A single robotic arm multi-station collaborative operation device

Abstract

In an embodiment of the present application, a single-arm multi-station collaborative operation device is provided, which relates to the field of industrial automation technology; it includes: a robot arm connection structure for connecting to a robot robot arm and performing six-degree-of-freedom spatial motion with the robot arm; at least two execution units, each of which is connected to the robot arm connection structure through a connecting arm and is radially distributed around the connection center axis of the robot arm connection structure; wherein at least one execution unit 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 execution unit is integrated with a second air gripper and an axially retractable 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. By cooperating with each other, at least two different execution units can alternately realize automated material operations, thereby improving industrial automation production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and in particular to a single-manipulator multi-station collaborative operation device. Background Art

[0002] Existing industrial automation production mostly uses rotary table multi-station operation devices or multi-robotic arm collaborative devices.

[0003] The turntable-type multi-station operation device uses a rotating worktable in conjunction with a single robotic arm. The device is only equipped with one robotic arm. During the rotation operation, each station operates in turn, which is inefficient. In addition, the device is limited by the size of the turntable, and the working radius is limited.

[0004] The multi-robot collaborative device is to configure a robot arm at multiple workstations, that is, multiple robots work at multiple workstations simultaneously, and realize collaborative operation through a central control system. However, the equipment cost of this device is high, the floor space is large, and the system complexity is high.

[0005] Therefore, traditional industrial automation production equipment 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-robot-arm multi-station collaborative operation device that overcomes the above problems or at least partially solves the above problems.

[0007] A single-manipulator multi-station collaborative operation device, comprising:

[0008] A manipulator connecting structure, used to connect to the robot manipulator and perform six-degree-of-freedom motion in space with the manipulator;

[0009] At least two execution units, each execution unit is connected to the robot arm connection structure through a connecting arm and is radially distributed around the connection center axis of the robot arm connection structure;

[0010] At least one of the execution units is integrated with a first air gripper and a linear pushing mechanism, wherein the first air gripper is used to perform a grasping or releasing action, and the linear pushing mechanism is used to push out the grasped material;

[0011] At least another of the execution units is integrated with a second air gripper and an axially retractable vacuum adsorption mechanism, wherein 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.

[0012] Preferably, it further includes a visual detection mechanism, which is arranged at the connection center axis position of the robot arm connection structure; and the multiple execution units are distributed circumferentially along the visual detection mechanism.

[0013] Preferably, the robotic arm connection structure comprises a mounting base and a connection flange, wherein the mounting base has a first mounting surface and a second mounting surface;

[0014] The connecting flange is provided on the first mounting surface and is used for docking with the end flange of the robotic arm;

[0015] The plurality of execution units and the visual detection mechanism are both arranged on the second mounting surface, wherein the visual detection mechanism is coaxially opposed to the connecting flange.

[0016] Preferably, the visual detection mechanism includes a connecting frame, a ring-shaped fill light source and an industrial camera.

[0017] One end of the connecting frame is connected to the mounting base plate;

[0018] The annular fill light source is connected to the other end of the connecting frame;

[0019] The industrial camera is installed on the connecting frame, and the image acquisition center of the industrial camera coincides with the geometric center of the annular fill light source.

[0020] Preferably, the linear pushing mechanism includes:

[0021] a first fixing plate, coaxially sleeved on the periphery of the first air gripper;

[0022] A plurality of pusher cylinders, wherein the plurality of pusher cylinders are arranged in a ring around the first air claw, and one end of the cylinder barrel of the pusher cylinder is connected to the connecting arm, the other end of the cylinder barrel of the pusher cylinder is fixed to the first fixed plate, and one end of the piston rod thereof passes through the first fixed plate;

[0023] A push plate, the edge of which is connected to one end of the piston rods of the multiple push cylinders, and a first central through hole is opened in the center of the push plate; the diameter of the first central through hole is larger than the outer diameter of the claw head of the first air claw.

[0024] Preferably, the vacuum adsorption mechanism includes:

[0025] a second fixing plate, coaxially sleeved on the outer periphery of the second air gripper;

[0026] A plurality of suction cylinders, wherein the plurality of suction cylinders are arranged around the second air claw, and one end of the cylinder barrel of the suction cylinder is connected to the connecting arm, the other end of the cylinder barrel of the suction cylinder is fixed to the second fixed plate, and one end of the piston rod thereof passes through the second fixed plate;

[0027] a mounting plate coaxially sleeved around the outer periphery of the second air gripper, an edge of the mounting plate being connected to one end of the piston rods of the plurality of suction cylinders, a second central through hole being defined in the center of the mounting plate; a diameter of the second central through hole being larger than a maximum outer diameter of the second air gripper;

[0028] A plurality of vacuum suction cups are arranged at intervals and fixed on the mounting plate.

[0029] Preferably, the first fixing plate and the second fixing plate are both annular, and have a plurality of first connecting ears extending radially from their edges, and the cylinder barrels of the pushing cylinder / suction cylinder are connected to the first connecting ears via locking members.

[0030] Preferably, the push plate is annular, and a plurality of second connecting ears extend radially from its edge, and the second connecting ears are in a Z shape bent toward the first fixed plate; the piston rod of the push cylinder is connected to the second connecting ears through a locking member.

[0031] Preferably, the mounting plate is annular, and a plurality of third connecting ears extend radially from its edge; the vacuum suction cup is connected to the third connecting ear through a locking piece; and the edge of the mounting plate is also provided with a fourth connecting ear axially offset from the third connecting ear; one end of the piston rod of the suction cylinder is connected to the fourth connecting ear through a locking piece.

[0032] Preferably, the first fixing plate and the second fixing plate are provided with photoelectric sensor switches.

[0033] This application specifically includes the following advantages:

[0034] In an embodiment of the present application, a robotic arm connection structure is provided, and 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 the robot, so that the device can perform six-degree-of-freedom spatial motion with the robotic arm, thereby enabling a plurality of execution units to rotate or move with the robotic arm, thereby realizing multi-station alternating operation; and a plurality of execution units are radially distributed around the connection center axis of the robotic arm connection structure, so that each execution unit does not affect each other when alternating operation; at least one of the execution units is integrated with a first air gripper and a linear pushing mechanism, the first air gripper is used to perform a grasping or releasing action, that is, it can grasp or release the material, and the linear pushing mechanism is used to push out The grasped material can be pushed to the designated position for processing and other operations; at least one execution unit is integrated with a second air gripper and an axially retractable vacuum adsorption mechanism, the second air gripper is used to perform grasping or releasing actions, that is, it can grasp or release materials, and the vacuum adsorption mechanism is used to adsorb materials or carriers, that is, it can adsorb materials and move them to the designated position, or move the carrier containing materials to the designated position to realize the transfer of materials or carriers; through the cooperation of at least two different execution units, the processing, transfer, packaging and other operations of materials can be alternately realized, thereby improving the efficiency of industrial automation production; and the integration is high, and one device realizes multiple functions; the structure is compact, the volume is small, and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for the description of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 This is a schematic diagram of the overall structure of a single-manipulator multi-station collaborative operation device of the present invention;

[0037] Figure 2 It is a schematic structural diagram of one of the execution units of the present invention;

[0038] Figure 3 is a structural diagram of another execution unit of the present invention;

[0039] Figure 4 This is a schematic diagram of the state of the device of the present invention when taking a photo for recognition;

[0040] Figure 5 This is a schematic diagram of the state in which different execution units of the device of the present invention simultaneously take semi-finished parts and finished parts;

[0041] Figure 6 This is a schematic diagram of the state of the device of the present invention when placing finished parts;

[0042] Figure numerals: 1. Robot arm connection structure; 2. Connecting arm; 21. Irregular connecting block; 22. Claw-shaped connecting block; 3. First air gripper; 4. Linear pushing mechanism; 41. First fixed plate; 411. First connecting ear; 42. Pushing cylinder; 43. Pushing plate; 431. Second connecting ear; 5. Second air gripper; 6. Vacuum adsorption mechanism; 61. Second fixed plate; 62. Suction cylinder; 63. Mounting plate; 631. Third connecting ear; 632. Fourth connecting ear; 64. Vacuum suction cup; 7. Visual inspection mechanism; 71. Connecting frame; 72. Ring fill light source; 73. Industrial camera; 8. Photoelectric sensor switch; 9. Pallet; 0. Material. DETAILED DESCRIPTION

[0043] To make the objectives, features, and advantages of this application more readily apparent, the present application is further described below in conjunction with the accompanying drawings and specific embodiments. It is apparent that the embodiments described are only a portion of the embodiments of this application, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments in this application without inventive effort are also within the scope of protection of this application.

[0044] Reference Figures 1-6 , shows a schematic structural diagram of a single-manipulator multi-station collaborative operation device of the present invention, which may specifically include:

[0045] The manipulator arm connection structure 1 is used to connect to the robot manipulator arm and perform six-degree-of-freedom spatial motion with the manipulator arm;

[0046] At least two execution units, each execution unit is connected to the robot arm connection structure 1 through a connection arm 2 and is radially distributed around the connection center axis of the robot arm connection structure 1;

[0047] Among them, at least one execution unit is integrated with a first air gripper 3 and a linear pushing mechanism 4, the first air gripper 3 is used to perform a grasping or releasing action, and the linear pushing mechanism 4 is used to push out the grasped material 0;

[0048] At least one other execution unit is integrated with a second air gripper 5 and an axially retractable vacuum adsorption mechanism 6 , wherein the second air gripper 5 is used to perform a gripping or releasing action, and the vacuum adsorption mechanism 6 is used to adsorb the material 0 or the carrier.

[0049] In an embodiment of the present application, a robotic arm connection structure 1 is provided, and 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 the robot, so that the device can perform six-degree-of-freedom spatial motion with the robotic arm, thereby realizing the rotation or movement of a plurality of execution units with the robotic arm, and realizing multi-station alternating operation; and a plurality of execution units are radially distributed around the connection center axis of the robotic arm connection structure 1, so that each execution unit does not affect each other when alternating operation; at least one of the execution units is integrated with a first air gripper 3 and a linear pushing mechanism 4, the first air gripper 3 is used to perform a grasping or releasing action, that is, it can grasp or release material 0, and the linear pushing mechanism 4 is used to push out the grasped material. The material 0 can be grasped, that is, the grasped material 0 can be pushed to the designated position for processing and other operations; at least one execution unit is integrated with a second air gripper 5 and an axially retractable vacuum adsorption mechanism 6, the second air gripper 5 is used to perform a grasping or releasing action, 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 the designated position, or move the carrier containing the material 0 to the designated position, so as to realize the transfer of the material 0 or the carrier; through the cooperation of at least two different execution units, the processing, transfer, packaging and other operations of the material 0 can be alternately realized, thereby improving the efficiency of industrial automation production; and the integration is high, and one device realizes multiple functions; the structure is compact, the volume is small, and the cost is low.

[0050] Next, a single-manipulator multi-station collaborative operation device in this exemplary embodiment will be further described.

[0051] In the examples of this application, refer to Figure 1 The robotic arm connection structure 1 includes a mounting base and a connecting flange. The mounting base has a first mounting surface and a second mounting surface that are opposed to each other. The connecting flange is disposed on the first mounting surface and is used to dock with the flange at the end of the robotic arm to connect the device to the robotic arm. Each actuator is connected to the second mounting surface via a connecting arm 2 and is radially distributed around the central axis of the robotic arm connection structure 1. The central axis is the central axis of the connecting flange. By radially distributing multiple actuators along this central axis, when the robot drives the device to rotate, the linear distance between the operating stations of the multiple actuators is relatively large, so that the operations of the multiple actuators do not affect each other, thereby enabling efficient and rapid operation.

[0052] Among them, at least one execution unit is integrated with a first air gripper 3 and a linear pushing mechanism 4. The first air gripper 3 is used to perform grasping or releasing actions, which can realize the picking and placing of material 0; the linear pushing mechanism 4 is used to push out the grasped material 0, and can push the grasped material 0 to a specified position, such as pushing it to a positioning axis for processing, etc.

[0053] At least another execution unit is integrated with a second air gripper 5 and an axially retractable vacuum adsorption mechanism 6. The second air gripper 5 is used to perform grasping or releasing actions, which can realize the taking and placing of material 0; the vacuum adsorption mechanism 6 is used to adsorb material 0 or a carrier, which can adsorb and move material 0, or adsorb a carrier loaded with material 0, such as a tray 9, and move it to a designated position to facilitate loading of material 0.

[0054] In one embodiment, when used for the braking rod material 0 operation, the first air gripper 3 and the linear pusher mechanism 4 can be used to grasp the braking rod semi-finished product and push it 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 braking rod finished product, place it on the pallet 9, and adsorb the empty pallet 9 to the designated position to reload the finished product. It should be noted that the braking rod is a key component in the automobile steering system. It has a direct impact on the automobile's handling stability, driving safety and tire service life. The end of the braking rod 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. They use a cylinder drive to achieve the clamping function. The clamping end has a two- to five-finger clamping structure. In this embodiment, three claws are preferably used to suit the braking rod clamping.

[0055] As an example, the device further includes a visual inspection mechanism 7, which is disposed on the second mounting surface; a plurality of execution units are distributed circumferentially along the visual inspection mechanism 7, wherein the visual inspection mechanism 7 is coaxially opposed to the connecting flange. By arranging the visual inspection mechanism 7 at the center of the plurality of execution units, the positioning of the material 0 and error-proofing identification can be performed by taking a picture, thereby achieving precise positioning of the material 0 or the carrier.

[0056] In a specific operation, first, the visual inspection mechanism 7 takes a photo to identify the semi-finished parts of the turning rod, so as to realize positioning and parts error prevention, avoid mixing of finished products, etc. Figure 4 Secondly, the semi-finished parts are grabbed on the tray 9 by the first air gripper 3, and the finished parts are pushed to the second air gripper 5 for clamping by the processing equipment. Figure 5 The robot controls the mechanical arm to rotate, so that the first air claw 3 is opposite to the processing equipment. The first air claw 3 releases the semi-finished part, and the linear pusher mechanism 4 pushes it to the equipment positioning axis for processing. At the same time, the second air claw 5 puts the finished part into the tray 9. Figure 6 When a pallet 9 is completed, the visual inspection mechanism 7 takes a photo for identification, and the vacuum adsorption mechanism 6 adsorbs the empty pallet 9 and stacks it on top of the pallet 9 with the finished parts installed, and this cycle repeats until the operation is completed.

[0057] Furthermore, the visual inspection mechanism 7 includes a connecting frame 71, an annular fill light source 72, and an industrial camera 73. One end of the connecting frame 71 is connected to the mounting base; the annular fill light source 72 is connected to the other end of the connecting frame 71; and the industrial camera 73 is mounted on the connecting frame 71, with the image acquisition center of the industrial camera 73 coinciding with the geometric center of the annular fill light source 72. Specifically, the connecting frame 71 may be composed of two hollow plates, so that the industrial camera 73 can be mounted between the two hollow plates, thereby being coaxial with the annular fill light source 72.

[0058] As an example, see Figure 2 The linear pusher mechanism 4 comprises a first fixed plate 41, multiple pusher cylinders 42, and a pusher plate 43. The first fixed plate 41 is coaxially sleeved around the periphery of the first air gripper 3. Specifically, a through-hole is provided in the center of the first fixed plate 41. The through-hole's diameter is larger than the maximum outer diameter of the first air gripper 3 and does not interfere with it. Multiple pusher cylinders 42 are arranged around the periphery of the first air gripper 3. One end of the cylinder barrel of each pusher cylinder 42 is connected to the connecting arm 2. The other end of the cylinder barrel of each pusher cylinder 42 is fixed to the first fixed plate 41, and one end of its piston rod extends through the first fixed plate 41. Specifically, the first fixed plate 41 is used to support and secure the multiple pusher cylinders 42, distributing them circumferentially around the periphery of the first air gripper 3. The edge of the push plate 43 is connected to one end of the piston rod of multiple push cylinders 42, and a first central through hole is opened in the center of the push plate 43; the diameter of the first central through hole is larger than the outer diameter of the claw head of the first air claw 3; that is, the multiple push cylinders 42 can drive the push plate 43 to move axially along the first air claw 3, and the first central through hole it has can move axially outside the claw head to realize the pushing out of material 0 without affecting the clamping of material 0.

[0059] As an example, see Figure 3The vacuum suction mechanism 6 comprises a second fixed plate 61, multiple suction cylinders 62, a mounting plate 63, and multiple vacuum cups 64. The second fixed plate 61 is coaxially sleeved around the periphery of the second air gripper 5. Specifically, a through-hole is also provided in the center of the second fixed plate 61, the diameter of which is larger than the outer diameter of the second air gripper 5, thereby preventing interference between the second fixed plate 61 and the second air gripper 5. Multiple suction cylinders 62 are arranged around the circumference of the second air gripper 5, with one end of the cylinder barrel of each suction cylinder 62 connected to the connecting arm 2 and the other end of the cylinder barrel of each suction cylinder 62 fixed to the second fixed plate 61. One end of the piston rod of each suction cylinder 62 extends through the second fixed plate 61. Specifically, the second fixed plate 61 supports and secures the multiple suction cylinders 62, distributing them circumferentially around the circumference of the second air gripper 5. A mounting plate 63 is coaxially mounted around the periphery of the second air gripper 5. The edge of the mounting plate 63 is connected to one end of the piston rods of multiple suction cylinders 62. A second central through-hole is defined in the center of the mounting plate 63; its diameter is greater than the maximum outer diameter of the second air gripper 5. Multiple vacuum suction cups 64 are fixed to the mounting plate 63 at intervals. These vacuum cups 64 are connected to a vacuum generator and are used to vacuum-absorb material 0 or a carrier. The multiple suction cylinders 62 drive the mounting plate 63 to move axially along the second air gripper 5, thereby driving the multiple vacuum suction cups 64 to move synchronously, bringing them into contact with the material 0 or carrier for suction. The second central through-hole allows for axial movement outside the second air gripper 5, preventing it from interfering with the gripping action of the second air gripper 5.

[0060] Furthermore, both the first and second fixing plates 41 and 61 are annular, with multiple first connecting lugs 411 extending radially along their edges. The cylinder barrels of the pusher cylinder 42 and the suction cylinder 62 are connected to the first connecting lugs 411 via locking members. The provision of radially extending first connecting lugs 411 reduces the plate area and improves the compactness of the structure. The locking members can be structures such as washers and lock nuts to ensure a stable connection between the cylinder barrels.

[0061] Furthermore, the pusher plate 43 is annular, with multiple second connecting lugs 431 extending radially along its edge. These lugs 431 are Z-shaped and bent toward the first fixed plate 41. The piston rod of the pusher cylinder 42 is connected to the second connecting lugs 431 via a locking member. This prevents the limited pusher plate 43's reach due to the limited length of the piston rod, improving the compactness of the structure while allowing the pusher plate 43 to push the material 0 a certain distance. The locking member can also be a washer, lock nut, or other structure to ensure a stable connection between the piston rod and the pusher plate 43.

[0062] Furthermore, the mounting plate 63 is annular, with multiple third connecting ears 631 extending radially from its edge. The vacuum suction cup 64 is connected to the third connecting ear 631 via a locking member. A fourth connecting ear 632 is also provided on the edge of the mounting plate 63, axially offset from the third connecting ear 631. One end of the piston rod of the suction cylinder 62 is connected to the fourth connecting ear 632 via a locking member. By horizontally and axially offsetting the third and fourth connecting ears 631, 632, the suction cylinder 62 and vacuum suction cup 64 can be offset and their lengths can be matched. The locking member can also be a gasket, lock nut, or other structure to achieve a stable connection between the suction cylinder 62, vacuum suction cup 64, and mounting plate 63.

[0063] As an example, the 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 base and forms an outwardly inclined connecting end surface for connecting to the first air gripper 3 / second air gripper 5. Specifically, the irregular connecting block 21 can be formed integrally from two plates at a predetermined angle, one of which is connected to the mounting base and the other to the first air gripper 3 or the second air gripper 5, allowing the first and second air grippers 3 and 5 to be arranged radially. The claw-shaped connecting block 22 is connected to the first air gripper 3 / second air gripper 5 and is used to connect to the linear pusher mechanism 4 / vacuum suction mechanism 6. Specifically, the claw-shaped connecting block 22 includes multiple circumferentially extending connecting plates that can be connected to multiple pusher cylinders 42 and multiple suction cylinders 62, allowing the pusher cylinders 42 and suction cylinders 62 to be distributed around the first and second air grippers 3 and 5.

[0064] As an example, the first fixing plate 41 and the second fixing plate 61 are provided with a photoelectric sensor switch 8. Specifically, a photoelectric sensor switch 8 can be provided on the outside of the first fixing plate 41 and the second fixing plate 61 through a connecting plate, facing the material 0 below, to detect whether the material 0 is always there during the movement process after clamping, to prevent accidental falling, thereby affecting processing errors.

[0065] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0066] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only 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 terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0067] The above is a detailed introduction to a single-robot-arm multi-station collaborative operation device provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A single robotic arm multi-station collaborative operation device, characterized in that: include: A manipulator connecting structure, used to connect to the robot manipulator and perform six-degree-of-freedom motion in space with the manipulator; At least two execution units, each execution unit is connected to the robot arm connection structure through a connecting arm and is radially distributed around the connection center axis of the robot arm connection structure; At least one of the execution units is integrated with a first air gripper and a linear pusher mechanism, wherein 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; the linear pusher mechanism includes: a first fixing plate, coaxially sleeved on the periphery of the first air gripper; A plurality of push cylinders are arranged around the first air claw, with one end of the cylinder barrel of each push cylinder connected to the connecting arm, the other end of the cylinder barrel of each push cylinder is fixed to the first fixed plate, and one end of the piston rod thereof passes through the first fixed plate; A pusher plate, the edge of which is connected to one end of the piston rods of the plurality of pusher cylinders, and a first central through hole is formed in the center of the pusher plate; the diameter of the first central through hole is larger than the outer diameter of the claw head of the first air claw; At least one of the execution units is integrated with a second air gripper and an axially retractable vacuum adsorption mechanism, wherein 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; the vacuum adsorption mechanism includes: a second fixing plate, coaxially sleeved on the outer periphery of the second air gripper; A plurality of suction cylinders are arranged around the second air claw, with one end of the cylinder barrel of the suction cylinder connected to the connecting arm, the other end of the cylinder barrel of the suction cylinder is fixed to the second fixed plate, and one end of the piston rod thereof passes through the second fixed plate; a mounting plate coaxially sleeved around the outer periphery of the second air gripper, an edge of the mounting plate being connected to one end of the piston rods of the plurality of suction cylinders, a second central through hole being defined in the center of the mounting plate; a diameter of the second central through hole being larger than a maximum outer diameter of the second air gripper; A plurality of vacuum suction cups, wherein the plurality of vacuum suction cups are interspersed and fixed on the mounting plate; It also includes a visual detection mechanism, which is arranged at the connection center axis position of the robot arm connection structure; the multiple execution units are distributed circumferentially along the visual detection mechanism; the visual detection mechanism includes a connecting frame, an annular fill light source and an industrial camera; One end of the connecting frame is connected to the mounting base plate; The annular fill light source is connected to the other end of the connecting frame; The industrial camera is installed on the connecting frame, and the image acquisition center of the industrial camera coincides with the geometric center of the annular fill light source.

2. The single-arm multi-station collaborative operation device according to claim 1, characterized in that: The robot arm connection structure includes a mounting base and a connection flange, wherein the mounting base has a first mounting surface and a second mounting surface; The connecting flange is provided on the first mounting surface and is used for docking with the end flange of the robotic arm; The plurality of execution units and the visual detection mechanism are both arranged on the second mounting surface, wherein the visual detection mechanism is coaxially opposed to the connecting flange.

3. The single-arm multi-station collaborative operation device according to claim 1, characterized in that: The first fixing plate and the second fixing plate are both annular, and have a plurality of first connecting ears extending radially from their edges. The cylinder barrels of the pushing cylinder / suction cylinder are connected to the first connecting ears via locking members.

4. The single-arm multi-station collaborative operation device according to claim 1, characterized in that: The push plate is annular, and a plurality of second connecting ears extend radially from its edge. The second connecting ears are in a Z shape bent toward the first fixed plate. The piston rod of the push cylinder is connected to the second connecting ears through a locking member.

5. The single-arm multi-station collaborative operation device according to claim 3, characterized in that: The mounting plate is annular, and a plurality of third connecting ears extend radially from its edge; the vacuum suction cup is connected to the third connecting ear through a locking piece; and a fourth connecting ear is also provided on the edge of the mounting plate, which is axially offset from the third connecting ear; one end of the piston rod of the suction cylinder is connected to the fourth connecting ear through a locking piece.

6. The single-arm multi-station collaborative operation device according to claim 3, characterized in that: The first fixing plate and the second fixing plate are provided with photoelectric sensor switches.

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