Execution device for adsorbing materials and intelligent robot

Abstract

The utility model provides an executive device for adsorbing materials and an intelligent robot, the executive device comprises a base and an adsorption assembly, an assembly shaft is arranged on the base in a protruding mode, and the assembly shaft is used for being connected with the tail end of a mechanical arm; the adsorption assembly is arranged on the base in a lifting mode, the adsorption assembly is provided with a working position which moves downwards by a preset distance to suck or release materials, and the adsorption assembly is provided with an initial position which moves upwards by a preset distance to retract; the number of the adsorption assemblies is multiple, and the multiple adsorption assemblies are arranged on the base at intervals. The mechanical arm solves the problems that in the prior art, a tail end executing device of a mechanical arm is low in material carrying efficiency and single in adsorption.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, and more specifically, to an actuator and an intelligent robot for adsorbing materials. Background Technology

[0002] As the manufacturing industry continues to demand higher production efficiency and quality, traditional manual operations can no longer meet the needs of large-scale, high-precision, and high-intensity production. Therefore, robotic arms, as intelligent devices that can simulate the movements of the human arm to complete complex actions, and as an important component of intelligent robots and automated equipment, are widely used in industrial production lines because their performance directly affects the operational efficiency and accuracy of the entire system.

[0003] In the prior art, if the size of the part to be picked up is changed, the suction position of the adsorption device needs to be manually adjusted to achieve the target position suitable for picking up the part. Due to the poor stability of manual operation, this seriously affects the production capacity and efficiency.

[0004] Existing robotic arms' end effectors often only allow for the adsorption of single materials at a time, resulting in prolonged round-trip times during material handling and reduced overall production efficiency. This is especially problematic when material size or type changes, requiring manual adjustment of the adsorption position, further increasing operation time and slowing production. Utility Model Content

[0005] The main objective of this invention is to provide an actuator and intelligent robot for adsorbing materials, in order to solve the problems of low material handling efficiency and single adsorption characteristics of the end effector of the robotic arm in the prior art.

[0006] To achieve the above objectives, according to one aspect of the present invention, an actuator for adsorbing materials is provided, comprising a base and an adsorption assembly. An assembly shaft is protruding from the base for connection to the end of a robotic arm. The adsorption assembly is vertically and flexibly mounted on the base, having a working position for moving downward a preset distance to absorb or release materials, and an initial position for moving upward a preset distance to retract. Multiple adsorption assemblies are provided, spaced apart on the base.

[0007] In one exemplary embodiment, at least two of the multiple adsorption components are raised and lowered independently, and the raising and lowering distance of the at least two adsorption components is adjustable.

[0008] In one exemplary embodiment, at least two of the plurality of adsorption components are movably disposed in the horizontal direction of the base so that the spacing between the at least two adsorption components is adjustable.

[0009] In an exemplary embodiment, the actuator further includes a driving component having a fixed part and a movable part. The fixed part is connected to the base, and the movable part is vertically and vertically disposed on the fixed part. The movable part is drivenly connected to the adsorption component to drive the adsorption component to move upward or downward. There are multiple driving components, and each driving component corresponds to a multiple adsorption component, so that each driving component drives each adsorption component accordingly.

[0010] In an exemplary embodiment, the actuator further includes a mounting base and a mounting plate, wherein the mounting base is disposed on the base, the fixing part is disposed on the mounting base, the mounting plate is disposed on the movable part, and the adsorption assembly is disposed on the mounting plate.

[0011] In an exemplary embodiment, there are two adsorption components and two driving components, with each driving component corresponding to one of the two adsorption components; there are two mounting bases, which are respectively located at both ends of the base along its length, with the assembly shaft located between the two mounting bases; and there are two mounting plates, which are respectively mounted on two movable parts on corresponding sides.

[0012] In an exemplary embodiment, the mounting base includes a first plate and a second plate connected together. The first plate is disposed on a base and extends horizontally, and the second plate extends in a direction perpendicular to the first plate, so that the first plate and the second plate form an L-shaped mounting base. A fixing part is disposed on the second plate. The mounting plate includes a fixing plate and an extension arm connected together. The fixing plate is disposed on a movable part, and the extension arm is connected to the side edge of the fixing plate, so that the fixing plate and the extension arm form a T-shaped mounting plate. An adsorption assembly is disposed on the extension arm.

[0013] In an exemplary embodiment, the adsorption assembly includes a first connector structure, an adapter shaft, and an adsorption shaft. A first end of the first connector structure is connected to a vacuum tube of a vacuum generator. A first end of the adapter shaft is connected to a second end of the first connector structure. A first end of the adsorption shaft is connected to a second end of the adapter shaft, and the second end of the adsorption shaft forms an adsorption end for adsorbing materials. Both the adsorption shaft and the adapter shaft are hollow shafts. The actuator further includes a limiting seat with a first limiting groove. An extension arm has a second limiting groove at a position opposite to the first limiting groove. The limiting seat and the extension arm are connected and form a limiting hole, and the adapter shaft is located within the limiting hole.

[0014] In one exemplary embodiment, the diameter of the adapter shaft is larger than the diameter of the adsorption shaft.

[0015] In an exemplary embodiment, the actuator further includes a vacuum generator, a solenoid valve, and a pressure sensor, wherein the vacuum generator has a vacuum tube for connection to a first connector structure of the adsorption assembly; the solenoid valve is control-connected to the vacuum generator to control the opening and closing of the vacuum generator; and the pressure sensor is disposed on the base and connected to the vacuum tube through a second connector structure thereon for real-time detection of the pressure within the adsorption shaft of the adsorption assembly.

[0016] According to another aspect of the present invention, an intelligent robot is provided, comprising a robotic arm and an execution device, wherein the execution device is connected to the end of the robotic arm, and the execution device is the aforementioned execution device.

[0017] The present invention provides an actuator for adsorbing materials, comprising a base and an adsorption assembly. The base has a protruding assembly shaft for connecting to the end of a robotic arm. The adsorption assembly is vertically and flexibly mounted on the base. The adsorption assembly has a working position for moving downward a preset distance to absorb or release materials, and an initial position for moving upward a preset distance to retract. There are multiple adsorption assemblies, which are spaced apart on the base.

[0018] By integrating the adsorption components vertically and flexibly onto the base, and by configuring multiple adsorption components, the multiple adsorption components can each pick up different materials. Alternatively, multiple adsorption components can each pick up multiple identical materials. This improves material handling efficiency and ensures that the actuator provided in this application can pick up various materials without manual replacement of the adsorption components. This increases production efficiency and automation, and is suitable for the rapid handling and assembly of various materials. In particular, in the handling and mounting technology of waterproof, sound-permeable, and breathable membranes inside cameras, it can significantly improve the comfort of human-machine collaboration and production efficiency. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0020] Figure 1 A partial structural schematic diagram of an intelligent robot according to an alternative embodiment of the present invention is shown;

[0021] Figure 2 It shows Figure 1 A schematic diagram of the execution device of the intelligent robot in the image;

[0022] Figure 3 It shows Figure 2 A schematic diagram of the pressure sensor side of the actuator in the process;

[0023] Figure 4 It shows Figure 2 A schematic diagram of the adsorption component of the actuator in its initial position.

[0024] Figure 5 It shows Figure 2 A schematic diagram of the adsorption component of the actuator in the working position.

[0025] The above figures include the following reference numerals:

[0026] 1. Robotic arm; 2. Actuating device;

[0027] 10. Base; 11. Assembly shaft;

[0028] 20. Adsorption assembly; 21. First connector structure; 22. Adapter shaft; 23. Adsorption shaft;

[0029] 30. Drive assembly; 31. Fixed part; 32. Moving part;

[0030] 40. Mounting base; 41. First section; 42. Second section;

[0031] 50. Mounting plate; 51. Fixing plate; 52. Extension arm;

[0032] 60. Limiting seat;

[0033] 70. Pressure sensor; 71. Second connector structure;

[0034] 80. Support base. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0036] To address the issues of low material handling efficiency and limited adsorption capacity of end effectors in existing robotic arms, this invention provides an adsorption device and an intelligent robot for adsorbing materials. The intelligent robot includes a robotic arm 1 and an adsorption device 2, wherein the adsorption device 2 is connected to the end of the robotic arm 1. The adsorption device 2 is the same as described above and below. Specifically, the adsorption device 2 is connected to the Z-axis end of the robotic arm 1.

[0037] like Figures 1 to 5 As shown, the actuator 2 for adsorbing materials includes a base 10 and an adsorption assembly 20. An assembly shaft 11 protrudes from the base 10 and is used to connect to the end of the robotic arm 1. The adsorption assembly 20 is vertically and vertically mounted on the base 10. The adsorption assembly 20 has a working position that moves downward a preset distance to absorb or release materials, and an initial position that moves upward a preset distance to retract. There are multiple adsorption assemblies 20, which are spaced apart on the base 10.

[0038] By integrating the adsorption component 20 vertically onto the base 10 and setting multiple adsorption components 20, multiple adsorption components 20 can respectively pick up different materials. Of course, multiple adsorption components 20 can also pick up multiple identical materials respectively. While improving the material handling efficiency, it also ensures that the actuator 2 provided by this application can pick up a variety of different materials without manual replacement of the adsorption components 20, thereby improving production efficiency and automation. It is suitable for the rapid handling and assembly of various materials. In particular, in the waterproof, sound-permeable and breathable membrane handling and mounting technology inside the camera, it can significantly improve the comfort of human-machine collaboration and production efficiency.

[0039] It should be noted that in this application, at least two of the multiple adsorption components 20 are raised and lowered independently, and the raising and lowering distance of at least two adsorption components 20 is adjustable. Thus, when adsorbing materials of different sizes, the robotic arm can move the actuator 2 above a material of one size as needed. After the corresponding adsorption component 20 completes adsorption of that material, the robotic arm then moves the actuator 2 above a material of another size. After the corresponding adsorption component 20 completes adsorption of that material, the robotic arm transports the two materials of different sizes to the target location in one go, greatly improving the handling efficiency and applicability of the actuator.

[0040] Optionally, the two independently lifting adsorption components 20 can perform adsorption operations simultaneously, or they can perform release operations simultaneously, or they can perform adsorption and release operations in sequence. The specific actions depend on the specific size of the material.

[0041] It should be noted that, in an embodiment not shown in this application, considering that materials of different sizes are prone to interference after being adsorbed by the corresponding adsorption components 20, preferably, at least two of the multiple adsorption components 20 are movably arranged in the horizontal direction of the base 10, so that the interval between the at least two adsorption components 20 can be adjusted. This facilitates adjusting the interval between the two adsorption components according to the compatibility of two materials of different sizes, thereby ensuring that the two adsorption components 20 do not interfere with each other during transport after adsorbing their respective corresponding sizes of materials.

[0042] like Figures 2 to 5 As shown, the actuator 2 also includes a drive assembly 30, which has a fixed part 31 and a movable part 32. The fixed part 31 is connected to the base 10, and the movable part 32 is vertically and flexibly mounted on the fixed part 31. The movable part 32 is drivenly connected to the adsorption assembly 20 to drive the adsorption assembly 20 to move upward or downward. Multiple drive assemblies 30 are present, each corresponding to one adsorption assembly 20, so that each drive assembly 30 drives each adsorption assembly 20. This ensures both the reliable installation of the drive assembly 30 and the reliable driving of the adsorption assembly 20, thereby ensuring the reliable lifting and lowering of the adsorption assembly 20.

[0043] Preferably, the drive assembly 30 is a cylinder, the fixed part 31 of the drive assembly 30 is the fixed end of the cylinder, the movable part 32 of the drive assembly 30 is the drive end of the cylinder, and the drive end and the fixed end are slidably connected.

[0044] like Figures 2 to 5 As shown, the actuator 2 also includes a mounting base 40 and a mounting plate 50. The mounting base 40 is disposed on the base 10, and the fixing part 31 is disposed on the mounting base 40. The mounting plate 50 is disposed on the movable part 32, and the adsorption assembly 20 is disposed on the mounting plate 50. In this way, the mounting base 40 ensures the stability of the drive assembly 30, and the mounting plate 50 ensures the stability of the adsorption assembly 20 and the smoothness of its movement.

[0045] like Figures 2 to 5 As shown, there are two adsorption components 20 and two driving components 30, with each driving component 30 corresponding to one adsorption component 20; there are two mounting bases 40, which are respectively located at both ends of the base 10 along its length, and the assembly shaft 11 is located between the two mounting bases 40; there are two mounting plates 50, which are respectively mounted on the two movable parts 32 on the corresponding sides.

[0046] like Figures 2 to 5As shown, the mounting base 40 includes a first plate 41 and a second plate 42 connected to each other. The first plate 41 is disposed on the base 10 and extends horizontally, while the second plate 42 extends in a direction perpendicular to the first plate 41, so that the first plate 41 and the second plate 42 form an L-shaped mounting base 40. The fixing part 31 is disposed on the second plate 42. The mounting plate 50 includes a fixing plate 51 and an extension arm 52 connected to each other. The fixing plate 51 is disposed on the movable part 32, and the extension arm 52 is connected to the side edge of the fixing plate 51, so that the fixing plate 51 and the extension arm 52 form a T-shaped mounting plate 50. The adsorption assembly 20 is disposed on the extension arm 52. In this way, by configuring the mounting base 40 into a structure including a first plate 41 and a second plate 42 connected to each other, the reliability of the connection between the mounting base 40 and the base 10 and the connection between the mounting base 40 and the drive assembly 30 are ensured; in addition, by configuring the mounting plate 50 into a structure including a fixed plate 51 and an extension arm 52 connected to each other, the reliability of the connection between the mounting plate 50 and the movable part 32 and the connection between the mounting plate 50 and the adsorption assembly 20 are ensured.

[0047] like Figure 2 , Figure 4 and Figure 5 As shown, the adsorption assembly 20 includes a first connector structure 21, an adapter shaft 22, and an adsorption shaft 23. The first end of the first connector structure 21 is connected to the vacuum tube of a vacuum generator; the first end of the adapter shaft 22 is connected to the second end of the first connector structure 21; the first end of the adsorption shaft 23 is connected to the second end of the adapter shaft 22, and the second end of the adsorption shaft 23 forms an adsorption end for adsorbing materials. Both the adsorption shaft 23 and the adapter shaft 22 are hollow shafts. The actuator 2 also includes a limiting seat 60, which has a first limiting groove. The extension arm 52 has a second limiting groove at a position opposite to the first limiting groove. The limiting seat 60 is connected to the extension arm 52 and forms a limiting hole, within which the adapter shaft 22 is located. By configuring the adsorption assembly 20 with the structure including the first connector structure 21, the adapter shaft 22, and the adsorption shaft 23, the reliability of the adsorption of materials by the adsorption assembly 20 and the stability of the installation of the adsorption assembly 20 are ensured.

[0048] It should be noted that, in this application, in order to ensure the reliability of material adsorption by the adsorption shaft 23 and the stability of the adsorption assembly 20, and considering the significant manufacturing difficulty of machining the adsorption shaft 23 and the adapter shaft 22 in a single process, the diameter of the adapter shaft 22 may be larger than that of the adsorption shaft 23. This ensures the stability of the adsorption assembly 20, and the connection between the adapter shaft 22 and the adsorption shaft 23 is a sealed connection.

[0049] It should be noted that in this application, the actuator 2 further includes a vacuum generator, a solenoid valve, and a pressure sensor 70. The vacuum generator has a vacuum tube for connecting to the first connector structure 21 of the adsorption assembly 20. The solenoid valve is connected to the vacuum generator to control its opening and closing. The pressure sensor 70 is mounted on the base 10 and connected to the vacuum tube via a second connector structure 71 thereon for real-time detection of the pressure within the adsorption shaft 23 of the adsorption assembly 20. Thus, the end of the vacuum tube branches into two branches: one branch connects to the adsorption assembly 20 via the first connector structure 21, and the other branch connects to the pressure sensor 70 via the second connector structure 71, ensuring that the pressure sensor 70 can detect the pressure within the adsorption shaft 23 of the adsorption assembly 20 in real time.

[0050] Specifically, when the adsorption shaft 23 attempts to adsorb material, the solenoid valve controls the vacuum generator to start and generate negative pressure. If the adsorption shaft 23 successfully adsorbs material, a sealed space is formed between the material and the contact surface of the adsorption shaft 23, so that the negative pressure inside the adsorption shaft 23 is stabilized at a high value. At this time, the display screen of the pressure sensor 70 will show the corresponding high negative pressure value inside the adsorption shaft 23.

[0051] Conversely, if the adsorption shaft 23 fails to adsorb the material, or if the material is not firmly adsorbed, the sealing space formed between the material and the contact surface of the adsorption shaft 23 will have low sealing performance. The negative pressure value will not be able to reach the preset threshold, or it will gradually decrease over time. If the negative pressure value detected by the pressure sensor 70 does not reach the threshold or shows a downward trend, the pressure sensor 70 will send a signal to the control module of the robotic arm 1. The control module will stop or adjust the movement of the robotic arm according to the received signal to prevent the material that has not been stably adsorbed from falling during the handling process, thereby preventing production losses.

[0052] Furthermore, the solenoid valve, as the control element of the vacuum generator, is used to control the opening and closing of the vacuum generator. When the solenoid valve receives the adsorption command, the solenoid valve opens, and the vacuum generated by the vacuum generator is connected to the hollow adsorption shaft 23 through the first connector structure 21, forming a strong adsorption force, so that the material is adsorbed on the bottom of the adsorption shaft 23. When the material is adsorbed and reaches the target position, the solenoid valve closes, the vacuum transmission stops, the air pressure is restored, and the material detaches from the adsorption shaft 23 after losing the negative pressure adsorption force and is placed at the target position, thereby completing the release action.

[0053] It should be noted that in this application, the control module of the robotic arm 1 integrates visual recognition technology or other sensors to detect the precise position of the material. The sensors can be cameras, lidar, infrared sensors, etc., all of which can identify the shape, size, and position of the material and convert this information into coordinate data, that is, the coordinate position of the material. After the control module obtains the coordinate position of the material, it calculates the optimal path for the adsorption shaft 23 to reach that coordinate position and controls the robotic arm to move above the material while maintaining a preset distance from the material to prevent the bottom of the adsorption shaft 23 from contacting the material. Subsequently, the control module sends a signal to the solenoid valve to open the solenoid valve. The vacuum generated by the vacuum generator is connected to the hollow adsorption shaft 23 through the first connector structure 21, forming a strong adsorption force, so that the material is adsorbed on the bottom of the adsorption shaft 23.

[0054] To ensure that materials do not fall off during transport, the control module transmits signals to the pressure sensor 70, allowing the control module to monitor the negative pressure level inside the adsorption shaft 23 in real time. When the pressure sensor 70 detects that the pressure value inside the adsorption shaft 23 is lower than the preset safety threshold, the control module immediately takes measures, such as stopping the robotic arm 1, adjusting the position of the adsorption shaft 23, or restarting the vacuum generator, to prevent materials from falling off during transport. When the material is transported to the target position, the control module closes the solenoid valve, thereby cutting off the vacuum supply and safely releasing the material from the adsorption shaft 23. After release, the control module again monitors the pressure inside the adsorption shaft 23 through the pressure sensor 70 to ensure that the inside of the adsorption shaft 23 completely returns to normal pressure, ensuring that subsequent material adsorption can proceed smoothly.

[0055] like Figure 3 As shown, the actuator also includes a support base 80, a portion of which is L-shaped and connected to the base 10. The other portion of the L-shaped support base 80 is used to connect to the pressure sensor 70 to provide it with a stable and reliable support force.

[0056] The present invention provides an actuator for adsorbing materials, comprising a base 10 and an adsorption assembly 20. The base 10 has a protruding assembly shaft 11 for connection to the end of a robotic arm 1. The adsorption assembly 20 is vertically and flexibly mounted on the base 10. The adsorption assembly 20 has a working position for moving downward a preset distance to absorb or release materials, and an initial position for moving upward a preset distance to retract. Multiple adsorption assemblies 20 are spaced apart on the base 10.

[0057] By integrating the adsorption component 20 vertically onto the base 10 and setting the adsorption component 20 into a multiple structure, multiple adsorption components 20 can respectively pick up different materials. Of course, multiple adsorption components 20 can also pick up multiple identical materials respectively. While improving the material handling efficiency, it also ensures that the actuator provided by this application can pick up a variety of different materials without manual replacement of the adsorption component 20, thereby improving production efficiency and automation. It is suitable for the rapid handling and assembly of various materials. In particular, in the waterproof, sound-permeable and breathable membrane handling and mounting technology inside the camera, it can significantly improve the comfort of human-machine collaboration and production efficiency.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0060] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0061] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0062] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0063] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An actuator for adsorbing materials, characterized in that, include: A base (10) is provided with an assembly shaft (11) protruding from the base (10), the assembly shaft (11) being used to connect to the end of the robotic arm (1); Adsorption component (20), wherein the adsorption component (20) is vertically and vertically mounted on the base (10), the adsorption component (20) has a working position that moves downward a preset distance to absorb or release material, and the adsorption component (20) has an initial position that moves upward the preset distance to retract. There are multiple adsorption components (20), and the multiple adsorption components (20) are spaced apart on the base (10).

2. The actuator according to claim 1, characterized in that, At least two of the adsorption components (20) can be raised and lowered independently, and the raising and lowering distance of the at least two adsorption components (20) can be adjusted.

3. The actuator according to claim 1, characterized in that, At least two of the plurality of adsorption components (20) are movably disposed in the horizontal direction of the base (10) so that the spacing between the at least two adsorption components (20) is adjustable.

4. The actuator according to claim 1, characterized in that, The actuator further includes: A driving assembly (30) has a fixed part (31) and a movable part (32). The fixed part (31) is connected to the base (10). The movable part (32) is vertically and vertically disposed on the fixed part (31). The movable part (32) is drivenly connected to the adsorption assembly (20) to drive the adsorption assembly (20) to move upward or downward. There are multiple driving components (30), and each driving component (30) corresponds to one of the multiple adsorption components (20), so that each driving component (30) drives each adsorption component (20).

5. The actuator according to claim 4, characterized in that, The actuator further includes: Mounting base (40), the mounting base (40) is disposed on the base (10), and the fixing part (31) is disposed on the mounting base (40); Mounting plate (50), which is disposed on the movable part (32), and adsorption assembly (20) is disposed on the mounting plate (50).

6. The actuator according to claim 5, characterized in that, There are two adsorption components (20) and two driving components (30), with each of the two driving components (30) corresponding to one of the two adsorption components (20). There are two mounting seats (40), which are respectively located at both ends of the base (10) in the length direction. The assembly shaft (11) is located between the two mounting seats (40). There are two mounting plates (50), which are respectively mounted on the two movable parts (32) on the corresponding sides.

7. The actuator according to claim 5, characterized in that, The mounting base (40) includes a first plate (41) and a second plate (42) connected to each other. The first plate (41) is disposed on the base (10) and extends in a horizontal direction. The second plate (42) extends in a direction perpendicular to the first plate (41) so that the first plate (41) and the second plate (42) form an L-shaped mounting base (40). The fixing part (31) is disposed on the second plate (42). The mounting plate (50) includes a fixed plate (51) and an extension arm (52) connected to each other. The fixed plate (51) is disposed on the movable part (32), and the extension arm (52) is connected to the side edge of the fixed plate (51) so that the fixed plate (51) and the extension arm (52) form a T-shaped mounting plate (50). The adsorption assembly (20) is disposed on the extension arm (52).

8. The actuator according to claim 7, characterized in that, The adsorption component (20) includes: The first connector structure (21) has its first end connected to the vacuum tube of the vacuum generator; The adapter shaft (22) has a first end connected to the second end of the first connector structure (21); An adsorption shaft (23) is provided, the first end of which is connected to the second end of the adapter shaft (22), and the second end of the adsorption shaft (23) forms an adsorption end for adsorbing materials. Both the adsorption shaft (23) and the adapter shaft (22) are hollow shafts. The actuator further includes: The limiting seat (60) has a first limiting groove, and the extension arm (52) has a second limiting groove at a position opposite to the first limiting groove. The limiting seat (60) and the extension arm (52) are connected to form a limiting hole, and the adapter shaft (22) is located in the limiting hole.

9. The actuator according to claim 8, characterized in that, The diameter of the adapter shaft (22) is larger than the diameter of the adsorption shaft (23).

10. The actuator according to any one of claims 1 to 9, characterized in that, The actuator further includes: A vacuum generator having a vacuum tube for connection to a first connector structure (21) of the adsorption assembly (20); A solenoid valve is connected to the vacuum generator for controlling the opening and closing of the vacuum generator; A pressure sensor (70) is disposed on the base (10) and is connected to the vacuum tube via a second connector structure (71) thereon for real-time detection of the pressure within the adsorption shaft (23) of the adsorption assembly (20).

11. An intelligent robot, characterized in that, include: robotic arm (1); An execution device (2) is connected to the end of the robotic arm (1), and the execution device (2) is the execution device according to any one of claims 1 to 10.

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