Actuator and manipulator

Abstract

The utility model 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 technical field of mechanical processing, in particular, the present application relates to an executor and a manipulator. BACKGROUND

[0002] With the development of parts manufacturing industry, the degree of automation of factory equipment is higher and higher, and the executor for executing clamping operation is widely used in parts processing process. Taking the commonly used truss manipulator in automatic equipment as an example, the executor is controlled to realize workpiece processing in manufacturing industry. Because the truss manipulator has the advantages of easy control and high precision, it has been widely used in electronic and mechanical manufacturing industry.

[0003] In order to meet the needs of reducing processing cost and further realizing automatic production of equipment, it is often necessary to carry out multi-process integrated processing during processing, therefore, the executor needs to be able to carry out multi-process clamping. However, the executor on the market often has few actions, and can only be used in a certain specific process, which is difficult to meet the processing needs. CONTENT OF THE UTILITY MODEL

[0004] The executor and the manipulator provided by the embodiments of the present application can solve the problem that the existing executor can only carry out single-process clamping and is difficult to meet the multi-process clamping needs.

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

[0006] According to an aspect of the embodiments of the present application, an executor is provided, which comprises a driving part provided with a first driver and a second driver, and a first station and a second station for clamping workpieces, the first station and the second station clamp workpieces corresponding to different processing processes;

[0007] The second driver and the first station are connected with the rotating driving end of the first driver, the second station is connected with 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.

[0008] In one possible implementation, a third station and a station connecting plate are further included, the station connecting plate is connected with the rotating driving end of the second driver, and the second station and the third station are connected with the side of the station connecting plate away from the second driver.

[0009] In one possible implementation, a connecting part provided with a profile transition block, a mounting bottom plate and a first base is further included, the top of the profile transition block is provided with a connecting groove for connecting with external equipment, the bottom of the profile transition block is adjustably connected with the mounting bottom plate, and the side of the mounting bottom plate away from the profile transition block is connected with the first base.

[0010] The first base has an inclined surface on the side away from the mounting base plate for fixing the first driver, and the inclined surface is inclined relative to the horizontal plane.

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

[0012] In one possible implementation, a second base and a driver transition block are also included, with the top side of the second base connected to the rotary drive end of the first driver, and the side of the second base perpendicular to the horizontal plane connected to the first workstation.

[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 the driver transition block on the side away from the second base.

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

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

[0016] In one possible implementation, it further includes a positioning block, a fixing frame, and a positioning element, wherein the fixing frame is connected to one side of the first driver where the rotational drive end is located, and the positioning block is fixed to the side of the rotational drive end of the first driver.

[0017] The positioning element is fixed at both ends of the fixed frame and is used to abut against the positioning block when the positioning block reaches the predetermined rotation position.

[0018] In one possible implementation, the positioning element includes an adjusting screw and a buffer, one end of which is fixed to the mounting bracket, and the other end of which contacts the positioning block that has reached a predetermined rotational position.

[0019] According to an aspect of the embodiments of the present application, a manipulator is provided, which comprises the actuator as described above.

[0020] The technical scheme provided by the embodiments of the present application has the beneficial effects that:

[0021] The actuator provided by the embodiments of the present application comprises a driving part provided with a first driver and a second driver, and a first work station and a second work station for clamping workpieces, the workpieces clamped by the first work station and the second work station correspond to different machining processes; the second driver and the first work station are connected with a rotary driving end of the first driver, the second work station is connected with a rotary driving end of the second driver, and a working plane of the first work station is perpendicular to a working plane of the second work station. The actuator of the embodiments of the present application can clamp multiple workpieces at the same time, and can avoid interference between the clamped workpieces, effectively meet the demand of multi-process clamping, reduce the number of execution ends used by the equipment, and greatly reduce the cost of the production equipment. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced.

[0023] Figure 1 A structural diagram of the actuator provided by the embodiments of the present application is shown in the figure;

[0024] Figure 2 A top view of the actuator provided by the embodiments of the present application is shown in the figure;

[0025] Figure 3 A left view of the actuator provided by the embodiments of the present application is shown in the figure;

[0026] Figure 4 A right view of the actuator provided by the embodiments of the present application is shown in the figure;

[0027] Figure 5 A front view of the actuator provided by the embodiments of the present application is shown in the figure;

[0028] Figure 6 A structural diagram of the manipulator provided by the embodiments of the present application is shown in the figure.

[0029] Label explanation: 11, first driver; 21, second driver; 30, first clamping driver; 31, first fixed block; 32, first adjusting block; 33, pusher; 34, first clamping piece; 35, second clamping driver; 36, second fixed block; 37, second clamping piece; 38, conical surface positioning chuck;

[0030] 41, electromagnetic valve body finished product; 42, semi-finished electromagnetic valve body; 43, electromagnetic valve body blank;

[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, fixed frame; 64, buffer; 65, adjusting screw; 66, second base; 67, station connecting plate. DETAILED DESCRIPTION

[0033] The embodiments of the present application will be described below in conjunction with the accompanying drawings. It should be understood that the embodiments described below in conjunction with the accompanying drawings are exemplary descriptions of 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] Those skilled in the art can understand that the singular forms "a", "an" and "the" used herein include plural forms unless specifically stated otherwise. It should be further understood that the terms "include" and "contain" used in the embodiments of the present application mean that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude other features, information, data, steps, operations, elements, components and / or their combinations supported by the present technology. It should be understood that when we say that an element is "connected" or "coupled" to another element, the element can be directly connected or coupled to the other element, or it can mean that the element and the other element establish a connection relationship through an intermediate element. In addition, "connection" or "coupling" used herein can include wireless connection or wireless coupling. The term "and / or" used herein indicates that at least one of the items defined by the term, for example, "A and / or B" indicates that "A" is implemented, or "A" is implemented, or "A and B" are implemented.

[0035] In order to make the purpose, technical scheme and advantages of the utility model more clear, the following will make further detailed description to the utility model embodiment in conjunction with the drawings.

[0036] The technical solutions of the embodiments of the utility model and the technical effects generated by the technical solutions of the utility model will be described below through the description of several exemplary embodiments. It should be pointed out that the following embodiments can be mutually referenced, borrowed or combined, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0037] The executor and the mechanical hand provided by the present application aim to solve at least one technical problem existing in the prior art.

[0038] Optionally, the manipulator can be used for clamping 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 finished electromagnetic valve body 41, and the semi-finished rod part of the electromagnetic valve body during the machining of the electromagnetic valve body.

[0039] An executor is provided in the embodiments of the present application, as shown in the drawings, the executor comprises a driving part provided with a first driver 11 and a second driver 21, and a first work station and a second work station for clamping workpieces, the workpieces clamped by the first work station and the second work station correspond to different machining processes; the second driver 21 and the first work station are connected with a rotating driving end of the first driver 11, the second work station is connected with a rotating driving end of the second driver 21, and a working plane of the first work station is perpendicular to a working plane of the second work station. Figures 1-5

[0040] Optionally, the first driver 11 and the second driver 21 can be rotary cylinders, motors, and other devices capable of driving the first work station and the second work station to rotate. The number of the second drivers 21 can be two, and the two second drivers 21 are arranged side by side.

[0041] Optionally, the executor further comprises a third work station and a work station connecting plate 67, the work station connecting plate 67 is connected with the rotating driving end of the second driver 21, and the second work station and the third work station are connected with the side of the work station connecting plate 67 away from the second driver 21.

[0042] In an embodiment, the work station connecting plate 67 is in a strip shape, the rotating driving end of the second driver 21 is connected with the middle part of the work station connecting plate 67, and the second work station and the third work station are connected with the two ends of the side of the work station connecting plate 67 away from the second driver 21. The executor clamps the electromagnetic valve body blank 43 through the third work station, clamps the semi-finished electromagnetic valve body 42 through the second work station, and clamps the finished electromagnetic valve body 41 through the first work station.

[0043] Optionally, when the workpiece is an electromagnetic valve body provided with a tapered surface, the third work station can be provided with a tapered surface positioning chuck 38, the tapered surface positioning chuck 38 is used to adsorb the electromagnetic valve body blank 43 to be machined, and after adsorption, the freedom degrees of the electromagnetic valve body blank 43 in the front, back, left, right, and upper directions are limited, so that the one-time clamping positioning of the electromagnetic valve body blank 43 is realized.

[0044] ​Optionally, the actuator further comprises a connecting portion provided with a profile transition block 51, a mounting bottom plate 52 and a first base 54, a connecting groove for connecting with an external device is arranged on the top of the profile transition block 51, the bottom of the profile transition block 51 is adjustably connected with the mounting bottom plate 52, and the side of the mounting bottom plate 52 away from the profile transition block 51 is connected with the first base 54; and a slope for fixing the first driver 11 is arranged on the side of the first base 54 away from the mounting bottom plate 52, and the slope is arranged to be inclined relative to the horizontal plane.

[0045] Optionally, the shape of the connecting groove corresponds to the shape of the connecting end of the external device, the connecting groove can be recessed towards the mounting bottom plate 52, and a through hole can be arranged on the opposite side of the connecting groove.

[0046] Optionally, the bottom of the profile transition block 51 is provided with a mounting groove, the side of the mounting bottom plate 52 close to the profile transition block 51 is provided with a mounting boss corresponding to the mounting groove, the mounting boss and the mounting groove form a dovetail groove structure, and the region where the profile transition block 51 contacts the mounting bottom plate 52 is further provided with a fixing hole for fixing the mounting bottom plate 52 and the profile transition block 51.

[0047] Optionally, the fixing hole can be a screw hole, the number of the screw holes can be multiple, and the screws for fixing the profile transition block 51 and the mounting bottom plate 52 are fixed on the mounting bottom plate 52 along the screw holes, so as to realize the relative fixing of the profile transition block 51 and the mounting bottom plate 52. Furthermore, the relative positions of the profile transition block 51 and the mounting bottom plate 52 can be adjusted through the dovetail groove structure and the screws. When adjusting the relative positions, the screws are loosened, the relative positions are adjusted through the dovetail groove structure, and after the adjustment is completed, the screws are tightened to fix the profile transition block 51 and the mounting bottom plate 52.

[0048] Optionally, in order to further fix the actuating end or install other devices on the actuating end, the actuator can further comprise a fixing side plate 53, the top of the fixing side plate 53 is connected with the bottom of the mounting bottom plate 52, and the fixing side plate 53 is located on one side of the first base 54. Wherein, the fixing side plate 53 can be fixed vertically on the mounting bottom plate 52, and the fixing side plate 53 can be fixedly connected with the first base 54.

[0049] In one embodiment, the first base 54 can be a triangular base, and the right-angled sides of the triangular base are respectively connected with the mounting bottom plate 52 and the fixing side plate 53. The slope of the triangular base is connected with the top side of the first driver 11.

[0050] Optionally, the actuator further comprises a second base 66 and a driver transition block 61, the top side of the second base 66 is connected with the rotating driving end of the first driver 11, the side of the second base 66 perpendicular to the horizontal plane is connected with the first station; the driver transition block 61 is fixedly connected with the bottom of the second base 66, and the top of the second driver 21 is connected with the side of the driver transition block 61 away from the second base 66.

[0051] Optionally, the side of the second base 66 connected with the first driver 11 can be a slope, and the rotating driving end of the first driver 11 is fixed on the slope. The driver transition block 61 can be a plate structure, and the bottom of the second base 66 is fixedly connected with the top surface of the plate structure.

[0052] Optionally, the first station comprises a first clamping driver 30, a first adjusting block 32, a first fixed block 31 and a first clamping piece 34, one end of the first clamping driver 30 is fixed on the side of the second base 66, the first fixed block 31 is connected with the driving end of the first clamping driver 30, the first adjusting block 32 is connected with the side of the first fixed block 31 away from the first clamping driver 30, and the first clamping piece 34 is connected with the side of the first adjusting block 32 away from the first fixed block 31.

[0053] Optionally, the first clamping piece 34 can be a clip, and the number of the clip can be three, and the workpiece processed by the first clamping piece 34. Correspondingly, when the first clamping piece 34 is a clip, the first clamping driver 30 can be a three-jaw cylinder, and the clip is driven to act by the three-jaw cylinder.

[0054] Optionally, in order to clamp different products and adjust the position of the clip, an adjusting structure can also be arranged on the side of the first adjusting block 32 and the first fixed block 31 opposite to each other, the relative position between the first adjusting block 32 and the first fixed block 31 is adjusted through the adjusting structure, so as to realize the adjustment of the position of the clip.

[0055] In an embodiment, the adjusting structure can comprise a plurality of tooth grooves and screws arranged on the side of the first adjusting block 32 and the first fixed block 31 opposite to each other, when the relative position is adjusted, the screws are loosened, the relative position of the first adjusting block 32 and the first fixed block 31 is adjusted through the tooth grooves, and after the adjustment is completed, the first adjusting block 32 and the first fixed block 31 are fixed by the screws.

[0056] Optionally, the second station can comprise a second clamping piece 37, a second fixed block 36 and a second clamping driver 35, the top end of the second clamping driver 35 can be fixed on the station connecting plate 67, the driving end of the second clamping driver 35 is connected with the second fixed block 36, and the second clamping piece 37 is connected with 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 can be of the same type, and the second clamping driver 35 can be a three-jaw cylinder. The workpiece is clamped by the second clamping member 37, and the position of the clamped workpiece is limited by the combination of the plurality of second clamping members 37 (which can be three) on the second clamping driver 35.

[0058] Optionally, the second clamping member 37 and the second fixed block 36 can also be provided with adjustment structures on the sides opposite to each other, which are used to adjust the relative positions of the second clamping member 37 and the second fixed block 36.

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

[0060] Optionally, the number of pushers 33 can be multiple, 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 comprises a positioning block 62, a fixed frame 63, and a positioning member, the fixed frame 63 is connected to the side of the rotating drive end of the first driver 11, and the positioning block 62 is fixed to the side of the rotating drive end of the first driver 11; the positioning member is fixed to both ends of the fixed 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 can 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 member at both ends of the fixed frame 63.

[0062] Optionally, the positioning block 62, the fixed frame 63, and the positioning member are located above the inclined surface on the top of the second base 66. The fixed frame 63 can be a strip structure, and both ends of the fixed frame 63 are located on both sides of the rotating drive end of the first driver 11.

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

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

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

[0066] The actuator of the embodiment of the present application comprises a driving portion provided with a first driver 11 and a second driver 21, and a first work station and a second work station for clamping workpieces, the workpieces clamped by the first work station and the second work station correspond to different machining processes; the second driver 21 and the first work station are connected to the rotating driving end of the first driver 11, the second work station is connected to the rotating driving end of the second driver 21, and the working plane of the first work station is perpendicular to the working plane of the second work station. The execution end of the embodiment of the present application can clamp multiple workpieces at the same time, and can avoid interference between the clamped workpieces, effectively meet the demand of multi-process clamping, reduce the number of execution ends used by the equipment, and greatly reduce the cost of the production equipment.

[0067] According to one aspect of the embodiment of the present application, a mechanical hand is provided, as shown in the drawings, which comprises at least one actuator, the actuator comprising a driving portion provided with a first driver 11 and a second driver 21, and a first work station and a second work station for clamping workpieces, the workpieces clamped by the first work station and the second work station correspond to different machining processes; the second driver 21 and the first work station are connected to the rotating driving end of the first driver 11, the second work station is connected to the rotating driving end of the second driver 21, and the working plane of the first work station is perpendicular to the working plane of the second work station. Figures 1-6

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

[0069] Optionally, the actuator further comprises a connecting portion provided with a profile transition block 51, a mounting bottom plate 52, and a first base 54, the top of the profile transition block 51 is provided with a connecting groove for connecting with external equipment, the bottom of the profile transition block 51 is adjustably connected to the mounting bottom plate 52, one side of the mounting bottom plate 52 away from the profile transition block 51 is connected to the first base 54; the first base 54 is provided with an inclined surface on the side away from the mounting bottom plate 52 for fixing the first driver 11, and the inclined surface is inclinedly arranged relative to the horizontal plane.

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

[0071] Optionally, the executor further comprises a second base 66 and a driver transition block 61, the top side of the second base 66 is connected with the rotating driving end of the first driver 11, and the side of the second base 66 perpendicular to the horizontal plane is connected with the first station; the driver transition block 61 is fixedly connected with the bottom of the second base 66, and the top of the second driver 21 is connected with the side of the driver transition block 61 away from the second base 66.

[0072] Optionally, the first station comprises a first clamping driver 30, a first adjusting block 32, a first fixing block 31 and a first clamping piece 34, one end of the first clamping driver 30 is fixed on the side of the second base 66, the first fixing block 31 is connected with the driving end of the first clamping driver 30, the first adjusting block 32 is connected with the side of the first fixing block 31 away from the first clamping driver 30, and the first clamping piece 34 is connected with the side of the first adjusting block 32 away from the first fixing block 31.

[0073] Optionally, the first station further comprises a material pusher 33, one end of the material pusher 33 is connected with the side of the first clamping driver 30 away from the second base 66, and the other end extends in the direction of the first clamping driver 30.

[0074] Optionally, the executor further comprises a positioning block 62, a fixing frame 63 and a positioning piece, the fixing frame 63 is connected with the side of the first driver 11 provided with the rotating driving end, and the positioning block 62 is fixed on the side of the rotating driving end of the first driver 11; the positioning piece is fixed on both ends of the fixing frame 63, and is used for abutting against the positioning block 62 when the positioning block 62 reaches a predetermined rotating position.

[0075] Optionally, the positioning piece comprises 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 reaching the predetermined rotating position.

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

[0077] It should be understood that, although each operation step in the flowchart of the embodiments of the present application is indicated by an arrow, the implementation order of the steps is not limited to the order indicated by the arrow. Unless otherwise specified herein, in some implementation scenarios of the embodiments of the present application, the implementation steps in each flowchart can be executed in other orders as required. In addition, part or all of the steps in each flowchart can include multiple sub-steps or multiple stages based on the actual implementation scenario. Part or all of these sub-steps or stages can be executed at the same time, and each of these sub-steps or stages can also be executed at different times. In the scenario where the execution times are different, the execution order of these sub-steps or stages can be flexibly configured as required, and the embodiments of the present application do not limit this.

[0078] The above is only an optional implementation of some implementation scenarios of the present application. It should be pointed out that, for those skilled in the art, other similar implementation means based on the technical idea of the present application can also be adopted without departing from the technical concept of the present application, and such implementation means also belong to the protection scope of the embodiments of the present application.

Claims

1. An actuator, characterized by The utility model provides a driving part is equipped with first driver, second driver and is used for clamping work piece's first station, second station, the first station and the second station clamped work piece correspond different processing procedure, The second driver and the first station are connected with the rotary driving end of the first driver, the second station is connected with the rotary 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 of claim 1, wherein, Further comprising a third station and a station connecting plate, the station connecting plate is connected with the rotary driving end of the second driver, and the second station and the third station are connected with the side of the station connecting plate away from the second driver.

3. The actuator of claim 1, wherein, Further comprising a connecting part provided with a profile transition block, a mounting bottom plate and a first base, the top of the profile transition block is provided with a connecting groove for connecting with external equipment, the bottom of the profile transition block is adjustably connected with the mounting bottom plate, and the side of the mounting bottom plate away from the profile transition block is connected with the first base. The first base is provided with an inclined surface on the side away from the mounting bottom plate for fixing the first driver, and the inclined surface is arranged obliquely relative to the horizontal plane.

4. The actuator of claim 3, wherein, The bottom of the profile transition block is provided with a mounting groove, the side of the mounting bottom plate close to the profile transition block is provided with a mounting boss corresponding to the mounting groove, the mounting boss and the mounting groove form a dovetail groove structure, and the area of the profile transition block contacting the mounting bottom plate is further provided with a fixing hole for fixing the mounting bottom plate and the profile transition block.

5. The actuator of claim 1, wherein, Further comprising a second base and a driver transition block, the top side of the second base is connected with the rotary driving end of the first driver, and the side of the second base perpendicular to the horizontal plane is connected with the first station; The driver transition block is fixedly connected with the bottom of the second base, and the top of the second driver is connected with the side of the driver transition block away from the second base.

6. The actuator of claim 5, wherein, The first station comprises a first clamping driver, a first adjusting block, a first fixing block and a first clamping piece, one end of the first clamping driver is fixed on the side of the second base, the first fixing block is connected with the driving end of the first clamping driver, the first adjusting block is connected with the side of the first fixing block away from the first clamping driver, and the first clamping piece is connected with the side of the first adjusting block away from the first fixing block.

7. The actuator of claim 6, wherein, The first station further comprises a pusher, one end of the pusher is connected with the side of the first clamping driver away from the second base, and the other end extends in the direction of the first clamping driver.

8. The actuator of claim 1, wherein, Further comprising a positioning block, a fixing frame and a positioning piece, the fixing frame is connected with the side of the first driver provided with the rotary driving end, and the positioning block is fixed on the side surface of the rotary driving end of the first driver; The positioning piece is fixed on both ends of the fixing frame, and is used for abutting against the positioning block when the positioning block reaches a predetermined rotary position.

9. The actuator of claim 8, wherein, The positioning piece 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 the predetermined rotary position.

10. A robot, characterized in that The robot includes an effector as claimed in any of claims 1-9.

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