Brake pad four-axis robot vision feeding device

Abstract

The application relates to the technical field of four-axis robot vision feeding of brake pads, and discloses a four-axis robot vision feeding device for brake pads, which comprises a polishing box body, the surface of the polishing box body is provided with a four-axis manipulator, the inside of the polishing box body is provided with a conveying belt, the surface of the conveying belt is provided with a demagnetizer, the surface of the conveying belt is provided with a dust removal assembly, the surface of the conveying belt is provided with a camera module, the surface of the polishing box body is provided with a lifting box, and the surface of the polishing box body is provided with a material frame full material layer. When the material frame full material layer is opened, the material frame loaded with brake pads is subjected to transmission work; when the material frame moves below the second camera module, the second camera module shoots the appearance of the brake pad position in the material frame; when the servo motor is opened, the output end drives the pulley to rotate; the servo screw drives the second camera module to slide in the camera support through threads, so that the second camera module fully shoots and transmits the brake pad.

Description

Technical Field

[0001] This invention relates to the field of four-axis robot vision loading technology for brake pads, specifically a four-axis robot vision loading device for brake pads. Background Technology

[0002] Brake pads are a crucial friction component in a car's braking system, commonly known as brake shoes. They rely on friction to slow or stop the car. They are mainly composed of a steel plate, a heat insulation layer, and friction blocks. A backing plate ensures stability, while the friction blocks perform the actual braking. Currently, there are semi-metallic, ceramic, and asbestos-free organic materials available. Older asbestos-based materials have been largely phased out due to their environmental impact. Brake pads are the last line of defense for driving safety; without them, even the strongest engine cannot stop the car.

[0003] Traditional material handling equipment often uses a rigid connection structure between the material frame's moving base and the conveyor track. During the conveying, shifting, and docking with the robotic arm's picking station, the vibrations and displacement impacts generated by the equipment's operation are easily transmitted into the material frame, causing the brake pads inside to collide and rub against each other. Furthermore, these types of equipment commonly use rigid pushers and limiters to correct the material frame's deviation and position the material, which can easily create rigid compression during operation, further damaging the brake pads through impacts and scratches. Summary of the Invention

[0004] The purpose of this invention is to provide a four-axis robot vision-based feeding device for brake pads, so as to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: This invention relates to a four-axis robotic vision-based feeding device for brake pads, comprising a grinding box, a four-axis manipulator mounted on the surface of the grinding box, a conveyor belt inside the grinding box, a demagnetizer mounted on the surface of the conveyor belt, a dust removal assembly mounted on the surface of the conveyor belt, a camera module mounted on the surface of the conveyor belt, a lifting box mounted on the surface of the grinding box, a full material frame layer mounted on the surface of the grinding box, a lower empty material frame layer mounted below the full material frame layer, a camera bracket mounted on the surface of the grinding box, a second camera module slidably connected to the inner wall of the camera bracket, a support fixedly connected to the surface of the grinding box, and a feeding guide and shock absorption device mounted on the surface of the full material frame layer. The feeding guide and shock absorption device includes a motor, the surface of which is fixedly connected to the inner wall of the bracket, a limit support plate is fixedly connected to the top of the full material layer of the material frame, a fixing plate is fixedly connected to the top of the full material layer of the material frame, and a rotating rod is fixedly connected to the output end of the motor.

[0006] Furthermore, the surface of the lifting box is provided with a material frame conveying device, the surface of the grinding box is provided with a position adjustment device, the surface of the camera bracket is fixedly connected with a support plate, the inner wall of the support plate is fixedly connected with a servo motor, the output end of the servo motor is fixedly connected with a servo screw, the surface of the rotating rod is fixedly connected with a gear, the surface of the gear is meshed with a rack, the end of the rack away from the gear is fixedly connected with a spring plate, the end of the spring plate away from the rack is fixedly connected with a pressing plate, the surface of the pressing plate is fixedly connected with a telescopic rod, the end of the pressing plate is fixedly connected with a thin rod, the end of the thin rod away from the pressing plate is fixedly connected with a guide push plate, the inner wall of the lifting box is fixedly connected with a second motor, the output end of the second motor is fixedly connected with a second threaded rod, the inner wall of the lifting box is fixedly connected with a circular telescopic rod, the end of the circular telescopic rod away from the lifting box is fixedly connected with a shock absorber frame, the top of the shock absorber frame is fixedly connected with a shock absorber block, the end of the shock absorber block away from the shock absorber frame is provided with a sensor cover, and the inner wall of the sensor cover is provided with a roller.

[0007] Furthermore, the surface of the servo screw is threadedly connected to the inner wall of the second camera module, the rotating rod passes through the gear and extends to the outer end of the gear, the rack is located below the gear, and the end of the telescopic rod away from the extrusion plate is fixedly connected to the surface of the full material layer of the material frame.

[0008] Furthermore, the thin rod passes through the fixed plate and extends to the surface of the guide push plate, the bottom of the guide push plate contacts the top of the full material layer of the material frame, there are four rollers, and the circular telescopic rod is located below the shock absorber frame.

[0009] Furthermore, the material frame conveying device includes a support plate, the bottom of which is fixedly connected to the top of the lifting box. A one-way electric push rod is fixedly connected to the inner wall of the support plate. A push-pull rod is fixedly connected to the output end of the one-way electric push rod. A push plate is fixedly connected to the end of the push-pull rod away from the one-way electric push rod. A telescopic outer rail is fixedly connected to the surface of the lifting box. A spring rod is fixedly connected to the surface of the lifting box. A guide telescopic rod is fixedly connected to the inner wall of the telescopic outer rail. A pulley is slidably connected to the inner wall of the telescopic outer rail. A telescopic inner rail is fixedly connected to the shaft of the pulley. A movable support frame is fixedly connected to the end of the telescopic inner rail away from the pulley. A sliding groove is formed on the inner wall of the movable support frame. A retractable pull rod is fixedly connected to the inner wall of the sliding groove. A baffle is fixedly connected to the end of the retractable pull rod away from the sliding groove. An elastic rod is fixedly connected to the end of the baffle. A material frame is provided on the top of the movable support frame.

[0010] Furthermore, the surface of the push plate is in contact with the surface of the material frame, the end of the guide telescopic rod away from the telescopic outer rail is fixedly connected to the rotating shaft of the pulley, the telescopic inner rail passes through the telescopic outer rail and extends to the bottom of the movable support, the surface of the baffle is slidably connected to the inner wall of the chute, the end of the elastic rod away from the retracting rod is fixedly connected to the end of the movable support, and the end of the spring rod away from the lifting box is fixedly connected to the bottom of the movable support.

[0011] Furthermore, the position adjustment device includes a sliding frame, the bottom of which is fixedly connected to the top of the grinding box. A movable push plate is slidably connected to the inner wall of the sliding frame. An elongated plate is fixedly connected to the end of the movable push plate. A compression spring rod is fixedly connected to the surface of the elongated plate. A tension rod is fixedly connected to the surface of the elongated plate. A third threaded rod is fixedly connected to the end of the rotating rod away from the motor. A sliding plate is threadedly connected to the surface of the third threaded rod. A rubber plate is slidably connected to the inner wall of the sliding plate. A square support plate is fixedly connected to the end of the rubber plate. A protective spring rod is fixedly connected to the surface of the square support plate. A slide rail is fixedly connected to the top of the grinding box. A slider is slidably connected to the inner wall of the slide rail. A limit retraction rod is fixedly connected to the inner wall of the slide rail. A connecting rod is fixedly connected to the surface of the slider.

[0012] Furthermore, the bottom of the movable push plate contacts the top of the conveyor belt, the end of the extrusion spring bar away from the elongated plate is fixedly connected to the surface of the sliding frame, the end of the tension rod away from the elongated plate is fixedly connected to the surface of the sliding frame, the bottom of the rubber plate contacts the top of the conveyor belt, the end of the protective spring bar away from the square support plate is fixedly connected to the surface of the slide plate, the end of the limiting retraction rod away from the slide rail is fixedly connected to the surface of the slider, and the surface of the connecting rod is fixedly connected to the inner wall of the slide plate.

[0013] The present invention has the following beneficial effects: This invention features a camera module and an adjustable second camera module, which, together with a servo motor and servo screw, enable adaptive adjustment of the camera position. Through contour recognition and template matching algorithms acquired by the camera, the brake pad model is identified, and the center coordinates, tilt angle, and placement posture of each brake pad are calculated. The captured coordinate data is then sent to a four-axis loading robot. Based on the coordinate information provided by vision, the four-axis loading robot moves to the corresponding brake pad within the material frame and uses its end-effector suction cup to grip the brake pad stably. The entire process requires no manual intervention, effectively solving the problems of large positioning deviations and low efficiency in traditional manual loading, and significantly improving the automation level and loading accuracy of the production line.

[0014] This invention features a two-stage guiding mechanism. The first stage is a feeding guide and shock absorption device that uses a motor, gear rack, and guide push plate to pre-guide and correct the full material frame, preventing it from shifting during transport. The second stage is a position adjustment device that uses rubber plates, moving push plates, and other components to provide secondary limiting guidance for the brake pads placed on the conveyor belt by the robotic arm. This dual guidance ensures that the brake pads and material frame maintain a regular posture throughout the entire process, preventing jamming or collisions due to deviation, and ensuring a continuous and stable feeding process on the entire conveyor line.

[0015] The lifting box of this invention integrates shock-absorbing components such as shock-absorbing frame, shock-absorbing block, and circular telescopic rod. During the movement and reversal of the material frame, it can effectively buffer vibration and reduce shaking. At the same time, the guide push plate, baffle, rubber plate and other structures are combined with elastic components such as spring plate, elastic rod and protective spring rod to push the material and the material frame in a flexible contact manner, avoiding rigid compression that causes deformation and damage to the brake pads, and also reducing the collision and wear of the material frame, thus reducing the loss rate of production materials and accessories.

[0016] The material frame conveying device of this invention can drive the material frame to extend and adjust its position along the telescopic track, accurately delivering the material frame to the optimal working area of ​​the four-axis robot, making full use of the robot's movement stroke, ensuring that the robot can completely grasp all brake pads in the material frame, eliminating blind spots, and improving the integrity and work efficiency of a single loading.

[0017] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall cross-sectional structure of the present invention; Figure 3 For the present invention Figure 2 Enlarged structural diagram of section A in the middle; Figure 4 This is a schematic diagram of the feeding guide and shock absorption device of the present invention; Figure 5 This is another structural schematic diagram of the feeding guide and shock absorption device of the present invention; Figure 6 This is a schematic diagram of the second motor structure of the present invention; Figure 7 This is a schematic diagram of the material frame conveying device of the present invention; Figure 8 This is another structural schematic diagram of the material frame conveying device of the present invention; Figure 9 This is a schematic diagram of the position adjustment device of the present invention; Figure 10 For the present invention Figure 9 Enlarged structural diagram of section B.

[0020] The attached diagram lists the components represented by each number as follows: In the diagram: 1. Grinding box; 2. Four-axis robot; 3. Conveyor belt; 4. Demagnetizer; 5. Dust removal assembly; 6. Camera module; 7. Lifting box; 8. Full material frame layer; 9. Lower empty material frame; 10. Camera bracket; 11. Second camera module; 12. Bracket; 13. Feeding guide and shock absorption device; 14. Material frame conveying device; 15. Position adjustment device; 16. Support plate; 17. Servo motor; 18. Servo screw; 20. Motor; 21. Limit support plate; 22. Fixing plate; 23. Rotating rod; 24. Gear; 25. Rack; 26. Spring plate; 27. Extrusion plate; 28. Telescopic rod; 29. ​​Thin rod; 30. Guide push plate; 31. Second motor; 32. Second threaded rod; 33. Circular 34. Telescopic rod; 35. Shock absorber frame; 36. Shock absorber block; 37. Induction cover; 40. Roller; 41. Support plate; 42. One-way electric actuator; 43. Push-pull rod; 44. Push plate; 45. Telescopic outer rail; 46. Spring rod; 47. Material frame; 48. Guide telescopic rod; 49. Pulley; 50. Telescopic inner rail; 51. Movable support frame; 52. Slide groove; 53. Retractable rod; 54. Baffle; 60. Elastic rod; 61. Sliding frame; 62. Movable push plate; 63. Long plate; 64. Extrusion spring rod; 65. Tension rod; 66. Third threaded rod; 67. Slide plate; 68. Rubber plate; 69. Square support plate; 70. Protective spring rod; 71. Slide rail; 72. Slider; 73. Connecting rod; 74. Limiting retractable rod. Detailed Implementation

[0021] 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.

[0022] Please see Figure 1 - Figure 10As shown, the present invention is a four-axis robot vision loading device for brake pads, including a grinding box 1, a four-axis manipulator 2 on the surface of the grinding box 1, a conveyor belt 3 inside the grinding box 1, a demagnetizer 4 on the surface of the conveyor belt 3, a dust removal component 5 on the surface of the conveyor belt 3, a camera module 6 on the surface of the conveyor belt 3, a lifting box 7 on the surface of the grinding box 1, a full material frame layer 8 on the surface of the grinding box 1, a lower empty material frame 9 below the full material frame layer 8, a camera bracket 10 on the surface of the grinding box 1, a second camera module 11 slidably connected to the inner wall of the camera bracket 10, a bracket 12 fixedly connected to the surface of the grinding box 1, and a loading guide and shock absorption device 13 on the surface of the full material frame layer 8. The feeding guide and shock absorption device 13 includes a motor 20. When the output end of the motor 20 is turned on, it drives the rotating rod 23 to rotate. The rotating rod 23 drives the gear 24 to rotate together, thereby driving the rack 25 to push the spring plate 26 to move through meshing. When the spring plate 26 moves, it will push the thin rod 29 to drive the guide push plate 30 to move above the full material layer 8 of the material frame through the squeezing and squeezing plate 27. This allows the guide push plate 30 to guide the material frame 46 above the full material layer 8 of the material frame. The surface of the motor 20 is fixedly connected to the inner wall of the bracket 12. The top of the full material layer 8 of the material frame is fixedly connected to the limit support plate 21. The top of the full material layer 8 of the material frame is fixedly connected to the fixing plate 22. The output end of the motor 20 is fixedly connected to the rotating rod 23.

[0023] A material frame conveying device 14 is provided on the surface of the lifting box 7. A position adjustment device 15 is provided on the surface of the grinding box 1. A support plate 16 is fixedly connected to the surface of the camera bracket 10. A servo motor 17 is fixedly connected to the inner wall of the support plate 16. A servo screw 18 is fixedly connected to the output end of the servo motor 17. A gear 24 is fixedly connected to the surface of the rotating rod 23. A rack 25 is meshed with the surface of the gear 24. A spring plate 26 is fixedly connected to the end of the rack 25 away from the gear 24. A pressing plate 27 is fixedly connected to the end of the spring plate 26 away from the rack 25. A telescopic rod 28 is fixedly connected to the surface of the pressing plate 27. A thin rod 29 is fixedly connected to the end of the pressing plate 27. A guide push plate 30 is fixedly connected to the end of the thin rod 29 away from the pressing plate 27. A second motor 31 is fixedly connected to the inner wall of the lifting box 7. When the second motor 31 is turned on, its output end drives the second threaded rod 32 to rotate. When the second threaded rod 32 rotates, it drives the shock absorber 34 to move through the thread. The shock absorber 34 drives the roller 37 to move through the shock absorber block 35, thereby moving the material frame 46 with brake pads mounted above the roller 37, which facilitates the feeding of brake pads into the machine. The circular telescopic rod 33 makes the movement of the shock absorber 34 more stable. The shock absorber block 35 dampens the vibration of the sensor cover 36 and the roller 37, preventing excessive shaking of the material frame 46 when it enters the roller 37, which could damage the internal brake pads. The output end of the second motor 31 is fixedly connected to the second threaded rod 32. The inner wall of the lifting box 7 is fixedly connected to the circular telescopic rod 33. The end of the circular telescopic rod 33 away from the lifting box 7 is fixedly connected to the shock absorber 34. The top of the shock absorber 34 is fixedly connected to the shock absorber block 35. The end of the shock absorber block 35 away from the shock absorber 34 is provided with the sensor cover 36. The inner wall of the sensor cover 36 is provided with the roller 37.

[0024] The surface of the servo screw 18 is threaded to the inner wall of the second camera module 11. The rotating rod 23 passes through the gear 24 and extends to the outer end of the gear 24. The rack 25 is located below the gear 24. The end of the telescopic rod 28 away from the extrusion plate 27 is fixedly connected to the surface of the full material layer 8 of the material frame.

[0025] The thin rod 29 passes through the fixed plate 22 and extends to the surface of the guide push plate 30. The bottom of the guide push plate 30 contacts the top of the full material layer 8 of the material frame. There are four rollers 37. The circular telescopic rod 33 is located below the shock absorber 34.

[0026] The material frame conveying device 14 includes a support plate 40. The bottom of the support plate 40 is fixedly connected to the top of the lifting box 7. A one-way electric push rod 41 is fixedly connected to the inner wall of the support plate 40. When the one-way electric push rod 41 is turned on, its output end drives the push-pull rod 42 to move. When the push-pull rod 42 moves, it pushes the material frame 46, which is equipped with brake pads above the roller 37, into the upper part of the movable support frame 50. When the surface of the material frame 46 contacts the surface of the baffle 53, continuing to push the material frame 46 will squeeze the baffle 53 and thus pull the movable support frame 50. The telescopic inner rail 49 moves through the pulley 48 inside the telescopic outer rail 44, so that the material frame 46 is fully within the output range of the four-axis robot 2. This allows the machine to fully pick up and load the brake pads inside the material frame 46 using the four-axis robot 2. A push-pull rod 42 is fixedly connected to the output end of the one-way electric push rod 41. A push plate 43 is fixedly connected to the end of the push-pull rod 42 away from the one-way electric push rod 41. The telescopic outer rail 44 is fixedly connected to the surface of the lifting box 7, and a spring rod 45 is fixedly connected to the surface of the lifting box 7. The spring rod 45, due to its elastic force, pulls the movable support 50, causing the telescopic inner rail 49 to move inside the telescopic outer rail 44. This pushes the material frame 46 without brake pads above the roller 37 via the baffle 53. At this time, the second motor 31 drives the second threaded rod 32 to rotate in the opposite direction, causing the second threaded rod 32 to drive the roller 37 downward through the thread. This allows the roller 37 to transfer the material frame 46 without brake pads above to the upper empty material frame 9 for centralized collection. The inner wall of the telescopic outer rail 44 is fixedly connected. There is a guide telescopic rod 47, and a pulley 48 is slidably connected to the inner wall of the telescopic outer rail 44. The shaft of the pulley 48 is fixedly connected to the telescopic inner rail 49. The end of the telescopic inner rail 49 away from the pulley 48 is fixedly connected to a movable support 50. The inner wall of the movable support 50 is provided with a groove 51. The inner wall of the groove 51 is fixedly connected to a retractable rod 52. The end of the retractable rod 52 away from the groove 51 is fixedly connected to a baffle 53. The end of the baffle 53 is fixedly connected to an elastic rod 54. A material frame 46 is provided on the top of the movable support 50.

[0027] The surface of the push plate 43 is in contact with the surface of the material frame 46. The end of the guide telescopic rod 47 away from the telescopic outer rail 44 is fixedly connected to the rotating shaft of the pulley 48. The telescopic inner rail 49 passes through the telescopic outer rail 44 and extends to the bottom of the movable support frame 50. The surface of the baffle 53 is slidably connected to the inner wall of the slide groove 51. The end of the elastic rod 54 away from the retracting rod 52 is fixedly connected to the end of the movable support frame 50. The end of the elastic rod 45 away from the lifting box 7 is fixedly connected to the bottom of the movable support frame 50.

[0028] The position adjustment device 15 includes a sliding frame 60, the bottom of which is fixedly connected to the top of the grinding box 1. A movable push plate 61 is slidably connected to the inner wall of the sliding frame 60. An elongated plate 62 is fixedly connected to the end of the movable push plate 61. A compression spring rod 63 is fixedly connected to the surface of the elongated plate 62, and a tension rod 64 is fixedly connected to the surface of the elongated plate 62. A third threaded rod 65 is fixedly connected to the end of the rotating rod 23 away from the motor 20. The third threaded rod 65 drives the slide plate 66 to move through the thread. When the slide plate 66 moves, it drives the slider 71 to move inside the slide rail 70 through the connecting rod 72. The limiting tension rod 73 makes the position of the slider 71 more stable when it moves. At the same time, when the slide plate 66 moves... The square support plate 68 is moved by the protective spring rod 69, which in turn moves the rubber plate 67. The rubber plate 67 then guides the brake pads of the four-axis robot 2 above the conveyor belt 3. The surface of the third threaded rod 65 is threaded with a slide plate 66. The inner wall of the slide plate 66 is slidably connected to the rubber plate 67. The end of the rubber plate 67 is fixedly connected to the square support plate 68. The surface of the square support plate 68 is fixedly connected to the protective spring rod 69. The top of the grinding box 1 is fixedly connected to the slide rail 70. The inner wall of the slide rail 70 is slidably connected to the slider 71. The inner wall of the slide rail 70 is fixedly connected to the limit retraction rod 73. The surface of the slider 71 is fixedly connected to the connecting rod 72.

[0029] The bottom of the movable push plate 61 contacts the top of the conveyor belt 3; the end of the compression spring rod 63 away from the elongated plate 62 is fixedly connected to the surface of the sliding frame 60; the end of the tension rod 64 away from the elongated plate 62 is fixedly connected to the surface of the sliding frame 60; the bottom of the rubber plate 67 contacts the top of the conveyor belt 3; the end of the protective spring rod 69 away from the square support plate 68 is fixedly connected to the surface of the slide plate 66; the end of the limiting retraction rod 73 away from the slide rail 70 is fixedly connected to the surface of the slider 71; and the surface of the connecting rod 72 is fixedly connected to the inner wall of the slide plate 66.

[0030] In operation, when the material frame is full (layer 8), it will transfer the material frame 46 containing brake pads. When the material frame 46 moves below the second camera module 11, the second camera module 11 will take pictures of the brake pad position and other external features inside the material frame 46. At this time, the servo motor 17 will turn on its output to drive the servo screw 18 to rotate. The servo screw 18 will then drive the second camera module 11 to slide inside the camera bracket 10 through its thread, allowing the second camera module 11 to fully capture and transmit pictures of the brake pads. After the picture is taken, the second camera module 11 will reset to avoid obstructing the machine's feeding operation. Simultaneously, when the material frame 46 containing brake pads moves above the full material frame (layer 8), the motor 20 will turn on its output to drive the rotating rod. Rotating rod 23 drives gear 24 to rotate, which in turn drives rack 25 to move spring plate 26 through meshing. When spring plate 26 moves, it squeezes extrusion plate 27, which in turn pushes thin rod 29 to move guide push plate 30 above the full material layer 8 of the material frame. This guide push plate 30 guides the material frame 46 above the full material layer 8, preventing the material frame 46 from being misaligned above the full material layer 8 and affecting the machine's transmission operation. At the same time, when guide push plate 30 squeezes material frame 46, it squeezes spring plate 26 through thin rod 29, thus achieving a force relief effect and preventing excessive squeezing of material frame 46 from damaging or deforming the internal brake pads. After the second camera module 11 completes the detection of the brake pads inside material frame 46, it uses the sensor to... The data is transmitted to the inside of the sensor cover 36. When the sensor cover 36 receives a sensing command, it controls the on / off state of the roller 37 via network sensing, causing the roller 37 to rotate forward / backward or stop working. When the roller 37 rotates, the output end of the second motor 31 drives the second threaded rod 32 to rotate. When the second threaded rod 32 rotates, it drives the shock absorber 34 to move through the thread. The shock absorber 34 drives the roller 37 to move through the shock absorber block 35, thereby moving the material frame 46 with brake pads mounted above the roller 37, facilitating the feeding of brake pads. The circular telescopic rod 33 makes the movement of the shock absorber 34 more stable. The shock absorber block 35 dampens the vibration of the sensor cover 36 and the roller 37, preventing excessive shaking when the material frame 46 enters above the roller 37. When the internal brake pads are damaged, the output end of the one-way electric push rod 41 drives the push-pull rod 42 to move when it is opened. When the push-pull rod 42 moves, it pushes the material frame 46, which is equipped with brake pads, above the roller 37 into the upper part of the moving support frame 50. When the surface of the material frame 46 contacts the surface of the baffle 53, continuing to push the material frame 46 will squeeze the baffle 53, thereby pulling the moving support frame 50 and causing the telescopic inner rail 49 to move inside the telescopic outer rail 44 through the pulley 48. This ensures that the material frame 46 is fully within the output range of the four-axis robot 2, allowing the machine to fully pick up and load the brake pads inside the material frame 46 using the four-axis robot 2. At the same time, after all the brake pads inside the material frame 46 have been loaded, the push plate 43 moves backward to cancel contact with the material frame 46.The material frame 46 is pulled by the elastic force of the elastic rod 54, causing the baffle 53 to move inside the slide 51. When the baffle 53 moves, it pushes the material frame 46 above the moving support 50 to move together. At the same time, the elastic rod 45 pulls the moving support 50 due to the elastic force, causing the telescopic inner rail 49 to move inside the telescopic outer rail 44. This pushes the material frame 46 without brake pads above the roller 37 through the baffle 53. At this time, the second motor 31 drives the second threaded rod 32 to rotate in the opposite direction, causing the second threaded rod 32 to drive the roller 37 to move downward through the thread. This allows the roller 37 to transfer the material frame 46 without brake pads above to the top of the lower empty material frame 9 for centralized collection, enabling the machine to quickly reciprocate and feed materials. When the rotating rod 23 rotates, it drives the third threaded rod 65 to rotate together. At this time, the third threaded rod 65 drives the slide plate 66 to move through the thread. When the slide plate 66 moves, it drives the slider 71 to move inside the slide rail 70 through the connecting rod 72. The limiting pull rod 73 makes the position of the slider 71 more stable when it moves. Simultaneously, when the slide plate 66 moves, it pulls the square support plate 68 through the protective spring rod 69, causing the square support plate 68 to move along with the rubber plate 67. This allows the rubber plate 67 to provide secondary guidance for the brake pads placed above the conveyor belt 3 by the four-axis robot 2, making the position of the brake pads above the conveyor belt 3 more stable when entering the next process, improving the quality of the finished product. At the same time, when the rubber plate 67 pushes the brake pads, it squeezes the moving push plate 61. The moving push plate 61 moves inside the sliding frame 60, thereby pushing the elongated plate 62 to pull the compression spring rod 63, making the position of the brake pads above the conveyor belt 3 more stable. Simultaneously, when the moving push plate 61 and the rubber plate 67 squeeze the brake pads, the compression spring rod 63 and the protective spring rod 69 respectively reduce pressure through the elongated plate 62 and the square support plate 68, preventing excessive compression and damage to the brake pads.

[0031] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A four-axis robot vision-based feeding device for brake pads, comprising a grinding housing (1), characterized in that: The surface of the grinding box (1) is provided with a four-axis robot (2), the interior of the grinding box (1) is provided with a conveyor belt (3), the surface of the conveyor belt (3) is provided with a demagnetizer (4), the surface of the conveyor belt (3) is provided with a dust removal component (5), the surface of the conveyor belt (3) is provided with a camera module (6), the surface of the grinding box (1) is provided with a lifting box (7), the surface of the grinding box (1) is provided with a full material frame layer (8), the lower empty material frame (9) is provided below the full material frame layer (8), the surface of the grinding box (1) is provided with a camera bracket (10), the inner wall of the camera bracket (10) is slidably connected with a second camera module (11), the surface of the grinding box (1) is fixedly connected with a bracket (12), and the surface of the full material frame layer (8) is provided with a feeding guide and shock absorption device (13). The feeding guide shock absorption device (13) includes a motor (20), the surface of the motor (20) is fixedly connected to the inner wall of the bracket (12), the top of the full material layer (8) of the material frame is fixedly connected to a limit support plate (21), the top of the full material layer (8) of the material frame is fixedly connected to a fixing plate (22), and the output end of the motor (20) is fixedly connected to a rotating rod (23).

2. The brake pad four-axis robot vision loading device according to claim 1, characterized in that: The surface of the lifting box (7) is provided with a material frame conveying device (14), the surface of the grinding box (1) is provided with a position adjustment device (15), the surface of the camera bracket (10) is fixedly connected with a support plate (16), the inner wall of the support plate (16) is fixedly connected with a servo motor (17), the output end of the servo motor (17) is fixedly connected with a servo screw (18), the surface of the rotating rod (23) is fixedly connected with a gear (24), the surface of the gear (24) is meshed with a rack (25), the end of the rack (25) away from the gear (24) is fixedly connected with a spring plate (26), the end of the spring plate (26) away from the rack (25) is fixedly connected with a pressing plate (27), and the surface of the pressing plate (27) is fixedly connected with a telescopic rod. (28) A thin rod (29) is fixedly connected to the end of the extrusion plate (27). A guide push plate (30) is fixedly connected to the end of the thin rod (29) away from the extrusion plate (27). A second motor (31) is fixedly connected to the inner wall of the lifting box (7). A second threaded rod (32) is fixedly connected to the output end of the second motor (31). A circular telescopic rod (33) is fixedly connected to the inner wall of the lifting box (7). A shock absorber frame (34) is fixedly connected to the end of the circular telescopic rod (33) away from the lifting box (7). A shock absorber block (35) is fixedly connected to the top of the shock absorber frame (34). A sensor cover (36) is provided at the end of the shock absorber block (35) away from the shock absorber frame (34). A roller (37) is provided on the inner wall of the sensor cover (36).

3. The brake pad four-axis robot vision loading device according to claim 2, characterized in that: The surface of the servo screw (18) is threaded to the inner wall of the second camera module (11), the rotating rod (23) passes through the gear (24) and extends to the outer end of the gear (24), the rack (25) is located below the gear (24), and the end of the telescopic rod (28) away from the extrusion plate (27) is fixedly connected to the surface of the full material layer (8) of the material frame.

4. The brake pad four-axis robot vision loading device according to claim 3, characterized in that: The thin rod (29) passes through the fixed plate (22) and extends to the surface of the guide push plate (30). The bottom of the guide push plate (30) contacts the top of the full material layer (8) of the material frame. There are four rollers (37). The circular telescopic rod (33) is located below the shock absorber (34).

5. The brake pad four-axis robot vision loading device according to claim 4, characterized in that: The material frame conveying device (14) includes a support plate (40), the bottom of which is fixedly connected to the top of the lifting box (7). A one-way electric push rod (41) is fixedly connected to the inner wall of the support plate (40). A push-pull rod (42) is fixedly connected to the output end of the one-way electric push rod (41). A push plate (43) is fixedly connected to the end of the push-pull rod (42) away from the one-way electric push rod (41). A telescopic outer rail (44) is fixedly connected to the surface of the lifting box (7). A spring rod (45) is fixedly connected to the surface of the lifting box (7). A guide telescopic rod (47) is fixedly connected to the inner wall of the telescopic outer rail (44). The inner wall of the telescopic outer rail (44) is slidably connected to a pulley (48), the shaft of the pulley (48) is fixedly connected to a telescopic inner rail (49), the end of the telescopic inner rail (49) away from the pulley (48) is fixedly connected to a movable support (50), the inner wall of the movable support (50) is provided with a groove (51), the inner wall of the groove (51) is fixedly connected to a retractable rod (52), the end of the retractable rod (52) away from the groove (51) is fixedly connected to a baffle (53), the end of the baffle (53) is fixedly connected to an elastic rod (54), and a material frame (46) is provided on the top of the movable support (50).

6. The brake pad four-axis robot vision loading device according to claim 5, characterized in that: The surface of the push plate (43) is in contact with the surface of the material frame (46). The end of the guide telescopic rod (47) away from the telescopic outer rail (44) is fixedly connected to the shaft of the pulley (48). The telescopic inner rail (49) passes through the telescopic outer rail (44) and extends to the bottom of the movable support frame (50). The surface of the baffle (53) is slidably connected to the inner wall of the slide groove (51). The end of the elastic rod (54) away from the retracting rod (52) is fixedly connected to the end of the movable support frame (50). The end of the elastic rod (45) away from the lifting box (7) is fixedly connected to the bottom of the movable support frame (50).

7. A four-axis robot vision-based feeding device for brake pads according to claim 6, characterized in that: The position adjustment device (15) includes a sliding frame (60), the bottom of which is fixedly connected to the top of the grinding box (1). A movable push plate (61) is slidably connected to the inner wall of the sliding frame (60). An elongated plate (62) is fixedly connected to the end of the movable push plate (61). A compression spring rod (63) is fixedly connected to the surface of the elongated plate (62). A tension rod (64) is fixedly connected to the surface of the elongated plate (62). A third threaded rod (65) is fixedly connected to the end of the rotating rod (23) away from the motor (20). A sliding plate (66) is threaded onto the surface of the rod (65). A rubber plate (67) is slidably connected to the inner wall of the sliding plate (66). A square support plate (68) is fixedly connected to the end of the rubber plate (67). A protective spring rod (69) is fixedly connected to the surface of the square support plate (68). A slide rail (70) is fixedly connected to the top of the grinding box (1). A slider (71) is slidably connected to the inner wall of the slide rail (70). A limit retraction rod (73) is fixedly connected to the inner wall of the slide rail (70). A connecting rod (72) is fixedly connected to the surface of the slider (71).

8. The brake pad four-axis robot vision loading device according to claim 7, characterized in that: The bottom of the movable push plate (61) is in contact with the top of the conveyor belt (3), the end of the squeezing spring bar (63) away from the elongated plate (62) is fixedly connected to the surface of the sliding frame (60), the end of the tension bar (64) away from the elongated plate (62) is fixedly connected to the surface of the sliding frame (60), the bottom of the rubber plate (67) is in contact with the top of the conveyor belt (3), the end of the protective spring bar (69) away from the square support plate (68) is fixedly connected to the surface of the slide plate (66), the end of the limiting retracting rod (73) away from the slide rail (70) is fixedly connected to the surface of the slider (71), and the surface of the connecting rod (72) is fixedly connected to the inner wall of the slide plate (66).

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