Mechanical arm self-counterweight mechanism and control method thereof

Abstract

The invention relates to the technical field of mechanical arm self-balance weight, and discloses a mechanical arm self-balance weight mechanism and a control method thereof.The mechanical arm self-balance weight mechanism comprises a working plate, a sliding groove is fixedly formed in the top of the working plate, and a hydraulic push rod is fixedly installed on one side of the working plate. Modules are installed through a storage box, then the weight of an object clamped by a mechanical arm is detected and collected through a weight detection module, then an instruction is given to a rotating motor through an adjusting module and a data transmission module, and then updated data can be received through a data receiving module; a worker can remotely control the equipment conveniently through the remote control module, then a rotating motor drives a rotating rod to rotate, then the rotating rod and a sliding sleeve with threads arranged on the inner wall are used in cooperation, a weight increasing block is adjusted according to an instruction of an adjusting module, and therefore the mechanical arm can grab objects according to the weight of the objects grabbed by the mechanical arm; and the counterweight mechanism is automatically adjusted, so that the stability of the mechanical arm during working is ensured.

Description

Technical Field

[0001] This invention relates to the field of self-balancing technology for robotic arms, specifically to a self-balancing mechanism for robotic arms and its control method. Background Technology

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics. They can be found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although they vary in form, they all share a common characteristic: the ability to receive commands and precisely position themselves at a point in three-dimensional (or two-dimensional) space to perform operations. Robotic arms are classified according to their structural form into multi-joint robotic arms, Cartesian coordinate robotic arms, spherical coordinate robotic arms, polar coordinate robotic arms, cylindrical coordinate robotic arms, etc. A common six-DOF robotic arm consists of six degrees of freedom: X-axis translation, Y-axis translation, Z-axis translation, X-axis rotation, Y-axis rotation, and Z-axis rotation. The counterweight mechanism is typically a block-shaped weight, which reduces the cantilever's center of gravity shift. In ordinary robotic arms, the counterweight mechanism cannot adjust according to the weight of the object being grasped during operation. The existing technology of robotic arms, which involves adjusting the counterweight, leads to instability and tipping when grasping and moving objects. To address this, a self-balancing mechanism and control method for robotic arms were proposed. However, during the development of this invention, the inventors discovered at least the following unresolved issues in the prior art: 1. The counterweight mechanism cannot automatically adjust the counterweight according to the weight of the object being grasped, resulting in instability and tipping during grasping and moving. 2. The robotic arm cannot be adjusted in direction and position as needed at different workstations, requiring pre-adjustment and reducing its practicality. 3. The weight of the object being gripped cannot be detected, affecting the adjustment of the counterweight at the bottom of the arm. Furthermore, the working status cannot be monitored in real time, further reducing the stability of the robotic arm. Therefore, this invention designs a self-balancing mechanism and control method for robotic arms. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies, such as: the counterweight mechanism cannot automatically adjust the counterweight according to the weight of the object being grasped by the robotic arm during operation, resulting in instability and a tendency to tip over when the robotic arm is grasping and moving the object; furthermore, the robotic arm cannot be adjusted in direction and position as needed at different workstations, requiring pre-adjustment and reducing its practicality; and it cannot detect the weight of the object being gripped, affecting the adjustment of the counterweight at the bottom of the robotic arm. Additionally, the working status cannot be monitored in real time, further reducing the stability of the robotic arm during operation. Therefore, this invention designs a self-counterweight mechanism for a robotic arm and its control method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a self-balancing mechanism for a robotic arm and its control method, comprising a work plate, a sliding groove fixedly provided on the top of the work plate, a hydraulic push rod fixedly installed on one side of the work plate, a connecting plate fixedly installed on the other side of the hydraulic push rod, a fixing sleeve fixedly installed on one side of the connecting plate, fixing bolts penetrating one side of the fixing sleeve, a movable plate fixedly installed on the other side of the connecting plate, a rotary motor fixedly installed on the top of the movable plate, a storage box fixedly installed on the bottom of the work plate, a fixing seat fixedly installed on the top of the rotary motor, an adjusting motor fixedly installed on the top of the fixing seat, a protective shell fixedly installed on one side of the hydraulic push rod, a worktable fixedly installed on one side of the protective shell, a fixing frame fixedly installed on one side of the worktable, and a base plate fixedly installed on the bottom of the worktable;

[0005] An information processing module is fixedly installed at the bottom of the storage box. A weight detection module is fixedly installed on the other side of the information processing module. A database is fixedly installed on the other side of the weight detection module. An adjustment module is fixedly installed on the other side of the database. A data receiving module is fixedly installed on the other side of the adjustment module. A data transmission module is fixedly installed on the other side of the data receiving module. A remote control module is fixedly installed on the other side of the data transmission module. A counterweight frame is fixedly installed at the bottom of the storage box. A rotary motor is fixedly installed on one side of the counterweight frame. A rotating rod is fixedly installed at the output end of the rotary motor. A sliding sleeve is fitted onto the surface of the rotating rod. A weight-adding block is fitted onto the surface of the sliding sleeve.

[0006] A tooling plate is fixedly installed on the other side of the adjusting motor. A dual-axis motor is fixedly installed between the two sides inside the tooling plate. A lead screw is fixedly installed at the output end of the dual-axis motor. A screw sleeve is fitted on the surface of the lead screw. A clamping plate is fitted on the surface of the screw sleeve. A protective pad is fixedly installed between the clamping plates. A sensor is fixedly installed between the protective pads. A monitoring module is fixedly installed on the other side of the clamping plate.

[0007] Preferably, an external threaded sleeve is fixedly provided on the top of the fixed base, an internal threaded block is movably installed on the top of the external threaded sleeve, and a pressure-reducing pad is fixedly installed on the bottom of the internal threaded block.

[0008] Preferably, a robotic arm body is fixedly installed on the top of the internal threaded block, and an installation groove is fixedly provided at one end of the robotic arm body.

[0009] Preferably, a door is movably mounted on the surface of the protective shell via a hinge, a handle is fixedly mounted on the surface of the door, heat dissipation holes are equidistantly arranged on one side of the protective shell, and a noise reduction layer is fixedly arranged on the inner wall of the protective shell.

[0010] Preferably, an anti-slip pad is fixedly installed on the bottom of the base plate, and fixing blocks are fixedly installed on both sides of the anti-slip pad, with fixing holes provided on the top of each fixing block.

[0011] Preferably, a baffle is fixedly installed between the fixing frames, and a slot is fixedly provided on the other side of the baffle.

[0012] Preferably, a transparent plate is fixedly installed on the surface of the workbench, and fastening bolts are installed at equal intervals on the surface of the transparent plate. A server terminal is fixedly installed at the bottom inside the workbench, a network device is fixedly installed on the other side of the server terminal, and a base is fixedly installed on the top of the workbench.

[0013] Preferably, a card block is movably installed on the other side of the card slot, and a PLC controller is fixedly installed on the other side of the card block.

[0014] Preferably, a movable rod is installed through the top of the base, an adjusting bolt is installed through the surface of the base, and a video detection module is fixedly installed on the top of the movable rod.

[0015] A method for using a self-balancing mechanism for a robotic arm includes the following steps:

[0016] S1. First, the working plate and the slide rail work together to facilitate the hydraulic push rod to drive the rotary motor to move left and right. Then, the connecting plate and the moving plate are connected. Next, the connecting plate is fixed by the use of the fixing bolt and the fixing sleeve. Then, the moving plate drives the rotary motor to move. Then, the rotary motor drives the robotic arm to rotate and adjust. The robotic arm body can be installed by the fixing seat. Then, the robotic arm body is installed or disassembled by the use of the external threaded sleeve and the internal threaded block. The robotic arm body is installed by the internal threaded block. Then, the robotic arm body moves the object. The adjustment motor is installed and stored by the mounting slot.

[0017] S2. Then, the module is installed through the storage box. Next, the rotating motor drives the rotating rod to rotate. Then, the rotating rod is used in conjunction with the sliding sleeve with threads on the inner wall to adjust the weight block according to the adjustment module's instructions. The hydraulic push rod and rotating motor are protected by the protective shell. Then, the internal equipment can be inspected and maintained by using the box door and handle.

[0018] S3. Finally, the tooling plate is rotated and its direction adjusted by adjusting the motor. The dual-axis motor is then installed on the tooling plate. The dual-axis motor drives the lead screw to rotate, which in turn drives the screw sleeve to reciprocate. The screw sleeve, in turn, drives the clamping plate to hold the object. Sensors collect weight data of the object, and a monitoring module simultaneously detects the position of the robotic arm. The PLC controller is stored using a mounting bracket and baffle, and a slot facilitates its installation. Finally, the worktable is secured using a transparent plate and fastening bolts. The system is closed, and data is processed conveniently through a server terminal. Then, staff can remotely control the equipment via a network device. Next, the video detection module is installed on the base. The PLC controller can be installed using the slots and blocks. The equipment can then be manually controlled and adjusted via the PLC controller. The movable rod is adjusted by tightening and loosening the adjusting bolts. The video detection module is then connected via the movable rod. The direction of the video detection module is adjusted by adjusting the movable rod. Finally, the video detection module allows staff to remotely monitor the working status of the robotic arm.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. This invention features an information processing module fixedly installed at the bottom of a storage box. The storage box allows for the installation of the module. A weight detection module then detects and collects the weight of the object held by the robotic arm. An adjustment module and a data transmission module then send commands to the rotary motor. Updated data is received by the data receiving module, and a remote control module allows for convenient remote operation by staff. The rotary motor drives a rotating rod to rotate, and the rotating rod, in conjunction with a threaded sliding sleeve on its inner wall, adjusts the weight-adding block according to the commands from the adjustment module. This allows the counterweight mechanism to automatically adjust based on the weight of the object grasped by the robotic arm, ensuring stability during operation.

[0021] 2. This invention features a sliding groove fixed to the top of the working plate. The working plate and the sliding groove work together to facilitate the hydraulic push rod driving the rotary motor to move left and right. A connecting plate connects to the moving plate, and a fixing bolt and a fixing sleeve secure the connecting plate. The moving plate then drives the rotary motor to move, which in turn drives the robotic arm to rotate and adjust. This allows the robotic arm to automatically adjust its position at different workstations, eliminating the need for manual adjustment and improving its practicality during operation.

[0022] 3. This invention features a tooling plate fixedly mounted on the other side of the adjusting motor. The tooling plate can be rotated and its direction adjusted by the adjusting motor. The tooling plate then stores and installs the dual-axis motor. The dual-axis motor drives the lead screw to rotate, which in turn drives the screw sleeve to reciprocate. The screw sleeve drives the clamping plate to clamp the object. Protective pads reduce the pressure and damage to the object's surface during clamping. Sensors collect weight data of the object, and a monitoring module can simultaneously detect the position of the robotic arm, thereby improving the stability of the robotic arm during operation. Attached Figure Description

[0023] Figure 1 This is a perspective view of a self-balancing mechanism for a robotic arm proposed in this invention;

[0024] Figure 2 This is a schematic diagram of the structure of a self-balancing mechanism for a robotic arm proposed in this invention;

[0025] Figure 3 This is a partial structural diagram of the storage box of a self-balancing mechanism for a robotic arm proposed in this invention;

[0026] Figure 4 This is a partial structural diagram of the working plate of a self-balancing mechanism for a robotic arm proposed in this invention.

[0027] Figure 5 This is a schematic diagram of a partial structure of the adjusting motor of a self-balancing mechanism for a robotic arm proposed in this invention.

[0028] Figure 6 This is a partial structural diagram of the fixed base of a self-balancing mechanism for a robotic arm proposed in this invention;

[0029] Figure 7 This is a partial perspective view of the fixing frame of a self-balancing mechanism for a robotic arm proposed in this invention;

[0030] Figure 8 This is a partial perspective view of the base plate of a self-balancing mechanism for a robotic arm proposed in this invention;

[0031] Figure 9 This is a partial structural diagram of the protective shell of a self-balancing mechanism for a robotic arm proposed in this invention.

[0032] Figure 10 This is a partial structural diagram of the worktable of a self-balancing mechanism for a robotic arm proposed in this invention.

[0033] In the diagram: 1. Working plate; 101. Slide groove; 102. Hydraulic push rod; 103. Connecting plate; 104. Fixing sleeve; 105. Fixing bolt; 106. Moving plate; 107. Rotary motor; 2. Storage box; 201. Information processing module; 202. Weight detection module; 203. Database; 204. Adjustment module; 205. Data receiving module; 206. Data transmission module; 207. Remote control module; 208. Counterweight frame; 209. Rotary motor; 210. Rotating rod; 211. Slide sleeve; 212. Weighting block; 3. Fixed seat; 301. External threaded sleeve; 302. Internal threaded block; 303. Pressure relief pad; 304. Robotic arm body; 305. Mounting slot; 4. Adjustment motor; 401. Tooling plate; 402. Dual-axis motor; 403. Screw sleeve; 404. Lead screw; 405. Clamping plate; 406. Protective pad; 407. Sensor; 408. Monitoring module; 5. Protective shell; 501. Door; 502. Handle; 503. Heat dissipation hole; 504. Noise reduction layer; 6. Workbench; 601. Transparent plate; 602. Fastening bolt; 603. Server terminal; 604. Network device; 605. Base; 606. Movable rod; 607. Adjusting bolt; 608. Video detection module; 7. Fixing bracket; 701. Baffle; 702. Slot; 703. Block; 704. PLC controller; 8. Base plate; 801. Anti-slip pad; 802. Fixing block; 803. Fixing hole. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figure 1-10As shown, the present invention provides a self-balancing mechanism for a robotic arm and its control method, including a work plate 1, a slide groove 101 fixedly provided on the top of the work plate 1, a hydraulic push rod 102 fixedly installed on one side of the work plate 1, a connecting plate 103 fixedly installed on the other side of the hydraulic push rod 102, a fixing sleeve 104 fixedly installed on one side of the connecting plate 103, a fixing bolt 105 penetratingly installed on one side of the fixing sleeve 104, a moving plate 106 fixedly installed on the other side of the connecting plate 103, a rotary motor 107 fixedly installed on the top of the moving plate 106, a storage box 2 fixedly installed on the bottom of the work plate 1, a fixing seat 3 fixedly installed on the top of the rotary motor 107, an adjusting motor 4 fixedly installed on the top of the fixing seat 3, a protective shell 5 fixedly installed on one side of the hydraulic push rod 102, a worktable 6 fixedly installed on one side of the protective shell 5, a fixing frame 7 fixedly installed on one side of the worktable 6, and a base plate 8 fixedly installed on the bottom of the worktable 6.

[0036] An information processing module 201 is fixedly installed at the bottom inside the storage box 2. A weight detection module 202 is fixedly installed on the other side of the information processing module 201. A database 203 is fixedly installed on the other side of the weight detection module 202. An adjustment module 204 is fixedly installed on the other side of the database 203. A data receiving module 205 is fixedly installed on the other side of the adjustment module 204. A data transmission module 206 is fixedly installed on the other side of the data receiving module 205. A remote control module 207 is fixedly installed on the other side of the data transmission module 206. A counterweight frame 208 is fixedly installed at the bottom of the storage box 2. A rotary motor 209 is fixedly installed on one side of the counterweight frame 208. A rotating rod 210 is fixedly installed at the output end of the rotary motor 209. A sliding sleeve 211 is sleeved on the surface of the rotating rod 210. A weight-adding block 212 is sleeved on the surface of the sliding sleeve 211.

[0037] A tooling plate 401 is fixedly installed on the other side of the adjusting motor 4. A dual-axis motor 402 is fixedly installed between the two sides inside the tooling plate 401. A lead screw 404 is fixedly installed at the output end of the dual-axis motor 402. A screw sleeve 403 is sleeved on the surface of the lead screw 404. A clamping plate 405 is sleeved on the surface of the screw sleeve 403. A protective pad 406 is fixedly installed between the clamping plates 405. A sensor 407 is fixedly installed between the protective pads 406. A monitoring module 408 is fixedly installed on the other side of the clamping plate 405.

[0038] When this device is in operation, the working plate 1 and the slide 101 work together to facilitate the hydraulic push rod 102 driving the rotary motor 107 to move left and right. Then, the connecting plate 103 connects to the moving plate 106. Next, the fixing bolt 105 and the fixing sleeve 104 work together to fix the connecting plate 103. Then, the moving plate 106 drives the rotary motor 107 to move, and the rotary motor 107 drives the robotic arm to rotate and adjust. This allows the robotic arm to work in different positions. The robotic arm's position is automatically adjusted at any time, eliminating the need for manual adjustment by staff and thus improving its practicality during operation. The robotic arm body 304 can be installed through the fixed base 3. Then, the use of the external threaded sleeve 301 and the internal threaded block 302 facilitates the installation or removal of the robotic arm body 304. The internal threaded block 302 is used to install the robotic arm body 304, and then the robotic arm body 304 is used to move objects. The mounting slot 305 facilitates the installation and storage of the adjustment motor 4.

[0039] The module is installed in storage box 2. Then, the weight detection module 202 detects and collects the weight of the object held by the robotic arm, which is then compared with the database 203. Next, the adjustment module 204 and data transmission module 206 issue commands to the rotary motor 209. The data receiving module 205 receives updated data, and the remote control module 207 allows for remote operation by staff. The rotary motor 209 drives the rotating rod 210 to rotate. The rotating rod 210, in conjunction with the threaded sliding sleeve 211, adjusts the weight-adding block 212 according to the commands from the adjustment module 204. The system automatically adjusts the counterweight mechanism based on the weight of the object grasped by the robotic arm, ensuring stability during operation and preventing tipping. A protective shell 5 protects the hydraulic push rod 102 and rotary motor 209. The combination of the door 501 and handle 502 allows for inspection and maintenance of the internal equipment, while the heat dissipation holes 503 provide cooling. A noise reduction layer 504 reduces noise from the hydraulic push rod 102 and rotary motor 209 during operation. The combination of the base plate 8 and anti-slip pad 801 increases the stability of the equipment's bottom. Finally, the combination of the fixing block 802 and fixing holes 803 increases the versatility of the mechanism's installation.

[0040] The tooling plate 401 is rotated and its direction is adjusted by adjusting motor 4. Then, the tooling plate 401 stores and installs the dual-axis motor 402. The dual-axis motor 402 drives the lead screw 404 to rotate, which in turn drives the threaded sleeve 403 to reciprocate. The threaded sleeve 403 drives the clamping plate 405 to clamp the object. The protective pad 406 reduces the pressure and damage to the object's surface during clamping. The sensor 407 collects weight data from the object, and the monitoring module 408 simultaneously detects the position of the robotic arm, thus improving its stability during operation. The PLC controller 704 is stored in the cooperation of the fixing bracket 7 and the baffle 701. The PLC controller 704 is easily installed via the slot 702. The transparent plate 60... 1. In conjunction with fastening bolt 602, it seals the workbench 6. Then, the server terminal 603 facilitates data processing. Next, the network device 604 enables remote control of the equipment by the operator. Then, the base 605 installs the video detection module 608. The slot 702 and the block 703 work together to install the PLC controller 704. Then, the PLC controller 704 enables manual control and adjustment of the equipment. By tightening and loosening the adjusting bolt 607, the movable rod 606 is adjusted. Then, the movable rod 606 connects to the video detection module 608. Then, by adjusting the movable rod 606, the direction of the video detection module 608 is adjusted. Finally, the video detection module 608 enables the operator to remotely monitor the working status of the robotic arm.

[0041] Among them, an external threaded sleeve 301 is fixedly installed on the top of the fixed base 3, an internal threaded block 302 is movably installed on the top of the external threaded sleeve 301, and a pressure relief pad 303 is fixedly installed on the bottom of the internal threaded block 302.

[0042] It should be noted that when this device is in operation, the robotic arm body 304 can be installed through the action of the fixed seat 3. Then, the robotic arm body 304 can be installed or disassembled by the cooperation of the external threaded sleeve 301 and the internal threaded block 302.

[0043] Among them, the top of the internal thread block 302 is fixedly installed with a robotic arm body 304, and one end of the robotic arm body 304 is fixedly provided with an installation groove 305;

[0044] It should be noted that the internal threaded block 302 is used to install the robotic arm body 304, and then the robotic arm body 304 is used to move the object. The mounting slot 305 is used to facilitate the installation and storage of the adjustment motor 4.

[0045] Among them, the protective shell 5 has a door 501 that is movably installed on the surface of the protective shell 5 via a hinge, a handle 502 that is fixedly installed on the surface of the door 501, heat dissipation holes 503 that are equidistantly arranged on one side of the protective shell 5, and a noise reduction layer 504 that is fixedly arranged on the inner wall of the protective shell 5.

[0046] It should be noted that the protective shell 5 protects the hydraulic push rod 102 and the rotary motor 209. The internal equipment can be inspected and maintained through the cooperation of the door 501 and the handle 502. The heat dissipation hole 503 dissipates heat, and the noise reduction layer 504 reduces the noise of the hydraulic push rod 102 and the rotary motor 209 during operation.

[0047] Among them, an anti-slip pad 801 is fixedly installed on the bottom of the base plate 8, and a fixing block 802 is fixedly installed on both sides of the anti-slip pad 801. The top of the fixing block 802 is provided with a fixing hole 803.

[0048] It should be noted that the combination of the base plate 8 and the anti-slip pad 801 can increase the stability of the bottom of the equipment, and the combination of the fixing block 802 and the fixing hole 803 can increase the versatility of the mechanism installation.

[0049] Among them, a baffle 701 is fixedly installed between the fixed frames 7, and a slot 702 is fixedly provided on the other side of the baffle 701;

[0050] It should be noted that the PLC controller 704 is stored by the cooperation of the fixing bracket 7 and the baffle 701, and then the PLC controller 704 is conveniently installed by the slot 702.

[0051] Among them, a transparent plate 601 is fixedly installed on the surface of the workbench 6, and fastening bolts 602 are installed at equal intervals on the surface of the transparent plate 601. A server terminal 603 is fixedly installed at the bottom inside the workbench 6, a network device 604 is fixedly installed on the other side of the server terminal 603, and a base 605 is fixedly installed on the top of the workbench 6.

[0052] It should be noted that the transparent plate 601 and the fastening bolt 602 are used together to enclose the workbench 6. Then, the server terminal 603 facilitates data processing. Next, the network device 604 enables staff to remotely control the equipment. Finally, the base 605 is used to install the video detection module 608.

[0053] The card slot 702 has a card block 703 movably installed on the other side, and a PLC controller 704 is fixedly installed on the other side of the card block 703.

[0054] It should be noted that the PLC controller 704 can be installed by using the card slot 702 and the card block 703 together, and then the equipment can be manually controlled and adjusted by the PLC controller 704.

[0055] Among them, a movable rod 606 is installed through the top of the base 605, an adjusting bolt 607 is installed through the surface of the base 605, and a video detection module 608 is fixedly installed on the top of the movable rod 606.

[0056] It should be noted that by tightening and loosening the adjusting bolt 607, the movable rod 606 is adjusted, and then the video detection module 608 is connected through the movable rod 606. Next, the direction of the video detection module 608 is adjusted by adjusting the movable rod 606. Finally, the video detection module 608 facilitates remote monitoring of the working status of the robotic arm by the staff.

[0057] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A self-balancing mechanism for a robotic arm, comprising a work plate (1), characterized in that, A slide groove (101) is fixedly provided on the top of the working plate (1). A hydraulic push rod (102) is fixedly installed on one side of the working plate (1). A connecting plate (103) is fixedly installed on the other side of the hydraulic push rod (102). A fixing sleeve (104) is fixedly installed on one side of the connecting plate (103). A fixing bolt (105) is installed through one side of the fixing sleeve (104). A movable plate (106) is fixedly installed on the other side of the connecting plate (103). A fixed plate (106) is fixedly installed on the top of the movable plate (106). A rotary motor (107) is provided. A storage box (2) is fixedly installed at the bottom of the work plate (1). A fixed seat (3) is fixedly installed at the top of the rotary motor (107). An adjusting motor (4) is fixedly installed at the top of the fixed seat (3). A protective shell (5) is fixedly installed on one side of the hydraulic push rod (102). A worktable (6) is fixedly installed on one side of the protective shell (5). A fixed frame (7) is fixedly installed on one side of the worktable (6). A base plate (8) is fixedly installed at the bottom of the worktable (6). An information processing module (201) is fixedly installed at the bottom of the storage box (2). A weight detection module (202) is fixedly installed on the other side of the information processing module (201). A database (203) is fixedly installed on the other side of the weight detection module (202). An adjustment module (204) is fixedly installed on the other side of the database (203). A data receiving module (205) is fixedly installed on the other side of the adjustment module (204). A data receiving module (205) is fixedly installed on the other side of the data receiving module (205). A data transmission module (206) is provided, and a remote control module (207) is fixedly installed on the other side of the data transmission module (206). A counterweight frame (208) is fixedly installed at the bottom of the storage box (2). A rotary motor (209) is fixedly installed on one side of the counterweight frame (208). A rotating rod (210) is fixedly installed at the output end of the rotary motor (209). A sliding sleeve (211) is sleeved on the surface of the rotating rod (210). A weight-adding block (212) is sleeved on the surface of the sliding sleeve (211). A tooling plate (401) is fixedly installed on the other side of the adjusting motor (4). A dual-axis motor (402) is fixedly installed between the two sides inside the tooling plate (401). A lead screw (404) is fixedly installed at the output end of the dual-axis motor (402). A threaded sleeve (403) is fitted on the surface of the lead screw (404). A clamping plate (405) is fitted on the surface of the threaded sleeve (403). A protective pad (406) is fixedly installed between the clamping plates (405). A sensor (407) is fixedly installed between the protective pads (406). A monitoring module (408) is fixedly installed on the other side of the clamping plate (405).

2. The self-balancing mechanism for a robotic arm according to claim 1, characterized in that, The top of the fixed base (3) is fixedly provided with an external threaded sleeve (301), the top of the external threaded sleeve (301) is movably installed with an internal threaded block (302), and the bottom of the internal threaded block (302) is fixedly installed with a pressure reducing pad (303).

3. The self-balancing mechanism for a robotic arm according to claim 2, characterized in that, The top of the internal threaded block (302) is fixedly mounted with a robotic arm body (304), and one end of the robotic arm body (304) is fixedly provided with a mounting groove (305).

4. The self-balancing mechanism for a robotic arm according to claim 1, characterized in that, A door (501) is movably mounted on the surface of the protective shell (5) via a hinge. A handle (502) is fixedly mounted on the surface of the door (501). Heat dissipation holes (503) are equidistantly arranged on one side of the protective shell (5). A noise reduction layer (504) is fixedly arranged on the inner wall of the protective shell (5).

5. The self-balancing mechanism for a robotic arm according to claim 1, characterized in that, An anti-slip pad (801) is fixedly installed on the bottom of the base plate (8), and fixing blocks (802) are fixedly installed on both sides of the anti-slip pad (801). Fixing holes (803) are provided on the top of each fixing block (802).

6. The self-balancing mechanism for a robotic arm according to claim 1, characterized in that, A baffle (701) is fixedly installed between the fixed brackets (7), and a slot (702) is fixedly provided on the other side of the baffle (701).

7. The self-balancing mechanism for a robotic arm according to claim 1, characterized in that, A transparent plate (601) is fixedly installed on the surface of the workbench (6), and fastening bolts (602) are installed at equal intervals on the surface of the transparent plate (601). A server terminal (603) is fixedly installed at the bottom inside the workbench (6), and a network device (604) is fixedly installed on the other side of the server terminal (603). A base (605) is fixedly installed on the top of the workbench (6).

8. A self-balancing mechanism for a robotic arm according to claim 6, characterized in that, A card block (703) is movably installed on the other side of the card slot (702), and a PLC controller (704) is fixedly installed on the other side of the card block (703).

9. A self-balancing mechanism for a robotic arm according to claim 7, characterized in that, A movable rod (606) is installed through the top of the base (605), an adjusting bolt (607) is installed through the surface of the base (605), and a video detection module (608) is fixedly installed on the top of the movable rod (606).

10. A method of using a self-balancing mechanism for a robotic arm, based on the self-balancing mechanism for a robotic arm as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. First, the working plate (1) and the slide groove (101) work together to facilitate the hydraulic push rod (102) driving the rotary motor (107) to move left and right. Then, the connecting plate (103) and the moving plate (106) are connected. Next, the connecting plate (103) and the fixed sleeve (104) work together to facilitate the fixing of the connecting plate (103). Then, the moving plate (106) drives the rotary motor (107) to move. 107) Drive the robotic arm to rotate and adjust, and install the robotic arm body (304) through the fixed seat (3). Then, through the cooperation of the external threaded sleeve (301) and the internal threaded block (302), the robotic arm body (304) can be installed or disassembled. The robotic arm body (304) is installed through the internal threaded block (302), and then the robotic arm body (304) moves the object. The adjustment motor (4) is installed and stored through the mounting slot (305). S2. Then, the module is installed through the storage box (2). Then, the rotating rod (210) is rotated by the rotary motor (209). Then, the rotating rod (210) is used in conjunction with the sliding sleeve (211) with threads on the inner wall. The weight block (212) is adjusted according to the instructions of the adjustment module (204). The hydraulic push rod (102) and the rotary motor (209) are protected by the protective shell (5). Then, the internal equipment can be inspected and maintained by the cooperation of the box door (501) and the handle (502). S3. Finally, the tooling plate (401) is rotated and its direction is adjusted by adjusting the motor (4). Then, the dual-axis motor (402) is stored and installed on the tooling plate (401). The dual-axis motor (402) drives the lead screw (404) to rotate. Then, the lead screw (404) drives the screw sleeve (403) to reciprocate. The screw sleeve (403) drives the clamping plate (405) to clamp the object. Then, the sensor (407) collects the weight data of the object. At the same time, the monitoring module (408) can detect the position of the robotic arm. The PLC controller (704) is stored by the cooperation of the fixing frame (7) and the baffle (701). Then, the PLC controller (704) is installed by the slot (702). The transparent plate (601) and the fastening bolt (602) are used to make the PLC controller (704) easier to install. The workbench (6) is enclosed, and the data is processed through the server terminal (603). Then, the equipment is remotely controlled by the staff through the network device (604). The video detection module (608) is installed through the base (605). The PLC controller (704) can be installed through the cooperation of the slot (702) and the card block (703). The equipment is then manually controlled and adjusted through the PLC controller (704). The movable rod (606) is adjusted by tightening and loosening the adjusting bolt (607). The video detection module (608) is then connected through the movable rod (606). The direction of the video detection module (608) is then adjusted by adjusting the movable rod (606). Finally, the working status of the robotic arm can be remotely monitored by the staff through the video detection module (608).

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