Operation accessory, multifunctional operation mechanical arm and impurity degree detection work station
By designing the working equipment for the pneumatic suction head and the tying head, combined with the multi-functional working robot arm, the problem of difficult mechanical fixtures to deal with impurity sheets and cross-contamination is solved, and the accuracy and reliability of impurity detection are achieved.
Patent Information
- Application Number
- CN202421834040.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-31
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-07-31
AI Technical Summary
Existing mechanical fixtures are difficult to effectively clamp and handle impurity sheets, and cross-contamination is prone to occur during loading and unloading, affecting the accuracy of detection.
A working equipment is designed, including a pneumatic suction head and a tie head. The pneumatic suction head is used to absorb impurity sheets and place them at the detection station. The tie head is used to tie the impurity sheets that have completed the detection and discharge the material.
Reliable loading and unloading of impurity sheets is achieved, cross-contamination is avoided, and the accuracy of impurity detection is ensured.
Smart Images
Figure CN222922460U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of sample detection, in particular to an operating attachment, a multi-functional operating robotic arm and an impurity degree detection work station. Background Art
[0002] Currently, when detecting the impurity degree of dairy products, a mechanical fixture is usually used to clamp an impurity degree sheet filled with dairy products to be detected, transfer the impurity degree sheet to a detection station, and after the impurity degree detection is completed, the mechanical fixture is used to clamp the impurity degree sheet for waste treatment.
[0003] However, it is found in actual operation that it is difficult for the mechanical fixture to effectively clamp the impurity degree sheet, and the impurity degree sheet cannot be stably placed on the detection station. When taking out the impurity degree sheet to be discarded, cross-contamination will occur in the mechanical fixture, affecting the accuracy of the impurity degree detection. Summary of the Utility Model
[0004] The utility model provides an operating attachment, a multi-functional operating robotic arm and an impurity degree detection work station, which are used to at least solve or improve the problem that the existing mechanical fixture is not convenient for loading and unloading the impurity degree sheet and there is cross-contamination during the loading and unloading process.
[0005] In a first aspect, the utility model provides an operating attachment, comprising: a body, a pneumatic suction head and a piercing head;
[0006] The body is used to connect with the robotic arm body in the impurity degree detection work station;
[0007] The pneumatic suction head and the piercing head are respectively arranged on the body; the pneumatic suction head is used to suck the impurity degree sheet to be detected to place the impurity degree sheet on the detection station; the piercing head is used to pierce the impurity degree sheet after the impurity degree detection to take out the impurity degree sheet from the detection station.
[0008] According to the operating attachment provided by the utility model, the body comprises a rotating seat and a clamping jaw;
[0009] The rotating seat is used to connect with the robotic arm body, the clamping jaw is connected with the rotating seat and is used to clamp an object; the pneumatic suction head and the piercing head are spaced apart from each other and are respectively arranged on the clamping jaw.
[0010] According to the operating attachment provided by the utility model, the pneumatic suction head and the piercing head are arranged on opposite sides of the clamping jaw and are arranged in a back-to-back manner with respect to the clamping jaw.
[0011] According to a working attachment provided by the present utility model, the clamping jaws include a cylinder and two jaw bodies; the two jaw bodies are respectively rotatably arranged on the cylinder and are connected to the telescopic end of the cylinder; a flexible contact layer is arranged on one side of the jaw body for contacting the target object.
[0012] According to a working attachment provided by the present utility model, the jaw body includes a first clamping section and a second clamping section;
[0013] The first clamping section and the second clamping section are connected, and one end of the first clamping section far from the second clamping section is connected to the cylinder;
[0014] Wherein, the volume of the target object clamped between the first clamping sections of the two clamping jaws is larger than the volume of the target object clamped between the second clamping sections of the two clamping jaws.
[0015] According to a working attachment provided by the present utility model, the pneumatic suction head includes a ventilation seat and a flexible suction cup;
[0016] The first end of the ventilation seat is connected to the main body, and the second end of the ventilation seat is connected to the flexible suction cup and is communicated with the flexible suction cup;
[0017] Wherein, the ventilation seat is configured to be communicated with a negative pressure device through a gas pipeline, and the flexible suction cup is used for adsorbing the impurity sheet.
[0018] According to a working attachment provided by the present utility model, it further includes: a fixing frame, the fixing frame is connected to the main body, and the fixing frame is used for fixing the gas pipeline.
[0019] According to a working attachment provided by the present utility model, the piercing head includes a telescopic driving member, a sleeve and a piercing needle;
[0020] The telescopic driving member is connected to the piercing needle, at least part of the piercing needle is arranged in the sleeve, and the telescopic driving member is used for driving the piercing needle to switch between a first state and a second state;
[0021] When the piercing needle is in the first state, the piercing needle exposes out of the sleeve to pierce the impurity sheet; when the piercing needle is in the second state, the piercing needle retracts into the sleeve to separate from the impurity sheet.
[0022] In a second aspect, the present utility model further provides a multi-functional working robotic arm, including: a robotic arm main body, a control module and the working attachment as described above;
[0023] The robotic arm body is connected to the body, and the control module is communicatively connected to the pneumatic suction head and the picking head respectively to control the working states of the pneumatic suction head and the picking head.
[0024] In a third aspect, the present utility model further provides an impurity degree detection station, which includes an impurity degree detector and the multifunctional operation robotic arm as described above. The impurity degree detector is used to detect the impurity degree of the dairy products in the impurity degree sheet.
[0025] The operation tool, the multifunctional operation robotic arm and the impurity degree detection station provided by the present utility model. The operation tool is provided with a pneumatic suction head and a picking head based on the body. Since the body is configured to be connected to the robotic arm body, when performing impurity degree detection, the pneumatic suction head can suck the impurity degree sheet, and the pneumatic suction head can stably place the impurity degree sheet on the detection station of the impurity degree detector under the drive of the robotic arm body. After the impurity degree detection is completed, the picking head can pick up the impurity degree sheet under the drive of the robotic arm body to take out the impurity degree sheet from the detection station.
[0026] Compared with mechanical jigs, based on the mutual cooperation of the pneumatic suction head and the picking head, the loading and unloading of the impurity degree sheet can be reliably performed. Since the loading and unloading operations of the impurity degree sheet are completed by different components, cross-contamination can be prevented during the loading and unloading process, which is beneficial to ensuring the accuracy of the impurity degree detection result of the sample. Description of the Drawings
[0027] In order to more clearly illustrate the technical solutions in the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0028] Figure 1 is one of the structural schematic diagrams of the operation tool provided by the present utility model;
[0029] Figure 2 is another structural schematic diagram of the operation tool provided by the present utility model;
[0030] Figure 3 is the structural schematic diagram of the claw body provided by the present utility model;
[0031] Figure 4 is the structural schematic diagram of the impurity degree detection station provided by the present utility model.
[0032] Reference Signs:
[0033] 1. Multifunctional operation robotic arm; 2. Impurity degree detector; 3. Target object;
[0034] 11. Manipulator body; 12. Operating attachment; 121. Body; 122. Pneumatic suction head; 123. Picking head; 124. Fixing bracket; 1211. Rotating seat; 1212. Claw; 12121. Cylinder; 12122. Claw body; 12101. First picking section; 12102. Second picking section; 1221. Ventilation seat; 1222. Flexible suction cup; 1231. Telescopic drive member; 1232. Sleeve; 1233. Picking needle. Detailed implementation manners
[0035] To make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions in the present utility model will be clearly and completely described below with reference to the accompanying drawings in the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without making creative efforts shall fall within the protection scope of the present utility model.
[0036] Below in conjunction with Figures 1 - 4 , the operating attachment, multi-functional operating manipulator and impurity degree detection workstation provided by the embodiments of the utility model will be described in detail through specific embodiments and their application scenarios.
[0037] In the first aspect, as Figure 1 and Figure 2 shown, an operating attachment 12 provided by an embodiment of the present utility model includes: a body 121, a pneumatic suction head 122 and a picking head 123;
[0038] The body 121 is used to connect with the manipulator body 11 in the impurity degree detection workstation;
[0039] The pneumatic suction head 122 and the picking head 123 are respectively arranged on the body 121; the pneumatic suction head 122 is used to suck the impurity degree sheet to be detected so as to place the impurity degree sheet at the detection station; the picking head 123 is used to pick up the impurity degree sheet that has completed the impurity degree detection so as to take out the impurity degree sheet from the detection station.
[0040] It can be understood that, as the installation base of the pneumatic suction head 122 and the picking head 123, the body 121 can be configured to be detachably connected to the execution end of the manipulator body 11.
[0041] The pneumatic suction head 122 and the picking head 123 on the body 121 can, under the drive of the robotic arm body 11, achieve adjustment of position and posture, and then can use the pneumatic suction head 122 to suck the impurity degree sheet and place the impurity degree sheet on the detection station of the impurity degree detector 2, and use the picking head 123 to pick up the impurity degree sheet to perform the blanking operation on the impurity degree sheet that has completed the impurity degree detection. Among them, the detection station can be the detection port of the impurity degree detector 2.
[0042] The impurity degree sheet can be a sample sheet well-known in the art, and the sample to be detected is stored in the impurity degree sheet. The sample can be milk and its products. For example, the sample can be liquid milk or other dairy products.
[0043] As can be seen from the above, the working tool 12 is provided with the pneumatic suction head 122 and the picking head 123 based on the body 121. Since the body 121 is configured to be connected to the robotic arm body 11, when detecting the impurity degree of dairy products, the pneumatic suction head 122 can suck the impurity degree sheet collected with dairy products, and the pneumatic suction head 122 can stably place the impurity degree sheet on the detection station of the impurity degree detector 2 under the drive of the robotic arm body 11. After the impurity degree detection of the dairy products is completed, the picking head 123 can pick up the impurity degree sheet under the drive of the robotic arm body 11 to take out the impurity degree sheet from the detection station.
[0044] Compared with mechanical jigs, based on the mutual cooperation of the pneumatic suction head 122 and the picking head 123, the loading and unloading of the impurity degree sheet can be reliably performed. Since the loading and unloading operations of the impurity degree sheet are completed by different components, cross-contamination can be prevented during the loading and unloading process, which is conducive to ensuring the accuracy of the detection results.
[0045] In some embodiments, as Figure 1 and Figure 2 shown, the body 121 includes a rotating seat 1211 and a clamping jaw 1212; the rotating seat 1211 is used to connect to the robotic arm body 11, the clamping jaw 1212 is connected to the rotating seat 1211 and is used to clamp the target object 3; the pneumatic suction head 122 and the picking head 123 are spaced apart from each other and are respectively arranged on the clamping jaw 1212.
[0046] It can be understood that the rotating seat 1211 can adopt a servo motor, the clamping jaw 1212 can be a pneumatic clamping jaw or an electric clamping jaw, and the target object 3 clamped by the clamping jaw 1212 can be a sample bottle, a measuring cylinder, a beaker, a bottle cap, etc.
[0047] When the target object 3 is a sample bottle, a measuring cylinder or a beaker, the clamping function of the clamping jaw 1212 can be directly used to realize the picking and placing of the target object 3. When the target object 3 is a bottle cap, while the clamping jaw 1212 clamps the bottle cap, the rotating seat 1211 can drive the clamping jaw 1212 to rotate, and the opening and closing operations of the bottled container can be realized.
[0048] Further, since the pneumatic suction head 122 and the picking head 123 are respectively arranged on the jaw 1212, after the pneumatic suction head 122 completes the feeding operation of the impurity degree sheet, the rotating seat 1211 can be used to drive the jaw 1212 to rotate a preset angle, so that the picking head 123 faces the detection station, thereby facilitating the use of the picking head 123 to perform the discharging operation on the impurity degree sheet that has completed the impurity degree detection.
[0049] In some embodiments, as Figure 2 shown, the pneumatic suction head 122 and the picking head 123 are arranged on the opposite sides of the jaw 1212 and are arranged back to back with respect to the jaw 1212.
[0050] It can be understood that after the pneumatic suction head 122 completes the feeding operation of the impurity degree sheet, the rotating seat 1211 drives the jaw 1212 to rotate 180°, so that the picking head 123 faces the detection station. Furthermore, the picking head 123 can be used to perform the discharging operation on the impurity degree sheet that has completed the impurity degree detection. This design can ensure that the feeding and discharging operations of the impurity degree sheet do not interfere with each other, and it is also convenient to adjust the postures of the pneumatic suction head 122 and the picking head 123.
[0051] In some embodiments, as Figure 1 shown, the jaw 1212 includes a cylinder 12121 and two jaw bodies 12122; the two jaw bodies 12122 are respectively rotatably arranged on the cylinder 12121 and are connected to the telescopic end of the cylinder 12121; a flexible contact layer is provided on the side surface of the jaw body 12122 for contacting the target object 3.
[0052] It can be understood that a clamping opening for clamping the target object 3 is formed between the two jaw bodies 12122 of the jaw 1212. By controlling the telescopic movement of the cylinder 12121, the cylinder 12121 can drive the two jaw bodies 12122 to approach or separate from each other, so as to realize the clamping or releasing of the target object 3.
[0053] At the same time, by providing a flexible contact layer on the jaw body 12122, it can be ensured that the jaw body 12122 and the target object 3 are in flexible contact, that is, the jaw 1212 performs flexible clamping on the target object 3, which not only avoids clamping damage to the target object 3 but also ensures the reliability of clamping the target object 3.
[0054] In some examples, the flexible contact layer can be a silicone layer.
[0055] In some examples, the side surface of the jaw body 12122 for contacting the target object 3 is configured as an arc shape. This design is beneficial to realizing the clamping of columnar target objects 3 such as sample bottles, measuring cylinders, and beakers.
[0056] In some examples, a pressure sensor can be arranged between the two jaw bodies 12122 of the jaw 1212. The pressure sensor collects the clamping force on the target object 3 to ensure that the jaw 1212 can reliably clamp the target object 3 without causing clamping damage to the target object 3.
[0057] In some embodiments, such as Figure 1 and Figure 3 shown, the jaw body 12122 includes a first clamping section 12101 and a second clamping section 12102; the first clamping section 12101 and the second clamping section 12102 are connected, and one end of the first clamping section 12101 far from the second clamping section 12102 is connected to the air cylinder 12121;
[0058] Wherein, the volume of the target object 3 clamped between the first clamping sections 12101 of the two jaws 1212 is larger than the volume of the target object 3 clamped between the second clamping sections 12102 of the two jaws 1212.
[0059] It can be understood that the structures of the two jaws 1212 are the same. The first clamping sections 12101 of the two jaws 1212 are arranged oppositely to clamp the target object 3 with a relatively large volume, while the second clamping sections 12102 of the two jaws 1212 are arranged oppositely to clamp the target object 3 with a relatively small volume.
[0060] Wherein, along the telescopic direction of the air cylinder 12121, the extending length of the first clamping section 12101 is greater than the extending length of the second clamping section 12102.
[0061] In some examples, the side surface of the first clamping section 12101 for contacting the target object 3 is concave and can be covered with a layer of soft silicone material in contact with the target object 3. Among them, the two first clamping sections 12101 of the jaw 1212 are used to clamp target objects 3 such as sample bottles, measuring cylinders or beakers.
[0062] In some examples, the side surface of the second clamping section 12102 for contacting the target object 3 is provided with a "cross"-shaped groove and can be covered with a layer of soft silicone material in contact with the target object 3. Among them, the two second clamping sections 12102 of the jaw 1212 are used to clamp bottle caps and to perform the operations of opening and closing the bottle caps of bottled containers.
[0063] In some embodiments, such as Figure 1 and Figure 2 shown, the pneumatic suction head 122 includes a ventilation seat 1221 and a flexible suction cup 1222; the first end of the ventilation seat 1221 is connected to the body 121, and the second end of the ventilation seat 1221 is connected to the flexible suction cup 1222 and is in communication with the flexible suction cup 1222;
[0064] Among them, the ventilation seat 1221 is configured to communicate with a negative pressure device through a gas pipeline, and the flexible suction cup 1222 is used to adsorb the impurity degree sheet.
[0065] It can be understood that the flexible suction cup 1222 can be a rubber suction cup, and the flexible suction cup 1222 can achieve flexible contact with the impurity degree sheet; the negative pressure device can be a vacuum pump, and the negative pressure device can extract the air in the environment where the flexible suction cup 1222 is located based on the gas pipeline to ensure that the flexible suction cup 1222 can adsorb on the surface of the impurity degree sheet.
[0066] As Figure 4 shown, a funnel is provided at the detection port of the impurity degree detector 2. When the negative pressure device is working, the flexible suction cup 1222 can firmly adsorb the impurity degree sheet; driven by the manipulator body 11, the flexible suction cup 1222 drives the impurity degree sheet to move and can place the impurity degree sheet at the center position of the funnel to ensure that the position of the impurity degree sheet is aligned and horizontal.
[0067] Furthermore, as Figure 1 shown, the working attachment 12 further includes: a fixing frame 124, the fixing frame 124 is connected to the body 121, and the fixing frame 124 is used to fix the gas pipeline.
[0068] It can be understood that by fixing the gas pipeline with the fixing frame 124, the stability of the gas pipeline layout can be ensured, and abnormal shaking of the gas pipeline under the action of air pressure can be prevented.
[0069] In some examples, the fixing frame 124 includes a support seat and a pressing plate. The support seat is arranged on the corresponding rotating seat 1211 of the body 121, the pressing plate is detachably arranged on the support seat, and a plurality of clamping channels are formed between the pressing plate and the support seat. Each clamping channel is used to clamp a gas pipeline.
[0070] In some embodiments, as Figure 2 shown, the picking head 123 includes a telescopic driving member 1231, a sleeve 1232 and a needle 1233;
[0071] The telescopic driving member 1231 is connected to the needle 1233, at least part of the needle 1233 is inserted into the sleeve 1232, and the telescopic driving member 1231 is used to drive the needle 1233 to switch between a first state and a second state;
[0072] When the needle 1233 is in the first state, the needle 1233 protrudes from the sleeve 1232 to pick up the impurity degree sheet; when the needle 1233 is in the second state, the needle 1233 retracts into the sleeve 1232 to separate from the impurity degree sheet.
[0073] It is understandable that the telescopic driving member 1231 can be a cylinder, and the cylinder can be used to control the telescopic movement of the needle 1233 at high speed, improving the picking and releasing efficiency of the impurity degree sheet.
[0074] The telescopic end of the telescopic driving member 1231 is connected to at least one needle 1233. The end of the needle 1233 far from the telescopic driving member 1231 can be configured to be bent for picking up the impurity degree sheet to prevent the impurity degree sheet from falling off the needle 1233 during the transfer process.
[0075] In practical applications, when discharging the impurity degree sheet after the impurity degree detection is completed, the clamping jaw 1212 can be first controlled to rotate so that the picking head 123 faces the impurity degree sheet, and then the telescopic driving member 1231 drives the needle 1233 to extend out of the sleeve 1232 to pick up the impurity degree sheet.
[0076] When the working attachment 12 is transferred to the discharging station, the telescopic driving member 1231 can drive the needle 1233 to retract into the sleeve 1232, and the impurity degree sheet will be separated from the needle 1233 under the stop of the sleeve 1232, thus completing the release of the impurity degree sheet.
[0077] In a second aspect, as Figure 4 shown, the present utility model further provides a multifunctional working robotic arm 1, including: a robotic arm body 11, a control module, and the working attachment 12 as described above;
[0078] The robotic arm body 11 is connected to the body 121, and the control module is respectively communicatively connected to the pneumatic suction head 122 and the picking head 123 to control the working states of the pneumatic suction head 122 and the picking head 123.
[0079] It is understandable that the robotic arm body 11 can adopt a multi-degree-of-freedom robotic arm well-known in the art, such as a six-axis robotic arm. The working attachment 12 is installed at the execution end of the robotic arm body 11, and the position and posture of the working attachment 12 can be adjusted based on the robotic arm body 11.
[0080] In practical applications, the multifunctional working robotic arm 1 is not only used to pick up and move columnar objects 3 such as sample bottles, measuring cylinders, and beakers, but also to pick up bottle caps and perform opening and closing operations on bottled containers, and is also used to suck and move impurity degree sheets for loading the impurity degree sheets or pick up and move impurity degree sheets for discharging the impurity degree sheets.
[0081] A data transmission port can be configured on the working attachment 12. The control module can use a single-chip microcomputer or a PLC controller, and can communicate with the control valve corresponding to the pneumatic suction head 122, the telescopic driving member 1231 corresponding to the picking head 123, and the rotating base 1211 and the clamping jaw 1212 respectively through the data transmission port. Based on these settings, it can be ensured that the working robotic arm can realize functions such as clamping, opening the lid, sucking, and picking, thus completely replacing manual operation and automatically completing the impurity degree detection of dairy products, reducing the manual work intensity.
[0082] In a third aspect, as Figure 4 shown, an embodiment of the present invention further provides an impurity degree detection station, which includes an impurity degree detector 2 and the multifunctional working robotic arm 1 as described above. The impurity degree detector 2 is used to detect the impurity degree of the dairy product in the impurity degree sheet.
[0083] It can be understood that since the impurity degree detection station includes the above-mentioned multifunctional working robotic arm 1, and the specific structure of the multifunctional working robotic arm 1 refers to the above-mentioned embodiment, the impurity degree detection station of this embodiment includes all the technical solutions of the above-mentioned embodiment. Therefore, it has at least all the beneficial effects obtained by all the technical solutions of the above-mentioned embodiment, and will not be elaborated here one by one.
[0084] The impurity degree detector 2 includes a vision component and an impurity degree detection component. The vision component is arranged on the upper side of the impurity degree detection component; the impurity degree detection component has a detection port for placing the impurity degree sheet and is suitable for detecting the impurity degree of the sample; the vision component is suitable for detecting the impurity degree sheet after the experiment; the vision component and the impurity degree detection component cooperate with each other to be able to detect the impurity degree of the sample in the impurity degree sheet and record relevant detection data. Compared with manual operation, the detection efficiency is significantly improved, the adverse effects brought by manual intervention or subjective judgment are reduced, and the accuracy of the detection result is ensured.
[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A work tool, used in an impurity detection station, characterized in that: include: The main body, pneumatic suction head and piercing head; The main body is used to connect with the robot arm body in the impurity detection station; The pneumatic suction head and the picking head are respectively arranged on the main body; the pneumatic suction head is used to suck the impurity-level sheet to be tested so as to place the impurity-level sheet on the testing station; the picking head is used to pick up the impurity-level sheet that has completed the impurity-level test so as to take the impurity-level sheet out of the testing station.
2. The work attachment according to claim 1, characterized in that: The body comprises a rotating seat and a clamping claw; The rotating seat is used to be connected to the robot arm body, and the clamp is connected to the rotating seat and is used to clamp the target object; the pneumatic suction head and the piercing head are spaced from each other and are respectively arranged on the clamp.
3. The work attachment according to claim 2, characterized in that: The pneumatic suction head and the piercing head are arranged on opposite sides of the clamping jaws and are arranged in a back-to-back manner relative to the clamping jaws.
4. The work attachment according to claim 2, characterized in that: The clamp comprises a cylinder and two claw bodies; the two claw bodies are rotatably arranged on the cylinder and connected to the telescopic end of the cylinder; a flexible contact layer is arranged on a side of the claw body for contacting the target object.
5. The work attachment according to claim 4, characterized in that: The claw body includes a first clamping section and a second clamping section; The first clamping section is connected to the second clamping section, and one end of the first clamping section away from the second clamping section is connected to the cylinder; Wherein, the volume of the target object clamped between the first clamping sections of the two clamping jaws is greater than the volume of the target object clamped between the second clamping sections of the two clamping jaws.
6. The working attachment according to any one of claims 1 to 5, characterized in that: The pneumatic suction head comprises a vent seat and a flexible suction cup; The first end of the vent seat is connected to the body, and the second end of the vent seat is connected to the flexible suction cup and communicates with the flexible suction cup; Wherein, the vent seat is configured to be connected to the negative pressure equipment through a gas pipeline, and the flexible suction cup is used to absorb the impurity sheet.
7. The working tool according to claim 6, characterized in that: Also includes: A fixing frame is connected to the main body and is used to fix the gas pipeline.
8. The working attachment according to any one of claims 1 to 5, characterized in that: The puncture head comprises a telescopic driving member, a sleeve and a puncture needle; The telescopic driving member is connected to the puncture needle, at least a portion of the puncture needle is inserted into the sleeve, and the telescopic driving member is used to drive the puncture needle to switch between a first state and a second state; When the puncture needle is in the first state, the puncture needle is exposed from the sleeve to puncture the impurity sheet; When the puncture needle is in the second state, the puncture needle is retracted into the sleeve to achieve separation from the impurity sheet.
9. A multifunctional operating robot arm, characterized in that: include: A robot body, a control module and an operating attachment as claimed in any one of claims 1 to 8; The robot arm body is connected to the body, and the control module is respectively connected to the pneumatic suction head and the piercing head for communication to control the working states of the pneumatic suction head and the piercing head.
10. An impurity detection station, characterized in that: It comprises an impurity detection machine and the multifunctional operating robot arm as described in claim 9, wherein the impurity detection machine is used to perform impurity detection on the dairy products in the impurity slice.