Track link section feeding equipment and working method thereof

Abstract

The invention relates to caterpillar track section feeding equipment and a working method thereof, and is characterized in that the caterpillar track section feeding equipment comprises a rack, a material box capable of moving in and out of the rack, and a feeding manipulator device which is arranged on the rack and used for grabbing caterpillar track sections in the material box, adjusting the posture of the caterpillar track sections and then putting the caterpillar track sections into a transfer clamp device; the rack is further provided with a caterpillar track section positioning and conveying device used for conveying caterpillar track sections, and the outlet end of the caterpillar track section positioning and conveying device is provided with a material placing mechanical arm device capable of transferring the caterpillar track sections on the caterpillar track section positioning and conveying device into the feeding and positioning clamp device. According to the caterpillar track section feeding equipment and the working method thereof, the feeding problem of traditional mechanical equipment is solved, the labor intensity of workers is greatly reduced, the manufacturing quality and the production efficiency of caterpillar track sections are remarkably improved, and reliable guarantee is provided for improvement of the machining precision of subsequent procedures.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and in particular to a track link feeding device and its working method. Background Technology

[0003] In the traditional production process of track links, the heat treatment stage faces many pressing problems. From a working environment perspective, heat treatment workshops are often characterized by high temperatures and oil contamination, requiring workers to manually arrange and place workpieces. Prolonged exposure to such environments can negatively impact worker health. Regarding labor intensity, manual workpiece placement requires workers to continuously and repeatedly move and adjust workpieces, which is not only physically demanding but also easily leads to worker fatigue over extended periods. More importantly, manual placement suffers from significant technical limitations.

[0004] Because manual operation makes it difficult to guarantee the precision of placement every time, heat treatment failures frequently occur due to inaccurate placement. For example, improper spacing between workpieces may lead to uneven heating, affecting the heat treatment effect; incorrect placement angles may prevent certain parts of the workpiece from reaching the expected heat treatment process parameters. Once heat treatment fails, the workpiece faces the risk of being scrapped, which not only wastes raw materials and increases production costs but also affects production schedules and reduces production efficiency. Furthermore, manual placement is difficult to achieve batch and efficient processing of workpieces, making it incompatible with the needs of modern large-scale production. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide a track link feeding device and its working method. This track link feeding device and its working method solve the problem of feeding traditional mechanical equipment, which not only greatly reduces the labor intensity of workers, but also significantly improves the manufacturing quality and production efficiency of track links, and provides a reliable guarantee for improving the processing accuracy of subsequent processes.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A chain link feeding device is characterized by comprising a frame, a material box capable of being moved in and out of the frame, and a loading robot device mounted on the frame for gripping chain links in the material box, adjusting the posture of the chain links, and placing them into a transfer clamping device. The frame is also provided with a chain link positioning conveyor for conveying chain links, and the output end of the chain link positioning conveyor device is provided with a shoveling robot device capable of transferring the chain links on it to the feeding positioning clamping device.

[0008] Preferably, the above-mentioned loading robot device includes a three-axis gantry robot for gripping the chain links in the material box, a rotating head mechanism, and a pneumatic gripper. The inlet of the transfer fixture platform, the material box, and the chain link positioning and conveying device is located within the working area of ​​the loading robot device. The loading robot device is used to grip the chain links in the material box once, adjust their posture, and transfer them to the transfer fixture device to prepare for subsequent secondary gripping. During the secondary gripping, the links are accurately placed on the follow-up positioning plate of the chain link positioning and conveying device.

[0009] Preferably, the above-mentioned track link conveying device includes a chain drive mechanism and a follower positioning plate. The follower positioning plate is located on the chain drive mechanism, and the track links on the follower positioning plate are efficiently conveyed to the workstation of the feeding robot device through chain drive. The feeding robot device uses a two-axis gantry robot gripping mechanism to pick up the track links on the follower positioning plate and place them on the feeding fixture device to prepare for subsequent processing steps.

[0010] Preferably, the aforementioned three-axis truss manipulator includes a column and a crossbeam and a longitudinal beam fixed on the column; a servo drive mechanism is installed on the crossbeam, and the servo drive mechanism includes an X-axis ball screw guide slide, a Y-axis ball screw guide slide installed on the X-axis ball screw guide slide, and a Z-axis ball screw guide slide installed on the Y-axis ball screw guide slide, so as to achieve three-way movement under the drive of servo motor one, servo motor two, and servo motor three corresponding to each slide; the Z-axis ball screw guide slide is fixedly connected to a moving block adapter plate, and a swing head driven by a servo motor is installed on the adapter plate. The swing head serves as the swing joint of a pneumatic finger, which can swing around the Y-axis and Z-axis at any angle to adjust the attitude of the chain link; the swing head is connected to a pneumatic finger driven by a pneumatic cylinder for gripping the chain link.

[0011] Preferably, the aforementioned rotating head includes a flange one, which is fixedly connected to the moving block adapter plate; one side end of the servo motor four is fixedly mounted on the flange one, and its motor shaft end is connected to the connecting flange two. The servo motor four drives the flange two and the servo motor five connected to its motor shaft end to rotate around the Y-axis; the upper end of the adapter block is fixedly connected to the motor shaft of the servo motor five through a flange three, so as to rotate around the Z-axis with the motor shaft; the lower end of the adapter block is connected to the pneumatic finger.

[0012] Preferably, the pneumatic finger includes a double-sided, double-axis pneumatic cylinder, wherein the two piston rods of the pneumatic cylinder are diagonally distributed and move synchronously in two different directions during operation; the ends of the two piston rods are respectively fixedly connected to the finger mounting block, and the finger is fastened to the finger mounting block through a connecting hole and a screw; a finger mounting hole is provided on the outer side of the finger, and the finger mounting hole can be configured with a connecting gripper stroke adjustment tool.

[0013] Preferably, the aforementioned transfer clamping device includes a clamping platform, which includes a clamping base. The clamping base is provided with a left pressure plate and a placement plate spaced apart, and right pressure plates located on both sides between the left pressure plate and the placement plate. The chain link gripped by the pneumatic fingers is placed in the positioning space formed by the left pressure plate, the right pressure plate, and the placement plate. A cylinder push rod seat is fixedly connected to the clamping platform through a clamping connection hole on it. A cylinder and a telescopic rod driven by the cylinder are installed on the cylinder push rod seat. A two-position five-way solenoid valve is fixed on the upper surface of the clamping base. The working process of the transfer clamping device is as follows: When the chain link is not placed on the clamping platform, the two-position five-way solenoid valve is in the de-energized state. Compressed air enters the solenoid valve from the air inlet P port, and is output to the rodless chamber interface of the cylinder through the A port, pushing the cylinder piston to retract the telescopic rod. At this time, the air in the rod chamber of the cylinder flows back to the solenoid valve B port through the rod chamber interface, and finally through the exhaust port S. The compressed air path is switched so that when the track link is placed on the clamping platform and the position sensor is triggered, the control system activates the two-position five-way solenoid valve. The compressed air enters through the P port and is then delivered to the cylinder rod chamber interface through the B port, pushing the telescopic rod to extend. At the same time, the air in the rodless chamber is discharged through the rodless chamber interface, the solenoid valve A port, and the exhaust port R port, realizing the clamping action of the track link. The above-mentioned air circuit control system realizes the bidirectional motion control of the cylinder telescopic rod through the switching of the on and off states of the solenoid valve, forming an automatic clamping and releasing function for the track link, constituting the positioning and clamping unit of the feeding equipment.

[0014] Preferably, the above-mentioned track link positioning and conveying device includes a chain drive mechanism, a driven shaft rotatably connected to the front end of the frame and having driven sprockets installed on the left and right sides respectively, a drive shaft rotatably connected to the rear end of the frame and having driven sprockets installed on the left and right sides respectively, a power motor mounted on the frame and having its output end connected to the driven sprockets, two drive chains wound between the driven sprockets and the driven sprockets on both sides, multiple chain support guides set on the frame along the track link conveying direction to support the drive chains, and follow-up positioning plates fixedly connected to the two drive chains at the left and right ends respectively and rotating with them. The follow-up positioning plates are provided with a number of positioning pins for positioning the track links.

[0015] Preferably, the above-mentioned material handling robot device includes a Z-axis motor fixed to the upper rear side of the frame via a motor mounting base. This Z-axis motor drives the Z-axis slide to perform linear reciprocating motion along the Z-axis direction. An X-axis motor is fixed to the Z-axis slide, and its output end is rotatably connected to a synchronous pulley. A tensioning pulley is provided in the synchronous pulley transmission system to maintain friction between the transmission belt and the pulley, preventing slippage and ensuring transmission stability. The X-axis motor drives the X-axis slide to perform linear reciprocating motion along the X-axis direction. A clamping mechanism is provided on the X-axis slide. This clamping mechanism includes grippers adapted to the external dimensions of the chain link and a drive unit controlling the opening and closing of the grippers. It is used to clamp the chain link and precisely position it onto the feeding and positioning fixture device for subsequent processing. The Z-axis motor and X-axis motor of the material handling robot constitute an orthogonal motion platform. The working method of the track link feeding device of the present invention is as follows: the material box loaded with track links is moved into the frame, the track links in the material box are grabbed by the feeding robot and the position of the track links is adjusted and placed into the transfer clamp device. Then the feeding robot grabs the track links in the transfer clamp device and moves them to the inlet of the track link positioning conveyor. After running through the track link positioning conveyor, at the outlet of the track link positioning conveyor, the track links on the track link positioning conveyor are transferred to the feeding positioning clamp device by the swing robot.

[0016] The intelligent feeding device for track links of this invention solves the feeding problem of traditional mechanical equipment. It not only greatly reduces the labor intensity of workers and significantly improves the manufacturing quality and production efficiency of track links, but also achieves high-precision positioning of track links during the feeding process, providing a reliable guarantee for improving the processing accuracy of subsequent processes. Attached image description: Figure 1 This is a perspective view of the present invention; Figure 2 This is a partial perspective view of the present invention; Figure 3 It is a 3D diagram of the rotating head mechanism; Figure 4 This is a three-dimensional view of the transfer clamp device; Figure 5 This is a 3D view of the track link positioning and conveying device; Figure 6 , 7 This is a 3D diagram of the material handling robot device. Detailed implementation method: The chain link feeding device of the present invention includes a frame 1, a material box 4 (containing chain links to be processed) that can be moved in and out of the frame 1, and a loading robot device 2 mounted on the frame 1 for grabbing chain links in the material box 4, adjusting the posture of the chain links and placing them into a transfer clamp device 3. The frame 1 is also provided with a chain link positioning and conveying device 5 for conveying chain links. The output end of the chain link positioning and conveying device 5 is provided with a shoveling robot device 6 that can transfer the chain links on it to the feeding and positioning clamp device 7.

[0017] During operation, the material box 4, containing the track links, moves into the frame 1. Because the material box 4 is located between the transfer clamp device 3 and the track link positioning conveyor device 5, it minimizes the movement path of the loading robot 2, significantly reducing ineffective travel and improving loading efficiency. The track links are usually stacked or randomly arranged within the material box, and their orientation (such as angle and direction) often does not directly meet the feeding requirements of the subsequent positioning conveyor device 5. However, when the orientation of some track links happens to meet the feeding standards, the loading robot 2 can directly grab such track links and transfer them to the inlet of the positioning conveyor device 5, eliminating the transfer step and further optimizing the workflow. For track links with incorrect orientations, the loading robot 2 first grabs the workpiece from the material box 4 and preliminarily adjusts its orientation before placing it into the transfer clamp device 3. Component 3 uses the positioning space formed by the left pressure plate 312, right pressure plate 313, and placement plate 314 to coarsely position the track link, effectively regulating its spatial posture and providing a preliminary guarantee for the subsequent precise docking with the positioning and conveying device 5. After the posture calibration is completed, the loading robot device 2 grabs the track link from the transfer clamp device 3 again and transfers it to the inlet of the positioning and conveying device 5. After the track link is stably conveyed by the positioning and conveying device 5, it is grabbed by the swing robot device 6 at its outlet and transferred to the feeding and positioning clamp device 7, completing the entire feeding process.

[0018] The loading robot device 2 includes a three-axis truss robot 21, a rotating head mechanism 22, and a pneumatic gripper 23 for gripping the chain links in the material box 4. The entry ends of the transfer clamp platform 3, the material box 4, and the chain link positioning and conveying device 5 are located within the working area of ​​the loading robot device 2. The loading robot device 2 is used to grip the chain links in the material box 4 once, adjust their posture, and transfer them to the transfer clamp device 3 to prepare for subsequent secondary gripping. During the secondary gripping, the links are accurately placed on the follow-up positioning plate of the chain link positioning and conveying device 5.

[0019] The track link conveying device 5 includes a chain drive mechanism 51 and a follower positioning plate 52. The follower positioning plate 52 is located on the chain drive mechanism 51. The track links on the follower positioning plate 52 are efficiently conveyed to the working position of the feeding robot device 6 through chain drive. The feeding robot device 6 grabs the track links on the follower positioning plate 52 through the clamping and placing mechanism 68 of the two-axis gantry robot and places them on the feeding fixture device 7 to prepare for subsequent processing steps.

[0020] The three-axis truss manipulator 21 includes a column 211 and a crossbeam 212 and a longitudinal beam 213 fixed on the column 211. A servo drive mechanism 214 is mounted on the crossbeam 212. The servo drive mechanism 214 includes an X-axis ball screw guide slide 2141, a Y-axis ball screw guide slide 2142 mounted on the X-axis ball screw guide slide 2141, and a Z-axis ball screw guide slide 2143 mounted on the Y-axis ball screw guide slide 2142. Driven by servo motors 2144, 2145, and 2146 corresponding to each slide, the pneumatic fingers 23 (or gripping chain links) can move in three directions: X, Y, and Z. The ball screw guide slide 2143 is fixedly connected to the moving block adapter plate 215. The adapter plate 215 is equipped with a swing head 22 driven by a servo motor. The swing head 22 serves as the swing joint of the pneumatic finger 23, enabling the gripped chain link to swing at any angle around the Y and Z axes to adjust the attitude of the chain link. The swing head 22 is connected to the pneumatic finger 23 driven by a pneumatic cylinder for gripping the chain link.

[0021] The rotating head 22 includes a flange 221, which is fixedly connected to the moving block adapter plate 215. One side of the servo motor 222 is fixed to the flange 221, and its motor shaft is connected to the connecting flange 223. The servo motor 222 drives the flange 223 and the servo motor 224 connected to its motor shaft to rotate around the Y-axis. The upper end of the adapter block 226 is fixedly connected to the motor shaft of the servo motor 224 through the flange 325, so as to rotate around the Z-axis with the motor shaft. The lower end of the adapter block 226 is connected to the pneumatic finger 23. The rotation of the gripped track link around the Y-axis and Z-axis at any angle is achieved by the actions of the servo motor 222 and the servo motor 224.

[0022] The pneumatic finger 23 includes a double-sided, double-axis pneumatic cylinder 231. The two piston rods 232 of the pneumatic cylinder 231 are diagonally distributed and move synchronously in two different directions during operation. The ends of the two piston rods 232 are respectively fixedly connected to the finger mounting block 233. The finger 234 is fastened to the finger mounting block 233 through a connecting hole 235 and a screw. A finger mounting hole 236 is provided on the outer side of the finger 234.

[0023] The transfer clamp device 3 includes a clamp platform 31, which includes a clamp base 311. The clamp base is provided with a left pressure plate 312 and a placement plate 314 spaced apart, and a right pressure plate 313 located on both sides between the left pressure plate 312 and the placement plate 314. The chain link gripped by the pneumatic finger 23 is placed in the positioning space formed by the left pressure plate 312, the right pressure plate 313 and the placement plate 314. The cylinder push rod 32 seat is fixedly connected to the clamp platform 31 through the clamp connection hole 321 on it. The cylinder push rod 32 seat is equipped with a cylinder 322 and a telescopic rod 325 driven by the cylinder 322. A two-position five-way solenoid valve 33 is fixed on the upper surface of the clamp base 311.

[0024] The working process of the transfer clamp device is as follows: When the track link is not placed on the clamp platform 31, the two-position five-way solenoid valve 33 is de-energized. Compressed air enters the solenoid valve through the inlet port P 331, and is output through port A 332 to the rodless chamber interface 323 of the cylinder 322, pushing the cylinder piston to retract the telescopic rod 325. At this time, the air in the rod chamber of the cylinder flows back to the solenoid valve through the rod chamber interface 324 to the solenoid valve B 333, and is finally discharged through the exhaust port S 334. When the track link is placed on the clamp platform 31 and the position sensor is triggered, the control system activates the two-position five-way solenoid valve 33, and the compressed air path is switched to: entering from port P 331 and being delivered to the cylinder rod chamber interface 324 through port B 333, pushing the telescopic rod 325 to extend; at the same time, the air in the rodless chamber flows through the rodless chamber interface 323, the solenoid valve A 332, and the exhaust port R The discharge hole 335 realizes the clamping action of the chain link; the above-mentioned air circuit control system realizes the bidirectional motion control of the cylinder telescopic rod 325 through the switching of the on and off state of the solenoid valve 33, forming the automatic clamping and releasing function of the chain link, constituting the positioning and clamping unit of the feeding equipment.

[0025] The track link positioning and conveying device 5 includes a chain drive mechanism 51, a driven shaft 52 rotatably connected to the front end of the frame 1 and with driven sprockets 511 mounted on the left and right sides respectively, a drive shaft 514 rotatably connected to the rear end of the frame 1 and with driven sprockets 513 mounted on the left and right sides respectively, a power motor 515 mounted on the frame 1 and with its output end connected to the driven sprockets 513, two drive chains 516 wound between the driven sprockets 511 and the driven sprockets 513 on both sides, and a follower positioning plate 52 fixedly connected to the two drive chains 516 at both ends and rotating with them. The follower positioning plate 52 is provided with several sets of positioning pins 521 for positioning the track links. Through the operation of the power motor 515, the track link positioning and conveying device 5 realizes the conveying of the track links.

[0026] The material handling robot device 6 includes a Z-axis motor 62 fixed to the upper rear side of the frame via a motor mounting base 61. The Z-axis motor 62 is connected to the Z-axis slide 63 via a rolling screw drive. The screw 691 is fixedly integrated with the Z-axis slide 63. When the Z-axis motor 62 drives the screw 691 to rotate, the rotational motion is converted into linear motion, driving the Z-axis slide 63 to perform smooth, high-precision linear reciprocating motion along the Z-axis. The ball contact structure of the rolling screw significantly reduces transmission friction, ensuring smooth slide operation and improving positioning accuracy and transmission efficiency. An X-axis motor 64 is fixedly mounted on the Z-axis slide 63. The output end of this motor is rotatably connected to a synchronous pulley 65. A tensioning pulley 66 is installed in the transmission system of the synchronous pulley 65. By adjusting the preload of the tensioning pulley, stable friction between the transmission belt and the pulley is maintained, effectively preventing slippage during high-speed transmission and ensuring the reliability and synchronization of power transmission. The X-axis motor 64 and X-axis slide 67 of the robotic arm also adopt a rolling screw transmission mechanism. After the motor drives the rolling screw 692 to rotate, it drives the X-axis slide 67 to perform linear reciprocating motion along the X-axis. This transmission method can not only match the power transmission requirements of the synchronous belt pulley system, but also ensure that the motion error of the X-axis slide is controlled within a very small range through the high-precision lead design of the screw. A clamping mechanism 68 is provided on the X-axis slide 67. The clamping mechanism 68 includes a gripper 681 that is precisely adapted to the outer dimensions of the chain link and a drive unit 682 that controls the opening and closing of the gripper. It is used to stably clamp the chain link and accurately position it on the feeding and positioning fixture device 7, providing a preliminary guarantee for the precise operation of subsequent processing equipment. Among them, the Z-axis motor 62 and the X-axis motor 64 of the robotic arm form an orthogonal motion platform through their respective rolling screw slide mechanisms, realizing the flexible transfer and high-precision positioning of the chain link in the XZ two-dimensional space.

[0027] The intelligent feeding device for track links of this invention solves the feeding problem of traditional mechanical equipment. It not only greatly reduces the labor intensity of workers and significantly improves the manufacturing quality and production efficiency of track links, but also achieves high-precision positioning of track links during the feeding process, providing a reliable guarantee for improving the processing accuracy of subsequent processes.

[0028] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A track link feeding device, characterized in that: The device includes a frame (1), a material box (4) that can be moved in and out of the frame (1), and a loading robot (2) mounted on the frame (1) for grabbing the chain links in the material box (4) and adjusting the attitude of the chain links before placing them into the transfer clamp device (3). The frame (1) is also provided with a chain link positioning and conveying device (5) for conveying the chain links. The output end of the chain link positioning and conveying device (5) is provided with a material handling robot (6) that can transfer the chain links on it to the feeding positioning clamp device (7).

2. The track link feeding device according to claim 1, characterized in that: The loading robot device (2) includes a three-axis gantry robot (21), a rotating head mechanism (22), and a pneumatic gripper (23) for gripping the chain links in the material box (4). The entry ends of the transfer clamp platform (3), the material box (4), and the chain link positioning and conveying device (5) are located within the working area of ​​the loading robot device (2). The loading robot device (2) is used to grip the chain links in the material box (4) once, adjust their posture, and transfer them to the transfer clamp device (3) to prepare for subsequent secondary gripping. During the secondary gripping, the links are accurately placed on the follow-up positioning plate of the chain link positioning and conveying device (5).

3. The track link feeding device according to claim 1 or 2, characterized in that: The track link conveying device (5) includes a chain drive mechanism (51) and a follower positioning plate (52). The follower positioning plate (52) is located on the chain drive mechanism (51). The track links on the follower positioning plate (52) are efficiently conveyed to the feeding robot device (6) station through chain drive. The feeding robot device (6) grabs the track links on the follower positioning plate (52) and places them on the feeding fixture device (7) through the clamping mechanism (68) of the two-axis gantry robot, in preparation for subsequent processing steps.

4. The track link feeding device according to claim 2, characterized in that: The three-axis truss manipulator (21) includes a column (211) and a crossbeam (212) and a longitudinal beam (213) fixed on the column (211); a servo drive mechanism (214) is installed on the crossbeam (212), and the servo drive mechanism (214) includes an X-axis ball screw guide slide (2141), a Y-axis ball screw guide slide (2142) installed on the X-axis ball screw guide slide (2141), and a Z-axis ball screw guide slide (2143) installed on the Y-axis ball screw guide slide (2141). The Z-axis ball screw guide slide (2142) is driven by the servo motors 1 (2144), 2 (2145), and 3 (2146) corresponding to each slide to achieve three-way motion; the Z-axis ball screw guide slide (2143) is fixedly connected to the moving block adapter plate (215), and the adapter plate (215) is equipped with a swing head (22) driven by a servo motor. The swing head (22) serves as the swing joint of the pneumatic finger (23) and can swing around the Y-axis and Z-axis at any angle to adjust the attitude of the chain link; the swing head (22) is connected to the pneumatic finger (23) driven by a pneumatic cylinder for gripping the chain link.

5. The track link feeding device according to claim 4, characterized in that: The rotating head (22) includes a flange one (221), which is fixedly connected to the moving block adapter plate (215); one side end of the servo motor four (222) is fixed to the flange one (221), and its motor shaft end is connected to the connecting flange two (223). The servo motor four (222) drives the flange two (223) and the servo motor five (224) connected to its motor shaft end to rotate around the Y axis; the upper end of the adapter block (226) is fixedly connected to the motor shaft of the servo motor five (224) through the flange three (225) so as to rotate around the Z axis with the motor shaft; the lower end of the adapter block (226) is connected to the pneumatic finger (23).

6. The track link feeding device according to claim 5, characterized in that: The pneumatic finger (23) includes a double-sided double-axis pneumatic cylinder (231). The two piston rods (232) of the pneumatic cylinder (231) are diagonally distributed and move synchronously in two different directions during operation. The ends of the two piston rods (232) are fixedly connected to the finger mounting block (233) respectively. The finger (234) is fastened to the finger mounting block (233) through the connecting hole (235) and screw. The outer side of the finger (234) is provided with a finger mounting hole (236).

7. The track link feeding device according to claim 1, characterized in that: The transfer clamp device (3) includes a clamp platform (31), which includes a clamp base (311). The clamp base is provided with a left pressure plate (312) and a placement plate (314) spaced apart, and a right pressure plate (313) located on both sides between the left pressure plate (312) and the placement plate (314). The chain link gripped by the pneumatic finger (23) is placed in the positioning space formed by the left pressure plate (312), the right pressure plate (313), and the placement plate (314). The cylinder push rod (32) The seat is fixedly connected to the clamp platform (31) through the clamp connection hole (321) on it. The cylinder push rod (32) seat is equipped with a cylinder (322) and a telescopic rod (325) driven by the cylinder (322). The two-position five-way solenoid valve (33) is fixed on the upper surface of the clamp base (311). The working process of the transfer clamp device is as follows: When the track link is not placed on the clamp platform (31), the two-position five-way solenoid valve (33) is in the de-energized state, and compressed air enters from the air inlet P. The air enters the solenoid valve through port (331) and is output to the rodless chamber interface (323) of the cylinder (322) through port A (332), pushing the cylinder piston to retract the telescopic rod (325); at this time, the air in the rod chamber of the cylinder flows back to the solenoid valve through the rod chamber interface (324) to port B (333), and is finally discharged through the exhaust port S (334); when the track link is placed on the clamping platform (31) and the position sensor is triggered, the control system activates the two-position five-way solenoid valve (33), and the compressed air path is switched to: entering from port P (331) and being delivered to the cylinder rod chamber interface (324) through port B (333), pushing the telescopic rod (325) to extend; at the same time, the air in the rodless chamber flows through the rodless chamber interface (323), the solenoid valve through port A (332) and the exhaust port R The discharge hole (335) realizes the clamping action of the chain link; the above-mentioned air circuit control system realizes the bidirectional motion control of the cylinder telescopic rod (325) by switching the on and off state of the solenoid valve (33), forming the automatic clamping and loosening function of the chain link, constituting the positioning and clamping unit of the feeding equipment.

8. The track link feeding device according to claim 1, characterized in that: The track link positioning and conveying device (5) includes a chain drive mechanism (51), a driven shaft (52) rotatably connected to the front end of the frame (1) and having driven sprockets (511) installed on the left and right sides respectively, a drive shaft (514) rotatably connected to the rear end of the frame (1) and having driven sprockets (513) installed on the left and right sides respectively, a power motor (515) mounted on the frame (1) and having its output end connected to the driven sprockets (513), two drive chains (516) wound between the driven sprockets (511) and the driven sprockets (513) on both sides, and a follow-up positioning plate (52) fixedly connected to the two drive chains (516) at both ends and rotating with them. The follow-up positioning plate (52) is provided with a number of positioning pins (521) for positioning the track links.

9. The track link feeding device according to claim 1, characterized in that: The material handling robot device (6) includes a Z-axis motor (62) fixed to the upper rear side of the frame via a motor mounting base (61). The Z-axis motor (62) drives the Z-axis slide (63) to perform linear reciprocating motion along the Z-axis direction. An X-axis motor (64) is fixed to the Z-axis slide (63). The output end of the X-axis motor (64) is rotatably connected to a synchronous pulley (65). A tensioning pulley (66) is provided in the transmission system of the synchronous pulley (65) to maintain the friction between the transmission belt and the pulley, preventing slippage and ensuring transmission stability. The X-axis motor (64) drives the X-axis slide (67) to perform linear reciprocating motion along the X-axis direction. The slide table (67) is provided with a clamping mechanism (68). The clamping mechanism (68) includes a gripper (681) adapted to the external dimensions of the track link and a drive unit (682) for controlling the opening and closing of the gripper. It is used to clamp the track link and accurately position it on the feeding and positioning fixture device (7) so as to facilitate subsequent processing equipment. The Z-axis motor (62) of the material handling robot and the X-axis motor (64) of the material handling robot form an orthogonal motion platform.

10. A method of operating the track link feeding device as described in any one of claims 1-9, characterized in that: The material box (4) loaded with track links is moved to the frame (1). The track links in the material box (4) are grabbed by the loading robot (2) and the track links are adjusted and placed into the transfer fixture (3). Then the loading robot (2) grabs the track links in the transfer fixture (3) and moves them to the inlet of the track link positioning conveyor (5). After the track link positioning conveyor (5) runs, at the outlet of the track link positioning conveyor (5), the track links on the track link positioning conveyor (5) are transferred to the feeding positioning fixture (7) by the material handling robot (6).

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