Brake caliper pick-up composite gripper device

Abstract

The application 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 outer shape gripper assemblies which are 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 with an electromagnetic valve control box, a mechanical arm flange connecting seat and a main back plate from left to right. 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 right side of the back of the gripper transverse mounting plate and located at the back of the main back plate. The brake caliper pickup composite gripper device improves the flexibility of lifting operation through the flange connecting seat and the reinforcing plate, avoids the inclination of the movable arm through the cooperation of the double sliding blocks, the double guide rails and the limiting structure, enhances the grabbing stability, guarantees the grabbing accuracy through the compensation unit, the calibration needle and the multiple grippers, prevents the damage and falling of the workpieces, improves the batch operation efficiency, realizes the double positioning and real-time detection through the shooting unit and various sensors, and can greatly improve the brake caliper production efficiency.

Description

Technical Field

[0001] This invention relates to the field of brake caliper manufacturing technology, specifically to a brake caliper pickup composite gripper device. Background Technology

[0002] The brake caliper is the core actuator of a car's braking system, like the "heart of the braking system." Its performance directly determines driving safety. Fixed to the axle, it houses the brake pads and pistons. When the driver presses the brake pedal, brake fluid pushes the piston to squeeze the brake pads, clamping them against the rotating brake disc through friction, thus slowing or stopping the vehicle. Brake calipers must simultaneously meet high strength and lightweight requirements, typically using aluminum alloy or cast iron. The precision of the internal piston chamber, oil passages, mounting holes, and other structural features directly affects braking response speed and stability. This high-precision, complex structure presents stringent challenges to manufacturing processes. Traditional machining equipment requires multiple clamping and adjustments, easily leading to cumulative errors and making it difficult to meet 0.01mm-level precision requirements. The emergence of machining centers has perfectly solved the problem of dimensional tolerance requirements. As an automated machine tool integrating multiple processes, it can complete all machining processes such as milling, drilling, and boring of brake calipers in one clamping. With the help of CNC system, the tool path is precisely controlled, effectively avoiding clamping errors. For the irregular structure of brake calipers, its high-speed spindle and rigid turret can stably cut hard and brittle materials. The cooling system can remove cutting heat in time to avoid thermal deformation of the workpiece. In addition, the flexible production capability of machining centers can quickly switch the machining program of different models of brake calipers, adapting to the production needs of the automotive industry for multiple varieties and small batches, providing a reliable guarantee for the precision manufacturing of brake calipers, and becoming an indispensable core equipment in the production of automotive safety components.

[0003] In the traditional machining production process of brake calipers, the machining of the workpieces relies on machining centers. However, the loading and unloading of workpieces on these machines has long depended on manual labor. The raw brake caliper blanks weigh over 11 kg before machining, and these loading and unloading operations need to be repeated every day. Operators must continuously bend over, lift, move, and precisely position the workpieces. This long-term, high-intensity, repetitive physical labor not only easily leads to muscle strain in the lower back, shoulders, and arms, but also causes physical exhaustion as working hours increase. This significantly increases the risk of labor fatigue and occupational injury. Due to the large size and concentrated weight of the blanks, as well as the presence of unpolished sharp edges and corners on the surface, if the hands slip, the force is unbalanced, or the coordination is improper during manual handling, it may not only cause the workpiece to collide and scratch with the machine tool table or other workpieces, resulting in damage to the product's appearance or deviation in dimensional accuracy, but may also cause safety accidents such as workpiece falling and injuring the workpiece or scratching the edges and corners, posing a safety hazard. In addition, manual loading and unloading cannot improve production efficiency. Therefore, we propose a brake caliper picking composite gripper device. Summary of the Invention

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

[0005] The technical solution adopted in this invention is: a brake caliper picking composite gripper device, including a gripper horizontal mounting plate and external gripper assemblies evenly distributed at the lower part of the gripper horizontal mounting plate. From left to right, the back of the gripper horizontal mounting plate is provided with a solenoid valve control box, a robotic arm flange connecting seat, and a main back plate. A shooting unit is provided on the left side of the top of the gripper horizontal mounting plate. A single gripper drive assembly is provided on the right side of the back of the gripper horizontal mounting plate, located on the back of the main back plate. The back of the main back plate is connected to the single gripper assembly via the single gripper drive assembly. The cross-section of the gripper horizontal mounting plate is L-shaped. Lower reinforcing plates are fixedly installed on both sides of the bottom end of the gripper horizontal mounting plate. An upper reinforcing plate is provided between the gripper horizontal mounting plate and the main back plate. The lower part of the external gripper assembly grips the brake caliper workpiece.

[0006] Through the above technical solution, the solenoid valve can be protected by the solenoid valve control box, preventing accidental collision damage between the solenoid valve and external equipment when the robotic arm drives the composite gripper device. At the same time, the robotic arm flange connection seat can be connected to the external robotic arm, which can control the composite gripper device to rotate.

[0007] Preferably, the single gripper drive assembly includes a cylinder mounting plate, which is fixedly mounted on the back of the main back plate. A push rod cylinder is fixedly mounted on the side of the cylinder mounting plate away from the main back plate. A floating joint is fixedly mounted on the movable end of the push rod cylinder. A connecting arm is fixedly mounted on the top of the floating joint. A drive plate is fixedly mounted on the end of the connecting arm away from the floating joint. A movable arm is fixedly mounted on the end of the drive plate away from the connecting arm. A main mounting plate is fixedly mounted on the lower part of the movable arm facing the main back plate. A slider and a guide rail are provided between the main mounting plate and the main back plate. A secondary back plate is fixedly mounted on the side of the movable arm away from the main mounting plate. A drag chain is provided on the outer side of the secondary back plate. A limiting block one is fixedly mounted on the side of the main back plate facing the movable arm. A limiting seat two is fixedly mounted on the side of the movable arm facing the main back plate.

[0008] With the above technical solution, during use, the moving end of the push rod cylinder pushes the movable arm to rise and fall through the floating joint, connecting arm and drive plate. During the lifting and falling of the movable arm, the slider and guide rail guide the main mounting plate installed on the back of the movable arm to ensure stable lifting and falling of the movable arm. The drag chain can organize and protect the cables during the movement of the movable arm to avoid cable tangling. Limit block one and limit seat two cooperate with each other to accurately limit the lifting and falling stroke of the movable arm.

[0009] Preferably, the slider and the guide rail are slidably connected, and there are two identical sliders and guide rails. The two sliders and guide rails are symmetrically distributed about the vertical axis of the main mounting plate. The guide rail is fixedly connected to the main back plate, and the slider is fixedly connected to the main mounting plate. The movable arm is located in the middle of the back of the main mounting plate. The vertical axes of the first limiting block and the second limiting seat are on the same vertical line. The push rod cylinder and the movable arm are arranged in parallel. The cross-section of the connecting arm is L-shaped.

[0010] Through the above technical solution, two symmetrically distributed sliders and guide rails form a double-guide structure, which can effectively distribute the force compared with a single-guide structure, and avoid tilting or swaying of the movable arm during the lifting process, thereby improving the stability when gripping the workpiece of the brake clamp.

[0011] Preferably, the single gripper assembly includes a main mounting base, which is fixedly mounted on the top of the movable arm. A compensation unit is provided at the end of the main mounting base away from the movable arm. A transition plate is provided at the end of the compensation unit away from the main mounting base. A first pneumatic gripper is fixedly mounted at the end of the transition plate away from the compensation unit. A gripper claw connecting block is provided at the movable end of the first pneumatic gripper. A gripper rod is fixedly mounted on the outer side of the gripper claw connecting block. A pressure block is fixedly mounted on the inner side of the gripper rod away from the gripper claw connecting block. A sensor mounting plate is fixedly mounted on the side of the transition plate. A first photoelectric sensor is fixedly mounted on the side of the sensor mounting plate facing the first pneumatic gripper. A single gripper calibration pin is fixedly mounted in the middle of the end of the first pneumatic gripper away from the compensation unit. A proximity switch is fixedly mounted on the side of the first pneumatic gripper facing the transition plate.

[0012] Through the above technical solution, the compensation unit can fine-tune the position deviation during the gripping process, improve the gripping fault tolerance, and ensure that the gripper can accurately engage the brake caliper workpiece. The first pneumatic gripper drives the pressure block to clamp the brake caliper workpiece through the gripper rod. The single gripper calibration pin can be inserted into the positioning hole of the brake caliper workpiece before gripping to complete the pre-positioning and avoid displacement during gripping, further improving the gripping accuracy. The first photoelectric sensor can detect in real time whether the brake caliper workpiece is in the gripping position, and the proximity switch can provide feedback on the opening and closing status of the gripper. The two work together to realize the automated detection and monitoring of the gripping process, avoiding problems such as missed gripping or weak gripping.

[0013] Preferably, the center lines of the main mounting base, the compensation unit, and the transition plate are located on the same vertical line, the pressure block is made of wear-resistant polyurethane material, the number of gripper bars is twice that of the first pneumatic gripper, and they are symmetrically distributed about the vertical axis of the first pneumatic gripper, and the first photoelectric sensor is a SICK GTB6-P1231 model.

[0014] Through the above technical solution, the wear-resistant polyurethane pressure block can provide sufficient friction to prevent the brake caliper workpiece from slipping when clamping it, and can also avoid scratching or squeezing deformation of the surface of the brake caliper workpiece. The symmetrically distributed gripper bars form a balanced clamping force to ensure stable gripping of the brake caliper workpiece.

[0015] Preferably, the external gripper assembly includes a connecting plate, which is fixedly connected to the gripper's transverse mounting plate. A transition plate two is fixedly mounted on the end of the connecting plate away from the gripper's transverse mounting plate. A second pneumatic gripper is provided at the lower part of the transition plate two. A gripper claw connecting block two is provided at the movable end of the second pneumatic gripper. A gripping rod is fixedly mounted at the lower end of the gripper claw connecting block two. An anti-detachment block is fixedly mounted on the inner side of the gripping rod away from the second pneumatic gripper. Proximity switches two are fixedly mounted on both sides of the top of the second pneumatic gripper. A sensor mounting plate two is fixedly mounted on the lower part of the transition plate two, located outside the second pneumatic gripper. A second photoelectric sensor is fixedly mounted on the outer side of the sensor mounting plate two. A waterproof cover is provided at the bottom of the second pneumatic gripper.

[0016] Through the above technical solution, the second pneumatic gripper drives the gripping rod to open and close via the gripper claw connecting block two. During the gripping process, the anti-detachment block can adhere to the outer surface of the brake caliper workpiece, effectively preventing the brake caliper workpiece from falling off during transportation. The proximity switch two is used to detect the working status of the gripper, and the second photoelectric sensor is responsible for detecting whether the brake caliper workpiece has been successfully gripped. The two work together to achieve real-time monitoring of the shape gripping process. The waterproof cover can effectively prevent oil stains, water stains, etc. in the working environment from entering the interior of the second pneumatic gripper, extending the service life of the gripper.

[0017] Preferably, multiple identical shape gripper assemblies are provided, and the multiple shape gripper assemblies are evenly distributed at the lower part of the gripper's horizontal mounting plate. The axes of the connecting disc, the transition plate, and the second pneumatic gripper are located on the same vertical line. The number of gripping rods is four times that of the second pneumatic gripper, and they are diagonally distributed about the vertical axis of the second pneumatic gripper. The anti-detachment block is made of wear-resistant polyurethane material, and the second photoelectric sensor is a SICK GTB6-P1231 model.

[0018] Through the above technical solution, multiple equally spaced gripper components can simultaneously grip multiple brake caliper workpieces, greatly improving gripping efficiency and meeting the needs of mass production. The gripping rods, which are designed with four times the number of grippers and are diagonally distributed, form a multi-point gripping structure. Combined with anti-detachment blocks made of polyurethane material, it can not only ensure the stability of gripping, but also protect the surface of the brake caliper workpiece.

[0019] Preferably, the shooting unit includes a camera protection box, which is fixedly installed on the top of the gripper's horizontal mounting plate. A camera mounting plate is fixedly installed on the side of the camera protection box, and a camera mounting base is fixedly installed at the opening of the camera mounting plate facing the camera protection box. A shooting camera is fixedly installed inside the camera protection box via the camera mounting base. A light source mounting plate is provided inside the camera protection box below the shooting camera. A fill light is fixedly installed at the opening in the middle of the light source mounting plate. A sensor bracket is fixedly installed on the side of the camera mounting plate away from the camera mounting base, and a laser displacement sensor is fixedly installed on the outside of the camera protection box via the sensor bracket.

[0020] Through the above technical solution, the camera protection box provides protection for the camera and the supplementary light, preventing them from being damaged by external collisions. The supplementary light provides sufficient and uniform light source for the camera, eliminating shadow interference during the shooting process and ensuring that the captured image of the brake caliper workpiece is clear and accurate, providing high-quality image data for subsequent positioning and recognition. The laser displacement sensor can accurately detect the distance between the single gripper assembly and the brake caliper workpiece. Combined with the image information from the camera, it can achieve dual precise positioning of the brake caliper workpiece, ensuring that the single gripper assembly can accurately complete the gripping action, improving the automation and intelligence level of the device, and also improving the gripping 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 oriented in the same direction as the single gripper assembly, and the laser displacement sensor is model HG-C1400-P.

[0022] The above technical solution, with the camera protection box, shooting camera, light source mounting plate and fill light on the same axis, enables the light from the fill light to be precisely focused on the shooting area of ​​the shooting camera, maximizing the fill light effect and ensuring image quality.

[0023] Compared with the prior art, the present invention provides a brake caliper pickup composite gripper device, which has the following beneficial effects: 1. This brake caliper picking composite gripper device, through the design of the robotic arm flange connection seat, allows the external robotic arm to be stably installed with the robotic arm flange connection seat, enabling flexible rotation of the composite gripper device and improving the adaptability to the work scene. At the same time, the structural design of the L-shaped gripper horizontal mounting plate combined with the upper and lower reinforcing plates greatly enhances the overall rigidity of the device and ensures the stability of operation. 2. The brake caliper picking up composite gripper device adopts a symmetrical guide design of double slider and double guide rail for the single gripper drive component. Compared with the traditional single guide design, it can effectively distribute the force and prevent tilting and swaying when the movable arm is raised and lowered, thus improving the stability during gripping. The design of limit block one and limit seat two can play a limiting role, which can accurately limit the lifting stroke of the movable arm and avoid excessive lifting and lowering of the movable arm. 3. This brake caliper picking composite gripper device uses a single gripper assembly to fine-tune the position deviation through a compensation unit and a calibration pin to pre-position the brake caliper workpiece. Combined with symmetrically distributed gripper bars and polyurethane pressure blocks, it ensures gripping accuracy while avoiding scratches or deformation of the brake caliper workpiece surface. At the same time, the shape gripper assembly adopts a multi-set equally spaced layout, which can grip multiple brake caliper workpieces at once, greatly improving the efficiency of batch operations. The anti-detachment block inside the shape gripper assembly can closely fit the surface of the brake caliper workpiece, effectively preventing the brake caliper workpiece from falling off during transportation. 4. This brake caliper picking composite gripper device, with the cooperation of the supplementary light and the camera in the imaging unit, can eliminate shadow interference and obtain a clear image of the brake caliper workpiece. Combined with the distance detection function of the laser displacement sensor, it can achieve dual precise positioning of the brake caliper workpiece, providing reliable data support for the gripping action. The first and second photoelectric sensors detect the position of the brake caliper workpiece in real time, and the proximity switch provides real-time feedback on the opening and closing status of the gripper, effectively avoiding problems such as missed gripping and weak gripping, reducing the need for manual intervention. The overall design is reasonable and can significantly improve the production efficiency of brake caliper workpieces. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the rear structure of the present invention; Figure 4 This is a schematic diagram of the single gripper drive component and the single gripper component installation structure of the present invention. Figure 1 ; Figure 5 This is a schematic diagram of the single gripper drive component and the single gripper component installation structure of the present invention. Figure 2 ; Figure 6 This is a schematic cross-sectional view of the single gripper drive assembly and the single gripper assembly of the present invention; Figure 7 This is a three-dimensional structural diagram of the external gripper component of the present invention; Figure 8 This is a schematic cross-sectional view of the external gripper assembly of the present invention; Figure 9 This is a schematic diagram of the side structure of the external gripper assembly of the present invention; Figure 10 This is a schematic diagram of the three-dimensional structure of the imaging unit of the present invention; Figure 11 This is a schematic diagram of a half-section of the imaging unit of the present invention; Figure 12 This is a top-view structural diagram of the imaging unit of the present invention.

[0025] The components include: 1. Lateral mounting plate for the gripper; 2. Upper reinforcing plate; 3. Lower reinforcing plate; 4. Mechanical arm flange connector; 5. Solenoid valve control box; 6. Single gripper drive assembly; 601. Cylinder mounting plate; 602. Push rod cylinder; 603. Floating joint; 604. Connecting arm; 605. Drive plate; 606. Main mounting plate; 607. Slider; 608. Guide rail; 609. Secondary back plate; 610. Cable chain; 611. Limit block one; 612. Limit seat two; 613. Movable arm; 7. Single gripper assembly; 701. Main mounting seat; 702. Compensation unit; 703. Transition plate one; 704. Sensor mounting plate one; 705. First photoelectric sensor; 706. First pneumatic gripper; 707. Gripper claw connecting block. 708. Gripper bar; 709. Pressure block; 710. Single gripper calibration pin; 711. Proximity switch one; 8. Shape gripper assembly; 801. Connecting plate; 802. Transition plate two; 803. Second pneumatic gripper; 804. Gripper claw connecting block two; 805. Waterproof cover; 806. Gripper bar; 807. Anti-detachment block; 808. Proximity switch two; 809. Sensor mounting plate two; 810. Second photoelectric sensor; 9. Shooting unit; 901. Camera protection box; 902. Camera mounting plate; 903. Camera mounting base; 904. Shooting camera; 905. Light source mounting plate; 906. Fill light; 907. Sensor bracket; 908. Laser displacement sensor; 10. Brake clamp workpiece; 11. Main back plate. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Example 1: As Figures 1-12As shown, the brake caliper picking composite gripper device provided by the present invention includes a gripper horizontal mounting plate 1 and external gripper assemblies 8 distributed at equal intervals on the lower part of the gripper horizontal mounting plate 1. From left to right, the back of the gripper horizontal mounting plate 1 is provided with a solenoid valve control box 5, a robotic arm flange connecting seat 4 and a main back plate 11. 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 the brake caliper workpiece 10.

[0028] The advantage is that the solenoid valve can be protected by the solenoid valve control box 5, which can prevent the solenoid valve from being accidentally damaged by collision with external equipment when the robotic arm drives the composite gripper device. At the same time, the robotic arm flange connection seat 4 can be connected to the external robotic arm and can control the composite gripper device to rotate.

[0029] Example 2: like Figures 2-12 As shown, this is an improvement on the previous embodiment.

[0030] Specifically, 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 drive plate 605 is fixedly mounted on the end of the drive plate 605 away from the connecting arm 604. The device has a movable arm 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 limit block 611 is fixedly installed on the side of the main back plate 11 facing the movable arm 613. A limit seat 612 is fixedly installed on the side of the movable arm 613 facing the main back plate 11. The advantages are that, during use, the movable end of the push rod cylinder 602 pushes the movable arm 613 to rise and fall through the floating joint 603, connecting arm 604 and drive plate 605. During the rising and falling of the movable arm 613, the slider 607 and guide rail 608 guide the main mounting plate 606 installed on the back of the movable arm 613 to ensure the stable rising and falling of the movable arm 613. The drag chain 610 can organize and protect the cables during the movement of the movable arm 613 to avoid cable tangling. The first limit block 611 and the second limit seat 612 cooperate with each other to accurately limit the rising and falling stroke of the movable arm 613.

[0031] Specifically, slider 607 and guide rail 608 are slidably connected. Two identical sliders 607 and guide rails 608 are provided. Both sliders 607 and guide rails 608 are symmetrically distributed about the vertical axis of the main mounting plate 606. Guide rail 608 is fixedly connected to the main back plate 11, and slider 607 is fixedly connected to the main mounting plate 606. Movable arm 613 is located in the middle of the back of the main mounting plate 606. The vertical axes of limit block one 611 and limit seat two 612 are on the same vertical line. Push rod cylinder 602 and movable arm 613 are arranged in parallel. The cross-section of connecting arm 604 is L-shaped. The advantage is that the two symmetrically distributed sliders 607 and guide rails 608 form a double-guide structure, which effectively disperses the force compared to a single-guide structure, preventing tilting or swaying of movable arm 613 during lifting and lowering, thereby improving the stability when gripping the brake clamp workpiece 10.

[0032] Example 3: like Figures 2-12 As shown, this is an improvement on the previous embodiment.

[0033] Specifically, 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 the end of the main mounting base 701 away from the movable arm 613. A transition plate 703 is provided at the end of the compensation unit 702 away from the main mounting base 701. A first pneumatic gripper 706 is fixedly mounted at the 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. A gripper claw connecting block 707 is fixedly mounted on the outer side of the gripper claw connecting block 707. There is a gripper rod 708. A pressure block 709 is fixedly installed on the inner side of the end of the gripper rod 708 away from the gripper 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. The advantages are that the compensation unit 702 can fine-tune the position deviation during the gripping process, improve the gripping fault tolerance, and ensure that the gripper can accurately engage the brake caliper workpiece 10. The first pneumatic gripper 706 drives the pressure block 709 to clamp the brake caliper workpiece 10 through the gripper rod 708. The single gripper calibration pin 710 can be inserted into the positioning hole of the brake caliper workpiece 10 before gripping to complete the pre-positioning and avoid displacement during gripping, further improving the gripping accuracy. The first photoelectric sensor 705 can detect in real time whether the brake caliper workpiece 10 is in the gripping position, and the proximity switch 711 can provide feedback on the opening and closing status of the gripper. The two work together to realize the automated detection and monitoring of the gripping process, avoiding the problems of missed gripping or weak gripping.

[0034] Specifically, 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 clamping 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. The advantage is that the wear-resistant polyurethane clamping block 709, when clamping the brake caliper workpiece 10, provides sufficient friction to prevent the brake caliper workpiece 10 from slipping, while also avoiding scratches or deformation to the surface of the brake caliper workpiece 10. The symmetrically distributed gripper bars 708 form a balanced clamping force, ensuring stable gripping of the brake caliper workpiece 10.

[0035] Example 4: like Figures 2-12 As shown, this is an improvement on the previous embodiment.

[0036] Specifically, the external gripper assembly 8 includes a connecting plate 801, which is fixedly connected to the gripper horizontal mounting plate 1. A transition plate 802 is fixedly installed at the end of the connecting plate 801 away from the gripper horizontal mounting plate 1. A second pneumatic gripper 803 is provided at the lower part of the transition plate 802. A gripper claw connecting block 804 is provided at the movable end of the second pneumatic gripper 803. A gripping rod 806 is fixedly installed at the lower end of the gripping rod 806 away from the second pneumatic gripper 803. An anti-detachment block 807 is fixedly installed on the inner side of the end of the gripping rod 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 at 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. The advantages are that the second pneumatic gripper 803 drives the gripping rod 806 to open and close through the gripper claw connecting block 804. During the gripping process, the anti-detachment block 807 can fit against the outer surface of the brake caliper workpiece 10, effectively preventing the brake caliper workpiece 10 from falling off during transportation. The second proximity switch 808 is used to detect the working status of the gripper, and the second photoelectric sensor 810 is responsible for detecting whether the brake caliper workpiece 10 has been successfully gripped. The two work together to achieve real-time monitoring of the shape gripping process. The waterproof cover 805 can effectively prevent oil stains, water stains and other substances in the working environment from entering the interior of the second pneumatic gripper 803, extending the service life of the gripper.

[0037] Specifically, multiple identical shape gripper assemblies 8 are provided, and these multiple shape gripper assemblies 8 are evenly distributed at the lower part of the gripper's 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, and the second photoelectric sensor 810 is a SICK GTB6-P1231 model. The advantage is that multiple evenly distributed shape gripper assemblies 8 can simultaneously grip multiple brake caliper workpieces 10, greatly improving gripping efficiency and meeting the needs of mass production. The four times number of gripping rods 806 with a diagonal distribution form a multi-point gripping structure. Combined with the polyurethane anti-detachment block 807, it can ensure the stability of gripping and protect the surface of the brake caliper workpiece 10.

[0038] Example 5: like Figures 2-12 As shown, this is an improvement on the previous embodiment.

[0039] Specifically, 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. The advantages are that the camera protection box 901 provides protection for the shooting camera 904 and the supplementary light 906, preventing them from being damaged by external collisions. The supplementary light 906 can provide sufficient and uniform light source for the shooting camera 904, eliminating shadow interference during the shooting process and ensuring that the image of the brake caliper workpiece 10 is clear and accurate, providing high-quality image data for subsequent positioning and 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 from the shooting camera 904, it can achieve dual precise positioning of the brake caliper workpiece 10, ensuring that the single gripper assembly 7 can accurately complete the gripping action, improving the automation and intelligence level of the device, and also improving the gripping quality.

[0040] Specifically, 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 oriented in the same direction as the single gripper assembly 7, and the laser displacement sensor 908 is model HG-C1400-P. The advantage is that the camera protection box 901, shooting camera 904, light source mounting plate 905, and fill light 906 on the same axis allow the light from the fill light 906 to be precisely focused on the shooting area of ​​the shooting camera 904, maximizing the fill light effect and ensuring image quality.

[0041] Working principle: In use, the device is first fastened to the external robotic arm with bolts. The external robotic arm moves the gripper device to the area to be gripped by the brake caliper workpiece 10. At this time, the robotic arm drive device flips, so that the single gripper assembly 7 and the imaging unit 9 face the brake caliper workpiece 10. The imaging unit 9 enters the working state first. The imaging camera 904 inside the imaging unit 9 takes pictures of the brake caliper workpiece 10 to be gripped and uploads them to the server for processing. During the imaging process, the supplementary light 906 provides a light source to assist the imaging camera. 904 takes a picture to eliminate shadow interference during the shooting process and ensure that the image of the brake caliper workpiece 10 is clear and accurate. After the server processes the data, it controls the external robotic arm to drive the single gripper assembly 7 to move above the material frame. At this time, the single gripper drive assembly 6 drives the single gripper assembly 7 to move downward. The single gripper calibration needle 710 first inserts into the positioning hole of the brake caliper workpiece 10 to complete the pre-positioning. After the pre-positioning is completed, the compensation unit 702 fine-tunes any possible positional deviations. Then, the first pneumatic gripper 706 drives the gripper rod 708 to drive the pressure block 709 to brake the workpiece. The device grips workpiece 10. During gripping, the first photoelectric sensor 705 confirms in real time that the brake caliper workpiece 10 is in the correct gripping posture, and the proximity switch 711 provides feedback on the clamping status of the grippers to avoid missed gripping or insecure clamping. After gripping is completed, the single gripper drive assembly 6 drives the single gripper assembly 7 to move the brake caliper workpiece 10 upward. During the upward movement of the single gripper assembly 7, the external robotic arm synchronously drives the equipment to rotate and then move until it reaches the designated workstation. Then, the gripped brake caliper workpiece 10 is placed on the designated workstation, and the process is repeated. After the above operation is performed four times, the external robotic arm flips the equipment and aligns the four shape gripper assemblies 8 with the brake caliper workpiece 10 that has been placed in the designated workstation. At this time, the external robotic arm drives the equipment to move downward, and the shape gripper assemblies 8 simultaneously grip the four brake caliper workpieces 10 and automatically clamp them onto the combined tooling on the machining center. Then, the machine tool is started to process the brake caliper workpiece 10. After the processing is completed, the external robotic arm drives the four shape gripper assemblies 8 again to grip the processed brake caliper workpiece 10 and place it in the feeding frame.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is 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). 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 limit block one (611) is fixedly installed on the side of the main back plate (11) facing the movable arm (613). A limit seat two (612) is fixedly installed on the side of the movable arm (613) facing the main back plate (11). 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.

2. 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).

3. The brake caliper pickup composite gripper device according to claim 2, 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.

4. 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).

5. The brake caliper pickup composite gripper device according to claim 4, 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.

6. 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).

7. The brake caliper pickup composite gripper device according to claim 6, 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.

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