CN106355988B

CN106355988B - Multifunctional training robot

Info

Publication number: CN106355988B
Application number: CN201610847188.2A
Authority: CN
Inventors: 梁佳; 唐建聪; 王群; 杨海滨; 袁祥宗
Original assignee: Foshan Huashu Robot Co Ltd
Current assignee: Foshan Huashu Robot Co Ltd
Priority date: 2016-09-22
Filing date: 2016-09-22
Publication date: 2020-02-07
Anticipated expiration: 2036-09-22
Also published as: CN106355988A

Abstract

The invention discloses a multifunctional practical training robot which comprises an industrial robot multifunctional composite clamp, an industrial robot multifunctional practical operation platform and an industrial robot body, wherein the industrial robot body is connected with a manipulator mounting part, and the industrial robot multifunctional practical operation platform is arranged beside the industrial robot body. The multifunctional real operation platform of the industrial robot and the multifunctional composite fixture of the industrial robot are mutually matched, so that various teaching purposes can be realized, and various functions of the modern industrial robot can be displayed to the maximum extent. The invention has simple structure and low cost, and is suitable for simulation teaching based on industrial robots. The invention is used for robot teaching aids.

Description

Multifunctional training robot

Technical Field

The invention relates to a multifunctional practical training robot.

Background

The robot uses more and more extensively, and the course of robot teaching can all be seted up to many schools, enterprise, training institution, but because industrial robot is high in price, the function is more single moreover, if need purchase a plurality of industrial robot that the price is high as a teaching course, then the cost of teaching is just too high. The existing clamp often only has one function, and the clamp is not high in flexibility, high in price and not beneficial to teaching.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: provides a small-sized and low-cost multifunctional practical training robot.

The solution of the invention for solving the technical problem is as follows:

the multifunctional practical training robot comprises an industrial robot multifunctional composite clamp, an industrial robot multifunctional practical operation platform and an industrial robot body; multifunctional composite fixture for industrial robot: the connecting frame comprises a first frame, a second frame, a third frame, a fourth frame, a fifth frame and a sixth frame which respectively form six surfaces of a cuboid; a first machine frame: the clamping driving module comprises a clamping cylinder body and a clamping telescopic rod connected with the clamping cylinder body, a third clamping part extending forwards is arranged on the clamping cylinder body, and a fourth clamping part extending forwards is arranged on the clamping telescopic rod; the second rack is provided with a plurality of arc-shaped mounting grooves, each mounting groove is provided with a sucker, and the circle centers of all the mounting grooves are concentric; a third frame provided with a pen clip for clipping a pen; a fourth frame provided with a scrubber mounting frame; a fifth frame provided with a manipulator mounting member; a sixth frame provided with a nozzle; the first frame, the second frame, the third frame, the fourth frame, the fifth frame and the sixth frame are connected into a cuboid-shaped six-side frame;

multifunctional practical industrial robot platform: the simulation machine tool clamping device comprises a box body with a containing cavity, and further comprises a rotary table, a coupler and a simulation machine tool clamping device, wherein a plurality of support rods are arranged on the upper surface of the box body side by side at intervals, a plurality of internal thread pieces are arranged between every two adjacent support rods at intervals, a connecting hole is formed in the middle of the upper surface of the box body, an annular liquid receiving groove is formed below the connecting hole, the coupler is further arranged below the connecting hole, and the axis of the coupler is wrapped by the liquid receiving groove; the rotary disc is arranged above the coupler and detachably connected with the coupler, and at least one liquid leakage hole is formed in the rotary disc and arranged above the liquid receiving groove;

simulating a machine tool clamping device: the clamping device comprises a platform frame, wherein a rotary driving module is arranged on the platform frame, a rotating shaft is arranged on the rotary driving module, a clamping seat is connected to the rotating shaft, a telescopic driving module is arranged on the clamping seat, the telescopic driving module comprises a cylinder body and a telescopic rod connected with the cylinder body, a first clamping part is arranged on the platform frame or the cylinder body, and a second clamping part is arranged on the telescopic rod; the rotary driving module comprises a pneumatic motor or a hydraulic motor, and the telescopic driving module is a hydraulic cylinder or a pneumatic cylinder; the platform frame is connected with the internal thread piece through an external thread part; a rotor is arranged in the rotary driving module, two symmetrically arranged rotary magnets capable of rotating along with the rotor are arranged in the rotor, two rotary magnetic induction switches are arranged on the platform rack, the rotary magnetic induction switches correspond to the rotary magnets in position, and therefore each rotor rotates 90 degrees, one rotary magnet is magnetically connected with one rotary magnetic induction switch; the universal wheel assembly comprises a universal wheel and a roller rotating shaft, the universal wheel can rotate around the roller rotating shaft, the roller rotating shaft integrally extends downwards, the roller rotating shaft comprises a rotating shaft sleeve and an upright rod, and the rotating shaft sleeve and the upright rod are connected by threads;

the industrial robot body is connected with the manipulator installed part, and the multifunctional practical operation platform of the industrial robot is arranged beside the industrial robot body.

As a further improvement of the scheme, the industrial robot multifunctional practical operation platform comprises: the liquid receiving tank is characterized by also comprising an inner sleeve and an outer sleeve, wherein the inner sleeve is arranged in the outer sleeve, and a gap is arranged between the inner sleeve and the outer sleeve to form the liquid receiving tank; the rotating shaft extends along the front-back direction, and the two rotary magnetic induction switches are arranged in tandem; the upright stanchion is also provided with a locking nut which is abutted against the rotating shaft sleeve;

multifunctional composite fixture for industrial robot: the clamping driving module is a hydraulic cylinder or a pneumatic cylinder.

As the further improvement of above-mentioned scheme, industrial robot multi-functional composite clamp: two clamp linear magnets are respectively fixed at the front end and the rear end of the clamping telescopic rod, two clamp linear magnetic induction switches respectively corresponding to the positions of the two clamp linear magnets are arranged on the mounting seat, and each clamp linear magnetic induction switch can be respectively and magnetically connected with the corresponding clamp linear magnet;

multifunctional practical industrial robot platform: the lower ends of the inner sleeve and the outer sleeve are respectively provided with a sleeve shoulder, and the sleeve shoulders of the inner sleeve and the outer sleeve are mutually abutted; the platform frame is provided with two first sliding grooves which are arranged in tandem and extend along the left-right direction, and the two rotary magnetic induction switches are respectively fixed on the different first sliding grooves.

As the further improvement of above-mentioned scheme, industrial robot multi-functional composite clamp: the mounting base is provided with two third sliding grooves which are arranged in tandem and extend along the left-right direction, the two clamp linear magnetic induction switches are respectively arranged in different third sliding grooves, and the clamp linear magnetic induction switches can move in the third sliding grooves;

multifunctional practical industrial robot platform: the carousel includes the carousel body and establishes the rotation connecting block at carousel body middle part, rotate the connecting block with the coupling joint.

As the further improvement of above-mentioned scheme, industrial robot multi-functional composite clamp: the first rack is provided with four through holes which are respectively arranged around the mounting seat, the four through holes are respectively provided with a positioning rod, the positioning rods are provided with a first abutting part and a second abutting part which are arranged in tandem, and a compression spring is arranged between the first abutting part and the first rack;

multifunctional practical industrial robot platform: the edge of the turntable body is turned upwards to form a flange.

As a further improvement of the scheme, the industrial robot multifunctional practical operation platform comprises: the four through holes are respectively positioned on four angular points of the rectangle;

multifunctional composite fixture for industrial robot: two linear magnets are respectively fixed at the front end and the rear end of the telescopic rod, two linear magnetic induction switches respectively corresponding to the positions of the two linear magnets are arranged on the clamping seat, and each linear magnetic induction switch can be respectively and magnetically connected with the corresponding linear magnet.

As the further improvement of above-mentioned scheme, industrial robot multi-functional composite clamp: the pen clip comprises a front wing and a rear wing, the upper end of the front wing is connected with the upper end of the rear wing through a weak section, and bolt through holes are formed in the lower end of the front wing and the lower end of the rear wing;

multifunctional practical industrial robot platform: the rotating shaft extends along the front-back direction, and the two linear magnetic induction switches are arranged in tandem.

As the further improvement of above-mentioned scheme, industrial robot multi-functional composite clamp: the second frame is a plate-shaped component, two locking nuts are arranged on the sucker, and the second frame is arranged between the two locking nuts;

multifunctional practical industrial robot platform: the clamping seat is provided with two second sliding grooves which are arranged in tandem and extend along the left-right direction, the two linear magnetic induction switches are respectively arranged in the different second sliding grooves, and the linear magnetic induction switches can move in the second sliding grooves where the linear magnetic induction switches are located.

As a further improvement of the scheme, the industrial robot multifunctional practical operation platform further comprises a pressing block, a locking end transversely extending out is arranged on the pressing block, a bolt through hole is formed in the pressing block, a threaded hole is formed in the locking end, and a screw top is arranged in the threaded hole.

As a further improvement of the scheme, the industrial robot multifunctional practical operation platform is characterized in that an opening is formed in the side wall of the containing cavity, and a box door is arranged on the opening.

The invention has the beneficial effects that: the multifunctional practical training robot comprises an industrial robot multifunctional composite clamp, an industrial robot multifunctional practical operation platform and an industrial robot body; multifunctional composite fixture for industrial robot: the connecting frame comprises a first frame, a second frame, a third frame, a fourth frame, a fifth frame and a sixth frame which respectively form six surfaces of a cuboid; a first machine frame: the clamping driving module comprises a clamping cylinder body and a clamping telescopic rod connected with the clamping cylinder body, a third clamping part extending forwards is arranged on the clamping cylinder body, and a fourth clamping part extending forwards is arranged on the clamping telescopic rod; the second rack is provided with a plurality of arc-shaped mounting grooves, each mounting groove is provided with a sucker, and the circle centers of all the mounting grooves are concentric; a third frame provided with a pen clip for clipping a pen; a fourth frame provided with a scrubber mounting frame; a fifth frame provided with a manipulator mounting member; a sixth frame provided with a nozzle; the first frame, the second frame, the third frame, the fourth frame, the fifth frame and the sixth frame are connected into a cuboid-shaped six-side frame; the third clamping part and the fourth clamping part are used for clamping the workpieces, so that various workpieces can be clamped, and the loading and unloading functions can be realized. The multifunctional feeding and discharging device has five working states, and can realize the functions of spraying paint, writing and drawing, brushing handwriting and sucking smooth workpieces besides the function of feeding and discharging.

simulating a machine tool clamping device: the clamping device comprises a platform frame, wherein a rotary driving module is arranged on the platform frame, a rotating shaft is arranged on the rotary driving module, a clamping seat is connected to the rotating shaft, a telescopic driving module is arranged on the clamping seat, the telescopic driving module comprises a cylinder body and a telescopic rod connected with the cylinder body, a first clamping part is arranged on the platform frame or the cylinder body, and a second clamping part is arranged on the telescopic rod; the rotary driving module comprises a pneumatic motor or a hydraulic motor, and the telescopic driving module is a hydraulic cylinder or a pneumatic cylinder; the platform frame is connected with the internal thread piece through an external thread part; a rotor is arranged in the rotary driving module, two symmetrically arranged rotary magnets capable of rotating along with the rotor are arranged in the rotor, two rotary magnetic induction switches are arranged on the platform rack, the rotary magnetic induction switches correspond to the rotary magnets in position, and therefore each rotor rotates 90 degrees, one rotary magnet is magnetically connected with one rotary magnetic induction switch; the universal wheel assembly comprises a universal wheel and a roller rotating shaft, the universal wheel can rotate around the roller rotating shaft, the roller rotating shaft integrally extends downwards, the roller rotating shaft comprises a rotating shaft sleeve and an upright rod, and the rotating shaft sleeve and the upright rod are connected by threads; the shaft coupling is connected with the rotating shaft of the electric motor or the pneumatic motor or the hydraulic motor, so that the function of an industrial rotating workbench is realized, redundant spraying liquid flows out from the liquid leakage hole in the spraying process and enters the liquid receiving groove, the redundant spraying liquid is prevented from flowing everywhere, and the tidiness of a teaching place is ensured. The rotary driving module can simulate the machining action of equipment such as a numerical control lathe, and the telescopic driving module is convenient for clamping a workpiece. The invention has simple structure and low cost, and is suitable for teaching of simulating machine tool clamping based on an industrial robot. The industrial robot body is connected with the manipulator installed part, and the multifunctional practical operation platform of the industrial robot is arranged beside the industrial robot body.

The invention is used for robot teaching aids.

Drawings

In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.

Fig. 1 is a schematic perspective view of an industrial robot multifunctional practical operation platform provided with a clamping device of a simulation machine tool and connected with the industrial robot multifunctional practical operation platform;

fig. 2 is a partially enlarged view of the industrial robot multifunctional practical operation platform according to the embodiment of the invention;

fig. 3 is a schematic structural diagram of a universal wheel assembly of the multifunctional practical operation platform of the industrial robot according to the embodiment of the invention;

fig. 4 is a schematic structural diagram of a pressure block of the industrial robot multifunctional practical operation platform according to the embodiment of the invention;

fig. 5 is a schematic structural diagram of a stacking plate of the industrial robot multifunctional practical operation platform according to the embodiment of the invention;

FIG. 6 is a schematic perspective view of a clamping device of a simulation machine tool according to an embodiment of the invention;

FIG. 7 is an exploded view of the clamping device of the simulation machine tool according to the embodiment of the invention;

FIG. 8 is a schematic top view of the internal structure of the clamping device of the simulation machine tool according to the embodiment of the invention;

fig. 9 is a control schematic diagram of the industrial robot multifunctional practical operation platform of the embodiment;

FIG. 10 is a schematic structural diagram of a telescopic driving module of the simulated machine tool clamping device according to the embodiment of the invention;

fig. 11 is a schematic sectional view of the structure of the industrial robot multifunctional practical operation platform provided with the turntable according to the embodiment of the invention;

fig. 12 is a partially enlarged schematic view of a structure of an industrial robot multifunctional practical operation platform provided with a turntable according to an embodiment of the invention;

fig. 13 is a perspective view of a clamp driving module of the multifunctional composite clamp for an industrial robot according to an embodiment of the present invention;

fig. 14 is a schematic right view of a clamp driving module of the industrial robot multi-function composite clamp of the embodiment of the present invention;

fig. 15 is a perspective view of another view of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 16 is a front view schematically illustrating a six-sided frame of the industrial robot multi-function composite clamp according to the embodiment of the present invention;

fig. 17 is a rear view schematic of a six-sided frame of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 18 is a left side schematic view of a six-sided frame of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 19 is a right side schematic view of a six-sided frame of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 20 is a schematic top view of a six-sided frame of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 21 is a schematic bottom view of a six-sided frame of an industrial robot multi-function composite clamp according to an embodiment of the present invention;

fig. 22 is a perspective view of a six-sided frame of an industrial robot multi-function composite jig according to an embodiment of the present invention;

fig. 23 is a front view schematic illustration of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 24 is a schematic rear view of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 25 is a schematic left view of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 26 is a schematic right view of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 27 is a schematic top view of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 28 is a schematic bottom view of an industrial robot multi-function composite clamp in accordance with an embodiment of the present invention;

fig. 29 is a perspective view of an industrial robot multi-function composite clamp of an embodiment of the present invention;

fig. 30 is a schematic structural view of a pen clip of the multifunctional composite jig for an industrial robot according to the embodiment of the invention;

FIG. 31 is a schematic structural view of the present embodiment when clamping a workpiece;

fig. 32 is a schematic view of the structure of the present embodiment at the time of painting.

Detailed Description

The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the coupling/connection relationships mentioned herein do not mean that the components are directly connected, but mean that a better coupling structure can be formed by adding or reducing coupling accessories according to specific implementation conditions. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.

Referring to fig. 1 to 32, this is an embodiment of the invention, specifically:

referring to fig. 1 to 12, this is for the industrial robot multifunctional practical operation platform of the present embodiment, specifically:

the industrial robot multifunctional practical operation platform comprises a box body with a containing cavity, and further comprises a turntable, a coupler and a simulation machine tool clamping device, wherein a plurality of support rods 100 are arranged on the upper surface of the box body side by side at intervals, a plurality of internal thread pieces 101 are arranged between every two adjacent support rods 100 at intervals, a connecting hole is formed in the middle of the upper surface of the box body, an annular liquid receiving groove 30 is formed below the connecting hole, the coupler is further arranged below the connecting hole, and the axis of the coupler is wrapped by the liquid receiving groove 30; the rotary table is arranged above the coupler and detachably connected with the coupler, at least one liquid leakage hole 21 is formed in the rotary table, and the liquid leakage hole 21 is arranged above the liquid receiving groove 30; the coupler is connected with a rotating shaft of an electric motor, a pneumatic motor or a hydraulic motor, so that the function of an industrial rotating workbench is realized, and in the paint spraying process, redundant spraying liquid flows out of a liquid leakage hole and enters a liquid receiving groove, so that the redundant spraying liquid is prevented from flowing everywhere, and the cleanness of a teaching place is ensured;

simulating a machine tool clamping device: the clamping device comprises a platform frame 1, wherein a rotary driving module 2 is arranged on the platform frame 1, a rotating shaft is arranged on the rotary driving module 2, a clamping seat is connected to the rotating shaft, a telescopic driving module is arranged on the clamping seat, the telescopic driving module comprises a cylinder body and a telescopic rod connected with the cylinder body, a first clamping part 3 is arranged on the platform frame or the cylinder body, and a second clamping part 4 is arranged on the telescopic rod;

in order to reduce cost, weight and noise, the rotary driving module 2 comprises a pneumatic motor or a hydraulic motor, and the telescopic driving module is a hydraulic cylinder or a pneumatic cylinder;

the platform frame 1 is connected with the internal thread part 101 by an external thread part;

in the teaching process, often need be equipped with the rotor in the rotary drive module to current industrial robot's function show, be equipped with two rotary magnet that can follow rotor pivoted symmetry setting in the rotor, be equipped with two rotatory magnetic induction switches 5 on the platform frame 1, rotatory magnetic induction switch 5 corresponds with the rotary magnet position for every 90 degrees of rotation of rotor all have a rotary magnet and a rotatory magnetic induction switch 5 magnetism to be connected. The rotary driving module can simulate the machining action of equipment such as a numerical control lathe, and the telescopic driving module is convenient for clamping a workpiece.

In order to facilitate installation and debugging, the present embodiment further includes an inner sleeve 31 and an outer sleeve 32, the inner sleeve 31 is disposed in the outer sleeve 32, and a gap is disposed between the inner sleeve 31 and the outer sleeve 32 to form the liquid receiving tank 30; the rotating shaft of the embodiment extends along the front-back direction, and the two rotary magnetic induction switches are arranged in tandem because the rotary magnetic induction switches are provided with long signal connecting wires and are convenient to install and debug.

In order to enhance the sealing performance of the liquid receiving tank 30, sleeve shoulders are arranged at the lower ends of the inner sleeve 31 and the outer sleeve 32, and the sleeve shoulders of the inner sleeve 31 and the outer sleeve 32 are abutted with each other. And a sealing rubber pad can be arranged between sleeve shoulders of the inner sleeve 31 and the outer sleeve 32, so that the effect is better.

In order to facilitate the adjustment of the rotary magnetic induction switch, two first sliding grooves 7 which are arranged in tandem and extend along the left-right direction are arranged on the platform frame 1, and the two rotary magnetic induction switches 5 are respectively fixed on the different first sliding grooves 7.

The turntable needs a thin-walled turntable body to receive the spraying liquid and needs a rotating connecting block 24 with higher strength, so the turntable comprises the turntable body 23 and the rotating connecting block 24 arranged in the middle of the turntable body 23, the edge of the turntable body 23 is turned upwards to form a turned edge 22 capable of preventing the spraying liquid from leaking, and the rotating connecting block 24 is connected with the coupler. In such a split arrangement, the turntable body 23 can be formed by stamping, the rotary connecting block 24 can be processed by die casting or cutting, and then the turntable body and the rotary connecting block are connected into a whole by gluing, welding and other processes, which is beneficial to reducing material cost and manufacturing cost.

In order to enable the system to know the position and the working state of the telescopic rod, two linear magnets are respectively fixed at the front end and the rear end of the telescopic rod, two linear magnetic induction switches 6 respectively corresponding to the positions of the two linear magnets are arranged on the clamping seat, and each linear magnetic induction switch 6 can be respectively in magnetic connection with the corresponding linear magnet.

Similarly, for the convenience of installation and adjustment, the rotating shaft extends along the front-back direction, and the two linear magnetic induction switches 6 are arranged in tandem.

In order to facilitate the control of the telescopic amount of the telescopic rod and adapt to different product sizes, two second sliding grooves 8 which are arranged in tandem and extend along the left and right directions are formed in the clamping seat, two linear magnetic induction switches 6 are respectively arranged in the different second sliding grooves 8, and the linear magnetic induction switches 6 can move in the second sliding grooves 8 where the linear magnetic induction switches are located.

Due to the arrangement of the supporting rod and the internal thread piece, different teaching aids can be flexibly connected to the embodiment. In the teaching, in order to let the student know current industrial robot's powerful, often still include the intelligence show, for example the robot draws the drawing, the piling up of goods, the transport, the drawing needs the drawing board, the board is piled up to piling up of goods, what show as figure 4 is a pile up the board, its is equipped with the via hole all around, its middle part is equipped with the cross arch, the teaching personnel can pass the via hole of piling up the board with the bolt and be connected with interior screw thread 101 to it fixes on the bracing piece to pile up the board. Of course, the pressing block 20011 provided in this embodiment may also be used to fix the stacked plates, the pressing block 20011 is provided with a locking end extending transversely, the pressing block 20011 is provided with a bolt through hole, the locking end is provided with a threaded hole, and the threaded hole is provided with a screw top 2012. The screw top 2012 is a component commonly used by those in the field of machinery and, as the name implies, has an external thread and performs the function of holding an article. The pressing block 20011 provided by the invention is not only suitable for teaching extension parts with through holes, but also suitable for drawing boards without preset bolt through holes. Because the materials for manufacturing the stacked plate and the drawing board are soft, the pressing block 20011 and the internal thread part are connected by the bolt, and then the pressing force of the drawing board and the stacked plate is adjusted by adjusting the extension length of the screw top.

The invention can be connected with various teaching aids, so that an opening is arranged on the side wall of the containing cavity of the box body, and a box door is arranged on the opening. In that way, the turntable, the simulation machine tool clamping device, the drawing board, the stacking board and the plurality of pressing blocks can be placed in the box body.

As shown in fig. 2, a universal wheel assembly is arranged below the box body, the universal wheel assembly comprises a universal wheel 401 and a roller rotating shaft, the universal wheel can rotate around the roller rotating shaft, the roller rotating shaft extends downwards integrally, the roller rotating shaft comprises a rotating shaft sleeve 402 and an upright rod 403, and the rotating shaft sleeve and the upright rod are connected through threads. Still be equipped with lock nut 404 on the pole setting, thereby lock nut and the fixed pole setting of pivot cover butt extension length, the lower extreme of pole setting is equipped with flat brace piece, flat brace piece 405 and the lower extreme swing joint of pole setting. When removing this embodiment, the pole setting up is adjusted, lets universal wheel and ground contact, and the removal of the embodiment of just so being convenient for after removing suitable position lets the pole setting down adjust for the universal wheel leaves ground, lets this embodiment can not remove when the teaching, moreover through setting up at least three universal wheel subassembly, can let this embodiment have the function of leveling. The movable flat supporting sheet can adapt to uneven ground to the maximum extent.

Fig. 9 is a control schematic diagram of the present embodiment, in which the telescopic driving module and the rotary driving module are controlled by electromagnetic valves, and the connection structure is as shown in fig. 9. And the rotary magnetic induction switch and the linear magnetic induction switch are connected with the system.

Referring to fig. 13 to 30, this is the industrial robot multifunctional composite jig of the present embodiment:

including the link, the link is whole to be the cuboid framework, the link is including constituting first frame 1000, second frame 2000, third frame 3000, fourth frame 4000, fifth frame 5000, the sixth frame 6000 of six faces of cuboid respectively, first frame 1000: the clamping driving module comprises a clamping cylinder body and a clamping telescopic rod connected with the clamping cylinder body, a third clamping part 300 extending forwards is arranged on the clamping cylinder body, and a fourth clamping part 400 extending forwards is arranged on the clamping telescopic rod; the third clamping part and the fourth clamping part are used for clamping the workpieces, so that various workpieces can be clamped, and the loading and unloading functions are realized;

second chassis 2000: the device is provided with four arc-shaped mounting grooves 2001 with the same shape, each mounting groove 2001 is provided with a sucker 2002, and the centers of circles of all the mounting grooves 2001 are concentric; the four suckers can adapt to workpieces in different shapes by adjusting the positions of the suckers in the mounting groove, when the four suckers adsorb the workpieces, the circle center of the mounting groove is positioned right above the gravity center of the workpiece, the four suckers can be suitable for adsorbing the workpieces with different widths by adjusting the positions of the suckers in the mounting groove, and the four suckers can be adsorbed by the invention as long as the length of the workpiece is greater than the diameter of the circle where the mounting groove 2001 is positioned.

Third chassis 3000: it is provided with a pen clip 3001 for clipping a pen; in teaching, the intellectualization of modern robots is often required to be displayed, so that the pen clip 3001 is used for clipping a pen, and the robots can draw and write by programming.

Fourth chassis 4000: which is provided with a scrubbing brush mounting block 4001; after writing and drawing, the handwriting needs to be brushed, so that the blackboard eraser can be arranged on the blackboard eraser mounting frame 4001, and then the handwriting can be brushed by the blackboard eraser.

To facilitate the connection of the robot, the fifth rack 5000: it is provided with a manipulator mount 5001;

sixth frame 6000: the spray nozzle 6001 is arranged, so that the function of spraying paint can be realized;

the first frame 1000, the second frame 2000, the third frame 3000, the fourth frame 4000, the fifth frame 5000, and the sixth frame 6000 are connected to form a rectangular hexahedral frame, and thus, various functions can be conveniently switched.

The clamping driving module of the embodiment is a hydraulic cylinder or a pneumatic cylinder, and the manufacturing cost and the maintenance cost of the hydraulic cylinder and the pneumatic cylinder are lower.

In order to facilitate the control of the telescopic amount of the clamping telescopic rod and the understanding of the working state of the clamping telescopic rod by a control system, two clamp linear magnets are respectively fixed at the front end and the rear end of the clamping telescopic rod, two clamp linear magnetic induction switches 60 respectively corresponding to the positions of the two clamp linear magnets are arranged on the mounting seat, and each clamp linear magnetic induction switch 60 can be respectively in magnetic connection with the corresponding clamp linear magnet.

In order to adapt to workpieces with different sizes, two third sliding grooves 80 which are arranged in tandem and extend in the left-right direction are formed in the mounting seat, the two clamp linear magnetic induction switches 60 are respectively arranged in the different third sliding grooves 80, and the clamp linear magnetic induction switches 60 can move in the third sliding grooves 80 where the clamp linear magnetic induction switches are located. The telescopic amount of the clamping telescopic rod is controlled by adjusting the position of the clamp linear magnetic induction switch 60 in the third sliding groove 80. Moreover, since the clamp linear magnetic induction switch 60 has a long wire, the two third sliding grooves 80 arranged in tandem and extending in the left-right direction can prevent the wires of the two clamp linear magnetic induction switches 60 from interfering with each other.

After clamping the workpiece, the workpiece needs to be transferred to a processing station, in order to improve the clamping success rate of the embodiment, four through holes are formed in the first frame 1000, the four through holes are respectively formed around the mounting seat, the four through holes are equally divided into four positioning rods 200, a first abutting portion 202 and a second abutting portion 203 which are arranged in tandem are formed in each positioning rod 200, and a compression spring 201 is arranged between each first abutting portion and the first frame 1000. So that the locating rod 200 can press the workpiece tightly against the work platform before clamping. Once the third and fourth clamping portions are released, the positioning rod 200 pushes the workpiece toward the processing station due to the elastic force of the pressing spring 201.

The four through holes of the embodiment are respectively positioned on four corner points of the rectangle, so that the workpiece is pushed out stably to the maximum extent.

The pen clip 3001 comprises a front wing and a rear wing, the upper end of the front wing and the upper end of the rear wing are connected by a weak section 3002, and the lower ends of the front wing and the rear wing are provided with bolt through holes.

In order to better accommodate workpieces of different sizes and shapes, the second frame 2000 is a plate-shaped member, two locking nuts 2003 are provided on the suction cup 2002, the second frame 2000 is disposed between the two locking nuts 2003, and the two locking nuts 2003 may be clamped between the second frame 2000, so that the suction cup may be fixed at different positions of the mounting groove.

The industrial robot body is connected with manipulator installed part 5001, and the multi-functional real operation platform of industrial robot establishes the side at the industrial robot body.

Fig. 31 is a schematic structural view of the present embodiment when clamping a workpiece, and fig. 32 is a schematic structural view of the present embodiment when painting.

The multifunctional real operation platform of the industrial robot and the multifunctional composite fixture of the industrial robot are mutually matched, so that various teaching purposes can be realized, and various functions of the modern industrial robot can be displayed to the maximum extent.

While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.

Claims

1. Multi-functional real robot of instructing, its characterized in that: the industrial robot multifunctional composite clamp, the industrial robot multifunctional practical operation platform and the industrial robot body are included;

multifunctional composite fixture for industrial robot: the connecting frame comprises a first rack (1000), a second rack (2000), a third rack (3000), a fourth rack (4000), a fifth rack (5000) and a sixth rack (6000), wherein the first rack, the second rack, the third rack, the fourth rack, the fifth rack and the sixth rack respectively form six surfaces of a cuboid;

first frame (1000):

the clamping driving module comprises a clamping cylinder body and a clamping telescopic rod connected with the clamping cylinder body, a third clamping part (300) extending forwards is arranged on the clamping cylinder body, and a fourth clamping part (400) extending forwards is arranged on the clamping telescopic rod;

the second frame (2000) is provided with a plurality of arc-shaped mounting grooves (2001), each mounting groove (2001) is provided with a sucker (2002), and the centers of circles of all the mounting grooves (2001) are concentric;

a third frame (3000) provided with a pen clip (3001) for clipping a pen;

a fourth frame (4000) provided with a scrubber mounting bracket (4001);

a fifth gantry (5000) provided with a manipulator mount (5001);

a sixth frame (6000) provided with a nozzle (6001);

the first rack (1000), the second rack (2000), the third rack (3000), the fourth rack (4000), the fifth rack (5000) and the sixth rack (6000) are connected into a rectangular hexahedral rack;

multifunctional practical industrial robot platform: the simulation machine tool clamping device comprises a box body with a containing cavity, and further comprises a rotary table, a coupler and a simulation machine tool clamping device, wherein a plurality of support rods (100) are arranged side by side on the upper surface of the box body at intervals, a plurality of internal thread parts (101) arranged at intervals are arranged between every two adjacent support rods (100), a connecting hole is formed in the middle of the upper surface of the box body, an annular liquid receiving groove (30) is formed below the connecting hole, the coupler is further arranged below the connecting hole, and the axis of the coupler is wrapped by the liquid receiving groove (30);

the rotary disc is arranged above the coupler and detachably connected with the coupler, the rotary disc is provided with at least one liquid leakage hole (21), and the liquid leakage hole (21) is arranged above the liquid receiving tank (30);

simulating a machine tool clamping device: the clamping device comprises a platform rack (1), wherein a rotary driving module (2) is arranged on the platform rack (1), a rotating shaft is arranged on the rotary driving module (2), a clamping seat is connected to the rotating shaft, a telescopic driving module is arranged on the clamping seat and comprises a cylinder body and a telescopic rod connected with the cylinder body, a first clamping part (3) is arranged on the platform rack (1) or the cylinder body, and a second clamping part (4) is arranged on the telescopic rod; the rotary driving module (2) comprises a pneumatic motor or a hydraulic motor, and the telescopic driving module is a hydraulic cylinder or a pneumatic cylinder; the platform frame (1) is connected with the internal thread piece (101) by an external thread part; a rotor is arranged in the rotary driving module (2), two symmetrically-arranged rotary magnets capable of rotating along with the rotor are arranged in the rotor, two rotary magnetic induction switches (5) are arranged on the platform rack (1), and the rotary magnetic induction switches (5) correspond to the rotary magnets in position, so that one rotary magnet is magnetically connected with one rotary magnetic induction switch (5) when the rotor rotates by 90 degrees;

the universal wheel assembly comprises a universal wheel (401) and a roller rotating shaft, the universal wheel (401) can rotate around the roller rotating shaft, the roller rotating shaft integrally extends downwards, the roller rotating shaft comprises a rotating shaft sleeve (402) and an upright rod (403), and the rotating shaft sleeve (402) and the upright rod (403) are in threaded connection;

the industrial robot body is connected with a manipulator mounting part (5001), and the industrial robot multifunctional practical operation platform is arranged beside the industrial robot body;

multifunctional practical industrial robot platform: the liquid collecting tank also comprises an inner sleeve (31) and an outer sleeve (32), wherein the inner sleeve (31) is arranged in the outer sleeve (32), and a gap is arranged between the inner sleeve (31) and the outer sleeve (32) to form the liquid collecting tank (30); the rotating shaft extends along the front-back direction, and the two rotary magnetic induction switches (5) are arranged in tandem; a locking nut (404) is further arranged on the upright rod (403), and the locking nut (404) is abutted against the rotating shaft sleeve (402);

2. The multi-functional practical training robot of claim 1, wherein:

multifunctional composite fixture for industrial robot: two clamp linear magnets are respectively fixed at the front end and the rear end of the clamping telescopic rod, two clamp linear magnetic induction switches (60) respectively corresponding to the positions of the two clamp linear magnets are arranged on the mounting seat, and each clamp linear magnetic induction switch (60) can be respectively in magnetic connection with the corresponding clamp linear magnet;

multifunctional practical industrial robot platform: sleeve shoulders are arranged at the lower ends of the inner sleeve (31) and the outer sleeve (32), and the sleeve shoulders of the inner sleeve (31) and the outer sleeve (32) are mutually abutted; two first sliding grooves (7) which are arranged in tandem and extend along the left-right direction are formed in the platform rack (1), and the two rotary magnetic induction switches (5) are respectively fixed on the different first sliding grooves (7).

3. The multi-functional practical training robot of claim 2, wherein:

multifunctional composite fixture for industrial robot: the mounting base is provided with two third sliding grooves (80) which are arranged in tandem and extend along the left-right direction, the two clamp linear magnetic induction switches (60) are respectively arranged in the different third sliding grooves (80), and the clamp linear magnetic induction switches (60) can move in the third sliding grooves (80) where the clamp linear magnetic induction switches are arranged;

multifunctional practical industrial robot platform: the carousel includes carousel body (23) and establishes rotation connecting block (24) in carousel body (23) middle part, rotation connecting block (24) with the coupling joint.

4. The multi-functional practical training robot of claim 3, wherein:

multifunctional composite fixture for industrial robot: four through holes are formed in the first rack (1000), the four through holes are respectively formed in the periphery of the mounting seat, each through hole is provided with a positioning rod (200), the positioning rods (200) are provided with a first abutting part (202) and a second abutting part (203) which are arranged in tandem, and a compression spring (201) is arranged between the first abutting part (202) and the first rack (1000);

multifunctional practical industrial robot platform: the edge of the turntable body (23) is turned upwards to form a flanging (22).

5. The multi-functional practical training robot of claim 4, wherein:

multifunctional practical industrial robot platform: the four through holes are respectively positioned on four angular points of the rectangle;

multifunctional composite fixture for industrial robot: two linear magnets are respectively fixed at the front end and the rear end of the telescopic rod, two linear magnetic induction switches (6) respectively corresponding to the positions of the two linear magnets are arranged on the clamping seat, and each linear magnetic induction switch (6) can be respectively and magnetically connected with the corresponding linear magnet.

6. The multi-functional practical training robot of claim 5, wherein:

multifunctional composite fixture for industrial robot: the pen clip (3001) comprises a front wing and a rear wing, the upper end of the front wing is connected with the upper end of the rear wing through a weak section (3002), and bolt through holes are formed in the lower end of the front wing and the lower end of the rear wing;

multifunctional practical industrial robot platform: the rotating shaft extends along the front-back direction, and the two linear magnetic induction switches (6) are arranged in tandem.

7. The multi-functional practical training robot of claim 6, wherein:

multifunctional composite fixture for industrial robot: the second frame (2000) is a plate-shaped component, two locking nuts (2003) are arranged on the suction disc (2002), and the second frame (2000) is arranged between the two locking nuts (2003);

multifunctional practical industrial robot platform: two second sliding grooves (8) which are arranged in tandem and extend along the left-right direction are formed in the clamping seat, the two linear magnetic induction switches (6) are respectively arranged in the different second sliding grooves (8), and the linear magnetic induction switches (6) can move in the second sliding grooves (8) where the linear magnetic induction switches are located.

8. The multi-functional practical training robot of claim 1, wherein:

the industrial robot multifunctional practical operation platform further comprises a pressing block (20011), a locking end transversely extending out is arranged on the pressing block (20011), a bolt through hole is formed in the pressing block (20011), a threaded hole is formed in the locking end, and a screw top (2012) is arranged in the threaded hole.

9. The multi-functional practical training robot of claim 1, wherein:

the industrial robot multifunctional practical operation platform is characterized in that an opening is formed in the side wall of the containing cavity, and a box door is arranged on the opening.