Single-mechanical-arm multi-station collaborative operation device

Abstract

The embodiment of the invention provides a single-mechanical-arm multi-station collaborative operation device, and relates to the technical field of industrial automation. Comprising a mechanical arm connecting structure used for being connected with a robot mechanical arm and executing space six-degree-of-freedom motion along with the mechanical arm; each execution unit is connected with the mechanical arm connecting structure through a connecting arm and is radially distributed around the connecting central axis of the mechanical arm connecting structure; wherein at least one execution unit is integrated with a first pneumatic claw and a linear material pushing mechanism, the first pneumatic claw is used for executing the grabbing or releasing action, and the linear material pushing mechanism is used for pushing out grabbed materials; and at least another execution unit is integrated with a second pneumatic claw and a vacuum adsorption mechanism capable of axially stretching and retracting, the second pneumatic claw is used for executing the grabbing or releasing action, and the vacuum adsorption mechanism is used for adsorbing materials or carriers. Through mutual cooperation of the at least two different execution units, automatic operation of materials can be alternately achieved, and the industrial automatic production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation technology, and particularly to a single robotic arm multi-station collaborative operation device. Background Art

[0002] In existing industrial automation production, a turntable-type multi-station operation device or a multi-robotic arm collaborative device is mostly adopted.

[0003] The turntable-type multi-station operation device uses a rotating workbench to cooperate with a single robotic arm for operation. This device is only equipped with one robotic arm. During the rotation operation process, each station takes turns to operate, resulting in low efficiency; moreover, the device is limited by the size of the turntable, and the working radius is limited.

[0004] The multi-robotic arm collaborative device is equipped with a robotic arm at multiple stations, that is, multiple robotic arms operate simultaneously at multiple stations, and realize collaborative operation through a central control system. However, this device has high equipment costs, large floor space, and high system complexity.

[0005] Therefore, the traditional industrial automation production device still needs to be improved. Summary of the Invention

[0006] In view of the above problems, embodiments of the present invention are proposed to provide a single robotic arm multi-station collaborative operation device that overcomes the above problems or at least partially solves the above problems.

[0007] A single robotic arm multi-station collaborative operation device includes: A robotic arm connection structure for connecting with a robotic arm of a robot and performing spatial six-degree-of-freedom movement along with the robotic arm; At least two execution units, each execution unit is connected to the robotic arm connection structure through a connecting arm and is radially distributed around the central axis of connection of the robotic arm connection structure; Wherein, at least one of the execution units is integrated with a first air gripper and a linear pusher mechanism, the first air gripper is used to perform a grasping or releasing action, and the linear pusher mechanism is used to push out the grasped material; At least another one of the execution units is integrated with a second air gripper and an axially telescopic vacuum adsorption mechanism, the second air gripper is used to perform a grasping or releasing action, and the vacuum adsorption mechanism is used to adsorb materials or carriers.

[0008] Preferably, it further includes a vision detection mechanism arranged at the position of the central axis of connection of the robotic arm connection structure; the multiple execution units are circumferentially distributed along the vision detection mechanism.

[0009] Preferably, the robotic arm connection structure includes a mounting substrate and a connection flange, and the mounting substrate has a first mounting surface and a second mounting surface; The connecting flange is disposed on the first mounting surface for docking with the flange at the end of the robotic arm. The multiple execution units and the vision detection mechanism are both disposed on the second mounting surface. Among them, the vision detection mechanism is coaxially opposite to the connecting flange.

[0010] Preferably, the vision detection mechanism includes a connecting frame, an annular supplementary light source, and an industrial camera. One end of the connecting frame is connected to the mounting substrate. The annular supplementary light source is connected to the other end of the connecting frame. The industrial camera is mounted on the connecting frame, and the image acquisition center of the industrial camera coincides with the geometric center of the annular supplementary light source.

[0011] Preferably, the linear material pushing mechanism includes: A first fixing plate coaxially sleeved outside the first air gripper. Multiple material pushing cylinders, which are arranged around the circumference of the first air gripper. One end of the cylinder barrel of the material pushing cylinder is connected to the connecting arm, the other end of the cylinder barrel of the material pushing cylinder is fixed on the first fixing plate, and one end of its piston rod penetrates through the first fixing plate. A material pushing plate, the edge of which is connected to one end of the piston rods of the multiple material pushing cylinders. A first central through hole is formed in the center of the material pushing plate; the diameter of the first central through hole is larger than the outer diameter of the claw head of the first air gripper.

[0012] Preferably, the vacuum adsorption mechanism includes: A second fixing plate coaxially sleeved outside the second air gripper. Multiple material suction cylinders, which are arranged around the circumference of the second air gripper. One end of the cylinder barrel of the material suction cylinder is connected to the connecting arm, the other end of the cylinder barrel of the material suction cylinder is fixed on the second fixing plate, and one end of its piston rod penetrates through the second fixing plate. A mounting plate coaxially sleeved outside the second air gripper. The edge of the mounting plate is connected to one end of the piston rods of the multiple material suction cylinders. A second central through hole is formed in the center of the mounting plate; the diameter of the second central through hole is larger than the maximum outer diameter of the second air gripper. Multiple vacuum suction cups are fixedly arranged on the mounting plate at intervals.

[0013] Preferably, both the first fixing plate and the second fixing plate are annular, and multiple first connecting ears extend radially along their edges. The cylinder barrel of the material pushing cylinder / suction cylinder is connected to the first connecting ear through a locking member.

[0014] Preferably, the pushing plate is annular, and a plurality of second connecting ears extend radially along its edge. The second connecting ears are Z-shaped and bent towards the first fixing plate. The piston rod of the pushing cylinder is connected to the second connecting ear through a locking member.

[0015] Preferably, the mounting plate is annular, and a plurality of third connecting ears extend radially along its edge. The vacuum suction cup is connected to the third connecting ear through a locking member. Moreover, a fourth connecting ear axially misaligned with the third connecting ear is provided at the edge of the mounting plate. One end of the piston rod of the material suction cylinder is connected to the fourth connecting ear through a locking member.

[0016] Preferably, a photoelectric induction switch is provided on the first fixing plate and the second fixing plate.

[0017] The present application specifically includes the following advantages: In the embodiment of the present application, by providing a robotic arm connection structure, a plurality of execution units are connected to the robotic arm connection structure, and the robotic arm connection structure is used to connect to the robotic arm of a robot, enabling the device to perform spatial six-degree-of-freedom motion along with the robotic arm. Furthermore, multiple execution units can rotate or move along with the robotic arm to achieve multi-station alternating operation. Moreover, the multiple execution units are radially distributed around the connection central axis of the robotic arm connection structure, such that each execution unit does not interfere with each other during alternating operation. At least one execution unit integrates a first air gripper and a linear pushing mechanism. The first air gripper is used to perform grasping or releasing actions, that is, it can grasp or release materials. The linear pushing mechanism is used to push the grasped materials, that is, it can push the grasped materials to a specified position for processing and other operations. At least one execution unit integrates a second air gripper and an axially telescopic vacuum adsorption mechanism. The second air gripper is used to perform grasping or releasing actions, that is, it can grasp or release materials. The vacuum adsorption mechanism is used to adsorb materials or carriers, that is, it can adsorb materials and move them to a specified position, or move the carrier loaded with materials to a specified position to achieve the transfer of materials or carriers. Through the cooperation of at least two different execution units, operations such as processing, transferring, and packaging of materials can be alternately achieved, improving the industrial automation production efficiency. Moreover, the integration degree is high, and multiple functions can be realized by one device. The structure is compact, the volume is small, and the cost is relatively low. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the present application, the drawings required for the description of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a schematic diagram of the overall structure of the single robotic arm multi-station collaborative operation device of the present invention; Figure 2 It is a schematic structural diagram of one of the execution units of the present invention; Figure 3 It is a schematic structural diagram of another execution unit of the present invention; Figure 4 It is a schematic diagram of the state when the device of the present invention takes pictures and recognizes; Figure 5 It is a schematic diagram of the state when different execution units of the device of the present invention simultaneously take semi-finished parts and finished parts; Figure 6 It is a schematic diagram of the state when the device of the present invention places finished parts; Reference numerals: 1, robotic arm connection structure; 2, connecting arm; 21, irregular connecting block; 22, claw-shaped connecting block; 3, first air gripper; 4, linear feeding mechanism; 41, first fixing plate; 411, first connecting ear; 42, feeding cylinder; 43, feeding plate; 431, second connecting ear; 5, second air gripper; 6, vacuum adsorption mechanism; 61, second fixing plate; 62, suction cylinder; 63, mounting plate; 631, third connecting ear; 632, fourth connecting ear; 64, vacuum suction cup; 7, vision detection mechanism; 71, connecting frame; 72, annular supplementary light source; 73, industrial camera; 8, photoelectric induction switch; 9, tray; 0, material. Detailed implementation manners

[0020] To make the above objects, features and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific implementation manners. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application. Referring to Figures 1-6 , a schematic structural diagram of a single robotic arm multi-station collaborative operation device of the present invention is shown, which specifically may include: A robotic arm connection structure 1, used to connect with a robotic arm of a robot and perform six-degree-of-freedom spatial movement along with the robotic arm; At least two execution units, each execution unit is connected to the robotic arm connection structure 1 through a connecting arm 2 and is radially distributed around the connection central axis of the robotic arm connection structure 1; Among them, at least one execution unit integrates a first air gripper 3 and a linear feeding mechanism 4. The first air gripper 3 is used to perform grasping or releasing actions, and the linear feeding mechanism 4 is used to push out the grasped material 0; At least another execution unit integrates a second air gripper 5 and an axially telescopic vacuum adsorption mechanism 6. The second air gripper 5 is used to perform grasping or releasing actions, and the vacuum adsorption mechanism 6 is used to adsorb the material 0 or the carrier.

[0021] In an embodiment of the present application, by providing a robotic arm connection structure 1, a plurality of execution units are connected to the robotic arm connection structure 1, and the robotic arm connection structure 1 is used to connect to the robotic arm of a robot, enabling the device to perform spatial six-degree-of-freedom motion along with the robotic arm, and further enabling the plurality of execution units to rotate or move along with the robotic arm to achieve multi-station alternating operations; and the plurality of execution units are radially distributed around the central axis of connection of the robotic arm connection structure 1, such that the operations of each execution unit do not affect each other during alternating operations; wherein at least one execution unit is integrated with a first gripper 3 and a linear feeding mechanism 4, the first gripper 3 is used to perform grasping or releasing actions, that is, it can grasp or release the material 0, and the linear feeding mechanism 4 is used to push out the grasped material 0, that is, it can push the grasped material 0 to a designated position for operations such as processing; at least one execution unit is integrated with a second gripper 5 and an axially telescopic vacuum adsorption mechanism 6, the second gripper 5 is used to perform grasping or releasing actions, that is, it can grasp or release the material 0, and the vacuum adsorption mechanism 6 is used to adsorb the material 0 or the carrier, that is, it can adsorb the material 0 and move it to a designated position, or move the carrier loaded with the material 0 to a designated position to achieve the transfer of the material 0 or the carrier; by the cooperation of at least two different execution units, operations such as processing, transfer, and packaging of the material 0 can be alternately achieved, improving the industrial automation production efficiency; and it has a high integration level, with one device achieving multiple functions; it has a compact structure, a small volume, and a relatively low cost.

[0022] Next, a single robotic arm multi-station collaborative operation device in this exemplary embodiment will be further described.

[0023] In an embodiment of the present application, referring to Figure 1 , the above-mentioned robotic arm connection structure 1 includes a mounting substrate and a connection flange. The mounting substrate has opposite first and second mounting surfaces; the connection flange is provided on the first mounting surface and is used to dock with the flange at the end of the robotic arm to achieve the connection of the device to the robotic arm of the robot. Each execution unit is connected to the second mounting surface through a connecting arm 2 and is radially distributed around the central axis of connection of the robotic arm connection structure 1. The above-mentioned central axis of connection is the central axis of the connection flange. By radially distributing the plurality of execution units along this central axis, when the robot drives the device to rotate, the working positions of the plurality of execution units are at a relatively large linear distance, such that the operations between the plurality of execution units do not affect each other, and thus the operations can be carried out efficiently and quickly.

[0024] Among them, at least one execution unit is integrated with a first gripper 3 and a linear feeding mechanism 4. The first gripper 3 is used to perform grasping or releasing actions and can achieve the picking and placing of the material 0; the linear feeding mechanism 4 is used to push out the grasped material 0 and can push the grasped material 0 to a designated position, such as pushing it onto a positioning shaft for processing, etc.

[0025] At least one other execution unit is integrated with a second air gripper 5 and an axially telescopic vacuum adsorption mechanism 6. The second air gripper 5 is used to perform grasping or releasing actions, and can realize the picking and placing of the material 0. The vacuum adsorption mechanism 6 is used to adsorb the material 0 or the carrier, and can adsorb and move the material 0, or adsorb the carrier loaded with the material 0, such as the tray 9, and move it to a specified position for loading the material 0.

[0026] In one embodiment, when used for the operation of manufacturing the rod-shaped material 0, the first air gripper 3 and the linear feeding mechanism 4 can be used to grasp the semi-finished rod-shaped product and push it out to the positioning shaft for processing into a finished product. At the same time, the second air gripper 5 and the vacuum adsorption mechanism 6 can grasp the finished rod-shaped product, place it on the tray 9, and adsorb the empty tray 9 to a specified position for reloading the finished product. It should be noted that the rod-shaped part is a key component in the automotive steering system, which has a direct impact on the handling stability, driving safety and tire service life of the vehicle; among them, the end of the rod-shaped part has a through hole for the air gripper to grasp. The above-mentioned first air gripper 3 and second air gripper 5 are one of the categories of manipulators in the prior art, which use a cylinder driver to realize the clamping function, and the clamping end has a clamping structure with two to five fingers. In this embodiment, preferably three claws are used to be suitable for clamping the rod-shaped part.

[0027] As an example, the device further includes a vision detection mechanism 7, which is arranged on the second mounting surface; a plurality of execution units are circumferentially distributed along the vision detection mechanism 7, wherein the vision detection mechanism 7 is coaxially opposite to the connecting flange. By arranging the vision detection mechanism 7 at the center of a plurality of execution units, the positioning of the material 0 and the anti-error identification can be carried out by taking pictures, so as to realize the precise positioning of the material 0 or the carrier.

[0028] During a specific operation, first, the vision detection mechanism 7 takes pictures and identifies the semi-finished rod-shaped part to realize positioning and part anti-error, and avoid the mixing of finished products, such as Figure 4 ; secondly, the first air gripper 3 grasps the semi-finished part on the tray 9, and at the same time the processing equipment pushes the processed finished part to the second air gripper 5 to clamp it, such as Figure 5 ; the robot controls the robotic arm to rotate so that the first air gripper 3 is opposite to the processing equipment. The first air gripper 3 releases the semi-finished part, and the linear feeding mechanism 4 pushes it out to the equipment positioning shaft for processing. At the same time, the second air gripper 5 places the finished part into the tray 9, such as Figure 6 . When a tray 9 is completed, the vision detection mechanism 7 takes pictures and identifies, and the vacuum adsorption mechanism 6 adsorbs the empty tray 9 and stacks it above the tray 9 installed with the finished parts, and so on in a cycle until the operation is completed.

[0029] Further, the above-mentioned visual inspection mechanism 7 includes a connecting frame 71, an annular supplementary light source 72, and an industrial camera 73. One end of the connecting frame 71 is connected to the mounting substrate; the annular supplementary light source 72 is connected to the other end of the connecting frame 71; the industrial camera 73 is installed on the connecting frame 71, and the image acquisition center of the industrial camera 73 coincides with the geometric center of the annular supplementary light source 72. Specifically, the connecting frame 71 can be composed of two hollow plate bodies, so that the industrial camera 73 can be installed between the two hollow plate bodies, so as to be coaxial with the annular supplementary light source 72.

[0030] As an example, referring to Figure 2 , the above-mentioned linear feeding mechanism 4 includes a first fixing plate 41, a plurality of feeding cylinders 42, and a feeding plate 43. The first fixing plate 41 is coaxially sleeved outside the first air gripper 3, that is, a through hole is provided in the center of the first fixing plate 41, and the diameter of the through hole is larger than the maximum outer diameter of the first air gripper 3, without interference therewith. A plurality of feeding cylinders 42 are arranged around the circumference of the first air gripper 3, and one end of the cylinder barrel of the feeding cylinder 42 is connected to the connecting arm 2, the other end of the cylinder barrel of the feeding cylinder 42 is fixed to the first fixing plate 41, and one end of its piston rod penetrates through the first fixing plate 41; that is, the first fixing plate 41 is used to support and fix the plurality of feeding cylinders 42, so that they are circumferentially distributed around the first air gripper 3. The edge of the feeding plate 43 is connected to one end of the piston rods of the plurality of feeding cylinders 42, and a first central through hole is provided in the center of the feeding plate 43; the diameter of the first central through hole is larger than the outer diameter of the claw head of the first air gripper 3; that is, the plurality of feeding cylinders 42 can drive the feeding plate 43 to move axially along the first air gripper 3, and the first central through hole it has can axially move outside the claw head to realize the pushing out of the material 0 without affecting the clamping of the material 0.

[0031] As an example, referring to Figure 3, the above-mentioned vacuum adsorption mechanism 6 includes a second fixing plate 61, a plurality of material suction cylinders 62, a mounting plate 63, and a plurality of vacuum suction cups 64. The second fixing plate 61 is coaxially sleeved outside the second air gripper 5; that is, a through hole is also provided in the center of the second fixing plate 61, and the diameter of the through hole is larger than the outer diameter of the second air gripper 5, so that there is no interference between the second fixing plate 61 and the second air gripper 5. A plurality of material suction cylinders 62 are arranged in a ring around the circumference of the second air gripper 5, and one end of the cylinder barrel of the material suction cylinder 62 is connected to the connecting arm 2, and the other end of the cylinder barrel of the material suction cylinder 62 is fixed to the second fixing plate 61, and one end of its piston rod penetrates through the second fixing plate 61; that is, the second fixing plate 61 is used to support and fix the plurality of material suction cylinders 62 so that they are circumferentially distributed around the circumference of the second air gripper 5. The mounting plate 63 is coaxially sleeved outside the second air gripper 5, and the edge of the mounting plate 63 is connected to one end of the piston rod of the plurality of material suction cylinders 62. A second central through hole is provided in the center of the mounting plate 63; the diameter of the second central through hole is larger than the maximum outer diameter of the second air gripper 5. A plurality of vacuum suction cups 64 are fixedly arranged on the mounting plate 63 at intervals, and the plurality of vacuum suction cups 64 are connected to a vacuum generator and are used for vacuum adsorbing the material 0 or the carrier. Through the plurality of material suction cylinders 62, the mounting plate 63 can be driven to move axially along the second air gripper 5, and then drive the plurality of vacuum suction cups 64 to move synchronously, so that they contact the material 0 or the carrier to achieve adsorption; and the second central through hole it has can axially move outside the second air gripper 5 so that it does not interfere with the clamping action of the second air gripper 5.

[0032] Further, both the above-mentioned first fixing plate 41 and the second fixing plate 61 are annular, and a plurality of first connecting ears 411 extend radially along their edges. The cylinder barrel of the pushing cylinder 42 / the material suction cylinder 62 is connected to the first connecting ears 411 through a locking member. By providing the radially extending first connecting ears 411, the area of the plate is reduced and the structural compactness is improved. The above-mentioned locking member can be structures such as gaskets and locking nuts to achieve stable connection of the cylinder barrel.

[0033] Further, the above-mentioned pushing plate 43 is annular, and a plurality of second connecting ears 431 extend radially along its edge. The second connecting ears 431 are in a Z shape bent toward the first fixing plate 41; the piston rod of the pushing cylinder 42 is connected to the second connecting ears 431 through a locking member. In this way, it is possible to avoid the limited pushing distance of the pushing plate 43 caused by the limited length of the piston rod, improve the structural compactness, and at the same time enable the pushing plate 43 to push the material 0 to move a certain distance. The above-mentioned locking member can also be structures such as gaskets and locking nuts to achieve stable connection between the piston rod and the pushing plate 43.

[0034] Furthermore, the above-mentioned mounting plate 63 is annular, and a plurality of third connecting lugs 631 extend radially along its edge; the vacuum suction cup 64 is connected to the third connecting lug 631 through a locking member; and a fourth connecting lug 632 axially offset from the third connecting lug 631 is further provided at the edge of the mounting plate 63; one end of the piston rod of the material suction cylinder 62 is connected to the fourth connecting lug 632 through a locking member. Through the third connecting lug 631 and the fourth connecting lug 632 which are horizontally offset and axially offset, the offset setting of the material suction cylinder 62 and the vacuum suction cup 64 can be realized, and the mutual adaptation between their lengths can be achieved. The above-mentioned locking member can also be structures such as gaskets and locking nuts to realize the stable connection between the material suction cylinder 62, the vacuum suction cup 64 and the mounting plate 63.

[0035] As an example, the above-mentioned connecting arm 2 includes an irregular connecting block 21 and a claw-shaped connecting block 22. The irregular connecting block 21 is connected to the mounting substrate, and the irregular connecting block 21 forms a connecting end face inclined outward for connecting the first gripper 3 / the second gripper 5; specifically, the above-mentioned irregular connecting block 21 can be integrally formed by two plate bodies with a certain included angle, one of the plate bodies is connected to the mounting substrate, and the other plate body is connected to the first gripper 3 or the second gripper 5, so that the first gripper 3 and the second gripper 5 can be arranged radially. The claw-shaped connecting block 22 is connected to the first gripper 3 / the second gripper 5 for connecting the linear feeding mechanism 4 / the vacuum adsorption mechanism 6. Specifically, the above-mentioned claw-shaped connecting block 22 has a plurality of connecting plate bodies extending circumferentially, and it can be connected to a plurality of feeding cylinders 42 and a plurality of material suction cylinders 62, etc., so that the feeding cylinders 42 and the material suction cylinders 62 can be distributed on the circumferential sides of the first gripper 3 and the second gripper 5.

[0036] As an example, the above-mentioned first fixing plate 41 and second fixing plate 61 are provided with a photoelectric induction switch 8. Specifically, a photoelectric induction switch 8 can be arranged on the outside of the first fixing plate 41 and the second fixing plate 61 through a connecting plate, which faces the material 0 below and is used to detect whether the material 0 is always present during the movement process after being clamped, so as to prevent accidental dropping and further affect the processing error.

[0037] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0038] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the said element.

[0039] The above has introduced in detail a single robotic arm multi-station collaborative operation device provided by the present invention. Specific examples are used in this text to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A single robotic arm multi-station collaborative operation device, characterized in that, Comprising: A robotic arm connection structure for connecting with a robotic arm of a robot and performing six-degree-of-freedom spatial movement along with the robotic arm; At least two execution units, each execution unit being connected to the robotic arm connection structure through a connecting arm and being radially distributed around the central axis of connection of the robotic arm connection structure; Wherein, at least one of the execution units is integrated with a first air gripper and a linear material pushing mechanism, the first air gripper being used to perform grasping or releasing actions, and the linear material pushing mechanism being used to push out the grasped material; At least another one of the execution units is integrated with a second air gripper and an axially telescopic vacuum adsorption mechanism, the second air gripper being used to perform grasping or releasing actions, and the vacuum adsorption mechanism being used to adsorb materials or carriers.

2. The single robotic arm multi-station collaborative operation device according to claim 1, characterized in that, It further includes a vision detection mechanism arranged at the position of the central axis of connection of the robotic arm connection structure; the multiple execution units are circumferentially distributed along the vision detection mechanism.

3. The single robotic arm multi-station collaborative operation device according to claim 2, wherein, The robotic arm connection structure includes a mounting substrate and a connection flange, the mounting substrate having a first mounting surface and a second mounting surface; The connection flange is arranged on the first mounting surface for docking with the end flange of the robotic arm; The multiple execution units and the vision detection mechanism are both arranged on the second mounting surface, wherein the vision detection mechanism is coaxially opposite to the connection flange.

4. The single robotic arm multi-station collaborative operation device according to claim 3, characterized in that, The vision detection mechanism includes a connection frame, an annular supplementary light source, and an industrial camera, One end of the connection frame is connected to the mounting substrate; The annular supplementary light source is connected to the other end of the connection frame; The industrial camera is installed on the connection frame, and the image acquisition center of the industrial camera coincides with the geometric center of the annular supplementary light source.

5. The single robotic arm multi-station collaborative operation device according to claim 1, characterized in that, The linear material pushing mechanism includes: A first fixing plate coaxially sleeved around the periphery of the first air gripper; Multiple material pushing cylinders, the multiple material pushing cylinders being arranged in a ring around the periphery of the first air gripper, and one end of the cylinder barrel of the material pushing cylinder is connected to the connecting arm, the other end of the cylinder barrel of the material pushing cylinder is fixed on the first fixing plate, and one end of its piston rod penetrates through the first fixing plate; A material pushing plate, the edge of the material pushing plate is connected to one end of the piston rods of the multiple material pushing cylinders, a first central through hole is opened in the center of the material pushing plate; the diameter of the first central through hole is larger than the outer diameter of the claw head of the first air gripper.

6. The single robotic arm multi-station collaborative operation device according to claim 5, characterized in that, The vacuum adsorption mechanism includes: A second fixing plate coaxially sleeved around the periphery of the second air gripper; Multiple material suction cylinders, the multiple material suction cylinders being arranged in a ring around the periphery of the second air gripper, and one end of the cylinder barrel of the material suction cylinder is connected to the connecting arm, the other end of the cylinder barrel of the material suction cylinder is fixed on the second fixing plate, and one end of its piston rod penetrates through the second fixing plate; A mounting plate coaxially sleeved around the periphery of the second air gripper, the edge of the mounting plate is connected to one end of the piston rods of the multiple material suction cylinders, a second central through hole is opened in the center of the mounting plate; the diameter of the second central through hole is larger than the maximum outer diameter of the second air gripper; Multiple vacuum suction cups, the multiple vacuum suction cups are fixedly arranged on the mounting plate at intervals.

7. The single robotic arm multi-station collaborative operation device according to claim 6, wherein Both the first fixed plate and the second fixed plate are annular, and a plurality of first connecting lugs extend radially along their edges. The cylinder barrel of the pushing cylinder / suction cylinder is connected to the first connecting lugs through locking members.

8. The single robotic arm multi-station collaborative operation device according to claim 5, wherein The pushing plate is annular, and a plurality of second connecting lugs extend radially along its edge. The second connecting lugs are Z-shaped and bent towards the first fixed plate; the piston rod of the pushing cylinder is connected to the second connecting lugs through locking members.

9. The multi-station collaborative operation device of a single robotic arm according to claim 6, characterized in that, The mounting plate is annular, and a plurality of third connecting lugs extend radially along its edge; the vacuum suction cup is connected to the third connecting lugs through locking members; and a fourth connecting lug axially offset from the third connecting lugs is further provided at the edge of the mounting plate; one end of the piston rod of the suction cylinder is connected to the fourth connecting lug through a locking member.

10. The single robotic arm multi-station collaborative operation device according to claim 6, characterized in that, The first fixed plate and the second fixed plate are provided with photoelectric induction switches.

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