The invention provides a truss type machine tool feeding and blanking robot system and a control method thereof, and belongs to the technical field of machine tool automatic machining. The truss type machine tool feeding and blanking robot system comprises a truss type robot, a feeding material tray, a blanking material tray and numerical control machine tools, the feeding material tray and the blanking material tray are located between the two numerical control machine tools, the truss type robot is used for carrying out workpieces conveying between the feeding material tray, and the blanking material tray and the numerical control machine tools. The truss type robot adopts a four-degree-of-freedom structure, the truss type robot comprises a walking moving unit, a rotating unit, a grabbing unit and a control unit, wherein the feeding material tray is used for placing ball cage workpieces to be machined in batches, the blanking material tray adopts a frame type structure, the driving motor conveys the workpieces to a finished product centralized placing area according to the machining feeding material condition, and each the numerical control machine tool comprises a spindle box, a chuck, a feeding mechanism and a control system. According to the truss type machine tool feeding and blanking robot system and the control method thereof, through simple four-degree-of-freedom design and feeding and blanking process control, and the flexible switching of the free placement of the feeding material tray and the single-procedure machining and double-procedure machining of the ball cage can be realized.