Composite gripper device for picking up brake caliper

Abstract

The invention relates to the technical field of brake caliper production, and discloses a brake caliper pickup composite gripper device which comprises a gripper transverse mounting plate and appearance gripper assemblies located on the lower portion of the gripper transverse mounting plate and distributed at equal intervals. An electromagnetic valve control box, a mechanical arm flange connecting base and a main back plate are sequentially arranged on the back of the gripper transverse mounting plate from left to right, a shooting unit is arranged on the left side of the top end of the gripper transverse mounting plate, and a single gripper driving assembly is arranged on the portion, located on the back of the main back plate, of the right side of the back of the gripper transverse mounting plate. According to the composite gripper device for picking up the brake caliper, the operation flexibility is improved through the flange connecting base and the reinforcing plate, the movable arm is prevented from inclining through the cooperation of double sliding blocks and double guide rails and a limiting structure, the grabbing stability is enhanced, the grabbing precision is guaranteed through the compensation unit, the calibration needle and the multiple sets of grippers, workpieces are prevented from being damaged and falling off, and the batch operation efficiency is improved; double positioning and real-time detection are achieved through the shooting unit and various sensors, and the production efficiency of the brake caliper can be greatly improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of brake caliper production, in particular to a brake caliper pickup composite gripper device. BACKGROUND

[0002] The brake caliper is the core executive component of the automobile braking system, like the "heart of the braking system", and its performance directly determines the driving safety. It is fixed on the axle and contains brake pads and pistons inside. When the driver steps on the brake, the brake fluid pushes the piston to squeeze the brake pad, and through the friction force, it clamps the rotating brake disc to achieve vehicle deceleration or stopping. The brake caliper needs to meet the requirements of high strength and light weight, and usually uses aluminum alloy or cast iron material. The precision of the internal piston cavity, oil channel, mounting hole and other structures directly affects the braking response speed and stability. The characteristics of high precision and complex structure pose a severe challenge to the manufacturing process. Traditional machining equipment needs multiple clamping adjustments, which is prone to cumulative errors and difficult to meet the size tolerance requirement of 0.01mm. The appearance of the machining center perfectly solves this problem. As an integrated multi-process automatic machine tool, it can complete all machining processes such as milling, drilling and boring of the brake caliper through one clamping. With the help of numerical control system, the tool path is accurately controlled to effectively avoid clamping errors. For the special-shaped structure of the brake caliper, the high-speed spindle and rigid tool turret can stably cut hard and brittle materials, and the cooling system can timely remove cutting heat to avoid workpiece thermal deformation. In addition, the flexible production capacity of the machining center can quickly switch between different types of brake caliper machining programs, adapting to the production needs of multiple varieties and small batches in the automobile industry, providing reliable protection for the precision manufacturing of brake calipers, and becoming an indispensable core equipment in the production of automobile safety components.

[0003] In the traditional machining production process of the brake caliper, the machining link of the workpiece needs to be completed by relying on the machining center machine tool, and the feeding and discharging process of the workpiece in the machine tool has long relied on manual work. The weight of the brake caliper blank before machining exceeds 11kg, and such assembly and disassembly operations need to be repeated in the daily production process. The operator needs to continuously bend, lift, carry and accurately position the workpiece. Long-term high-intensity repetitive physical labor not only easily leads to muscle strain in the waist, shoulders, arms and other parts, but also increases the physical exhaustion with the increase of working time, greatly increasing the labor fatigue and the risk of occupational injury. Because the blank is large in size, heavy in weight and has sharp corners on the surface that have not been polished, if hand slipping, unbalanced force or improper cooperation occurs during manual carrying, not only may the workpiece collide and scratch the machine table surface and other workpieces, causing product appearance damage or size precision deviation, but also may cause workpiece falling and scratching, safety accidents, and safety hazards. Manual feeding and discharging cannot improve production efficiency. Therefore, we propose a brake caliper pickup composite gripper device. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a brake caliper pickup composite gripper device which can effectively solve the problems in the prior art.

[0005] The technical scheme adopted by the present application is: a brake caliper pickup composite gripper device, comprising a gripper transverse mounting plate and an outer shape gripper assembly arranged at equal intervals at the lower part of the gripper transverse mounting plate, the back of the gripper transverse mounting plate is sequentially provided from left to right with an electromagnetic valve control box, a mechanical arm flange connecting seat and a main back plate, a shooting unit is arranged at the left side of the top end of the gripper transverse mounting plate, a single gripper driving assembly is arranged at the back of the main back plate on the right side of the back of the gripper transverse mounting plate, the back of the main back plate is connected with a single gripper assembly through the single gripper driving assembly, the cross section of the gripper transverse mounting plate is in an "L" shape structure, lower reinforcing plates are fixedly installed at both sides of the bottom end of the gripper transverse mounting plate, an upper reinforcing plate is arranged between the gripper transverse mounting plate and the main back plate, and the lower part of the outer shape gripper assembly holds a brake caliper workpiece.

[0006] Through the above technical scheme, the electromagnetic valve can be protected through the arrangement of the electromagnetic valve control box, so as to avoid accidental collision and damage of the electromagnetic valve with external equipment when the mechanical arm drives the composite gripper device, and the mechanical arm flange connecting seat can be connected with the external mechanical arm to control the composite gripper device to overturn.

[0007] Preferably, the single gripper driving assembly comprises a cylinder mounting plate, the cylinder mounting plate is fixedly installed at the back of the main back plate, a push rod cylinder is fixedly installed on one side of the cylinder mounting plate away from the main back plate, a floating joint is fixedly installed at the movable end of the push rod cylinder, a connecting arm is fixedly installed at the top end of the floating joint, a driving plate is fixedly installed at one end of the connecting arm away from the floating joint, an active arm is fixedly installed at one end of the driving plate away from the connecting arm, a main mounting plate is fixedly installed on one side of the active arm facing the main back plate, a sliding block and a guide rail are arranged between the main mounting plate and the main back plate, a secondary back plate is fixedly installed on one side of the active arm away from the main mounting plate, a drag chain is arranged on the outer side of the secondary back plate, a limiting block one is fixedly installed on one side of the main back plate facing the active arm, and a limiting seat two is fixedly installed on one side of the active arm facing the main back plate.

[0008] Through the above technical scheme, in use, the movable end of the push rod cylinder pushes the active arm up and down through the floating joint, the connecting arm and the driving plate, the sliding block and the guide rail guide the main mounting plate installed at the back of the active arm during the lifting of the active arm, so as to ensure the stable lifting of the active arm, the drag chain can arrange and protect the cable during the movement of the active arm, so as to avoid the winding of the cable, and the limiting block one and the limiting seat two cooperate with each other to accurately limit the lifting stroke of the active arm.

[0009] Preferably, the sliding block and the guide rail are in sliding connection, both the sliding block and the guide rail are provided with two same ones, both the sliding block and the guide rail are symmetrically distributed about the vertical axis of the main mounting plate, the guide rail is fixedly connected with the main back plate, the sliding block is fixedly connected with the main mounting plate, the movable arm is located in the middle of the back of the main mounting plate, the vertical axis of the limiting block one and the limiting seat two is located on the same vertical line, the push rod cylinder and the movable arm are arranged in parallel, and the cross section of the connecting arm is in the shape of "L".

[0010] Through the technical scheme, the two symmetrically distributed sliding blocks and guide rails form a double guide structure, which can effectively disperse the stress compared with a single guide structure, avoid the movable arm from tilting or shaking during lifting, and further improve the stability when grabbing the workpiece of the brake clamp.

[0011] Preferably, the single gripper assembly comprises a main mounting seat, the main mounting seat is fixedly installed at the top end of the movable arm, one end of the main mounting seat away from the movable arm is provided with a compensation unit, one end of the compensation unit away from the main mounting seat is provided with a transition plate one, one end of the transition plate one away from the compensation unit is fixedly installed with a first pneumatic clamp jaw, the movable end of the first pneumatic clamp jaw is provided with a clamp jaw connecting block one, the outer side of the clamp jaw connecting block one is fixedly installed with a clamp jaw rod, the inner side of one end of the clamp jaw rod away from the clamp jaw connecting block one is fixedly installed with a pressing block, the side of the transition plate one is fixedly installed with a sensor mounting plate one, one side of the sensor mounting plate one facing the first pneumatic clamp jaw is fixedly installed with a first photoelectric sensor, the middle part of one end of the first pneumatic clamp jaw away from the compensation unit is fixedly installed with a single gripper calibration needle, and one side of the first pneumatic clamp jaw facing the transition plate one is fixedly installed with a proximity switch one.

[0012] Through the technical scheme, the compensation unit can fine-tune the position deviation during grabbing, improve the fault tolerance rate of grabbing, ensure that the clamp jaw can accurately dock with the workpiece of the brake clamp, the first pneumatic clamp jaw drives the pressing block through the clamp jaw rod to clamp the workpiece of the brake clamp, the single gripper calibration needle can be inserted into the positioning hole of the workpiece of the brake clamp before grabbing to complete the pre-positioning, avoid displacement during grabbing, further improve the grabbing accuracy, the first photoelectric sensor can detect whether the workpiece of the brake clamp is in the grabbing position in real time, and the proximity switch one can feedback the opening and closing state of the clamp jaw, so as to realize the automatic detection and monitoring of the grabbing process, and avoid the problems of missing grabbing or insecure grabbing.

[0013] Preferably, the center lines of the main mounting seat, the compensation unit and the transition plate one are located on the same vertical line, the pressing block is made of wear-resistant polyurethane material, the number of the clamp jaw rods is twice that of the first pneumatic clamp jaw, and the clamp jaw rods are symmetrically distributed about the vertical axis of the first pneumatic clamp jaw, and the first photoelectric sensor is of the model of Sik GTB6-P1231.

[0014] Through the technical scheme, the wear-resistant polyurethane material of the pressing block can provide sufficient friction force to prevent the workpiece from slipping off when the workpiece is clamped by the brake clamp, and can avoid scratching or extruding the surface of the workpiece of the brake clamp, the balanced clamping force formed by the symmetrically distributed clamping jaw rods ensures the stable operation of the workpiece grabbing of the brake clamp.

[0015] Preferably, the outer shape gripper assembly comprises a connecting disc fixedly connected with the gripper transverse mounting plate, a transition plate II fixedly installed at one end of the connecting disc away from the gripper transverse mounting plate, a second pneumatic clamp jaw provided at the lower part of the transition plate II, a clamp jaw pawl connecting block II provided at the movable end of the second pneumatic clamp jaw, a grab rod fixedly installed at the lower end of the clamp jaw pawl connecting block II, an anti-falling block fixedly installed at the inner side of one end of the grab rod away from the second pneumatic clamp jaw, a proximity switch II fixedly installed at both sides of the top end of the second pneumatic clamp jaw, a sensor mounting plate II fixedly installed at the lower part of the transition plate II outside the second pneumatic clamp jaw, a second photoelectric sensor fixedly installed at the outer side of the sensor mounting plate II, and a waterproof cover provided at the bottom end of the second pneumatic clamp jaw.

[0016] Through the technical scheme, the second pneumatic clamp jaw drives the grab rod to open and close through the clamp jaw pawl connecting block II, and in the process of grabbing by the grab rod, the anti-falling block can adhere to the outer surface of the workpiece of the brake clamp to effectively prevent the workpiece of the brake clamp from falling off during the carrying process, the proximity switch II is used to detect the working state of the clamp jaw, and the second photoelectric sensor is responsible for detecting whether the workpiece of the brake clamp is successfully grabbed, and the two work together to realize real-time monitoring of the outer shape grabbing process, and the waterproof cover can effectively prevent oil stains, water stains and the like in the working environment from entering the inside of the second pneumatic clamp jaw, thereby prolonging the service life of the clamp jaw.

[0017] Preferably, a plurality of the same outer shape gripper assemblies are provided, the plurality of outer shape gripper assemblies are equally spaced and distributed at the lower part of the gripper transverse mounting plate, the axes of the connecting disc, the transition plate II and the second pneumatic clamp jaw are located on the same vertical line, the number of the grab rods is four times that of the second pneumatic clamp jaw, and the grab rods are diagonally distributed about the vertical axis of the second pneumatic clamp jaw, the anti-falling block is made of wear-resistant polyurethane material, and the second photoelectric sensor is of the Sik GTB6-P1231 model.

[0018] Through the technical scheme, a plurality of equally spaced outer shape gripper assemblies can realize simultaneous grabbing of a plurality of workpieces of brake clamps, greatly improving the grabbing efficiency and meeting the needs of batch production, and the four times number of grab rods diagonally distributed form a multi-point grabbing structure, which, in combination with the anti-falling block made of polyurethane material, can not only ensure the stability of grabbing but also protect the surface of the workpiece of the brake clamp.

[0019] Preferably, the shooting unit comprises a camera protection box fixedly installed at the top end of the gripper transverse mounting plate, a camera mounting plate fixedly installed at the side of the camera protection box, a camera mounting seat fixedly installed at the opening of the camera protection box facing the camera protection box, a shooting camera fixedly installed in the camera protection box through the camera mounting seat, a light source mounting plate arranged below the shooting camera in the camera protection box, a fill light fixedly installed at the opening of the middle of the light source mounting plate, a sensor support fixedly installed on the side of the camera mounting plate away from the camera mounting seat, and a laser displacement sensor fixedly installed outside the camera protection box through the sensor support.

[0020] Through the above technical scheme, the camera protection box protects the shooting camera and the fill light from external collision and damage, the fill light can provide sufficient and uniform light source for the shooting camera, eliminate shadow interference in the shooting process, ensure that the image of the brake caliper workpiece is clear and accurate, provide high-quality image data for subsequent positioning identification, the laser displacement sensor can accurately detect the distance between the single gripper assembly and the brake caliper workpiece, and combined with the image information of the shooting camera, the position of the brake caliper workpiece is double-accurately positioned, so that the single gripper assembly can accurately complete the grabbing action, improve the automation and intelligent level of the device, and also improve the grabbing quality.

[0021] Preferably, the axes of the camera protection box, the shooting camera, the light source mounting plate and the fill light are located on the same vertical line, the shooting camera is consistent with the orientation of the single gripper assembly, and the laser displacement sensor adopts HG-C1400-P type.

[0022] Through the above technical scheme, the camera protection box, the shooting camera, the light source mounting plate and the fill light on the same axis can accurately focus the light of the fill light on the shooting area of the shooting camera, maximize the light supplement effect and guarantee the image quality.

[0023] Compared with the prior art, the brake caliper pickup composite gripper device has the following beneficial effects: 1. The brake caliper pickup composite gripper device, through the design of the mechanical arm flange connecting seat, the external mechanical arm can be stably installed with the mechanical arm flange connecting seat, the flexible turning of the composite gripper device can be realized, the operation scene adaptation ability is improved, at the same time, the structure design of the L-shaped gripper transverse mounting plate combined with the upper and lower reinforcing plates greatly enhances the overall rigidity of the device, and guarantees the operation stability. 2、The brake caliper pickup composite gripper device, the symmetrical guiding design of double sliding blocks and double guide rails is adopted in the single gripper driving assembly, compared with the traditional single guiding design, the stress can be effectively dispersed, the inclination and shaking of the movable arm during lifting is prevented, the stability during grabbing is improved, the design of the limiting block one and the limiting seat two can play a limiting role, the lifting stroke of the movable arm can be accurately limited, and over-lifting of the movable arm is avoided; 3、The brake caliper pickup composite gripper device, the single gripper assembly adjusts the position deviation through the compensation unit, calibrates the brake caliper workpiece in advance, cooperates with the symmetrically distributed clamping jaw rods and polyurethane pressing blocks, so that the grabbing accuracy is guaranteed, and the brake caliper workpiece surface is prevented from being scratched or extruded and deformed, meanwhile, the appearance gripper assembly adopts multiple groups of equidistant layout, so that multiple brake caliper workpieces can be grabbed at a time, and the batch operation efficiency is greatly improved, and the anti-falling block in the shape gripper assembly can closely adhere to the surface of the brake caliper workpiece, so that the brake caliper workpiece is effectively prevented from falling off during the carrying process; 4、The brake caliper pickup composite gripper device, the cooperation of the fill light and the shooting camera in the shooting unit can eliminate shadow interference and obtain clear brake caliper workpiece images, in combination with the distance detection function of the laser displacement sensor, double accurate positioning of the brake caliper workpiece position is realized, reliable data support is provided for the grabbing action, the first and second photoelectric sensors detect the brake caliper workpiece position in real time, the proximity switch feeds back the clamping jaw opening and closing state in real time, problems such as missing grabbing and insecure grabbing are effectively avoided, the demand for manual intervention is reduced, the overall design is reasonable, and the production efficiency of the brake caliper workpiece can be greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The three-dimensional structure of the present application is shown Figure 1 ; Figure 2 The three-dimensional structure of the present application is shown Figure 2 ; Figure 3 The back structure of the present application is shown Figure 4 The single gripper driving assembly and the single gripper assembly installation structure of the present application is shown Figure 1 ; Figure 5 The single gripper driving assembly and the single gripper assembly installation structure of the present application is shown Figure 2 ; Figure 6 The single gripper driving assembly and the single gripper assembly installation structure of the present application is shown Figure 7 The three-dimensional structure of the present application is shown Figure 8 The three-dimensional structure of the present application is shown Figure 9 The three-dimensional structure of the present application is shown Figure 10 It is a schematic diagram of the stereoscopic structure of the shooting unit of the application; Figure 11 It is a schematic diagram of the half-section structure of the shooting unit of the application; Figure 12 It is a schematic diagram of the top view structure of the shooting unit of the application.

[0025] 1, the handgrip transverse mounting plate; 2, the upper reinforcing plate; 3, the lower reinforcing plate; 4, the mechanical arm flange connecting seat; 5, the electromagnetic valve control box; 6, the single handgrip driving assembly; 601, the cylinder mounting plate; 602, the push rod cylinder; 603, the floating joint; 604, the connecting arm; 605, the driving plate; 606, the main mounting plate; 607, the sliding block; 608, the guide rail; 609, the secondary back plate; 610, the drag chain; 611, the limiting block one; 612, the limiting seat two; 613, the movable arm; 7, the single handgrip assembly; 701, the main mounting seat; 702, the compensation unit; 703, the transition plate one; 704, the sensor mounting plate one; 705, the first photoelectric sensor; 706, the first pneumatic clamp jaw; 707, the clamp jaw connecting block one; 708, the clamp jaw rod; 709, the pressing block; 710, the single handgrip calibration needle; 711, the proximity switch one; 8, the contour handgrip assembly; 801, the connecting disc; 802, the transition plate two; 803, the second pneumatic clamp jaw; 804, the clamp jaw connecting block two; 805, the waterproof cover; 806, the grabbing rod; 807, the anti-dropping block; 808, the proximity switch two; 809, the sensor mounting plate two; 810, the second photoelectric sensor; 9, the shooting unit; 901, the camera protection box; 902, the camera mounting plate; 903, the camera mounting seat; 904, the shooting camera; 905, the light source mounting plate; 906, the supplementary light; 907, the sensor support; 908, the laser displacement sensor; 10, the brake clamp workpiece; 11, the main back plate. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the application will be clearly and completely described in combination with the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0027] Embodiment one: as Figures 1-12As shown in the figure, the brake caliper pickup composite gripper device provided by the present application comprises a gripper transverse mounting plate 1 and an outer shape gripper assembly 8 arranged at equal intervals at the lower part of the gripper transverse mounting plate 1. The back of the gripper transverse mounting plate 1 is sequentially provided with an electromagnetic valve control box 5, a mechanical arm flange connecting seat 4 and a main back plate 11 from left to right. A shooting unit 9 is arranged at the left side of the top end of the gripper transverse mounting plate 1. A single gripper driving assembly 6 is arranged at the right side of the back of the gripper transverse mounting plate 1 and located at the back of the main back plate 11. The single gripper driving assembly 6 is connected with a single gripper assembly 7 through the back of the main back plate 11. The cross section of the gripper transverse mounting plate 1 is in the shape of "L". Lower reinforcing plates 3 are fixedly installed at both sides of the bottom end of the gripper transverse mounting plate 1. An upper reinforcing plate 2 is arranged between the gripper transverse mounting plate 1 and the main back plate 11. The lower part of the outer shape gripper assembly 8 holds a brake caliper workpiece 10.

[0028] The advantage is that the electromagnetic valve can be protected by the arrangement of the electromagnetic valve control box 5, so as to avoid accidental collision and damage of the electromagnetic valve with external equipment when the mechanical arm drives the composite gripper device. At the same time, the mechanical arm flange connecting seat 4 can be connected with the external mechanical arm, so as to control the composite gripper device to overturn.

[0029] Example two: As shown in the figure, the brake caliper pickup composite gripper device provided by the present application comprises a gripper transverse mounting plate 1 and an outer shape gripper assembly 8 arranged at equal intervals at the lower part of the gripper transverse mounting plate 1. The back of the gripper transverse mounting plate 1 is sequentially provided with an electromagnetic valve control box 5, a mechanical arm flange connecting seat 4 and a main back plate 11 from left to right. A shooting unit 9 is arranged at the left side of the top end of the gripper transverse mounting plate 1. A single gripper driving assembly 6 is arranged at the right side of the back of the gripper transverse mounting plate 1 and located at the back of the main back plate 11. The single gripper driving assembly 6 is connected with a single gripper assembly 7 through the back of the main back plate 11. The cross section of the gripper transverse mounting plate 1 is in the shape of "L". Lower reinforcing plates 3 are fixedly installed at both sides of the bottom end of the gripper transverse mounting plate 1. An upper reinforcing plate 2 is arranged between the gripper transverse mounting plate 1 and the main back plate 11. The lower part of the outer shape gripper assembly 8 holds a brake caliper workpiece 10. Figures 2-12

[0030] ​Specifically, the single gripper driving assembly 6 comprises a cylinder mounting plate 601 fixedly installed on the back of the main back plate 11, a push rod cylinder 602 fixedly installed on the side of the cylinder mounting plate 601 away from the main back plate 11, a floating joint 603 fixedly installed on the movable end of the push rod cylinder 602, a connecting arm 604 fixedly installed on the top end of the floating joint 603, a driving plate 605 fixedly installed on the end of the connecting arm 604 away from the floating joint 603, a movable arm 613 fixedly installed on the end of the driving plate 605 away from the connecting arm 604, a main mounting plate 606 fixedly installed on the side of the movable arm 613 facing the main back plate 11, a sliding block 607 and a guide rail 608 arranged between the main mounting plate 606 and the main back plate 11, a secondary back plate 609 fixedly installed on the side of the movable arm 613 away from the main mounting plate 606, a drag chain 610 arranged on the outer side of the secondary back plate 609, a limiting block one 611 fixedly installed on the side of the main back plate 11 facing the movable arm 613, and a limiting seat two 612 fixedly installed on the side of the movable arm 613 facing the main back plate 11. When in use, the movable end of the push rod cylinder 602 pushes the movable arm 613 up and down through the floating joint 603, the connecting arm 604 and the driving plate 605. In the process of lifting and lowering the movable arm 613, the sliding block 607 and the guide rail 608 guide the main mounting plate 606 installed on the back of the movable arm 613, ensuring the stable lifting and lowering of the movable arm 613. The drag chain 610 can arrange and protect the cable in the movement process of the movable arm 613, avoiding the winding of the cable. The limiting block one 611 and the limiting seat two 612 cooperate with each other to accurately limit the lifting stroke of the movable arm 613.

[0031] Specifically, the sliding block 607 and the guide rail 608 are in sliding connection, and both the sliding block 607 and the guide rail 608 are provided with the same two, the two sliding blocks 607 and guide rails 608 are symmetrically distributed about the vertical axis of the main mounting plate 606, the guide rail 608 is fixedly connected with the main back plate 11, the sliding block 607 is fixedly connected with the main mounting plate 606, the movable arm 613 is located in the middle of the back of the main mounting plate 606, the vertical axes of the limiting block one 611 and the limiting seat two 612 are located on the same vertical line, the push rod cylinder 602 and the movable arm 613 are arranged in parallel, and the cross section of the connecting arm 604 is in the shape of "L". The two symmetrically distributed sliding blocks 607 and guide rails 608 form a double guide structure, which can effectively disperse the stress compared with a single guide structure, avoiding the inclination or shaking of the movable arm 613 in the lifting process, thereby improving the stability when grabbing the workpiece 10.

[0032] Embodiment three: As shown in Figures 2-12 , which is an improvement on the previous embodiment.

[0033] Specifically, the single gripper assembly 7 comprises a main mounting seat 701 fixedly installed at the top end of the movable arm 613, an offset unit 702 provided at the end of the main mounting seat 701 away from the movable arm 613, a transition plate one 703 provided at the end of the offset unit 702 away from the main mounting seat 701, a first pneumatic clamp jaw 706 fixedly installed at the end of the transition plate one 703 away from the offset unit 702, a clamp jaw connecting block one 707 provided at the movable end of the first pneumatic clamp jaw 706, a clamp jaw rod 708 fixedly installed at the outer side of the clamp jaw connecting block one 707, a pressing block 709 fixedly installed at the inner side of the end of the clamp jaw rod 708 away from the clamp jaw connecting block one 707, a sensor mounting plate one 704 fixedly installed at the side of the transition plate one 703, a first photoelectric sensor 705 fixedly installed at the side of the sensor mounting plate one 704 facing the first pneumatic clamp jaw 706, a single gripper calibration needle 710 fixedly installed at the middle of the end of the first pneumatic clamp jaw 706 away from the offset unit 702, and a proximity switch one 711 fixedly installed at the side of the first pneumatic clamp jaw 706 facing the transition plate one 703. The advantages are that the offset unit 702 can fine-tune the positional deviation during grabbing, improve the fault tolerance of grabbing, and ensure that the clamp jaw can accurately dock the brake clamp workpiece 10. The first pneumatic clamp jaw 706 drives the pressing block 709 through the clamp jaw rod 708 to clamp the brake clamp workpiece 10. The single gripper calibration needle 710 can be inserted into the positioning hole of the brake clamp workpiece 10 before grabbing to complete the pre-positioning, avoid displacement during grabbing, and further improve the grabbing accuracy. The first photoelectric sensor 705 can detect in real time whether the brake clamp workpiece 10 is in the grabbing position. The proximity switch one 711 can feedback the opening and closing state of the clamp jaw. The two work together to realize automatic detection and monitoring of the grabbing process, avoiding the problems of missed grabbing or insecure grabbing.

[0034] Specifically, the center lines of the main mounting seat 701, the offset unit 702, and the transition plate one 703 are located on the same vertical line. The pressing block 709 is made of wear-resistant polyurethane material. The number of the clamp jaw rods 708 is twice that of the first pneumatic clamp jaw 706, and the clamp jaw rods 708 are symmetrically distributed about the vertical axis of the first pneumatic clamp jaw 706. The first photoelectric sensor 705 is of the Sik GTB6-P1231 model. The advantages are that the wear-resistant polyurethane material of the pressing block 709 can provide sufficient friction to prevent the brake clamp workpiece 10 from falling off during clamping, and can also avoid scratching or extrusion deformation of the surface of the brake clamp workpiece 10. The symmetrically distributed clamp jaw rods 708 form a balanced clamping force to ensure stable grabbing of the brake clamp workpiece 10.

[0035] Embodiment Four As shown in Figures 2-12 , which is an improvement on the previous embodiment.

[0036] Specifically, the appearance gripper assembly 8 comprises a connecting disc 801, the connecting disc 801 is fixedly connected with the gripper transverse mounting plate 1, a transition plate two 802 is fixedly installed at one end of the connecting disc 801 away from the gripper transverse mounting plate 1, a second pneumatic clamp jaw 803 is arranged at the lower part of the transition plate two 802, a clamp jaw pawl connecting block two 804 is arranged at the movable end of the second pneumatic clamp jaw 803, a grab bar 806 is fixedly installed at the lower end of the clamp jaw pawl connecting block two 804, an anti-falling block 807 is fixedly installed at the inner side of one end of the grab bar 806 away from the second pneumatic clamp jaw 803, proximity switches two 808 are fixedly installed at both sides of the top end of the second pneumatic clamp jaw 803, a sensor mounting plate two 809 is fixedly installed at the lower part of the transition plate two 802 outside the second pneumatic clamp jaw 803, a second photoelectric sensor 810 is fixedly installed at the outside of the sensor mounting plate two 809, and a waterproof cover 805 is arranged at the bottom end of the second pneumatic clamp jaw 803. The advantage is that the second pneumatic clamp jaw 803 drives the grab bar 806 to open and close through the clamp jaw pawl connecting block two 804, and in the process of grabbing by the grab bar 806, the anti-falling block 807 can be attached to the outer surface of the brake clamp workpiece 10, effectively preventing the brake clamp workpiece 10 from falling off during the carrying process, the proximity switches two 808 are used for detecting the working state of the clamp jaw, and the second photoelectric sensor 810 is responsible for detecting whether the brake clamp workpiece 10 is successfully grabbed, and the two cooperate to realize real-time monitoring of the appearance grabbing process, and the waterproof cover 805 can effectively prevent oil stains, water stains and the like in the working environment from entering the inside of the second pneumatic clamp jaw 803, prolonging the service life of the clamp jaw.

[0037] Specifically, the appearance gripper assembly 8 is provided with a plurality of the same, the plurality of appearance gripper assemblies 8 are equally spaced and distributed at the lower part of the gripper transverse mounting plate 1, the axes of the connecting disc 801, the transition plate two 802 and the second pneumatic clamp jaw 803 are located on the same vertical line, the number of the grab bars 806 is four times that of the second pneumatic clamp jaw 803, and the grab bars 806 are diagonally distributed about the vertical axis of the second pneumatic clamp jaw 803, the anti-falling block 807 is made of wear-resistant polyurethane material, and the second photoelectric sensor 810 is of the GTB6-P1231 model of Sike. The advantage is that the plurality of equally spaced appearance gripper assemblies 8 can realize simultaneous grabbing of a plurality of brake clamp workpieces 10, greatly improving the grabbing efficiency and meeting the needs of batch production, the four times number of the grab bars 806 and the diagonal distribution design form a multi-point grabbing structure, which, in cooperation with the anti-falling block 807 made of polyurethane material, can not only ensure the stability of grabbing but also protect the surface of the brake clamp workpiece 10.

[0038] Embodiment five: As shown in Figures 2-12 the previous embodiment is improved.

[0039] Specifically, the shooting unit 9 comprises a camera protection box 901, which is fixedly installed at the top end of the gripper transverse mounting plate 1. A camera mounting plate 902 is fixedly installed at the side edge of the camera protection box 901. A camera mounting seat 903 is fixedly installed at the opening of the camera protection box 901 facing the camera mounting plate 902. A shooting camera 904 is fixedly installed in the camera protection box 901 through the camera mounting seat 903. A light source mounting plate 905 is arranged below the shooting camera 904 in the camera protection box 901. A light supplement lamp 906 is fixedly installed at the opening in the middle of the light source mounting plate 905. A sensor bracket 907 is fixedly installed on the side of the camera mounting plate 902 away from the camera mounting seat 903. A laser displacement sensor 908 is fixedly installed outside the camera protection box 901 through the sensor bracket 907. The camera protection box 901 provides protection for the shooting camera 904 and the light supplement lamp 906, avoiding damage caused by external collision. The light supplement lamp 906 can provide sufficient and uniform light source for the shooting camera 904, eliminating shadow interference in the shooting process, ensuring clear and accurate images of the brake caliper workpiece 10, and providing high-quality image data for subsequent positioning recognition. The laser displacement sensor 908 can accurately detect the distance between the single gripper assembly 7 and the brake caliper workpiece 10, combined with the image information of the shooting camera 904, to realize double-precision positioning of the brake caliper workpiece 10, ensuring that the single gripper assembly 7 can accurately complete the grabbing action, improving the automation and intelligent level of the device, and also improving the grabbing quality.

[0040] Specifically, the axes of the camera protection box 901, the shooting camera 904, the light source mounting plate 905 and the light supplement lamp 906 are located on the same vertical line. The shooting camera 904 is oriented in the same direction as the single gripper assembly 7. The laser displacement sensor 908 adopts HG-C1400-P model. The camera protection box 901, the shooting camera 904, the light source mounting plate 905 and the light supplement lamp 906 on the same axis can accurately focus the light of the light supplement lamp 906 on the shooting area of the shooting camera 904, maximizing the light supplement effect and ensuring image quality.

[0041] Working principle: in use, first use the bolt to fasten and install the device with the external mechanical arm, the external mechanical arm drives the gripper device to move to the workpiece 10 of the brake caliper to be grabbed, at this time the mechanical arm driving device is turned over, the single gripper assembly 7 and the shooting unit 9 face the direction of the brake caliper workpiece 10, the shooting unit 9 enters the working state first, the shooting camera 904 in the shooting unit 9 takes a photo of the brake caliper workpiece 10 to be grabbed and uploads it to the server for processing, in the process of shooting, the fill light 906 provides light source to assist the shooting camera 904 to shoot, eliminate the shadow interference in the shooting process, ensure that the image of the brake caliper workpiece 10 is clear and accurate, the server processes the data and controls the external mechanical arm to drive the single gripper assembly 7 to move above the incoming material frame, at this time the single gripper driving assembly 6 drives the single gripper assembly 7 to move downward, the single gripper alignment needle 710 first inserts into the positioning hole of the brake caliper workpiece 10 to complete the pre-positioning, when the pre-positioning is completed, the compensation unit 702 fine tunes the possible position deviation, then the first pneumatic clamping jaw 706 drives the clamping jaw rod 708 to drive the pressing block 709 to grab the brake caliper workpiece 10, the first photoelectric sensor 705 confirms in real time that the brake caliper workpiece 10 is in the correct grabbing posture, the proximity switch 711 feedbacks the clamping state of the clamping jaw, avoids the problems of missing grabbing or clamping not firm, when the grabbing is completed, the single gripper driving assembly 6 drives the single gripper assembly 7 to move upward, in the process of upward movement of the single gripper assembly 7, the external mechanical arm synchronous driving device is turned over, then moves until reaches the specified station, then places the grabbed brake caliper workpiece 10 on the specified station, after repeating the above operation four times, the external mechanical arm turning device aligns the four external shape gripper assemblies 8 with the brake caliper workpieces 10 placed on the specified station, at this time the external mechanical arm driving device moves downward, the external shape gripper assembly 8 synchronously grabs the four brake caliper workpieces 10 and automatically clamps the grabbed on the combined tooling on the machining center, then starts the machine tool to process the brake caliper workpiece 10, after processing, the external mechanical arm drives the four external shape gripper assemblies 8 to grab the brake caliper workpieces 10 that have been processed and placed in the feeding frame.

[0042] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, the scope of the present application being defined by the appended claims and their equivalents.

Claims

1. A brake caliper pickup composite gripper device, comprising a gripper lateral mounting plate (1) and external gripper assemblies (8) evenly spaced at the lower part of the gripper lateral mounting plate (1), characterized in that: The back of the gripper horizontal mounting plate (1) is provided with a solenoid valve control box (5), a robotic arm flange connection seat (4) and a main back plate (11) from left to right. A shooting unit (9) is provided on the left side of the top of the gripper horizontal mounting plate (1). A single gripper drive assembly (6) is provided on the right side of the back of the gripper horizontal mounting plate (1) on the back of the main back plate (11). A single gripper assembly (7) is connected to the back of the main back plate (11) through the single gripper drive assembly (6). The cross section of the gripper horizontal mounting plate (1) is "L" shaped. Lower reinforcing plates (3) are fixedly installed on both sides of the bottom end of the gripper horizontal mounting plate (1). An upper reinforcing plate (2) is provided between the gripper horizontal mounting plate (1) and the main back plate (11). The lower part of the external gripper assembly (8) grips and holds a brake caliper workpiece (10).

2. The brake caliper pickup composite gripper device according to claim 1, characterized in that: The single gripper drive assembly (6) includes a cylinder mounting plate (601), which is fixedly mounted on the back of the main back plate (11). A push rod cylinder (602) is fixedly mounted on the side of the cylinder mounting plate (601) away from the main back plate (11). A floating joint (603) is fixedly mounted on the movable end of the push rod cylinder (602). A connecting arm (604) is fixedly mounted on the top end of the floating joint (603). A drive plate (605) is fixedly mounted on the end of the connecting arm (604) away from the floating joint (603). A movable arm is fixedly mounted on the end of the drive plate (605) away from the connecting arm (604). (613) A main mounting plate (606) is fixedly installed on the lower part of the movable arm (613) facing the main back plate (11). A slider (607) and a guide rail (608) are provided between the main mounting plate (606) and the main back plate (11). A secondary back plate (609) is fixedly installed on the side of the movable arm (613) away from the main mounting plate (606). A drag chain (610) is provided on the outer side of the secondary back plate (609). A limiting block one (611) is fixedly installed on the side of the main back plate (11) facing the movable arm (613). A limiting seat two (612) is fixedly installed on the side of the movable arm (613) facing the main back plate (11).

3. The brake caliper pickup composite gripper device according to claim 2, characterized in that: The slider (607) and the guide rail (608) are slidably connected. There are two identical sliders (607) and guide rails (608). The two sliders (607) and guide rails (608) are symmetrically distributed about the vertical axis of the main mounting plate (606). The guide rail (608) is fixedly connected to the main back plate (11). The slider (607) is fixedly connected to the main mounting plate (606). The movable arm (613) is located in the middle of the back of the main mounting plate (606). The vertical axes of the first limiting block (611) and the second limiting seat (612) are on the same vertical line. The push rod cylinder (602) and the movable arm (613) are arranged in parallel. The cross-section of the connecting arm (604) is L-shaped.

4. The brake caliper pickup composite gripper device according to claim 1, characterized in that: The single gripper assembly (7) includes a main mounting base (701), which is fixedly mounted on the top of the movable arm (613). A compensation unit (702) is provided at one end of the main mounting base (701) away from the movable arm (613). A transition plate (703) is provided at one end of the compensation unit (702) away from the main mounting base (701). A first pneumatic gripper (706) is fixedly mounted at one end of the transition plate (703) away from the compensation unit (702). A gripper claw connecting block (707) is provided at the movable end of the first pneumatic gripper (706). The outer side of the gripper claw connecting block (707) is fixedly mounted. A gripper bar (708) is provided. A pressure block (709) is fixedly installed on the inner side of the end of the gripper bar (708) away from the gripper claw connecting block (707). A sensor mounting plate (704) is fixedly installed on the side of the transition plate (703). A first photoelectric sensor (705) is fixedly installed on the side of the sensor mounting plate (704) facing the first pneumatic gripper (706). A single gripper calibration needle (710) is fixedly installed in the middle of the end of the first pneumatic gripper (706) away from the compensation unit (702). A proximity switch (711) is fixedly installed on the side of the first pneumatic gripper (706) facing the transition plate (703).

5. The brake caliper pickup composite gripper device according to claim 4, characterized in that: The center lines of the main mounting base (701), the compensation unit (702) and the transition plate (703) are located on the same vertical line. The pressure block (709) is made of wear-resistant polyurethane material. The number of gripper bars (708) is twice that of the first pneumatic gripper (706), and they are symmetrically distributed about the vertical axis of the first pneumatic gripper (706). The first photoelectric sensor (705) is a SICK GTB6-P1231 model.

6. The brake caliper pickup composite gripper device according to claim 3, characterized in that: The external gripper assembly (8) includes a connecting plate (801), which is fixedly connected to the gripper's transverse mounting plate (1). A transition plate two (802) is fixedly mounted on the end of the connecting plate (801) away from the gripper's transverse mounting plate (1). A second pneumatic gripper (803) is provided at the lower part of the transition plate two (802). A gripper claw connecting block two (804) is provided at the movable end of the second pneumatic gripper (803). A gripper rod (806) is fixedly mounted at the lower end of the gripper claw connecting block two (804). An anti-detachment block (807) is fixedly installed on the inner side of the end of the gripper (806) away from the second pneumatic gripper (803). Proximity switches (808) are fixedly installed on both sides of the top of the second pneumatic gripper (803). A sensor mounting plate (809) is fixedly installed on the lower part of the transition plate (802) outside the second pneumatic gripper (803). A second photoelectric sensor (810) is fixedly installed on the outer side of the sensor mounting plate (809). A waterproof cover (805) is provided at the bottom of the second pneumatic gripper (803).

7. The brake caliper pickup composite gripper device according to claim 6, characterized in that: The shape gripper assembly (8) is provided in multiple identical forms. The multiple shape gripper assemblies (8) are distributed at equal intervals on the lower part of the gripper horizontal mounting plate (1). The axes of the connecting plate (801), the transition plate (802), and the second pneumatic gripper (803) are located on the same vertical line. The number of gripping rods (806) is four times that of the second pneumatic gripper (803), and they are diagonally distributed about the vertical axis of the second pneumatic gripper (803). The anti-detachment block (807) is made of wear-resistant polyurethane material. The second photoelectric sensor (810) is a SICK GTB6-P1231 model.

8. The brake caliper pickup composite gripper device according to claim 1, characterized in that: The shooting unit (9) includes a camera protection box (901), which is fixedly installed on the top of the gripper horizontal mounting plate (1). A camera mounting plate (902) is fixedly installed on the side of the camera protection box (901). A camera mounting base (903) is fixedly installed on the opening of the camera mounting plate (902) facing the camera protection box (901). A shooting camera (904) is fixedly installed inside the camera protection box (901) through the camera mounting base (903). A light source mounting plate (905) is provided inside the camera protection box (901) below the shooting camera (904). A fill light (906) is fixedly installed at the opening in the middle of the light source mounting plate (905). A sensor bracket (907) is fixedly installed on the side of the camera mounting plate (902) away from the camera mounting base (903). A laser displacement sensor (908) is fixedly installed on the outside of the camera protection box (901) through the sensor bracket (907).

9. The brake caliper pickup composite gripper device according to claim 8, characterized in that: The axes of the camera protection box (901), the shooting camera (904), the light source mounting plate (905) and the fill light (906) are located on the same vertical line. The shooting camera (904) is aligned with the orientation of the single gripper assembly (7). The laser displacement sensor (908) is model HG-C1400-P.

Images