CN117226874A

CN117226874A - Mechanical arm for industrial robot

Info

Publication number: CN117226874A
Application number: CN202311324693.5A
Authority: CN
Inventors: 黃军華; 唐純洁; 唐钰; 杨惠花; 唐崢嵘
Original assignee: Dongguan Lijia Magnetic Materials Co ltd
Current assignee: Dongguan Lijia Magnetic Materials Co ltd
Priority date: 2023-10-13
Filing date: 2023-10-13
Publication date: 2023-12-15

Abstract

The invention belongs to the technical field of industrial robots, in particular to a mechanical arm for an industrial robot, which comprises a mounting rack arranged at the output end of the industrial robot, wherein the left side of the mounting rack is respectively provided with a centering clamping mechanism, an inclination adjusting mechanism and a lifting mechanism; the centering clamping mechanism comprises an upper clamping assembly and a lower clamping assembly, and double centering clamping actions are realized on the workpiece to be clamped through the cooperation of the upper clamping assembly and the lower clamping assembly. According to the mechanical arm for the industrial robot, the centering clamping mechanism, the inclination adjusting mechanism and the lifting mechanism are arranged, the double self-centering clamping effect of the clamping piece can be achieved, when the clamping piece clamped by the centering clamping mechanism is inclined, the posture of the clamping piece is adjusted through the inclination adjusting mechanism, and when the lifting action of the clamping piece is required to be achieved, the automatic lifting of the clamping piece is achieved through the lifting mechanism.

Description

Mechanical arm for industrial robot

Technical Field

The invention relates to the technical field of industrial robots, in particular to a mechanical arm for an industrial robot.

Background

In recent years, with the development of robot technology, a robot structure employing high speed, high precision, and high load-to-weight ratio has received attention in the industrial and aerospace fields. Due to the increase of the flexible effect of the joints and the connecting rods in the movement process, the structure is deformed, so that the precision of task execution is reduced. Therefore, the structural flexibility characteristic of the mechanical arm of the robot must be considered, and the dynamic characteristic of the system must be considered to realize the high-precision effective control of the flexible mechanical arm; the mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the method has been widely applied in the fields of industrial assembly, safety explosion prevention and the like; the mechanical arm is a complex system, and uncertainty such as parameter perturbation, external interference, unmodeled dynamics and the like exists. Therefore, the modeling model of the mechanical arm also has uncertainty, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned; generally, an industrial robot is composed of three major parts, namely a mechanical part, a sensing part and a control part, six subsystems. The six subsystems can be divided into a mechanical structure system, a driving system, a sensing system, a robot environment interaction system, a man-machine interaction system and a control system; the industrial robots are generally classified into serial robots and parallel robots from the viewpoint of mechanical structure.

At present, when the mechanical arm for the industrial robot in the market operates on a cylindrical workpiece to be clamped, clamping jaws are usually adopted to clamp the workpiece to be clamped from two sides, and due to the fact that an existing mechanical arm lacks an adjusting mechanism, when the workpiece to be clamped by the mechanical arm is inclined, the existing mechanical arm cannot adjust the posture of the workpiece to be clamped, and further the workpiece to be clamped by the clamping jaws is easy to fall from the clamping jaws, so that the mechanical arm for the industrial robot is needed.

Disclosure of Invention

Based on the technical problem that the existing mechanical arm lacks an adjusting mechanism, when the to-be-clamped piece clamped by the mechanical arm inclines, the existing mechanical arm cannot adjust the posture of the to-be-clamped piece, so that the to-be-clamped piece clamped on the clamping jaw is easy to fall from the clamping jaw.

The invention provides a mechanical arm for an industrial robot, which comprises a mounting frame arranged at the output end of the industrial robot, wherein a centering clamping mechanism, an inclination adjusting mechanism and a lifting mechanism are respectively arranged on the left side of the mounting frame.

The centering clamping mechanism comprises an upper clamping assembly and a lower clamping assembly, and double centering clamping actions are realized on the to-be-clamped piece through the cooperation of the upper clamping assembly and the lower clamping assembly.

The tilting adjustment mechanism comprises a micro motor and a contact roller, wherein the micro motor converts electric energy into mechanical energy, and drives the contact roller to rotate by taking the axis of an output shaft of the micro motor as the center of a circle, so that gesture adjustment of a piece to be clamped by the centering clamping mechanism is realized.

The lifting mechanism comprises a miniature lifting motor, and the lifting mechanism realizes lifting motion on the workpiece to be clamped by the centering clamping mechanism.

Preferably, the centering clamping mechanism further comprises a driving cylinder installed at the center of the left side surface of the installation frame, one end of a piston rod of the driving cylinder is fixedly connected with a connecting block with a U-shaped cross section, and the inner side surface of the connecting block is rotationally sleeved with a driving gear through a pin shaft.

Preferably, the upper clamping assembly is composed of a first clamping plate and two second clamping plates, wherein the two second clamping plates are distributed in a staggered symmetrical mode by taking the axis of the first clamping plate as the symmetry center, the lower clamping assembly is composed of a third clamping plate and two fourth clamping plates, the fourth clamping plates are distributed in a staggered symmetrical mode by taking the axis of the third clamping plate as the symmetry center, and tooth grooves meshed with the driving gear are formed in the surfaces of the first clamping plate and the third clamping plate.

Preferably, the surface of first clamping plate, second clamping plate, third clamping plate and fourth clamping plate respectively with a plurality of spout inner walls slip cup joints of mounting bracket, the connecting rod that is symmetrical distribution is all installed through the bearing to upper surface and lower surface of mounting bracket, the external surface fixed of connecting rod has cup jointed rotation gear, the tooth's socket of first clamping plate, second clamping plate, third clamping plate and fourth clamping plate all meshes with rotation gear's surface.

Preferably, the clamping blocks are fixedly installed at one ends of the first clamping plate, the second clamping plate, the third clamping plate and the fourth clamping plate, the inclination adjusting mechanism further comprises a cavity formed in the clamping blocks, and the center of the inner bottom wall and the center of the inner top wall of the cavity are provided with T-shaped displacement grooves.

Preferably, the inner wall of the displacement groove is slidably sleeved with a supporting frame, a first micro contact cylinder is fixedly arranged on one side surface of the supporting frame, the first micro contact cylinder is fixedly arranged on the inner wall of the cavity, and the first micro contact cylinder stretches out to drive the supporting frame to horizontally move in the displacement groove along the length direction of the displacement groove.

Preferably, the micro motor is fixedly arranged on the inner top wall of the support frame, the output shaft of the micro motor is fixedly provided with a transmission shaft through a coupler, one end of the transmission shaft is arranged on the inner bottom wall of the support frame through a bearing, and the contact roller is fixedly sleeved on the outer surface of the middle end of the transmission shaft.

Preferably, the arc surface of clamp splice has offered respectively and has stretched out groove and guide way, two the guide way is symmetrical distribution with the axis of stretching out the groove as the symmetry center, the outer fixed surface of contact gyro wheel has cup jointed flexible cover, miniature promotion motor fixed mounting is at the lower surface of clamp splice, the threaded rod that is symmetrical form distribution is installed through the bearing to the interior bottom wall of cavity, two the one end of threaded rod all runs through and extends to the lower surface of clamp splice.

Preferably, the output shaft of the miniature lifting motor is fixedly connected with one end of one of the threaded rods through a coupler, guide rails which are symmetrically distributed are fixedly arranged on the inner walls of the two sides of the cavity, lifting blocks are sleeved on the inner walls of the guide rails in a sliding mode, and the inner walls of the lifting blocks are sleeved with the outer surface threads of the threaded rods.

Preferably, the adjacent threaded rods are in transmission connection through a belt transmission mechanism, a second micro contact cylinder is fixedly arranged on the arc surface of each lifting block, a contact block is fixedly connected to one end of a piston rod of each second micro contact cylinder, an elastic pad is fixedly connected to the arc surface of each contact block, the flexible sleeve and the elastic pad are made of butyl rubber, an induction sheet with the lower surface flush with the lower surface of the elastic pad is fixedly arranged on the lower surface of each contact block, a micro laser ranging sensor is fixedly arranged on the inner bottom wall of each guide groove, and the upper surface of each micro laser ranging sensor is positioned on the same horizontal plane with the inner bottom wall of each guide groove.

The beneficial effects of the invention are as follows:

through setting up centering clamping mechanism, tilt adjustment mechanism and elevating system, can treat the clamping piece and realize dual self-centering centre gripping's effect, and when the clamping piece that treats by centering clamping mechanism centre gripping appears the slope, treat the clamping piece through tilt adjustment mechanism and realize gesture adjustment, when the clamping piece that needs to treat realizes the lifting action, treat the clamping piece through elevating system and realize automatic lifting.

Drawings

FIG. 1 is a schematic view of a robotic arm for an industrial robot;

FIG. 2 is a perspective view of a rotating gear structure of a mechanical arm for an industrial robot;

FIG. 3 is a perspective view of a mounting frame structure of a mechanical arm for an industrial robot;

FIG. 4 is a perspective view of a flexible sleeve structure of a mechanical arm for an industrial robot;

FIG. 5 is a perspective view of a displacement tank structure of a mechanical arm for an industrial robot;

FIG. 6 is a perspective view of a contact roller structure of a robot arm for an industrial robot;

fig. 7 is a perspective view of a lifting block structure of a mechanical arm for an industrial robot.

In the figure: 1. a mounting frame; 2. a micro motor; 21. a cavity; 22. a displacement groove; 23. a support frame; 24. a first micro-contact cylinder; 25. a transmission shaft; 26. extending out of the groove; 27. a guide groove; 28. a flexible sleeve; 3. a contact roller; 4. a micro-lift motor; 41. a threaded rod; 42. a guide rail; 43. a lifting block; 44. a second micro-contact cylinder; 45. a contact block; 46. an elastic pad; 47. an induction piece; 48. a miniature laser ranging sensor; 5. a driving cylinder; 51. a connecting block; 52. a drive gear; 53. a first clamping plate; 54. a second clamping plate; 55. a third clamping plate; 56. a fourth clamping plate; 57. a connecting rod; 58. rotating the gear; 59. and clamping blocks.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.

Referring to fig. 1 to 7, a mechanical arm for an industrial robot includes a mounting frame 1 mounted at an output end of the industrial robot, and a centering and clamping mechanism, a tilt adjusting mechanism and a lifting mechanism are respectively provided at the left side of the mounting frame 1.

The centering clamping mechanism comprises an upper clamping assembly and a lower clamping assembly, and double centering clamping actions are realized on the workpiece to be clamped through the cooperation of the upper clamping assembly and the lower clamping assembly.

The inclination adjusting mechanism comprises a micro motor 2 and a contact roller 3, wherein the micro motor 2 converts electric energy into mechanical energy, and drives the contact roller 3 to rotate by taking the axis of an output shaft of the micro motor 2 as the center of a circle, so that the action of posture adjustment of a piece to be clamped after being clamped by the centering clamping mechanism is realized.

The lifting mechanism comprises a miniature lifting motor 4, and the lifting mechanism realizes lifting motion on the workpiece to be clamped by the centering clamping mechanism.

Further, in order to provide a driving source for the centering and clamping mechanism, the centering and clamping mechanism further comprises a driving cylinder 5 arranged at the center of the left side surface of the mounting frame 1, one end of a piston rod of the driving cylinder 5 is fixedly connected with a connecting block 51 with a U-shaped cross section, the inner side surface of the connecting block 51 is rotatably sleeved with a driving gear 52 through a pin shaft, and the driving cylinder 5 stretches and contracts to drive the connecting block 51 and the driving gear 52 connected with the inner side surface of the connecting block 51 to realize horizontal movement along the length direction of the mounting frame 1.

Further, in order to simultaneously drive the upper clamping assembly and the lower clamping assembly to move, the upper clamping assembly is composed of a first clamping plate 53 and two second clamping plates 54, wherein the two second clamping plates 54 are distributed in a staggered symmetrical manner with the axis of the first clamping plate 53 as the symmetry center, the lower clamping assembly is composed of a third clamping plate 55 and two fourth clamping plates 56, wherein the fourth clamping plates 56 are distributed in a staggered symmetrical manner with the axis of the third clamping plate 55 as the symmetry center, and tooth grooves meshed with the driving gear 52 are formed on the opposite surfaces of the first clamping plate 53 and the third clamping plate 55.

Further, in order to realize dual self-centering clamping of the workpiece to be clamped, the outer surfaces of the first clamping plate 53, the second clamping plate 54, the third clamping plate 55 and the fourth clamping plate 56 are respectively in sliding sleeve joint with the inner walls of a plurality of sliding grooves of the mounting frame 1, connecting rods 57 which are symmetrically distributed are respectively arranged on the upper surface and the lower surface of the mounting frame 1 through bearings, rotating gears 58 are fixedly sleeved on the outer surfaces of the connecting rods 57, tooth grooves of the first clamping plate 53, the second clamping plate 54, the third clamping plate 55 and the fourth clamping plate 56 are meshed with the outer surfaces of the rotating gears 58, and the tooth grooves arranged on the opposite surfaces of the first clamping plate 53 and the third clamping plate 55 are meshed with the driving gears 52 to drive the first clamping plate 53 and the third clamping plate 55 to move from right to left along the length direction of the mounting frame 1.

Further, in order to guide the telescopic direction of the tilt adjusting mechanism, clamping blocks 59 are fixedly mounted at one ends of the first clamping plate 53, the second clamping plate 54, the third clamping plate 55 and the fourth clamping plate 56, the tilt adjusting mechanism further comprises a cavity 21 formed in the clamping blocks 59, and displacement grooves 22 in a T shape are formed in the center of the inner bottom wall and the center of the inner top wall of the cavity 21.

Further, in order to change the stress point of the clamping piece, the inner wall of the displacement groove 22 is slidably sleeved with the supporting frame 23, a first micro contact cylinder 24 is fixedly arranged on one side surface of the supporting frame 23, the first micro contact cylinder 24 is fixedly arranged on the inner wall of the cavity 21, the first micro contact cylinder 24 stretches out to drive the supporting frame 23 to horizontally move along the length direction of the displacement groove 22 in the displacement groove 22, when the clamping piece clamped by the centering clamping mechanism tilts, the first micro contact cylinder 24 is controlled to start, the first micro contact cylinder 24 completely stretches out, the driving supporting frame 23 horizontally moves in the displacement groove 22 along the length direction of the displacement groove 22, the contact roller 3 and the flexible sleeve 28 are driven to be in extrusion contact with the surface of the clamping piece, at the moment, the driving cylinder 5 is controlled to shrink, the upper clamping component and the lower clamping component are driven to realize separation action with the clamping piece, and the stress point is transferred onto the contact roller 3 by the upper clamping component and the lower clamping component.

Further, in order to facilitate posture adjustment of the inclined workpiece to be clamped, the micro motor 2 is fixedly arranged on the inner top wall of the supporting frame 23, the output shaft of the micro motor 2 is fixedly provided with the transmission shaft 25 through the coupler, one end of the transmission shaft 25 is arranged on the inner bottom wall of the supporting frame 23 through a bearing, the contact roller 3 is fixedly sleeved on the outer surface of the middle end of the transmission shaft 25, the micro motor 2 is started, the micro motor 2 converts electric energy into mechanical energy, the contact roller 3 driving the transmission shaft 25 and the surface of the transmission shaft 25 realize circumferential rotation by taking the axle center of the transmission shaft 25 as the circle center, and posture adjustment action is realized on the workpiece to be clamped after being clamped by the centering clamping mechanism.

Further, in order to achieve flexible clamping between the contact roller 3 and the workpiece to be clamped, the arc-shaped surfaces of the clamping blocks 59 are respectively provided with an extending groove 26 and a guiding groove 27, the two guiding grooves 27 are symmetrically distributed by taking the axis of the extending groove 26 as a symmetrical center, the outer surface of the contact roller 3 is fixedly sleeved with a flexible sleeve 28, the micro lifting motor 4 is fixedly arranged on the lower surface of the clamping block 59, the inner bottom wall of the cavity 21 is provided with threaded rods 41 which are symmetrically distributed through bearings, and one ends of the two threaded rods 41 penetrate through and extend to the lower surface of the clamping block 59.

Further, in order to achieve lifting motion of the workpiece to be clamped, an output shaft of the micro lifting motor 4 is fixedly connected with one end of one threaded rod 41 through a coupler, guide rails 42 which are symmetrically distributed are fixedly arranged on inner walls of two sides of the cavity 21, lifting blocks 43 are slidably sleeved on inner walls of the guide rails 42, inner walls of the lifting blocks 43 are in threaded sleeve connection with outer surfaces of the threaded rods 41, and the lifting blocks 43 are converted into linear motion from rotary motion through cooperation of the guide rails 42, the threaded rods 41 and the lifting blocks 43, so that lifting motion of the workpiece to be clamped is achieved conveniently.

Further, in order to realize measurement of the lifting height of the workpiece to be clamped, the adjacent threaded rods 41 are in transmission connection through a belt transmission mechanism, a second micro contact cylinder 44 is fixedly arranged on the arc-shaped surface of the lifting block 43, a contact block 45 is fixedly connected to one end of a piston rod of the second micro contact cylinder 44, an elastic pad 46 is fixedly connected to the arc-shaped surface of the contact block 45, the flexible sleeve 28 and the elastic pad 46 are made of butyl rubber, when lifting action of the workpiece to be clamped is required, the second micro contact cylinder 44 is controlled to start, the contact block 45 and the elastic pad 46 are driven to be in extrusion contact with the surface of the workpiece to be clamped, at the moment, the driving cylinder 5 is controlled to shrink, and the upper clamping assembly and the lower clamping assembly are driven to realize separation action with the workpiece to be clamped, so that a stress point is transferred onto the contact block 45 by the upper clamping assembly and the lower clamping assembly;

the micro lifting motor 4 is controlled to start, under the action of the belt transmission mechanism, the two threaded rods 41 are driven to synchronously rotate, the lifting block 43 is driven to lift the clamping piece in the height direction of the guide groove 27 by the cooperation of the lifting block 43, the threaded rods 41 and the guide rail 42, the sensing piece 47 with the lower surface being flush with the lower surface of the elastic pad 46 is fixedly arranged on the lower surface of the contact block 45, the micro laser ranging sensor 48 is fixedly arranged on the inner bottom wall of the guide groove 27, the upper surface of the micro laser ranging sensor 48 and the inner bottom wall of the guide groove 27 are positioned on the same horizontal plane, and the real-time measurement of the lifting height of the clamping piece is realized by the cooperation of the micro laser ranging sensor 48 and the sensing piece 47.

Working principle: step one, a driving cylinder 5 is controlled to start, the driving cylinder 5 stretches out to drive a connecting block 51 and a driving gear 52 connected with the inner side surface of the connecting block 51 to move from right to left along the length direction of a mounting frame 1, the first clamping plate 53 and the third clamping plate 55 are driven to move from right to left along the length direction of the mounting frame 1 through the engagement of tooth grooves formed on the opposite surfaces of the first clamping plate 53 and the third clamping plate 55 and the driving gear 52, and at the moment, the upper clamping assembly and the lower clamping assembly are driven to realize double self-centering clamping on a workpiece to be clamped through the cooperation of the first clamping plate 53, the two second clamping plates 54, the third clamping plate 55, the two fourth clamping plates 56 and the four rotating gears 58;

when the clamping piece to be clamped by the centering clamping mechanism inclines, the first micro-contact air cylinder 24 is controlled to start, the first micro-contact air cylinder 24 is completely extended, the driving support frame 23 horizontally moves in the displacement groove 22 along the length direction of the displacement groove 22 to drive the contact roller 3 and the flexible sleeve 28 to be in extrusion contact with the surface of the clamping piece, at the moment, the driving air cylinder 5 is controlled to shrink to drive the upper clamping assembly and the lower clamping assembly to realize separation action with the clamping piece to be clamped, a stress point is transferred to the contact roller 3 by the upper clamping assembly and the lower clamping assembly, the micro-motor 2 is started, the micro-motor 2 converts electric energy into mechanical energy, the contact roller 3 on the surfaces of the transmission shaft 25 and the transmission shaft 25 is driven to realize circumferential rotation by taking the axle center of the transmission shaft 25 as the center, the action of posture adjustment is realized on the clamping piece to be clamped by the centering clamping mechanism, after the adjustment is completed, the driving air cylinder 5 is controlled to completely extend again, the double self-centering clamping of the clamping piece to be clamped is realized again, and the first micro-contact air cylinder 24 and the micro-motor 2 are controlled to reset;

step three, when the lifting action of the workpiece to be clamped is required, the second micro contact cylinder 44 is controlled to start, the contact block 45 and the elastic pad 46 are driven to be in extrusion contact with the surface of the workpiece to be clamped, at the moment, the driving cylinder 5 is controlled to shrink, the upper clamping assembly and the lower clamping assembly are driven to be separated from the workpiece to be clamped, and the stress point is transferred to the contact block 45 from the upper clamping assembly and the lower clamping assembly;

the micro lifting motor 4 is controlled to start, under the action of the belt transmission mechanism, the two threaded rods 41 are driven to synchronously rotate, and the lifting block 43 is driven to lift the workpiece to be clamped along the height direction of the guide groove 27 through the cooperation of the lifting block 43, the threaded rods 41 and the guide rail 42.

The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.

Claims

1. The utility model provides a robotic arm for industrial robot, includes mounting bracket (1) of installing at industrial robot output, its characterized in that: the left side of the mounting frame (1) is respectively provided with a centering clamping mechanism, an inclination adjusting mechanism and a lifting mechanism;

the centering clamping mechanism comprises an upper clamping assembly and a lower clamping assembly, and double centering clamping actions of a piece to be clamped are realized through the matching of the upper clamping assembly and the lower clamping assembly;

the device comprises a centering clamping mechanism and a tilting adjusting mechanism, wherein the tilting adjusting mechanism comprises a micro motor (2) and a contact roller (3), the micro motor (2) converts electric energy into mechanical energy, and the contact roller (3) is driven to rotate by taking the axis of an output shaft of the micro motor (2) as the center of a circle, so that gesture adjustment of a piece to be clamped by the centering clamping mechanism is realized;

the lifting mechanism comprises a miniature lifting motor (4), and the lifting mechanism realizes lifting motion on the piece to be clamped by the centering clamping mechanism.

2. A manipulator arm for an industrial robot as claimed in claim 1, characterized in that: the centering clamping mechanism further comprises a driving air cylinder (5) arranged at the center of the left side surface of the mounting frame (1), one end of a piston rod of the driving air cylinder (5) is fixedly connected with a connecting block (51) with a U-shaped cross section, and the inner side surface of the connecting block (51) is rotatably sleeved with a driving gear (52) through a pin shaft.

3. A manipulator arm for an industrial robot as claimed in claim 2, characterized in that: the upper clamping assembly is composed of a first clamping plate (53) and two second clamping plates (54), wherein the two second clamping plates (54) are distributed in a staggered symmetrical mode by taking the axis of the first clamping plate (53) as the symmetry center, the lower clamping assembly is composed of a third clamping plate (55) and two fourth clamping plates (56), the fourth clamping plates (56) are distributed in a staggered symmetrical mode by taking the axis of the third clamping plate (55) as the symmetry center, and tooth grooves meshed with the driving gear (52) are formed in the surfaces, opposite to the surfaces of the first clamping plate (53) and the third clamping plate (55).

4. A manipulator arm for an industrial robot according to claim 3, characterized in that: the outer surfaces of the first clamping plate (53), the second clamping plate (54), the third clamping plate (55) and the fourth clamping plate (56) are respectively in sliding sleeve joint with the inner walls of a plurality of sliding grooves of the mounting frame (1), connecting rods (57) which are symmetrically distributed are arranged on the upper surface and the lower surface of the mounting frame (1) through bearings, rotating gears (58) are fixedly sleeved on the outer surfaces of the connecting rods (57), and tooth grooves of the first clamping plate (53), the second clamping plate (54), the third clamping plate (55) and the fourth clamping plate (56) are meshed with the outer surfaces of the rotating gears (58).

5. The robot arm for an industrial robot according to claim 4, wherein: clamping blocks (59) are fixedly arranged at one ends of the first clamping plate (53), the second clamping plate (54), the third clamping plate (55) and the fourth clamping plate (56), the inclination adjusting mechanism further comprises a cavity (21) formed in the clamping blocks (59), and displacement grooves (22) in a T shape are formed in the center of the inner bottom wall and the center of the inner top wall of the cavity (21).

6. A manipulator arm for an industrial robot as claimed in claim 5, characterized in that: the inner wall of displacement groove (22) has slided and has cup jointed support frame (23), one side surface fixed mounting of support frame (23) has first miniature contact cylinder (24), first miniature contact cylinder (24) fixed mounting is at the inner wall of cavity (21), first miniature contact cylinder (24) stretch out drive support frame (23) in displacement groove (22) along the length direction horizontal movement of displacement groove (22).

7. The robot arm for an industrial robot according to claim 6, wherein: the miniature motor (2) is fixedly arranged on the inner top wall of the supporting frame (23), a transmission shaft (25) is fixedly arranged on an output shaft of the miniature motor (2) through a coupler, one end of the transmission shaft (25) is arranged on the inner bottom wall of the supporting frame (23) through a bearing, and the contact roller (3) is fixedly sleeved on the outer surface of the middle end of the transmission shaft (25).

8. The robot arm for an industrial robot according to claim 7, wherein: the arc surface of clamp splice (59) has offered respectively and has stretched out groove (26) and guide way (27), two guide way (27) are symmetric distribution for the symmetry center with the axis of stretching out groove (26), the external surface fixed of contact gyro wheel (3) has cup jointed flexible cover (28), miniature promotion motor (4) fixed mounting is at the lower surface of clamp splice (59), threaded rod (41) that are symmetric distribution are installed through the bearing to the interior bottom wall of cavity (21), two the one end of threaded rod (41) all runs through and extends to the lower surface of clamp splice (59).

9. A manipulator arm for an industrial robot as claimed in claim 8, characterized in that: the output shaft of miniature promotion motor (4) pass through the shaft coupling with one of them the one end fixed connection of threaded rod (41), the both sides inner wall fixed mounting of cavity (21) has guided way (42) that are symmetrical distribution, the inner wall slip of guided way (42) has cup jointed elevating block (43), the inner wall of elevating block (43) cup joints with the surface screw thread of threaded rod (41).

10. A manipulator arm for an industrial robot as claimed in claim 9, characterized in that: the device is characterized in that the adjacent threaded rods (41) are in transmission connection through a belt transmission mechanism, a second micro contact cylinder (44) is fixedly arranged on the arc-shaped surface of each lifting block (43), a contact block (45) is fixedly connected to one end of a piston rod of each second micro contact cylinder (44), an elastic pad (46) is fixedly connected to the arc-shaped surface of each contact block (45), the flexible sleeve (28) and the elastic pad (46) are made of butyl rubber, an induction sheet (47) with the lower surface flush with the lower surface of the elastic pad (46) is fixedly arranged on the lower surface of each contact block (45), a micro laser ranging sensor (48) is fixedly arranged on the inner bottom wall of each guide groove (27), and the upper surface of each micro laser ranging sensor (48) and the inner bottom wall of each guide groove (27) are located on the same horizontal plane.