A mechanical gripper for a calliper jaw

Abstract

This invention provides a robotic gripper for caliper bodies, belonging to the field of mechanical technology. It solves the problem of caliper bodies not being securely gripped. The robotic gripper for caliper bodies includes a mounting base and grippers fixed to the front end of the mounting base. The front end of the gripper has a first and a second jaw that are positioned opposite each other and can move closer or further apart. An anti-prying component is slidably connected to the side of the mounting base in a front-back direction. A spring is provided between the anti-prying component and the mounting base, with the front and rear ends of the spring acting on the anti-prying component and the mounting base respectively. The front end of the anti-prying component has a block-shaped anti-prying portion located on the opposite side of the second jaw relative to the first jaw. It has advantages such as secure gripping.

Description

Technical Field

[0001] This invention belongs to the field of mechanical technology and relates to a robotic gripper for a caliper gripper body. Background Technology

[0002] like Figure 6 The diagram shows a blank for a caliper body, comprising a body, a first part having a piston hole, a second part opposite to the first part, and a bridging part connecting the first and second parts. The first part, the second part, and the bridging part form a U-shaped mounting groove. The side of the bridging part also has an opening communicating with the mounting groove (this opening is used for ventilation and heat dissipation in actual use). Typically, caliper body blanks are forged. After the blank is produced, it needs to be machined in multiple locations to meet actual assembly requirements. The final caliper body is assembled with other components to form a complete caliper assembly. The structure of the caliper assembly is, for example, that disclosed in patent application number 202221396297.4, regarding an effective improvement in low-frequency noise in automotive brake calipers and caliper assemblies.

[0003] from Figure 1 As can be seen, the blank structure of the caliper body is complex and highly irregular. During machine operation, loading and unloading are usually done manually, which is not only labor-intensive but also inefficient. While some have proposed using articulated robots in conjunction with robotic grippers to automate caliper loading and improve efficiency, the complex structure and irregular shape of the caliper body make it difficult for conventional robotic grippers to clamp it smoothly and securely. This often leads to slippage or even the caliper body falling off the gripper during transport. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems in the prior art by proposing a robotic gripper for caliper bodies, thereby solving the problem that caliper bodies cannot be firmly clamped.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A mechanical gripper for a caliper body includes a mounting base and a gripper fixed to the front end of the mounting base. The front end of the gripper has a first gripper and a second gripper that are arranged opposite to each other and can move closer or further apart. The gripper is characterized in that an anti-prying member is slidably connected to the side of the mounting base in a front-back direction. A spring is provided between the anti-prying member and the mounting base. The front and rear ends of the spring act on the anti-prying member and the mounting base, respectively. The front end of the anti-prying member has a block-shaped anti-prying part, which is located on the other side of the second gripper relative to the first gripper.

[0007] Initially, the first and second grippers are far apart. The caliper body is placed on the tray with the mounting slot facing down, and the bridging portion of the caliper body is facing upwards. During use, the robotic gripper is fixedly connected to the end of the articulated robot arm via a mounting base. When gripping the caliper body is needed, the articulated robot moves the gripper along the direction perpendicular to the bridging portion towards the caliper body. The second gripper at the tip of the gripper inserts into the opening of the bridging portion on the caliper body, while the first gripper is located on the side of the second part of the caliper body facing away from the first part. Then, the first and second grippers are brought closer together, so that the first gripper abuts against the side of the second part of the caliper body facing away from the first part, while the second gripper abuts against the inner wall of the opening near the second part, thereby clamping the caliper body. The first gripper holds the side of the second part facing away from the first part, while the second gripper holds the inner wall of the opening on the bridging part near the second part. The thickness of the solid part between the side of the second part facing away from the first part and the inner wall of the opening near the second part is moderate and suitable for gripping, so that the distance between the gripping positions of the first and second grippers is not too far, resulting in a loose grip.

[0008] Meanwhile, since the clamping positions of the first and second grippers are not the same in the front-to-back direction, normally, after the caliper body is clamped in this posture, the first part may lift up, causing the caliper body to fall. To address this, the robotic gripper has an anti-lifting component slidably connected to the side of the mounting base in the front-to-back direction. The anti-lifting component is elastically connected to the mounting base by a spring. The front end of the anti-lifting component has a block-shaped anti-lifting part located on the opposite side of the second gripper relative to the first gripper. When the second gripper is inserted into the opening of the bridging part on the caliper body, the anti-lifting part contacts the transition position between the bridging part and the first part, compressing the spring. When the caliper body is clamped by the first and second grippers, the anti-lifting part of the anti-lifting component, under the elastic force of the spring, presses against the bridging part and the transition position of the first part of the caliper body. This holds the caliper body in place, preventing the first part from lifting up, thus ensuring that the caliper body is firmly clamped to complete automatic feeding and improve production efficiency.

[0009] In the aforementioned mechanical gripper for the caliper body, the anti-prying part is elongated, and the extension directions of both ends of the anti-prying part are perpendicular to the sliding direction of the first gripper and the front-back direction of the mounting base.

[0010] The above settings increase the contact area between the anti-pry section and the bridging part of the caliper body and the transition position of the first part, improving the anti-pry effect after the caliper body is clamped by the first and second jaws, thereby ensuring that the caliper body can be firmly clamped to complete automatic feeding and improve production efficiency.

[0011] In the aforementioned mechanical gripper for caliper gripper, the front end face of the anti-prying part is provided with a clearance groove, which extends through both sides of the anti-prying part along the sliding direction of the first gripper.

[0012] The surface of the bridging part is not flat. The recessed groove can accommodate the protrusions on the bridging part, thereby ensuring that the anti-warping part can stably press against the bridging part to achieve a better anti-warping effect.

[0013] In the aforementioned mechanical gripper for caliper bodies, the mounting base has a mounting hole arranged in the front-to-back direction, the anti-prying component has a movable rod passing through the mounting hole, the front end of the movable rod extending out of the mounting hole and fixedly connected to the anti-prying component, and the front end of the spring sleeved on the rear end of the movable rod.

[0014] Mounting holes are provided in the mounting base along the front-to-back direction. The movable rod of the anti-pry member passes through the mounting holes, thereby forming a sliding connection between the anti-pry member and the mounting base in the front-to-back direction. By fitting the front end of the spring onto the rear end of the movable rod, the spring force acts forward on the anti-pry member. Thus, when the anti-pry member contacts the bridging part and the transition position of the first part of the caliper body, the anti-pry member can be pressed backward and the spring can be compressed.

[0015] In the aforementioned mechanical gripper for caliper bodies, the rear end side of the movable rod has a shoulder, and the front end of the mounting hole has a protruding shoulder, with the front end face of the shoulder abutting against the rear end face of the protruding shoulder.

[0016] When not clamped, the spring is in a stretched state, and the movable rod extends naturally. By providing a shoulder inside the front opening of the mounting hole and a stop on the rear side of the movable rod, the movable rod can be blocked by the abutment of the stop and the shoulder, preventing the movable rod from directly coming out of the mounting hole.

[0017] In the aforementioned mechanical gripper for the caliper body, there are two mounting holes that are parallel to each other, and there are also two movable rods and springs. The two movable rods are respectively fixed to both ends of the anti-pry part.

[0018] In the aforementioned robotic gripper for caliper bodies, an adjusting screw is threaded onto the mounting base. The front end of the adjusting screw's shank extends into the mounting hole, and the front end of the adjusting screw's shank has a shoulder. The rear end of the spring rests against the shoulder.

[0019] By rotating the adjusting screw, the operator can adjust the spring force according to the actual situation, thereby ensuring a better effect on preventing the caliper body from lifting and enabling the caliper body to be firmly clamped for automatic feeding.

[0020] In the aforementioned robotic gripper for caliper bodies, as another technical solution, linkage rods are also inserted into the two mounting holes respectively. The rear end of the spring abuts against the front end of the linkage rod. A support is fixedly connected to the mounting base, and an adjusting rod is threadedly connected to the support along the front-back direction. The front end of the adjusting rod is rotatably connected to a linkage plate, and the rear ends of both linkage rods are fixedly connected to the linkage plate.

[0021] Rotating the adjusting rod will cause it to move back and forth along the threaded edge. Since the front end of the adjusting rod is rotatably connected to the linkage plate, the adjusting rod rotates relative to the linkage plate while simultaneously causing the linkage plate to move back and forth synchronously. The rear ends of both linkage rods are fixed to the linkage plate, and the rear ends of the two springs abut against the front ends of the two linkage rods. Therefore, when the linkage plate moves back and forth, it simultaneously causes the two linkage rods to move back and forth, thus allowing adjustment of the spring force.

[0022] In the aforementioned mechanical gripper for a caliper body, the first gripper has a first clamping portion, and the second gripper has a second clamping portion. The first clamping portion extends forward beyond the second clamping portion. The width of the first clamping portion along the extension direction of both ends of the anti-pry portion is greater than that of the second clamping portion. The first clamping portion is connected to three moving ball screws along the sliding direction of the first gripper. The line connecting the three moving ball screws forms a triangle. The working ends of the three moving ball screws extend beyond the side of the first clamping portion facing the second gripper.

[0023] The first clamping part clamps the second part of the caliper body on the side facing away from the first part. This side of the second part is curved rather than flat. Therefore, the width of the first clamping part extending along both ends of the anti-pry part is set to be greater than that of the second clamping part. Three directional ball screws are connected to the first clamping part along the sliding direction of the first jaw. The working ends of the three directional ball screws extend beyond the side of the first clamping part facing the second jaw. During clamping, the working ends of the three directional ball screws contact the side of the second part of the caliper body facing away from the first part. The lines connecting the three directional ball screws form a triangle, which means that the most stable three-point positioning structure is formed. Since the working ends of the directional ball screws themselves can rotate within a certain range, this allows the first clamping part to automatically adapt to the curved surface of the second part of the caliper body facing away from the first part, thereby ensuring the stability of clamping.

[0024] In the aforementioned mechanical gripper for caliper gripper, the side of the mounting base has a boss, and a connector is fixed to the boss in the front-back direction. An air blow pipe is fixed to the front end of the connector, and the front end of the air blow pipe faces the gripper.

[0025] In practical use, the connector can be connected to an air source via a tube. This allows you to clean the surface of the caliper body by blowing air into it before clamping it, ensuring that impurities such as iron filings on the surface do not affect the clamping firmness.

[0026] Compared with existing technologies, the robotic gripper of this caliper body has an anti-prying component that slides along the front-back direction on the side of the mounting base. The anti-prying component is elastically connected to the mounting base by a spring. When the caliper body is clamped by the first and second grippers, the anti-prying part of the anti-prying component will press against the bridging part and the first transition position of the caliper body under the elastic force of the spring. This can hold the caliper body in place and prevent the first part from prying up, thereby ensuring that the caliper body can be firmly clamped to complete the automatic feeding and improve production efficiency. Attached Figure Description

[0027] Figure 1 This is a 3D schematic diagram of the robotic gripper.

[0028] Figure 2 This is a three-dimensional schematic diagram of the robotic gripper from another angle.

[0029] Figure 3 This is a cross-sectional view of the anti-tilting component and the mounting base.

[0030] Figure 4 This is a three-dimensional schematic diagram of the gripper holding the caliper body.

[0031] Figure 5 This is a three-dimensional schematic diagram of the robotic gripper holding the caliper body from another angle.

[0032] Figure 6 This is a schematic diagram of the caliper body blank.

[0033] In the diagram, 1. Body; 1a. First part; 1b. Second part; 1c. Bridging part; 1c 1. Opening; 1d. Mounting groove; 2. Mounting seat; 2a. Connecting part; 2b. Mounting hole; 2b1. Shoulder; 2c. Seat body; 2c1. Boss; 2d. Round tube; 3. Gripper; 4. First gripper; 4a. First clamping part; 5. Second gripper; 5a. Second clamping part; 5a1. Clamping surface; 6. Anti-tilting component; 6a. Anti-tilting part; 6a1. Relief groove; 6b. Movable rod; 6b1. Shoulder; 7. Spring; 8. Adjusting screw; 9. Connector; 10. Air blow pipe; 11. Moving ball screw. Detailed Implementation

[0034] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0035] Example 1

[0036] like Figure 1 and Figure 2 As shown, a robotic gripper for a caliper includes a mounting base 2 and a gripper 3 fixedly connected to the front end of the mounting base 2. The rear end of the mounting base 2 has a connecting portion 2a, which allows the mounting base 2 to be fixedly connected to the front end of the arm of an articulated robot. The front end of the gripper 3 has a first gripper 4 and a second gripper 5 that are arranged opposite to each other and can move closer or further apart. The first gripper 4 has a first gripping portion 4a, and the second gripper 5 has a second gripping portion 5a.

[0037] Furthermore, such as Figure 1 , Figure 2 and Figure 3 As shown, an anti-tilting component 6 is slidably connected to the side of the mounting base 2 along the front-back direction. A spring 7 is provided between the anti-tilting component 6 and the mounting base 2. The front end of the spring 7 acts on the anti-tilting component 6, and the rear end of the spring 7 acts on the mounting base 2. The front end of the anti-tilting component 6 has a block-shaped anti-tilting part 6a. The first clamping part 4a extends forward beyond the second clamping part 5a. The anti-tilting part 6a is located on the other side of the second clamping jaw 5 relative to the first clamping jaw 4. Specifically, the anti-tilting part 6a is elongated. The extension directions of both ends of the anti-tilting part 6a are perpendicular to the sliding direction of the first clamping jaw 4 and the front-back direction of the mounting base 2. The front end face of the anti-tilting part 6a has a clearance groove 6a1, which penetrates both sides of the anti-tilting part 6a along the sliding direction of the first clamping jaw 4.

[0038] Initially, the first gripper 4 and the second gripper 5 are far apart. The caliper body is placed on the tray with the mounting slot 1d facing down, and the bridging portion 1c of the caliper body is facing up. The robotic gripper is fixedly connected to the front end of the articulated robot arm via the connecting portion 2a at the rear end of the mounting base 2. When it is necessary to grip the caliper body, the articulated robot moves the gripper 3 to extend towards the caliper body in a direction perpendicular to the bridging portion 1c. The second gripping portion 5a of the second gripper 5 at the front end of the gripper 3 will insert into the opening 1c1 of the bridging portion 1c on the caliper body, while the first gripping portion 4a of the first gripper 4 is located on the side of the second part 1b of the caliper body facing away from the first part 1a. Then, the first gripper 4 and the second gripper 5 are brought closer together. This causes the first gripping part 4a to abut against the side of the second part 1b of the caliper body facing away from the first part 1a, while the second gripping part 5a abuts against the inner wall of the opening 1c1 near the second part 1b, thus clamping the caliper body. Since the first gripping part 4a clamps the side of the second part 1b facing away from the first part 1a, and the second gripping part 5a clamps the inner wall of the opening 1c1 of the bridging part 1c near the second part 1b, the clamping positions of the first gripping part 4a and the second gripping part 5a are different in the front-back direction. Normally, after the caliper body is clamped, the first part 1a will tilt up, causing the caliper body to fall off. To this end, the robotic gripper also incorporates an anti-prying component 6 that slides along the front-back direction on the side of the mounting base 2. The anti-prying component 6 and the mounting base 2 are elastically connected by a spring 7. The front end of the anti-prying component 6 has a block-shaped anti-prying portion 6a, and the second clamping portion 5a is located between the first clamping portion 4a and the anti-prying portion 6a along the sliding direction of the first gripper 4. When the second clamping portion 5a of the second gripper 5 is inserted into the opening 1c1 of the bridging portion 1c on the caliper body, the anti-prying portion 6a contacts the transition position between the bridging portion 1c and the first portion 1a, compressing the spring 7. When the caliper body is clamped by the first gripper 4 and the second gripper 5, the anti-prying portion 6a of the anti-prying component, under the elastic force of the spring 7, presses against the transition position between the bridging portion 1c and the first portion 1a of the caliper body. This holds the caliper body in place, preventing the first portion 1a from prying up (the state of the caliper body after clamping is as follows). Figure 4 and Figure 5 As shown in the figure, this ensures that the caliper body can be firmly clamped to complete the automatic feeding and improve production efficiency.

[0039] Specifically, such as Figure 2 and Figure 3As shown, the mounting base 2 has a mounting hole 2b arranged in the front-to-back direction. The anti-tilting member 6 has a movable rod 6b passing through the mounting hole 2b. The front end of the movable rod 6b extends out of the mounting hole 2b and is fixedly connected to the anti-tilting part 6a. The rear end of the movable rod 6b has a shoulder 6b1. The front end of the spring 7 is sleeved on the rear end of the movable rod 6b and abuts against the shoulder 6b1. The front end of the mounting hole 2b has a protruding shoulder 2b1. The front end face of the shoulder 6b1 abuts against the rear end face of the protruding shoulder 2b1. In this embodiment, there are two mounting holes 2b, and the two mounting holes 2b are parallel. There are also two movable rods 6b and two springs 7. The two movable rods 6b are respectively fixed to both ends of the anti-tilting part 6a. An adjusting screw 8 is threaded onto the mounting base 2. The front end of the rod of the adjusting screw 8 extends into the mounting hole 2b. The front end of the rod of the adjusting screw 8 has a shoulder, and the rear end of the spring 7 abuts against the shoulder. By rotating the adjusting screw 8, the operator can adjust the spring force of the spring 7 according to the actual situation, thereby ensuring a better effect in preventing the caliper body from lifting and ensuring that the caliper body can be firmly clamped for automatic feeding. The mounting base 2 includes a base body 2c, and a gripper 3 is fixed to the front end of the base body 2c. The mounting base 2 also includes two round tubes 2d threaded to the front end of the base body 2c, and the mounting hole 2b is the inner hole of the round tubes 2d. The side of the base body 2c has a boss 2c1, and a connector 9 is fixed to the boss 2c1 in the front-back direction. An air blow pipe 10 is fixed to the front end of the connector 9, and the front end of the air blow pipe 10 faces the gripper 3. In actual use, the connector 9 can be connected to an air source with a pipe. This allows the surface of the caliper body to be cleaned by blowing air into it before clamping, ensuring that impurities such as iron filings on the surface do not affect the clamping firmness.

[0040] Furthermore, such as Figure 1 and Figure 2As shown, the width of the first clamping part 4a extending along both ends of the anti-prying part 6a is greater than that of the second clamping part 5a. The first clamping part 4a is also strip-shaped, and its two ends extend in the same direction as the anti-prying part 6a. Three moving ball screws 11 are connected to the first clamping part 4a along the sliding direction of the first jaw 4. The line connecting the three moving ball screws 11 forms a triangle. The working ends of the three moving ball screws 11 extend out of the side of the first clamping part 4a facing the second jaw 5. The clamping position of the first clamping part 4a is the side of the second part 1b in the caliper body that faces away from the first part 1a. This side of the second part 1b is a curved surface rather than a flat surface. Therefore, the width of the first clamping part 4a extending along both ends of the anti-prying part 6a is set to be greater than that of the second clamping part 5a. Three directional ball screws 11 are connected to the first clamping part 4a along the sliding direction of the first jaw 4. The working ends of the three directional ball screws 11 extend beyond the side of the first clamping part 4a facing the second jaw 5. During clamping, the working ends of the three directional ball screws 11 contact the side of the second part 1b of the caliper body facing away from the first part 1a. The lines connecting the three directional ball screws 11 form a triangle, meaning a highly stable three-point positioning structure can be formed. Since the working ends of the directional ball screws 11 can rotate within a certain range, this allows the first clamping part 4a to automatically adapt to the curved surface of the second part 1b of the caliper body facing away from the first part 1a, thus ensuring clamping stability. The second clamping part 5a has a clamping surface 5a1, the front end of which is inclined relative to the rear end towards the first jaw 4. The second clamping part 5a clamps the inner wall of the side near the second part 1b at the opening 1c1 on the bridging part 1c. In practice, the inner wall of the side at the opening 1c1 has a certain slope. This is because by setting an inclined clamping surface 5a1 on the second clamping part 5a, the clamping surface 5a1 will wedge tightly with the inner wall of the side at the opening 1c1 during clamping, making it less likely for the caliper body to fall off.

[0041] Example 2

[0042] This embodiment is basically the same in structure and principle as Embodiment 1, except that: in this embodiment, linkage rods are respectively inserted into the two mounting holes 2b, the rear ends of the two springs 7 abut against the front ends of the two linkage rods, a support is fixedly connected to the mounting base 2, and an adjusting rod is threadedly connected to the support along the front-back direction. The front end of the adjusting rod is rotatably connected to a linkage plate, and the rear ends of the two linkage rods are fixedly connected to the linkage plate. Specifically, a bearing can be set between the front end of the adjusting rod and the linkage plate, so that the two can rotate relative to each other, while being fixed along the axial direction of the adjusting rod.

[0043] Rotating the adjusting rod causes it to move back and forth along the threaded edge. Since the front end of the adjusting rod is rotatably connected to the linkage plate, the adjusting rod rotates relative to the linkage plate while simultaneously causing the linkage plate to move back and forth synchronously. The rear ends of both linkage rods are fixed to the linkage plate, and the rear ends of the two springs 7 abut against the front ends of the two linkage rods. Therefore, when the linkage plate moves back and forth, it simultaneously causes the two linkage rods to move back and forth, thus allowing adjustment of the spring force of the two springs 7.

[0044] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A mechanical gripper for a caliper body, comprising a mounting base (2) and a gripper (3) fixedly connected to the front end of the mounting base (2), wherein the front end of the gripper (3) has a first gripper (4) and a second gripper (5) arranged opposite to each other and capable of approaching or moving away from each other, characterized in that, The mounting base (2) is slidably connected to an anti-tilting component (6) along the front-back direction. A spring (7) is provided between the anti-tilting component (6) and the mounting base (2). The front and rear ends of the spring (7) act on the anti-tilting component (6) and the mounting base (2) respectively. The front end of the anti-tilting component (6) has a block-shaped anti-tilting part (6a). The anti-tilting part (6a) is located on the other side of the second clamp (5) relative to the first clamp (4). The anti-tilting part (6a) is long and narrow. The extension directions of both ends of the anti-tilting part (6a) are perpendicular to the sliding direction of the first clamp (4) and the front-back direction of the mounting base (2). The front end face of the anti-tilting part (6a) is provided with a relief groove (6a1). The relief groove (6a1) penetrates both sides of the anti-tilting part (6a) along the sliding direction of the first clamp (4).

2. The robotic gripper for a caliper body according to claim 1, characterized in that, The mounting base (2) has a mounting hole (2b) arranged in the front-back direction. The anti-tilting member (6) has a movable rod (6b) that passes through the mounting hole (2b). The front end of the movable rod (6b) extends out of the mounting hole (2b) and is fixedly connected to the anti-tilting part (6a). The front end of the spring (7) is sleeved on the rear end of the movable rod (6b).

3. A robotic gripper for a caliper body according to claim 2, characterized in that, The movable rod (6b) has a shoulder (6b1) on its rear end side, and a shoulder (2b1) is provided in the front end opening of the mounting hole (2b). The front end face of the shoulder (6b1) abuts against the rear end face of the shoulder (2b1).

4. A robotic gripper for a caliper body according to claim 2, characterized in that, The number of mounting holes (2b) is two and the two mounting holes (2b) are parallel. The number of movable rods (6b) and springs (7) is also two. The two movable rods (6b) are respectively fixed to the two ends of the anti-tilting part (6a).

5. A robotic gripper for a caliper body according to claim 4, characterized in that, The mounting base (2) is threaded with an adjusting screw (8). The front end of the rod of the adjusting screw (8) extends into the mounting hole (2b). The front end of the rod of the adjusting screw (8) has a shoulder, and the rear end of the spring (7) abuts against the shoulder.

6. A robotic gripper for a caliper body according to claim 4, characterized in that, Two mounting holes (2b) are respectively fitted with linkage rods. The rear end of the spring (7) abuts against the front end of the linkage rod. A support is fixedly connected to the mounting base (2). An adjusting rod is threadedly connected to the support along the front-back direction. The front end of the adjusting rod is rotatably connected to the linkage plate. The rear ends of the two linkage rods are fixedly connected to the linkage plate.

7. A robotic gripper for a caliper body according to claim 1, characterized in that, The first gripper (4) has a first clamping part (4a), and the second gripper (5) has a second clamping part (5a). The first clamping part (4a) extends forward beyond the second clamping part (5a). The width of the first clamping part (4a) along the extension direction of both ends of the anti-tilting part (6a) is greater than that of the second clamping part (5a). The first clamping part (4a) is connected to three moving ball screws (11) along the sliding direction of the first gripper (4). The line connecting the three moving ball screws (11) forms a triangle. The working end of the three moving ball screws (11) extends out of the side of the first clamping part (4a) facing the second gripper (5).

8. A robotic gripper for a caliper body according to claim 1, characterized in that, The mounting base (2) has a boss (2c1) on its side. A connector (9) is fixed to the boss (2c1) in the front-back direction. An air blow pipe (10) is fixed to the front end of the connector (9). The front end of the air blow pipe (10) faces the gripper (3).

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