Double-arm manipulator equipment

Abstract

The utility model discloses double-arm manipulator equipment which comprises a moving device, a dispensing device and an adsorption device, and the moving device comprises an X-axis translation module and a pair of Y-axis translation modules; the Y-axis translation module comprises a mounting table, a sliding track, sliding seats, a ball screw and a driving motor, the two sliding seats are arranged on the X-axis translation module and are driven by the X-axis translation module to do horizontal transverse movement, the sliding track is fixed at the bottom end of the mounting table and is clamped on the sliding seats, and the driving motor drives the mounting table to do horizontal longitudinal movement; the glue dispensing device comprises a first mounting plate, a glue dispensing manipulator and a first lifting assembly, the adsorption device comprises a second mounting plate, an adsorption manipulator and a second lifting assembly, the first lifting assembly is fixedly arranged on the first mounting plate and drives the glue dispensing manipulator to ascend and descend, and the second lifting assembly is fixedly arranged on the second mounting plate and drives the adsorption manipulator to ascend and descend. And the adsorption manipulator is driven to lift. Automatic operation is achieved on the same sliding rail, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of product bonding equipment, in particular to a double-arm manipulator device. Background Art

[0002] After production, false eyelashes need to be affixed to cardboard for easy packaging and subsequent sales. This prevents damage during transportation, which can increase sales costs. Furthermore, affixing false eyelashes to cardboard facilitates display during sales.

[0003] The existing mechanical equipment for gluing and fixing false eyelashes on cardboard has two sets of processes. One set of equipment is used to apply glue on the surface of the cardboard, and the other set of equipment is used for mounting. Mounting and dispensing use two independent sets of equipment. The equipment is complex, large in size, and high in cost, and needs to be improved. Utility Model Content

[0004] The purpose of the utility model is to provide a double-arm manipulator device with a small size, which improves the efficiency of automatic gluing and mounting production and can be applied to the gluing and mounting production line.

[0005] The utility model proposes a dual-arm manipulator device, including a moving device, a dispensing device and an adsorption device. The moving device includes an X-axis translation module arranged on the X-axis and two groups of Y-axis translation modules arranged on the Y-axis. The two Y-axis translation modules are installed on the X-axis translation module and can move along the X-axis on the X-axis translation module.

[0006] The dispensing device and the adsorption device are respectively installed on two groups of Y-axis translation modules and can move along the Y-axis on the Y-axis translation modules.

[0007] The dispensing device includes a first mounting plate, a dispensing robot and a first lifting assembly; the first mounting plate is fixed to the end of the Y-axis translation module, the first lifting assembly is fixedly arranged on the first mounting plate, and the dispensing robot is installed on the first lifting assembly and moves up and down along the first lifting assembly.

[0008] The adsorption device includes a second mounting plate, an adsorption robot and a second lifting assembly. The second mounting plate is fixed to the end of the Y-axis translation module. The second lifting assembly is fixedly arranged on the second mounting plate. The adsorption robot is installed on the second lifting assembly and moves up and down along the second lifting assembly.

[0009] Furthermore, the Y-axis translation module includes a mounting platform, a sliding rail, a sliding seat, a ball screw and a driving motor. The two sliding seats are arranged on the X-axis translation module, and the X-axis translation module drives the two sliding seats to perform horizontal lateral movement. The sliding rail is arranged at the bottom end of the mounting platform and fixed on the sliding seat. The nut of the ball screw is fixed at the bottom end of the mounting platform. The driving motor drives the screw of the ball screw to rotate to drive the mounting platform to move along the Y-axis.

[0010] Preferably, the first lifting assembly and the second lifting assembly respectively include a lifting nut seat, a lifting screw and a lifting motor, the lifting nut seat is slidingly set on the first mounting plate or the second mounting plate, the lifting screw is threadedly connected to the lifting nut seat, and the lifting motor drives the lifting screw to rotate; the dispensing robot is set on the lifting nut seat of the first lifting assembly, and the adsorption robot is set on the lifting nut seat of the second lifting assembly.

[0011] Preferably, the first mounting plate and the second mounting plate are both fixedly provided with lifting rails, the bottom ends of the lifting nut seats are both provided with lifting seats, and the lifting seats are slidably mounted on the lifting rails.

[0012] Preferably, the lifting screw is parallel to the rotating shaft of the lifting motor, a driving wheel is fixedly provided on the rotating shaft of the lifting motor, a driven wheel is fixedly provided on the lifting screw, and a synchronous belt is provided around the outer periphery of the driving wheel and the driven wheel.

[0013] Preferably, the dispensing robot includes a first cylinder, a material barrel, a dispensing injection valve and a feed pipe. The first cylinder is fixedly set on a lifting nut seat, the dispensing injection valve is vertically fixed on the telescopic rod of the first cylinder, and the two ends of the feed pipe are respectively connected to the material barrel and the dispensing injection valve.

[0014] Preferably, the adsorption robot includes a second cylinder, a vacuum pump, a connecting pipe, an adsorption part and a rotating motor. The second cylinder is fixedly set on the lifting nut seat, and the rotating motor is fixedly set on the telescopic rod of the second cylinder. The rotating motor and its rotating shaft are penetrated to form a through hole. The two ends of the connecting pipe are respectively connected to the through holes of the vacuum pump and the rotating motor. The adsorption part is fixedly set on the rotating shaft of the rotating motor. An air suction cavity connected to the through hole is formed in the adsorption part. One end of the air suction cavity passes through the adsorption part, and a plurality of adsorption holes connected to the air suction cavity are formed at the bottom end of the adsorption part.

[0015] Preferably, the adsorption component includes a main body and an adsorption portion, the adsorption portion is located at the bottom end of the main body, the vertical cross-section of the adsorption portion is in an inverted trapezoidal shape, and a plurality of the adsorption holes are opened in the adsorption portion.

[0016] Preferably, the adsorption holes are long strips.

[0017] From the above description of the utility model, it can be seen that the utility model has the following beneficial effects:

[0018] 1. This dual-arm robotic arm device, by placing the dispensing and suction devices on the same X-axis translation module, and separately on different Y-axis translation modules, allows both dispensing and suction processes to be performed on a single production line. The dispensing and suction devices can also be moved along the Y-axis to enable dispensing and suction on different conveyor belts. This device is compact and low-cost. The dispensing device quickly applies glue to the surface of a carrier (such as cardboard). The suction device then picks up the object to be attached (such as false eyelashes) and affixes it to the glue-coated carrier, improving the efficiency of automated gluing and placement production, making it suitable for gluing and placement production lines.

[0019] 2. The adsorption part is configured to include a main body and an adsorption part, and the adsorption part is configured to have an inverted trapezoidal vertical cross-section. Since the bottom area of ​​the adsorption part with an inverted trapezoidal cross-section is small, the adsorption holes opened at the bottom of the adsorption part are convenient for the adsorption part to correspond to the tiny objects during the process of adsorbing tiny objects, thereby improving the accuracy of adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a dual-arm manipulator device according to an embodiment;

[0021] Figure 2 2 is a schematic structural diagram of the Y-axis translation module of an embodiment;

[0022] Figure 3 is a cross-sectional view of the mounting platform, the sliding rail, and the sliding seat of the embodiment;

[0023] Figure 4 1 is a schematic structural diagram of a dispensing device according to an embodiment;

[0024] Figure 5 2. It is a structural diagram of the lifting nut seat, lifting screw rod and lifting seat of the embodiment;

[0025] Figure 6 Schematic diagram of the structure of the driving wheel, driven wheel and synchronous belt in the embodiment;

[0026] Figure 7 2 is a schematic structural diagram of a dispensing robot according to an embodiment;

[0027] Figure 8 1 is a schematic structural diagram of an adsorption device according to an embodiment;

[0028] Figure 9 2 is a schematic structural diagram of an adsorption manipulator according to an embodiment;

[0029] Figure 10 is a cross-sectional view of a rotating electrical machine according to an embodiment;

[0030] Figure 11 is a schematic structural diagram of an adsorption member according to an embodiment;

[0031] Figure 12 Schematic diagram of the structure of the adsorption hole in the embodiment.

[0032] Reference numerals: 1, moving device; 2, Y-axis translation module; 21, mounting platform; 22, sliding rail; 23, sliding seat; 3, dispensing device; 31, first mounting plate; 311, lifting rail; 33, first lifting assembly; 331, lifting nut seat; 332, lifting screw; 333, lifting motor; 334, lifting seat; 335, driving wheel; 336, driven wheel; 337, synchronous belt; 34, dispensing robot; 341, barrel; 34 2. Dispensing injection valve; 343. Feed pipe; 344. First cylinder; 4. Adsorption device; 41. Second mounting plate; 43. Second lifting assembly; 44. Adsorption robot; 441. Vacuum pump; 442. Connecting pipe; 443. Adsorption part; 4431. Suction cavity; 4432. Adsorption hole; 4433. Main body; 4434. Adsorption part; 444. Rotating motor; 4441. Through hole; 445. Second cylinder; 5. X-axis translation module. DETAILED DESCRIPTION

[0033] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the following is a summary of the technical problems, technical solutions and beneficial effects to be solved by the present invention. Figure 1-12 It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] Reference Figure 1 、 Figure 2 and Figure 3A dual-arm manipulator device includes a moving device 1, a dispensing device 3, and an adsorption device 4, wherein the moving device 1 includes an X-axis translation module 5 and two sets of Y-axis translation modules 2, and the two Y-axis translation modules 2 are horizontally and laterally (along the X-axis) slidably arranged on the X-axis translation module 5. The Y-axis translation module 2 includes a mounting platform 21, a sliding rail 22, a sliding seat 23, a ball screw (not shown in the figure), and a drive motor (not shown in the figure). The sliding seat 23 is fixedly mounted on the X-axis translation module 5 and is driven by the X-axis translation module 5 to slide laterally. The sliding rail 22 is snap-fitted and installed on the sliding seat 23 to achieve horizontal and longitudinal (along the Y-axis) sliding. The mounting platform 21 is fixed to the sliding rail 22, the nut of the ball screw is fixed to the bottom end of the mounting platform 21, and the screw of the ball screw is threadedly connected to the nut and fixed to the rotating shaft of the drive motor. The drive motor's shaft rotates to drive the mounting platform 21 to perform horizontal longitudinal sliding motion via the ball screw. The X-axis translation module 5 has the same structure as the Y-axis translation module 2, and the X-axis translation module 5 drives the two Y-axis translation modules 2 to perform horizontal lateral motion.

[0035] Reference Figure 4 The glue dispensing device 3 includes a first mounting plate 31, a glue dispensing robot 34, and a first lifting assembly 33. The first mounting plate 31 is vertically fixed to one end of the mounting platform 21 of one of the Y-axis translation modules 2. The glue dispensing robot 34 is slidably mounted on the first mounting plate 31. The first lifting assembly 33 is fixed to the first mounting plate 31 and drives the glue dispensing robot 34 up and down. The Y-axis translation module 2 is used to adjust the horizontal and vertical positions of the first mounting plate 31, the glue dispensing robot 34, and the first lifting assembly 33. After adjustment, the glue dispensing robot 34 is positioned directly above the load (such as paper card) on the production line, allowing the glue dispensing robot 34 to dispense glue on the load surface.

[0036] Reference Figure 5 and Figure 6The first lifting assembly 33 includes a lifting nut seat 331, a lifting screw 332, and a lifting motor 333. The lifting nut seat 331 is slidably mounted on the first mounting plate 31, and the lifting screw 332 is threadedly connected to the lifting nut seat 331. To this end, a lifting rail 311 is vertically fixed on the first mounting plate 31. A lifting seat 334 is fixedly mounted at the bottom end of the lifting nut seat 331, and the lifting seat 334 is locked and slidably mounted on the lifting rail 311. The lifting motor 333 is fixed to the first mounting plate 31, with the rotating shaft of the lifting motor 333 pointing vertically upward. A driving pulley 335 is fixed to the rotating shaft of the lifting motor 333, and a driven pulley 336 is fixed to the lifting screw 332. A synchronous belt 337 is wound around the driving pulley 335 and the driven pulley 336. Finally, the dispensing robot 34 is fixed to the lifting nut seat 331. When the dispensing robot 34 needs to be adjusted to a suitable horizontal position height, the rotating shaft of the lifting motor 333 rotates, thereby driving the lifting screw 332 to rotate, thereby driving the lifting nut seat 331 and the dispensing robot 34 to move up and down.

[0037] Reference Figure 7 The glue dispensing robot 34 includes a material barrel 341, a glue dispensing injection valve 342, a feed pipe 343, and a first cylinder 344. The first cylinder 344 is vertically fixed to the lifting nut seat 331, and the telescopic rod of the first cylinder 344 is kept vertically downward. The glue dispensing injection valve 342 is fixed to the telescopic rod of the first cylinder 344. The material barrel 341 is placed above the glue dispensing injection valve 342, and the ends of the feed pipe 343 are respectively fixed to the material barrel 341 and the glue dispensing injection valve 342. The glue in the material barrel 341 can spontaneously flow into the glue dispensing injection valve 342 under the action of gravity. The glue dispensing injection valve 342 is driven by the first cylinder 344 to move toward the paper jam, and the glue dispensing injection valve 342 sprays the glue onto the paper jam.

[0038] Reference Figure 8The suction device 4 includes a second mounting plate 41, a suction manipulator 44, and a second lifting assembly 43. The second mounting plate 41 is vertically fixed to one end of the mounting platform 21 of the other Y-axis translation module 2, with the second mounting plate 41 and the first mounting plate 31 located on the same side of the two Y-axis translation modules 2. The suction manipulator 44 is slidably mounted on the second mounting plate 41, and the second lifting assembly 43 is fixedly mounted on the second mounting plate 41 to drive the suction manipulator 44 up and down. In this way, the horizontal and vertical positions of the second mounting plate 41, the suction manipulator 44, and the second lifting assembly 43 are adjusted through the Y-axis translation module 2. When it is necessary to adjust the horizontal and longitudinal position of the adsorption robot 44 through the Y-axis translation module 2, the rotating shaft of the driving motor rotates, thereby driving the mounting table 21 through the ball screw to achieve horizontal and longitudinal sliding. At this time, the sliding track 22 slides on the sliding seat 23 to adjust the adsorption robot 44 to be directly above the object to be mounted (such as false eyelashes), so that the adsorption robot 44 can suck up the object and bond it to the carrier.

[0039] Reference Figure 5 、 Figure 6 and Figure 8 The structure of the second lifting assembly 43 is identical to that of the first lifting assembly 33, both comprising a lifting nut seat 331, a lifting screw 332, and a lifting motor 333. The lifting nut seat 331 is slidably mounted on the second mounting plate 41, and the lifting screw 332 is threadedly connected to the lifting nut seat 331. Similarly, a lifting rail 311 is vertically fixed to the second mounting plate 41. A lifting seat 334 is fixed at the bottom end of the lifting nut seat 331, and the lifting seat 334 is positioned so as to be seated and slidable on the lifting rail 311. The lifting motor 333 is fixed to the second mounting plate 41, with its rotating shaft pointing vertically upward. A driving pulley 335 is fixed to the rotating shaft of the lifting motor 333, and a driven pulley 336 is fixed to the lifting screw 332. A synchronous belt 337 is wound around the driving pulley 335 and the driven pulley 336. Finally, the adsorption robot 44 is fixed to the lifting nut seat 331. When the adsorption manipulator 44 needs to be adjusted to a suitable horizontal position height, the rotating shaft of the lifting motor 333 rotates, thereby driving the lifting screw 332 to rotate, thereby driving the lifting nut seat 331 and the adsorption manipulator 44 to move up and down.

[0040] Reference Figures 9-12The adsorption robot 44 includes a vacuum pump 441, a connecting pipe 442, an adsorption member 443, a rotating motor 444, and a second cylinder 445. The second cylinder 445 is vertically fixed on the lifting nut seat 331, and the telescopic rod of the second cylinder 445 is kept vertically downward. The rotating motor 444 is vertically fixed to the bottom end of the telescopic rod of the second cylinder 445. A through hole 4441 is vertically formed in the rotating motor 444 and its rotating shaft. The two ends of the connecting pipe 442 are respectively connected to the vacuum pump 441 and the through holes 4441 in the rotating motor 444 and its rotating shaft. The adsorption member 443 is horizontally fixed on the rotating shaft of the rotating motor 444. An air suction chamber 4431 is formed in the adsorption member 443. The air suction chamber 4431 is connected to the through hole 4441, and one end of the air suction chamber 4431 passes through the adsorption member 443. A plurality of adsorption holes 4432 are formed at the bottom end of the adsorption member 443 , and each adsorption hole 4432 is communicated with the suction cavity 4431 .

[0041] Take the production of attaching eyelashes to cardboard as an example: when the suction robot 44 needs to attach the false eyelashes, the rotary motor 444 rotates the shaft according to the placement of the false eyelashes, thereby driving the suction element 443 to rotate to the appropriate angle. This prevents any angular deviation between the suction element 443 and the false eyelashes during the suction process, thereby improving the suction element 443's ability to attach the false eyelashes. The vacuum pump 441 then begins to operate, removing air from the suction chamber 4431, creating a negative pressure inside the chamber. When the bottom end of the suction element 443 contacts the false eyelashes, it is sucked up and subsequently bonded to the cardboard. When the adsorption component 443 needs to stop adsorbing the false eyelashes, the vacuum pump 441 stops working, and air passes through one end of the adsorption component 443 from the suction chamber 4431 to replenish air into the suction chamber 4431, so that the air pressure inside the suction chamber 4431 and the outside world reach equilibrium, and the false eyelashes are separated from the adsorption component 443 under the action of gravity.

[0042] The suction member 443 is divided into a main body 4433 and a suction member 4434. The main body 4433 is located at the top of the suction member 4434, and the suction member 4434 is configured with an inverted trapezoidal cross-section. This reduces the area of ​​the bottom of the suction member 4434, allowing the suction holes 4432 at the bottom of the suction member 443 to align with the false eyelashes when the suction member 443 is attached to the false eyelashes.

[0043] The specific implementation principle of the embodiment of the present application is as follows: when it is necessary to use the dual-arm manipulator device to glue and fix false eyelashes on the paper jam, first, the rotating shafts of the two lifting motors 333 rotate to drive the lifting nut seat 331 to rise and fall through the lifting screw 332, so that the dispensing spray valve 342 and the adsorbent 443 are respectively at the appropriate horizontal height. Then, the X-axis translation module 5 drives the Y-axis translation module 2 fixed with the dispensing device 3 to make horizontal lateral movement, so that the horizontal lateral position of the dispensing device 3 corresponds to the position of the paper jam. The rotating shaft of the driving motor in the Y-axis translation module 2 rotates to drive the mounting platform 21 and the dispensing device 3 to make horizontal longitudinal movement through the ball screw until the dispensing spray valve 342 moves to the top of the paper jam. The telescopic rod of the first cylinder 344 extends to drive the dispensing injection valve 342 to descend close to the paper jam, and the glue in the barrel 341 enters the dispensing injection valve 342 under the action of gravity and is sprayed onto the paper jam through the dispensing injection valve 342.

[0044] The X-axis translation module 5 then drives the Y-axis translation module 2, to which the suction device 4 is fixed, to perform horizontal lateral movement, so that the horizontal lateral position of the suction device 4 corresponds to the position of the false eyelashes. The shaft of the drive motor in the Y-axis translation module 2 rotates, driving the mounting platform 21 and the suction device 4 through the ball screw to perform horizontal longitudinal movement until the suction member 443 is directly above the paper jam. The shaft of the rotary motor 444 rotates, thereby driving the suction member 443 to rotate until the length of the suction member 443 aligns with the length of the false eyelashes. The telescopic rod of the second cylinder 445 extends to drive the rotary motor 444 and the suction member 443 downward. Simultaneously, the vacuum pump 441 begins to operate, extracting air from the suction chamber, creating a negative pressure state within the suction chamber. When the suction member 443 descends to abut the false eyelashes, it is sucked up. The telescopic rod of the second cylinder 445 retracts to lift the false eyelashes. The X-axis translation module 5 and the Y-axis translation module 2, which is secured with the suction device 4, then drive the suction robot 44 to move above the paper jam. Finally, the telescopic rod of the second cylinder 445 extends again to adhere the false eyelashes to the paper jam. By separating the dispensing device 3 and the suction device 4, the adhesion between the false eyelashes and the paper jam is more efficient.

[0045] The above is an exemplary description of the present invention in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all protected by the present invention.

Claims

1. A dual-arm manipulator device, characterized in that: The device comprises a moving device, a dispensing device and an adsorption device, wherein the moving device comprises an X-axis translation module arranged on the X-axis and two sets of Y-axis translation modules arranged on the Y-axis, wherein the two Y-axis translation modules are mounted on the X-axis translation module and can move along the X-axis on the X-axis translation module; The dispensing device and the adsorption device are respectively installed on two sets of Y-axis translation modules and can move along the Y-axis on the Y-axis translation modules; The dispensing device includes a first mounting plate, a dispensing robot and a first lifting assembly; The first mounting plate is fixed to the end of the Y-axis translation module, the first lifting assembly is fixedly arranged on the first mounting plate, and the dispensing robot is installed on the first lifting assembly and moves up and down along the first lifting assembly; The adsorption device includes a second mounting plate, an adsorption robot and a second lifting assembly. The second mounting plate is fixed to the end of the Y-axis translation module. The second lifting assembly is fixedly arranged on the second mounting plate. The adsorption robot is installed on the second lifting assembly and moves up and down along the second lifting assembly.

2. A dual-arm manipulator device according to claim 1, characterized in that: The Y-axis translation module includes a mounting platform, a sliding rail, a sliding seat, a ball screw and a driving motor. The two sliding seats are arranged on the X-axis translation module, and the X-axis translation module drives the two sliding seats to perform horizontal lateral movement. The sliding rail is arranged at the bottom end of the mounting platform and fixed on the sliding seat. The nut of the ball screw is fixed at the bottom end of the mounting platform. The driving motor drives the screw of the ball screw to rotate to drive the mounting platform to move along the Y-axis.

3. A dual-arm manipulator device according to claim 1, characterized in that: The first lifting assembly and the second lifting assembly respectively include a lifting nut seat, a lifting screw and a lifting motor. The lifting nut seat is set on the first mounting plate or the second mounting plate for lifting and sliding. The lifting screw is threadedly connected to the lifting nut seat. The lifting motor drives the lifting screw to rotate; the dispensing robot is set on the lifting nut seat of the first lifting assembly, and the adsorption robot is set on the lifting nut seat of the second lifting assembly.

4. A dual-arm manipulator device according to claim 3, characterized in that: The first mounting plate and the second mounting plate are both fixedly provided with lifting rails, the bottom ends of the lifting nut seats are both provided with lifting seats, and the lifting seats are slidably mounted on the lifting rails.

5. The dual-arm manipulator device according to claim 3, characterized in that: The lifting screw rod and the rotating shaft of the lifting motor are parallel to each other. A driving wheel is fixedly provided on the rotating shaft of the lifting motor. A driven wheel is fixedly provided on the lifting screw rod. The outer peripheries of the driving wheel and the driven wheel are covered with synchronous belts.

6. The dual-arm manipulator device according to claim 1, characterized in that: The dispensing robot includes a first cylinder, a material barrel, a dispensing injection valve and a feed pipe. The first cylinder is fixedly set on a lifting nut seat, and the dispensing injection valve is vertically fixed on the telescopic rod of the first cylinder. The two ends of the feed pipe are respectively connected to the material barrel and the dispensing injection valve.

7. The dual-arm manipulator device according to claim 1, characterized in that: The adsorption robot includes a second cylinder, a vacuum pump, a connecting pipe, an adsorption part and a rotating motor. The second cylinder is fixedly arranged on the lifting nut seat, the rotating motor is fixedly arranged on the telescopic rod of the second cylinder, the rotating motor and its rotating shaft are penetrated to form a through hole, the two ends of the connecting pipe are respectively connected to the through holes of the vacuum pump and the rotating motor, the adsorption part is fixedly arranged on the rotating shaft of the rotating motor, an air suction cavity connected to the through hole is formed in the adsorption part, one end of the air suction cavity passes through the adsorption part, and a plurality of adsorption holes connected to the air suction cavity are formed at the bottom end of the adsorption part.

8. The dual-arm manipulator device according to claim 7, characterized in that: The adsorption component includes a main body and an adsorption portion, the adsorption portion is located at the bottom end of the main body, the vertical cross-section of the adsorption portion is in an inverted trapezoidal shape, and a plurality of adsorption holes are opened in the adsorption portion.

9. The dual-arm manipulator device according to claim 7, characterized in that: The adsorption holes are in the shape of long strips.

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