Automatic assembling device for track shoe and using method

Abstract

The invention relates to the technical field of creeper tread mounting, in particular to an automatic creeper tread assembling device and a using method. Comprising a safety fence and a chain conveyor arranged on one side of the safety fence, a portal frame is arranged at one end of the chain conveyor, a D vision camera is installed at the top of the portal frame, an integrated overturning dragging assembly is arranged on the side, away from the chain conveyor, of the portal frame, and a robot is arranged between the overturning dragging assembly and the portal frame; a roller conveyor is arranged at the bottom of the turnover dragging assembly, the turnover dragging assembly comprises a supporting frame, a horizontal clamping mechanism arranged on one side of the supporting frame, a lifting mechanism arranged on the horizontal clamping mechanism and a turnover mechanism arranged on the lifting mechanism, and a front clamping mechanism and a rear clamping mechanism are arranged on the two sides of the roller conveyor respectively. According to the track shoe and chain assembling machine, automatic assembling work of track shoes and chains is achieved, the labor intensity is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of track shoe installation, and in particular to an automatic track shoe assembly device and a use method thereof. Background Art

[0002] In tracked vehicles or mechanical equipment, track shoes and chains are very important components, which together constitute the track system and provide the mobility of the vehicle or equipment. Track shoes are usually made of metal or rubber, while chains are composed of a series of links that are connected together by pins or other connectors.

[0003] The actual assembly process of the track plate and chain mainly relies on manual lifting and suction of the track plate with the help of power assistance and then assembling it on the chain. The specific work flow is as follows: 1. Manually place the entire assembled chain on the unpowered conveyor; 2. The forklift places the entire track shoe on the operating platform; 3. Manually use a power-assisted crane to suck the crawler and place it on the chain. The crawler plate that does not need to be turned over is aligned with the chain assembly hole and then placed on the chain. The crawler plate that needs to be turned over is placed on the chain plate with the help of a power-assisted crane, and then the crawler plate is turned over manually and aligned with the assembly hole; 4. After the track plate is assembled for a section, the screws are manually inserted, and then the track plate is manually pulled forward a certain distance, and then the track plate is assembled again. The entire assembly process mainly relies on manual labor to suck the track plate with the help of a power crane and then assemble it to the chain, and then align the assembly holes. This assembly method has the problems of cumbersome operation, low production efficiency, high labor intensity and low production efficiency. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides an automatic track plate assembly device and a use method thereof, which can realize automatic assembly of a track plate and a chain.

[0005] To achieve the above technical objectives, the present invention proposes the following technical solutions: an automatic track shoe assembly device, comprising a safety guardrail and a chain conveyor arranged on one side of the safety guardrail, a gantry is provided at one end of the chain conveyor, a 3D vision camera is installed on the top of the gantry, an integrated flipping and dragging assembly is provided on the side of the gantry away from the chain conveyor, a robot is provided between the flipping and dragging assembly and the gantry, a roller conveyor is provided at the bottom of the flipping and dragging assembly, the flipping and dragging assembly comprises a support frame, a horizontal clamping mechanism arranged on one side of the support frame, a lifting mechanism arranged on the horizontal clamping mechanism and a flipping mechanism arranged on the lifting mechanism, front clamping mechanisms and rear clamping mechanisms are provided on both sides of the roller conveyor, a pushing mechanism is provided at the bottom of the roller conveyor, and when the pushing mechanism is driven, the rear clamping mechanism can be configured to move forward or backward along the direction of the roller conveyor.

[0006] Furthermore, a limit frame is slidably installed on the safety guardrail and above the chain conveyor, and a driving cylinder for driving the limit frame to rise and fall is provided on the safety guardrail and above the limit frame.

[0007] Furthermore, the horizontal clamping mechanism includes a horizontal frame arranged on the support frame, the lifting mechanism includes a left lifting frame and a right lifting frame slidably installed on the horizontal frame, and a horizontal clamping motor is provided on one side of the horizontal frame to drive the left lifting frame and the right lifting frame to move closer or farther away from each other.

[0008] Furthermore, the flipping mechanism includes connecting frames respectively arranged on the left lifting frame and the right lifting frame, the connecting frame is provided with a support plate, the support plate is provided with a rotating motor, the output shaft end of the rotating motor is connected to the rotating frame, the rotating frame is provided with a support rod, the top of the rotating frame is provided with a clamping cylinder, and the output end of the clamping cylinder passes through the rotating frame and is connected to a pressure block.

[0009] Furthermore, the support plate is slidably mounted on the connecting frame, and the end of the connecting frame is provided with a front and rear motor for driving the support plate to slide forward and backward.

[0010] Furthermore, the left lifting frame and the right lifting frame are both provided with a first screw rod, and the ends of the left lifting frame and the right lifting frame are both provided with a lifting motor for driving the first screw rod to rotate, and the support plate is threadedly connected to the first screw rod.

[0011] Furthermore, the pushing mechanism includes a bracket, a front slide plate arranged on the top of the bracket, a rear slide plate slidably arranged on the top of the bracket, and a pushing motor and a second screw rod for driving the rear slide plate to slide. The rear clamping mechanism is arranged on the rear slide plate, and the front clamping mechanism is arranged on the front slide plate.

[0012] Furthermore, the front clamping mechanism and the rear clamping mechanism both include a left clamp, a right clamp and a clamping cylinder. The bottom of the left clamp and the right clamp are respectively provided with a left L-plate and a right L-plate. The left L-plate and the right L-plate are both slidably installed on the front slide plate and the rear slide plate. The bottom of the left L-plate and the right L-plate are both provided with racks. The middle of the front slide plate and the rear slide plate are both provided with gears meshing with the racks. The piston rod end of the clamping cylinder drives the left L-plate or the right L-plate to slide.

[0013] Furthermore, auxiliary clamping mechanisms are provided on both sides of the roller conveyor and at the rear side of the rear clamping mechanism, and the auxiliary clamping mechanism includes an auxiliary clamping cylinder and clamping claws.

[0014] Furthermore, a method for using the automatic assembly device for track shoes includes the following steps: S1: using a forklift to place the track shoes on the entire pallet at the entrance of the chain conveyor, and conveying the track shoes to the position of the waiting area through the chain conveyor; S2: Manually push the entire chain onto the roller conveyor and clamp it through the front clamping mechanism; S3: The 3D vision camera on the top of the gantry locates the track shoe and identifies the front and back sides of the track shoe, and sends signals to the robot and the flipping mechanism. The robot then sucks the track shoe and the flipping mechanism flips the track shoe. S4: When the track shoe does not need to be flipped, the support rod of the flipping mechanism is in the open position, the front clamping mechanism and the rear clamping mechanism clamp the chain, the robot directly aligns the track shoe with the hole and places it on the chain, the front clamping mechanism releases the clamping of the chain, and then the pushing mechanism pulls the rear clamping mechanism to drag the chain backward by one pitch, waiting for the second track shoe to be put in, and so on; S5: When the track shoe needs to be flipped, the support rod of the flipping mechanism is in the waiting position, the robot places the track shoe on the support rod, the horizontal clamping mechanism controls the support rod to clamp the track shoe and presses the track shoe through the clamping cylinder, the flipping mechanism drives the track shoe on the support rod to flip, the lifting mechanism drives the track shoe to fall a certain distance above the chain, the support plate moves to insert the flip hook of the previous track shoe into the bottom of the next track shoe, the clamping cylinder releases the clamping of the track shoe, the support rod opens, the track shoe is placed on the chain, the pushing mechanism drags the rear clamping mechanism to drag the chain backward by one pitch, the flipping mechanism returns to wait for the next track shoe, and so on.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention locates the track shoe position and identifies the front and back sides of the track shoe through a 3D vision camera, and gives signals to the flipping mechanism and the robot. When flipping is not required, the support rod for controlling the flipping is in an open state, the robot absorbs the track shoe and aligns its hole position with the hole position of the chain, the rear clamping mechanism clamps the chain, and drags the chain backward by one pitch through the pushing mechanism, waiting for the second track shoe to be placed in; when flipping is required, the support rod of the flipping mechanism is in a waiting position, the robot absorbs the track shoe and places it on the support rod, and drives the horizontal clamping mechanism to clamp it , drive the pressure block to press it, the rotating motor drives the track shoe to flip 180 degrees, the lifting mechanism drives the track shoe to drop to a certain position above the chain, the front and rear motors drive the support plate to slide, drive the track shoe to move backward and insert the track shoe hook into the bottom of the front track shoe, then release the support rod and the pressure block, so that the track shoe is placed on the chain, the flipping mechanism returns to wait for the next track shoe, and finally the pushing mechanism drags the chain backward for one pitch, waiting for the second track shoe to be put in; the present invention realizes the automatic assembly of the track shoe and the chain, which not only reduces the labor intensity but also improves the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the chain conveyor of the present invention; Figure 3It is a structural schematic diagram of the flipping and dragging assembly of the present invention; Figure 4 It is a structural schematic diagram of the push assembly of the present invention; Figure 5 It is a structural schematic diagram of the horizontal clamping mechanism of the present invention; Figure 6 It is a structural schematic diagram of the lifting mechanism and the turning mechanism of the present invention.

[0017] In the figure, 1, safety guardrail; 2, chain conveyor; 3, gantry; 4, 3D vision camera; 5, robot; 6, roller conveyor; 7, support frame; 8, horizontal clamping mechanism; 81, horizontal frame; 82, horizontal clamping motor; 9, lifting mechanism; 91, left lifting frame; 92, right lifting frame; 93, first screw rod; 94, lifting motor; 10, turning mechanism; 101, connecting frame; 102, support plate; 103, rotating motor; 104, rotating frame; 105, support rod; 106, pressing cylinder; 10 7. Press block; 108. Front and rear motors; 11. Front clamping mechanism; 111. Left clamp; 112. Right clamp; 113. Clamping cylinder; 114. Left L-plate; 115. Right L-plate; 116. Rack; 117. Gear; 12. Rear clamping mechanism; 13. Pushing mechanism; 131. Bracket; 132. Front slide; 133. Rear slide; 134. Pushing motor; 135. Second screw rod; 14. Limiting frame; 15. Driving cylinder; 16. Auxiliary clamping mechanism; 161. Auxiliary clamping cylinder 162. Clamping claw. DETAILED DESCRIPTION

[0018] The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.

[0019] like Figure 1-6As shown, the present invention provides an automatic assembly device for crawler plates, comprising a safety fence 1 and a chain conveyor 2 arranged on one side of the safety fence 1, a protection net is installed on the safety fence 1 (for the convenience of observation and understanding, the protection net is not shown in the attached figure), a robot control cabinet and an electric control cabinet are arranged on the outside of the safety fence 1, a gantry 3 is arranged at one end of the chain conveyor 2, a 3D vision camera 4 is installed on the top of the gantry 3, an integrated flipping and dragging component is arranged on the side of the gantry 3 away from the chain conveyor 2, a robot 5 is arranged between the flipping and dragging component and the gantry 3, and a manipulator end of the robot 5 is provided with a device for sucking the crawler plate The electromagnetic suction device of the plate, a roller conveyor 6 is provided at the bottom of the flipping and dragging assembly, and the roller conveyor 6 is a non-powered conveyor. The flipping and dragging assembly includes a support frame 7, a horizontal clamping mechanism 8 arranged on one side of the support frame 7, a lifting mechanism 9 arranged on the horizontal clamping mechanism 8, and a flipping mechanism 10 arranged on the lifting mechanism 9. Both sides of the roller conveyor 6 are provided with a front clamping mechanism 11 and a rear clamping mechanism 12 for clamping the chain. A pushing mechanism 13 is provided at the bottom of the roller conveyor 6. When the pushing mechanism 13 is driven, the rear clamping mechanism 12 can be configured to move forward or backward along the direction of the roller conveyor 6.

[0020] like Figure 1 As shown, in this embodiment, two chain conveyors 2 are arranged in parallel, a belt is rotatably installed on the top of the gantry 3, a 3D vision camera 4 is installed on the belt through a mounting plate, and the bottom of the mounting plate is slidably installed on the gantry. The 3D vision camera 4 is driven by the driving belt to slide on the gantry 3, and the position of the 3D vision camera 4 is adjusted according to the position of the track shoe on the chain conveyor 2; the 3D vision camera 4 is used to identify the position and the front and back sides of the track shoe, and transmit the identified position information to the robot control cabinet, and the robot control cabinet controls the robot to absorb the track shoe and transport it to the flipping and dragging component. When the track shoe needs to be flipped, the position of the flipping mechanism 10 is controlled by the horizontal clamping mechanism 8, so that the track shoe is placed on the flipping mechanism 10. During the assembly process, the chain is clamped by the front clamping mechanism 11 to avoid displacement during assembly and affect the assembly effect. After the chain is clamped by the rear clamping mechanism 12, the rear clamping mechanism 12 is dragged by the pushing mechanism 13 to move one pitch in succession, and the chain is indirectly dragged by one pitch to facilitate the placement of the second track shoe.

[0021] A limit frame 14 is slidably installed on the safety guardrail 1 and located above the chain conveyor 2. A driving cylinder 15 for driving the limit frame 14 to rise and fall is provided on the safety guardrail 1 and located above the limit frame 14. A protective net (not shown in the figure) is provided inside the frame of the limit frame 14. A first safety door is provided on the side of the safety guardrail 1 close to the roller conveyor 6, allowing workers to enter one side of the roller conveyor 6 to insert bolts into the assembled crawler plate. A second safety door is provided on the side of the safety guardrail 1 close to the robot, which allows easy entry into the safety guardrail 1 to inspect and repair the robot 5 and other structures.

[0022] like Figure 2 As shown, when the work starts, the driving cylinder 15 drives the limit frame 14 to descend to prevent personnel from mistakenly entering the dismantling area of ​​the robot 5, thereby ensuring construction safety and the normal operation of the assembly work.

[0023] The horizontal clamping mechanism 8 includes a horizontal frame 81 arranged on the support frame 7, and the roller conveyor 6 passes through the bottom of the support frame 7. The lifting mechanism 9 includes a left lifting frame 91 and a right lifting frame 92 slidably installed on the horizontal frame 81. The left lifting frame 91 and the right lifting frame 92 are respectively located on both sides of the roller conveyor 6. A horizontal clamping motor 82 is provided on one side of the horizontal frame 81 for driving the left lifting frame 91 and the right lifting frame 92 to be relatively close or away.

[0024] like Figure 3 and 5 As shown, a third screw rod is rotatably mounted on the horizontal frame 81, and the left lifting frame 91 and the right lifting frame 92 are both threadedly mounted on the third screw rod. The horizontal clamping motor 82 drives the third screw rod to rotate, driving the left lifting frame 91 and the right lifting frame 92 to move away from or closer to each other.

[0025] The flipping mechanism includes a connecting frame 101 respectively arranged on the left lifting frame 91 and the right lifting frame 92, a supporting plate 102 is arranged on the connecting frame 101, a rotating motor 103 is arranged on the supporting plate 102, the output shaft end of the rotating motor 103 is connected to a rotating frame 104, a supporting rod 105 is arranged on the rotating frame 104, a clamping cylinder 106 is arranged on the top of the rotating frame 104, the output end of the clamping cylinder 106 passes through the rotating frame 104 and is connected to a pressing block 107, the supporting plate 102 is slidably installed on the connecting frame 101, and a front and rear motor 108 for driving the supporting plate 102 to slide forward and backward is arranged at the end of the connecting frame 101.

[0026] like Figure 5 and 6As shown, when the left lifting frame 91 and the right lifting frame 92 are relatively close to each other, the support rods 105 are indirectly driven to be relatively close to each other, and the track shoes are placed between the support rods 105, and the track shoes are supported by the support rods 105, and then the clamping cylinder 106 is started to clamp the track shoes, and the rotating motor 103 drives the support rods 105 on the rotating frame 104 to rotate, and drives the track shoes to rotate. After the rotation, the track shoes are placed on the chain of the roller conveyor by lowering the left lifting frame 91 and the right lifting frame 92, and then the front and rear motors 108 are started to drive the support plate 102 to slide backward along the connecting frame 101, drive the track shoes to slide backward, insert the track shoe hook into the bottom of the front track shoe, release the clamping cylinder 106, and drive the left lifting frame 91 and the right lifting frame 92 to move relatively away from each other, release the support for the track shoes, and complete the assembly of the track shoes.

[0027] The left lifting frame 91 and the right lifting frame 92 are both provided with a first screw rod 93 , and the ends of the left lifting frame 91 and the right lifting frame 92 are both provided with a lifting motor 94 for driving the first screw rod 93 to rotate, and the support plate 102 is threadedly connected to the first screw rod 93 .

[0028] like Figure 5 As shown, the lifting motor 94 drives the first screw rod 93 to rotate, driving the support plate 102 to rise or fall, and indirectly driving the flip mechanism 10 to rise or fall.

[0029] The pushing mechanism 13 includes a bracket 131, a front slide 132 arranged on the top of the bracket 131, a rear slide 133 slidably arranged on the top of the bracket 131, and a pushing motor 134 and a second screw rod 135 for driving the rear slide 133 to slide. The rear clamping mechanism 12 is arranged on the rear slide 133, and the front clamping mechanism 11 is arranged on the front slide 132.

[0030] like Figure 4 As shown, the push motor 134 drives the second screw rod 135 to rotate, driving the rear slide plate 133 to slide forward and backward. The rear clamping mechanism 12 is installed on the rear slide plate 133, and the push motor 134 will drive the rear clamping mechanism 12 to slide forward and backward.

[0031] The front clamping mechanism 11 and the rear clamping mechanism 12 both include a left clamp 111, a right clamp 112 and a clamping cylinder 113 arranged on both sides of the roller conveyor 6, and the bottoms of the left clamp 111 and the right clamp 112 are respectively provided with a left L plate 114 and a right L plate 115, and the left L plate 114 and the right L plate 115 are both slidably installed on the front slide 132 and the rear slide 133, and the bottoms of the left L plate 114 and the right L plate 115 are both provided with a rack 116, and the middle parts of the front slide 132 and the rear slide 133 are provided with a gear 117 meshing with the rack 116, and the piston rod end of the clamping cylinder 113 drives the left L plate 114 or the right L plate 115 to slide.

[0032] like Figure 4 As shown, taking the front clamping mechanism 11 as an example, the clamping cylinder 113 drives the left L plate 114 to slide, and the rack 116 drives the gear 117 to rotate when sliding, and the gear 117 rotates to drive the right L plate 114 to slide, thereby realizing the clamping or loosening operation of the chain. The operating principle of the rear clamping mechanism 12 is the same as that of the front clamping mechanism, and will not be repeated here.

[0033] Auxiliary clamping mechanisms 16 are provided on both sides of the roller conveyor 6 and at the rear side of the rear clamping mechanism 12 . The auxiliary clamping mechanism 16 includes an auxiliary clamping cylinder 161 and a clamping claw 162 .

[0034] like Figure 3 As shown, the auxiliary clamping mechanism 16 is used to clamp the chain to prevent the pushing mechanism 13 from dragging the track shoe to slide backward so that the chain moves when the track shoe hook is inserted into the bottom of the rear track shoe, thereby affecting the assembly effect.

[0035] A method for using an automatic track shoe assembly device comprises the following steps: S1: using a forklift to place the track shoe on the entire pallet at the entrance of a chain conveyor 2, and conveying the track shoe to a position of a waiting area through the chain conveyor 2; S2: manually push the entire chain onto the roller conveyor 6, and clamp the chain through the front clamping mechanism 11; S3: The 3D vision camera 4 on the top of the gantry 3 locates the track shoe and identifies the front and back sides of the track shoe, and sends signals to the robot 5 and the flipping mechanism. The robot control cabinet controls the robot 5 to suck the track shoe, and the electric control cabinet controls the flipping mechanism 10 to flip the track shoe. S4: When the track shoe does not need to be turned over, the horizontal clamping motor 82 drives the support rods 105 of the turning mechanism 10 on the left lifting frame 91 and the right lifting frame 92 to move away from each other, so that they are in the open position, and the front clamping mechanism 11, the rear clamping mechanism 12 and the auxiliary clamping mechanism 16 clamp the chain, and the robot control cabinet controls the robot 5 to directly align the track shoe with the hole and place it on the chain, and the front clamping mechanism 11 and the auxiliary clamping mechanism 16 release the clamping of the chain, and then start the pushing motor 134 to indirectly drag the rear clamping mechanism to drag the chain backward by one pitch, waiting for the second track shoe to be put in, and so on; S5: When the 3D vision camera 4 recognizes that the track shoe needs to be flipped, it transmits a signal to the robot control cabinet and the electric control cabinet. The electric control cabinet controls the support rod 105 of the flipping mechanism 10 to be in a waiting position, that is, the horizontal clamping motor 82 drives the support rod 105 of the flipping mechanism 10 on the left lifting frame 91 and the right lifting frame 92 to approach each other, the front clamping mechanism 11 and the rear clamping mechanism 12 clamp the chain, and the robot 5 places the track shoe on the support rod 105. The horizontal clamping motor 82 drives the support rod 105 of the flipping mechanism 10 on the left lifting frame 91 and the right lifting frame 92 to approach each other again, controls the support rod 105 to clamp the track shoe and starts the clamping cylinder 106 to press the track shoe, and the rotating motor 103 drives the support rod 105 on the rotating frame 104 The track shoe flips 180°, the lifting motor 94 drives the first screw rod 93 to rotate, driving the support plate 102 to drop to a certain distance above the chain, starting the front and rear motors 108 to drive the support plate 102 to slide backward along the connecting frame 101, driving the track shoe to slide backward, the support plate 102 moves to insert the flip hook of the rear track shoe into the bottom of the front track shoe, the clamping cylinder 106 releases the clamping of the track shoe, drives the left lifting frame 91 and the right lifting frame 92 to move relatively away, releases the support for the track shoe, and the track shoe is placed on the chain. The front clamping mechanism 11 releases the clamping of the chain, and the pushing motor 134 is started to indirectly drag the rear clamping mechanism 12 to drag the chain backward by a pitch, and the flipping mechanism 10 returns to wait for the next track shoe, and so on.

[0036] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. An automatic track shoe assembly device, characterized in that: The invention comprises a safety guardrail (1) and a chain conveyor (2) arranged on one side of the safety guardrail (1); a gantry (3) is arranged at one end of the chain conveyor (2); a 3D vision camera (4) is installed on the top of the gantry (3); an integrated flipping and dragging assembly is arranged on the side of the gantry (3) away from the chain conveyor (2); a robot (5) is arranged between the flipping and dragging assembly and the gantry (3); a roller conveyor (6) is arranged at the bottom of the flipping and dragging assembly; the flipping and dragging assembly comprises a support frame (7), a horizontal clamping mechanism (8) arranged on one side of the support frame (7), a lifting mechanism (9) arranged on the horizontal clamping mechanism (8), and a flipping mechanism (10) arranged on the lifting mechanism (9); a front clamping mechanism (11) and a rear clamping mechanism (12) are arranged on both sides of the roller conveyor (6); a pushing mechanism (13) is arranged at the bottom of the roller conveyor (6); when the pushing mechanism (13) is driven, the rear clamping mechanism (12) can move forward or backward along the direction of the roller conveyor (6).

2. The automatic track shoe assembly device according to claim 1, characterized in that: A limit frame (14) is slidably mounted on the safety guardrail (1) and located above the chain conveyor (2); and a driving cylinder (15) for driving the limit frame (14) to rise and fall is provided on the safety guardrail (1) and located above the limit frame (14).

3. The automatic track shoe assembly device according to claim 1, characterized in that: The horizontal clamping mechanism (8) comprises a horizontal frame (81) arranged on the support frame (7); the lifting mechanism (9) comprises a left lifting frame (91) and a right lifting frame (92) slidably mounted on the horizontal frame (81); and a horizontal clamping motor (82) for driving the left lifting frame (91) and the right lifting frame (92) to move relatively closer or farther away is provided on one side of the horizontal frame (81).

4. The automatic track shoe assembly device according to claim 3, characterized in that: The flip mechanism comprises a connecting frame (101) slidably arranged on the left lifting frame (91) and the right lifting frame (92), respectively; a supporting plate (102) is arranged on the connecting frame (101); a rotating motor (103) is arranged on the supporting plate (102); an output shaft end of the rotating motor (103) is connected to a rotating frame (104); a supporting rod (105) is arranged on the rotating frame (104); a pressing cylinder (106) is arranged on the top of the rotating frame (104); and an output end of the pressing cylinder (106) passes through the rotating frame (104) and is connected to a pressing block (107).

5. The automatic track shoe assembly device according to claim 4, characterized in that: The support plate (102) is slidably mounted on the connecting frame (101), and a front and rear motor (108) for driving the support plate (102) to slide forward and backward is provided at the end of the connecting frame (101).

6. The automatic track shoe assembly device according to claim 5, characterized in that: The left lifting frame (91) and the right lifting frame (92) are both provided with a first screw rod (93); the ends of the left lifting frame (91) and the right lifting frame (92) are both provided with a lifting motor (94) for driving the first screw rod (93) to rotate; and the support plate (102) is threadedly connected to the first screw rod (93).

7. The automatic track shoe assembly device according to claim 1, characterized in that: The pushing mechanism (13) comprises a bracket (131), a front slide plate (132) arranged on the top of the bracket (131), a rear slide plate (133) slidably arranged on the top of the bracket (131), and a pushing motor (134) and a second screw rod (135) for driving the rear slide plate (133) to slide; the rear clamping mechanism (12) is arranged on the rear slide plate (133), and the front clamping mechanism (11) is arranged on the front slide plate (132).

8. The automatic track shoe assembly device according to claim 3, characterized in that: The front clamping mechanism (11) and the rear clamping mechanism (12) both comprise a left clamp (111), a right clamp (112) and a clamping cylinder (113); the bottoms of the left clamp (111) and the right clamp (112) are respectively provided with a left L-plate (114) and a right L-plate (115); the left L-plate (114) and the right L-plate (115) are both slidably mounted on the front slide plate (132) and the rear slide plate (133); the bottoms of the left L-plate (114) and the right L-plate (115) are both provided with a rack (116); the middles of the front slide plate (132) and the rear slide plate (133) are both provided with a gear (117) meshing with the rack (116); and the piston rod end of the clamping cylinder (113) drives the left L-plate (114) or the right L-plate (115) to slide.

9. The automatic track shoe assembly device according to claim 1, characterized in that: Auxiliary clamping mechanisms (16) are provided on both sides of the roller conveyor (6) and at the rear side of the rear clamping mechanism (12); the auxiliary clamping mechanism (16) comprises an auxiliary clamping cylinder (161) and a clamping claw (162).

10. The method for using the automatic track shoe assembly device according to claims 1-9, characterized in that: The method comprises the following steps: S1: using a forklift to place the track shoe on the entire pallet at the entrance of the chain conveyor (2), and conveying the track shoe to the position of the waiting area through the chain conveyor (2); S2: manually pushing the entire chain onto the roller conveyor (6) and clamping it through the front clamping mechanism (11); S3: The 3D vision camera (4) on the top of the gantry (3) locates the position of the track shoe and identifies the front and back sides of the track shoe, and sends signals to the robot (5) and the flipping mechanism. The robot (5) sucks the track shoe, and the flipping mechanism (10) flips the track shoe. S4: When the track shoe does not need to be flipped, the support rod (105) of the flipping mechanism (10) is in the open position, the front clamping mechanism (11) and the rear clamping mechanism (12) clamp the chain, the robot (5) directly aligns the track shoe with the hole and places it on the chain, the front clamping mechanism (11) releases the clamping of the chain, and then the pushing mechanism (13) pulls the rear clamping mechanism (12) to drag the chain backward by one pitch, waiting for the second track shoe to be put in, and so on; S5: When the track shoe needs to be flipped, the support rod (105) of the flipping mechanism (10) is in the waiting position, the robot (5) places the track shoe on the support rod (105), the horizontal clamping mechanism (8) controls the support rod (105) to clamp the track shoe and press the track shoe through the clamping cylinder (106), the flipping mechanism (10) drives the track shoe on the support rod (105) to flip 180 degrees, the lifting mechanism (9) drives the track shoe to fall a certain distance above the chain, the support plate (102) moves to insert the flip hook of the previous track shoe into the bottom of the next track shoe, the clamping cylinder (106) releases the clamping of the track shoe, the support rod 105 opens, the track shoe is placed on the chain, the pushing mechanism (13) drags the clamping mechanism (12) to drag the chain backward by one pitch, the flipping mechanism (10) returns to wait for the next track shoe, and so on.

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