Actuator and manipulator

Abstract

The invention provides an actuator and a manipulator, and relates to the technical field of machining. The actuator comprises a driving part, a first station and a second station, wherein the driving part is provided with a first driver and a second driver, the first station and the second station are used for clamping workpieces, and machining procedures corresponding to the workpieces clamped by the first station and the second station are different; the second driver and the first station are connected with the rotation driving end of the first driver, the second station is connected with the rotation driving end of the second driver, and the working plane of the first station is perpendicular to the working plane of the second station. According to the actuator, the multiple workpieces can be clamped at the same time, mutual interference of the clamped workpieces can be avoided, the requirement for multi-process clamping is effectively met, the number of execution ends used by equipment is reduced, and the cost of production equipment is greatly reduced.

Description

Technical Field

[0001] The present application relates to the field of mechanical processing technology, and in particular, to an actuator and a manipulator. Background Art

[0002] With the development of parts manufacturing industry, the automation degree of factory equipment is getting higher and higher, and the actuators used to perform clamping operations are widely used in the parts processing process. Take the truss manipulator commonly used in automation equipment as an example. It controls the actuator to realize workpiece processing in the manufacturing industry. Due to the advantages of easy control and high precision, the truss manipulator has been widely used in the electronics and mechanical manufacturing industries.

[0003] In order to meet the needs of reducing processing costs and further realizing automated production of equipment, it is often necessary to combine multiple processes into one. Therefore, the actuator needs to be able to perform multi-process clamping. However, the actuators on the market often have few executable actions and can only be used in a specific process, which makes it difficult to meet processing needs. Summary of the invention

[0004] The embodiments of the present application provide an actuator and a manipulator, which can solve the problem that the existing actuator can only perform single-process clamping and is difficult to meet the needs of multi-process clamping.

[0005] In order to achieve this purpose, the embodiments of the present application provide the following solutions.

[0006] According to one aspect of an embodiment of the present application, an actuator is provided, comprising a driving unit having a first driver and a second driver, and a first station and a second station for clamping a workpiece, wherein the workpieces clamped by the first station and the second station correspond to different processing steps;

[0007] The second driver and the first station are connected to the rotation driving end of the first driver, the second station is connected to the rotation driving end of the second driver, and the working plane of the first station is perpendicular to the working plane of the second station.

[0008] In a possible implementation, it further includes a third workstation and a workstation connecting plate, wherein the workstation connecting plate is connected to the rotation driving end of the second driver, and the second workstation and the third workstation are connected to a side of the workstation connecting plate away from the second driver.

[0009] In a possible implementation, the device further includes a connection portion including a profile transition block, a mounting base plate, and a first base, wherein a connection groove for connecting to an external device is provided on the top of the profile transition block, a bottom of the profile transition block is adjustably connected to the mounting base plate, and a side of the mounting base plate away from the profile transition block is connected to the first base;

[0010] A slope for fixing the first driver is provided on a side of the first base away from the mounting base plate, and the slope is inclined relative to a horizontal plane.

[0011] In one possible implementation, a mounting groove is provided at the bottom of the profile transition block, and a mounting boss corresponding to the mounting groove is provided on the side of the mounting base plate close to the profile transition block, the mounting boss and the mounting groove form a dovetail groove structure, and a fixing hole for fixing the mounting base plate and the profile transition block is also provided in the area where the profile transition block contacts the mounting base plate.

[0012] In a possible implementation, it further includes a second base and a driver transition block, wherein the top side of the second base is connected to the rotation driving end of the first driver, and the second base is connected to the first station at one side perpendicular to the horizontal plane;

[0013] The driver transition block is fixedly connected to the bottom of the second base, and the top of the second driver is connected to a side of the driver transition block away from the second base.

[0014] In one possible implementation, the first workstation includes a first clamping driver, a first adjusting block, a first fixed block and a first clamping member, one end of the first clamping driver is fixed to the side of the second base, the first fixed block is connected to the driving end of the first clamping driver, the first adjusting block is connected to the side of the first fixed block away from the first clamping driver, and the first clamping member is connected to the side of the first adjusting block away from the first fixed block.

[0015] In a possible implementation, the first workstation further includes a pusher, one end of the pusher is connected to a side of the first clamping driver away from the second base, and the other end of the pusher extends toward the first clamping driver.

[0016] In a possible implementation, it further includes a positioning block, a fixing frame and a positioning member, wherein the fixing frame is connected to one side of the first driver where the rotation driving end is provided, and the positioning block is fixed to the side of the rotation driving end of the first driver;

[0017] The positioning members are fixed at two ends of the fixing frame and are used to abut against the positioning block when the positioning block reaches a predetermined rotation position.

[0018] In a possible implementation, the positioning member includes an adjusting screw and a buffer, one end of the adjusting screw and the buffer is fixed to the fixing frame, and the other end contacts the positioning block that reaches a predetermined rotation position.

[0019] According to one aspect of an embodiment of the present application, a manipulator is provided, comprising the actuator as described above.

[0020] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0021] The actuator provided by the present application includes a driving part having a first driver and a second driver, and a first station and a second station for clamping a workpiece. The workpieces clamped by the first station and the second station correspond to different processing procedures; the second driver and the first station are connected to the rotating driving end of the first driver, the second station is connected to the rotating driving end of the second driver, and the working plane of the first station is perpendicular to the working plane of the second station. The actuator of the embodiment of the present application can clamp multiple workpieces at the same time, and can avoid mutual interference between the clamped workpieces, effectively meet the needs of multi-process clamping, reduce the number of actuators used by the equipment, and greatly reduce the cost of production equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in describing the embodiments of the present application.

[0023] Figure 1 A structural diagram of an actuator provided in an embodiment of the present application;

[0024] Figure 2 A top view of an actuator provided in an embodiment of the present application;

[0025] Figure 3 A left side view of an actuator provided in an embodiment of the present application;

[0026] Figure 4 A right side view of the actuator provided in an embodiment of the present application;

[0027] Figure 5 A front view of an actuator provided in an embodiment of the present application;

[0028] Figure 6 A structural diagram of the robot provided in an embodiment of the present application.

[0029] Description of reference numerals: 11, first driver; 21, second driver; 30, first clamping driver; 31, first fixing block; 32, first adjusting block; 33, pusher; 34, first clamping member; 35, second clamping driver; 36, second fixing block; 37, second clamping member; 38, conical positioning suction cup;

[0030] 41. Finished solenoid valve body; 42. Semi-finished solenoid valve body; 43. Rough solenoid valve body;

[0031] 51. Profile transition block; 52. Mounting base plate; 54. First base; 53. Fixed side plate;

[0032] 61. Driver transition block; 62. Positioning block; 63. Fixing bracket; 64. Buffer; 65. Adjusting screw; 66. Second base; 67. Workstation connecting plate. DETAILED DESCRIPTION

[0033] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0034] It will be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application refer to that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may refer to that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates that it is implemented as "A", or is implemented as "A", or is implemented as "A and B".

[0035] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0036] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present invention and the technical effects produced by the technical solutions of the present invention. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0037] The actuator and manipulator provided in the present application are intended to solve at least one technical problem existing in the prior art.

[0038] Optionally, the actuator can be used to clamp the electromagnetic valve body of the air conditioner, and the manipulator can be a truss manipulator. The truss manipulator can control the execution end to clamp the electromagnetic valve body blank 43, the semi-finished electromagnetic valve body 42, the electromagnetic valve body finished product 41 and the semi-finished rod of the electromagnetic valve body during the electromagnetic valve body processing.

[0039] An actuator is provided in an embodiment of the present application, such as Figure 1-Figure 5 As shown, the actuator includes a driving portion having a first driver 11 and a second driver 21, and a first station and a second station for clamping a workpiece, the workpieces clamped by the first station and the second station correspond to different processing steps; the second driver 21 and the first station are connected to the rotational driving end of the first driver 11, the second station is connected to the rotational driving end of the second driver 21, and the working plane of the first station is perpendicular to the working plane of the second station.

[0040] Optionally, the first driver 11 and the second driver 21 may be a rotary cylinder, a motor or other devices capable of driving the first station and the second station to rotate. There may be two second drivers 21, and the two second drivers 21 are arranged side by side.

[0041] Optionally, a third workstation and a workstation connecting plate 67 are further included. The workstation connecting plate 67 is connected to the rotation driving end of the second driver 21 , and the second and third workstations are connected to a side of the workstation connecting plate 67 away from the second driver 21 .

[0042] In one embodiment, the station connection plate 67 is in a long strip shape, and the rotation driving end of the second driver 21 is connected to the middle of the station connection plate 67. The second station and the third station are connected to the two ends of the station connection plate 67 away from the second driver 21. The actuator clamps the solenoid valve body blank 43 through the third station, clamps the semi-finished solenoid valve body 42 through the second station, and clamps the finished solenoid valve body 41 through the first station.

[0043] Optionally, when the workpiece is a solenoid valve body with a conical surface, the third workstation can be provided with a conical surface positioning suction cup 38, which is used to absorb the solenoid valve body blank 43 to be processed, and after absorption, the freedom of the front, back, left, right and top directions of the solenoid valve body blank 43 is limited, thereby realizing one-time clamping and positioning of the solenoid valve body blank 43.

[0044] Optionally, the actuator also includes a connecting portion including a profile transition block 51, a mounting base plate 52 and a first base 54, wherein a connecting groove for connecting to an external device is provided on the top of the profile transition block 51, the bottom of the profile transition block 51 is adjustably connected to the mounting base plate 52, and the side of the mounting base plate 52 away from the profile transition block 51 is connected to the first base 54; and an inclined surface for fixing the first driver 11 is provided on the side of the first base 54 away from the mounting base plate 52, and the inclined surface is inclined relative to the horizontal plane.

[0045] Optionally, the shape of the connection groove corresponds to the shape of the connection end of the external device, the connection groove may be recessed in a direction close to the mounting base plate 52, and a through hole may be provided on the opposite side of the connection groove.

[0046] Optionally, a mounting groove is provided at the bottom of the profile transition block 51, and a mounting boss corresponding to the mounting groove is provided on the side of the mounting base plate 52 close to the profile transition block 51, the mounting boss and the mounting groove form a dovetail groove structure, and a fixing hole for fixing the mounting base plate 52 and the profile transition block 51 is also provided in the area where the profile transition block 51 contacts the mounting base plate 52.

[0047] Optionally, the fixing hole may be a screw hole, and the number of the screw holes may be multiple. The screws used to fix the profile transition block 51 and the mounting base plate 52 are fixed on the mounting base plate 52 along the screw holes, thereby realizing the relative fixation of the profile transition block 51 and the mounting base plate 52. In addition, the relative position of the profile transition block 51 and the mounting base plate 52 can also be adjusted through the dovetail groove structure and the screw. When adjusting the relative position, loosen the screw, adjust the relative position through the dovetail groove structure, and after the adjustment is completed, tighten the screw to fix the profile transition block 51 and the mounting base plate 52.

[0048] Optionally, in order to further fix the execution end or install other devices on the execution end, the actuator may further include a fixed side plate 53, the top of which is connected to the bottom of the mounting base plate 52, and the fixed side plate 53 is located on one side of the first base 54. The fixed side plate 53 may be vertically fixed to the mounting base plate 52, and the fixed side plate 53 may also be fixedly connected to the first base 54.

[0049] In one embodiment, the first base 54 may be a triangular base, the right angle sides of which are respectively connected to the mounting base plate 52 and the fixed side plate 53. The inclined surface of the triangular base is connected to the top side of the first driver 11.

[0050] Optionally, the actuator also includes a second base 66 and a driver transition block 61, the top side of the second base 66 is connected to the rotational driving end of the first driver 11, and the second base 66 is connected to the first workstation on one side perpendicular to the horizontal plane; the driver transition block 61 is fixedly connected to the bottom of the second base 66, and the top of the second driver 21 is connected to the side of the driver transition block 61 away from the second base 66.

[0051] Optionally, the side of the second base 66 connected to the first driver 11 may be an inclined surface, and the rotation driving end of the first driver 11 is fixed on the inclined surface. The driver transition block 61 may be a plate-like structure, and the bottom of the second base 66 is fixedly connected to the top surface of the plate-like structure.

[0052] Optionally, the first workstation includes a first clamping driver 30, a first adjusting block 32, a first fixed block 31 and a first clamping member 34, one end of the first clamping driver 30 is fixed to the side of the second base 66, the first fixed block 31 is connected to the driving end of the first clamping driver 30, the first adjusting block 32 is connected to the side of the first fixed block 31 away from the first clamping driver 30, and the first clamping member 34 is connected to the side of the first adjusting block 32 away from the first fixed block 31.

[0053] Optionally, the first clamping member 34 may be a clamp, and the number of the clamps may be three, and the workpiece after processing is completed by the first clamping member 34. Accordingly, when the first clamping member 34 is a clamp, the first clamping driver 30 may be a three-jaw cylinder, and the three-jaw cylinder is used to drive the clamp to move.

[0054] Optionally, in order to clamp different products and adjust the position of the clip, an adjustment structure may be provided on the side opposite to each other of the first adjustment block 32 and the first fixed block 31, and the relative position between the first adjustment block 32 and the first fixed block 31 may be adjusted by the adjustment structure, thereby achieving adjustment of the position of the clip.

[0055] In one embodiment, the adjustment structure may include a plurality of teeth grooves, screws, and screw holes arranged on the opposite sides of the first adjustment block 32 and the first fixed block 31. When adjusting the relative position, the screws are loosened, and the relative positions of the first adjustment block 32 and the first fixed block 31 are adjusted through the teeth grooves. After the adjustment is completed, the first adjustment block 32 and the first fixed block 31 are fixed with screws.

[0056] Optionally, the second workstation may include a second clamping member 37, a second fixed block 36 and a second clamping driver 35, the top end of the second clamping driver 35 may be fixed on the workstation connecting plate 67, the driving end of the second clamping driver 35 is connected to the second fixed block 36, and the second clamping member 37 is connected to the side of the second fixed block 36 away from the second clamping driver 35.

[0057] In one embodiment, the first clamping member 34 and the second clamping member 37 may be of the same type, and the second clamping driver 35 may be a three-jaw cylinder. The semi-finished workpiece is clamped by the second clamping member 37, and the position of the clamped workpiece is limited by the combination of multiple second clamping members 37 (which may be three) on the second clamping driver 35.

[0058] Optionally, an adjustment structure may be provided on one side of the second clamping member 37 and the second fixing block 36 that are opposite to each other, and the relative position of the second clamping member 37 and the second fixing block 36 may be adjusted by using the adjustment structure.

[0059] Optionally, the first workstation further includes a pusher 33 , one end of which is connected to a side of the first clamping driver 30 away from the second base 66 , and the other end of which extends toward the first clamping driver 30 .

[0060] Optionally, there may be a plurality of pushers 33 located outside the center of the clamping area corresponding to the first clamping member 34 , and the length of the pusher 33 corresponds to the position of the first clamping member 34 .

[0061] Optionally, the actuator further includes a positioning block 62, a fixing frame 63 and a positioning member, wherein the fixing frame 63 is connected to one side of the rotation driving end of the first driver 11, and the positioning block 62 is fixed to the side of the rotation driving end of the first driver 11; the positioning member is fixed to both ends of the fixing frame 63, and is used to abut the positioning block 62 when the positioning block 62 reaches a predetermined rotation position. The predetermined rotation position may be the end point of the rotation stroke of the positioning block 62, and the rotation stroke of the positioning block 62 is limited by the positioning members at both ends of the fixing frame 63.

[0062] Optionally, the positioning block 62, the fixing frame 63 and the positioning member are located above the inclined surface at the top of the second base 66. The fixing frame 63 can be a strip-shaped structure, and its two ends are located at both sides of the rotation driving end of the first driver 11.

[0063] Optionally, the positioning member includes an adjusting screw 65 and a buffer 64 , one end of the adjusting screw 65 and the buffer 64 is fixed on the fixing frame 63 , and the other end contacts the positioning block 62 that reaches a predetermined rotation position.

[0064] Optionally, the adjustment screw 65 is located between the two buffers 64, and the length of the adjustment screw 65 extending away from the fixing frame 63 can be changed by rotating the adjustment screw 65, so that the positioning block 62 rotated to the end of the rotation stroke can fit with the adjustment screw 65, thereby limiting the rotation stroke of the positioning block 62.

[0065] In one embodiment, one end of the positioning block 62 extends toward the rotation driving end of the first driver 11, and the other end swells to form a positioning portion. The positioning portion contacts the buffer 64 during rotation to reduce the impact force generated by the rotation through the buffer 64.

[0066] The actuator of the embodiment of the present application includes a driving part having a first driver 11 and a second driver 21, and a first station and a second station for clamping a workpiece. The workpieces clamped by the first station and the second station correspond to different processing steps; the second driver 21 and the first station are connected to the rotational driving end of the first driver 11, the second station is connected to the rotational driving end of the second driver 21, and the working plane of the first station is perpendicular to the working plane of the second station. The actuator of the embodiment of the present application can clamp multiple workpieces at the same time, and can avoid mutual interference between the clamped workpieces, effectively meet the needs of multi-process clamping, reduce the number of actuators used in the equipment, and greatly reduce the cost of production equipment.

[0067] According to one aspect of the embodiments of the present application, a robot is provided, such as Figure 1-Figure 6 As shown, the manipulator includes at least one actuator, which includes a driving portion provided with a first driver 11, a second driver 21, and a first station and a second station for clamping workpieces, and the workpieces clamped by the first station and the second station correspond to different processing steps; the second driver 21 and the first station are connected to the rotation driving end of the first driver 11, the second station is connected to the rotation driving end of the second driver 21, and the working plane of the first station is perpendicular to the working plane of the second station.

[0068] Optionally, the actuator further includes a third station and a station connecting plate 67 , the station connecting plate 67 is connected to the rotation driving end of the second driver 21 , and the second station and the third station are connected to a side of the station connecting plate 67 away from the second driver 21 .

[0069] Optionally, the actuator also includes a connecting portion including a profile transition block 51, a mounting base plate 52 and a first base 54, wherein a connecting groove for connecting to an external device is provided on the top of the profile transition block 51, the bottom of the profile transition block 51 is adjustably connected to the mounting base plate 52, and the side of the mounting base plate 52 away from the profile transition block 51 is connected to the first base 54; and an inclined surface for fixing the first driver 11 is provided on the side of the first base 54 away from the mounting base plate 52, and the inclined surface is inclined relative to the horizontal plane.

[0070] Optionally, a mounting groove is provided at the bottom of the profile transition block 51, and a mounting boss corresponding to the mounting groove is provided on the side of the mounting base plate 52 close to the profile transition block 51, the mounting boss and the mounting groove form a dovetail groove structure, and a fixing hole for fixing the mounting base plate 52 and the profile transition block 51 is also provided in the area where the profile transition block 51 contacts the mounting base plate 52.

[0071] Optionally, the actuator also includes a second base 66 and a driver transition block 61, the top side of the second base 66 is connected to the rotational driving end of the first driver 11, and the second base 66 is connected to the first workstation on one side perpendicular to the horizontal plane; the driver transition block 61 is fixedly connected to the bottom of the second base 66, and the top of the second driver 21 is connected to the side of the driver transition block 61 away from the second base 66.

[0072] Optionally, the first workstation includes a first clamping driver 30, a first adjusting block 32, a first fixed block 31 and a first clamping member 34, one end of the first clamping driver is fixed to the side of the second base 66, the first fixed block 31 is connected to the driving end of the first clamping driver 30, the first adjusting block 32 is connected to the side of the first fixed block 31 away from the first clamping driver 30, and the first clamping member 34 is connected to the side of the first adjusting block 32 away from the first fixed block 31.

[0073] Optionally, the first workstation further includes a pusher 33 , one end of the pusher 33 is connected to a side of the first clamping driver 30 away from the second base 66 , and the other end of the pusher 33 extends toward the first clamping driver 30 .

[0074] Optionally, the actuator also includes a positioning block 62, a fixing frame 63 and a positioning member, wherein the fixing frame 63 is connected to one side of the rotation driving end of the first driver 11, and the positioning block 62 is fixed to the side of the rotation driving end of the first driver 11; the positioning member is fixed at both ends of the fixing frame 63, and is used to abut against the positioning block 62 when the positioning block 62 reaches a predetermined rotation position.

[0075] Optionally, the positioning member includes an adjusting screw 65 and a buffer 64 , one end of the adjusting screw 65 and the buffer 64 is fixed to the fixing frame 63 , and the other end contacts the positioning block 62 that reaches a predetermined rotation position.

[0076] The terms "first", "second", "third", "fourth", "1", "2", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that shown or described in the drawings.

[0077] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages may be executed at the same time, and each sub-step or stage in these sub-steps or stages may also be executed at different times respectively. In different scenarios of execution time, the execution order of these sub-steps or stages may be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0078] The above is only an optional implementation method for some implementation scenarios of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. An actuator, characterized in that: It includes a driving part having a first driver and a second driver, and a first station and a second station for clamping a workpiece, wherein the workpieces clamped by the first station and the second station correspond to different processing steps; The second driver and the first station are connected to the rotation driving end of the first driver, the second station is connected to the rotation driving end of the second driver, and the working plane of the first station is perpendicular to the working plane of the second station.

2. The actuator according to claim 1, characterized in that: It also includes a third workstation and a workstation connecting plate, wherein the workstation connecting plate is connected to the rotation driving end of the second driver, and the second workstation and the third workstation are connected to a side of the workstation connecting plate away from the second driver.

3. The actuator according to claim 1, characterized in that: It also includes a connecting portion provided with a profile transition block, a mounting base plate and a first base, wherein the top of the profile transition block is provided with a connecting groove for connecting with an external device, the bottom of the profile transition block is adjustably connected to the mounting base plate, and the side of the mounting base plate away from the profile transition block is connected to the first base; A slope for fixing the first driver is provided on a side of the first base away from the mounting base plate, and the slope is inclined relative to a horizontal plane.

4. The actuator according to claim 3, characterized in that: A mounting groove is provided at the bottom of the profile transition block, and a mounting boss corresponding to the mounting groove is provided on the side of the mounting base plate close to the profile transition block. The mounting boss and the mounting groove form a dovetail groove structure, and a fixing hole for fixing the mounting base plate and the profile transition block is also provided in the area where the profile transition block contacts the mounting base plate.

5. The actuator according to claim 1, characterized in that: It also includes a second base and a driver transition block, wherein the top side of the second base is connected to the rotation driving end of the first driver, and the second base is connected to the first station at one side perpendicular to the horizontal plane; The driver transition block is fixedly connected to the bottom of the second base, and the top of the second driver is connected to a side of the driver transition block away from the second base.

6. The actuator according to claim 5, characterized in that: The first workstation includes a first clamping driver, a first adjusting block, a first fixed block and a first clamping member, one end of the first clamping driver is fixed to the side of the second base, the first fixed block is connected to the driving end of the first clamping driver, the first adjusting block is connected to the side of the first fixed block away from the first clamping driver, and the first clamping member is connected to the side of the first adjusting block away from the first fixed block.

7. The actuator according to claim 6, characterized in that: The first station further comprises a pusher, one end of which is connected to a side of the first clamping driver away from the second base, and the other end of which extends toward the first clamping driver.

8. The actuator according to claim 1, characterized in that: It also includes a positioning block, a fixing frame and a positioning member, wherein the fixing frame is connected to one side of the first driver where the rotation driving end is arranged, and the positioning block is fixed to the side of the rotation driving end of the first driver; The positioning members are fixed at two ends of the fixing frame and are used to abut against the positioning block when the positioning block reaches a predetermined rotation position.

9. The actuator according to claim 8, characterized in that: The positioning member comprises an adjusting screw and a buffer, one end of the adjusting screw and the buffer is fixed on the fixing frame, and the other end contacts the positioning block reaching a predetermined rotation position.

10. A robot, characterized in that: The manipulator comprises an actuator as described in any one of claims 1-9.

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