Roll assembly system for construction equipment

Abstract

The present invention relates to a roller assembly system of construction equipment, comprising: a first robot; a first setting structure; a bolt / washer supply part; a roller supply part; a bolt fastening part provided at the left and right front and rear of the first setting structure, moving symmetrically left and right by a first driving part, and moving symmetrically front and rear by a fourth driving part and a fifth driving part, picking up a bolt / washer from the bolt / washer supply part to fasten a lower roller to a track frame; a first gripper provided at the front and rear of the first setting structure, moving front and rear by a second driving part, picking up a lower roller from the roller supply part to move to the track frame; a roller alignment part provided at the left and right front and rear of the first setting structure, moving up and down by a third driving part, moving symmetrically left and right by the first driving part, and moving symmetrically front and rear by the fourth driving part and the fifth driving part, aligning the coupling hole of the lower roller and the nut hole of the track frame.

Description

Technical Field

[0001] This invention relates to a roller assembly system for construction equipment. Background Technology

[0002] Construction equipment generally refers to machinery used in construction and civil engineering. It possesses mechanical structures and performance characteristics suitable for different processes such as roads, rivers, ports, railways, and factories. In other words, due to the diversity of operations performed on industrial sites, construction equipment can be categorized into excavating equipment, loading equipment, transportation equipment, unloading equipment, compaction equipment, foundation construction equipment, etc. More specifically, it is a concept encompassing various types of equipment such as bulldozers, excavators, loaders, dump trucks, and rollers.

[0003] The most basic operation performed on an industrial site is excavation. During industrial construction, the main tasks involve digging the ground to a certain depth to install various structures or burying pipelines, which mostly uses excavators.

[0004] Excavators are classified into tracked excavators and wheeled excavators based on their mode of travel. Tracked excavators use tracks to maintain stable contact with the ground during movement and operation. Multiple lower rollers are assembled and installed under the track frame to distribute the weight of the construction equipment evenly across the ground.

[0005] In the existing lower roller assembly process, the track frame to be assembled is placed on a conveyor, and the lower roller is moved to the track frame using equipment such as a hoist. Hole alignment wedges are used to align the lower roller with the track frame, bolts are inserted into the holes, and the bolts are tightened by air punching.

[0006] As mentioned above, the existing lower roller assembly process is mostly carried out manually. This presents several problems: it requires a significant amount of assembly time, leading to decreased productivity; it is highly dependent on the operator's skill level, increasing the likelihood of quality defects; and it places a strain on the operator's musculoskeletal system. Summary of the Invention

[0007] This invention was created to solve the problems of the prior art as described above. The purpose of this invention is to provide a roller assembly system for construction equipment that can automatically assemble and install multiple lower rollers on the underside of a track frame.

[0008] According to one aspect of the present invention, a roller assembly system for construction equipment assembles a plurality of lower rollers onto the track frame of the construction equipment, wherein the system may include: a first robot; a first mounting structure mounted on the first robot; a bolt / washer supply unit for supplying bolts / washers; a roller supply unit for supplying the lower rollers; and bolt fastening units disposed on the left front and right front and rear sides of the first mounting structure, which move symmetrically left and right by a first drive unit and symmetrically forward and backward by a fourth drive unit and a fifth drive unit, for picking up the bolts / washers from the bolt / washer supply unit. The lower roller is secured to the track frame by a washer; a first clamp is provided at the front and rear of the first mounting structure, and moves back and forth by a second drive unit to pick up the lower roller from the roller supply unit and move it to the track frame; and a roller alignment part is provided at the front and rear left and right sides of the first mounting structure, and moves up and down by a third drive unit, moves symmetrically left and right by the first drive unit, and moves symmetrically back and forth by the fourth and fifth drive units to align the engagement hole of the lower roller with the nut hole of the track frame.

[0009] Specifically, it may also include a first vision detection unit disposed at the front end of the first mounting structure. The first vision detection unit includes: a first imaging unit disposed on the longitudinal centerline of the first mounting structure, which detects the assembly position of the lower roller by photographing the track frame; and a first illumination unit disposed on both sides of the first imaging unit, which operates when the first imaging unit takes a picture. Before the end of the guide pin of the roller alignment portion inserted into the coupling hole of the lower roller is inserted into the nut hole corresponding to the roller insertion groove of the track frame, the first vision detection unit automatically identifies the position of the nut hole and aligns the lower roller with the roller insertion groove portion.

[0010] Specifically, the aforementioned bolt fastening portion may include: a first bolt fastening portion disposed on the left front of the first mounting structure; a second bolt fastening portion disposed on the right front of the first mounting structure; a third bolt fastening portion disposed on the left rear of the first mounting structure; and a fourth bolt fastening portion disposed on the right rear of the first mounting structure. The first, second, third, and fourth bolt fastening portions each include: a torque tool; a sleeve mounted on the torque tool and for picking up bolts / washers; and a first plate for fixing the torque tool.

[0011] Specifically, the roller alignment portion may include: a first roller alignment portion disposed on the left front of the first mounting structure; a second roller alignment portion disposed on the right front of the first mounting structure; a third roller alignment portion disposed on the left rear of the first mounting structure; and a fourth roller alignment portion disposed on the right rear of the first mounting structure. The first, second, third, and fourth roller alignment portions each include: a guide rod disposed on the first plate that is slidably inserted through the bolt fastening portion; a guide pin mounted on the guide rod and inserted into the engagement hole of the lower roller and the nut hole of the track frame; and a second plate for fixing the guide rod.

[0012] Specifically, the first driving unit may include: a first motor disposed on the first mounting structure; a first pinion disposed on the motor shaft of the first motor; a first rack meshing with one side of the first pinion and connected to the second plate of each of the first and third roller alignment portions, so that the first and third roller alignment portions can move directly left and right, and the first and third bolt fastening portions can move indirectly left and right; and a second rack meshing with the other side of the first pinion and connected to the second plate of each of the second and fourth roller alignment portions, so that the second and fourth roller alignment portions can move directly left and right, and the second and fourth bolt fastening portions can move indirectly left and right.

[0013] Specifically, the aforementioned third drive unit may include: a third cylinder, fixed to the first plate of the first bolt fastening part, with a cylinder rod extending downwards and connected to the second plate of the first roller alignment part, causing the first roller alignment part to move up and down; a fourth cylinder, fixed to the first plate of the second bolt fastening part, with a cylinder rod extending downwards and connected to the second plate of the second roller alignment part, causing the second roller alignment part to move up and down; a fifth cylinder, fixed to the first plate of the third bolt fastening part, with a cylinder rod extending downwards and connected to the second plate of the third roller alignment part, causing the third roller alignment part to move up and down; and a sixth cylinder, fixed to the first plate of the fourth bolt fastening part, with a cylinder rod extending downwards and connected to the second plate of the fourth roller alignment part, causing the fourth roller alignment part to move up and down.

[0014] Specifically, the fourth drive unit may include: a second motor disposed on the first mounting structure; a third pinion disposed on the motor shaft of the second motor; a fifth rack meshing with the upper side of the third pinion and connected to the first plate of the first bolt fastening part, so that the first bolt fastening part moves directly back and forth and the first roller alignment part moves indirectly back and forth; and a sixth rack meshing with the lower side of the third pinion and connected to the first plate of the third bolt fastening part, so that the third bolt fastening part moves directly back and forth and the third roller alignment part moves indirectly back and forth.

[0015] Specifically, the fifth drive unit may include: a third motor disposed on the first mounting structure; a fourth pinion disposed on the motor shaft of the third motor; a seventh rack meshing with the upper side of the fourth pinion and connected to the first plate of the second bolt fastening part, so that the second bolt fastening part moves directly back and forth and the second roller alignment part moves indirectly back and forth; and an eighth rack meshing with the lower side of the fourth pinion and connected to the first plate of the fourth bolt fastening part, so that the fourth bolt fastening part moves directly back and forth and the fourth roller alignment part moves indirectly back and forth.

[0016] Specifically, the second drive unit may include: a first cylinder disposed on the first mounting structure; a second cylinder disposed on the first mounting structure; a second pinion rotatably disposed on the first mounting structure; a third rack meshing with one side of the second pinion and connected to the first pawl of the first gripper and the cylinder rod of the first cylinder, causing the first pawl to move back and forth; and a fourth rack meshing with the other side of the second pinion and connected to the second pawl of the first gripper and the cylinder rod of the second cylinder, causing the second pawl to move back and forth.

[0017] Specifically, the aforementioned bolt / washer supply unit may include: a bolt supply unit having a bolt sliding portion formed at a downward inclination of a certain length to allow the bolt to slide under gravity, and disposed on a first support frame; a washer supply unit having a bolt / washer sliding portion formed at a downward inclination of a certain length to allow a bolt with an inserted washer to slide under gravity, and disposed on the aforementioned first support frame; a bolt / washer seating portion disposed at the end where the bolt sliding portion and the bolt / washer sliding portion meet, for seating a bolt to be picked up by the aforementioned bolt fastening portion; and a first stop member disposed at the front end of the aforementioned bolt / washer seating portion, for operating in a manner that supplies bolts one by one to the aforementioned bolt / washer seating portion.

[0018] Specifically, the aforementioned washer supply section may include a washer insertion section, which is configured to extend from the midpoint of the aforementioned bolt sliding section downwards at a distance at least shorter than the length of the bolt, and insert a washer into the bolt when the bolt sliding section enters the bolt / washer sliding section.

[0019] Specifically, the roller supply unit may include: a roller standby section, disposed on the second support frame, for idling a plurality of lower rollers to be supplied to the first clamp; a roller sliding section, extending a certain length at an incline downward from the roller standby section, so that the lower rollers idling in the roller standby section can slide by gravity; a roller seating section, disposed at the end of the roller sliding section, for seating a lower roller to be picked up by the first clamp; and a second stop, disposed between the roller standby section and the roller sliding section, to operate such that the plurality of lower rollers idling in the roller standby section are supplied one by one to the roller seating section.

[0020] Specifically, it may also include: a second robot; a second mounting structure disposed on the second robot; a second gripper disposed in front of and behind the second mounting structure, which moves back and forth via a sixth drive unit to pick up the lower roller stored in the roller tray and move it to the roller supply unit; and a second vision detection unit disposed at the front end of the second mounting structure, which automatically identifies the position of the lower roller stored in the roller tray and aligns the second gripper with the lower roller.

[0021] Specifically, the sixth drive unit may include: a seventh cylinder disposed in the second mounting structure; an eighth cylinder disposed in the second mounting structure; a fifth pinion rotatably disposed in the second mounting structure; a ninth rack meshing with one side of the fifth pinion and connected to the third pawl of the second gripper and the cylinder rod of the seventh cylinder, causing the third pawl to move back and forth; and a tenth rack meshing with the other side of the fifth pinion and connected to the fourth pawl of the second gripper and the cylinder rod of the eighth cylinder, causing the fourth pawl to move back and forth.

[0022] The roller assembly system for construction equipment according to the present invention can automatically assemble multiple lower rollers installed on the underside of the track frame, thereby improving productivity through the standardization of the assembly process brought about by automation, and preventing musculoskeletal diseases of workers. Attached Figure Description

[0023] Figure 1 This is a structural diagram of a roller assembly system for construction equipment according to an embodiment of the present invention.

[0024] Figure 2This is a diagram illustrating a roller assembly system for a construction device according to an embodiment of the present invention.

[0025] Figure 3 It is used to explain the installation at Figure 2 An external perspective view of the first attachment of the first robot in the image.

[0026] Figure 4 It is to remove Figure 3 The first stereoscopic view of the interior of the first accessory after the visual inspection unit in the middle.

[0027] Figure 5 It is to remove Figure 3 The second stereoscopic view inside the first attachment after the visual inspection unit in the middle.

[0028] Figure 6 yes Figure 4 The main view of the first attachment.

[0029] Figure 7 yes Figure 4 The left view of the first attachment.

[0030] Figure 8 yes Figure 6 Top-view perspective of the first attachment.

[0031] Figure 9 yes Figure 6 The rear-view perspective view of the first attachment.

[0032] Figure 10 It is Figure 6 Vertical cross-section of the first attachment cut off.

[0033] Figure 11 It is used for explanation Figure 2 A 3D view of the bolt / washer supply section.

[0034] Figure 12 It is used for explanation Figure 2 A three-dimensional view of the roller supply section.

[0035] Figure 13 It is used to explain the installation at Figure 2 The first perspective view of the second attachment of the second robot in the image.

[0036] Figure 14 It is used to explain the installation at Figure 2 The second perspective view of the second attachment of the second robot in the image. Detailed Implementation

[0037] The objectives, specific advantages, and novel features of this invention will become clearer from the following detailed description and preferred embodiments in conjunction with the accompanying drawings. When adding reference numerals to the constituent elements of the figures in this specification, it should be noted that identical reference numerals are used as much as possible for the same constituent elements, even if they are labeled in different figures. Furthermore, in describing this invention, detailed descriptions of relevant prior art will be omitted where it is believed that such detailed descriptions might unnecessarily obscure the spirit of the invention.

[0038] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0039] Figure 1 This is a structural diagram of a roller assembly system for construction equipment according to an embodiment of the present invention. Figure 2 This is a diagram illustrating a roller assembly system for a construction device according to an embodiment of the present invention.

[0040] in addition, Figure 3 It is used to explain the installation at Figure 2 An external perspective view of the first attachment of the first robot in the image. Figure 4 It is to remove Figure 3 The first three-dimensional view of the interior of the first accessory behind the visual inspection unit in the middle. Figure 5 It is to remove Figure 3 The second perspective view of the interior of the first accessory behind the visual inspection unit in the middle. Figure 6 yes Figure 4 The main view of the first attachment, Figure 7 yes Figure 4 Left view of the first attachment, Figure 8 yes Figure 6 Top-view perspective view of the first appendix. Figure 9 yes Figure 6 Rear-view perspective view of the first attachment. Figure 10 It is Figure 6 A vertical cross-sectional view of the first accessory cut off. Figure 11 It is used for explanation Figure 2 A 3D view of the bolt / washer supply section. Figure 12 It is used for explanation Figure 2 A three-dimensional view of the roller supply section.

[0041] in addition, Figure 13 It is used to explain the installation at Figure 2 First perspective view of the second accessory of the second robot in the image. Figure 14 It is used to explain the installation at Figure 2 The second perspective view of the second attachment of the second robot in the image.

[0042] like Figures 1 to 14As shown, the roller assembly system 1 for construction equipment according to an embodiment of the present invention can be configured to feed the lower roller 3000 to be installed on the track frame 2000 of the construction equipment into the conveyor 4000 and automatically assemble it. It may include a first robot 100, a first track shaft 200, a first accessory 300, a bolt / washer supply unit 400, a roller supply unit 500, a second robot 600, a second track shaft 700, a second accessory 800, a pallet station 900, and a control unit 1000.

[0043] In this embodiment, although not illustrated, the construction equipment may be a tracked excavator that performs excavation work, loading work for transporting soil and sand, demolition work for demolishing buildings, and ground leveling work for leveling the ground, and includes a working device, a rotating body, a traveling unit, and a track system.

[0044] The running gear of this excavator can be configured as follows: a set of left and right idler wheels are rotatably mounted on the front side of the track frame 2000; a set of left and right sprockets are rotatably mounted on the rear side; tracks surround the idler wheels and sprockets; multiple lower rollers 3000 are mounted on the lower side of the track frame 2000 to evenly distribute the weight of the construction equipment on the ground through the tracks; and upper rollers are mounted on the upper side of the track frame to ensure smooth track stretching and rotation.

[0045] like Figure 2 As shown, the track frame 2000 may have a roller insertion groove 2100 and a nut hole 2200. The roller insertion groove 2100 allows the lower roller 3000 to be inserted, and the nut hole 2200 allows the lower roller 3000 to be fixed to the track frame 2000 by bolts. Furthermore, as... Figure 12 As shown, the lower roller 3000 can be composed of a roller 3100 that contacts the track, a roller shaft 3200 that passes through the center of the roller 3100, and a pair of collars 3300 that grip the roller shaft 3200 and protrude towards both sides of the roller 3100. Each of the pair of collars 3300 has two engagement holes 3400 for fixing the lower roller 3000 to the track frame 2000 using bolts, and these engagement holes 3400 can correspond to nut holes 2200.

[0046] The aforementioned multiple lower rollers 3000 are installed on the underside of the track frame 2000. However, due to the problems that manual installation requires a lot of time, resulting in reduced productivity, and that it depends on the skill level of the operators, there is a high possibility of quality defects, and it also puts a burden on the musculoskeletal system of the operators, this embodiment provides a roller assembly system 1 for construction equipment that can automatically assemble the lower rollers 3000.

[0047] like Figure 1As shown, the roller assembly system 1 can be controlled by a control unit 1000, which consists of a main control unit 1100, a first control unit 1200, and a second control unit 1300, to organically operate the first robot 100, the first accessory 300, the bolt / washer supply unit 400, the roller supply unit 500, the second robot 600, and the second accessory 800. Figures 2 to 14 Before explaining each component in detail, the sequence of operations of the roller assembly system 1 will be briefly described first.

[0048] The main control unit 1100 may be a PLC (Programmable Logic Controller) that stores all the information required for the operation of the roller assembly system 1, and may control the operation of the roller assembly system 1 together with the first control unit 1200 of the first robot 100 which is a roller assembly robot and the second control unit 1300 of the second robot 600 which is a roller supply robot.

[0049] Before the first robot 100, acting as a roller assembly robot, performs the roller assembly operation, the main control unit 1100 identifies the model of the track frame 2000 suitable for the construction equipment. Since various sizes of lower rollers 3000 need to be installed according to the model of the track frame 2000, the main control unit 1100 sets a sleeve 332 and a torque tool 331 suitable for the identified track frame 2000 model, and selects a bolt / washer supply unit 400 to supply bolts suitable for the nut hole 2200 of the track frame 2000 and the mating hole 3400 of the lower roller 3000.

[0050] Furthermore, before the second robot 600, which acts as a roller supply robot, performs the roller supply operation, the main control unit 1100 selects and stores a roller tray 910 containing a lower roller 3000 that matches the model of the track frame 2000 identified above. The selected roller tray 910 can be one of a plurality of trays located in the tray station 900, and information can be provided to the main control unit 1100 via a QR code reader 5000.

[0051] Then, the main control unit 1100, together with the first and second control units 1200 and 1300, controls the first robot 100, the first accessory 300, the bolt / washer supply unit 400, the roller supply unit 500, the second robot 600, and the second accessory 800 to operate organically, thereby performing the assembly operation of the lower roller 3000.

[0052] First, the main control unit 1100 supplies bolts / washers to the bolt / washer supply unit 400, causing the first robot 100 to move and the bolt fastening part 330 of the first accessory 300 to pick up the bolts / washers from the bolt / washer supply unit 400. Then, the lower roller 3000 is supplied to the roller supply unit 500, causing the first robot 100 to move and the first gripper 340 of the first accessory 300 to pick up the lower roller 3000 from the roller supply unit 500. (At this time, the first accessory 300...) The guide pin 352 of the roller alignment part 350 of the 0 is inserted into the engagement hole 3400 of the lower roller 3000 of the roller supply part 500. The first robot 100 is moved so that the end of the guide pin 352 inserted into the engagement hole 3400 of the lower roller 3000 is inserted into the nut hole 2200 corresponding to the roller insertion slot 2100 of the track frame 2000. Then, the bolt fastening part 330 performs the bolt connection operation, thereby assembling one lower roller 3000 into one roller insertion slot 2100. This assembly operation is repeated until all the roller insertion slots 2100 of the track frame 2000 are equipped with lower rollers 3000.

[0053] In the above description, the lower roller 3000 is to be assembled into the multiple roller insertion slots 2100 located at different positions on the track frame 2000. Therefore, the position of the roller insertion slots 2100 is different in each assembly step, making it difficult to accurately align the lower roller 3000 with the corresponding roller insertion slot 2100. Therefore, in this embodiment, by providing the first vision detection unit 360 to the first accessory 300, the position of the nut hole 2200 is automatically identified before the end of the guide pin 352 inserted into the engagement hole 3400 of the lower roller 300 is inserted into the nut hole 2200 corresponding to the roller insertion slot 2100. This allows the lower roller 3000 to be accurately aligned with the corresponding roller insertion slot 2100.

[0054] Furthermore, if the main control unit 1100 causes the first robot 100 to operate as described above, causing the first gripper 340 of the first accessory 300 to pick up the lower roller 3000 of the roller supply unit 500, the number of roller supply units 500 will decrease. Therefore, in order to replenish them, the second robot 600 can be operated, causing the second gripper 830 of the second accessory 800 to pick up the lower roller 3000 stored in the corresponding roller tray 910 and supply it to the roller supply unit 500 of the first accessory 300.

[0055] In the above description, although multiple lower rollers 3000 are arranged in a certain configuration within the roller tray 910, a second vision detection unit 840 can be provided in the second accessory 800 to pick them up more accurately using the second gripper 830. The second vision detection unit 840 can automatically identify the position of the lower rollers 3000 stored in the roller tray 910, thereby ensuring that the second gripper 830 is accurately aligned with the corresponding lower roller 3000.

[0056] In the following text, the constituent elements of the roller assembly system 1 that operates as described above, namely the first robot 100, the first track shaft 200, the first accessory 300, the bolt / washer supply unit 400, the roller supply unit 500, the second robot 600, the second track shaft 700, the second accessory 800, the pallet station 900, and the control unit 1000, will be described in detail.

[0057] like Figure 1 As shown, the first robot 100 can be controlled by the main control unit 1100 and the first control unit 1200, and the lower roller 3000 can be assembled onto the track frame 2000 by installing the first accessory 300.

[0058] The first robot 100 may include a first vehicle section 110, a first rotating section 120, a first arm section 130, and a first servo motor section 140.

[0059] The first vehicle part 110 can move back and forth on the first track shaft 200 so that the first accessory 300 can easily assemble the lower roller 3000 onto the track frame 2000.

[0060] In the above text, the first track axis 200 may include a rectangular first moving track 210 and a first guide rail 220. The first moving track 210 has a width corresponding to the width of the first vehicle part 110 and extends with a certain length. The first guide rail 220 is disposed on both sides of the first moving track 210 to guide the movement of the first vehicle part 110.

[0061] In this embodiment, an example of the first robot 100 moving along the first track axis 200 is described, but it is obvious that it can also be configured to enable the first vehicle unit 110 to drive autonomously.

[0062] The first rotating part 120 can be mounted on the first vehicle part 110 and can rotate left and right via the first servo motor part 140.

[0063] The first arm 130 is mounted on the first rotating part 120 and can rotate left and right through the first rotating part. It is configured such that at least two arms can perform joint movements and can rotate up and down through the first servo motor part 140 provided on the joint part.

[0064] The first accessory 300 can be installed at the end of the first arm 130 and the lower roller 3000 can be assembled to the track frame 2000. The first accessory 300 may include a first mounting structure 310, a drive unit 320, a bolt fastening unit 330, a first clamp 340, a roller alignment unit 350, and a first vision inspection unit 360.

[0065] The first mounting structure 310 can be installed at the end of the first arm 130 of the first robot 100, and can be configured to accommodate the drive unit 320, bolt fastening unit 330, first gripper 340, roller alignment unit 350, and first vision inspection unit 360 respectively.

[0066] like Figure 3 As shown, the drive unit 320 can be disposed on the first mounting structure 310 and can generate power. The drive unit 320 can transmit power to the bolt fastening part 330, the first clamp 340, and the roller alignment part 350 respectively, and can include first to fifth drive units 321, 322, 323, 324, and 325.

[0067] like Figure 4 , Figure 6 , Figure 7 , Figure 8 , Figure 10 As shown, the first drive unit 321 can transmit power in a way that allows the roller alignment part 350 to move symmetrically left and right. At this time, the bolt fastening part 330 can also move symmetrically left and right by the power of the first drive unit 321, just like the roller alignment part 350.

[0068] This first drive unit 321 may include a first motor 321a, a first pinion 321b, a first rack 321c, and a second rack 321d.

[0069] The first motor 321a can be disposed at the upper end of the first mounting structure 310, and can transmit power to the first pinion 321b, the first rack 321c, and the second rack 321d. The first motor 321a can be configured on the transverse centerline and the longitudinal centerline of the first mounting structure 310. The motor shaft of the first motor 321a can extend directly downward along the longitudinal centerline of the first mounting structure 310.

[0070] The first pinion 321b can be mounted on the motor shaft of the first motor 321a and can mesh with the first and second racks 321c and 321d. The first pinion 321b can be rotated by the rotational force of the first motor 321a and transmit its rotational force to the first and second racks 321c and 321d.

[0071] The first rack 321c can mesh with one side of the first pinion 321b and is connected to the first and third roller alignment portions 350a and 350c on the left front and rear sides of the four roller alignment portions 350. Through this configuration of the first rack 321c, the first and third roller alignment portions 350a and 350c can move left and right. At this time, the first and third bolt fastening portions 330a and 330c on the left front and rear sides of the four bolt fastening portions 330 can move left and right simultaneously with the first and third roller alignment portions 350a and 350c via the power of the first drive unit 321. This is because the second plates 353 of each of the first and third roller alignment portions 350a and 350c, which are directly connected to the first rack 321c, are connected to the first plates 333 of each of the first and third bolt fastening portions 330a and 330c, a point that will become clear from the following description. That is, the first rack 321c can be configured to allow the first and third roller alignment portions 350a and 350c to move directly left and right, and the first and third bolt fastening portions 330a and 330c to move indirectly left and right.

[0072] The second rack 321d can mesh with the other side of the first pinion 321b and is connected to the second and fourth roller alignment portions 350b and 350d on the right front and rear sides of the four roller alignment portions 350. Through this configuration of the second rack 321d, the second and fourth roller alignment portions 350b and 350d can move left and right. At this time, the second and fourth bolt fastening portions 330b and 330d on the right front and rear sides of the four bolt fastening portions 330 can move left and right simultaneously with the second and fourth roller alignment portions 350b and 350d via the power of the first drive unit 321. This is because the second plates 353 of each of the second and fourth roller alignment portions 350b and 350d, which are directly connected to the second rack 321d, are connected to the first plates 333 of each of the second and fourth bolt fastening portions 330b and 330d, a point that will become clear from the following description. That is, the second rack 321d can be configured to allow the second and fourth roller alignment portions 350b and 350d to move directly left and right, and the second and fourth bolt fastening portions 330b and 330d to move indirectly left and right.

[0073] As described above, when the first and second racks 321c and 321d mesh with one side and the other side of the first pinion 321b, the first and third roller alignment portions 350a and 350c on the left front and rear sides move to the left, the second and fourth roller alignment portions 350b and 350d on the right front and rear sides move to the right, and when the first and third roller alignment portions 350a and 350c on the left front and rear sides move to the right, the second and fourth roller alignment portions 350b and 350d on the right front and rear sides move to the left.

[0074] That is, the first and third roller alignment portions 350a and 350c located on the front and rear left sides, and the second and fourth roller alignment portions 350b and 350d located on the front and rear right sides, can have their spacing adjusted by symmetrically moving the first drive unit 321 left and right. At the same time, the first and third bolt fastening portions 330a and 330c located on the front and rear left sides, and the second and fourth bolt fastening portions 330b and 330d located on the front and rear right sides, can also have their spacing adjusted by symmetrically moving the first drive unit 321 left and right.

[0075] like Figure 4 , Figure 5 , Figure 9 , Figure 10 As shown, the second drive unit 322 can transmit power to the first gripper 340 to pick up or drop off the lower roller 3000 of the roller supply unit 500, and may include a first cylinder 322a, a second cylinder 322b, a second pinion 322c, a third rack 322d, and a fourth rack 322e.

[0076] The first cylinder 322a can be located at the upper end of the first mounting structure 310 and can transmit power to the third rack 322d. The first cylinder 322a can be located to the left of the first motor 321a, which is arranged on the transverse centerline and longitudinal centerline of the first mounting structure 310.

[0077] The second cylinder 322b can be located at the upper end of the first mounting structure 310 and can transmit power to the fourth rack 322e. The second cylinder 322b can be located to the right of the first motor 321a, which is arranged on the transverse centerline and longitudinal centerline of the first mounting structure 310.

[0078] The second pinion 322c can be rotatably disposed on the first mounting structure 310, and can mesh with the third and fourth racks 322d and 322e between the third rack and the fourth rack. That is, the second pinion 322c and the third and fourth racks 322d and 322e can be combined into a symmetric structure.

[0079] The third rack 322d can mesh with one side of the second pinion 322c and can be connected to the first pawl 341 of the first gripper 340. The third rack 322d can be connected to the cylinder rod of the first cylinder 322a, thereby causing the first pawl 341 to move back and forth.

[0080] The fourth rack 322e can mesh with the other side of the second pinion 322c and can be connected to the second pawl 342 of the first gripper 340. The fourth rack 322e can be connected to the cylinder rod of the second cylinder 322b, thereby causing the second pawl 342 to move back and forth.

[0081] As described above, by means of the third and fourth racks 322d and 322e that mesh with one side and the other side of the second pinion 322c, the first and second jaws 341 and 342 of the first gripper 340 can move in the back-and-forth direction to pick up or drop off the lower roller 3000.

[0082] like Figures 4 to 10 As shown, the third drive unit 323 can be fixed to the bolt fastening unit 330 and can transmit power to move the roller alignment unit 350 up and down, and can include a third cylinder 323a, a fourth cylinder 323b, a fifth cylinder 323c and a sixth cylinder 323d.

[0083] The third cylinder 323a can be fixed to the first plate 333 of the first bolt fastening part 330a on the left front of the four bolt fastening parts 330, and the cylinder rod extends directly downward to connect with the second plate 353 of the first roller alignment part 350a on the left front of the four roller alignment parts 350. This third cylinder 323a can transmit power by moving the first roller alignment part 350a on the left front up and down.

[0084] The fourth cylinder 323b can be fixed to the first plate 333 of the second bolt fastening part 330b on the right front of the four bolt fastening parts 330, and the cylinder rod extends directly downward to connect with the second plate 353 of the second roller alignment part 350b on the right front of the four roller alignment parts 350. This fourth cylinder 323b can transmit power by moving the second roller alignment part 350b on the right front up and down.

[0085] The fifth cylinder 323c can be fixed to the first plate 333 of the third bolt fastening part 330c on the left rear side of the four bolt fastening parts 330, and the cylinder rod extends directly downward to connect with the second plate 353 of the third roller alignment part 350c on the left rear side of the four roller alignment parts 350. This fifth cylinder 323c transmits power by moving the third roller alignment part 350c on the left rear side up and down.

[0086] The sixth cylinder 323d can be fixed to the first plate 333 of the fourth bolt fastening part 330d on the right rear side of the four bolt fastening parts 330, and the cylinder rod extends directly downward to connect with the second plate 353 of the fourth roller alignment part 350d on the right rear side of the four roller alignment parts 350. This sixth cylinder 323d transmits power by moving the fourth roller alignment part 350d on the right rear side up and down.

[0087] like Figure 6 , Figure 8 , Figure 10 As shown, the fourth drive unit 324 can transmit power in such a way that the first bolt fastening part 330a on the left front and the third bolt fastening part 330c on the left rear of the four bolt fastening parts 330 can move symmetrically back and forth. At this time, the first roller alignment part 350a on the left front and the third roller alignment part 350c on the left rear of the four roller alignment parts 350 can also move symmetrically back and forth through the power of the fourth drive unit 324, just like the first bolt fastening part 330a and the third bolt fastening part 330c.

[0088] This fourth drive unit 324 may include a second motor 324a, a third pinion 324b, a fifth rack 324c, and a sixth rack 324d.

[0089] The second motor 324a can be located in the middle of the first mounting structure 310 and can transmit power to the third pinion 324b, the fifth rack 324c, and the sixth rack 324d. The second motor 324a can be configured on the left side of the first mounting structure 310 with reference to the longitudinal centerline. The motor shaft of the second motor 324a can extend along the transverse centerline of the first mounting structure 310 toward the inside of the first mounting structure 310.

[0090] The third pinion 324b can be mounted on the motor shaft of the second motor 324a and can mesh with the fifth and sixth racks 324c and 324d. The third pinion 324b can be rotated by the rotational force of the second motor 324a and transmit its rotational force to the fifth and sixth racks 324c and 324d.

[0091] The fifth rack 324c can mesh with the upper side of the third pinion 324b and connect to the first bolt fastening part 330a on the left front of the four bolt fastening parts 330. With this configuration, the first bolt fastening part 330a can move back and forth. At this time, the first roller alignment part 350a on the left front of the four roller alignment parts 350 can move back and forth simultaneously with the first bolt fastening part 330a via the power of the fourth drive unit 324. This is because the first plate 333 of the first bolt fastening part 330a, which is directly connected to the fifth rack 324c, is connected to the second plate 353 of the first roller alignment part 350a, a point that will become clear from the following description. That is, the fifth rack 324c can be configured to allow the first bolt fastening part 330a to move directly back and forth, and the first roller alignment part 350a to move indirectly back and forth.

[0092] The sixth rack 324d can mesh with the lower side of the third pinion 324b and connect to the third bolt fastening part 330c on the left rear side of the four bolt fastening parts 330. With this configuration, the third bolt fastening part 330c can move back and forth. At this time, the third roller alignment part 350c on the left rear side of the four roller alignment parts 350 can move back and forth simultaneously with the third bolt fastening part 330c via the power of the fourth drive unit 324. This is because the first plate 333 of the third bolt fastening part 330c, which is directly connected to the sixth rack 324d, is connected to the second plate 353 of the third roller alignment part 350c, a point that will become clear from the following description. That is, the sixth rack 324d can be configured to allow the third bolt fastening part 330c to move directly back and forth, and the third roller alignment part 350c to move indirectly back and forth.

[0093] As described above, the fifth and sixth racks 324c and 324d, which mesh with the upper and lower sides of the third pinion 324b, cause the third bolt fastening part 330c on the left rear side to move backward when the first bolt fastening part 330a on the left front side moves forward, and the third bolt fastening part 330c on the left rear side moves forward when the first bolt fastening part 330a on the left front side moves backward.

[0094] That is, the first bolt fastening part 330a located on the front left and the third bolt fastening part 330c located on the rear left can adjust their spacing by moving the fourth drive part 324 symmetrically back and forth. At the same time, the first roller alignment part 350a located on the front left and the third roller alignment part 350c located on the rear left also adjust their spacing by moving the fourth drive part 324 symmetrically back and forth.

[0095] like Figure 6 , Figure 8 , Figure 10 As shown, the fifth drive unit 325 can transmit power in such a way that the second bolt fastening part 330b on the front right and the fourth bolt fastening part 330d on the rear right of the four bolt fastening parts 330 can move symmetrically back and forth. At this time, the second roller alignment part 350b on the rear right and the fourth roller alignment part 350d on the rear right of the four roller alignment parts 350 can also move symmetrically back and forth back and forth by the power of the fifth drive unit 325, just like the second bolt fastening part 330b and the fourth bolt fastening part 330d.

[0096] This fifth drive unit 325 may include a third motor 325a, a fourth pinion 325b, a seventh rack 325c, and an eighth rack 325d.

[0097] The third motor 325a can be located in the middle of the first mounting structure 310 and can transmit power to the fourth pinion 325b, the seventh rack 325c, and the eighth rack 325d. The third motor 325a can be configured on the right side of the first mounting structure 310 with reference to the longitudinal centerline. The motor shaft of the third motor 325a can extend along the transverse centerline of the first mounting structure 310 toward the inside of the first mounting structure 310.

[0098] The fourth pinion 325b can be mounted on the motor shaft of the third motor 325a and can mesh with the seventh and eighth racks 325c and 325d. The fourth pinion 325b can be rotated by the rotational force of the third motor 325a and transmit its rotational force to the seventh and eighth racks 325c and 325d.

[0099] The seventh rack 325c can mesh with the upper side of the fourth pinion 325b and connect to the second bolt fastening part 330b on the front right of the four bolt fastening parts 330. With this configuration, the second bolt fastening part 330b can move back and forth. At this time, the second roller alignment part 350b on the front right of the four roller alignment parts 350 can move back and forth simultaneously with the second bolt fastening part 330b via the power of the fifth drive unit 325. This is because the first plate 333 of the second bolt fastening part 330b, which is directly connected to the seventh rack 325c, is connected to the second plate 353 of the second roller alignment part 350b, a point that will become clear from the following description. That is, the fifth rack 324c can be configured to allow the second bolt fastening part 330b to move directly back and forth and the second roller alignment part 350b to move indirectly back and forth.

[0100] The eighth rack 325d can mesh with the lower side of the fourth pinion 325b and is connected to the fourth bolt fastening part 330d on the right rear side of the four bolt fastening parts 330. With this configuration, the fourth bolt fastening part 330d can move back and forth. At this time, the fourth roller alignment part 350d on the right rear side of the four roller alignment parts 350 can move back and forth simultaneously with the fourth bolt fastening part 330d via the power of the fifth drive unit 325. This is because the first plate 333 of the fourth bolt fastening part 330d, which is directly connected to the eighth rack 325d, is connected to the second plate 353 of the fourth roller alignment part 350d, a point that will become clear from the following description. That is, the fifth rack 324c can be configured to allow the fourth bolt fastening part 330d to move directly back and forth, and the fourth roller alignment part 350d to move indirectly back and forth.

[0101] As described above, the seventh and eighth racks 325c and 325d, which mesh with the upper and lower sides of the fourth pinion 325b, cause the fourth bolt fastening part 330d on the right rear side to move backward when the second bolt fastening part 330b on the right front side moves forward, and the fourth bolt fastening part 330d on the right rear side moves forward when the second bolt fastening part 330b on the right front side moves backward.

[0102] That is, the second bolt fastening part 330b located on the front right side and the fourth bolt fastening part 330d located on the rear right side can have their spacing adjusted by moving the fifth drive part 325 symmetrically back and forth. At the same time, the second roller alignment part 350b located on the front right side and the fourth roller alignment part 350d located on the rear right side can also have their spacing adjusted by moving the fifth drive part 325 symmetrically back and forth.

[0103] The aforementioned fourth drive unit 324 and fifth drive unit can be formed as a left-right symmetrical structure based on the longitudinal centerline of the first installation structure 310, but are not limited to this.

[0104] like Figure 3 As shown, the bolt fastening part 330 can be provided on the left front and right front and rear sides of the first setting structure 310, and can pick up bolts / washers from the bolt / washer supply part 400 and fasten the lower roller 3000 to the track frame 2000.

[0105] like Figure 4 , Figure 5 , Figure 7 , Figure 9 As shown, the bolt fastening part 330 may include: a first bolt fastening part 330a disposed on the left front of the first mounting structure 310, a second bolt fastening part 330b disposed on the right front of the first mounting structure 310, a third bolt fastening part 330c disposed on the left rear of the first mounting structure 310, and a fourth bolt fastening part 330d disposed on the right rear of the first mounting structure 310.

[0106] The first, second, third, and fourth bolt fastening parts 330a, 330b, 330c, and 330d constituting the bolt fastening part 330 can be set independently of each other, and can include a torque tool 331, a sleeve 332 mounted on the torque tool 331 and picking up bolts / washers, and a first plate 333 for fixing the torque tool 331.

[0107] The first plate 333 of the first bolt fastening part 330a can be connected to the fifth rack 324c of the fourth drive part 324, the first plate 333 of the second bolt fastening part 330b can be connected to the seventh rack 325c of the fifth drive part 325, the first plate 333 of the third bolt fastening part 330c can be connected to the sixth rack 324d of the fourth drive part 324, and the first plate 333 of the fourth bolt fastening part 330d can be connected to the eighth rack 325d of the fifth drive part 325.

[0108] The bolt fastening part 330, composed of the first, second, third, and fourth bolt fastening parts 330a, 330b, 330c, and 330d described above, can move symmetrically left and right via the first drive part 321, and can move symmetrically back and forth via the fourth and fifth drive parts 324 and 325. This allows adjustment of its width to correspond to the four mating holes 3400 provided on the lower rollers 3000 of various specifications. The symmetrical back-and-forth and left-and-right movement of the first, second, third, and fourth bolt fastening parts 330a, 330b, 330c, and 330d has already been mentioned in the description of the first drive part 321 and the fourth and fifth drive parts 324 and 325, and therefore will be omitted here to avoid redundancy.

[0109] like Figure 3 As shown, the first clamp 340 can be installed in front of or behind the first mounting structure 310, and can pick up the lower roller 3000 from the roller supply unit 500 and move it to the track frame 2000.

[0110] like Figure 4 , Figure 5 , Figure 9 , Figure 10 As shown, this first gripper 340 may include a first claw 341 disposed in front of the first mounting structure 310 and a second claw 342 disposed behind the first mounting structure 310.

[0111] The first claw 341 can be connected to the third rack 322d of the second drive unit 322, and the second claw 342 can be connected to the third rack 322d of the second drive unit 322.

[0112] The first and second jaws 341 and 342 of the first gripper 340 can pick up or drop off the lower roller 3000 by moving back and forth through the third and fourth racks 322d and 322e driven by the second drive unit 322.

[0113] like Figure 3As shown, the roller alignment part 350 can be provided on the left front and right front and rear sides of the first setting structure 310, and can align the coupling hole 3400 of the lower roller 3000 and the nut hole 2200 of the track frame 2000.

[0114] like Figure 4 , Figure 6 , Figure 8 , Figure 9 , Figure 10 As shown, this roller alignment portion 350 may include: a first roller alignment portion 350a disposed on the left front of the first mounting structure 310, a second roller alignment portion 350b disposed on the right front of the first mounting structure 310, a third roller alignment portion 350c disposed on the left rear of the first mounting structure 310, and a fourth roller alignment portion 350d disposed on the right rear of the first mounting structure 310.

[0115] The first, second, third, and fourth roller alignment portions 350a, 350b, 350c, and 350d constituting the roller alignment portion 350 can be independently provided and may include: a guide rod 351 configured to slide through the first plate 333 of the bolt fastening portion 330; a guide pin 352 mounted on the guide rod 351 and inserted into the coupling hole 3400 of the lower roller 3000 and the nut hole 2200 of the track frame 2000; and a second plate 353 for fixing the guide rod 351.

[0116] The second plate 353 of the first roller alignment part 350a can be connected to the third cylinder 323a of the third drive part 323 fixed to the first plate 333 of the first bolt fastening part 330a. The second plate 353 of the second roller alignment part 350b can be connected to the fourth cylinder 323b of the third drive part 323 fixed to the first plate 333 of the second bolt fastening part 330b. The second plate 353 of the third roller alignment part 350c can be connected to the fifth cylinder 323c of the third drive part 323 fixed to the first plate 333 of the third bolt fastening part 330c. The second plate 353 of the fourth roller alignment part 350d can be connected to the sixth cylinder 323d of the third drive part 323 fixed to the first plate 333 of the fourth bolt fastening part 330d.

[0117] The roller alignment part 350, which is composed of the first, second, third, and fourth roller alignment parts 350a, 350b, 350c, and 350d, can move up and down via the third drive part 323. Thus, when the bolt fastening part 330, which is composed of the first, second, third, and fourth bolt fastening parts 330a, 330b, 330c, and 330d, fastens the bolt / washer to the lower roller 3000, it can prevent the guide pin 352 from interfering with the lower roller 3000 by moving upward.

[0118] In addition, the second plate 353 of each of the first and third roller alignment parts 350a and 350c can be connected to the first rack 321c of the first drive part 321, and the second plate 353 of each of the second and fourth roller alignment parts 350b and 350d can be connected to the second rack 321d of the first drive part 321.

[0119] The roller alignment section 350, composed of the first, second, third, and fourth roller alignment sections 350a, 350b, 350c, and 350d described above, can move symmetrically left and right via the first drive section 321, and can move symmetrically back and forth via the fourth and fifth drive sections 324 and 325. This allows adjustment of its width to correspond with the four engagement holes 3400 provided on the lower roller 3000 of various specifications. The symmetrical back and forth and symmetrical left and right movements of the first, second, third, and fourth roller alignment sections 350a, 350b, 350c, and 350d have already been mentioned in the description of the first drive section 321 and the fourth and fifth drive sections 324 and 325, and therefore will be omitted here to avoid redundancy.

[0120] As described above, since the third to sixth cylinders 232a, 323b, 323c, 323d of the third drive unit 323 and the guide rod 351 are configured to slide through the first plate 333, the second plate 353 of the roller alignment unit 350, although configured to be independent of the first plate 333 of the bolt fastening unit 330, can move forward, backward, left and right together with the first plate 333.

[0121] like Figure 3 As shown, the first visual detection unit 360 can be disposed at the front end of the first mounting structure 310, and before the end of the guide pin 352 inserted into the coupling hole 3400 of the lower roller 3000 is inserted into the nut hole 2200 corresponding to the roller insertion groove 2100, it automatically identifies the position of the nut hole 2200, so that the lower roller 3000 can be accurately aligned with the corresponding roller insertion groove 2100 portion.

[0122] The first visual detection unit 360 may include a first imaging unit 361 and a first illumination unit 362.

[0123] The first camera unit 361 can be configured on the longitudinal centerline of the first mounting structure 310, and can photograph the track frame 2000 to detect the assembly position of the lower roller 3000.

[0124] The first illumination unit 362 can be disposed on both sides of the first shooting unit 361, and can operate when the first shooting unit 361 is shooting.

[0125] like Figure 2As shown, the bolt / washer supply unit 400 can be configured near the first robot 100 and can supply bolts / washers to the bolt fastening part 330 of the first accessory 300.

[0126] like Figure 11 As shown, the bolt / washer supply unit 400 may include a first support frame 410, a bolt supply unit 420, a washer supply unit 430, a bolt / washer seating unit 440, and a first stop member 450.

[0127] The first support frame 410 can be configured on one side of the first robot 100 and can support the bolt supply unit 420 and the washer supply unit 430.

[0128] The bolt supply section 420 can be configured to have a pair arranged side by side on the first support frame 410, and can supply bolts to the bolt fastening section 330 to fasten the lower roller 3000 to the track frame 2000.

[0129] The bolt supply unit 420 may include a bolt storage unit 421, a bolt insertion unit 422, and a bolt sliding unit 423.

[0130] The bolt storage section 421 can store the bolts that fasten the lower roller 3000 to the track frame 2000.

[0131] The bolt insertion section 422 can insert bolts stored in the bolt storage section 421 into the bolt sliding section 423. Although not shown, it can be configured to have a built-in cylinder that can be driven to lift and lower, thereby inserting bolts stored in the bolt storage section 421 into the bolt sliding section 423 by lifting and lowering the cylinder.

[0132] The bolt sliding portion 423 can extend from the bolt insertion portion 422 downwardly at a certain length to the bolt / washer seat portion 440, so that the bolt can slide by gravity.

[0133] The washer supply section 430 can be configured to have a pair arranged side by side on the first support frame 410, and to supply the washers by means of inserting them into the bolts when the bolts fastening the lower roller 3000 to the track frame 2000 slide through the bolt sliding section 423.

[0134] The washer supply section 430 may include a washer insertion section 431 and a bolt / washer sliding section 432.

[0135] The washer insertion part 431 can be configured to be spaced at least shorter than the length of the bolt from the midpoint of the bolt sliding part 423 toward the bottom of the bolt sliding part 423, so that the washer can be inserted into the bolt when the bolt sliding through the bolt sliding part 423 enters the bolt / washer sliding part 432.

[0136] The bolt / washer sliding portion 432 extends downward from the washer insertion portion 431 to the bolt / washer seat portion 440 at a certain length, so that the bolt with the washer inserted can slide by gravity. The inclination of the bolt / washer sliding portion 432 can be smaller than the inclination of the bolt sliding portion 423.

[0137] In the above text, although the bolt sliding part 423 and the bolt / washer sliding part 432 have different starting points, they can meet each other at the bolt / washer seating part 440.

[0138] The bolt / washer seat 440 can be provided at the end where the bolt sliding part 423 and the bolt / washer sliding part 432 meet, and can seat a bolt (a bolt with a washer inserted) to be picked up by the bolt fastening part 330.

[0139] The first stop 450 can be provided at the front end of the bolt / washer seat 440, and can operate in such a way that multiple bolts (bolts with washers inserted) are ready and supplied to the bolt / washer seat 440 one by one.

[0140] That is, the first stop 450 can operate in the following manner: it remains closed before the bolt in the bolt / washer seat 440 is picked up by the bolt fastening part 330, and becomes open when the bolt in the bolt / washer seat 440 is picked up by the bolt fastening part 330, so that one of the multiple bolts in standby is supplied to the bolt / washer seat 440.

[0141] like Figure 2 As shown, the roller supply unit 500 can be configured near the first robot 100 and can supply the lower roller 3000 to the first gripper 340 of the first accessory 300.

[0142] like Figure 12 As shown, the roller supply unit 500 may include a second support frame 510, a roller standby unit 520, a roller sliding unit 530, a second stop member 540, and a roller sitting unit 550.

[0143] The second support frame 510 can be configured on one side of the first robot 100 and can support the roller standby part 520 and the roller sliding part 530.

[0144] The roller standby unit 520 can be mounted on the second support frame 510, and can put multiple lower rollers 3000 to be supplied to the first gripper 340 into standby mode. The lower rollers 3000 standing in the roller standby unit 520 can be supplied manually by an operator or automatically by the second robot 600 described below.

[0145] The roller sliding portion 530 can be formed to a certain length from the roller waiting portion 520 downwardly and extend to the roller sitting portion 550, so that the lower roller 3000 waiting in the roller waiting portion 520 can slide by gravity.

[0146] The second stop 540 can be disposed between the roller standby section 520 and the roller sliding section 530, and can operate in such a way that multiple lower rollers 3000 that are standby in the roller standby section 520 are supplied to the roller seating section 550 one by one.

[0147] That is, the second stop 540 can operate in the following manner: it remains closed before the lower roller 3000 of the roller seat 550 is picked up by the first gripper 340, and becomes open when the lower roller 3000 of the roller seat 550 is picked up by the first gripper 340, so that one of the multiple lower rollers 3000 in standby mode is supplied to the roller seat 550.

[0148] The roller seating portion 550 can be provided at the end of the roller sliding portion 530, and can seat a lower roller 3000 to be picked up by the first gripper 340.

[0149] like Figure 1 As shown, the second robot 600 can be controlled by the main control unit 1100 and the second control unit 1300, and can be equipped with the second accessory 800 to automatically supply the lower roller 3000 to the roller standby unit 520.

[0150] like Figure 2 As shown, the second robot 600 may include a second vehicle section 610, a second rotating section 620, a second arm section 630, and a second servo motor section 640, and can move along the second track axis 700. The second robot 600 may have the same or similar configuration as the first robot 100 described above.

[0151] That is, the second vehicle part 610, the second rotating part 620, the second arm part 630 and the second servo motor part 640 of the second robot 600 are the same as or similar to the first vehicle part 110, the first rotating part 120, the first arm part 130 and the first servo motor part 140 of the first robot 100. In this embodiment, only the reference numerals have been changed in order to identify the first and second robots 100 and 600. The detailed description of the structure of the second robot 600 is omitted here.

[0152] In addition, the second track axis 700 may include a second moving track 710 and a second guide rail 720, which may have the same or similar configuration as the first track axis 200 described above.

[0153] That is, the second moving track 710 and the second guide rail 720 of the second track axis 700 are the same as or similar to the first moving track 210 and the first guide rail 220 of the first track axis 200. In this embodiment, only the reference numerals have been changed in order to identify the first and second track axes 200 and 700. The detailed description of the structure of the second track axis 700 is omitted here.

[0154] like Figure 2 As shown, the second accessory 800 can be installed at the end of the second arm 630 and can automatically supply the lower roller 3000 to the roller supply unit 500.

[0155] like Figure 13 , Figure 14 As shown, the second accessory 800 may include a second mounting structure 810, a sixth drive unit 820, a second clamp 830, and a second vision detection unit 840. Compared with the first accessory 300 described above, its structure omits the first drive unit 321, the third to fifth drive units 323, 324, 325, the bolt fastening unit 330, and the roller alignment unit 350 of the drive unit 320 in the first accessory 300.

[0156] The second mounting structure 810 can be installed at the end of the second arm 630, and as... Figure 13 , Figure 14 As shown, it can be configured to accommodate the sixth drive unit 820, the second gripper 830, and the second vision detection unit 840 respectively.

[0157] Compared to the first structure 310, the second structure 810 is smaller and simpler because it lacks the first drive portion 321, the third to fifth drive portions 323, 324, 325, the bolt fastening portion 330, and the roller alignment portion 350, which are components of the first structure 310.

[0158] The sixth drive unit 820, the second gripper 830, and the second vision detection unit 840 may be similar to or the same as the second drive unit 322, the first gripper 340, and the first vision detection unit 360 described above. Therefore, detailed descriptions of the sixth drive unit 820, the second gripper 830, and the second vision detection unit 840 will be omitted below, and only the different parts will be described.

[0159] The sixth drive unit 820 can transmit power to the second gripper 830 to pick up or drop off the lower roller 3000.

[0160] The sixth drive unit 820 may include: a seventh cylinder 821 disposed on the second mounting structure 810; an eighth cylinder 822 disposed on the second mounting structure 810; a fifth pinion 823 rotatably mounted on the second mounting structure 810; a ninth rack 824 that meshes with one side of the fifth pinion 823 and is connected to the third pawl 831 of the second gripper 830 and the cylinder rod of the seventh cylinder 821 to move the third pawl 831 back and forth; and a tenth rack 825 that meshes with the other side of the fifth pinion 823 and is connected to the fourth pawl 832 of the second gripper 830 and the cylinder rod of the eighth cylinder 822 to move the fourth pawl 832 back and forth.

[0161] As described above, the seventh cylinder 821, the eighth cylinder 822, the fifth pinion 823, the ninth rack 824, and the tenth rack 825, which are components of the sixth drive unit 820, can respectively correspond to the first cylinder 322a, the second cylinder 322b, the second pinion 322c, the third rack 322d, and the fourth rack 322e, which are components of the second drive unit 322.

[0162] The only difference is that the sixth drive unit 820 transmits power to the second gripper 830 to pick up the lower roller 3000 stored in the roller tray 910 of the tray station 900, while the second drive unit 322 transmits power to the first gripper 340 to pick up the lower roller 3000 of the roller supply unit 500.

[0163] like Figure 13 , Figure 14 As shown, the second clamp 830 can be installed on the lower part of the second mounting structure 810, and can pick up the lower roller 3000 from the roller tray 910 and move it to the roller supply section 500.

[0164] The second gripper 830 may include a third claw 831 disposed in front of the second mounting structure 810 and a fourth claw 832 disposed behind the second mounting structure 810.

[0165] In the above text, the third claw 831 and the fourth claw 832, which are components of the second gripper 830, can correspond to the first claw 341 and the second claw 342, which are components of the first gripper 340, respectively.

[0166] The only difference is that the second gripper 830 picks up the lower roller 3000 from the roller tray 910, while the first gripper 340 picks up the lower roller 3000 from the roller supply section 500.

[0167] like Figure 13 , Figure 14As shown, the second visual detection unit 840 can be disposed at the front end of the second mounting structure 810. By automatically identifying the position of the lower roller 3000 stored in the roller tray 910, the second clamp 830 is accurately aligned with the corresponding lower roller 3000. The second visual detection unit 841 and the second illumination unit 842 are included.

[0168] In the above text, the second imaging unit 841 and the second illumination unit 842, which are components of the second vision detection unit 840, can correspond to the first imaging unit 361 and the first illumination unit 362, which are components of the first vision detection unit 360, respectively.

[0169] The only difference is that the second vision detection unit 840 automatically identifies the position of the lower roller 3000 stored in the roller tray 910, while the first vision detection unit 360 automatically identifies the position of the nut hole 2200 before the end of the guide pin 352 inserted into the coupling hole 3400 of the lower roller 3000 is inserted into the nut hole 2200 corresponding to the roller insertion groove 2100.

[0170] The present invention has been described above with reference to embodiments thereof, but these are merely illustrative and do not limit the invention. Those skilled in the art will recognize that various combinations, modifications, and applications not illustrated in the embodiments can be made without departing from the essential technical content of these embodiments. Therefore, the technical content involved in modifications and applications readily derived from the embodiments of the present invention should be interpreted as being included in the present invention.

[0171] Symbol Explanation

[0172] 1: Roller Assembly System 100: First Robot

[0173] 110: First vehicle section; 120: First rotating section

[0174] 130: First arm section; 140: First servo motor section

[0175] 200: First track axis; 210: First moving track

[0176] 220: First guide rail; 300: First accessory.

[0177] 310: First setting structure; 320: Drive unit

[0178] 321: First drive unit; 321a: First motor

[0179] 321b: First pinion; 321c: First rack

[0180] 321d: Second rack; 322: Second drive unit

[0181] 322a: Cylinder 1; 322b: Cylinder 2

[0182] 322c: Second pinion; 322d: Third rack

[0183] 322e: Fourth rack; 323: Third drive unit

[0184] 323a: Cylinder 3; 323b: Cylinder 4

[0185] 323c: Cylinder 5; 323d: Cylinder 6

[0186] 324: Fourth drive unit; 324a: Second motor

[0187] 324b: Third pinion; 324c: Fifth rack

[0188] 324d: Sixth rack; 325: Fifth drive unit

[0189] 325a: Third motor; 325b: Fourth pinion

[0190] 325c: Seventh rack; 325d: Eighth rack

[0191] 330: Bolt fastening part; 330a: First bolt fastening part

[0192] 330b: Second bolt fastening part; 330c: Third bolt fastening part

[0193] 330d: Fourth bolt fastening part; 331: Torque tool

[0194] 332: Sleeve 333: First Plate

[0195] 340: First gripper; 341: First claw

[0196] 342: Second claw; 350: Roller alignment section

[0197] 350a: First roller alignment section; 350b: Second roller alignment section

[0198] 350c: Third roller alignment section; 350d: Fourth roller alignment section

[0199] 351: Guide rod; 352: Guide pin

[0200] 353: Second board; 360: First vision inspection department

[0201] 361: First Filming Department 362: First Lighting Department

[0202] 400: Bolt / Washer Supply Department; 410: First Support Frame

[0203] 420: Bolt Supply Department; 421: Bolt Storage Department

[0204] 422: Bolt insertion part; 423: Bolt sliding part

[0205] 430: Washer Supply Department 431: Washer Input Department

[0206] 432: Bolt / washer sliding part; 440: Bolt / washer seat part

[0207] 450: First stop component; 500: Roller supply unit

[0208] 510: Second support frame; 520: Roller standby section

[0209] 530: Roller sliding part; 540: Second stop component

[0210] 550: Roller seating section; 600: Second robot

[0211] 610: Second carriage section; 620: Second rotating section

[0212] 630: Second arm section; 640: Second servo motor section

[0213] 700: Second track axis; 710: Second moving track

[0214] 720: Second guide rail; 800: Second accessory

[0215] 810: Second installation structure; 820: Sixth drive unit

[0216] 821: Cylinder 7; 822: Cylinder 8

[0217] 823: Fifth pinion; 824: Ninth rack

[0218] 825: Tenth rack; 830: Second clamp.

[0219] 831: Third claw 832: Fourth claw

[0220] 840: Second Visual Inspection Department; 841: Second Imaging Department

[0221] 842: Second Lighting Department; 900: Pallet Station

[0222] 910: Roller tray; 1000: Control unit

[0223] 1100: Main Control Unit; 1200: First Control Unit

[0224] 1300: Second Control Unit; 2000: Track Frame

[0225] 2100: Roller insertion groove; 2200: Nut hole

[0226] 3000: Lower roller; 3100: Roller

[0227] 3200: Roller shaft; 3300: Shaft collar

[0228] 3400: Connection hole; 4000: Conveyor

[0229] 5000: QR code reader.

Claims

1. A roller assembly system for assembling a plurality of lower rollers to a track frame of a construction apparatus, wherein, comprises: a first robot; a first setting structure installed to the first robot; a bolt / washer supply part supplying a bolt / washer; a roller supply part supplying the lower roller; a bolt fastening part provided in front and back of left and right sides of the first setting structure, moving left and right symmetrically by a first driving part, and moving front and back symmetrically by a fourth driving part and a fifth driving part, picking up the bolt / washer from the bolt / washer supply part to fasten the lower roller to the track frame; a first gripper provided in front and back of the first setting structure, moving front and back by a second driving part, picking up the lower roller from the roller supply part to move to the track frame; and a roller alignment part provided in front and back of left and right sides of the first setting structure, moving up and down by a third driving part, moving left and right symmetrically by the first driving part, and moving front and back symmetrically by the fourth driving part and the fifth driving part, aligning the coupling hole of the lower roller and the nut hole of the track frame, wherein the second driving part comprises: a first cylinder provided to the first setting structure; a second cylinder provided to the first setting structure; a second pinion rotatably provided to the first setting structure; a third rack engaged with one side of the second pinion, and connected with a first claw of the first gripper and a cylinder rod of the first cylinder to move the first claw front and back; and a fourth rack engaged with the other side of the second pinion, and connected with a second claw of the first gripper and a cylinder rod of the second cylinder to move the second claw front and back. 2.The roller assembly system of claim 1, wherein, further comprising a first vision detection part provided at a front end of the first setting structure, the first vision detection part comprises: a first photographing part disposed on a longitudinal center line of the first setting structure, detecting an assembly position of the lower roller by photographing the track frame; and first lighting parts provided at both sides of the first photographing part, acting when the first photographing part photographs, before an end of a guide pin of the roller alignment part inserted into the coupling hole of the lower roller is inserted into the nut hole provided corresponding to a roller insertion groove of the track frame, the first vision detection part automatically recognizes a position of the nut hole to align the lower roller to the roller insertion groove part. 3.The roller assembly system of claim 1, wherein, the bolt fastening part comprises: a first bolt fastening part provided in front of left side of the first setting structure; a second bolt fastening part provided in front of right side of the first setting structure; a third bolt fastening part provided in back of left side of the first setting structure; and a fourth bolt fastening part provided in back of right side of the first setting structure, the first bolt fastening part, the second bolt fastening part, the third bolt fastening part, and the fourth bolt fastening part each comprise: a torque tool; a sleeve installed to the torque tool, and picking up a bolt / washer; and a first plate to which the torque tool is fixed.

4. The roller assembly system according to claim 3, wherein the roller alignment portions include: a first roller alignment portion disposed in front of the left side of the first setting structure; a second roller alignment portion disposed in front of the right side of the first setting structure; a third roller alignment portion disposed in back of the left side of the first setting structure; and a fourth roller alignment portion disposed in back of the right side of the first setting structure, the first roller alignment portion, the second roller alignment portion, the third roller alignment portion, and the fourth roller alignment portion each include: a guide rod disposed to be slidable through the first plate of the bolt fastening portion; a guide pin installed to the guide rod and inserted into the coupling hole of the lower roller and the nut hole of the track frame; and a second plate to which the guide rod is fixed.

5. The roller assembly system according to claim 4, wherein the first driving portion includes: a first motor disposed in the first setting structure; a first pinion gear disposed on a motor shaft of the first motor; a first rack gear engaged with one side of the first pinion gear and connected to the second plate of each of the first roller alignment portion and the third roller alignment portion, so as to directly move the first roller alignment portion and the third roller alignment portion left and right and indirectly move the first bolt fastening portion and the third bolt fastening portion left and right; and a second rack gear engaged with the other side of the first pinion gear and connected to the second plate of each of the second roller alignment portion and the fourth roller alignment portion, so as to directly move the second roller alignment portion and the fourth roller alignment portion left and right and indirectly move the second bolt fastening portion and the fourth bolt fastening portion left and right.

6. The roller assembly system according to claim 4, wherein the third driving portion includes: a third cylinder fixed to the first plate of the first bolt fastening portion, with a cylinder rod extending toward the directly downward direction to be connected to the second plate of the first roller alignment portion, so as to move the first roller alignment portion up and down; a fourth cylinder fixed to the first plate of the second bolt fastening portion, with a cylinder rod extending toward the directly downward direction to be connected to the second plate of the second roller alignment portion, so as to move the second roller alignment portion up and down; a fifth cylinder fixed to the first plate of the third bolt fastening portion, with a cylinder rod extending toward the directly downward direction to be connected to the second plate of the third roller alignment portion, so as to move the third roller alignment portion up and down; and a sixth cylinder fixed to the first plate of the fourth bolt fastening portion, with a cylinder rod extending toward the directly downward direction to be connected to the second plate of the fourth roller alignment portion, so as to move the fourth roller alignment portion up and down.

7. The roller assembly system according to claim 4, wherein the fourth driving portion includes: a second motor disposed in the first setting structure; a third pinion gear disposed on a motor shaft of the second motor; a fifth rack gear engaged with the upper side of the third pinion gear and connected to the first plate of the first bolt fastening portion, so as to directly move the first bolt fastening portion forward and backward and indirectly move the first roller alignment portion forward and backward; and a sixth rack gear engaged with the lower side of the third pinion gear and connected to the first plate of the second bolt fastening portion, so as to directly move the second bolt fastening portion forward and backward and indirectly move the second roller alignment portion forward and backward. ​ ​ ​ A sixth rack engages with the lower side of the third pinion gear and is connected to the first plate of the third bolt fastening portion, thereby directly moving the third bolt fastening portion forward and backward and indirectly moving the third roller alignment portion forward and backward.

8. The roller assembly system according to claim 4, wherein The fifth driving portion includes: A third motor provided to the first setting structure; A fourth pinion gear provided to a motor shaft of the third motor; A seventh rack engaging with the upper side of the fourth pinion gear and connected to the first plate of the second bolt fastening portion, thereby directly moving the second bolt fastening portion forward and backward and indirectly moving the second roller alignment portion forward and backward; and An eighth rack engaging with the lower side of the fourth pinion gear and connected to the first plate of the fourth bolt fastening portion, thereby directly moving the fourth bolt fastening portion forward and backward and indirectly moving the fourth roller alignment portion forward and backward.

9. The roller assembly system according to claim 1, wherein The bolt / washer supply portion includes: A bolt supply portion having a bolt sliding portion formed at a length downwardly inclined to enable a bolt to slide by gravity and provided to a first support frame; A washer supply portion having a bolt / washer sliding portion formed at a length downwardly inclined to enable a bolt into which a washer is inserted to slide by gravity and provided to the first support frame; A bolt / washer seating portion provided to an end portion where the bolt sliding portion and the bolt / washer sliding portion meet to seat one bolt to be picked up by the bolt fastening portion; and A first stopper provided to a front end of the bolt / washer seating portion to act to supply bolts one by one to the bolt / washer seating portion.

10. The roller assembly system according to claim 9, wherein The washer supply portion includes a washer feeding portion provided to be spaced apart from below the bolt sliding portion at a midpoint of the bolt sliding portion at an interval shorter than a length of the bolt to feed a washer to insert the washer into the bolt when the bolt sliding through the bolt sliding portion enters the bolt / washer sliding portion.

11. The roller assembly system according to claim 1, wherein The roller supply portion includes: A roller standby portion provided to a second support frame to standby a plurality of the lower rollers to be supplied to the first gripper; A roller sliding portion formed at a length downwardly inclined from the roller standby portion to enable the lower roller standby in the roller standby portion to slide by gravity; A roller seating portion provided to an end portion of the roller sliding portion to seat one lower roller to be picked up by the first gripper; and A second stopper provided between the roller standby portion and the roller sliding portion to act to supply the plurality of the lower rollers standby in the roller standby portion one by one to the roller seating portion.

12. The roller assembly system according to claim 1, wherein Further including: A second robot; A second setting structure mounted to the second robot; a second gripper provided at the front and back of the second setting structure and moved forward and backward by a sixth driving part to pick up a lower roller stored in the roller tray and move to the roller supply part; and a second visual inspection part provided at the front end of the second setting structure to automatically identify the position of the lower roller stored in the roller tray and align the second gripper with the lower roller. 13.The roller assembly system of claim 12, wherein the sixth driving part includes: a seventh cylinder provided at the second setting structure; an eighth cylinder provided at the second setting structure; a fifth pinion rotatably provided at the second setting structure; a ninth rack engaged with one side of the fifth pinion and connected with a third claw of the second gripper and a cylinder rod of the seventh cylinder to move the third claw forward and backward; and a tenth rack engaged with the other side of the fifth pinion and connected with a fourth claw of the second gripper and a cylinder rod of the eighth cylinder to move the fourth claw forward and backward.

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