolts 8 and transport the crawler bolts 8 to the first assembly assembly 31.
  • the second loading tray 52 is also provided with a first vibration device, which can pass through The vibration drives the bolt to move, thereby adjusting the position of track bolt 8;
  • the third loading tray 53 is arranged adjacent to the second assembly assembly 32 and can carry the track nuts 9 and transport the track nuts 9 to the first assembly assembly 31.
  • the third loading tray 53 is also provided with a second vibration device and a fourth identification device. component, the second vibration device is suitable for adjusting the position of the track nut 9 , and the fourth identification component is specifically a 3D camera, electrically connected to the second assembly component 32 , and is suitable for detecting the orientation of the track nut 9 .
  • Vibrating devices are provided on the second loading tray 52 and the third loading tray 53, specifically vibrators located on the bottom side of the loading tray, which can realize automatic transportation of parts and facilitate the clamping of each assembly device.
  • the track nut 9 is a locking nut, and there is a need to fix the installation direction.
  • the direction of the nut can be effectively identified, which facilitates accurate clamping and accurate clamping of the second assembly assembly 32. Cooperate.
  • This embodiment also provides a crawler assembly assembly method, including:
  • the limiting structure 12 is controlled to block the movement of the link rail assembly 6. At this time, the limiting structure 12 feeds back a signal to the power part and The first clamping component 13, the power component and the first clamping component 13 obtain the status information of the limiting structure 12;
  • the first clamping component 13 centers and compresses the link rail assembly 6.
  • step S22 and step S23 can be performed simultaneously.
  • the positioning pin can be detachably provided on the first grabbing device 311 without grabbing.
  • This arrangement can be used to position the first set of crawler bolts 8 through the installation of the positioning pins in the connector mounting holes 10 before the first set of crawler bolts 8 is inserted into the connector mounting holes 10, thereby avoiding the installation of the first set of crawler bolts 8 from being offset and improving the front side of the conveyor.
  • Control the first preset first assembly assembly 31, and the first grabbing device 311 on it takes the first set of track bolts 8, moves them to the position of the connector mounting hole 10, and then inserts them;
  • the second vibration device on the third feeding tray 53 is controlled to start, and the crawler nut 9 is driven to the position to be grasped on the third feeding tray 53, so as to control the fourth identification part to obtain the orientation of the crawler nut 9, and feed it back to the third feeding tray 53.
  • the number of bolt holes on the single-link chain rail assembly 6 is four, and the number of the first batch of assembled track bolts is two, corresponding to the first set of track bolts 8 and the first set of track nuts 9, and the first set of track bolts 8 and the first set of track nuts 9.
  • Assembly component 31 and second assembly component 32 is four, and the number of the first batch of assembled track bolts is two, corresponding to the first set of track bolts 8 and the first set of track nuts 9, and the first set of track bolts 8 and the first set of track nuts 9.
  • step S13 for the link rail assembly 6 adjacent to the limiting structure 12 If not, return to step S13 for the link rail assembly 6 adjacent to the limiting structure 12; if yes, return to step S13 for the link rail assembly 6 adjacent to the limiting structure 12 and control
  • the second clamping component 14 centers and compresses the link rail assembly 6, and performs the next step.
  • the chain rail assembly 6 can move along the directional conveying device 11 according to the pitch, and the track shoes 7, track bolts 8 and track nuts 9 can be installed and assembled section by section. While the overall system is more automated, the chain rail assembly 6 can advance more regularly during the assembly process, making it easier to accurately position the position of the chain rail assembly 6 .
  • the second vibration device on the third loading tray 53 is controlled to start, and the crawler nut 9 is driven to the position to be grasped on the third loading tray 53, so as to control the fourth identification part to obtain the orientation of the crawler nut 9 and feed it back to the third feeding tray 53.
  • the second preset second assembly assembly 32 is controlled, and the second grabbing device on it grabs the second set of track nuts 9 according to the required nut orientation, and moves to the corresponding connector mounting hole 10 position, in cooperation with the second preset second assembly assembly 32.
  • the tightening device on the first assembly assembly 31 is tightened.
  • first assembly device 2 and the second assembly component 32 are integrally provided, and the first assembly device 2 can also be used to assemble the track nuts 9 .
  • first assembly device 2 and the second assembly assembly 32 may be separately arranged.
  • steps S321 to S322 can be repeated according to the installation number of track bolts 8 when the connector mounting holes 10 are in different work stations and batches, until the connector mounting holes 10 are completely assembled.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Automatic Assembly (AREA)

Abstract

La présente invention concerne un système d'assemblage d'ensemble de chenille et un procédé d'assemblage d'ensemble de chenille, qui se rapportent au domaine technique des machines industrielles. Le système d'assemblage d'ensemble de chenille comprend une unité de transport, qui est appropriée pour transporter un ensemble rail de chaîne (6) ; une unité d'assemblage, qui est disposée adjacente à l'unité de transport et est appropriée pour entraîner une plaque de chenille (7) à se déplacer et l'assembler de manière correspondante sur l'ensemble rail de chaîne (6) ; et une unité de reconnaissance, qui est disposée adjacente à l'unité de transport, est en liaison de communication avec l'unité d'assemblage et est appropriée pour détecter les structures et les positions de l'ensemble rail de chaîne (6) et de la plaque de chenille (7). Au moyen de la fourniture d'une unité de transport, l'automatisation de transport d'un ensemble rail de chaîne (6) peut être réalisée ; une unité de reconnaissance peut reconnaître avec précision des informations de position de l'ensemble rail de chaîne (6) et d'une plaque de chenille (7), de telle sorte qu'une unité d'assemblage saisit avec précision la plaque de chenille (7) et se déplace dans la direction de l'ensemble rail de chaîne (6) et place la plaque de chenille (7) ; et la plaque de chenille (7) peut également être assemblée avec précision sur l'ensemble rail de chaîne (6) au moyen de la reconnaissance d'informations de structure de l'ensemble rail de chaîne (6) et de la plaque de chenille (7), de telle sorte que l'alignement efficace est réalisé, ce qui permet d'éviter un désalignement d'assemblage, d'améliorer la précision d'assemblage et d'améliorer davantage le degré d'automatisation de la structure globale.
PCT/CN2022/141129 2022-03-31 2022-12-22 Système d'assemblage d'ensemble de chenille et procédé d'assemblage d'ensemble de chenille WO2023185128A1 (fr)

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CN202210352955.8A CN116923580A (zh) 2022-03-31 2022-03-31 一种履带总成装配系统和履带总成装配方法

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0148019A2 (fr) * 1983-12-28 1985-07-10 Maruma Jyusharyo Kabushiki Kaisha Appareil pour actionner les verins d'une presse d'assemblage de chenille
CN102658477A (zh) * 2012-02-20 2012-09-12 常熟华威履带有限公司 一种螺栓正反转结合拧紧法
CN204449861U (zh) * 2014-12-30 2015-07-08 泉州市华茂机械设备有限公司 一种履带总成组装线
WO2019061773A1 (fr) * 2017-09-28 2019-04-04 深圳市大疆百旺科技有限公司 Voie de transport de retour et machine de fixation de vis dotée de celle-ci
CN110587264A (zh) * 2019-10-15 2019-12-20 增城市运豪五金塑料有限公司 一种履带自动组装设备
CN112077869A (zh) * 2020-08-31 2020-12-15 山推工程机械股份有限公司 一种适用于履带板抓取的机器人末端执行器
CN113695870A (zh) * 2021-09-23 2021-11-26 泉州华中科技大学智能制造研究院 一种基于机器视觉的工程机械履带链条柔性组装生产线

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0148019A2 (fr) * 1983-12-28 1985-07-10 Maruma Jyusharyo Kabushiki Kaisha Appareil pour actionner les verins d'une presse d'assemblage de chenille
CN102658477A (zh) * 2012-02-20 2012-09-12 常熟华威履带有限公司 一种螺栓正反转结合拧紧法
CN204449861U (zh) * 2014-12-30 2015-07-08 泉州市华茂机械设备有限公司 一种履带总成组装线
WO2019061773A1 (fr) * 2017-09-28 2019-04-04 深圳市大疆百旺科技有限公司 Voie de transport de retour et machine de fixation de vis dotée de celle-ci
CN110587264A (zh) * 2019-10-15 2019-12-20 增城市运豪五金塑料有限公司 一种履带自动组装设备
CN112077869A (zh) * 2020-08-31 2020-12-15 山推工程机械股份有限公司 一种适用于履带板抓取的机器人末端执行器
CN113695870A (zh) * 2021-09-23 2021-11-26 泉州华中科技大学智能制造研究院 一种基于机器视觉的工程机械履带链条柔性组装生产线

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