Manipulator for mechanical manufacturing

Abstract

The invention discloses a mechanical arm for mechanical manufacturing, and relates to the technical field of industrial automation equipment, the mechanical arm comprises a mechanical arm body and an obstacle touching warning assembly, the mechanical arm body is used for realizing actions required by a process and a production process in mechanical manufacturing, and the obstacle touching warning assembly is used for realizing sounding warning when the outer side of the mechanical arm touches an obstacle. Based on the obstacle touching warning assembly arranged on the outer side of the mechanical arm body, through cooperation of a triggering sliding rod, a rubber head, a micro-motion triggering switch, a battery pack and a buzzer, sensing of obstacles on the outer side of the mechanical arm body and sounding warning are achieved, workers are effectively reminded of adjustment, collision is avoided, and production safety and normal operation of equipment are guaranteed; at least four obstacle touching warning assemblies are arranged around the small arm rod piece and the large arm rod piece, and the elastic covering film is arranged on the outer wall of the rubber head, so that the induction range is expanded, even if an obstacle does not directly touch the rubber head but touches the elastic covering film, alarm can be triggered, and the obstacle avoidance warning efficiency and reliability are further improved.

Description

Technical Field

[0001] This invention relates to the field of industrial automation equipment technology, and more specifically to a robotic arm for mechanical manufacturing. Background Technology

[0002] In the field of machinery manufacturing, robotic arms are widely used in various production processes, undertaking important tasks such as material handling and processing operations.

[0003] However, existing robotic arms often face the risk of colliding with surrounding obstacles during operation. On the one hand, due to the complexity of the production environment, with various equipment, materials, and personnel activities, the robotic arm may accidentally come into contact with these obstacles while performing its tasks. On the other hand, with the improvement of production efficiency, the operating speed of the robotic arm has increased, which places higher demands on its obstacle avoidance capabilities.

[0004] Currently, although some robotic arms are equipped with electrical and signal sensing obstacle avoiders, they often suffer from problems such as insensitive sensing and limited alarm methods (sending an electrical signal to the robotic arm to forcibly stop it).

[0005] In addition, the obstacle detection and warning components of traditional robotic arms are relatively simple to install, and the common screw fixing method can damage the robotic arm itself.

[0006] Therefore, there is an urgent need for a robotic arm for mechanical manufacturing that can reliably avoid obstacles and reduce installation damage. Summary of the Invention

[0007] The purpose of this invention is to provide a robotic arm for mechanical manufacturing, so as to solve the problems of insensitive electric sensing obstacle avoidance and damage to the robotic arm when installing obstacle detection and warning components in the prior art.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A robotic arm for mechanical manufacturing includes a robotic arm body and an obstacle detection alarm component. The robotic arm body includes a base, a waist joint, a mounting interface, an upper arm link, an elbow joint, a forearm link, a wrist joint, and an end effector.

[0010] The obstacle detection warning component includes a mounting base, which is disposed on the upper arm member, the lower arm member, the waist joint, the elbow joint, and the wrist joint of the robotic arm body.

[0011] The mounting base is installed onto the robotic arm body via a fixing component, and also includes,

[0012] The bracket is configured as an "L" shaped bracket, fixed on the mounting base, and a trigger slide rod is slidably arranged through the bracket. The trigger slide rod is provided with a rubber head and a limiting frustum at both ends.

[0013] A return spring is provided on the outer wall of the trigger slide rod and between the rubber head and the bracket;

[0014] A micro-trigger switch is provided on the mounting base corresponding to the trigger slide bar, and a battery pack and a buzzer are provided on the mounting base that are electrically connected to the micro-trigger switch.

[0015] Furthermore, the lumbar joint is connected to the base through the mounting interface, the upper arm member is connected to the lumbar joint, an elbow joint is provided between the forearm member and the upper arm member, and the end effector is provided at the end of the forearm member away from the elbow joint through the wrist joint.

[0016] Furthermore, it also includes a first boom drive and a second boom drive for driving the boom member, the first boom drive and the second boom drive being disposed on the waist joint.

[0017] Furthermore, the elbow joint is equipped with an elbow joint drive and a forearm drive.

[0018] Furthermore, the mounting base is located at a position on the upper arm member, the forearm member, the waist joint, the elbow joint, and the wrist joint that does not interfere with movement.

[0019] Furthermore, the bracket includes an upright plate and a horizontal plate, the upright plate is fixed on the mounting base, and the horizontal plate has a through hole adapted to the trigger slide rod.

[0020] Furthermore, the corners at the connection between the vertical plate and the horizontal plate are rounded.

[0021] The surface of the rubber head away from the mounting base is provided with anti-slip texture.

[0022] Furthermore, the fixing component includes,

[0023] Mounting holes are provided through the mounting base, and at least two are provided on the mounting base and are diagonally distributed.

[0024] Furthermore, the fixing component also includes,

[0025] A countersunk screw hole is embedded in the end face of the mounting base away from the robot body;

[0026] The fastening bolt is adapted to the countersunk screw hole;

[0027] The fixing cable has its end pressed and fixed by the engagement of the fastening bolt and the countersunk screw hole.

[0028] Furthermore, it also includes,

[0029] An elastic film is wrapped around the outer wall of the upper arm member and the lower arm member;

[0030] The obstacle detection warning components are circumferentially distributed on the outer walls of the upper arm and the lower arm, and the rubber head end of the components is in contact with the elastic coating.

[0031] Compared with the prior art, the present invention provides a mechanical manufacturing robot arm based on a collision warning component set on the outside of the robot arm body. By using the cooperation of a trigger slider, rubber head, micro-trigger switch, battery pack and buzzer, it can detect obstacles on the outside of the robot arm body and issue an audible warning, effectively reminding the staff to make adjustments, avoiding collisions, and ensuring production safety and normal equipment operation.

[0032] At least four obstacle avoidance warning components are installed around the forearm and boom members, and an elastic membrane is installed on the outer wall of the rubber head to expand the sensing range. This allows the alarm to be triggered even if the obstacle does not directly touch the rubber head but touches the elastic membrane, further improving the efficiency and reliability of obstacle avoidance warning.

[0033] Furthermore, it provides a combination of countersunk screw holes, fastening bolts, and fixing cables. After the fixing cables are wrapped around the upper or lower arm members, they are pressed together with the countersunk screw holes and fastening bolts on the mounting base to fix the robot. This eliminates the need for screws to pass through the outer wall of the robot, effectively protecting the robot body and extending its service life. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0035] Figure 1 This is a schematic diagram of the first overall structure according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the second overall structure according to an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of the obstacle detection warning component installed on the forearm member according to an embodiment of the present invention;

[0038] Figure 4 A side view of the obstacle warning component provided in an embodiment of the present invention;

[0039] Figure 5 This is a first structural view of the obstacle warning component provided in an embodiment of the present invention;

[0040] Figure 6 This is a second structural view of the obstacle warning component provided in an embodiment of the present invention;

[0041] Figure 7 A schematic diagram of the working state of the obstacle detection warning component provided in this embodiment of the invention, located on the outside of the forearm member.

[0042] Explanation of reference numerals in the attached figures:

[0043] 100. Robotic arm body; 101. Base; 102. Waist joint; 102a. Mounting interface; 103. Upper arm link; 103a. First upper arm drive; 103b. Second upper arm drive; 104. Elbow joint; 104a. Elbow joint drive; 105. Forearm link; 105a. Forearm drive; 106. Wrist joint; 107. End effector; 200. Obstacle detection alarm component; 201. Mounting base; 202. Bracket; 202a, Vertical plate; 202b, Horizontal plate; 202c, Weight reduction through hole; 203, Trigger slide bar; 203a, Rubber head; 203b, Limiting frustum; 203c, Return spring; 204, Pad block; 205, Micro-trigger switch; 206, Battery pack; 207, Buzzer; 300, Fixing assembly; 301, Mounting hole; 302, Fastening bolt; 302a, Countersunk screw hole; 302b, Fixing cable; 400, Elastic coating. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0045] Please see the appendix Figure 1 -Appendix Figure 7 As shown, as an embodiment of the present invention, a robotic arm for mechanical manufacturing is provided, which can realize the function of issuing an alarm when the outer side of the robotic arm body 100 encounters an obstacle. It includes a robotic arm body 100 and an obstacle detection alarm component 200. The obstacle detection alarm component 200 is installed on the outer side of the robotic arm body 100 and is used to realize an audible alarm when the outer side of the robotic arm body 100 touches an obstacle.

[0046] Regarding the robotic arm body 100, it is used to perform the actions required by the processes and production flows in mechanical manufacturing, and it includes...

[0047] The base 101 serves as a support for the robot arm body 100;

[0048] The lumbar joint 102 is located above the base 101;

[0049] Specifically, the lumbar joint 102 is mounted on the base 101 via the mounting interface 102a;

[0050] And, boom link 103 and forearm link 105, used to drive the first boom drive 103a and the second boom drive 103b of boom link 103, wherein,

[0051] The upper arm member 103 is connected to the waist joint 102, and the forearm member 105 is provided with an elbow joint 104 between the upper arm member 103.

[0052] The first boom drive 103a and the second boom drive 103b are both mounted on the waist joint 102. That is, the first boom drive 103a is used to realize the multi-angle swing of the boom member 103, and the second boom drive 103b is a boom auxiliary drive motor. Based on dual power drive, the load capacity, running accuracy and stability of the boom member 103 are improved.

[0053] The elbow joint 104 is also provided with an elbow joint drive 104a and a forearm drive 105a, wherein the elbow joint drive 104a is used to drive the elbow joint 104 to move based on the upper arm link 103, and the forearm drive 105a is used to drive the forearm link 105 to move based on the elbow joint 104.

[0054] The end of the forearm link 105 away from the elbow joint 104 is connected to an end effector 107 via a wrist joint 106. A wrist joint drive is provided in the wrist joint 106, which is used to drive the end effector 107 to move based on the wrist joint 106.

[0055] In practical use, the following tasks are included:

[0056] S1. The base 101 serves as a load-bearing component, supporting the other components. The waist joint 102 is mounted above the base 101 via the mounting interface 102a. When the waist joint 102 receives a control command, its internal drive mechanism is activated, causing the waist joint 102 to drive the connected upper arm rod 103 to rotate horizontally around the base 101, thereby adjusting the working angle of the robot body 100 on the horizontal plane and providing positioning for subsequent actions.

[0057] S2. The first boom drive 103a and the second boom drive 103b located on the waist joint 102 work to drive the boom link 103 to swing at multiple angles, so as to adjust the position of the boom in the working space and change the pitch angle of the boom in the vertical plane. The second boom drive 103b acts as an auxiliary drive and works together with the first boom drive 103a. Based on the dual power drive mode, it improves the load capacity of the boom link 103 when carrying heavy objects and improves the operational stability.

[0058] S3. After the upper arm link 103 moves to the required position, the elbow joint drive 104a works, driving the elbow joint 104 to move relative to the upper arm link 103, thereby realizing the flexion and extension of the forearm link 105 in the vertical plane, realizing the adjustment of the precise working range. The forearm drive 105a works, driving the forearm link 105 to realize the movement based on the elbow joint 104, thereby controlling the position and posture of the forearm in space.

[0059] S4. After the forearm lever 105 moves to the target position, the wrist joint drive works, causing the end effector 107 to move based on the wrist joint 106, thereby adjusting the direction and position of the end effector 107, achieving precise approach to and operation of the workpiece, and completing the work.

[0060] Regarding the obstacle collision warning component 200, it is used to issue an audible warning when the outer side of the robotic arm body 100 touches an obstacle. It includes...

[0061] Mounting base 201 is used as a carrier for obstacle detection alarm component 200. It is installed on the upper arm rod 103, lower arm rod 105, waist joint 102, elbow joint 104 and wrist joint 106 of the robot body 100. During installation, ensure that the selected position does not interfere with the normal movement of each component of the robot body 100.

[0062] Specifically, the mounting base 201 adopts a hot melt molding process to fit the outer wall of the curved robotic arm body 100. After being heated and softened, it can fit onto the curved surface.

[0063] A bracket 202 is provided on the mounting base 201;

[0064] Specifically, the bracket 202 is configured as an "L" shaped bracket, including a vertical plate 202a and a horizontal plate 202b. The bracket 202 is fixed to the surface of the mounting base 201 by the vertical plate 202a included therein.

[0065] More specifically, the connection between the horizontal plate 202b and the vertical plate 202a of the bracket 202 is rounded to reduce stress concentration and improve the service life of the bracket 202.

[0066] The support 202 includes a vertical plate 202a with a circular weight-reducing through hole 202c, which is used to reduce the weight of the obstacle detection alarm component, thereby reducing the load on the robot body and improving the stress resistance of the support.

[0067] A through hole is provided on the horizontal plate 202b, and a trigger slide rod 203 is slidably disposed in the through hole;

[0068] Among them, a rubber head 203a is provided at the end of the slide rod away from the mounting base 201;

[0069] A limiting frustum 203b is provided at the end of the slide rod near the mounting base 201;

[0070] A return spring 203c is provided on the outer wall of the slide bar and between the mounting base 201 and the rubber head 203a;

[0071] Specifically, the rubber head 203a is cylindrical, and its surface away from the slide bar is provided with anti-slip texture to ensure reliable triggering;

[0072] In use, the rubber head 203a is used to absorb energy and dampen shocks to protect the obstacle warning component 200, and the limiting frustum 203b is used to prevent the trigger slide bar 203 from disengaging from the through hole on the horizontal plate 202b included in the mounting base 201.

[0073] A micro-trigger switch 205 is provided on the surface of the mounting base 201 and on the sliding path of the trigger slide bar 203. A pad 204 is provided between the micro-trigger switch 205 and the mounting base 201 to adjust the trigger stroke between the micro-trigger switch 205 and the trigger slide bar 203 according to the actual application environment.

[0074] Specifically, the micro-trigger switch 205 is equipped with a normally open contact. When the trigger slider 203 is pressed, the power is turned on, and when it is released, the power is turned off.

[0075] Located on the surface of the mounting base 201 and on the side of the upright plate 202a away from the trigger slide bar 203, a battery pack 206 and a buzzer 207 are provided. The battery pack 206 and the buzzer 207 are electrically connected to the micro-trigger switch 205.

[0076] Specifically, the buzzer 207 uses an industrial buzzer 207 with a sound volume exceeding 100dB, ensuring that it can emit a warning sound that workers can hear in noisy environments such as production workshops.

[0077] Regarding the fixing component 300, it is used to fix the obstacle warning component 200 to the outside of the components included in the robot body 100. This component includes the upper arm rod 103, the forearm rod 105, the waist joint 102, the elbow joint 104, and the wrist joint 106. The fixing component 300 includes a mounting hole 301, which is configured as a through hole and passes through the mounting base 201.

[0078] When in use, the staff places a shim between the mounting base 201 and the robot body 100, and screws the mounting base 201 to the outer wall of the robot body 100 by screwing screws into the mounting hole 301.

[0079] Specifically, at least two mounting holes 301 are provided on the mounting base 201 and are diagonally distributed. The length of the screws used for mounting and fixing will not exceed the inner wall of the robot body 100 component, so as to avoid damaging the internal structure of the robot body 100.

[0080] In practical applications, the following triggering process is included:

[0081] During assembly, the staff installed the obstacle detection alarm component 200 on the outside of the upper arm rod 103, lower arm rod 105, waist joint 102, elbow joint 104 and wrist joint 106 of the robot body 100 through the fixing component 300. The bracket 202 on the mounting base 201 is "L" shaped. The upright plate 202a is fixed to the surface of the mounting base 201. The trigger slide rod 203 on the horizontal plate 202b is in the initial position under the action of the return spring 203c. The rubber head 203a extends a certain distance. The limiting frustum 203b ensures that the trigger slide rod 203 will not disengage from the through hole of the horizontal plate 202b. The micro-trigger switch 205 is adjusted with the trigger stroke of the trigger slide rod 203 through the pad 204. The battery pack 206, the buzzer 207 are electrically connected to the micro-trigger switch 205 and are in the ready-to-trigger state.

[0082] When the robot body 100 touches an obstacle during operation, the rubber head 203a at the end of the obstacle contact triggering slide 203 absorbs part of the energy of the obstacle collision and buffers the impact force, protecting the obstacle collision warning component 200. Under the force of the obstacle, the triggering slide 203 compresses the return spring 203c and slides along the through hole on the horizontal plate 202b toward the mounting base 201.

[0083] The switch is triggered when the trigger slider 203 slides to the trigger position of the micro-trigger switch 205.

[0084] In case of an alarm, the micro-trigger switch 205 connects the circuit between the battery pack 206 and the buzzer 207. The battery pack 206 supplies power to the buzzer 207, and the buzzer 207 emits an alarm sound to remind the staff that the robotic arm 100 has encountered an obstacle and should make timely adjustments to avoid further collisions.

[0085] When the obstacle is removed, the reset spring 203c pushes the trigger slide 203 to the initial position, and the limiting frustum 203b acts to prevent the trigger slide 203 from disengaging from the through hole on the horizontal plate 202b included in the bracket 202.

[0086] When the alarm stops, the sliding bar 203 retracts, the internal circuit of the micro-trigger switch 205 is disconnected, the buzzer 207 stops sounding, and one alarm operation is completed.

[0087] Please see the appendix Figure 5 To be continued Figure 6As another embodiment of the present invention, a method for fixing the obstacle detection alarm component 200 to the upper arm member 103 and the lower arm member 105 is provided, which can be installed without using screws to pass through the outer wall of the robot body 100. This method includes...

[0088] The countersunk screw hole 302a is embedded in the surface of the mounting base 201 away from the robot body 100;

[0089] Fastening bolt 302 is configured to be a bolt that is compatible with countersunk threaded hole 302a;

[0090] The end of the fixing cable 302b can be pressed and fixed by screwing the fastening bolt 302 into the countersunk screw hole 302a;

[0091] In use, first wrap the fixing cable 302b around the upper arm member 103 or the lower arm member 105. Then, press the two countersunk screw holes 302a on the mounting base 201 with the two fastening bolts 302 to fix the mounting base 201. This can effectively avoid damage to the robot body 100 caused by the screws.

[0092] Please see the appendix Figure 7 Appendix Figure 1 Appendix Figure 2 As another embodiment of the present invention, a different assembly structure is provided for the obstacle detection warning component 200 to be located on the robotic arm body 100, which includes,

[0093] At least four obstacle detection alarm components 200 are installed around the forearm rod 105 and the upper arm rod 103.

[0094] An elastic membrane 400 is provided on the outer wall of the four rubber heads 203a included in the four obstacle detection components 200. That is, the elastic membrane 400 surrounds the outside of the upper arm rod 103 or the lower arm rod 105 and contacts any of the rubber heads 203a that it cooperates with.

[0095] Among them, the elastic film 400 is assembled to the outer wall of the forearm member 105 and the upper arm member 103, and is in the shape of a ring.

[0096] Specifically, the elastic film 400 is made of thermoplastic polyurethane elastomer rubber (TPU). When it is touched by an obstacle, the TPU elastic film 400 deforms and transmits force to the obstacle warning component 200, which pushes the trigger slider 203 to move, connects the micro-trigger switch 205 circuit, and issues an alarm.

[0097] Furthermore, staff can install multiple sets of four obstacle detection alarm components 200 configured in this way, and set a longer elastic membrane 400 to expand the sensing range of the obstacle detection alarm components 200, thereby enabling the operation of alarming when an obstacle touches the elastic membrane 400.

[0098] Compared with the prior art, the present invention has the following characteristics:

[0099] The obstacle warning component 200, located on the outside of the robotic arm body 100, uses the cooperation of a trigger slider 203, a rubber head 203a, a micro-trigger switch 205, a battery pack 206, and a buzzer 207 to detect obstacles on the outside of the robotic arm body 100 and issue an audible warning, effectively reminding staff to make adjustments, avoiding collisions, and ensuring production safety and normal equipment operation.

[0100] At least four obstacle avoidance warning components 200 are provided around the forearm rod 105 and the upper arm rod 103, and an elastic membrane 400 is provided on the outer wall of the rubber head 203a, which expands the sensing range. This allows the alarm to be triggered even if the obstacle does not directly touch the rubber head 203a, but touches the elastic membrane 400, further improving the efficiency and reliability of obstacle avoidance warning.

[0101] Furthermore, a combination of countersunk screw holes 302a, fastening bolts 302, and fixing cables 302b is provided. After the fixing cables 302b are wrapped around the upper arm member 103 or the lower arm member 105, they are pressed and fixed with the countersunk screw holes 302a and fastening bolts 302 on the mounting base 201. This eliminates the need for screws to pass through the outer wall of the robot, effectively protecting the robot body 100 and extending its service life.

[0102] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A robotic arm for mechanical manufacturing, characterized in that, The device includes a robotic arm body (100) and an obstacle detection alarm assembly (200). The robotic arm body (100) includes a base (101), a waist joint (102), a mounting interface (102a), an upper arm rod (103), an elbow joint (104), a forearm rod (105), a wrist joint (106), and an end effector (107). The obstacle detection warning component (200) includes a mounting base (201), which is disposed on the upper arm member (103), the lower arm member (105), the waist joint (102), the elbow joint (104), and the wrist joint (106) of the robotic arm body (100); The mounting base (201) is mounted to the robot arm body (100) via a fixing component (300), and also includes, The bracket (202) is configured as an "L" shaped bracket, fixed on the mounting base (201), and a trigger slide rod (203) is slidably arranged through the bracket (202). The trigger slide rod (203) is provided with a rubber head (203a) and a limiting frustum (203b) at both ends. A return spring (203c) is provided on the outer wall of the trigger slide (203) and between the rubber head (203a) and the bracket (202). A micro-trigger switch (205) is provided on the mounting base (201) corresponding to the trigger slide (203), and a battery pack (206) and a buzzer (207) electrically connected to the micro-trigger switch (205) are provided on the mounting base (201).

2. The robotic arm for mechanical manufacturing according to claim 1, characterized in that, The lumbar joint (102) is connected to the base (101) through the mounting interface (102a), the upper arm member (103) is connected to the lumbar joint (102), an elbow joint (104) is provided between the forearm member (105) and the upper arm member (103), and the end effector (107) is provided at the end of the forearm member (105) away from the elbow joint (104) through the wrist joint (106).

3. The robotic arm for mechanical manufacturing according to claim 2, characterized in that, It also includes a first boom drive (103a) and a second boom drive (103b) for driving the boom member (103), the first boom drive (103a) and the second boom drive (103b) being disposed on the waist joint (102).

4. The robotic arm for mechanical manufacturing according to claim 3, characterized in that, The elbow joint (104) is provided with an elbow joint drive (104a) and a forearm drive (105a).

5. A robotic arm for mechanical manufacturing according to claim 1, characterized in that, The mounting base (201) is located in a position that does not interfere with the movement of the upper arm member (103), the forearm member (105), the waist joint (102), the elbow joint (104), and the wrist joint (106).

6. The robotic arm for mechanical manufacturing according to claim 1, characterized in that, The bracket (202) includes a vertical plate (202a) and a horizontal plate (202b). The vertical plate (202a) is fixed on the mounting base (201), and the horizontal plate (202b) has a through hole that is adapted to the trigger slide rod (203).

7. A robotic arm for mechanical manufacturing according to claim 6, characterized in that, The corners at the connection between the vertical plate (202a) and the horizontal plate (202b) are rounded. The surface of the rubber head (203a) away from the mounting base (201) is provided with anti-slip texture.

8. A robotic arm for mechanical manufacturing according to claim 1, characterized in that, The fixing component (300) includes a mounting hole (301) that passes through the mounting base (201). The mounting base (201) has at least two mounting holes (301) that are diagonally distributed.

9. A robotic arm for mechanical manufacturing according to claim 8, characterized in that, The fixing component (300) also includes a countersunk screw hole (302a), which is embedded in the end face of the mounting base (201) away from the robot body (100), and a fastening bolt (302) adapted to the countersunk screw hole (302a). And a fixing cable (302b), the end of which can be pressed and fixed by the cooperation of the fastening bolt (302) and the countersunk screw hole (302a).

10. A robotic arm for mechanical manufacturing according to claim 1, characterized in that, It also includes, An elastic membrane (400) surrounds the outer walls of the upper arm member (103) and the lower arm member (105); The obstacle detection warning component (200) is circumferentially distributed on the outer wall of the upper arm member (103) and the lower arm member (105), and the end of the rubber head (203a) therein is in contact with the elastic film (400).

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