Crawler assembly system of crawler excavator

Abstract

The utility model discloses a crawler assembly system of a crawler excavator, which belongs to the technical field of crawler assembly of excavators and comprises two parallel crawler conveying mechanisms, a ground moving guide rail is arranged between the two crawler conveying mechanisms in the vertical direction, and a crawler assembly workbench with two parallel sides is slidably arranged on the ground moving guide rail. Crawler belt positioning trays are arranged on the crawler belt assembling workbenches, a lower vehicle frame positioning tool is arranged in the middle position between the crawler belt assembling workbenches on the two sides, an excavator lower vehicle frame is placed on the lower vehicle frame positioning tool, a truss is arranged above the crawler belt assembling workbenches, and truss guide rails are arranged on the truss. Truss double manipulators are arranged on the truss guide rails in a sliding mode, servo motors driving the truss double manipulators to slide are arranged on the trusses, and the tail ends of the truss double manipulators are connected with crawler belt assembling clamps. The excavator crawler belt assembling device can improve the excavator crawler belt assembling efficiency and precision and reduce the labor capacity of field workers.

Description

Technical Field

[0001] The utility model relates to a crawler track assembly system of a crawler excavator, belonging to the technical field of crawler track assembly of excavators. Background Art

[0002] In the excavator manufacturing industry, track laying and assembly are currently mainly done manually, with a manually operated crane to clamp the track and adjust the position for laying and aligning holes. Specifically, the existing technical solution for excavator track assembly is: 1. The on-site forklift worker uses a forklift to deliver the track to a fixed position. 2. The on-site assembly worker uses a crane to lift the track to the assembly area and uses pliers to cut the track fixing wire. 3. The on-site assembly worker uses a track unwinding machine to unfold the track. 4. The on-site assembly worker uses a crane to lift the lower frame to the track assembly area, switches the crane hoist, and uses the crane to clamp one end of the track and adjust the position for assembly. In summary, during the operation of the existing technical solution, manual use of the crane to frequently switch hoists to achieve track assembly is required, which is a repetitive manual operation, with high labor intensity for workers, low operating efficiency, and potential safety hazards. Summary of the invention

[0003] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide a crawler track assembly system for a crawler excavator, which can improve the efficiency and accuracy of the crawler track assembly of the excavator and reduce the workload of on-site workers.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0005] The lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of

[0006] The crawler conveyor mechanism is provided with a roller device, and the roller device is driven by a three-phase asynchronous motor, and the three-phase asynchronous motor is controlled by a frequency converter.

[0007] The number of the crawler assembly workbenches on one side is two.

[0008] The servo motor is connected to the lead screw through a coupling, and the lead screw is connected to the truss dual manipulator.

[0009] The crawler assembly fixture controls the pneumatic gripper to retract inward and open outward via a stepper motor connected to a lead screw. The stepper motor is electrically connected to a solenoid valve, which is electrically connected to a magnetic induction switch. The magnetic induction switch is mounted on the pneumatic gripper.

[0010] The number of the truss guide rails is three.

[0011] The number of the ground movable guide rails is four.

[0012] The tray locking mechanism comprises a cylinder, and the cylinder is controlled by a solenoid valve.

[0013] The beneficial effects of the utility model are as follows: the utility model provides a crawler track assembly system for a crawler excavator. During the intelligent crawler track assembly process, the crawlers on both sides of the excavator can be assembled synchronously through the truss double manipulators and the double crawler track assembly workbenches on both sides, replacing manual work to assemble the crawler tracks of the excavator. This can improve the efficiency and accuracy of the crawler track assembly of the excavator, reduce the labor workload of on-site workers, achieve efficient and high-precision crawler track assembly, and solve the problem of low efficiency and poor accuracy in excavator track assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the crawler positioning part in the utility model;

[0015] Figure 2 It is a structural schematic diagram of the crawler assembly part in the utility model;

[0016] Figure 3 It is a structural schematic diagram of the lower frame positioning tooling of the utility model.

[0017] The reference numerals in the figure are as follows: 1- crawler conveying mechanism; 2- crawler assembly workbench; 3- ground moving guide rail; 4- excavator lower frame; 5- pallet locking mechanism; 6- crawler positioning pallet; 7- lower frame positioning tooling; 8- servo motor; 9- truss; 10- truss double manipulator; 11- truss guide rail; 12- crawler assembly fixture. DETAILED DESCRIPTION

[0018] Example 1

[0019] like Figure 1 and Figure 2As shown, the utility model discloses a crawler assembly system of a crawler excavator, including a crawler positioning part and a crawler assembly part, wherein the crawler positioning part includes a crawler conveying mechanism 1, a crawler assembly workbench 2, a ground movable guide rail 3, an excavator lower frame 4, a pallet locking mechanism 5 and a crawler positioning pallet 6. Specifically, it includes two parallel crawler conveying mechanisms 1, a ground movable guide rail 3 is vertically arranged between the two crawler conveying mechanisms 1, two parallel crawler assembly workbench 2 are slidably arranged on the ground movable guide rail 3, the crawler assembly workbench 2 on both sides are respectively located at the inner side positions of the two crawler conveying mechanisms 1, a crawler positioning pallet 6 is arranged on the crawler assembly workbench 2, pallet locking mechanisms 5 for locking the crawler positioning pallet 6 are arranged around the crawler assembly workbench 2, a lower frame positioning tooling 7 is arranged in the middle position between the crawler assembly workbench 2 on both sides, and the structure of the lower frame positioning tooling 7 is as shown in FIG. Figure 3 As shown. The lower frame 4 of the excavator is placed on the lower frame positioning tool 7. The crawler assembly part includes a truss 9, a truss dual manipulator 10, a truss guide rail 11 and a crawler assembly fixture 12. Specifically, a truss 9 is arranged above the crawler assembly workbench 2, a truss guide rail 11 is arranged on the truss 9, a truss dual manipulator 10 is slidably arranged on the truss guide rail 11, a servo motor 8 is arranged on the truss 9 to drive the truss dual manipulator 10 to slide, and a crawler assembly fixture 12 is connected to the end of the truss dual manipulator 10.

[0020] The working principle of the utility model is as follows: the crawler assembly system is started, the lower frame 4 of the excavator runs to the crawler intelligent assembly area through the ground transmission mechanism, and the excavator model is identified when passing through the RFID radio frequency identification area, and the identified excavator model is uploaded to the PLC controller. The RFID radio frequency identification process does not affect the operation of the lower frame 4 of the excavator to the crawler intelligent assembly area. After the PLC controller recognizes that the lower frame 4 of the excavator is in place through the proximity switch sensing device, the crawler conveying mechanism 1 conveys the crawler placed on the crawler positioning tray 6 to the crawler assembly workbench 2 through the roller device. After the proximity switch sensing device on the crawler assembly workbench 2 recognizes that the crawler positioning tray 6 is in place, the tray locking mechanism 5 controls the cylinder action through the solenoid valve to lock the crawler high-precision positioning tray 6 on the crawler assembly workbench 2. After the PLC controller recognizes that the crawler positioning tray 6 is locked in place through the pressure sensor device, the crawler assembly workbench 2 starts to run. According to the excavator model identified by RFID, the excavator crawler is accurately positioned to the assembly position through the ground moving guide rail 3 and the six directions of ±X / ±Y / ±Z. When the PLC controller receives the positioning completion signal from the crawler assembly workbench 2, the truss dual manipulator 10 starts to run, and according to the excavator model identified by RFID, the crawler assembly fixture 12 is accurately positioned to the crawler clamping position through the movement of the six degrees of freedom directions of ±X / ±Y / ±Z. When the PLC controller receives the positioning completion signal from the truss dual manipulator 10, the crawler assembly fixture 12 begins to retract inward to the pneumatic gripper clamping position. After the PLC controller recognizes that the crawler assembly fixture 12 retracts inward into position through the proximity switch sensing device, the pneumatic gripper clamps the crawler. After the PLC controller recognizes that the pneumatic gripper is clamped in place through the magnetic induction switch device, the truss dual manipulator 10 starts to run, and according to the program in the system and the taught points, linear interpolation movement is performed to accurately assemble the crawler on the lower frame 4 of the excavator. When the PLC controller receives the assembly completion signal from the truss dual manipulator 10, the pneumatic gripper releases the crawler, and after the pneumatic gripper is released into place, the crawler assembly fixture 12 begins to open outward. After the PLC controller recognizes through the proximity switch sensing device that the track assembly fixture 12 is opened outward into position, the truss double manipulator 10 and the track assembly workbench 2 start running and return to the origin, the excavator lower frame 4 is released to enter the next assembly process, the pallet locking mechanism 5 is released, and the crawler conveyor mechanism 1 conveys the assembled crawler high-precision positioning pallet 6 on the crawler assembly workbench 2 to the crawler lifting area through the roller device, and the system enters the next crawler assembly cycle.

[0021] The utility model can realize the synchronous assembly of crawler tracks on both sides of the excavator through the double manipulators of the truss and the double workbenches for assembling crawler tracks on both sides during the intelligent assembly process of crawler tracks, thereby replacing manual work for assembling crawler tracks of the excavator, improving the efficiency and accuracy of crawler track assembly of the excavator, reducing the workload of workers on site, realizing efficient and high-precision crawler assembly, and solving the problem of low efficiency and poor accuracy of crawler track assembly of the excavator.

[0022] Example 2

[0023] like Figure 1 and Figure 2 As shown, the utility model discloses a crawler assembly system for a crawler excavator, including a crawler positioning part and a crawler assembly part, wherein the crawler positioning part includes a crawler conveying mechanism 1, a crawler assembly workbench 2, a ground moving guide rail 3, an excavator lower frame 4, a tray locking mechanism 5 and a crawler positioning tray 6. Specifically, it includes two crawler conveying mechanisms 1 arranged in parallel, a roller device is installed on the crawler conveying mechanism 1, and a crawler high-precision positioning tray 6 is transported by a three-phase asynchronous motor with rollers, and the three-phase asynchronous motor is controlled by a frequency converter. Four ground moving guide rails 3 are arranged vertically between the two crawler conveying mechanisms 1, and crawler assembly workbenches 2 parallel to each other are slidably arranged on the ground moving guide rails 3, and the crawler assembly workbench 2 is movably connected to the ground moving guide rails 3 through a slider. The crawler assembly workbench 2 is controlled by a servo motor and can be adjusted to the corresponding crawler assembly position according to the excavator model identified by RFID, and the number of single-side crawler assembly workbenches 2 that can be configured for various different models of excavators is two. The design of single-side double workbench can realize crawler assembly while retaining the original crawler manual assembly function. The crawler positioning trays 6 on the two crawler assembly workbenches 2 can be switched when the intelligent assembly system is running, so that one crawler assembly workbench 2 can be used to assemble the crawler while the other crawler assembly workbench 2 can be used to hoist the crawler at the same time, which greatly improves the crawler assembly efficiency.

[0024] The crawler assembly workbenches 2 on both sides are respectively located at the inner side of the two crawler conveyor mechanisms 1. A crawler positioning tray 6 is arranged on the crawler assembly workbenches 2. A tray locking mechanism 5 for locking the crawler positioning tray 6 is arranged around the crawler assembly workbenches 2. The tray locking mechanism 5 is to lock the crawler high-precision positioning tray 6 on the crawler assembly workbenches 2 by controlling the cylinder action by an electromagnetic valve. A lower frame positioning tool 7 is arranged in the middle position between the crawler assembly workbenches 2 on both sides. The structure of the lower frame positioning tool 7 is as follows: Figure 3 The lower frame 4 of the excavator is placed on the lower frame positioning tool 7.

[0025] The crawler assembly part includes a truss 9, a truss dual manipulator 10, a truss guide rail 11 and a crawler assembly fixture 12. Specifically, a truss 9 is arranged above the crawler assembly workbench 2, a truss guide rail 11 is arranged on the truss 9, and a truss dual manipulator 10 is slidingly arranged on the truss guide rail 11. The truss dual manipulator 10 is controlled by a servo motor connected to a lead screw in the six degrees of freedom directions of ±X / ±Y / ±Z, and the movement accuracy can reach within ±0.2mm. According to the different types of excavators identified by RFID, they move to the corresponding crawler assembly positions and can realize linear interpolation movement.

[0026] The truss 9 is provided with a servo motor 8 that drives the truss dual manipulator 10 to slide. The servo motor 8 is connected to the lead screw through a coupling to transmit motion. The end of the truss dual manipulator 10 is connected to a track assembly fixture 12, which is installed at the end of the Z axis of the truss dual manipulator 10. The tool gripper at the end of the track assembly fixture 12 is a pneumatic gripper, which can stably and reliably clamp and assemble the track. The track assembly fixture 12 controls the pneumatic gripper to retract inward and open outward by controlling the stepper motor connected to the lead screw through an electromagnetic valve, and detects whether the pneumatic gripper is retracted and opened in place through a magnetic induction switch.

[0027] The present invention uses the lower frame positioning tool 7 and the track assembly fixture 12 to accurately calibrate the lower frame and the track unfolding position to ensure the assembly accuracy of the track. The PLC is used as the main body, connected to the external input and output, and program is written to realize RFID identification, motion control of each servo axis, input detection of various sensors, and output execution of various pneumatic components.

[0028] The above are only preferred implementations of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A crawler assembly system for a crawler excavator, characterized in that: The invention comprises two crawler conveying mechanisms (1) arranged in parallel, a ground movable guide rail (3) being arranged vertically between the two crawler conveying mechanisms (1), two crawler assembly workbenches (2) being slidably arranged on the ground movable guide rail (3), the crawler assembly workbenches (2) being located at the inner sides of the two crawler conveying mechanisms (1), a crawler positioning tray (6) being arranged on the crawler assembly workbenches (2), tray locking mechanisms (5) for locking the crawler positioning tray (6) being arranged around the crawler assembly workbenches (2), and the two crawler assembly workbenches (2) being arranged at the inner sides of the crawler conveying mechanisms (1). A lower frame positioning tool (7) is arranged in the middle position between the crawler assembly workbench (2), and an excavator lower frame (4) is placed on the lower frame positioning tool (7). A truss (9) is arranged above the crawler assembly workbench (2), and a truss guide rail (11) is arranged on the truss (9). A truss double manipulator (10) is slidably arranged on the truss guide rail (11). A servo motor (8) for driving the truss double manipulator (10) to slide is arranged on the truss (9), and a crawler assembly fixture (12) is connected to the end of the truss double manipulator (10).

2. The crawler track assembly system of a crawler excavator according to claim 1, characterized in that: The crawler conveyor mechanism (1) is provided with a roller device, and the roller device is driven by a three-phase asynchronous motor, and the three-phase asynchronous motor is controlled by a frequency converter.

3. The crawler track assembly system of a crawler excavator according to claim 1, characterized in that: The number of the crawler assembly workbenches (2) on a single side is two.

4. The crawler track assembly system of a crawler excavator according to claim 1, characterized in that: The servo motor (8) is connected to a lead screw via a coupling, and the lead screw is connected to the truss dual manipulator (10).

5. The crawler track assembly system of a crawler excavator according to claim 1, characterized in that: The crawler track assembly fixture (12) controls the pneumatic gripper to retract inwards and open outwards via a stepper motor connected to a lead screw, the stepper motor is electrically connected to a solenoid valve, the solenoid valve is electrically connected to a magnetic induction switch, and the magnetic induction switch is mounted on the pneumatic gripper.

6. The crawler track assembly system of a crawler excavator according to claim 1, characterized in that: The number of the truss guide rails (11) is three.

7. The crawler track assembly system of a crawler excavator according to claim 1, characterized in that: The number of the ground movable guide rails (3) is four.

8. The crawler track assembly system of a crawler excavator according to claim 1, characterized in that: The pallet locking mechanism (5) comprises a cylinder, and the cylinder is controlled to move by a solenoid valve.

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