A track mounting device and system

Abstract

This invention provides a track mounting device and system. The track mounting device includes: a fixed frame, a first tensioning mechanism for tensioning the track, a second tensioning mechanism for tensioning the track, and a drive mechanism for sliding the first and second tensioning mechanisms. The first tensioning mechanism is slidably mounted on one side of the fixed frame, and the second tensioning mechanism is slidably mounted on the other side of the fixed frame. The drive mechanism is mounted in the middle of the fixed frame, and both the first and second tensioning mechanisms are connected to the drive mechanism. By driving the first and second tensioning mechanisms to slide relative to each other through the drive mechanism, the track is spread apart, achieving the effect of track mounting, reducing manual labor intensity, and improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of track installation technology for tracked machines, and more particularly to a track installation device and system. Background Technology

[0002] Currently, track installation is entirely done manually. The track mounting points fluctuate significantly, making mechanical operation inconvenient. Each tracked machine has two tracks, each weighing 206 kg. Due to the soft structure of the tracks, 5-6 people are required to lift and work together during assembly. This manual lifting and assembly is labor-intensive and impacts overall machine production efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a track mounting device and system that addresses the shortcomings of the prior art.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A track mounting device includes: a fixed frame, a first tensioning mechanism for tensioning the track, a second tensioning mechanism for tensioning the track, and a driving mechanism for driving the first tensioning mechanism and the second tensioning mechanism to slide. The first tensioning mechanism is slidably mounted on one side of the fixed frame, the second tensioning mechanism is slidably mounted on the other side of the fixed frame, the driving mechanism is mounted in the middle of the fixed frame, and both the first tensioning mechanism and the second tensioning mechanism are connected to the driving mechanism.

[0005] The beneficial effects of adopting the technical solution of the present invention are: by driving the first tensioning mechanism and the second tensioning mechanism to slide relative to each other through the driving mechanism, the track is spread open, thereby achieving the effect of track installation, reducing manual labor intensity and improving production efficiency.

[0006] Furthermore, the first tensioning mechanism includes: a first bracket, a first tensioning wheel, a second tensioning wheel, a first rotating shaft, and a second rotating shaft. The first bracket is slidably mounted on one side of the fixed frame and is connected to the drive mechanism. The first rotating shaft and the second rotating shaft are both slidably mounted on the first bracket, with the first rotating shaft located above the second rotating shaft. The first tensioning wheel and the second tensioning wheel are rotatably mounted on the free ends of the first rotating shaft and the second rotating shaft, respectively.

[0007] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: the setting of the tension wheel and the shaft facilitates the support and spreading of the track; the sliding installation of the shaft facilitates the adaptive adjustment of the shaft position according to the track model, making it easier to adapt to the installation of different tracks and improving applicability.

[0008] Furthermore, the first bracket is provided with a first adjustment mechanism for driving the first rotating shaft to slide left and right, and a second adjustment mechanism for driving the second rotating shaft to slide up and down.

[0009] The beneficial effects of adopting the above-mentioned further technical solution are: the adjustment mechanism facilitates the sliding of the rotating shaft relative to the support, facilitates the adjustment of the rotating shaft position, facilitates the adaptive adjustment of the rotating shaft position according to the track model, facilitates the installation of different tracks, and improves applicability.

[0010] Furthermore, the first adjustment mechanism and the second adjustment mechanism are cylinders, electric push rods, screw jacks, or hydraulic push rods.

[0011] The advantages of adopting the above-mentioned further technical solutions are: it facilitates the installation and maintenance of the adjustment mechanism, has a simple structure, and has a low cost.

[0012] Furthermore, the second tensioning mechanism includes: a second bracket, a third tensioning wheel, a fourth tensioning wheel, a third rotating shaft, and a fourth rotating shaft. The second bracket is slidably mounted on the other side of the fixed frame and is connected to the drive mechanism. The third rotating shaft and the fourth rotating shaft are both slidably mounted on the second bracket. The third rotating shaft is located above the fourth rotating shaft. The third tensioning wheel and the fourth tensioning wheel are rotatably mounted on the free ends of the third rotating shaft and the fourth rotating shaft, respectively.

[0013] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: the setting of the tension wheel and the shaft facilitates the support and spreading of the track; the sliding installation of the shaft facilitates the adaptive adjustment of the shaft position according to the track model, making it easier to adapt to the installation of different tracks and improving applicability.

[0014] Furthermore, the second bracket is provided with a third adjustment mechanism for driving the third rotating shaft to slide up and down and left and right, and a fourth adjustment mechanism for driving the fourth rotating shaft to slide up and down.

[0015] The beneficial effects of adopting the above-mentioned further technical solution are: the adjustment mechanism facilitates the sliding of the rotating shaft relative to the support, facilitates the adjustment of the rotating shaft position, facilitates the adaptive adjustment of the rotating shaft position according to the track model, facilitates the installation of different tracks, and improves applicability.

[0016] Furthermore, the third and fourth adjustment mechanisms are cylinders, electric push rods, screw jacks, or hydraulic push rods.

[0017] The advantages of adopting the above-mentioned further technical solutions are: it facilitates the installation and maintenance of the adjustment mechanism, has a simple structure, and has a low cost.

[0018] Furthermore, the driving mechanism includes: a first rack, a second rack, a gear, and a motor. The motor is mounted on the fixed frame, and the gear is mounted on the motor. The first rack and the second rack are connected to the first tensioning mechanism and the second tensioning mechanism in a one-to-one correspondence. The first rack and the second rack are both meshed with the gear, and the first rack and the second rack are parallel.

[0019] The beneficial effects of adopting the above-mentioned further technical solution are: the arrangement of the rack, gear and motor facilitates the adjustment of the relative positions of the first tensioning mechanism and the second tensioning mechanism, so that the first tensioning mechanism and the second tensioning mechanism move synchronously, improves work efficiency, prevents the first tensioning mechanism and the second tensioning mechanism from shaking, and improves the stability and reliability of the track mounting device.

[0020] Furthermore, the fixed frame has a track roller in the middle and a fixing mechanism for fixing the vehicle frame on one side.

[0021] The beneficial effects of adopting the above-mentioned further technical solutions are: the track idler rollers facilitate track positioning and support; the fixing mechanism facilitates the connection between the track mounting device and the chassis, prevents the chassis or mounting device from shaking, and improves the stability and reliability of the track mounting device.

[0022] Furthermore, the present invention also provides a track mounting system, including at least one track mounting device as described in any one of the above claims, and further including: at least one parallel arm, at least one terminal arm, at least one rotating vertical arm, a pair of columns and a track, wherein the pair of columns are vertically arranged, and the two ends of the track are connected to the top of the pair of columns respectively, the rotating vertical arm is slidably mounted on the track, the parallel arm is rotatably mounted on the rotating vertical arm, the terminal arm is rotatably mounted on the parallel arm, and the track mounting device is rotatably mounted on the terminal arm.

[0023] The beneficial effects of adopting the technical solution of this invention are as follows: By designing an installation system with a track mounting device, parallel arm, end arm, rotating vertical arm, column, and track, the track mounting device is easily moved to the installation position, improving its flexibility and facilitating user operation. The drive mechanism drives the first and second tensioning mechanisms to slide relative to each other, spreading the track and achieving the track installation effect, reducing manual labor intensity and improving production efficiency.

[0024] The advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] Figure 1This is one of the structural schematic diagrams of the track mounting device provided in an embodiment of the present invention.

[0026] Figure 2 This is a second schematic diagram of the track mounting device provided in an embodiment of the present invention.

[0027] Figure 3 The third schematic diagram of the track mounting device provided in the embodiment of the present invention.

[0028] Figure 4 The fourth schematic diagram of the track mounting device provided in the embodiment of the present invention.

[0029] Figure 5 The fifth schematic diagram of the track mounting device provided in the embodiment of the present invention.

[0030] Figure 6 This is the sixth structural schematic diagram of the track mounting device provided in the embodiment of the present invention.

[0031] Figure 7 The seventh schematic diagram of the track mounting device provided in the embodiment of the present invention.

[0032] Figure 8 This is one of the structural schematic diagrams of the track mounting system provided in an embodiment of the present invention.

[0033] Figure 9 This is a second schematic diagram of the track mounting system provided in an embodiment of the present invention.

[0034] Figure 10 The third schematic diagram of the track mounting system provided in the embodiment of the present invention.

[0035] Figure 11 The fourth schematic diagram of the track mounting system provided in the embodiment of the present invention.

[0036] Figure 12 The fifth schematic diagram of the track mounting system provided in the embodiment of the present invention.

[0037] Figure 13 This is the sixth structural schematic diagram of the track mounting system provided in the embodiment of the present invention.

[0038] Explanation of reference numerals: 1. Fixed frame; 2. Track; 3. First tensioning mechanism; 4. Second tensioning mechanism; 5. Drive mechanism; 6. First support; 7. First tensioning wheel; 8. Second tensioning wheel; 9. First rotating shaft; 10. Second rotating shaft; 11. First adjustment mechanism; 12. Second adjustment mechanism; 13. Second support; 14. Third tensioning wheel; 15. Fourth tensioning wheel; 16. Third rotating shaft; 17. Fourth rotating shaft; 18. Third adjustment mechanism; 19. Fourth adjustment mechanism; 20. First rack; 21. Second rack; 22. Track idler; 23. Parallel arm; 24. End arm; 25. Rotating vertical arm; 26. Column; 27. Track; 28. Fixed mechanism; 29. ​​Electric actuator; 30. Hook. Detailed Implementation

[0039] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0040] like Figures 1 to 7 As shown, an embodiment of the present invention provides a track mounting device, including: a fixed frame 1, a first tensioning mechanism 3 for tensioning track 2, a second tensioning mechanism 4 for tensioning track 2, and a driving mechanism 5 for driving the first tensioning mechanism 3 and the second tensioning mechanism 4 to slide. The first tensioning mechanism 3 is slidably mounted on one side of the fixed frame 1, the second tensioning mechanism 4 is slidably mounted on the other side of the fixed frame 1, and the driving mechanism 5 is mounted in the middle of the fixed frame 1. Both the first tensioning mechanism 3 and the second tensioning mechanism 4 are connected to the driving mechanism 5.

[0041] The beneficial effects of adopting the technical solution of the present invention are: by driving the first tensioning mechanism and the second tensioning mechanism to slide relative to each other through the driving mechanism, the track is spread open, thereby achieving the effect of track installation, reducing manual labor intensity and improving production efficiency.

[0042] The first tensioning mechanism and the second tensioning mechanism can be slidably installed on the fixed frame by means of a combination of slide rails and slide grooves.

[0043] like Figures 1 to 7 As shown, the first tensioning mechanism 3 further includes: a first bracket 6, a first tensioning wheel 7, a second tensioning wheel 8, a first rotating shaft 9, and a second rotating shaft 10. The first bracket 6 is slidably mounted on one side of the fixed frame 1 and is connected to the drive mechanism 5. The first rotating shaft 9 and the second rotating shaft 10 are both slidably mounted on the first bracket 6. The first rotating shaft 9 is located above the second rotating shaft 10. The first tensioning wheel 7 and the second tensioning wheel 8 are rotatably mounted on the free end of the first rotating shaft 9 and the free end of the second rotating shaft 10, respectively.

[0044] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: the setting of the tension wheel and the shaft facilitates the support and spreading of the track; the sliding installation of the shaft facilitates the adaptive adjustment of the shaft position according to the track model, making it easier to adapt to the installation of different tracks and improving applicability.

[0045] like Figures 1 to 7 As shown, the first bracket 6 is further provided with a first adjustment mechanism 11 for driving the first rotating shaft 9 to slide left and right, and a second adjustment mechanism 12 for driving the second rotating shaft 10 to slide up and down.

[0046] The beneficial effects of adopting the above-mentioned further technical solution are: the adjustment mechanism facilitates the sliding of the rotating shaft relative to the support, facilitates the adjustment of the rotating shaft position, facilitates the adaptive adjustment of the rotating shaft position according to the track model, facilitates the installation of different tracks, and improves applicability.

[0047] like Figures 1 to 7 As shown, the first adjustment mechanism 11 and the second adjustment mechanism 12 are further configured as cylinders, electric push rods, screw jacks, or hydraulic push rods.

[0048] The advantages of adopting the above-mentioned further technical solutions are: it facilitates the installation and maintenance of the adjustment mechanism, has a simple structure, and has a low cost.

[0049] like Figures 1 to 7 As shown, the second tensioning mechanism 3 further includes: a second bracket 13, a third tensioning wheel 14, a fourth tensioning wheel 15, a third rotating shaft 16, and a fourth rotating shaft 17. The second bracket 13 is slidably mounted on the other side of the fixed frame 1 and is connected to the drive mechanism 5. The third rotating shaft 16 and the fourth rotating shaft 17 are both slidably mounted on the second bracket 13. The third rotating shaft 16 is located above the fourth rotating shaft 17. The third tensioning wheel 14 and the fourth tensioning wheel 15 are rotatably mounted one-to-one on the free end of the third rotating shaft 16 and the free end of the fourth rotating shaft 17.

[0050] The beneficial effects of adopting the above-mentioned further technical solutions are as follows: the setting of the tension wheel and the shaft facilitates the support and spreading of the track; the sliding installation of the shaft facilitates the adaptive adjustment of the shaft position according to the track model, making it easier to adapt to the installation of different tracks and improving applicability.

[0051] like Figures 1 to 7 As shown, the second bracket 13 is further provided with a third adjustment mechanism 18 for driving the third rotating shaft 16 to slide up and down and left and right, and a fourth adjustment mechanism 19 for driving the fourth rotating shaft 17 to slide up and down.

[0052] The beneficial effects of adopting the above-mentioned further technical solution are: the adjustment mechanism facilitates the sliding of the rotating shaft relative to the support, facilitates the adjustment of the rotating shaft position, facilitates the adaptive adjustment of the rotating shaft position according to the track model, facilitates the installation of different tracks, and improves applicability.

[0053] like Figures 1 to 7 As shown, the third adjustment mechanism 18 and the fourth adjustment mechanism 19 are, in a further sense, cylinders, electric push rods, screw jacks, or hydraulic push rods.

[0054] The advantages of adopting the above-mentioned further technical solutions are: it facilitates the installation and maintenance of the adjustment mechanism, has a simple structure, and has a low cost.

[0055] Among them, the adjustment mechanism (first adjustment mechanism, second adjustment mechanism, third adjustment mechanism and fourth adjustment mechanism) can be set horizontally or vertically according to actual needs, and the bottom of the rotating shaft (first rotating shaft, second rotating shaft, third rotating shaft and fourth rotating shaft) can be equipped with a slide table. Multiple slide tables are slidably installed on the bracket (first bracket or second bracket) by means of slide rail combination.

[0056] like Figures 1 to 7 As shown, the driving mechanism 5 further includes: a first rack 20, a second rack 21, a gear, and a motor. The motor is mounted on the fixed frame 1, and the gear is mounted on the motor. The first rack 20 and the second rack 21 are connected to the first tensioning mechanism 3 and the second tensioning mechanism 4 in a one-to-one correspondence. The first rack 20 and the second rack 21 are both meshed with the gear. The first rack 20 and the second rack 21 are parallel.

[0057] The beneficial effects of adopting the above-mentioned further technical solution are: the arrangement of the rack, gear and motor facilitates the adjustment of the relative positions of the first tensioning mechanism and the second tensioning mechanism, so that the first tensioning mechanism and the second tensioning mechanism move synchronously, improves work efficiency, prevents the first tensioning mechanism and the second tensioning mechanism from shaking, and improves the stability and reliability of the track mounting device.

[0058] like Figures 1 to 7 As shown, the fixed frame 1 is further provided with a track roller 22 in the middle, and a fixing mechanism 28 for fixing the vehicle frame is provided on one side of the fixed frame 1.

[0059] The beneficial effects of adopting the above-mentioned further technical solutions are: the track idler rollers facilitate track positioning and support; the fixing mechanism facilitates the connection between the track mounting device and the chassis, prevents the chassis or mounting device from shaking, and improves the stability and reliability of the track mounting device.

[0060] The fixing mechanism 28 may include an electric actuator 29 and a hook 30. The middle part of the hook 30 is hinged to the fixing frame 1, one end of the hook 30 is hinged to the electric actuator 29, and the free end of the hook 30 is provided with a hook body.

[0061] like Figures 8 to 13 As shown, the present invention also provides a track mounting system, including at least one track mounting device as described in any one of the above claims, and further including: at least one parallel arm 23, at least one terminal arm 24, at least one rotating vertical arm 25, a pair of columns 26, and a track 27. The pair of columns 26 are vertically arranged, and the two ends of the track 27 are connected to the tops of the pair of columns 26 respectively. The rotating vertical arm 25 is slidably mounted on the track 27, the parallel arm 23 is rotatably mounted on the rotating vertical arm 25, the terminal arm 24 is rotatably mounted on the parallel arm 23, and the track mounting device is rotatably mounted on the terminal arm 24.

[0062] The beneficial effects of adopting the technical solution of this invention are as follows: By designing an installation system with a track mounting device, parallel arm, end arm, rotating vertical arm, column, and track, the track mounting device is easily moved to the installation position, improving its flexibility and facilitating user operation. The drive mechanism drives the first and second tensioning mechanisms to slide relative to each other, spreading the track and achieving the track installation effect, reducing manual labor intensity and improving production efficiency.

[0063] By utilizing the hydraulic cylinder and its working principle, and adding a filter device, a combination of pneumatic tensioning and filtration and electric control is achieved for easy operation. A system air shortage protection device is designed and installed. In the event of an unexpected interruption of the main air supply, the system assists the parallel arm of the robotic arm to ensure that the end arm and gripper (track mounting device) do not suddenly fall, thus preventing safety hazards.

[0064] This invention is based on pneumatics and electric control, and uses a motor and rack and pinion transmission mode to move the working and moving units, which in turn spreads the tracks to achieve the effect of track installation.

[0065] 1. Through the pneumatic control of the directional motion unit and safety unit, functions such as easy control, emergency braking, and up-and-down movement are achieved, and the installation of tracks is supported.

[0066] 2. The position setting and movement unit opening and closing of the entire device are controlled by electronic control.

[0067] 3. The system is equipped with an air shortage protection device, so even if the air supply to the system is interrupted, the robotic arm gripper will not suddenly fall or loosen its tracks; the control handle is integrated with the customized gripper, allowing the operator to control the workpiece positioning with both hands simultaneously.

[0068] 4. The track assembly robot has no-load and load balancing functions and is equipped with a load indicator to show the load status; when the system automatically switches to the load state, the indicator shows green.

[0069] 5. The system is equipped with a misoperation protection device. It will not release the gripper track during its movement in mid-air. Even if the release button is pressed, the track must be effectively supported before it can be released. The robotic arm is equipped with a selection touch screen and a servo automatic adjustment system for different models, which can quickly switch between different models.

[0070] This solution is mainly a pneumatic-assisted manipulator transfer system (track installation system) for labor-saving operation during track installation.

[0071] The system uses the HY S352210-XDA pneumatically balanced manipulator, suitable for precise operation with variable loads. It employs UP / DW control; within any range of stroke, pressing the UP button raises the gripper, and pressing the DW button lowers it.

[0072] The system features smooth movement and structural rigidity, making track transfer and assembly operations easy and quick.

[0073] The system is equipped with a dual-unit air supply system to further clean and purify the compressed air at the system inlet, and the output pressure can be adjusted within a certain range to ensure the long-term working life of the system. An inlet pressure booster is also provided to ensure stable system pressure.

[0074] The system is equipped with an air supply interruption protection device, which prevents the parallel arm, end arm, and gripper of the assistive robot from suddenly falling when the main air supply is unexpectedly interrupted.

[0075] The system is equipped with three horizontal rotating joints and one vertical rotating joint to prevent the robotic arm from rotating arbitrarily and damaging equipment when not in use. The system employs a suspended, mobile structure to cover the service area. It utilizes aluminum alloy guide rails, combined with non-metallic hydraulic wheels and a mobile carriage, enabling system movement and incorporating multiple safety features.

[0076] This invention is based on the assembly robot technology route, defines the application scenarios, and modifies and innovates the design to become a tracked installation robot through actual application scenarios.

[0077] The technical approach of robotic arms is to achieve the expected work tasks through programming, using hydraulics or other means to control the motion units to generate sufficient force for the operation. Electrical control is used to set the work path, start and stop points, etc.

[0078] The closest technical solution is the basic model used in this modification. The system adopts the HY S352210-XDA pneumatic flat-street assisted manipulator, which is a system technical solution suitable for precise operation with variable loads.

[0079] By utilizing motor and rack and pinion transmission, the limited working width of traditional robotic arms is overcome. Customized working width allows for tracked installation while minimizing the area required for installation. Through electronic and pneumatic technologies, fixed installation points can be controlled. During operation, pressing the designated button at the specified point will cause the device to assume a posture suitable for the current operation, facilitating installation by the operator.

[0080] Air Supply Triple Unit: Since this system uses compressed air as its power source, each unit will be equipped with an air supply triple unit to ensure that the power source meets the requirements of the robotic arm. The basic functions of the triple unit include: an air filter, an oil mist separator, and a pressure regulating valve. The air filter removes small solid particles and dust from the air, providing initial purification. The oil mist separator further purifies the compressed air by separating moisture, oil, and other impurities. The pressure regulating valve ensures stable system pressure.

[0081] Booster Pump: Since this system uses compressed air as its power source, a booster pump will be installed in each system to ensure a stable air input pressure and meet the system's required pressure. The function of the booster pump is to further pressurize and stabilize the compressed air after it has passed through the triplet unit, thus stabilizing the system pressure and preventing issues caused by unstable on-site air source pressure.

[0082] Filter and pressure reducing valve: This equipment (system, i.e., the tracked installation system) is equipped with an air storage device. To ensure the cleanliness and dryness of the air source after the air storage device, a filter and pressure reducing valve is installed after the air storage device to further clean and purify the compressed air after the air storage unit. The basic functions of the filter and pressure reducing valve include: a filter and a pressure regulating valve. The filter's function is to remove small solid particles and dust impurities from the air, further purifying the compressed air; the pressure regulating valve's function is to adjust the system pressure so that the pressure at the air source inlet meets the usage standards.

[0083] This equipment (track installation system) uses a rigid-arm AYB-400 manipulator body, an I-beam foundation, an electric trolley, and a special track transfer assist clamp for track transfer, installation, and other tasks.

[0084] Independently developed a comprehensive technical improvement plan for track assembly:

[0085] (1) Assembly production cycle: 5 min (120 units per day for a single shift of 10 hours).

[0086] (2) The system's rated load is 300 kg.

[0087] (3) Height adjustment stroke 600mm.

[0088] (4) The forward and backward sliding stroke is 6000mm.

[0089] (5) Working range radius 2000mm.

[0090] (6) The track assembly robot (track installation system) has no-load and load balancing functions and is equipped with a load display to indicate the load status; when the system automatically switches to the load status, the indicator displays green.

[0091] (7) The system (track installation system) is equipped with a misoperation protection device. The track will not be released during the movement of the track in mid-air. Even if the release button is pressed, the track can only be released after it is effectively supported.

[0092] (8) The system is equipped with an air shortage protection device, so that even if the system is shut off, the robotic arm gripper will not suddenly fall or loosen its tracks.

[0093] (9) The control handle is integrated with the customized fixture, allowing the operator to control the workpiece positioning with both hands at the same time.

[0094] (10) The robotic arm is equipped with a selection touch screen and an automatic model adjustment system, which can quickly switch between different models.

[0095] Independently designed and completed the automation technology improvements of the robotic arm (tracked installation system)

[0096] (1) Firstly, the equipment (track installation system) adopts the rigid arm AYB-400 type robot body, cooperates with the I-beam foundation, is equipped with an electric trolley, and is equipped with a special track transfer assist clamp (track installation device) for track transfer, installation and other work.

[0097] (2) Secondly, a suspended mobile structure is adopted to achieve coverage of the service area. Aluminum alloy guide rails are used, along with non-metallic rollers and mobile trolleys, to enable the system to move.

[0098] (3) The equipment can adapt to balanced operation for workpieces of different weights as long as they are within the rated load range of the system.

[0099] (4) The system has the characteristics of smooth motion and rigid structure, and realizes track transfer, assembly and other operations.

[0100] (5) The system is equipped with a safety protection valve group with air loss protection. When the main air supply source loses air, the track will not suddenly fall.

[0101] (6) The system is easy to operate. After grabbing the track, the track can be moved manually and operated up and down. The control handle of the system is integrated with the clamp, and the operator can control the track clamp positioning with both hands at the same time.

[0102] (7) The system adopts an I-beam foundation and has an effective working range of L=6.0m.

[0103] (8) The rated load of the system is 550 kg (total weight of fixture and workpiece under 7 kgf air supply pressure).

[0104] (9) The lifting stroke of the equipment is 1000mm, the service radius is 2200mm, the track length is 8000mm, and the effective sliding stroke is 6000mm.

[0105] (10) The system rated load p = 400 kg (when the gas supply pressure is 8 bar).

[0106] Independently designed track clamps and transfer devices

[0107] (1) First, design the components of the track clamp, including the fixed frame, the tension wheel component on the drive wheel side, and the tension wheel component on the driven wheel side.

[0108] (2) Design the operation process of the integrated transfer device and clamp. In the initial state, tensioning wheels 1 / 2 / 3 / 4 (first tensioning wheel, second tensioning wheel, third tensioning wheel and fourth tensioning wheel) are in the center of the origin position. Insert the track roller into the inside of the track. At the same time, the tensioning wheel extends into the inside of the track. Press the button to remove the track from the transfer vehicle. Press the button to make the four tensioning wheels tension the track according to the specific data set for different vehicle models. Complete the operation of the robot and install the track.

[0109] (3) All operation buttons and touch screens are integrated and installed on the operating handle of the clamp (track mounting device) for easy operation.

[0110] Independently designed and developed electrical systems

[0111] (1) First, design an electric and pneumatic control box. When moving the track with the track clamp (track mounting device), release the switch brake with both hands using the control handles.

[0112] (2) Adjust the clamp and move the clamp to the track placement location so that the clamp gripping point is aligned with the track gripping position.

[0113] (3) Design a positioning system. After pressing the "clamp" button of the positioning system and the clamping system effectively clamps the track, press the "UP" button to turn the load indicator green.

[0114] (4) At this time, the electric control system can be used to control the lifting / lowering of the fixture and track by pressing the button to move the workpiece.

[0115] (5) The system can be used to transfer, position and install workpieces.

[0116] (6) After the workpiece is effectively supported, press the “DW” button and then press the “Release” button to release the fixture from the workpiece.

[0117] (7) Finally, move the robotic arm to the designated position, press the "brake" button to lock each rotary joint, and complete the operation.

[0118] Independently designed pneumatic system

[0119] (1) The pneumatic system is equipped with a two-piece air supply unit to further clean and purify the compressed air at the system inlet, and can adjust the output pressure within a certain range to ensure the long-term working life of the system. The air source inlet is equipped with a booster to ensure the stability of the system pressure.

[0120] (2) The system is equipped with a gas supply interruption protection device. When the main gas supply is interrupted unexpectedly, it will assist the parallel arm of the robot to ensure that the terminal arm and the gripper will not fall suddenly.

[0121] (3) The system is equipped with three horizontal rotating joint brake devices and one vertical rotating joint brake device to prevent the arm from rotating randomly and damaging the equipment when the robot is not working.

[0122] (4) The design utilizes hydraulic cylinders and filters, and combines pneumatic tensioning and filtration devices with electric control for operation.

[0123] (5) Use an air filter to filter out solid particles and dust and other impurities in the air to purify the compressed air initially; the function of the oil mist separator is to separate moisture, oil and other impurities in the compressed air to further purify the compressed air. Adjust the system pressure through the pressure regulating valve to make the pressure at the air source inlet reach the working state and ensure the system pressure is stable.

[0124] (6) The pressure of the compressed air entering the system can be adjusted according to actual needs. Rotating the knob clockwise increases the system pressure, and rotating the knob counterclockwise decreases the system pressure.

[0125] (7) The triple filter is used and has two air inlets. If the airflow direction is reversed, the triple filter will not be damaged when the system fails to work.

[0126] (8) The triplet, filter and cylinder are installed on the corresponding position on the equipment by locking and cooperating with the special mounting bracket.

[0127] Independent verification and debugging, overcoming difficulties a second time

[0128] (1) Adding a power-assisted cylinder solves the problem of the track material being soft and difficult to assemble.

[0129] (2) The torque motor has been upgraded and improved, which has solved the problems of insufficient torque and program garbled code.

[0130] (3) The 40CR steel material advocates for the upgrading and improvement of the shaft material, which solves the problem of poor quality and easy breakage of ordinary steel.

[0131] After practical application, the track mounting system of this invention embodiment:

[0132] 1. Efficiency: Before the improvement, it took about 7.5 minutes for manual installation of the track. After the improvement, it took about 5 minutes for the robot to operate the left and right track assembly, which is a 33% increase in production efficiency compared to before the improvement.

[0133] 2. Cost aspect: After the improvement, the robotic arm operation now requires 2 people, compared to 5 people before the improvement, saving 3 people and thus reducing costs.

[0134] 3. Other aspects: Through improvements, the labor intensity of employees is greatly reduced, and the safety hazards of manual handling, lifting, and crushing are eliminated, thereby achieving automated assembly.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A track mounting device, characterized in that, include: The track mounting device comprises a fixed frame, a first tensioning mechanism for tensioning the track, a second tensioning mechanism for tensioning the track, and a drive mechanism for sliding the first and second tensioning mechanisms. This track mounting device causes the track to move in mid-air and can be moved to the mounting position, improving its flexibility and facilitating user operation. The first tensioning mechanism is slidably mounted on one side of the fixed frame, and the second tensioning mechanism is slidably mounted on the other side of the fixed frame. The drive mechanism is mounted in the middle of the fixed frame, and both the first and second tensioning mechanisms are connected to the drive mechanism.

2. The track mounting device according to claim 1, characterized in that, The first tensioning mechanism includes: a first bracket, a first tensioning wheel, a second tensioning wheel, a first rotating shaft, and a second rotating shaft. The first bracket is slidably mounted on one side of the fixed frame and is connected to the drive mechanism. The first rotating shaft and the second rotating shaft are both slidably mounted on the first bracket, with the first rotating shaft located above the second rotating shaft. The first tensioning wheel and the second tensioning wheel are rotatably mounted on the free ends of the first rotating shaft and the second rotating shaft, respectively.

3. The track mounting device according to claim 2, characterized in that, The first bracket is provided with a first adjustment mechanism for driving the first rotating shaft to slide left and right, and a second adjustment mechanism for driving the second rotating shaft to slide up and down.

4. The track mounting device according to claim 3, characterized in that, The first adjustment mechanism and the second adjustment mechanism are cylinders, electric push rods, screw jacks or hydraulic push rods.

5. A track mounting device according to claim 1, characterized in that, The second tensioning mechanism includes: a second bracket, a third tensioning wheel, a fourth tensioning wheel, a third rotating shaft, and a fourth rotating shaft. The second bracket is slidably mounted on the other side of the fixed frame and is connected to the drive mechanism. The third rotating shaft and the fourth rotating shaft are both slidably mounted on the second bracket. The third rotating shaft is located above the fourth rotating shaft. The third tensioning wheel and the fourth tensioning wheel are rotatably mounted on the free ends of the third rotating shaft and the fourth rotating shaft, respectively.

6. A track mounting device according to claim 5, characterized in that, The second bracket is provided with a third adjustment mechanism for driving the third rotating shaft to slide up and down and left and right, and a fourth adjustment mechanism for driving the fourth rotating shaft to slide up and down.

7. A track mounting device according to claim 6, characterized in that, The third and fourth adjustment mechanisms are cylinders, electric push rods, screw jacks, or hydraulic push rods.

8. A track mounting device according to claim 1, characterized in that, The driving mechanism includes a first rack, a second rack, a gear, and a motor. The motor is mounted on the fixed frame, and the gear is mounted on the motor. The first rack and the second rack are connected to the first tensioning mechanism and the second tensioning mechanism in a one-to-one correspondence. The first rack and the second rack are both meshed with the gear, and the first rack and the second rack are parallel.

9. A track mounting device according to claim 1, characterized in that, The fixed frame has a track roller in the middle and a fixing mechanism for fixing the vehicle frame on one side.

10. A track mounting system, characterized in that, The device includes at least one track mounting device as described in any one of claims 1 to 9, and further includes: at least one parallel arm, at least one terminal arm, at least one rotating vertical arm, a pair of columns, and a track. The pair of columns are vertically arranged, and the two ends of the track are connected to the tops of the pair of columns respectively. The rotating vertical arm is slidably mounted on the track, the parallel arm is rotatably mounted on the rotating vertical arm, the terminal arm is rotatably mounted on the parallel arm, and the track mounting device is rotatably mounted on the terminal arm.

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