CN221850194U - A two-axis single-side single-arm single-section manipulator - Google Patents

Abstract

The utility model discloses a two-axis single-side single-arm single-section manipulator, including a column frame and a transverse rack, the bottom end of the column frame is provided with a transverse rack, the outer wall of the column frame on one side of the transverse rack is symmetrically provided with a slide bar, the bottom end of the column frame below the transverse rack is provided with a walking seat, and the walking seat is slidably connected to the column frame, and the top of the walking seat below the slide bar is installed with a slide seat, and the slide seat is slidably connected to the slide bar. The utility model not only realizes the convenient centering clamping and fixing of the manipulator, but also facilitates the clamping centering positioning and flexible rotation adjustment of rubber products, facilitates the rubber products to be turned from horizontal to vertical state, increases the range of rotational control adjustment, and improves the convenience of posture adjustment of rubber products.

Description

A two-axis single-side single-arm single-section manipulator

Technical Field

The utility model relates to the technical field of manipulators, in particular to a two-axis single-side single-arm single-section manipulator.

Background Art

A single-arm manipulator is a general-purpose mechanical device used to simulate and replace the work of human hands. It plays an important role in industrial production and manufacturing processes. A robotic arm is a complex robotic device consisting of multiple joints and actuators. It can imitate the movement of human arms and complete a variety of industrial production and tasks that are difficult for humans to complete. Robotic arms can be used in automated assembly production lines. Robotic arms can also be used in automated packaging production lines. Robotic arms can carry and move materials in industrial environments, thereby reducing the manpower burden. Robots are usually used as additional devices for machine tools or other machines. The operating device needs to be directly operated by humans. The application of robots in the forging industry can further develop the production capacity of forging equipment and improve labor conditions such as heat and fatigue.

For example, an oblique-arm single-arm single-section manipulator disclosed in the authorization announcement number CN206551424U includes a base, a valve box is arranged on the first side of the base, an electric control box is arranged on the second side of the base, a rotating cylinder is arranged on the base, an output shaft is arranged at the front end of the rotating cylinder, a drawing part is installed on the output shaft, the drawing part is a frame structure, the drawing part includes a fixed seat rotatably mounted on the rotating cylinder, two connecting plates, a drawing end cover and a first driving mechanism, the first ends of the two connecting plates are respectively connected to the two ends of the fixed seat, the second ends of the two connecting plates are respectively connected to the drawing end cover, two guide rods are also arranged between the fixed seat and the drawing end cover, the two guide rods are slidably mounted with a positive arm part, the positive arm part includes a mounting seat, a guide rail and a second driving mechanism, and a clamping device is arranged at the bottom of the mounting seat;

Although it realizes a manipulator with a simple structure, high production efficiency, not easy to damage and easy to maintain, it does not solve the problems that the existing manipulator is not conducive to convenient centering clamping and fixing during use, is not conducive to clamping and centering positioning and flexible rotation adjustment of rubber products, is not conducive to the rubber products from horizontal to vertical state, greatly affects the range of rotational control adjustment, and greatly affects the convenience of posture adjustment of rubber products.

Utility Model Content

The purpose of the utility model is to provide a two-axis single-sided single-arm single-section manipulator to solve the problems proposed in the above-mentioned background technology that the manipulator is not convenient for convenient centering clamping and fixing, is not conducive to clamping and centering positioning and flexible rotation adjustment of rubber products, is not conducive to the conversion of rubber products from horizontal to vertical state, greatly affects the range of rotational control adjustment, and greatly affects the convenience of posture adjustment of rubber products.

To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a two-axis single-sided single-arm single-section manipulator, comprising a column frame and a transverse rack, the bottom end of the column frame is provided with a transverse rack, the outer wall of the column frame on one side of the transverse rack is symmetrically provided with a slide bar, the bottom end of the column frame below the transverse rack is provided with a walking seat, and the walking seat is slidably connected to the column frame, the top end of the walking seat below the slide bar is equipped with a slide seat, and the slide seat is slidably connected to the slide bar, the bottom end of the walking seat is provided with a stepping motor, the output end of the stepping motor is provided with a transverse gear, and the transverse gear is connected to the The transverse racks are meshed with each other, and a turning box is provided on the outer wall of the walking seat on one side of the transverse gear, and a turning frame is provided on the outside of the turning box. A longitudinal arm is slidably installed on the outer wall of the turning frame, and a rotating motor is provided on the side wall of the turning frame on one side of the longitudinal arm. A longitudinal gear is provided at the output end of the rotating motor, and a longitudinal rack is provided on the outer wall of the longitudinal arm on one side of the longitudinal gear, and the longitudinal rack is meshed with the longitudinal gear, and a supporting box is provided at the bottom end of the longitudinal arm below the longitudinal rack, and a rotating box is movably installed on the bottom end of the supporting box, and a clamping frame is installed at the bottom end of the rotating box.

Preferably, an electric rod is provided at the center position of the top of the clamping frame, an open frame is provided at the output end of the electric rod, a right adjustment arm is provided at the bottom end of the open frame on one side of the electric rod, and the right adjustment arm is slidably connected to the clamping frame.

Preferably, sliding rods are symmetrically installed at the bottom end of the clamping frame below the electric rod, and the sliding rods are all connected to the clamping frame, the outer walls of the sliding rods are all fitted with limit seats, and the limit seats are all slidably connected to the sliding rods, a slider is installed on the top of the limit seat, and the slider is slidably connected to the clamping frame, and a right connecting frame is provided on the outer wall of the right adjusting arm on one side of the limit seat.

Preferably, a limiting gear is movably installed at the bottom end of the clamping frame on one side of the right connecting frame, a right rack is arranged inside the clamping frame on one side of the limiting gear, and the right rack is fixedly connected to the right connecting frame, and the right rack is meshed with the limiting gear.

Preferably, a left adjusting arm is slidably mounted on the bottom end of the clamping frame on one side of the right rack, a left connecting frame is provided on the outer wall of the left adjusting arm below the clamping frame, a left rack is provided inside the clamping frame on one side of the left connecting frame, and the left rack is connected to the left connecting frame, and the left rack is meshed with the limiting gear.

Preferably, a servo motor is arranged inside the support box above the rotating box, a linkage shaft is arranged at the output end of the servo motor, and the linkage shaft extends to the inside of the rotating box, an L-shaped rod is symmetrically arranged at the top of the rotating box on one side of the linkage shaft, and the L-shaped rod is slidingly connected to the rotating box, and the L-shaped rod is fixedly connected to the support box.

Preferably, a driving motor is provided on the outer wall of the flip box on one side of the walking seat, a worm is provided on the output end of the driving motor, a rotating rod is slidably installed inside the flip box on one side of the worm, and the rotating rod is fixedly connected to the flip frame, a worm wheel is mounted on the outer wall of the rotating rod, and the worm wheel is meshed with the worm.

Preferably, a remote control panel is provided on the outer wall of the column frame, and an output end of the remote control panel is electrically connected to an input end of the stepper motor, the rotary motor, the electric rod, the servo motor, and the drive motor.

Compared with the prior art, the utility model has the following beneficial effects: the manipulator not only realizes convenient centering clamping and fixing of the manipulator, facilitates the clamping centering positioning and flexible rotation adjustment of the rubber product, facilitates the rubber product to be turned from a horizontal state to a vertical state, increases the range of rotational control adjustment, but also improves the convenience of posture adjustment of the rubber product;

(1) The opening frame is driven to move by an electric rod, and at the same time, the opening frame drives the right adjusting arm to move synchronously, the slider supports the limit seat, the right adjusting arm drives the limit seat to move synchronously along the surface of the sliding rod, the right connecting frame supports the right rack, the clamping frame supports the limit gear, the right connecting frame drives the right rack to move, the limit gear drives the left rack to move in the opposite direction, and the left rack drives the left adjusting arm to move along the surface of the sliding rod toward the limit gear. Under the cooperation of the right adjusting arm and the left adjusting arm, the left adjusting arm and the right adjusting arm are moved to the specified position according to the size of different rubber products, thereby realizing the convenient centering clamping and fixing of the manipulator, facilitating the centering positioning of the rubber products by clamping, and preventing the rubber products from offsetting when clamping;

(2) The servo motor drives the linkage shaft to rotate, the L-shaped rod slides inside the rotating box, the linkage shaft drives the rotating box to rotate, the rotating box drives the clamping frame to rotate, and the clamping frame drives the right adjustment arm and the left adjustment arm to rotate in a circle. When the rotation reaches the specified angle, the rotation adjustment is convenient, which realizes the convenient rotation adjustment clamping control of the manipulator, facilitates the flexible rotation adjustment of the rubber product clamping position, and increases the range of rotation control adjustment;

(3) The worm is driven to rotate by a driving motor, and the worm drives the rotating rod to rotate through the worm wheel, and the worm drives the flip frame to rotate through the rotating rod. At the same time, the flip frame drives the longitudinal arm, the support box, the rotating box, and the clamping frame to rotate. When rotated to a required angle, the rubber product is conveniently rotated to adjust the posture of the rubber product, which facilitates the rotation of the rubber product from a horizontal state to a vertical state, and improves the convenience of adjusting the posture of the rubber product.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a three-dimensional structure of the utility model;

FIG2 is a schematic diagram of the three-dimensional structure of the clamping frame of the present invention;

FIG3 is a schematic diagram of the three-dimensional structure of the limit gear of the utility model;

FIG4 is a schematic diagram of a side cross-sectional structure of the utility model;

FIG5 is a schematic diagram of the three-dimensional structure of the worm gear of the present invention;

FIG6 is an enlarged structural schematic diagram of point A in FIG1 of the present invention.

In the figure: 1. column frame; 2. longitudinal arm; 3. walking seat; 4. sliding seat; 5. sliding bar; 6. transverse rack; 7. stepping motor; 8. transverse gear; 9. turning box; 10. rotating motor; 11. longitudinal gear; 12. longitudinal rack; 13. supporting box; 14. rotating box; 15. remote control panel; 16. clamping frame; 17. electric rod; 18. opening frame; 19. right adjusting arm; 20. rotating rod; 21. slider; 22. sliding rod; 23. limiting seat; 24. right connecting frame; 25. limiting gear; 26. right rack; 27. left adjusting arm; 28. left connecting frame; 29. left rack; 30. servo motor; 31. linkage shaft; 32. L-shaped rod; 33. driving motor; 34. worm; 35. worm wheel; 36. turning frame.

DETAILED DESCRIPTION

In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

Please refer to Figures 1-6. An embodiment of the utility model provided by the present invention is: a two-axis single-sided single-arm single-section manipulator, including a column frame 1 and a transverse rack 6, a transverse rack 6 is arranged at the bottom end of the column frame 1, a slide bar 5 is symmetrically arranged on the outer wall of the column frame 1 on one side of the transverse rack 6, a walking seat 3 is arranged at the bottom end of the column frame 1 below the transverse rack 6, and the walking seat 3 is slidably connected to the column frame 1, a slide seat 4 is installed at the top end of the walking seat 3 below the slide bar 5, and the slide seat 4 is slidably connected to the slide bar 5, a stepping motor 7 is arranged at the bottom end of the walking seat 3, the stepping motor 7 plays a role of power drive, and a transverse gear 8 is arranged at the output end of the stepping motor 7, and the transverse gear 8 is meshed with the transverse rack 6 A turning box 9 is arranged on the outer wall of the traveling seat 3 on one side of the transverse gear 8, a turning frame 36 is arranged on the outside of the turning box 9, a longitudinal arm 2 is slidably mounted on the outer wall of the turning frame 36, a rotating motor 10 is arranged on the side wall of the turning frame 36 on one side of the longitudinal arm 2, the rotating motor 10 plays a role of power drive, a longitudinal gear 11 is arranged on the output end of the rotating motor 10, a longitudinal rack 12 is arranged on the outer wall of the longitudinal arm 2 on one side of the longitudinal gear 11, and the longitudinal rack 12 is meshed with the longitudinal gear 11, a supporting box 13 is arranged on the bottom end of the longitudinal arm 2 below the longitudinal rack 12, a rotating box 14 is movably mounted on the bottom end of the supporting box 13, and a clamping frame 16 is installed on the bottom end of the rotating box 14;

The stepper motor 7 is started by operating the remote control panel 15, and the travel seat 3 supports the stepper motor 7. The stepper motor 7 drives the transverse gear 8 to rotate. Under the meshing action of the transverse gear 8 and the transverse rack 6, the stepper motor 7 drives the travel seat 3 to move through the transverse gear 8. At the same time, the travel seat 3 moves along the surface of the slide 5 through the slide seat 4. The travel seat 3 drives the flip box 9, the flip frame 36, the longitudinal arm 2, and the clamping frame 16 to move synchronously to drive the right adjustment arm 19 and the left adjustment arm 27 to perform lateral control and adjustment. When it moves to the specified position, the stepper motor 7 is turned off by operating the remote control panel 15, and the stepper motor 7 drives the transverse gear 8 to stop rotating. The stepper motor 7 stops driving the travel seat 3 to move through the transverse gear 8, and the remote control panel 15 is operated to start the rotating motor 10. The flip frame 36 supports the rotating motor 10, and the rotating motor 10 drives the longitudinal gear 11 to rotate. Under the meshing action of the longitudinal gear 11 and the longitudinal rack 12, the rotating motor 10 drives the longitudinal arm 2 to move through the longitudinal gear 11. At the same time, the longitudinal arm 2 drives the support box 13, the rotating box 14, and the clamping frame 16 to move synchronously, so as to facilitate the driving of the right adjustment arm 19 and the left adjustment arm 27 to perform longitudinal control and adjustment, thereby realizing the convenient two-axis single-side single-arm single-section control and adjustment of the manipulator, and improving the convenience of the control and adjustment of the manipulator;

An electric rod 17 is provided at the center position of the top of the clamping frame 16, and the electric rod 17 plays a role of power drive. An open frame 18 is provided at the output end of the electric rod 17, and a right adjustment arm 19 is provided at the bottom end of the open frame 18 on one side of the electric rod 17, and the right adjustment arm 19 is slidably connected to the clamping frame 16. Sliding rods 22 are symmetrically installed at the bottom end of the clamping frame 16 below the electric rod 17, and the sliding rods 22 are all connected to the clamping frame 16. The outer walls of the sliding rods 22 are all covered with limit seats 23, and the limit seats 23 are all slidably connected to the sliding rods 22. A slider 21 is installed at the top of the limit seat 23, and the slider 21 is slidably connected to the clamping frame 16. A right connecting frame 24 is provided on the outer wall of the right adjustment arm 19 on one side of the limit seat 23;

A limit gear 25 is movably mounted at the bottom of the clamping frame 16 on one side of the right connecting frame 24, a right rack 26 is arranged inside the clamping frame 16 on one side of the limit gear 25, and the right rack 26 is fixedly connected to the right connecting frame 24, and the right rack 26 is meshed with the limit gear 25;

A left adjusting arm 27 is slidably mounted on the bottom end of the clamping frame 16 on one side of the right rack 26, a left connecting frame 28 is arranged on the outer wall of the left adjusting arm 27 below the clamping frame 16, a left rack 29 is arranged inside the clamping frame 16 on one side of the left connecting frame 28, and the left rack 29 is connected to the left connecting frame 28, and the left rack 29 is meshed with the limit gear 25;

The electric rod 17 is started by operating the remote control panel 15, and the clamping frame 16 supports the electric rod 17. The electric rod 17 drives the opening frame 18 to move. At the same time, the opening frame 18 drives the right adjusting arm 19 to move synchronously. The right adjusting arm 19 supports the right connecting frame 24. The clamping frame 16 supports the limiting seat 23. The slider 21 supports the limiting seat 23. The right adjusting arm 19 drives the limiting seat 23 to move synchronously along the surface of the sliding rod 22. The right connecting frame 24 supports the right rack 26. The clamping frame 16 supports the limiting gear 25. The right connecting frame 24 drives the right rack 26 to move. Under the meshing action of the right rack 26 and the limiting gear 25, the limiting gear The wheel 25 drives the left rack 29 to move in the opposite direction, the clamping frame 16 supports the left adjusting arm 27, the left adjusting arm 27 supports the left connecting frame 28, and the left rack 29 drives the left adjusting arm 27 to move along the surface of the sliding rod 22 toward the limiting gear 25. Under the cooperation of the right adjusting arm 19 and the left adjusting arm 27, the left adjusting arm 27 and the right adjusting arm 19 are moved to the specified position according to the size of different rubber products, so as to facilitate the size of different rubber products, to facilitate the centering clamping and fixing of the rubber products, to realize the convenient centering clamping and fixing of the manipulator, to facilitate the clamping and centering positioning of the rubber products, and to prevent the rubber products from offsetting when clamping;

A servo motor 30 is arranged inside the support box 13 above the rotating box 14, and the servo motor 30 plays a role of power drive. A linkage shaft 31 is arranged at the output end of the servo motor 30, and the linkage shaft 31 extends to the inside of the rotating box 14. An L-shaped rod 32 is symmetrically arranged at the top of the rotating box 14 on one side of the linkage shaft 31, and the L-shaped rod 32 is slidably connected to the rotating box 14, and the L-shaped rod 32 is fixedly connected to the support box 13;

The support box 13 supports the servo motor 30, the servo motor 30 drives the linkage shaft 31 to rotate, the L-shaped rod 32 slides inside the rotating box 14, the linkage shaft 31 drives the rotating box 14 to rotate, the rotating box 14 drives the clamping frame 16 to rotate, the clamping frame 16 drives the right adjusting arm 19 and the left adjusting arm 27 to rotate in a circular manner, when rotating to a specified angle, the servo motor 30 is turned off by operating the remote control panel 15, the servo motor 30 drives the linkage shaft 31 to stop rotating, the servo motor 30 drives the rotating box 14 to stop rotating through the linkage shaft 31, the rotating box 14 drives the clamping frame 16 to stop rotating, so as to facilitate the rotational adjustment, realize the convenient rotational adjustment clamping control of the manipulator, facilitate the flexible rotational adjustment of the clamping position of the rubber product, and increase the range of rotational control adjustment;

A driving motor 33 is provided on the outer wall of the flip box 9 on one side of the walking seat 3. The driving motor 33 plays a role of power driving. A worm 34 is provided at the output end of the driving motor 33. A rotating rod 20 is slidably installed inside the flip box 9 on one side of the worm 34. The rotating rod 20 is fixedly connected to the flip frame 36. A worm gear 35 is sleeved on the outer wall of the rotating rod 20, and the worm gear 35 is meshed with the worm 34.

A remote control panel 15 is provided on the outer wall of the column frame 1, and the output end of the remote control panel 15 is electrically connected to the input ends of the stepping motor 7, the rotating motor 10, the electric rod 17, the servo motor 30, and the driving motor 33;

The drive motor 33 is started by operating the remote control panel 15, and the flip box 9 supports the drive motor 33. The drive motor 33 drives the worm 34 to rotate. Under the meshing action of the worm 34 and the worm wheel 35, the worm 34 drives the rotating rod 20 to rotate through the worm wheel 35, and the worm 34 drives the flip frame 36 to rotate through the rotating rod 20. At the same time, the flip frame 36 drives the longitudinal arm 2, the support box 13, the rotating box 14, and the clamping frame 16 to rotate. When rotated to the required angle, the drive motor 33 is turned off by operating the remote control panel 15, and the drive motor 33 drives the worm 34 to stop rotating, and the worm 34 drives the rotating rod 20 to stop rotating through the worm wheel 35, and the worm 34 drives the flip frame 36 to stop rotating through the rotating rod 20, so as to facilitate the tilting rotation of the rubber product, to facilitate the driving of the rubber product from a horizontal state to a vertical state, to facilitate the adjustment of the different positions and postures of the rubber product, and realize the convenient rotation adjustment of the rubber product posture by the manipulator, which is convenient for the rubber product to be turned from a horizontal state to a vertical state, and improves the convenience of adjusting the posture of the rubber product.

Working principle: When in use, an external power supply is connected. First, the external staff places the rubber products to be operated to the designated position. The stepper motor 7 drives the transverse gear 8 to rotate. Under the meshing action of the transverse gear 8 and the transverse rack 6, the stepper motor 7 drives the travel seat 3 to move through the transverse gear 8. At the same time, the travel seat 3 moves along the surface of the slide 5 through the slide 4. The travel seat 3 drives the flip box 9, the flip frame 36, the longitudinal arm 2, and the clamping frame 16 to move synchronously to drive the right adjustment arm 19 and the left adjustment arm 27 to perform lateral control and adjustment. The rotating motor 10 drives the longitudinal gear 11 to rotate. Under the meshing action of the longitudinal gear 11 and the longitudinal rack 12, the rotating motor 10 drives the longitudinal arm 2 to move through the longitudinal gear 11 to facilitate driving the right adjustment arm 19 and the left adjustment arm 27 to perform longitudinal control and adjustment. When the manipulator moves to the specified position, the electric rod 17 drives the opening frame 18 to move, and the opening frame 18 drives the right adjustment arm 19 to move synchronously. The adjustment arm 19 supports the right connecting frame 24, and the clamping frame 16 supports the limit seat 23. The right adjustment arm 19 drives the limit seat 23 to move synchronously along the surface of the sliding rod 22, and the right connecting frame 24 drives the right rack 26. The support and clamping frame 16 support the limit gear 25, the right connecting frame 24 drives the right rack 26 to move, the limit gear 25 drives the left rack 29 to move in the opposite direction, and the left rack 29 drives the left adjusting arm 27 to move toward the limit gear 25 along the surface of the sliding rod 22. The left adjusting arm 27 and the right adjusting arm 19 are moved to the specified position according to the size of different rubber products to facilitate the application of different rubber products. The servo motor 30 drives the linkage shaft 31 to rotate, and the L-shaped rod 32 slides inside the rotating box 14. The linkage shaft 31 drives the rotating box 14 to rotate, and the rotating box 14 drives the clamping frame 16 rotates, the clamping frame 16 drives the right adjusting arm 19 and the left adjusting arm 27 to rotate in a circle. When it rotates to a specified angle, the driving motor 33 drives the worm 34 to rotate, and the worm 34 drives the rotating rod 20 to rotate through the worm wheel 35. The worm 34 drives the flip frame 36 to rotate through the rotating rod 20. At the same time, the flip frame 36 drives the longitudinal arm 2, the supporting box 13, the rotating box 14, and the clamping frame 16 to rotate, so as to facilitate the tilting rotation of the rubber product, to facilitate the driving of the rubber product from a horizontal state to a vertical state, to facilitate the adjustment of the different positions and postures of the rubber product, and to complete the use of the manipulator.

The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims (8)

1. The utility model provides a unilateral single-arm single-section manipulator of diaxon, includes upright post frame (1) and transverse rack (6), its characterized in that: the utility model discloses a vertical column frame, including vertical column frame, horizontal rack, slide (6) are provided with in the bottom of vertical column frame (1), horizontal rack (6) one side's vertical column frame (1) outer wall symmetry is provided with draw runner (5), vertical column frame (1) bottom of horizontal rack (6) below is provided with walking seat (3), and walking seat (3) top of draw runner (5) below all installs slide (4), and slide (4) and draw runner (5) sliding connection, the bottom of walking seat (3) is provided with step motor (7), the output of step motor (7) is provided with horizontal gear (8), and horizontal gear (8) and horizontal rack (6) mesh mutually, walking seat (3) outer wall of horizontal gear (8) one side is provided with upset case (9), the outside of upset case (9) is provided with upset frame (36), slidable mounting has vertical arm (2) on the outer wall of upset frame (36), the bottom of walking seat (3) is provided with step motor (7), the output of step motor (8) is provided with vertical gear (10) on one side (10) of rotation rack (10), and longitudinal rack (12) meshes with longitudinal gear (11), longitudinal arm (2) bottom below longitudinal rack (12) is provided with supporting box (13), the bottom movable mounting of supporting box (13) has rotary box (14), clamping frame (16) are installed to the bottom of rotary box (14).

2. The two-axis single-side single-arm single-joint manipulator according to claim 1, wherein: the electric clamping device is characterized in that an electric rod (17) is arranged at the center position of the top end of the clamping frame (16), an opening frame (18) is arranged at the output end of the electric rod (17), a right adjusting arm (19) is arranged at the bottom end of the opening frame (18) on one side of the electric rod (17), and the right adjusting arm (19) is in sliding connection with the clamping frame (16).

3. The two-axis single-arm single-joint manipulator according to claim 2, wherein: the utility model discloses a clamping device for a motor vehicle, including clamping frame (16) of motor rod (17) below, slide bar (22) are installed to clamping frame (16) bottom symmetry, and slide bar (22) all are connected with clamping frame (16), the outer wall of slide bar (22) all is equipped with spacing seat (23), and spacing seat (23) all with slide bar (22) sliding connection, slider (21) are installed on the top of spacing seat (23), and slider (21) and clamping frame (16) sliding connection, right arm (19) outer wall of spacing seat (23) one side is provided with right link (24).

4. A two-axis single-arm single-joint manipulator according to claim 3, wherein: limiting gears (25) are movably mounted at the bottom ends of clamping frames (16) on one side of the right connecting frame (24), right racks (26) are arranged inside the clamping frames (16) on one side of the limiting gears (25), the right racks (26) are fixedly connected with the right connecting frame (24), and the right racks (26) are meshed with the limiting gears (25).

5. The two-axis single-arm single-joint manipulator according to claim 4, wherein: the left adjusting arm (27) is slidably mounted at the bottom end of the clamping frame (16) on one side of the right rack (26), the left connecting frame (28) is arranged on the outer wall of the left adjusting arm (27) below the clamping frame (16), the left rack (29) is arranged inside the clamping frame (16) on one side of the left connecting frame (28), the left rack (29) is connected with the left connecting frame (28), and the left rack (29) is meshed with the limiting gear (25).

6. The two-axis single-side single-arm single-joint manipulator according to claim 1, wherein: the support box (13) inside of spin box (14) top is provided with servo motor (30), the output of servo motor (30) is provided with universal driving shaft (31), and universal driving shaft (31) extend to the inside of spin box (14), spin box (14) top symmetry of universal driving shaft (31) one side is provided with L type pole (32), and L type pole (32) and spin box (14) sliding connection to L type pole (32) and support box (13) fixed connection.

7. The two-axis single-side single-arm single-joint manipulator according to claim 1, wherein: the utility model discloses a walking seat, including walking seat (3), upset case (9) outer wall of walking seat (3) one side is provided with driving motor (33), the output of driving motor (33) is provided with worm (34), inside slidable mounting of upset case (9) of worm (34) one side has rotary rod (20), and rotary rod (20) and roll-over stand (36) fixed connection, worm wheel (35) are equipped with to the outer wall cover of rotary rod (20), and worm wheel (35) and worm (34) mesh mutually.

8. The two-axis single-side single-arm single-joint manipulator according to claim 1, wherein: the outer wall of the upright post frame (1) is provided with a remote control panel (15), and the output end of the remote control panel (15) is electrically connected with the input ends of the stepping motor (7), the rotating motor (10), the electric rod (17), the servo motor (30) and the driving motor (33).