An automated feeding device for track links and its working method

Abstract

This invention relates to an automated chain link feeding device, comprising a frame, a chain link identification module, a loading robot assembly, a chain link flipping mechanism, a chain link positioning and conveying mechanism, a feeding robot assembly, and a control system. The chain link identification module captures images of chain links inside a transfer box using an industrial camera, acquiring their shape, position, and orientation information. The loading robot assembly grasps the chain links, adjusts their orientation, and places them in the chain link flipping mechanism, which then places them onto a follow-up positioning plate. The chain link flipping mechanism flips the chain links. The chain link positioning and conveying mechanism transports the chain links from the follow-up positioning plate to the feeding robot. The feeding robot assembly grasps the chain links from the follow-up positioning plate and places them on the processing equipment. This device features a high degree of automation, high feeding efficiency, and precise positioning of chain links during the feeding process, improving the processing accuracy of subsequent steps.

Description

Technical Field

[0001] This invention relates to the field of track link processing technology, specifically to an automated track link feeding device and its working method. Background Technology

[0002] As a crucial component of tracked vehicles, the machining quality of track links plays a vital role in the overall vehicle performance. Milling the end faces of track links is a critical step in the manufacturing process; however, current technologies largely rely on manual loading, leading to low production efficiency and increasing the risk of surface damage or positioning errors during handling, thus affecting product quality.

[0003] In the prior art, some patents have been published for automated feeding of track links, such as patents CN213104311U and CN113665881A. These patents use robotic arms or conveyor belts to transport track links from storage devices to processing stations, reducing manual intervention. However, these solutions still have the following shortcomings:

[0004] 1. Low level of automation and insufficient feeding efficiency: The existing equipment has insufficient automation and weak automatic adjustment capabilities. Sometimes, manual intervention is still required to successfully complete the feeding of chain links, which not only wastes labor but also results in slow feeding speed, making it difficult to meet the needs of high-efficiency production lines.

[0005] 2. Insufficient positioning accuracy: Due to the different positions and postures of the track links in the transfer box, most equipment lacks a precise positioning and correction mechanism during the conveying and loading process of the track links. This results in positioning deviations of the track links during the loading process. These deviations will affect the processing accuracy of the track links in the next process, and thus further affect the assembly accuracy of the track links. Summary of the Invention

[0006] The purpose of this invention is to provide an automated feeding device for track links and its working method. This device has a high degree of automation, high feeding efficiency, and can accurately position the track links during the feeding process to improve the processing accuracy of the next process.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is: an automated feeding device for track links, comprising a frame, wherein the frame is provided with a track link identification module, a material handling robot assembly, a track link flipping mechanism, a track link positioning and conveying mechanism, a feeding robot assembly and a control system;

[0008] The track link identification module includes a feeding rack, an industrial camera and its bracket. The feeding rack is used to place a transfer box containing track links. The industrial camera is used to capture images of the track links inside the transfer box and to obtain the shape, position and posture information of the track links through an image processing system, so as to provide guidance for the subsequent operation of the loading robot.

[0009] The material handling robot assembly includes a material handling robot and a first drive mechanism. The material handling robot is installed on the upper front side of the frame through the first drive mechanism. It is used to grab the chain link in the transfer box, adjust its posture and then place it on the follower positioning plate of the chain link positioning and conveying mechanism, or adjust its initial posture and then place it in the chain link flipping mechanism. After being flipped by the chain link flipping mechanism, it is then grabbed and placed on the follower positioning plate of the chain link positioning and conveying mechanism.

[0010] The track link flipping mechanism is located within the working area of ​​the material handling robot and is used to flip the track links placed on it.

[0011] The track link positioning and conveying mechanism includes a follower positioning plate and a conveying mechanism. The follower positioning plate is located on the conveying mechanism and moves back and forth along the track link conveying direction to convey the precisely positioned track link to the working area of ​​the loading robot and reset it.

[0012] The loading robot assembly includes a loading robot and a second drive mechanism. The loading robot is mounted on the upper rear side of the frame via the second drive mechanism and is used to grab the chain link on the follow-up positioning plate and place it on the next processing equipment for processing.

[0013] The control system is used to automatically control the entire working process of the automated feeding device for track links.

[0014] Furthermore, the industrial camera bracket includes a camera universal adjustment bracket and a camera lifting bracket; the industrial camera is mounted on the camera universal adjustment bracket to flexibly adjust the angle of the industrial camera; the camera lifting bracket has a first sliding groove along its length, and the camera universal adjustment bracket is slidably assembled in the first sliding groove of the camera lifting bracket and can slide back and forth along the first sliding groove; the frame has a vertical sliding groove, and the camera lifting bracket is mounted on the vertical sliding groove of the frame, and the length direction of the camera lifting bracket is parallel to the conveying direction of the track link, thereby adjusting the installation height and front-back orientation of the industrial camera by changing the installation position of the camera lifting bracket on the vertical sliding groove and the position of the camera universal adjustment bracket in the first sliding groove.

[0015] Furthermore, the unloading rack is located next to the chain link flipping mechanism and the chain link positioning and conveying mechanism. The transfer box containing the chain links is placed on the unloading rack. The industrial camera captures images of the chain links in the transfer box, and the image processing system analyzes the captured image data to identify the shape features, spatial position, and angular posture of the chain links. This information is used to guide the loading robot in gripping, adjusting the posture, and handling the chain links, ensuring the accuracy and stability of the entire loading process.

[0016] Furthermore, the first driving mechanism is a three-degree-of-freedom truss structure composed of an X-axis lead screw slide, a Y-axis lead screw slide, and a Z-axis lead screw slide. The Y-axis lead screw slide is installed on the upper front side of the frame, the X-axis lead screw slide is installed on the Y-axis lead screw slide, and the Z-axis lead screw slide is installed on the X-axis lead screw slide. The material handling robot is installed on the Z-axis lead screw slide to move in three directions under the drive of the first driving mechanism.

[0017] Furthermore, the material handling robot includes a robot arm connecting frame, a robot arm base, a swinging robot arm, an end-effector connecting plate, and a mechanical gripper. The robot arm base is mounted on a first drive mechanism via the robot arm connecting frame. The swinging robot arm is mounted on the robot arm base, and a swinging drive device is provided inside the robot arm base to drive the swinging robot arm to swing. The end-effector connecting plate is mounted on the swinging robot arm, and a first rotation drive device is provided inside the swinging robot arm to drive the end-effector connecting plate to rotate. The mechanical gripper is mounted on the end-effector connecting plate and can perform gripping and placing actions.

[0018] Furthermore, the track link flipping mechanism includes a rotating gripper, a rotating turntable, and a flipping mechanism base. The rotating turntable is mounted on the frame via the flipping mechanism base, and a second rotating drive device is provided inside the flipping mechanism base to drive the rotating turntable to rotate. The rotating gripper is mounted on the rotating turntable and can perform gripping and releasing actions.

[0019] Further, the conveying mechanism includes two driven sprockets, one driven shaft, two transmission chains, two driving sprockets, one drive shaft, a motor driven sprocket, a motor drive chain, a motor drive sprocket, a power motor, and chain support rails; the driven shaft is rotatably connected to the front end of the frame, the two driven sprockets are mounted on the left and right sides of the driven shaft, the drive shaft is rotatably connected to the rear end of the frame, the two driving sprockets are mounted on the left and right sides of the drive shaft, and the two transmission chains are respectively wound around the driven sprockets and driving sprockets on the left and right sides; The driven sprocket of the motor is installed at one end of the drive shaft. The power motor is installed on the frame, and its output end is connected to the motor drive sprocket. The motor drive sprocket is driven by the motor drive chain and the driven sprocket, thereby driving the drive shaft and the drive sprocket on it to rotate. Multiple chain support guides are provided on the frame along the conveying direction of the track links to support the transmission chains. The left and right ends of the follower positioning plate are fixedly connected to two transmission chains respectively, so as to move with the operation of the transmission chains. The follower positioning plate is provided with several sets of positioning pins for positioning the track links.

[0020] Furthermore, the conveying mechanism also includes two chain drive adjustment modules, which are respectively disposed on the left and right sides of the front end of the frame and slide in cooperation with the frame. They can be fixed to the frame by fasteners. The left and right ends of the driven shaft are rotatably connected to the two chain drive adjustment modules, thereby adjusting the tension of the transmission chain by changing the relative position of the chain drive adjustment modules and the frame.

[0021] Furthermore, the second drive mechanism includes a Z-axis motor for the loading robot, a motor mounting base, a composite slide, an X-axis motor for the loading robot, an X-axis slide, and a loading robot. The Z-axis motor for the loading robot is fixedly mounted on the upper rear side of the frame via the motor mounting base. The Z-axis motor drives the composite slide to move up and down along the Z-axis. The X-axis motor for the loading robot is fixedly mounted on the composite slide. The X-axis motor drives the X-axis slide to move back and forth along the X-axis. The loading robot is mounted on the X-axis slide and can perform clamping and placing actions to pick up the chain links and accurately place them on the next processing equipment for processing.

[0022] The present invention also provides a method for operating the above-mentioned automated feeding device for track links, comprising the following steps:

[0023] S1. Take images of the chain links inside the transfer box on the unloading rack using an industrial camera, and then obtain the shape, position and attitude information of the chain links through an image processing system;

[0024] S2. Based on the shape, position, and attitude information of the track links, determine whether flipping is required and calculate the operation flow of the material handling robot. If flipping is required, control the material handling robot to grab the track links in the transfer box, adjust their initial attitude, and place them in the track link flipping mechanism. Then, control the track link flipping mechanism to flip the track links. Next, control the material handling robot to grab the track links on the track link flipping mechanism, adjust their attitude, and place them on the follower positioning plate. If flipping is not required, control the material handling robot to grab the track links in the transfer box, directly adjust their attitude, and place them on the follower positioning plate.

[0025] S3. Control the conveying mechanism to deliver the precisely positioned track links to the working area of ​​the loading robot, and reset them after the loading robot grabs them;

[0026] S4. Control the feeding robot to grab the chain link on the follow-up positioning plate and place it on the next processing equipment for processing.

[0027] Compared with existing technologies, the present invention has the following advantages: The present invention provides an automated chain link feeding device and its working method. This device, based on integrated technologies of image recognition, robotic gripping, automatic flipping, precise positioning, and conveying, realizes the automated feeding process of chain links. An industrial camera captures and recognizes images of the chain links. A robotic gripper grips the chain links according to the recognition information and, in conjunction with a flipping mechanism, adjusts the posture of the chain links. Then, it is precisely positioned on a follow-up positioning plate and conveyed to the working area of ​​the feeding robotic gripper. Finally, the feeding robotic gripper grips the chain links and places them into the next processing equipment. The entire device has a high degree of automation, which not only greatly improves feeding efficiency but also allows for precise positioning of the chain links during the feeding process, thereby improving the processing accuracy of the next process and ultimately improving the assembly accuracy of the chain links. Therefore, the present invention has strong practicality and broad application prospects. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the automated feeding device for track links according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the industrial camera and its bracket in an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the material handling robot in an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the track link flipping mechanism in an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the follow-up positioning plate in an embodiment of the present invention.

[0033] In the diagram: 1-Frame; 2-Loading rack; 3-Loading robot; 4-Industrial camera and its bracket; 5-Chain link flipping mechanism; 6-Chain drive adjustment module; 7-Driven shaft; 8-Driven sprocket; 9-Drive chain; 10-X-axis lead screw slide; 11-Y-axis lead screw slide; 12-Z-axis lead screw slide; 13-Chain link; 14-Follow-up positioning plate; 15-Loading robot Z-axis motor; 16-Motor mounting base; 17-Composite slide; 18-Loading robot X-axis motor; 19-X-axis slide; 20-Loading... Material handling robot; 21-Drive sprocket; 22-Drive shaft; 23-Motor driven sprocket; 24-Motor drive chain; 25-Motor drive sprocket; 26-Power motor; 27-Chain support rail; 28-Robot arm connecting frame; 29-Robot arm base; 30-Swinging robot arm; 31-End connection plate; 32-Mechanical gripper; 33-Industrial camera; 34-Camera universal adjustment bracket; 35-Camera lifting bracket; 36-Rotating gripper; 37-Rotating turntable; 38-Tilting mechanism base; 39-Positioning pin. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] like Figure 1-5 As shown, this embodiment provides an automated feeding device for track links, including a frame 1. The frame 1 is equipped with a track link identification module, a material handling robot assembly, a track link flipping mechanism 5, a track link positioning and conveying mechanism, a feeding robot assembly, and a control system.

[0038] The track link identification module includes a feeding rack 2, an industrial camera and its bracket 4. The feeding rack 2 is used to place a transfer box containing track links. The industrial camera 33 is used to capture images of the track links inside the transfer box and obtain the shape, position and posture information of the track links through an image processing system, so as to provide precise guidance for the subsequent operation of the loading robot 3.

[0039] The material handling robot assembly includes a material handling robot 3 and a first drive mechanism. The material handling robot 3 is installed on the upper front side of the frame 1 through the first drive mechanism. It is used to grab the chain link 13 in the transfer box, adjust its posture and then place it on the follower positioning plate 14 of the chain link positioning and conveying mechanism, or adjust its initial posture and then place it in the chain link flipping mechanism 5. After being flipped by the chain link flipping mechanism 5, it is then grabbed and placed on the follower positioning plate 14 of the chain link positioning and conveying mechanism.

[0040] The track link flipping mechanism 5 is located within the working area of ​​the material handling robot 3 and is used to flip the track links placed on it by 180° to ensure that the track links can reach the preset posture and meet the requirements of subsequent processing.

[0041] The track link positioning and conveying mechanism includes a follower positioning plate 14 and a conveying mechanism. The follower positioning plate 14 is located on the conveying mechanism and moves back and forth along the track link conveying direction to transport the precisely positioned track link to the working area of ​​the loading robot 20 and reset it. The positioning by the follower positioning plate ensures the accuracy of subsequent gripping and placement.

[0042] The loading robot assembly includes a loading robot 20 and a second drive mechanism. The loading robot 20 is mounted on the upper rear side of the frame 1 through the second drive mechanism. It is used to grab the track links on the follow-up positioning plate and place them on the next processing equipment (in this embodiment, a track link end face milling machine) for processing.

[0043] The control system is used to automatically control the entire working process of the automated feeding device for track links.

[0044] All the above modules, components, and mechanisms are designed and installed in an integrated frame. Through the structural support and overall design of the frame, the coordination and stability between the modules can be effectively improved, ensuring that the system has good stability, accuracy and reliability during long-term operation.

[0045] like Figure 2As shown, the bracket of the industrial camera 33 includes a camera universal adjustment bracket 34 and a camera lifting bracket 35. The industrial camera 33 is mounted on the camera universal adjustment bracket 34 to flexibly adjust the angle of the industrial camera. The camera lifting bracket 35 has a first sliding groove along its length direction. The camera universal adjustment bracket 34 is slidably assembled in the first sliding groove of the camera lifting bracket 35 and can slide back and forth along the first sliding groove. The frame 1 has a vertical sliding groove. The camera lifting bracket 35 is mounted on the vertical sliding groove of the frame 1, and the length direction of the camera lifting bracket is parallel to the conveying direction of the track link. Thus, by changing the installation position of the camera lifting bracket on the vertical sliding groove and the position of the camera universal adjustment bracket in the first sliding groove, the installation height and front-back orientation of the industrial camera can be adjusted.

[0046] The unloading rack 2 is located next to the track link flipping mechanism 5 and the track link positioning and conveying mechanism. The transfer box containing the track links is placed on the unloading rack. The industrial camera 33 captures images of the track links in the transfer box and analyzes the captured image data through the image processing system to identify the shape features, spatial position, and angle of the track links. This information is used to guide the loading robot to grasp, adjust the position, and transport the track links, ensuring the accuracy and stability of the entire loading process.

[0047] In this embodiment, the first driving mechanism is a three-degree-of-freedom truss structure composed of an X-axis lead screw slide 10, a Y-axis lead screw slide 11, and a Z-axis lead screw slide 12. The Y-axis lead screw slide 11 is installed on the upper front side of the frame 1, the X-axis lead screw slide 10 is installed on the Y-axis lead screw slide 11, and the Z-axis lead screw slide 12 is installed on the X-axis lead screw slide 10. The material handling robot 3 is installed on the Z-axis lead screw slide 12 to move in three directions under the drive of the first driving mechanism.

[0048] like Figure 3 As shown, the material handling robot 3 includes a robot arm connecting frame 28, a robot arm base 29, a swinging robot arm 30, an end plate connecting plate 31, and a mechanical gripper 32. The robot arm base 29 is mounted on a first drive mechanism via the robot arm connecting frame 28. The swinging robot arm 30 is mounted on the robot arm base 29, and a swinging drive device is provided inside the robot arm base 29 to drive the swinging robot arm to swing. The end plate connecting plate 31 is mounted on the swinging robot arm 30, and a first rotation drive device is provided inside the swinging robot arm 30 to drive the end plate connecting plate to rotate. The mechanical gripper 32 is mounted on the end plate connecting plate 31 and can perform gripping and placing actions.

[0049] like Figure 4As shown, the track link flipping mechanism 5 includes a rotating gripper 36, a rotating turntable 37, and a flipping mechanism base 38. The rotating turntable 37 is mounted on the frame 1 via the flipping mechanism base 38, and a second rotating drive device is provided inside the flipping mechanism base 38 to drive the rotating turntable 37 to rotate. The rotating gripper 36 is mounted on the rotating turntable 37 and can perform gripping and placing actions.

[0050] like Figure 1 As shown, the conveying mechanism includes two driven sprockets 8, a driven shaft 7, two transmission chains 9, two driving sprockets 21, a drive shaft 22, a motor driven sprocket 23, a motor drive chain 24, a motor drive sprocket 25, a power motor 26, a chain support guide rail 27, and two chain drive adjustment modules 6. The driven shaft 7 is rotatably connected to the front end of the frame 1. The two driven sprockets 8 are mounted on the left and right sides of the driven shaft 7. The drive shaft 22 is rotatably connected to the rear end of the frame 1. The two driving sprockets 21 are mounted on the left and right sides of the drive shaft 22. The two transmission chains 9 are respectively wound around the driven sprockets and the driving sprockets on the left and right sides. The motor driven sprocket 23 is mounted at one end of the drive shaft. The power motor 26 is mounted on the frame 1, and its output end is connected to the motor drive sprocket 25. The motor drive sprocket 25 drives the drive shaft and its driven sprockets to rotate via the motor drive chain 24 and the motor driven sprocket 23. Multiple chain support rails 27 are arranged on the frame 1 along the conveying direction of the chain links to support the transmission chains. The left and right ends of the follower positioning plate 14 are fixedly connected to two transmission chains 9 respectively, so as to move with the operation of the transmission chains 9. The follower positioning plate 14 is provided with several sets of positioning pins 39 for positioning the chain links 13, ensuring the stability and accuracy of the chain links during the conveying process through the positioning of the positioning pins. Figure 5 As shown, in this embodiment, the follow-up positioning plate 14 is provided with two sets of left and right positioning pins 39 arranged side by side.

[0051] The two chain drive adjustment modules 6 are respectively located on the left and right sides of the front end of the frame 1 and slide with the frame 1. They can be fixed to the frame by fasteners. The left and right ends of the driven shaft 7 are rotatably connected to the two chain drive adjustment modules 6, so as to adjust the tension of the transmission chain by changing the relative position of the chain drive adjustment modules and the frame.

[0052] In this embodiment, the second drive mechanism includes a Z-axis motor 15 for a loading robot, a motor mounting base 16, a composite slide 17, an X-axis motor 18 for a loading robot, an X-axis slide 19, and a loading robot 20. The Z-axis motor 15 is fixedly mounted on the upper rear side of the frame 1 via the motor mounting base 16. The Z-axis motor 15 drives the composite slide 17 to move up and down along the Z-axis direction via a ball screw. The X-axis motor 18 is fixedly mounted on the composite slide 17. The X-axis motor 18 drives the X-axis slide 19 to move back and forth along the X-axis direction via a ball screw. The loading robot 20 is mounted on the X-axis slide 19 and can perform clamping and placing actions to pick up the track links and accurately place them on a track link end milling machine for processing.

[0053] This embodiment also provides a method for operating the above-mentioned automated feeding device for track links, including the following steps:

[0054] S1. Take images of the chain links inside the transfer box on the unloading rack using an industrial camera, and then obtain the shape, position and attitude information of the chain links through an image processing system;

[0055] S2. Based on the shape, position, and attitude information of the track links, determine whether flipping is required and calculate the operation flow of the material handling robot. If flipping is required, control the material handling robot to grab the track links in the transfer box, adjust their initial attitude, and place them in the track link flipping mechanism. Then, control the track link flipping mechanism to flip the track links. Next, control the material handling robot to grab the track links on the track link flipping mechanism, adjust their attitude, and place them on the follower positioning plate. If flipping is not required, control the material handling robot to grab the track links in the transfer box, directly adjust their attitude, and place them on the follower positioning plate.

[0056] S3. Control the conveying mechanism to deliver the precisely positioned track links to the working area of ​​the loading robot, and reset them after the loading robot grabs them;

[0057] S4. Control the feeding robot to grab the track link on the follow-up positioning plate and place it on the track link end milling machine for processing.

[0058] The following section will further elaborate on the relevant aspects of the implementation process of this device.

[0059] 1. Installation of the Industrial Camera: Install the industrial camera 33 on the camera gimbal adjustment bracket 34. The camera gimbal adjustment bracket 34 allows for flexible adjustment of the industrial camera's angle and installation position along the X-axis to better adapt to the shooting needs of different working scenarios. The camera gimbal adjustment bracket 34 is mounted on the camera lifting bracket 35, which is mainly used to adjust the height of the industrial camera to ensure that the industrial camera can achieve full field of view coverage of the entire area of ​​the material handling rack. After the installation height is adjusted, the camera lifting bracket 35 is fixed to the frame 1 to maintain the overall stability of the camera.

[0060] 2. Placement of the transfer box and camera capture: Place the transfer box containing the track links on the unloading rack 2. The industrial camera 33 automatically starts and captures images of the track links inside the transfer box after the system begins operation. The image processing system analyzes the captured image data to accurately identify the shape features, spatial position, and angular orientation of the track links, thereby obtaining their initial pose and position information. This information will be used to guide the subsequent gripping, pose adjustment, and handling operations of the loading robot 3, ensuring the accuracy and stability of the entire loading process.

[0061] 3. Operation of the material handling robot: The material handling robot 3 achieves free movement through a three-degree-of-freedom truss structure consisting of an X-axis lead screw slide 10, a Y-axis lead screw slide 11, and a Z-axis lead screw slide 12. The robot arm connecting frame 28 of the material handling robot 3 is mounted on the Z-axis lead screw slide 12 and connected to the robot arm base 29. The robot arm base 29 enables the swinging robot arm 30 to swing. Simultaneously, the swinging robot arm 30 can drive the end-effector connecting plate 31 and the mechanical gripper 32 to rotate. The end-effector connecting plate 31 tightly connects the swinging robot arm 30 and the mechanical gripper 32, thereby ensuring that the material handling robot 3 can more stably and accurately complete the gripping operation of the track links during translational and rotational movements.

[0062] During operation, the material handling robot 3 uses the coordinated movement of the X-axis lead screw slide 10, Y-axis lead screw slide 11, and Z-axis lead screw slide 12 to move above the identified track link and perform gripping. Depending on actual needs, the material handling robot 3 can adjust the horizontal angle of the end connecting plate 31 and mechanical gripper 32 by swinging the robotic arm 30, thereby achieving initial posture adjustment of the track link to a preset horizontal state, providing a precise posture reference for subsequent operations.

[0063] 5. Operation of the Track Link Flipping Mechanism: When the loading robot 3 delivers the track link to the flipping mechanism, the rotating gripper 36 first firmly clamps the track link. Then, the rotating turntable 37 is driven by the flipping mechanism base 38, causing the track link to flip 180°, completing the track link flipping operation. The entire flipping process precisely controls the rotation angle to ensure the track link reaches the preset posture, thus providing reliable assurance for subsequent processing steps.

[0064] 6. Track Link Posture Adjustment and Placement: After flipping, the track link is re-clamped by the loading robot 3. The swinging robot arm 30 swings the track link from a vertical position to a horizontal position, while simultaneously rotating it horizontally by 90° with the end connecting plate 31 and the mechanical gripper 32. Subsequently, the loading robot 3, relying on the precise translational movements of the X-axis lead screw slide 10, Y-axis lead screw slide 11, and Z-axis lead screw slide 12, securely places the track link, adjusted to the predetermined posture, onto the follow-up positioning plate 14, providing a stable positioning foundation for subsequent processes.

[0065] 7. Transmission process of the follower positioning plate and chain: The follower positioning plate 14 is fixed on the transmission chain 9 and moves together with the transmission chain 9. The main function of the transmission chain 9 is to support the follower positioning plate 14 and the chain links, and to transmit the chain links to the designated position on the production line through chain drive. Two sets of positioning pins 39 are installed on the follower positioning plate 14 to accurately position the chain links and ensure that the chain links maintain a stable posture during transmission. A chain support guide rail 27 is also provided at the bottom of the transmission chain 9 to support and carry the chain, reduce the stress deformation of the chain during movement, and thus improve the stability and load-bearing capacity of the entire transmission system.

[0066] 8. Grasping and Machining Positioning of the Loading Robot: When the track link is transferred to the designated gripping position on the frame 1, the loading robot 20 located at the end area of ​​the frame 1 initiates the gripping operation. The Z-axis motor 15 and motor mounting base 16 provide the power for translational motion of the Z-axis, driving the composite slide 17 to move in the Z-axis direction through the transmission of the ball screw. The X-axis motor 18 on the composite slide 17 drives the X-axis slide 19 to move horizontally, enabling the two loading robots 20 mounted on the X-axis slide 19 to simultaneously grip the two track links 13 on the two sets of positioning pins and accurately place them into the track link end face milling machine for machining. The dual loading robots 20 can perform precise gripping and transmission operations on the track links 13 based on the positioning information provided by the positioning pins 39 on the follow-up positioning plate 14, thereby ensuring the stability and machining accuracy of the track links 13 during the machining process.

[0067] The automated feeding device for track links provided by this invention has the following advantages:

[0068] 1. Improve feeding efficiency: By automatically identifying the position and posture information of the chain links through an industrial camera, the loading robot and the flipping mechanism automatically adjust the chain links. Combined with the collaborative work of the feeding robot, the feeding efficiency can be greatly improved and manual intervention can be reduced.

[0069] 2. Achieve high-precision positioning and processing: By utilizing the cooperation between the follow-up positioning plate and the chain, as well as the precise positioning of the positioning pin, the loading robot can accurately grasp the chain link and place it into the processing equipment, thereby ensuring the stability and processing accuracy of the chain link processing.

[0070] 3. Improved automation level: This invention realizes fully automated operation of track links from identification, placement, positioning to processing, which greatly improves the automation level of the production line and reduces the complexity and labor intensity of manual operation.

[0071] In summary, the automated feeding device for track links provided by this invention effectively solves the problems of low efficiency and low automation level of manual feeding in the prior art. It has the advantages of high feeding accuracy, high efficiency and high degree of automation, and can be widely used in the field of automated processing and feeding of track link production lines.

[0072] 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 chain link automatic feeding device, characterized in that, The rack is provided with a chain link identification module, a material placing manipulator assembly, a chain link overturning mechanism, a chain link positioning and conveying mechanism, a material feeding manipulator assembly and a control system; The chain link identification module comprises a material placing rack, an industrial camera and a support thereof, the material placing rack is used for placing a transfer box containing chain links, the industrial camera is used for shooting images of the chain links in the transfer box and obtaining shape, position and posture information of the chain links through an image processing system to provide guidance for subsequent material placing manipulator operation; The material placing manipulator assembly comprises a material placing manipulator and a first driving mechanism, the material placing manipulator is installed on the front side of the rack through the first driving mechanism and is used for grabbing the chain links in the transfer box, adjusting the posture of the chain links and then placing the chain links on a follow-up positioning plate of the chain link positioning and conveying mechanism, or adjusting the initial posture of the chain links and then placing the chain links in the chain link overturning mechanism, overturning the chain links through the chain link overturning mechanism and then grabbing and placing the chain links on the follow-up positioning plate of the chain link positioning and conveying mechanism; The chain link overturning mechanism is located in the working area of the material placing manipulator and is used for overturning the chain links placed thereon; The chain link positioning and conveying mechanism comprises a follow-up positioning plate and a conveying mechanism, the follow-up positioning plate is located on the conveying mechanism and moves back and forth along the conveying direction of the chain links to convey the accurately positioned chain links to the working area of the material feeding manipulator and reset the chain links; The material feeding manipulator assembly comprises a material feeding manipulator and a second driving mechanism, the material feeding manipulator is installed on the rear side of the rack through the second driving mechanism and is used for grabbing the chain links on the follow-up positioning plate and placing the chain links on a next process equipment for processing; The control system is used for automatically controlling the whole working process of the chain link automatic feeding device; The support of the industrial camera comprises a camera universal adjusting frame and a camera lifting support; The industrial camera is installed on the camera universal adjusting frame to flexibly adjust the angle of the industrial camera, the camera lifting support is provided with a first sliding groove in the length direction, the camera universal adjusting frame is slidingly assembled in the first sliding groove of the camera lifting support and can slide back and forth in the first sliding groove, the rack is provided with a vertical sliding groove, the camera lifting support is installed on the vertical sliding groove of the rack, and the length direction of the camera lifting support is parallel to the conveying direction of the chain links, so that the installation height and front and back positions of the industrial camera are adjusted by changing the installation position of the camera lifting support on the vertical sliding groove and the position of the camera universal adjusting frame in the first sliding groove; The material placing rack is located beside the chain link overturning mechanism and the chain link positioning and conveying mechanism, the transfer box containing the chain links is placed on the material placing rack, the industrial camera collects images of the chain links in the transfer box and analyzes the collected image data through an image processing system to identify the shape features, spatial position and angular posture of the chain links, which are used for guiding subsequent grabbing, posture adjustment and carrying operation of the material placing manipulator to ensure the accuracy and stability of the whole feeding process. The first driving mechanism is a three-degree-of-freedom truss structure composed of an X-axis screw slide, a Y-axis screw slide and a Z-axis screw slide, the Y-axis screw slide is installed on the front upper side of the frame, the X-axis screw slide is installed on the Y-axis screw slide, and the Z-axis screw slide is installed on the X-axis screw slide; the material placing manipulator is installed on the Z-axis screw slide to move in three directions under the driving of the first driving mechanism; The material placing manipulator comprises a manipulator connecting frame, a manipulator base, a swing manipulator, a terminal connecting plate and a mechanical gripper, the manipulator base is installed on the first driving mechanism through the manipulator connecting frame, the swing manipulator is installed on the manipulator base, and a swing driving device is arranged in the manipulator base to drive the swing manipulator to swing, the terminal connecting plate is installed on the swing manipulator, and a first rotation driving device is arranged in the swing manipulator to drive the terminal connecting plate to rotate, and the mechanical gripper is installed on the terminal connecting plate and can perform a clamping and placing action; The chain track link turnover mechanism comprises a rotary gripper, a rotary turntable and a turnover mechanism base, the rotary turntable is installed on the frame through the turnover mechanism base, a second rotation driving device is arranged in the turnover mechanism base to drive the rotary turntable to rotate, and the rotary gripper is installed on the rotary turntable and can perform a clamping and placing action; The conveying mechanism comprises two transmission driven sprockets, a driven shaft, two transmission chains, two transmission driving sprockets, a driving shaft, a motor driven sprocket, a motor driving chain, a motor driving sprocket, a power motor and chain support rails; the driven shaft is rotatably connected to the front end of the frame, the two transmission driven sprockets are installed on the left and right sides of the driven shaft, the driving shaft is rotatably connected to the rear end of the frame, the two transmission driving sprockets are installed on the left and right sides of the driving shaft, and the two transmission chains are respectively wound between the transmission driven sprockets and the transmission driving sprockets on the left and right sides; the motor driven sprocket is installed on one end of the driving shaft, the power motor is installed on the frame, and the output end of the power motor is connected to the motor driving sprocket, the motor driving sprocket is driven to rotate by the cooperation of the motor driving chain and the motor driven sprocket, thereby driving the driving shaft and the transmission driving sprockets thereon to rotate; a plurality of chain support rails are arranged on the frame along the conveying direction of the chain track link to support the transmission chains; the left and right ends of the follow-up positioning plate are respectively fixedly connected to the two transmission chains to move with the transmission chains; a plurality of positioning pin columns for positioning the chain track link are arranged on the follow-up positioning plate; the conveying mechanism further comprises two chain transmission adjusting modules, the two chain transmission adjusting modules are respectively arranged on the left and right sides of the front end of the frame and are in sliding cooperation with the frame, and can be fixed to the frame by fasteners, and the left and right ends of the driven shaft are rotatably connected to the two chain transmission adjusting modules, so that the tension of the transmission chains can be adjusted by changing the relative position of the chain transmission adjusting modules and the frame. The second driving mechanism comprises a feeding manipulator Z-axis motor, a motor mounting seat, a composite slide table, a feeding manipulator X-axis motor, an X-axis slide table and a feeding manipulator, the feeding manipulator Z-axis motor is fixedly installed on the upper side of the rear side of the frame through the motor mounting seat, the feeding manipulator Z-axis motor drives the composite slide table to move up and down along the Z-axis direction, the feeding manipulator X-axis motor is fixedly installed on the composite slide table, the feeding manipulator X-axis motor drives the X-axis slide table to move back and forth along the X-axis direction, and the feeding manipulator is installed on the X-axis slide table and can perform a clamping and placing action to clamp a chain track link and accurately place it on a next process equipment for processing.

2. The working method of the automatic chain track link feeding device according to claim 1, characterized in that, The method comprises the following steps: S1, an image of a chain track link in a transfer box on a feeding shelf is captured by an industrial camera, and then shape, position and posture information of the chain track link is acquired by an image processing system; S2, whether a turnover process is needed is determined according to the shape, position and posture information of the chain track link, and an operation flow of a placing manipulator is calculated, if the turnover process is needed, the placing manipulator is controlled to grab the chain track link in the transfer box, the chain track link is placed into a chain track link turnover mechanism after its preliminary posture is adjusted, the chain track link is turned over by the chain track link turnover mechanism, the placing manipulator is controlled to grab the chain track link on the chain track link turnover mechanism, and the chain track link is placed and positioned on a follow-up positioning plate after its posture is adjusted, if the turnover process is not needed, the placing manipulator is controlled to grab the chain track link in the transfer box, and the chain track link is placed and positioned on the follow-up positioning plate after its posture is adjusted; S3, a conveying mechanism is controlled to convey the accurately positioned chain track link to a working area of the feeding manipulator, and the conveying mechanism is reset after the feeding manipulator grabs the chain track link; S4, the feeding manipulator is controlled to grab the chain track link on the follow-up positioning plate, and the chain track link is placed on a next process equipment for processing.

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