Track shoe conveying system

Abstract

The purpose of the present invention is to provide a track shoe conveying system capable of accurately placing a track shoe, which is a weight loaded on a pallet, on a link belt on a conveyor line. For this purpose, the track shoe conveying system (50) according to the invention comprises: a track shoe supply unit (50A) provided with a pallet on which a track shoe (2) is loaded and a lifting device for the pallet; a track shoe detection mechanism (50B) for detecting the track shoe supplied from the track shoe supply unit; a control device (100) for determining the state of the track shoe (the positions of the front side or the rear side and the long side and the short side of the track shoe) detected by the track shoe detection mechanism; a track shoe pickup mechanism (50C) that picks up the track shoe detected by the track shoe detection mechanism; a track shoe transfer device (50D) that conveys the track shoe picked up by the track shoe pick-up mechanism; a track shoe arrangement mechanism (50E) which arranges the track shoe conveyed by the track shoe transfer device in cooperation with the associated track and in alignment with each divider of the link belt (10); and the chain link belt conveying device is used for conveying the chain link belt and the track shoe on the chain link belt.

Description

Technical Field

[0001] The present invention relates to a system for setting a track shoe (crawler shoe) placed on a loading pallet, for assembling the track shoe to a link belt, and for conveying the track shoe to a bolt and nut tightening device in a subsequent process. Background Art

[0002] First, refer to Fig.17 , the construction of the endless track belt will be briefly described. The endless track belt is constituted as a bottom member of a construction machinery, wherein the shoe is mounted on a link belt, which is a link assembly in which links, pins and bushings are connected in a chain state, and, as Fig.17 As illustrated in FIG. 1 , the track shoe 2 is assembled to a pair of links 1 , 1A. The chain links 1 and 1A are provided with pin holes 11 and 11A and bushing holes 7 and 7A. Fig.17 In the example in FIG. 1 , in the link 1, 1A, the window hole 12 is formed in the area between the pin hole 11 and the bushing hole 7. In the inner surface of the window hole 12, a bolt hole 14 is formed, the bolt hole 14 is formed for inserting the bolt 5, and the track shoe 2 is assembled to the link 1, 1A by the bolt 5. In the link assembly device (not shown), the bushing 4 is fitted (pressed) into the bushing hole 7, 7A. In addition, the pin 3 is fitted (pressed) into the pin hole 11, 11A. In addition, by inserting the pin into the bushing, each frame 30 of the link belt is connected to the adjacent frame, which constitutes the link belt in a single continuous chain state. In a bolt-nut tightening device (not shown) in a subsequent process of the link assembly device, the track shoe 2 is assembled and fixed to the track shoe fitting surface 15 of the link 1, 1A by inserting the bolt 5 through the bolt hole 14 in each of the link 1, 1A and the bolt hole 21 provided in the track shoe 2, and by tightening with the nut 6. The track shoe fitting surface 15 is the rear surface of the link 1, which is Fig.17 It is not clearly indicated in Fig.15 The track shoe mounting surface 15 is shown in the middle figure.

[0003] When manufacturing a circular track belt, in addition to Fig.17 The structural members (bushings 4, pins 3, links 1, 1A) other than the track shoe 2 in the chain are connected in a chain state to constitute a link belt, and the track shoe 2 is fastened to the link belt. At this time, the link belt is conveyed by the link belt conveyor 50F toward the bolt and nut tightening device on the downstream side. On the other hand, the track shoe 2 is manufactured by a predetermined machining process after rolling, and after manufacturing, it is loaded on a pallet (not in Fig.17 ) and move. In order to fasten the track shoe 2 to each link belt, it is necessary that the track shoe 2 loaded on the pallet needs to be set in an appropriate manner relative to the link belt on the link belt conveyor conveyed toward the bolt and nut tightening device. Note that the appropriate aspect (mode, embodiment) means a state in which the long sides and short sides of adjacent track shoes are appropriately overlapped with each other, which will be described in detail later. However, since the track shoe 2 has a large weight (60 to 70 kg / piece or 60 to 70 kg / piece), it is difficult for an operator to manually place it on the link belt. Furthermore, if the track shoe 2 is placed on the link belt by using a multi-axis robot, the structure thereof is complicated, the frequency of failures occurring from this part increases, the repair time at the time of failure increases, and the risk of line stop should increase. Furthermore, since there is a risk of incurring an accident involving a person, and thus it is necessary to take safety measures such as ensuring an excessively large space so that a person cannot easily enter the movable range of the multi-axis robot, and covering the multi-axis robot with a partition or the like, it makes it difficult to install the device in a limited space.

[0004] As other existing technologies, there are technologies for identifying the three-dimensional positions of multiple moving targets (Patent Document 1), technologies for automatically classifying components using a multi-axis robot (Patent Document 2), and technologies that can determine the material of a workpiece even if the distance from a light source to the workpiece changes (Patent Document 3). However, Patent Document 1 is a technology for detecting the position of an object to be measured by an infrared camera, but since this technology does not have a function of distinguishing a plurality of different products and a function of distinguishing the direction in which the products are placed, etc., this technology cannot determine the difference in shape by the type of track shoe or the direction in which the track shoe is placed so as to properly pick up the track shoe. In the method of Patent Document 2, a plurality of different products can be identified, but since there is no function for setting the member at the assembly position, the method cannot be applied to a system for setting a track shoe to a link belt. The method of Patent Document 3 is capable of identifying a plurality of different products and determining material quality, but since the method does not have a function for conveying products or setting products at assembly positions, the method cannot be applied to a system for setting a track shoe to a link belt. Furthermore, when a multi-axis robot is applied, since there is a problem of opportunity loss caused by a failure frequency or a time lag in recovery from a failure, the method is not appropriate for a system for placing a track shoe on a link belt conveyed to a bolt and nut tightening device. [Citation list] [Patent Document]

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-167751 Patent Document 2: Japanese Patent Application Publication No. 2019-059004 Patent Document 3: Japanese Patent Application Publication No. 2011-156602 Summary of the invention [Technical issues]

[0006] The present invention is proposed in view of the above-mentioned problems in the prior art, and has the following object: to provide a track shoe conveying system which can accurately place a track shoe as a heavy object loaded on a pallet on a link belt of a link belt conveying device. [Methods used to solve the problem]

[0007] The crawler shoe conveying system (50) of the present invention is characterized by comprising: A track shoe supply unit (50A) which accommodates a pallet (55) and is provided with a lifting device (56) for lifting the pallet (55), on which the track shoe (2) is loaded; A track shoe detection mechanism (50B) that detects the track shoe (2) supplied from the track shoe supply unit (50A); A control device (100: control unit) that determines the state of the detected track shoe (2) (the front and rear sides, the positions of the long side and the short side, etc. of the track shoe) based on the detection result of the track shoe detection mechanism (50B); A track shoe picking mechanism (50C: a three-axis orthogonal robot) that picks up the track shoe (2) detected by the track shoe detection mechanism (50B); A track shoe transfer device (50D) that conveys the track shoe (2) picked up by the track shoe picking mechanism (50C) (to the link belt conveyor device 50F); a track shoe setting (arrangement) mechanism (50E: a two-axis orthogonal robot) which sets (arranges) the track shoe (2) conveyed by the track shoe transfer device (50D) so as to be aligned with each link belt (10) conveyed on the link belt conveyor device 50F; and A link belt conveying device (50F) conveys the link belt (10) and the track shoe (2) (which is set on the link belt 10 by the track shoe setting mechanism 50E) (and supplies the link belt (10) and the track shoe (2) to the bolt and nut tightening device on the downstream side).

[0008] In the present invention, it is preferred that the track shoe detection mechanism (50B) is fixed and has a function of photographing a plurality of track shoes (2) on the uppermost layer loaded on the pallet (55) and providing information related to the plurality of track shoes (2) to the control device (100), and, The control device (100) has: a function for determining the type of the track shoe (2), the positions of the bolt holes (21A, 21B, 21C, 21D), the direction in which the lugs (R1, R2, R3) protrude and the depth of the lugs, and the front and rear sides of the track shoe based on information sent from a track shoe detection mechanism (50B); and a function for determining the order of taking out (picking up) the track shoe (2).

[0009] Alternatively, in the present invention, it is preferred that the track shoe supply unit has a photoelectric sensor (54), which is fixed and has a function of measuring the vertical distance (the distance in the direction of arrow V) between the uppermost track shoe (2) and the track shoe detection mechanism (50B) in the track shoe (2) loaded on the pallet (55), and providing the vertical distance to the control device (100), and, The control device (100) preferably has: a function for lifting the lifting device (56) if the vertical distance (in the direction of arrow V) between the uppermost track shoe (2) loaded on the pallet (55) and the track shoe detection mechanism (50B) is less than a predetermined distance (for example, 1250 mm); and a function for stopping the lifting of the lifting device (56) if the vertical distance (in the direction of arrow V) between the uppermost track shoe (2) loaded on the pallet (55) and the track shoe detection mechanism (50B) is equal to or greater than a predetermined distance (for example, 1250 mm).

[0010] Furthermore, in the present invention, it is preferred that the track shoe reversing device (70) is provided on a side of the track shoe transfer device (50D) away from the track shoe supply unit (50A: or the support plate 55), and the track shoe reversing device (70) preferably includes: a reversing member (75) which is rotationally movable about a rotational movement center (74) (in the direction of arrow AR); A track shoe receiving base (76) receiving the inverted track shoe (2); a fulcrum member (77) which becomes a supporting portion (fulcrum) for reversal when the track shoe (2) is reversed by the reversal member (75); and A pressing member (78) presses the track shoe (2) in a state where the lugs (R1 to R3) are reversed and face upward, so as to slide the track shoe (2) on the track shoe transfer device (50D).

[0011] When the present invention is to be embodied, it is preferred that the track shoe picking mechanism (50C) is constituted by a three-axis orthogonal robot; and, The track shoe setting mechanism (50E) is composed of a two-axis orthogonal robot. Furthermore, the control device (100) preferably forms an artificial intelligence. Advantageous Effects of the Invention

[0012] According to the present invention including the aforementioned configuration, by shortening the cycle time compared to the prior art, the processing of the track shoe (2) can be performed in correspondence with the processing speed of the bolt and nut tightening device in the subsequent process. That is, a track shoe (2) can be automatically supplied (input) to the bolt and nut tightening device at a predetermined target speed (e.g., a cycle time of 8.5 seconds). At the same time, a plurality of types of processing to be performed on the track shoe (2) can be performed in parallel for each state of the track shoe (2). Furthermore, since the heavy labor of manually and repeatedly supplying the track shoe (2) as a heavy object (60 to 70 kg / piece) to the production line can be eliminated, the number of workers can be reduced, and thus the labor cost can be reduced. The system according to the present invention can be installed in a small space (eg, 4m x 3.5m) and can solve the problems associated with the installation space in the crawler conveyor system (50). Furthermore, according to the present invention, since the use of expensive equipment is not indispensable, the introduction cost can be kept low, and high productivity (eg, a cycle time of 8.5 seconds) can be ensured.

[0013] In the present invention, in the following case: the track shoe detection mechanism (50B) has a function for photographing a plurality of track shoes (2) on the uppermost layer loaded on a pallet (55), and for providing information related to the plurality of track shoes (2) to a control device (100), and, The control device (100) has a function for determining the type of the track shoe (2), the positions of the bolt holes (21A, 21B, 21C, 21D), the direction and depth of the lugs (R1, R2, R3), and the front and rear sides of the track shoe (2) based on information from the track shoe detection mechanism (50B), and a function for determining the order of taking out (picking up) the track shoe (2); Then, the track shoe (2) loaded on the pallet (55) can be transported on the track shoe transfer device (50D) in the same posture and properly set on the corresponding link belt (10). Furthermore, when an infrared 3D camera is applied to the track shoe detection mechanism (50B), the infrared 3D camera is significantly cheaper than a laser 3D scanner, thereby the installation cost of the track shoe conveying system (50) of the present invention can be kept low.

[0014] Furthermore, in the present invention, in the case where the track shoe supply unit has a photoelectric sensor (54), the photoelectric sensor (54) is fixed and has a function of measuring a vertical distance (a distance in the direction of arrow V) between the uppermost track shoe (2) of the track shoes (2) loaded on the pallet (55) and the track shoe detection mechanism (50B) and providing the vertical distance to the control device (100), and, The control device (100) has a function for lifting the lifting device (56) so that the vertical distance (arrow V direction) between the uppermost track shoe (2) loaded on the pallet (55) and the track shoe detection mechanism (50B) becomes a predetermined distance (for example, 1250 mm); Then, when the track shoe detection mechanism (50B) captures an image of the track shoe (2: the track shoe to be removed) to be picked up among the track shoes (2) loaded on the pallet (55) and located at the top, an optimal field of view can be ensured, optimal accuracy in identifying the type or direction of the track shoe, etc. can be ensured, and when the track shoe picking mechanism (50C) picks up the track shoe (2) and moves to the track shoe transfer device (50D), it is possible to prevent interference with the track shoe detection mechanism (50B).

[0015] Furthermore, in the present invention, if the track shoe reversing device (70) is provided on a side of the track shoe transfer device (50D) which is separated from the track shoe supply unit (50A: or pallet), Then, when the direction of the lugs (R1 to R3) in the track shoe (2) is opposite to the predetermined direction (for example, when the lugs R1 to R3 must be transported in an upward state, the track shoe 2 is placed on the track shoe transfer device 50D in a downward state), the track shoe facing the opposite direction (2: for example, the track shoe with the lugs R1 to R3 facing downward) is reversed, and the directions of the lugs (R1 to R3) in the track shoe (2) transported by the track shoe transfer device (50D) can all point to the same predetermined direction (for example, the lugs R1 to R3 of all track shoes 2 transported by the track shoe transfer device 50D can be in an upward state). Here, by arranging the track shoe reversing device (70) on a side of the track shoe transfer device (50D) that is separated from the track shoe supply unit (50A: or pallet), in an area where a track shoe picking-up mechanism (50C: a three-axis orthogonal robot) picks up the track shoe and places the track shoe on the track shoe transfer device (50D), the amount of movement of the track shoe picking-up mechanism (50C) in the up-down direction (vertical direction: Z-axis direction) can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a perspective view illustrating an outline of a track shoe conveying system according to an embodiment of the present invention. Figure 2 yes Figure 1 A plan view of the system shown in FIG. Figure 3 yes Figure 1 A side view of the system shown in FIG. Figure 4 is a perspective view of a track shoe illustrated in the illustrated embodiment. Figure 5 are illustrative views of the long and short sides of a track shoe. Figure 6 is an explanatory view of the track shoe supply unit. Figure 7 is an explanatory view illustrating the depth DP in the track shoe. Figure 8 It is an explanatory view of the taking-out order (pick-up order) in which collapse of the loaded track shoes will not occur. Fig. 9 is an explanatory view illustrating an example of a method for determining the short side and the long side of the track shoe. Fig.10 It is an explanatory view illustrating the outline of a three-axis orthogonal robot. Fig.11 is from Figure 1 1 is a drawing which is a portion of which is selected, and is a perspective view illustrating a track shoe supply unit, a three-axis orthogonal robot, and a track shoe transfer device. Fig.12 It is an explanatory diagram of the track shoe reversing device and shows a state before the track shoe is reversed. Fig.13 It is an explanatory diagram of the track shoe reversing device and shows a state after the track shoe is reversed. Fig.14 It is an explanatory diagram showing the relationship between the position of the track shoe receiving base of the track shoe reversing device and the vertical movement amount of the track shoe picking member. Fig.15This is an explanatory diagram showing a procedure of placing a track shoe on a link belt of a link belt conveyor. Fig.16 This is an explanatory diagram showing the outline of a pitch feeding device in a link belt conveyor device. Fig.17 This is an explanatory diagram illustrating the structure of an annular track belt. Fig.18 This is an explanatory diagram showing a loading state of a large number of track shoes loaded on a pallet. DETAILED DESCRIPTION

[0017] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The crawler shoe conveying system according to an embodiment of the present invention is Figures 1 to 3 The entirety of the structure is indicated by reference numeral 50 . exist Figures 1 to 3 In the embodiment, the crawler shoe conveying system 50 comprises: Accommodating tray 55 (see Figure 6 ) of the crawler shoe supply unit 50A, which is provided with a lifting device 56 for lifting the pallet 55 (see Figure 6 ), a track shoe 2 is loaded on the support plate 55; A track shoe detection mechanism 50B that detects the track shoe 2 supplied from the track shoe supply unit 50A; A control device 100 (control unit) that determines the state of the detected track shoe 2 (the front and rear sides of the track shoe 2, the positions of the long side 23 and the short side 22 of the track shoe 2, etc.) based on the detection result of the track shoe detection mechanism 50B; A three-axis orthogonal robot 50C constituting a track shoe picking mechanism for picking up the track shoe 2 detected by the track shoe detecting mechanism 50B; A track shoe transfer device 50D that conveys the track shoe 2 picked up by the three-axis orthogonal robot 50C (to the link belt conveyor device 50F); A two-axis orthogonal robot 50E constituting a track shoe setting mechanism for setting the track shoe 2 conveyed by the track shoe transfer device 50D so as to be aligned with the link belt 10; and The link belt conveyor 50F conveys the link belt 10 and the track shoe 2 (which is provided on the link belt 10 by the two-axis orthogonal robot 50E) and supplies them to a bolt and nut tightening device (not shown) on the downstream side. The link belt corresponds to each of the track shoes 2 and is conveyed on the link belt conveyor 50F. exist Figures 1 to 3 , the conveying direction by the track shoe transfer device 50D is indicated by an arrow CV1, and the conveying direction by the link belt conveyor device 50F (link belt feeding direction, which will be described later) is indicated by an arrow CV2.

[0018] exist Figures 1 to 3 In the embodiment, the detection results of the track shoe detection mechanism 50B and the photoelectric sensor 54 are input to the control unit 100 via the signal transmission line SIP, and based on the state of the track shoe determined by the control unit 100 (the front and rear sides, the positions of the long and short sides of the track shoe, etc.), the control signal is transmitted to the three-axis orthogonal robot 50C, the track shoe transfer device 50D, the two-axis orthogonal robot 50E and the chain link belt conveyor 50F via the signal transmission line SOP. Figure 1 In the figure, only a part of the signal transmission line SOP from the control unit 100 to the three-axis orthogonal robot 50C, the track shoe transfer device 50D, the two-axis orthogonal robot 50E, and the chain link belt conveyor device 50F is shown to avoid cumbersome drawings. Here, the control unit 100 can constitute artificial intelligence AI. The AI ​​has the function of determining the type, direction, etc. of the lug of the detected track shoe by learning the characteristics of each type constituting a part of the track shoe and improving its accuracy to a high level.

[0019] Regarding the track shoe 2, there is a type having a single lug R (so-called "single shoe": see Figure 5 (1)), Type with two lugs R (so-called "double shoe": see Figure 5 (2)) and types with three lugs R (so-called "three-shoe": see Figure 5 (3)). One of the three categories (types) mentioned above is selected by the determined type of the applied track shoe 2 according to the machine body to which the track shoe is mounted. Here, with the prior art, it is difficult to set or install the track shoe to the link belt conveyor 50F according to the type of the track shoe 2. As will be described later, in the illustrated embodiment, the track shoe detection mechanism 50B ( Figures 1 to 3 ) and the control device 100( Figure 1 : Control unit) implements appropriate control so that the track shoe 2 is accurately set on the chain belt conveyor device 50F according to the type of the track shoe 2. In the illustrated embodiment, a system is described as an example, which picks up a track shoe with three lugs R (R1 to R3) (so-called "three-shoe shoe": see Figure 5 (3)), and the shoe is appropriately arranged on the link belt 10 on the link belt conveying device 50F so as to be conveyed to the bolt and nut tightening device in the subsequent process. refer to Figure 7 , the front side and the rear side of the track shoe 2 will be described. Figure 7 The three-shoe track shoe 2 is shown in the figure, and thus, in Figure 7, the surface 2S on the side where the lugs R1 to R3 protrude is the “front side” of the track shoe 2, and the surface 2R on the opposite side (the side where the lugs R1 to R3 are not formed) is the “rear side”. From the lug R of the single shoe to Figure 5 The side of the end portion shown in (1) that has a longer distance (arrow AL1 side) is the long side, and the distance from the lug R of the single shoe to the Figure 5 The side where the distance of the end portion shown in (1) is short (arrow AL2 side) is the short side. And, the long side is indicated by character 23, and the short side is indicated by character 22. Figure 5 (2) The double hoof and Figure 5 Among the three hoof pieces in (3), Figure 5 The lug R of the single shoe in (1) corresponds to the lug (in Figure 5 The lugs having the same left-right position in the track shoe: the lugs indicated by the character R) are taken as reference, wherein the side where the distance from the lug R to the end portion of the track shoe is longer is the long side, and, wherein the side where the distance from the lug R to the end portion of the track shoe is shorter is the short side. like Figure 4 As shown in FIG. 1 , the track shoe 2 illustrated in the illustrated embodiment has a groove 24 formed on the short side 22 side, but the groove is not formed on the long side 23 side. Figure 4 In the embodiment, the elliptical holes 25 formed in the area between the bolt holes 21 are mud removal holes.

[0020] Then, refer to Figure 6 , the track shoe supply unit 50A (reference Figures 1 to 3 ). exist Figure 1 In the figure, the track shoe supply unit 50A is shown as a hollow space, but in Figure 1 In the hollow space, such as Figure 6 As shown in FIG. , a lifting device 56 , a pallet 55 placed on the lifting device 56 , and a plurality of track shoes 2 placed on the pallet 55 are housed. The lifting device 56 is configured so as to be able to vertically move in the direction of arrow V. For the lifting device 56 , a well-known device can be applied. exist Figure 6 In the figure, the plurality of track shoes 2 placed on the support plate 55 are illustrated as a whole by a square 2T indicated by a dotted line. Although not clearly shown, considering that the lugs R1 to R3 ( Figure 4 , Figure 5) protrudes among the plurality of track shoes 2, in order to improve loading efficiency, the plurality of track shoes 2 are loaded in a form such that the front and rear sides of the track shoes 2 are alternately reversed with respect to the up-down direction V. In addition, the track shoes 2 adjacent in the up-down direction V are loaded so that the short sides 22 and the long sides 23 ( Figure 4 , Figure 5 )overlapping( Fig.18 ). That is, when the track shoes 2 are overlapped vertically or when the track shoes 2 are adjacent on the same plane, the track shoes 2 are placed on the pallet 55 so that the short sides 22 of the track shoes overlap with the long sides 23 of the track shoes of the adjacent track shoes in the up-down direction, and the long sides 23 of the track shoes also overlap with the short sides 22 of the adjacent track shoes in the horizontal direction. Therefore, when the track shoes 2 placed on the pallet 55 are to be picked up, it is necessary to pick them up so that the collapse of the loaded track shoes 2 will not occur. Moreover, as will be described later, in order to prevent the collapse of the load, it is necessary to accurately determine the front and rear sides of the track shoes 2 to be picked up and the long sides 23 and short sides 22 of the track shoes 2.

[0021] Here, in Figure 2 In the track shoe supply unit 50A shown in FIG. 1 , a large number of track shoes 2 are loaded on the upper surface of the pallet 55, and the track shoes 2 are loaded in such a manner that each of the track shoes 2 points in various directions on the pallet 55. In the prior art, it is difficult to properly set the track shoes 2 each pointing in various directions on the link belt 10 on the link belt conveyor 50F. also, Fig.18 FIG. 5 shows the side surface of a state where a large number of track shoes 2 are loaded on the pallet 55. Fig.18 As shown in FIG, in the loaded track shoe 2, the direction of the lug is upward or downward depending on how it is loaded. Therefore, in the prior art, it is also difficult to arrange the track shoe 2 loaded as mentioned above so that the lug always faces upward relative to the link belt 10 on the link belt conveyor 50F. On the other hand, in the illustrated embodiment, the plurality of track shoes 2 are provided by a track shoe detection mechanism 50B ( Figures 1 to 3 ) and the control device 100( Figure 1 : control unit) appropriately controls so that all of the plurality of track shoes 2 are appropriately arranged on the link belt 10 on the link belt conveyor 50F, and each of the plurality of track shoes 2 is arranged so as to face various directions in the horizontal direction respectively, and is arranged so that the lug faces upward or downward depending on the loaded layer. In the illustrated embodiment, the track shoe 2 supplied from the track shoe supply unit 50A is detected by the track shoe detection mechanism 50B ( Figures 1 to 3) detection, and based on the detection result of the track shoe detection mechanism 50B, the control device 100 (control unit) determines the positions of the front and rear sides and the long side 23 and the short side 22 of the detected track shoe 2. Figures 1 to 3 In the embodiment, the track shoe detection mechanism 50B is composed of an infrared 3D camera 52 . exist Figure 1 In the embodiment, the infrared 3D camera 52 is mounted on the frame body 62, and the frame body 62 is fixed to the outer frame of the three-axis orthogonal robot 50C, whereby the position of the infrared 3D camera 52 is fixed. By using the infrared 3D camera 52 for photographing the crawler shoe 2, unlike the case of using an infrared 2D camera, the depth direction (vertical direction: up and down direction: in the vertical ... Figure 6 The recognition of the position on the direction (in the direction shown by the arrow V) is possible, and as a result, the removal accuracy (pickup accuracy) of the track shoe 2 picked up by the three-axis orthogonal robot 50C can be greatly improved. Also, the infrared 3D camera 52 can photograph the plurality of track shoes 2 loaded on the uppermost layer of the track shoes loaded on the pallet 55, and can provide the control device 100 with information of the photographed plurality of track shoes 2. Here, a laser 3D scanner can also be applied instead of the infrared 3D camera 52. However, the introduction cost of the laser 3D scanner is higher than the introduction cost of the infrared 3D camera. Therefore, in the illustrated embodiment in which the infrared 3D camera 52 is applied, a great advantage can also be achieved in terms of installation costs.

[0022] exist Figures 1 to 3 In the embodiment, based on the image of the track shoe 2 picked up by the infrared 3D camera 52, the control device 100 ( Figure 1 ) obtains information related to the type of track shoe 2, bolt hole position, height, direction of lug R, and direction of track shoe 2. And, the control device 100 determines the order in which the track shoe picking mechanism 50C (three-axis orthogonal robot) picks up the track shoe 2 from the track shoe loading pallet 55 based on the information as mentioned above, and transmits the control signal to the three-axis orthogonal robot 50C via the signal transmission line SOP. The track shoe picking component 64 (see Fig.10 ) moves to the position of the track shoe 2 to be picked up according to the above-mentioned sequence, and attracts the track shoe 2 by magnetic force, for example, and the component 64 picks up the upper track shoe 2. Here, the position of the track shoe 2 corresponding to the determined sequence is based on the coordinates in the height direction ( Fig.10 The coordinates in the Z direction of the arrow in the figure), the coordinates on the plane ( Fig.10 : coordinates in the XY axis direction), the bolt hole position of the track shoe 2, etc. Will refer to it later Fig.10The track shoe 2 is picked up by the track shoe picking member 64 of the three-axis orthogonal robot 50C and transferred to the track shoe transfer device 50D ( Figures 1 to 3 ) method.

[0023] Based on the information transmitted from the infrared 3D camera 52, the control device 100 determines, for example, the position of the center of the track shoe 2, the front and rear sides of the track shoe 2, and the order in which the track shoe 2 is removed (picking order) without causing the track shoe 2 to cause the load loaded on the pallet 55 to collapse. Regarding the center point of the track shoe 2, the center point (center of gravity position) of the track shoe is determined by identifying the bolt holes 21 ( Figure 4 ) is used for calculation. For example, by predetermining and storing the relationship between the bolt holes 21 at four locations and the center point (center of gravity) in the control device 100, the position of the center point of the track shoe 2 can be determined from the positions of the bolt holes 21 at the four locations. Although not shown in the drawings, the relationship between the bolt holes 21 at the four locations and the center point (center of gravity) is learned in advance by the AI ​​of the control device 100, and by recognizing the bolt holes 21 at the four locations ( Figure 4 ) and, as a result of learning, the type of the track shoe 2 can be identified. As will be described later, by the track shoe picking member 64 ( Fig.10 ) attracts the center point or center of gravity of the track shoe 2, and the track shoe 2 can be picked up without tilt (picked up by the three-axis orthogonal robot 50C) and moved to a predetermined position (track shoe transfer device 50D: Figures 1 to 3 ).

[0024] The front side or rear side of the track shoe 2 is determined by its "depth". As described above, the side where the lug R protrudes in the track shoe 2 is assumed to be the "front side" (the front side 2S of the track shoe 2), and the side opposite to the protrusion of the lug R is assumed to be the "rear side" (the rear side 2R of the track shoe 2). Figure 7 And explain "depth". like Figure 7 As shown in (1), in the track shoe 2 in which the "front side" is on the upper side, there is a distance (the length of the arrow DP) between the top surface of the lug R (R1, R2, R3) and the plane in which the bolt hole 21 is formed. The distance DP between the portion of the track shoe 2 (the top surface of the lug R) and the bolt hole 21 that is first detected by the infrared 3D camera 52 is the "depth". On the other hand, Figure 7As shown in (2), in the track shoe 2 in which the "rear side" is on the upper side, the infrared 3D camera 52 first recognizes the bolt hole 21. Therefore, the distance between the first recognized portion and the plane in which the bolt hole 21 is formed is zero. Such a state is a so-called "no depth (DP)" state. That is, the control device 100 can determine the front side or rear side of the track shoe 2 to be picked up based on whether the depth DP is equal to or greater than a predetermined value (threshold value). That is, the control device 100 can determine whether the lug R is the "front side" facing upward (the depth DP is equal to or greater than the threshold value), or the lug R is the "rear side" facing downward (the depth DP is less than the threshold value). The predetermined value (threshold value) can be set to a value greater than zero and not exceeding the height dimension of the lug R. Although not clearly shown, the loading tray 55 ( Figure 6 ) When the infrared 3D camera 52 above always recognizes the lug R, it is possible to determine that "the track shoe 2 is the front side", and when the lug R is not recognized, it is possible to determine that "the track shoe 2 is the rear side".

[0025] Main references Figure 8 The following describes a method in which the order of taking out the track shoes 2 (pick-up order) is determined so that the load collapse of the loaded track shoes 2 will not occur. like Figure 8 As shown in (1), when the track shoes are adjacent to each other in a state in which the rear surface of each of the track shoes 2 is located upward, the short side 22 is located on the upper side of the long side 23 at the overlapping portion indicated by the character OV1. exist Figure 8 In the state shown in (1), if the track shoe 2-2 on the left side is picked up before the track shoe 2-1 on the right side and is moved in the upward direction (arrow U1) ( Figure 8 (1) in the "cross shape"), the short side 22-1 of the track shoe 2-1 on the right side is lifted upward (arrow U1 direction) by the long side 23-2 of the track shoe 2-2 on the left side, and thus there is a possibility that the load on the track shoe 2-1 on the right side will collapse. On the other hand, if the track shoe 2-1 on the right side is picked up first and moved in the upward direction (arrow U2) ( Figure 8 (1) "circular", since the short side 22-1 of the track shoe 2-1 on the right side is located above the long side 23-2 of the track shoe 2-2 on the left side, the long side 23-2 of the track shoe 2-2 on the left side will not be lifted upward by the short side 22-1, or the track shoe 2-2 on the left side will not cause the load to collapse. In the track shoe 2 disposed in the illustrated embodiment, as Figure 4 As shown in FIG. 2 , the groove 24 is formed on the short side 22 side, but the groove is not formed on the long side 23 side. Figure 8 In the state shown in (1), since the groove 24 formed in the short side 22-1 of the track shoe 2-1 on the right side is located above the long side 23-2 of the track shoe 2-2 on the left side, when the overlapping portion OV1 is viewed from above, the groove 24 can be visually recognized (at the overlapping portion OV1). Figure 8 In the state shown in (1), if the groove 24 is in a state that can be visually recognized at the overlapping portion OV1, by Figure 8 The track shoe 2-1 on the right side in (1): the track shoe with the short side 22-1 provided at the overlapping portion OV1) is picked up before the track shoe 2-2 (the track shoe with the long side 23-1 provided at the overlapping portion OV1), and the load does not collapse. Here, the rear surface of the track shoe 2 is as follows Figure 8 In the state of being located above as in (1), in order to improve the loading efficiency of the track shoe 2, the short side 22 is arranged above the long side 23 at the overlapping portion OV1. At the overlapping portion OV1, the long side 23 is not arranged above the short side 22.

[0026] On the other hand, Figure 8 As shown in (2), when the track shoes are adjacent to each other in a state where the front surface of the track shoe 2 is located upward, the short side 22 is located on the lower side of the long side 23 at the overlapping portion indicated by the character OV2. Figure 8 In the state shown in (2), if the track shoe 2-1 on the right side is picked up before the track shoe 2-2 on the left side and is moved in the upward direction (arrow U3) ( Figure 8 (2) in the "cross shape"), the long side 23-2 of the track shoe 2-2 on the left side is lifted in the upward direction by the short side 22-1 of the track shoe 2-1 on the right side, and then, the track shoe 2-2 on the left side is likely to cause the load to collapse or to collapse. On the other hand, if the track shoe 2-2 on the left side is picked up first and moved upward (arrow U4) ( Figure 8 (2) "circular", since the long side 23-2 of the track shoe 2-2 on the left side is above the short side 22-1 of the track shoe 2-1 on the right side, the track shoe 2-2 on the left side can be moved (picked up) in the upward direction without lifting the short side 22-1 of the track shoe 2-1 on the right side. Therefore, the track shoe 2-1 on the right side does not cause the load to collapse (does not shift). As described above, the groove 24 is formed on the short side 22 side, but the groove is not formed on the long side 23 side. Figure 8In the state of (2), when the overlapping portion OV2 is viewed from the upper area (at the overlapping portion OV2), the long side 23-2 of the track shoe 2-2 on the left side (the side that should be picked up first) covers the short side 22-1 of the track shoe 2-1 that should be picked up later, and the groove 24 cannot be visually recognized (groove 24 cannot be recognized). Therefore, in a state where the groove 24 cannot be visually recognized at the overlapping portion OV2, by picking up the track shoe 2-2 first, the load collapse does not occur. In the track shoe to be picked up first, the side where the groove is not formed is positioned at the overlapping portion OV2 (the long side 23 of the track shoe 2 is set at the overlapping portion OV2). On the surface of the track shoe 2 Figure 8 In the state shown in (2) as being located above, in order to improve the loading efficiency of the crawler shoe, the long side 23 is arranged above the short side 22 at the overlapping portion OV2. The short side 22 is not arranged above the long side 23.

[0027] In the illustrated embodiment, the short side 22 and the long side 23 of the track shoe 2 can be determined in the control device 100 by means of the information transmitted from the infrared 3D camera 52. Figure 4 As shown in , bolt holes 21 are formed at four locations in the track shoe 2 , and based on the positions of the bolt holes 21 at the four locations, the short side 22 and the long side 23 of the track shoe 2 can be identified in the control device 100 . like Fig. 9 As shown in FIG. 1 , the track shoe 2 to be transported in the illustrated embodiment has four bolt holes 21A, 21B, 21C, 21D, and the bolt holes 21A, 21B, 21C, 21D are drilled at positions corresponding to the four corners of a trapezoid (isosceles trapezoid). Fig. 9 In the figure, the trapezoids 21A, 21B, 21C, and 21D have an upper side (long side 23 side) as an upper base and a lower side (short side 22 side) as a lower base. like Fig. 9 As shown in FIG, the extension lines of the sides 21C and 21B as the waists of the trapezoid and the extension lines of the sides 21D and 21A also as the waists of the trapezoid are on the side of the long side 23 ( Fig. 9 The upper side of the middle part of the cross section crosses each other, but not on the short side 22 ( Fig. 9 Cross on the lower side of the middle). Therefore, by detecting the positions of the bolt holes 21A, 21B, 21C, and 21D and determining the intersection PI of the extension lines of the sides 21C and 21B which are the waists of the trapezoid and the extension lines of the sides 21D and 21A which are also the waists of the trapezoid, the side where the intersection PI exists can be determined as the long side 23, and the side where the intersection PI does not exist can be determined as the short side 22.

[0028] Here, Fig. 9The track shoe 2 is shown in a manner showing a side where the lugs R1 to R3 can be seen (ie, showing the front side 2S). However, for the rear side where the lugs R1 to R3 cannot be seen, the long side and the short side can be determined in a similar manner. Furthermore, even if the bolt hole 21 is arranged Fig. 9 In the case different from the track shoe 2 shown in the figure, if the four bolt holes 21 are arranged in a trapezoidal shape, the long side and the short side of the track shoe 2 can also be determined in a manner similar to the above-mentioned manner by determining the position (intersection point) where the extension lines of the sides of a pair of waists forming the trapezoid intersect each other. Depending on the type of the track shoe, the bolt holes 21A, 21B, 21C, 21D are not located corresponding to the four corners of the trapezoid, but are located corresponding to the four corners of the rectangle. In such a case, by identifying whether a groove is formed in the track shoe 2, the side where the groove is formed can be determined as the short side 22 side.

[0029] In the illustrated embodiment, the position of the photosensor 54 is fixed. exist Figures 1 to 3 , Figure 6 In the embodiment, the photoelectric sensor 54 has the function of measuring the load on the pallet 55 ( Figure 6 ) between the track shoe 2 and the infrared 3D camera 52 in the vertical direction V2 ( Figure 3 : Figure 6 The function of the distance in the direction of the arrow V). When the control device 100 determines that the Figure 6 ) on the track shoe 2 for all track shoes 2 of one layer (on Figure 6 When all the track shoes 2 on the support plate 55 (indicated by the dotted square 2T) have been transferred to the track shoe transfer device 50D, the support plate 55 is Figure 6 The lifting device 56 shown in FIG. is lifted. The lifting device 56 lifts the pallet 55 until the vertical distance ( ) between the uppermost track shoe 2 and the infrared 3D camera 52 at this time point is Figure 6 The distance in the direction of arrow V in FIG. 1 is equal to the predetermined distance. For example, the predetermined distance is 1250 mm. In other words, Figure 6 In the embodiment, the lifting device 56 lifts the pallet 55 until the distance in the arrow V direction between the track shoe 2 loaded on the uppermost side and the infrared 3D camera 52 is equal to a predetermined distance (e.g., 1250 mm). When it is detected that the distance in the arrow V direction between the track shoe 2 loaded on the uppermost side and the infrared 3D camera 52 has reached the predetermined distance (e.g., 1250 mm), the lifting device 56 stops lifting by a control signal from the control device 100. Each time all the top track shoes 2 loaded on the pallet 55 are picked up (all transferred to the track shoe transfer device 50D), the lifting and stopping mentioned above are performed, and the lifting and stopping mentioned above are implemented until all the track shoes 2 on the pallet 55 have been transferred to the track shoe transfer device 50D.

[0030] The track shoe 2 (the uppermost track shoe 2) lifted to a position where it is a predetermined distance (e.g., 1250 mm) from the infrared 3D camera 52 in the direction of arrow V is moved by the three-axis orthogonal robot 50C from the pallet 55 ( Figure 6 ) is taken out (picked up) from the position above and transferred to the track shoe transfer device 50D. exist Fig.10 In the embodiment, the three-axis orthogonal robot 50C includes a track shoe pick-up component 64, and the track shoe pick-up component 64 is arranged along the X-axis direction indicated by the arrow X, the Z-axis direction indicated by the arrow Z, and the track shoe pick-up component 64 as a Fig.10 The Y-axis direction perpendicular to the paper surface ( Figure 2 That is, the track shoe pickup member 64 of the three-axis orthogonal robot 50C moves in three dimensions along the XYZ axis directions. The track shoe pickup member 64 moves in the X-axis direction along a rail (not shown) provided on a moving member 65 in the three-axis orthogonal robot 50C. The moving member 65 is provided in the area between the pair of wall-shaped members 63, and moves along the X-axis direction through the moving member 65 along the X-axis direction. Fig.10 The Y-axis direction extending perpendicular to the paper surface provides a track edge (not shown) as Fig.10 The moving member 65 is moved in the Y-axis direction perpendicular to the surface of the paper in the drawing. Fig.10 Move in the Z-axis direction. Fig.10 Characters 64CV shown in ⊥ virtually indicate the track shoe picking-up member 64 that has been moved to the position at which the track shoe 2 is loaded on the pallet 55 . As described above, in the track shoe supply unit 50A, a large number of track shoes 2 are placed on the pallet 55, and the large number of track shoes 2 are expressed as a whole by the square 2T indicated by the dotted line.

[0031] exist Fig.10 In the embodiment, the track shoe picking component 64CV that has moved to the position of the track shoe 2 loaded on the pallet 55 is based on the order determined by the control device 100 (for example, see Figure 8 ) and moves to the position of the track shoe 2 to be taken out (to be picked up) along the XYZ axis direction. Then, the track shoe 2 to be picked up is attracted by the track shoe picking component 64. The track shoe picking component 64 attracts the track shoe 2 by magnetic force, for example, and picks up the track shoe 2 according to the determined picking sequence (see Figures 5 to 9 ) and pick up the track shoe 2 from the multiple track shoes 2 loaded on the pallet 55.

[0032] exist Fig.10 In the embodiment, the distal end member 64E contacts, for example, four bolt holes 21A, 21B, 21C and 21D in the track shoe 2 ( Fig. 9 ) at the center position (the center of gravity position of the track shoe 2), and attracts the contacted track shoe 2 by magnetic force. In the remote part 64E, a well-known commercial product can be applied as a track shoe attracting device (not shown) that applies magnetic force. Here, the center position of the track shoe 2 to be attracted by the remote part 64E can be determined by identifying the bolt holes 21 ( Fig. 9 The track shoe 2 attracted by the track shoe picking member 64 is picked up by the three-axis orthogonal robot 50C without tilting by attracting the center position of the track shoe 2 as the center of gravity by the distal end member 64E. The "determined order" as the order in which the track shoes are picked up is not only based on the reference Figure 8 It is determined based on the contents described above and also based on the coordinates in the height direction, the coordinates on the plane (XY axis plane) (coordinates in the XY axis direction), and the bolt hole positions of the track shoe 2.

[0033] exist Fig.10 In the embodiment, the track shoe 2 picked up by the track shoe picking component 64 of the three-axis orthogonal robot 50C is moved relative to the X-axis direction. Fig.10 and transferred to the track shoe transfer device 50D ( Figures 1 to 3 : Not in Fig.10 ). exist Fig.11 The relative positional relationship between the track shoe supply unit 50A, the three-axis orthogonal robot 50C and the track shoe transfer device 50D is shown in FIG. Fig.11 Is to select crawler conveyor system 50( Figures 1 to 3 ) is a part of a drawing. In the illustrated embodiment, as described above, an infrared 3D camera 52 and a three-axis orthogonal robot 50C are used to load a pallet 55 (not shown) contained in a track shoe supply unit 50A. Figure 1 , Fig.11 The track shoe 2 on the upper surface of the track shoe 2 is moved to the track shoe transfer device 50D. exist Fig.11 In the embodiment, the infrared 3D camera 52 fixed to the frame body 62 and the track shoe 2 to be picked up (the uppermost track shoe 2 loaded on the pallet 55: not in Fig.11Shown in: Reference Fig.10 ) is a distance suitable for capturing an image of the track shoe 2, and is set so that no contact with the track shoe pickup member 64 (not in the three-axis orthogonal robot 50C) will occur. Fig.11 It is shown in: See Fig.10 ) of the movable area. Here, the frame body 62 to which the infrared 3D camera 52 is fixed is the outer frame body of the three-axis orthogonal robot 50C. By appropriately fixing the infrared 3D camera 52 to the frame body 62 as the outer frame body of the three-axis orthogonal robot 50C, interference between the track shoe picking component 64 and the infrared 3D camera 52 is prevented.

[0034] By taking images of the track shoes 2 to be picked up by the infrared 3D camera 52, images of a plurality of track shoes 2 placed on the uppermost layer of the pallet 55 can be processed integrally and at once. By integrally processing images of a plurality of track shoes 2, it is possible to shorten the cycle time for determining the coordinates of each of the predetermined positions (predetermined positions in a state of being placed on the uppermost layer of the pallet 55) in each track shoe 2. Here, a multi-axis robot (not shown) can be applied in order to move the track shoe 2 loaded on the pallet 55 to the track shoe transfer device 50D. However, the multi-axis robot is oversized for moving the track shoe 2 to the track shoe transfer device 50D, and is expensive, and, therefore, is disadvantageous in terms of cycle time. Moreover, the multi-axis robot requires a relatively wide installation space, which goes against the request for space saving. Therefore, in the illustrated embodiment, a three-axis orthogonal robot 50C is selected, the three-axis orthogonal robot 50C is simple in construction, the installation of the three-axis orthogonal robot 50C is possible even in a small space (e.g., 4m x 3.5m), the introduction cost of the three-axis orthogonal robot 50C is low, and, furthermore, the operation of the three-axis orthogonal robot 50C is stable.

[0035] Although not clearly indicated in the illustrated embodiment, in the installation space of the track shoe conveyor system 50, in order to prevent the degradation of the image recognition function of the infrared 3D camera 52 and to improve the reproducibility of the image, a sunshade (not shown) is provided at the window and other opening portions near the installation space so that direct sunlight does not illuminate the track shoe 2. Such a sunshade can be constituted by, for example, a curtain made of cloth. By installing a sun visor (not shown), it is possible to exclude the influence of ambient light on the infrared 3D camera 52, and even if the infrared 3D camera 52 is relatively susceptible to the influence of ambient light, the infrared 3D camera 52 can fully exert its performance. As a result, it is not necessary to apply a laser 3D scanner, which resists ambient light but is expensive.

[0036] exist Figures 1 to 3 and Fig.11 In the embodiment, the track shoe 2 is moved from the support plate 55 ( Figure 6 , Fig.10 ) is moved to the track shoe transfer device 50D. With respect to the track shoe 2 at the time point when it has been moved to the track shoe transfer device 50D, the direction in which the lugs R1 to R3 protrude (that is, whether the front side of the track shoe 2 is facing upward or the rear side of the track shoe 2 is facing upward) is in the same manner (state) as the manner (state) in which the track shoe is loaded on the pallet 55. As described above, in order to improve the pallet loading efficiency, the track shoe 2 is not loaded on the pallet 55 in the same manner (posture). Therefore, whether the lugs R1 to R3 of the track shoe 2 face upward or downward (whether the front side of the track shoe 2 faces upward or the rear side of the track shoe 2 faces upward) is not constant. Here, the track shoe has been moved to the track shoe transfer device 50D by the three-axis orthogonal robot 50C. However, in order to process the track shoes after they have been moved to the track shoe transfer device 50D, all the track shoes 2 need to be conveyed on the track shoe transfer device 50D with the lugs R1 to R3 facing upward (with the front sides of the track shoes 2 facing upward). Therefore, in the illustrated embodiment, among the track shoes 2 that have been moved to the track shoe transfer device 50D, the track shoes 2 whose lugs R1 to R3 face downward (the front side is the track shoe 2 facing downward) are moved by the track shoe reversing device 70 ( Fig.11 ) is reversed and enters a state where the lugs R1 to R3 face upward (in a manner where the front side faces upward). Note that the short side 22 ( Figure 4 , Figure 5 ) is set so as to face the pin hole of the link in the link belt 10 conveyed on the link belt conveyor 50F (see Fig.17 ) side. In other words, the track shoe 2 is placed on the track shoe transfer device 50D so that the short side 22 side is Fig.12 and Fig.13 On the left side (the side closer to the track shoe supply unit 50A or the pallet 55). Fig.12 , Fig.13 The track shoe transfer device 50D is shown as being moved from the side away from the link belt conveyor device 50F (with the side opposite to the track shoe transfer device 50D). Fig.11 The state observed on the opposite side of the arrow CV1 in the figure. Figures 1 to 3 and Fig.11 In the figure, the link belt conveyor 50F is not shown.

[0037] As described above, since the track shoe 2 is placed on the track shoe transfer device 50D in the same manner as it is loaded on the pallet 55, by photographing the track shoe 2 placed on the pallet 55 through the infrared 3D camera 52 and recognizing its image, it is determined at the time when the track shoe 2 is picked up by the track shoe picking component 64 of the three-axis orthogonal robot 50C and the track shoe 2 is placed on the track shoe transfer device 50D whether the track shoe is placed on the track shoe transfer device 50D with the lugs R1 to R3 facing upward (the front side of the track shoe 2 is facing upward) or with the lugs R1 to R3 facing downward (the front side of the track shoe 2 is facing downward). In the illustrated embodiment, it is configured so that the track shoe 2 of the track shoe transfer device 50D is conveyed in a state where the lugs R1 to R3 face upward (the front side faces upward). Also, the track shoe 2 placed on the track shoe transfer device 50D in a state where the lugs R1 to R3 face downward (the rear side faces upward) is reversed by the track shoe reversing device 70 into a state where the lugs R1 to R3 face upward (the front side faces upward).

[0038] Track shoe reversing device Fig.11 and Figure 2 is indicated as a whole by character 70 and will refer to Fig.12 and Fig.13 And explain. As described above, in the illustrated embodiment, the track shoe 2 should be placed on the track shoe transfer device 50D and conveyed in a state where the lugs R1 to R3 thereof face upward (the front side of the track shoe 2 faces upward). Fig.12 and Fig.13 In the manner shown in , so that the lugs R (R1 to R3: Figure 5 , Figure 7 The track shoe 2 placed on the track shoe transfer device 50D is reversed and brought into a state where the lugs R1 to R3 face upward. Whether the lugs R1 to R3 of the track shoe 2 placed on the track shoe transfer device 50D face downward is determined by, for example, referring to Figure 7 and Fig. 9 The form of the description is determined from the image of the track shoe 2 taken by the infrared 3D camera 52 . exist Fig.12In the embodiment, the track shoe reversing device 70 includes: a reversing member 75 that is rotationally moved about a rotational movement center 74 in the direction of arrow AR; a track shoe receiving base 76 that receives the reversed track shoe 2; a fulcrum member 77 that becomes a fulcrum when the track shoe 2 is reversed by the reversing member 75; and a pressing member 78. The pressing member 78 reciprocates in the direction of arrow BR to place the reversed track shoe 2 on the track shoe transfer device 50D in a state where the lugs R1 to R3 face upward.

[0039] The reversing member 75 is driven by a driving device (not shown) Fig.12 The position below the track shoe transfer device 50D shown in FIG. Fig.13 When the reversing member 75 is moved from the position shown in FIG. Fig.12 When the track shoe 2 is rotationally moved in the arrow AR1 direction in the state in FIG. 1 , the long side 23 side of the track shoe 2 is pressed upward from below by the reversing member 75 , and the track shoe 2 is brought into a state where it is abutting against the track shoe receiving base 76 . When the track shoe 2 and the reversing member 75 are Fig.12 When the track shoe 2 is rotationally moved in the direction of arrow AR1 in the state shown in FIG. , the lug R1 on the short side 22 side of the track shoe 2 contacts the fulcrum member 77. The track shoe 2 is rotationally moved in the direction of arrow AR1 together with the reversing member 75 in such a manner that the contact portion with the fulcrum member 77 operates as a fulcrum (or rotational movement center), and enters the state shown in FIG. Fig.13 As shown in FIG. 1 , the track shoe 2 is in a state leaning against the track shoe receiving base 76 .

[0040] from Fig.13 In order to place the track shoe 2 on the track shoe transfer device 50D with the lugs R1 to R3 facing upward, the pressing member 78 is moved from Fig.13 The state shown in FIG. 1 moves toward the arrow BR1 side, and presses the short side 22 side of the track shoe 2 ( Fig.12 and Fig.13 An area on one side of the track shoe transfer device 50D). like Fig.11 As shown in FIG. 1 , the track shoe receiving base 76 and the pressing member 78 are conveyed along the conveying direction CV1 (see FIG. 1 ) of the track shoe transfer device 50D. Fig.11 :and Fig.12 and Fig.13 Therefore, even if the pressing member 78 is arranged from Fig.13 The state shown in FIG. 1 is moved toward the arrow BR1 side, and the pressing member 78 can also press the short side 22 side of the track shoe 2 ( Fig.12 and Fig.13The track shoe transfer device 50D shown in FIG. 5A may be positioned on one side of the track shoe transfer device 50D without interfering with the track shoe receiving base 76 . When the pressing member 78 is Fig.13 The state shown in FIG. 1 moves in the direction of arrow BR1 and presses the short side 22 side of the track shoe 2 ( Fig.12 and Fig.13 When the track shoe transfer device 50D is in the area shown in FIG. Fig.13 The track shoe 2 in the state shown in FIG. 1 slides and is placed on the track shoe transfer device 50D in a state where the lugs R (R1 to R3) face upward. And, the track shoe 2 in a state where the lugs R (R1 to R3) face upward is moved on the track shoe transfer device 50D in the conveying direction CV1 (see FIG. 1 ). Fig.11 :and Fig.12 and Fig.13 The paper is transported in a direction perpendicular to the paper surface. The track shoe 2 reversed by the track shoe reversing device 70 and placed on the track shoe transfer device 50D has the lugs R1 to R3 facing upward (the front side of the track shoe 2 is facing upward), and the short side 22 of the track shoe 2 is on one side of the track shoe supply unit 50A ( Fig.12 and Fig.13 on the left side of the .

[0041] The track shoe receiving base 76 is provided at Fig.12 and Fig.13 The reason will be referred to in Fig.14 In order to Fig.14 For simplified illustration, the three-axis orthogonal robot 50C only shows the track shoe picking component 64 . exist Fig.14 In the track shoe supply unit 50A, the track shoe 2 on the uppermost layer of a large number of track shoes 2 indicated as a whole by the character 2T placed on the pallet 55 is attracted by the track shoe picking member 64, and then, the attracted track shoe 2 is lifted to a position P1 that does not interfere with the other large number of track shoes 2T. Fig.14 By moving to the right side (the side away from the track shoe supply unit 50A or the pallet 55) (arrow D), the track shoe 2 (or the distal end component 64E carrying the attracted track shoe 2) can move to the position (P2) just above the track shoe transfer device 50D. exist Fig.14 In the embodiment, if the track shoe receiving base 76 is located at Fig.12 and Fig.13On the right side of the track shoe transfer device 50D (the side of the track shoe transfer device 50D away from the track shoe supply unit 50A or the pallet 55), when the track shoe picking component 64 moves from the track shoe supply unit 50A to the position directly above the track shoe transfer device 50D, only the movement along the X-axis direction ( Fig.14 The movement is performed in the left and right directions of the image, but not in the Z-axis direction ( Fig.14 Movement in the up and down directions).

[0042] exist Fig.14 In the embodiment, if the track shoe receiving base 76 is located at the virtual position 76CV indicated by the dotted line, that is, by assuming that the track shoe receiving base 76 is located at Fig.12 and Fig.13 On the left side (the side close to the track shoe supply unit 50A or the pallet 55 in the track shoe transfer device 50D), when the track shoe picking component 64 at the position P1 moves to the right along the X-axis direction, the distal end component 64E carrying the attracted track shoe 2 interferes with the track shoe receiving base 76CV at the virtual position. In order to prevent interference with the track shoe receiving base 76CV at the virtual position, the track shoe picking member 64 should be raised (should be moved in the direction of arrow AU) to the position at which the track shoe receiving base 76CV is located. Fig.14 The virtual distal end member 64E should move across the area above the track shoe receiving base 76CV at the virtual position (P3), should be lowered again, and should move to the position (P2) just above the track shoe transfer device 50D. That is, in the case where the track shoe receiving base 76CV at the virtual position indicated by the dotted line is provided, the track shoe transfer device 50D should be moved to the position (P2) just above the track shoe receiving base 76CV at the virtual position indicated by the dotted line. Fig.12 and Fig.13 Compared with the case where the track shoe receiving base 76 is arranged on the right side as shown in the figure (the case where the track shoe receiving base 76 is arranged on the side separated from the track shoe supply unit 50A or the pallet 55 in the track shoe transfer device 50D), it is necessary for the track shoe picking component 64 and the distal component 64E to move upward to the position P3 in the Z-axis direction and downward to the position P2 in the Z-axis direction, thereby increasing the number of movements in the Z-axis direction. Therefore, in the illustrated embodiment, in order to reduce the number of times the track shoe picking member 64 and the distal member 64E move in the Z-axis direction, the track shoe receiving base 76 is provided on the right side (the side of the track shoe transfer device 50D that is away from the track shoe supply unit 50A or the pallet 55). Fig.12 , Fig.13 , and it is not necessary to move the track shoe pickup member 64 and the distal end member 64E upward in the Z-axis direction to the position P3 and downward in the Z-axis direction to the position P2.

[0043] The track shoe 2 placed on the track shoe transfer device 50D with the lugs R1 to R3 facing upward (the front side of the track shoe 2 facing upward) is conveyed (along the track shoe transfer device 50D). Figures 1 to 3 CV1 direction in the figure), and transported to Figures 1 to 3 The track shoe 2 conveyed to the position above the chain link belt conveyor 50F is stopped at a predetermined position in the track shoe transfer device 50D by the transfer stopping device 72. The transfer stop device 72 is constituted as a stopper, and is constituted so as to be able to adjust the stop position of the track shoe 2. The stop position of the track shoe 2 in the track shoe transfer device 50D is determined depending on each type of the track shoe 2 and the length of the track shoe 2.

[0044] The track shoe 2 stopped at a predetermined position of the track shoe transfer device 50D by the transfer stopping device 72 is placed on the link belt 10 on the link belt conveyor 50F, which is a conveying device for feeding the link belt 10 to the bolt and nut tightening device by the two-axis orthogonal robot 50E in a state where the lugs R1 to R3 face upward (the front side of the track shoe 2 faces upward). Two-axis orthogonal robot 50E can be Figure 1 and Figure 2 The track shoe 2 conveyed by the track shoe transfer device 50D is placed at a predetermined position of the link belt 10 (corresponding to the link belt 10) conveyed on the link belt conveying device 50F. Here, in order to place the track shoe 2 on the track shoe transfer device 50D at a predetermined position of the link belt 10 (corresponding to the link belt 10) on the link belt conveyor 50F, a multi-axis robot (not shown) can be applied. However, the multi-axis robot is oversized for moving the track shoe 2 on the track shoe transfer device 50D to the predetermined position of the link belt 10 on the link belt conveyor 50F, is expensive, and is disadvantageous in terms of cycle time. Moreover, since it is necessary for the multi-axis robot to be arranged in a relatively wide installation space, it violates the request for space saving. Therefore, in the illustrated embodiment, a two-axis orthogonal robot 50E is adopted, the two-axis orthogonal robot 50E has a simple structure, the installation of the two-axis orthogonal robot 50E is possible even in a small space (for example, 4mx 3.5m), the introduction cost of the two-axis orthogonal robot 50E is low, and, in addition, the operation of the two-axis orthogonal robot 50E is stable. Furthermore, since the two-axis orthogonal robot 50E does not move in the conveying direction of the track shoe transfer device 50D, the track shoe 2 stopped at a predetermined position by the transfer stop device 72 can be moved above the corresponding link belt 10 without moving from the predetermined position in the conveying direction of the track shoe transfer device 50D. Therefore, by the two-axis orthogonal robot 50E, there is an advantage that movement to above the link belt 10 is possible without changing the predetermined position in the conveying direction of the track shoe transfer device 50D. Here, the position of the track shoe 2 in the conveying direction of the track shoe transfer device 50D is always fixed to an appropriate position by appropriately adjusting the stop position by the transfer stop device 72.

[0045] Will refer to Fig.15 The following describes how the track shoe 2 is placed on the link belt 10 on the link belt conveyor 50F by the two-axis orthogonal robot 50E. Fig.15 , only (one) preceding link belt 10P, the track shoe 2P placed on the preceding link belt 10P, and the track shoe 2R that should be placed on (one) succeeding link belt 10R are shown. From the track shoe transfer device 50D (not in Fig.15 The track shoe 2 placed on the link belt conveyor 50F (shown in FIG. 1 ) is in the following state: the lugs R (R1 to R3) face upward (the front side of the track shoe 2 is facing upward), and the short side 22 side of the track shoe 2 faces the link belt feeding direction (the direction of arrow CV2). like Fig.15 As shown in FIG. , the track shoe 2R for the subsequent member is suspended by a two-axis orthogonal robot 50E. Fig.15 , regarding the two-axis orthogonal robot 50E, only the track shoe attraction portion 80 and the distal end portion 80E thereof are shown. Here, the distal end portion 80E attracts and suspends the track shoe 2 made of steel, for example, by magnetic force. When the track shoe 2R is to be placed on the subsequent link belt 10R, the subsequent track shoe 2R attracted by the distal end portion 80E moves in the direction of arrow CV2 to a position above the corresponding link belt 10 (subsequent link belt 10R) and is held in a stationary state (see Fig.15 ). Here, in Fig.15 In the state shown in FIG. 8 , with respect to the long side 23P of the track shoe 2P of the preceding member 30P and the short side 22R of the following track shoe 2R attracted by the distal end portion 80E, their plane positions ( Fig.15 The left-right direction positions in the Z-axis direction) are separated by only an interval N1 and do not overlap when visually recognized from the information along the Z-axis direction.

[0046] Later, in Fig.15In the above position of the subsequent link belt 10R, the subsequent track shoe 2R held by the distal end 80E of the two-axis orthogonal robot 50E is moved along the Z-axis direction (see Fig.15 ) is lowered downward to the corresponding subsequent link belt 10R. In the state where the subsequent track shoe 2R is lowered to the subsequent link belt 10R (placed on the subsequent link belt 10R), the short side 22R of the lowered subsequent track shoe 2R enters below the long side 23P of the track shoe 2P in the previous link belt 10P, and is moved by the two-axis orthogonal robot 50E in the link belt feed direction CV2 by only N1+α so that their plane positions overlap each other. Here, as Fig.15 As shown in FIG, the distance N1 is the horizontal distance between the distal end of the long side 23P of the preceding track shoe 2P and the distal end of the short side 22R of the following track shoe 2R. Fig.15 , but the distance α is the overlap margin between the long side 23P of the preceding track shoe 2P and the short side 22R of the following track shoe 2R. The value of α varies depending on the type of track and track shoe, but it is determined as the overlap margin required to prevent mud intrusion when the construction machine travels on mud. like Figure 5 As shown in FIG. 1 , in a state where the lugs R1 to R3 face upward, the end portion on the short side 22 side of the track shoe 2 is bent downward, while the end portion on the long side 23 side is bent upward. Fig.15 In the state shown in , by moving the subsequent track shoe 2R of the link belt 10R that has been lowered to the subsequent link by only N1+α in the link belt feed direction CV2, the short side 22R of the subsequent track shoe 2R enters below the long side 23P of the preceding track shoe 2P, whereby the positions on the plane overlap each other. As a result, the continuous track shoes 2P, 2R can be introduced into the bolt and nut tightening device in a state where the short side 22R of the subsequent track shoe 2R overlaps the long side 23P of the preceding track shoe 2P. This helps to reduce the work labor in the assembly process that is not shown.

[0047] Although not in Fig.15 , but the link belt 10 on the link belt conveyor 50F can be fed by the pitch feed device 90 (see Figures 1 to 3 ) Along the chain belt feed direction ( Fig.15 The arrow CV2 direction in the figure transfers one pitch at a time. In the prior art, a pitch feed device is also provided in the link belt conveyor, but in the prior art pitch feed device, the inner width of the clamp for clamping the bushing is fixed, and the specification of the clamp for clamping the bushing must be changed every time the type of the link belt 10 is changed. Fig.16 As shown in FIG. 1 , the pitch feed device 90 ( Figures 1 to 3) includes a gripping portion 91 and a gripping portion adjusting device 92, and the gripping portion 91 has a variable structure that enables its inner width and height to be adjusted. exist Fig.16 In FIG. 1 , the gripping portion 91 constitutes a mechanism for holding the link belt 10 and feeding 1 pitch. Fig.16 , 1 pitch is indicated by character 1P. The gripping portion adjusting device 92 can adjust the width (inner width) between the gripping portions 91 in the direction of arrow AW, and can also adjust the height ( Fig.16 91). Therefore, even if the type of the link belt 10 is changed by adjusting the inner width and height of the gripping portion 91, a replacement procedure for the gripping portion 91 is not necessary. Therefore, compared with the prior art that requires a replacement procedure for the gripping portion every time the type of the link belt 10 is changed, the labor when the type of the link belt 10 is changed is greatly reduced.

[0048] In the illustrated embodiment, a method is provided in which a Figure 6 , Fig.10 ) are collectively photographed, and the number of pick-up candidates on the plane constituted by the plurality of track shoes 2 positioned on the uppermost layer is determined, and a pick-up order based on the track shoe photographing data (image data of the uppermost layer) is proposed. However, it is also possible to perform by picking up the track shoes 2 one by one so as to determine the pick-up target each time. Furthermore, in the illustrated embodiment, the front and rear sides of the track shoe 2 and the bolt hole 21 are detected based on the track shoe image data, and the posture of the track shoe 2 is identified by the bolt hole position or the presence / absence of a groove in the short side, however, it is also possible to perform a method in which all information is detected through the captured data and the posture of the track shoe 2 is identified.

[0049] According to the illustrated embodiment, the cycle time can be shortened compared to the prior art, and parallel processing (which is a subsequent process) synchronized with the cycle time of the bolt and nut tightening device is possible. As a result, the automatic target of enabling the track shoe 2 to be input into the bolt and nut tightening device within a cycle time of 8.5 seconds can be achieved. In addition, the heavy labor of repeatedly inputting the track shoe 2 as a heavy object (60 to 70 kg / piece) into the production line in the shortest cycle time of 8.5 seconds can be eliminated. As a result, the number of operators can be reduced, thereby expecting a labor cost reduction effect.

[0050] The system according to the illustrated embodiment can be installed in a narrow space of, for example, 4 m x 3.5 m, and can solve problems associated with the installation space in the track shoe conveyor system 50 . Furthermore, according to the illustrated embodiment, as a result of the method of designing the camera and the robot, a facility enabling high productivity that ensures a minimum cycle of 8.5 seconds can be realized at an extremely low cost.

[0051] The system 50 of the illustrated embodiment is extendable to the automation of the track shoe supply device regardless of whether the manufacturing facility is domestic or overseas. Also, at a manufacturing site where various types of track shoes are mixed, when the type of the track shoe is changed, the system can be applied to automatic loading without taking any procedures accompanying the type change.

[0052] It is to be noted that the illustrated embodiment is merely an illustration, and it is not a description in which there is no intention to limit the technical scope of the present invention. Reference Character List

[0053] 2 Track Shoes 10 link belt 21A, 21B, 21C, 21D Track shoe bolt holes 50 Track Shoe Conveyor System 50A Track Shoe Supply Unit 50B Track Shoe Inspection Mechanism 50C Track Shoe Pickup Mechanism (Three-axis Orthogonal Robot) 50D Track Shoe Transfer Device 50E Track Shoe Setting Mechanism (Two-axis Orthogonal Robot) 50F Chain Link Belt Conveyor 52 Infrared 3D Camera 54 Photoelectric sensor 55 Pallet 56 Lifting device 70 Track shoe reversing device 74 Rotational Movement Center 75 Reversing parts 76 Track shoe receiving base 77 Fulcrum components 78 Pressing parts 100 Control device R1, R2, R3 Track shoe lugs

Claims

1. A crawler shoe conveying system, comprising: a track shoe supply unit, which accommodates a pallet and is provided with a lifting device for lifting the pallet, on which the track shoe is loaded; a track shoe detection mechanism for detecting the track shoe supplied from the track shoe supply unit; a control device for determining a state of the detected track shoe based on a detection result of the track shoe detection mechanism; a track shoe picking mechanism, which picks up the track shoe detected by the track shoe detecting mechanism; a track shoe transfer device for conveying the track shoe picked up by the track shoe picking mechanism; a track shoe setting mechanism that sets the track shoe conveyed by the track shoe transfer device to be aligned with each separator of the link belt; and A link belt conveying device conveys the link belt and the track shoes on the link belt.

2. The crawler shoe conveying system according to claim 1, wherein: The track shoe detection mechanism is fixed and has a function of photographing a plurality of track shoes on the uppermost layer loaded on the pallet and transmitting information related to the plurality of track shoes to a control device; and, The control device has a function for determining the type of the track shoe, the position of the bolt hole, the direction in which the lug protrudes, the depth of the lug, and the front and rear sides of the track shoe based on information from the track shoe detection mechanism; and a function for determining the order in which the track shoes are picked up.

3. The crawler shoe conveying system according to claim 1, wherein: The track shoe supply unit has a photoelectric sensor, which is fixed and has a function of measuring a vertical distance between the uppermost track shoe and the track shoe detection mechanism in the track shoe loaded on the pallet, and sending the vertical distance to the control device; and, The control device has: a function of lifting the lifting device when the vertical distance between the uppermost track shoe loaded on the pallet and the track shoe detection mechanism is less than a predetermined distance; and a function of stopping the lifting of the lifting device when the vertical distance between the uppermost track shoe loaded on the pallet and the track shoe detection mechanism is equal to or greater than the predetermined distance.

4. The crawler shoe conveying system according to any one of claims 1 to 3, wherein: The track shoe reversing device is arranged on a side of the first conveying line away from the track shoe supply unit; and, The track shoe reversing device comprises: a reversing member that rotationally moves about a rotationally moving center; A track shoe receiving base receiving the inverted track shoe; a fulcrum member to serve as a support portion for the reverse operation when the track shoe is reversed by the reverse operation member; and A pressing member presses the track shoe in a state causing the lug that is inverted and faces upward to slide on the track shoe transfer device.

Images