CN218200880U

CN218200880U - 90-degree double-module manipulator

Info

Publication number: CN218200880U
Application number: CN202222100796.0U
Authority: CN
Inventors: 许昭挺; 黄德宝
Original assignee: Baiguan (fujian) Machinery Technology Development Co ltd
Current assignee: Baiguan (fujian) Machinery Technology Development Co ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2023-01-03
Anticipated expiration: 2032-08-10

Abstract

The utility model discloses a 90-degree double-module manipulator, which comprises a manipulator, a rotation driving device, a fixed seat, a first movable seat and a second movable seat, wherein the first movable seat is arranged on the fixed seat in a mode of transverse translation along the fixed seat, the second movable seat is arranged on the first movable seat in a mode of transverse translation along the first movable seat, an oil pressure buffer is arranged on the top surface of the first movable seat, a buffer block is fixed on the bottom surface of the second movable seat, the manipulator is arranged on the top surface of the second movable seat, and the rotation driving device is arranged in the second movable seat; during the use, the horizontal translation of first removal seat can make the manipulator can get on same straight line two different stations and put the work piece, and the translation that the second removed the seat makes the manipulator have a space of giving a concession for the station, makes the rotation of manipulator can not receive the influence of station, uses comparatively in a flexible way, and can make the station of two operating procedure be different angle settings, and it is convenient to use, and need not to design great dodging the space and supply the manipulator to shift.

Description

90-degree double-module manipulator

Technical Field

The utility model relates to a grab and press from both sides device product field, in particular to 90 degrees bimodulus group manipulators.

Background

In order to improve the production efficiency of products, reduce production processes and reduce labor cost, more and more enterprises or factories introduce automatic production lines, the automatic production lines need to use discharging and taking materials, and certain safety risks exist due to the fact that workers cannot well match the production line speed, so that the manipulator is used for steering or moving materials in the discharging, taking and intermediate processes to meet the current production requirements.

In view of the above, the present inventors have conducted extensive studies to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a 90 degrees bimodulus group manipulator to the motion mode who solves current manipulator makes equipment occupation space big, and causes the problem of injecing to the structure of equipment.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the 90-degree dual-module manipulator comprises a rack, a mounting seat mounted on the rack and a manipulator mounted on the mounting seat, wherein the manipulator is rotatably mounted on the mounting seat, and a rotation driving device for driving the manipulator to rotate is arranged on the mounting seat; the rack is provided with a base and a support rod which is vertically arranged on the base, the mounting seat is provided with a fixed seat, a first movable seat and a second movable seat, the fixed seat is fixed on the support rod, the first movable seat is installed on the fixed seat in a mode of transversely translating along the fixed seat, the fixed seat is of a hollow structure, a guide structure which is in sliding fit with the first movable seat is arranged in the fixed seat, the fixed seat is positioned outside the guide structure and is provided with a motor driving device for driving the first movable seat to translate, the second movable seat is installed on the first movable seat in a mode of transversely translating along the first movable seat, the translation direction of the first movable seat and the translation direction of the second movable seat are perpendicular to each other, an air cylinder driving device for driving the second movable seat to translate is installed on the first movable seat, an oil pressure buffer is installed on the top surface of the first movable seat, the oil pressure buffer is horizontally arranged in the translation direction of the second movable seat, the output end of the air cylinder driving device is arranged opposite to the output end of the oil pressure buffer, the bottom surface of the second movable seat is fixed with a buffer, the buffer block, the mechanical arm is installed on the second movable seat, and is installed in the second movable seat, and the second movable seat.

The horizontal moving direction of the first moving seat is the left-right direction, the horizontal moving direction of the second moving seat is correspondingly the front-back direction, the rack is provided with a lower bottom plate horizontally arranged along the left-right direction and supporting legs positioned outside the left side and the right side of the lower bottom plate, the supporting legs are provided with two supporting columns arranged at intervals front and back, the bottom of each supporting column is provided with a locking piece in an outward protruding mode, the locking piece is provided with a bolt mounting hole, the upper portions of the supporting columns are positioned above the lower bottom plate, a mounting plate positioned above the lower bottom plate in a hanging mode is fixed between the top surfaces of the two supporting columns of the supporting legs, the supporting legs vertically penetrate through the mounting plate and are tightly sleeved in the lower bottom plate, and the lower bottom plate, the supporting legs and the mounting plate form the base.

The fixing base is provided with a bottom plate and a square frame vertically arranged on the front side of the top surface of the bottom plate, the bottom plate is of a square plate body structure, the bottom plate is horizontally arranged along the left-right direction, the upper end of the supporting rod is locked on the bottom surface of the bottom plate, the square frame is provided with two side plates which are oppositely arranged on the left side and the right side and two vertical plates which are oppositely arranged on the front side and the rear side, the length of each side plate is longer than the distance between the two vertical plates, the guide structure is installed on the bottom plate and is positioned in the square frame, the first motor driving device is installed on the bottom plate and is positioned behind the square frame, and the motor driving device falls into the distance range between the two side plates.

The guide structure is provided with two first sliding rails and a first sliding block, the first sliding rails are sleeved outside the first sliding rails in a sliding mode, the first sliding rails extend along the left-right direction, the two first sliding rails are arranged at intervals along the front-back direction, and the first sliding blocks are correspondingly locked on the bottom surface of the first movable seat corresponding to the first sliding rails.

The bottom surface on bottom plate right side erects and is provided with the rotating electrical machines, and the output of rotating electrical machines upwards stretches out outside the bottom plate, and the inherent action wheel of rotating electrical machines's output shaft overcoat, above-mentioned bottom plate top surface left side is rotated and is installed the follow driving wheel that sets up with the action wheel counterpoint, and the action wheel is connected through belt transmission between the follow driving wheel, first removal seat bottom surface is fixed erectly to be provided with the connecting plate that is in outside the square frame, and the connecting plate extends along left and right directions, and the trailing flank of connecting plate is through fixed block and driving belt lock solid cooperation, rotating electrical machines, action wheel, follow driving wheel and driving belt constitute motor drive arrangement.

The first movable seat is provided with a lower plate body, an upper plate body, a front side plate and a rear side plate, the lower plate body is arranged above the two vertical plates, the upper plate body is arranged above the lower plate body, the width of the upper plate body in the front-back direction is larger than that of the lower plate body in the front-back direction, the rear side plate is clamped between the upper plate body and the lower plate body, a connecting vertical plate in front of the square frame is fixed on the front side of the lower plate body, the upper end of the front side plate is arranged below the front side of the upper plate body, the lower end of the front side plate is arranged on the front side of the connecting vertical plate and is locked with the connecting vertical plate, and the front side plate falls into the range of the distance between the two side plates; the cylinder driving device is characterized in that second slide rails extending along the front-back direction are arranged on the right side of the top surface of the upper plate body, the two second slide rails are arranged at left and right intervals, two second slide blocks arranged in an aligned mode with the two second slide rails are arranged on the bottom surface of the second moving seat, and the cylinder driving device is arranged between the two second slide rails.

The cylinder driving device is provided with a translation cylinder and a flat push plate, the translation cylinder extends along the front-back direction and is fixed on the top surface of the upper plate body, the output end of the translation cylinder is arranged backwards, the flat push plate is arranged outside the rear side of the translation cylinder and vertically, the output end of the translation cylinder is fixedly connected with the flat push plate, and the top surface of the flat push plate is fixedly connected with the rear side of the bottom surface of the second movable seat.

The horizontal above-mentioned oil buffer that is provided with in upper plate body top surface left side, the oil buffer is outside the left side of left second slide rail, the output of oil buffer sets up forward, the lower extreme of buffer block sets up with the output of oil buffer relatively, the bottom surface that the seat was removed to the second is fixed with two spacing risers that the front and back interval set up, the spiral shell is equipped with the guide bar that passes the buffer block along the fore-and-aft direction horizontal, above-mentioned guide bar and buffer block are in between two spacing risers, and the both ends tip of guide bar corresponds and two spacing riser clearance fit, outside the front end tip of guide bar stretches out spacing riser, and the outer cover of front end tip of guide bar is equipped with the rotatory hand wheel of drive guide bar.

The second removes the seat and has dull and stereotyped and the square seat that stands of lid above dull and stereotyped, square seat of standing is the open cavity square structure in bottom surface, rotate drive arrangement and be located square seat of standing, rotate drive arrangement and have rotation driving motor, rotate driving motor's output upwards stretch out square stand outside the seat and with manipulator swivelling joint.

After adopting above-mentioned technical scheme, this neotype 90 degree bimodulus group manipulator, during the use, utilize the first horizontal translation that removes the seat to make the manipulator can get in two different stations on same straight line and put the work piece, the horizontal translation that recycles the second and removes the seat can make the manipulator have a space of letting for the station, the rotation that makes the manipulator can not receive the influence of station, it is comparatively nimble to use, and can make the station of two operating procedure can be different angle settings, convenient to use, and need not to design great dodging space and supply the manipulator to shift, two operating station can only be 90 degrees or 180 degrees settings when having solved among the prior art when the manipulator carries out the transfer of material and cause the great problem in space that whole equipment need occupy the factory building.

Drawings

Fig. 1 is a schematic structural view of the present invention without a frame.

Fig. 2 is a schematic structural diagram of the present invention.

Detailed Description

In order to further explain the technical solution of the present invention, the following detailed description is made with reference to the accompanying drawings.

The utility model discloses a 90 degrees double module manipulator, as shown in fig. 1-2, including frame 1, rack-mounted mount pad and the manipulator 2 of installing on the mount pad, manipulator 2 rotates and installs on the mount pad, has the rotation drive arrangement 3 of driving manipulator 2 pivoted on the mount pad. In the present invention, the robot 2 and the rotation driving device 3 are well-known products, and will not be described again here.

The utility model has the improvement that the frame 1 is provided with a base 11 and a support rod 12 erected on the base 11, concretely, the base 11 is a plate-shaped structure, the base 11 is horizontally arranged along the left and right directions, supporting legs 111 are arranged outside the left and right sides of the base 11, the supporting legs 111 are provided with two supporting columns arranged at intervals front and back, the bottom of each supporting column is provided with a locking piece 112 outwards and convexly, the locking piece 112 is provided with a bolt mounting hole 100, the upper part of the supporting column is positioned above the base 11, a suspended mounting plate 113 positioned above the base 11 is fixed between the top surfaces of the two supporting columns of the supporting legs 111, the support rod 12 vertically penetrates through the mounting plate 113 and is tightly sleeved in the base 11, and the upper end of the support rod 12 is detachably installed with the mounting seat; the bolt passes through locking piece 112 and locks whole frame, and bracing piece 12, mount pad and frame can both be dismantled rather than make integrated into one piece, can dismantle when transporting to whole device and place, reduce the inconvenience that the main equipment brought to the transportation.

The mounting seat is provided with a fixed seat 4, a first movable seat 5 and a second movable seat 6, the fixed seat 4 is fixed on the support rod 12, the first movable seat 5 is mounted on the fixed seat 4 in a mode of transversely translating along the fixed seat 4, the fixed seat 4 is of a hollow structure, and a guide structure 41 in sliding fit with the first movable seat 5 is arranged in the fixed seat 4; specifically, the fixing seat 4 has a bottom plate 42 and a square frame 43 vertically arranged on the front side of the top surface of the bottom plate 42, the bottom plate 42 is in a square plate structure, the bottom plate 42 is horizontally arranged along the left-right direction, the upper end part of the supporting rod 12 is locked on the bottom surface of the bottom plate 42, the square frame 43 has two side plates 431 arranged oppositely left and right and two vertical plates 432 arranged oppositely front and back, the length of the side plate 431 is longer than the distance between the two vertical plates 432, and the height of the side plate 431 in the up-down direction is higher than the height of the two vertical plates 432 in the up-down direction; the guide structure 41 is installed on the bottom plate 42 and located in the square frame 43, the guide structure 41 has a first slide rail 411 and a first slide block 412 slidably sleeved outside the first slide rail 411, the first slide rail 411 extends along the left-right direction, two first slide rails 411 are provided, the two first slide rails 411 are arranged at intervals along the front-back direction, and the first slide block 412 is correspondingly locked at a position, corresponding to the first slide rail 411, of the bottom surface of the first movable seat 5; the first movable base 5 slides left and right on the top surface of the two vertical plates 432 under the cooperation of the first slide rail 411 and the first slide block 412, and the height of the two side plates 431 in the vertical direction is higher than that of the two vertical plates 432, so that the first movable base 5 is prevented from sliding out of the two vertical plates 432 when sliding left and right.

The fixed seat 4 is positioned outside the guide structure 41 and is provided with a motor driving device 7 for driving the first moving seat 5 to translate, the motor driving device 7 is arranged on the bottom plate 42 and is positioned behind the square frame 43, the motor driving device 7 falls into a distance range between the two side plates 431, and specifically, the motor driving device 7 is provided with a rotating motor 71, a driving wheel 72, a driven wheel 73 and a transmission belt (not shown in the figure), the rotating motor 71, the driving wheel 72, the driven wheel 73 and the transmission belt are all positioned outside a vertical plate 432 on the rear side and are positioned between the two side plates 431, the bottom surface on the right side of the bottom plate 42 is vertically provided with the rotating motor 71, the output end of the rotating motor 71 extends upwards out of the bottom plate 42, the driving wheel 72 is fixedly sleeved outside an output shaft of the rotating motor 71, the driven wheel 73 which is positioned opposite to the driving wheel 72 is rotatably arranged on the left side of the top surface of the bottom plate 42, the driving wheel 72 is in transmission connection with the driven wheel 73 through the transmission belt, the bottom surface of the first moving seat 5 is fixedly vertically provided with a connecting plate 50 outside the square frame 43, the connecting plate 50 extends in the left-right direction, and the rear side surface of the connecting plate 50 is locked with the transmission belt through the fixing block 501; when the device is used, the rotating motor 71 is started, the driving wheel 72 drives the transmission belt to rotate through the driven wheel 73, the transmission belt drives the connecting plate 50 to move horizontally left and right together, and the connecting plate 50 is fixedly connected with the first moving seat 5 so as to drive the first moving seat 5 to slide left and right.

The first movable seat 5 comprises a lower plate body 51, an upper plate body 52, a front side plate 53 and a rear side plate 54, the lower plate body 51 is positioned above the two vertical plates 432, the upper plate body 52 is positioned above the lower plate body 51, the width of the upper plate body 52 in the front-rear direction is larger than that of the lower plate body 51 in the front-rear direction, the rear side plate 54 is clamped between the upper plate body 52 and the lower plate body 51, a connecting vertical plate 511 positioned in front of the square frame 43 is fixed on the front side of the lower plate body 51, the connecting vertical plate 511 comprises a vertical part and a transverse part positioned below the front side of the vertical part, the upper end of the front side plate 53 is positioned below the front side of the upper plate body 52, the lower end of the front side plate 53 is stacked on the transverse part, the lower end of the front side plate 53 extends downwards to form an extension section positioned in front of the transverse part and locked with the transverse part through a bolt, the upper end and the rear side of the vertical part is in inserted fit with the front side of the lower plate body 51, namely, a groove penetrating through the bottom surface of the upper end of the vertical part is arranged in the left-right direction, the groove, the two side edges of the lower plate body are inserted into the groove, the distance range between the slide block 431 of the first movable seat 51; when the movable seat is used, the first movable seat 5 horizontally moves above the two vertical plates 432, and the first movable seat is convenient to assemble by using the structure of the connecting vertical plate 511 during assembly.

The second movable seat 6 is mounted on the first movable seat 5 in a manner of transversely translating along the first movable seat 5, the translation direction of the first movable seat 5 and the translation direction of the second movable seat 6 are perpendicular to each other, specifically, the second movable seat 6 is provided with a flat plate 61 and a square vertical seat 62 covering the flat plate, the square vertical seat 62 is a hollow square structure with an open bottom surface, the right side of the top surface of the upper plate body 52 is provided with two second slide rails 521 extending in the front-back direction, the two second slide rails 521 are arranged at left and right intervals, and the bottom surface of the flat plate 61 is provided with two second slide blocks 522 aligned with the two second slide rails 521; the second moving seat 6 realizes the forward and backward translation of the second moving seat 6 on the upper plate body 52 under the cooperation of the second sliding rail 521 and the second sliding block 522; the first moving seat 5 is provided with an air cylinder driving device 8 for driving the second moving seat 6 to translate, the air cylinder driving device 8 is arranged between the two second sliding rails 521, the air cylinder driving device 8 is provided with a translation air cylinder 81 and a flat push plate 82, the translation air cylinder 81 extends in the front-back direction and is fixed on the top surface of the upper plate body 52, the output end of the translation air cylinder 81 faces backwards, the flat push plate 82 is arranged outside the rear side of the translation air cylinder 81 and is vertically arranged, the output end of the translation air cylinder 81 is fixedly connected with the flat push plate 82, and the top surface of the flat push plate 82 is fixedly connected with the rear side of the bottom surface of the flat plate 61; during the use, translation cylinder 81 starts, and flat push pedal 82 stretches out and draws back from beginning to end to realize the second and remove the translation from beginning to end of seat 6.

The top surface of the first movable seat 5 is provided with an oil buffer 9, the oil buffer 9 is horizontally arranged along the translation direction of the second movable seat 6, the output end of the cylinder driving device 8 is opposite to the output end of the oil buffer 9, the bottom surface of the second movable seat 6 is fixed with a buffer block 91 which is opposite to the output end of the oil buffer 9, in particular, the left side of the top surface of the upper plate body 52 is horizontally provided with the oil buffer 9, the oil buffer 9 is a known product, the oil buffer 9 is positioned outside the left side of the left second slide rail 521, the output end of the oil buffer 9 is arranged forward, the lower end of the buffer block 91 is opposite to the output end of the oil buffer 9, two limiting vertical plates 92 which are positioned outside the oil pressure buffer 9 and are arranged at intervals in the front-back direction are fixed on the bottom surface of the flat plate 61, guide rods 93 which horizontally penetrate through the buffer block 91 along the front-back direction and are positioned above the oil pressure buffer 9 are screwed on the outer side of the buffer block 91, the guide rods 93 and the buffer block 91 are positioned between the two limiting vertical plates 92, the two limiting vertical plates 92 are connected together through connecting rods 94, two connecting rods 94 are arranged, the guide posts 93 are positioned between the two connecting rods 94, the connecting rods 94 movably penetrate through the buffer block 91, the rear end part of each guide rod 93 movably extends into the limiting vertical plate 92 positioned on the rear side, the front end part of each guide rod 93 movably extends out of the limiting vertical plate 92 positioned on the front side, and a hand wheel 931 for driving the guide rods 93 to rotate is sleeved on the outer side of the front end part of each guide rod 93; during the use, when the second removes seat 6 and moves backward, spacing riser 92 striking buffer block 91 that is in the front side, oil buffer 9 starts, make the second remove the backshifting of seat 6 play the cushioning effect, otherwise, when the second removes seat 6 and moves forward, spacing riser 92 striking buffer block 91 that is in the rear side, oil buffer 9 starts, make the antedisplacement of second removal seat 6 play the cushioning effect, utilize oil buffer 9 to remove the cushioning effect of seat 6 to the second and can make the work piece on manipulator 2 be difficult for rocking and skew in the centre gripping, again, utilize the adjustable buffer block 91 of hand wheel 931 to the interval between spacing riser 92, the different stroke regulation of applicable second removal seat like this.

The manipulator 2 is rotatably arranged on the top surface of the second movable seat 6, and the rotation driving device 3 is arranged in the second movable seat 6; specifically, the rotation driving device 3 is located in the square vertical seat, the rotation driving device 3 has a rotation driving motor, an output end of the rotation driving motor extends upward out of the square vertical seat and is rotatably connected with the manipulator 2, and a specific working mode of the manipulator is a technology known by those skilled in the art and is not described herein.

This novel 90 degrees bimodulus group manipulator, during the use, the translation can make the manipulator get in same straight line two different stations and put the work piece about utilizing first removal seat 5, the translation can make the manipulator have a space of dodging for the station around recycling second removal seat 6, make the rotation of manipulator can not receive the influence of station, it is comparatively nimble to use, and can make the station of two operating procedure can be different angle settings, convenient to use, and need not to design great dodge the space and supply the manipulator to shift, two operating procedure can only be 90 degrees or 180 degrees settings and cause the great problem in the space that whole equipment need occupy the factory building when having solved the manipulator and carrying out the transfer of material among the prior art, moreover, the cushioning effect that removes seat 6 through oil buffer 9 to the second can make the work piece on manipulator 2 be difficult for rocking and squinting in the centre gripping, finally, utilize the interval between hand wheel adjustable buffer block 91 for spacing riser 92, the different strokes of applicable second removal seat are adjusted like this.

In the present invention, preferably, the end portion of the outer end of the manipulator 2 has an upper clamping hand 21 and a lower clamping hand 22 which are oppositely arranged, the upper clamping hand 21 and the lower clamping hand 22 are both of a block structure, the bottom of the upper clamping hand 21 is upwardly concave with an upper notch (not shown in the figure), the side wall of the upper notch has a first side wall and a second side wall, the first side wall and the second side wall are both obliquely arranged, the upper end portion of the first side wall is connected with the upper end portion of the second side wall, the lower end portion of the first side wall is arranged opposite to the lower end portion of the second side wall, the first side wall and the second side wall enclose an inverted V-shaped groove which is gradually reduced from bottom to top, the bottom of the lower clamp 22 is downwards concave and provided with a lower notch, the upper notch and the lower notch are oppositely arranged, the side wall of the lower notch is provided with a third side wall and a fourth side wall, the third side wall and the fourth side wall are both obliquely arranged, the lower end part of the third side wall is connected with the lower end part of the fourth side wall, the upper end part of the third side wall and the upper end part of the fourth side wall are arranged in a back-to-back manner, the third side wall and the fourth side wall enclose a V-shaped groove gradually expanding from bottom to top, and the surfaces of the first side wall, the second side wall, the third side wall and the fourth side wall are all provided with sawteeth; during the application, utilize tong and lower tong to get the material, the material falls into in the concavity and between the concavity and the concavity, makes material and tong be unsmooth cooperation to it is higher to the degree of clamp of material with lower tong to make to go up tong, all has the sawtooth on going up the lateral wall of concavity and concavity simultaneously, has increased the frictional force of material and tong, and the material is difficult for dropping when making the clamp get the material.

The product form of the present invention is not limited to the drawings and embodiments of the present application, and any person can properly change or modify the product form of the present invention without departing from the scope of the present invention.

Claims

The 1.90-degree dual-module manipulator comprises a rack, a mounting seat mounted on the rack and a manipulator mounted on the mounting seat, wherein the manipulator is rotatably mounted on the mounting seat, and a rotary driving device for driving the manipulator to rotate is arranged on the mounting seat; the method is characterized in that: the rack is provided with a base and a supporting rod which is vertically arranged on the base, the mounting seat is provided with a fixed seat, a first movable seat and a second movable seat, the fixed seat is fixed on the supporting rod, the first movable seat is installed on the fixed seat in a mode of transversely translating along the fixed seat, the fixed seat is of a hollow structure, a guide structure which is in sliding fit with the first movable seat is arranged in the fixed seat, the fixed seat is positioned outside the guide structure and is provided with a motor driving device for driving the first movable seat to translate, the second movable seat is installed on the first movable seat in a mode of transversely translating along the first movable seat, the translation direction of the first movable seat and the translation direction of the second movable seat are perpendicular to each other, an air cylinder driving device for driving the second movable seat to translate is installed on the first movable seat, an oil pressure buffer is installed on the top surface of the first movable seat, the oil pressure buffer is horizontally arranged in the translation direction of the second movable seat, the output end of the air cylinder driving device is arranged opposite to the output end of the oil pressure buffer, the bottom surface of the second movable seat is fixed with a buffer, the manipulator is rotatably installed on the top surface of the second movable seat, and the second movable seat is rotatably installed in the second movable seat.
2. The 90 degree dual-module manipulator of claim 1, wherein: the horizontal moving direction of the first moving seat is used as the left-right direction, the horizontal moving direction of the second moving seat is correspondingly used as the front-back direction, the frame is provided with a lower bottom plate horizontally arranged along the left-right direction and supporting legs arranged outside the left side and the right side of the lower bottom plate, the supporting legs are provided with two supporting columns arranged at intervals around, the bottom of each supporting column is outwards and convexly provided with a locking piece, a bolt mounting hole is formed in the locking piece, the upper part of each supporting column is arranged above the lower bottom plate, a mounting plate which is suspended above the lower bottom plate is fixed between the top surfaces of the two supporting columns of the supporting legs, the supporting bars are vertically arranged to penetrate through the mounting plate and are tightly sleeved in the lower bottom plate, and the lower bottom plate, the supporting legs and the mounting plate form the base.
3. The 90 degree dual-module manipulator of claim 1, wherein: the fixing base is provided with a bottom plate and a square frame vertically arranged on the front side of the top surface of the bottom plate, the bottom plate is of a square plate body structure, the bottom plate is horizontally arranged along the left-right direction, the upper end portion of the supporting rod is locked on the bottom surface of the bottom plate, the square frame is provided with two side plates oppositely arranged left and right and two vertical plates oppositely arranged front and back, the length of each side plate is longer than the distance between the two vertical plates, the guide structure is installed on the bottom plate and is positioned in the square frame, the first motor driving device is installed on the bottom plate and is positioned behind the square frame, and the motor driving device falls into the distance range between the two side plates.
4. The 90 degree dual-module manipulator of claim 3, wherein: the guide structure is provided with two first sliding rails and a first sliding block, the first sliding rails are sleeved outside the first sliding rails in a sliding mode, the first sliding rails extend along the left-right direction, the two first sliding rails are arranged at intervals along the front-back direction, and the first sliding blocks are correspondingly locked on the bottom surface of the first movable seat corresponding to the first sliding rails.
5. The 90 degree dual-module manipulator of claim 4, wherein: the bottom surface on bottom plate right side erects and is provided with the rotating electrical machines, and the output of rotating electrical machines upwards stretches out outside the bottom plate, and the inherent action wheel of rotating electrical machines's output shaft overcoat, above-mentioned bottom plate top surface left side is rotated and is installed the follow driving wheel that sets up with the action wheel counterpoint, and the action wheel is connected through belt transmission between the follow driving wheel, first removal seat bottom surface is fixed erectly to be provided with the connecting plate that is in outside the square frame, and the connecting plate extends along left and right directions, and the trailing flank of connecting plate is through fixed block and driving belt lock solid cooperation, rotating electrical machines, action wheel, follow driving wheel and driving belt constitute motor drive arrangement.
6. The 90 degree dual-module manipulator of claim 3, wherein: the first moving seat is provided with a lower plate body, an upper plate body, a front side plate and a rear side plate, the lower plate body is located above the two vertical plates, the upper plate body is located above the lower plate body, the width of the upper plate body in the front-rear direction is larger than that of the lower plate body in the front-rear direction, the rear side plate is clamped between the upper plate body and the lower plate body, a connecting vertical plate located in front of the square frame is fixed on the front side of the lower plate body, the upper end of the front side plate is located below the front side of the upper plate body, the lower end of the front side plate is located on the front side of the connecting vertical plate and is locked with the connecting vertical plate, and the front side plate falls into the range of the distance between the two side plates; the cylinder driving device is characterized in that second slide rails extending along the front-back direction are arranged on the right side of the top surface of the upper plate body, the two second slide rails are arranged at left and right intervals, two second slide blocks arranged in an aligned mode with the two second slide rails are arranged on the bottom surface of the second moving seat, and the cylinder driving device is arranged between the two second slide rails.
7. The 90 degree dual-module manipulator of claim 6, wherein: the cylinder driving device is provided with a translation cylinder and a flat push plate, the translation cylinder extends along the front-back direction and is fixed on the top surface of the upper plate body, the output end of the translation cylinder is arranged backwards, the flat push plate is arranged outside the rear side of the translation cylinder and vertically, the output end of the translation cylinder is fixedly connected with the flat push plate, and the top surface of the flat push plate is fixedly connected with the rear side of the bottom surface of the second movable seat.
8. The 90 degree dual-module manipulator of claim 6, wherein: the horizontal above-mentioned oil buffer that is provided with in upper plate body top surface left side, the oil buffer is outside the left side of left second slide rail, the output of oil buffer sets up forward, the lower extreme of buffer block sets up with the output of oil buffer relatively, the bottom surface that the seat was removed to the second is fixed with two spacing risers that the front and back interval set up, the spiral shell is equipped with the guide bar that passes the buffer block along the fore-and-aft direction horizontal, above-mentioned guide bar and buffer block are in between two spacing risers, and the both ends tip of guide bar corresponds and two spacing riser clearance fit, outside the front end tip of guide bar stretches out spacing riser, and the outer cover of front end tip of guide bar is equipped with the rotatory hand wheel of drive guide bar.
9. The 90 degree dual-module manipulator of claim 8, wherein: the second removes the seat and has dull and stereotyped and the square seat that stands of lid above dull and stereotyped, square seat of standing is the open cavity square structure in bottom surface, rotate drive arrangement and be located square seat of standing, rotate drive arrangement and have rotation driving motor, rotate driving motor's output upwards stretch out square stand outside the seat and with manipulator swivelling joint.