CN111300386A

CN111300386A - Multifunctional industrial robot

Info

Publication number: CN111300386A
Application number: CN202010248165.6A
Authority: CN
Inventors: 张德福; 高波; 杨雨佳; 陈婵媛; 陈玉莲
Original assignee: Tianhe College of Guangdong Polytechnic Normal University
Current assignee: Tianhe College of Guangdong Polytechnic Normal University
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-06-19

Abstract

The present invention relates to a multifunctional industrial robot. The multifunctional industrial robot comprises a base, a workbench is arranged on the base, a support body is assembled on the base in a sliding mode, a movable cross beam is arranged on the support body, a first rotary moving frame is assembled on the movable cross beam in a sliding mode, a third rotary moving frame is hinged to the lower side of the first rotary moving frame, a second rotary moving frame is hinged to the lower side of the third rotary moving frame, a sixth motor is arranged at the joint of the third rotary moving frame and the first rotary moving frame, a first motor is arranged at the joint of the second rotary moving frame and the third rotary moving frame, a second motor is installed on the second rotary moving frame, a connecting plate is connected to the rotating shaft of the second motor, a second telescopic cylinder is fixedly connected to the lower side of the connecting plate, an electromagnet is fixedly connected to the second telescopic cylinder, a first telescopic cylinder is connected to the lower side of the connecting plate, a third motor is connected to the piston rod of the first telescopic cylinder, and. The invention realizes the multifunctional operation of one machine.

Description

Multifunctional industrial robot

Technical Field

The invention relates to the technical field of industrial robots, in particular to a multifunctional industrial robot.

Background

In recent years, the application of robots in industry has promoted the revolution of industrial production modes. In the industrial production in the coming years, a large number of robots are introduced to replace high-risk, high-repetition rate and low-technology labor work, so that the production precision and the production efficiency can be improved, and the production cost can be reduced. In fact, most of the robots currently used in production belong to the first generation of robots, their structures and functions are relatively simple, and their common features are that they have specific functions, such as their motion forms include gripping, removing, moving, turning, and in industry, they are mainly used for grinding, welding, cutting, sorting, etc., but their functions are relatively single. Each industrial robot is composed of two parts, one part is an actuator of the robot, namely a manipulator, and the other part is a brain of the robot, namely a controller. The structural form of the manipulator directly determines the type of work that the robot can accomplish, and the degree of freedom of the manipulator applied to industry generally ranges from 6 to 8. At present, most industrial robots only have one manipulator, the structure is simple, simple and fixed work such as welding, grinding and the like can be completed, but the defects are obvious, the functions are too single, only specific functions can be completed, and certain limitations are realized.

As the demand for robots in the current market increases, the expectations for them also increase, and the complexity of the tasks that the robots are required to perform continues to increase. A single robot has a large limitation in terms of operation capability or function, and for complex work tasks, the capability is slightly insufficient, such as complex assembly, installation or maintenance tasks. The multi-arm robot has come to the end, and the current market mainly has two or three or more robots with mechanical arms, which not only have the function of a single mechanical arm, but also have more extended functions, such as assembly and the like, which need the work completed by the cooperation of the multiple arms.

However, in actual production, it is found that only one work can be completed in the operation of industrial robots for machining, assembling, welding, stacking and the like. Not only the waste of energy but also the waste of resources and space, if the clamping position is changed due to the change of a machine tool for processing a workpiece when the part is processed on a factory line, the size precision and the shape position precision of the processed part cannot meet the design requirements due to the change of a processing standard when the part is clamped again.

Disclosure of Invention

In order to solve the technical problems, the invention provides a multifunctional industrial robot, which aims to solve the technical problems of resource waste and space waste caused by the fact that one conventional industrial robot can only complete one work in the machining operation.

The technical scheme of the multifunctional industrial robot is as follows:

a multifunctional industrial robot comprises a base, wherein a workbench is arranged on the base, frame bodies positioned on two sides of the workbench are assembled on the base in a sliding mode, a movable cross beam capable of moving up and down along the frame bodies is arranged on the frame bodies, a first rotary movable frame capable of moving along the movable cross beam is assembled on the movable cross beam in a sliding mode, a third rotary movable frame is hinged to the lower side of the first rotary movable frame, a second rotary movable frame is hinged to the lower side of the third rotary movable frame, the third rotary movable frame is perpendicular to the rotating axis of the second rotary movable frame, a second motor is installed on the second rotary movable frame, a connecting plate is connected to the rotating shaft of the second motor, a second telescopic cylinder is fixedly connected to the lower side of the connecting plate, an electromagnet used for carrying workpieces is fixedly connected to the lower end of the second telescopic cylinder, and a first telescopic cylinder is fixedly connected to the lower side of the connecting plate, and a piston rod of the first telescopic cylinder is connected with a third motor, and a rotating shaft of the third motor is connected with a cutter.

As the further improvement to the above technical scheme, be equipped with parallel arrangement's forked tail guide in the both sides of workstation on the base, sliding fit has the slide on the forked tail guide, support body fixed connection be in on the slide.

As a further improvement to above-mentioned technical scheme, the slide is the structure of falling the U-shaped, the tip on two vertical limits of slide be equipped with forked tail guide rail assorted dovetail, be equipped with the fixed block in the recess of slide, the fixed block with support body fixed connection, threaded connection has the first lead screw that extends along the forked tail guide rail on the fixed block, first lead screw drives when rotating the support body slides along the forked tail guide rail.

As a further improvement to the technical scheme, a second lead screw is mounted on the inner side of the frame body through a bearing assembly, a second lifting nut is arranged on the second lead screw, and the second lifting nut is fixedly connected with the movable cross beam.

As a further improvement to the above technical solution, a first toothed belt wheel is arranged at an end of the second lead screw, a fifth motor is arranged on the frame body, a second toothed belt wheel is fixedly connected to a rotating shaft of the fifth motor, and the first toothed belt wheel is in transmission connection with the second toothed belt wheel through a toothed belt.

As a further improvement to the above technical solution, a bearing mounting sleeve is fixedly connected to the rotating shaft of the second motor, the bearing mounting sleeve is fixed to the second rotating and moving frame through a bearing seat, and the bearing mounting sleeve is fixedly connected to the connecting plate.

As a further improvement to the technical scheme, the bearing mounting sleeve penetrates out of the connecting plate downwards, and a locking nut for fixing the bearing mounting sleeve and the connecting plate is arranged on the lower side of the connecting plate of the bearing mounting sleeve.

As the further improvement to above-mentioned technical scheme, the downside of connecting plate is connected with annular mounting bracket, it is equipped with a plurality of sliders of arranging along mounting bracket circumference to slide on the mounting bracket, third motor and first telescoping cylinder all have a plurality ofly, and a plurality of third motor one-to-ones are connected on the slider, and a plurality of sliders one-to-ones are connected the lower extreme of the piston rod of first telescoping cylinder, be equipped with the angle sensor who is used for monitoring cutter turned angle on the mounting bracket, the electro-magnet is located the inside of mounting bracket, the drive of second telescoping cylinder the electro-magnet business turn over the mounting bracket.

As a further improvement to the technical scheme, the upper end of the frame body is provided with a mechanical arm, and an angle sensor and a speed sensor are installed at the joint of the mechanical arm.

As a further improvement to the above technical solution, an upper beam is fixedly connected to the upper end of the frame body, the upper beam is of a tubular structure, a third telescopic cylinder is installed in the upper beam, and a piston rod of the third telescopic cylinder is fixedly connected to the mechanical arm, so that the mechanical arm can be retracted into the upper beam.

Compared with the prior art, the multifunctional industrial robot has the beneficial effects that:

the multifunctional industrial robot has multiple degrees of freedom, can realize the operations of workpiece carrying, welding, drilling, reaming, tapping and the like, overcomes the defect that one industrial robot can only complete one working task in the prior art, and realizes the operation of one machine with multiple functions. The multifunctional industrial robot solves the problem that the machining precision is influenced and the material transferring time is saved due to the change of the part station, and reduces the waste of energy and the operation space of the robot. The multifunctional industrial robot improves the processing quality, the production rate and the sales profits, and creates the production and the income. The multifunctional industrial robot can realize multi-angle and multi-processing type processing, and can realize the transportation and assembly of workpieces.

According to the multifunctional industrial robot, the third telescopic cylinder is arranged on the frame body, so that the mechanical arm can be folded and retracted into the upper cross beam of the frame body when the mechanical arm is not used, and the problem that other operation spaces are influenced by the mechanical arm is solved.

According to the multifunctional industrial robot, the electromagnet is arranged, so that the robot has a carrying function, and the electromagnet can be retracted into the mounting frame when not used, so that other processing operations are not influenced.

Drawings

Fig. 1 is a side view of a multifunctional industrial robot of the present invention;

fig. 2 is a front view of the multifunctional industrial robot of the present invention;

fig. 3 is a top view of the multifunctional industrial robot of the present invention;

in the figure: 1. a base; 2. a first bolt; 3. a first nut; 4. a first lead screw; 5. a work table; 6. a dovetail rail; 7. a second bolt; 8. a slide base; 9. a frame body; 10. a second lead screw; 11. a second lifting nut; 12. a first bearing housing; 13. a first bearing; 14. a first bearing gland; 15. a third gland bolt; 16. a first upper cross member; 17. moving the beam; 18. a fourth bolt; 19. a second bearing housing; 20. a second bearing; 21. a third nut; 22. a third lead screw; 23. a third nut; 24. a first rotary moving frame; 25. a first servo motor; 26. a fifth bolt; 27. a second rotary moving frame; 28. a second servo motor; 29. a first connecting plate; 30. a first cylinder; 31. a first piston rod; 32. a sixth bolt; 33. a second connecting plate; 34. a speed reducer; 35. a third bearing; 36. a third bearing seat; 37. locking the nut; 38. a first flat key; 39. a second cylinder; 40. a second piston rod; 41. an electromagnet; 42. a third servo motor; 43. a cutter; 44. a first displacement sensor; 45. a first angle sensor; 46. a third cylinder; 47. a third piston rod; 48. a fifth servo motor; 49. a first harmonic reducer; 50. a first joint; 51. a first arm; 52. a second joint; 53. a second arm; 54. a third joint; 55. a third arm; 56. a fourth joint; 57. a fourth arm; 58. a fifth joint; 59. a manipulator; 60. a fourth bearing; 61. a fourth bearing seat; 62. a fourth bearing cover; 63. a sixth servo motor; 64. a fourth lead screw; 65. a fourth servo motor; 66. a first rotating shaft; 67. a second flat key; 68. a slideway; 69. a slider; 70. a second angle sensor; 71. a second rotary moving frame; 72. a second displacement sensor; 73. a bearing housing; 74. a second rotating shaft; 75. a third angle sensor; 76. a third flat bond; 77. a second displacement sensor; 78. a slideway; 79. a slider; 80. a second upper cross member; 81. a first toothed pulley; 82. a fourth flat key; 83. a second toothed pulley; 84. a third toothed belt pulley; 85. a sixth flat key; 86. a fifth flat bond; 87. a fifth servo motor; 88. a first toothed belt; 89. a second toothed belt; 90. a third rotary moving frame; 91. a bearing mounting sleeve; 92. a seventh servo motor; 93. a fourth toothed belt pulley; 94. a third toothed belt; 95. and a fifth toothed belt wheel.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

The embodiment of the multifunctional industrial robot of the present invention, as shown in fig. 1 to 3, includes a base 1, and a workbench 5 and dovetail guide rails 6 are fixedly connected to the base 1, wherein the dovetail guide rails 6 have four, the four dovetail guide rails 6 are grouped in pairs, and two dovetail guide rails 6 are fixed on two sides of the workbench 5 in parallel by second bolts 7. The dovetail guide rail 6 is provided with a slide seat 8 in a sliding manner, the slide seat 8 is of an inverted U-shaped structure, and the lower ends of two vertical edges of the inverted U-shaped slide seat 8 are provided with dovetail grooves matched with the dovetail guide rail 6. A frame body 9 is fixedly connected on the sliding seat 8. The upper part of the frame body 9 is fixedly connected with a first upper cross beam 16 and a second upper cross beam 80. Preferably, be provided with the fixed block in the indent region of the slide 8 of the shape of falling U, support body 9 is through first bolt 2 and fixed block fixed connection, realizes support body 9 and slide 8 fixed connection then. In this embodiment, fixedly connected with fourth servo motor 65 on base 1, the transmission is connected with first lead screw 4 in fourth servo motor 65's the pivot, and when fourth servo motor 65 rotated, drive first lead screw 4 and rotate. Specifically, two ends of the first lead screw 4 are fixedly mounted on the base 1 through a fourth bearing 60, a fourth bearing seat 61 and a fourth bearing cover 62. The fixed block is provided with a screw hole matched with the first lead screw 4, and the first lead screw 4 is in threaded connection with the screw hole. When the fourth servo motor 65 drives the first lead screw 4 to rotate, the frame body 9 is driven to slide along the dovetail guide rail 6.

The frame body 9 is provided with a first bearing seat 12, a first bearing 13 and a first bearing cover 14, and the first bearing seat 12 is fixed on the frame body 9 by a third cover bolt 15. The first bearing 13 is internally provided with a second lead screw 10, and the second lead screw 10 is provided with a first toothed belt wheel 88, a third toothed belt wheel 84, a fourth flat key 82 and a sixth flat key 85. A fifth servo motor 87 is fixedly connected to the first upper cross beam 16, and a rotating shaft of the fifth servo motor 87 is connected to the second toothed belt wheel 83 through a fifth flat key 86. In this embodiment, the second lead screw 10 is connected with a second lifting nut 11 through a thread, and the second lifting nut 11 is fixedly connected with a movable beam 17. When the fifth servo motor 87 rotates, the second lead screw 10 is driven to rotate, and the second lead screw 10 drives the movable beam 17 to move up and down.

In this embodiment, the movable cross beam 17 is provided with a third lead screw 22, the third lead screw 22 is provided with a third nut 23 matched with the third lead screw 22, and the third nut 23 is fixedly connected with a first rotary movable frame 24. The first rotating frame 24 is provided with a first rotating shaft 66, the first rotating shaft 66 is provided with a second flat key 67, and the first rotating shaft 66 is connected with the second rotating frame 27 and the third rotating frame 90 through the second flat key 67. The third rotating and moving frame 90 is provided with a first servo motor 25, and the first servo motor 25 is connected with the second rotating shaft 74 in a transmission manner. The second shaft 74 is connected to the second connecting plate by a third flat key 76. The second servo motor 28 and the speed reducer are mounted on the second connecting plate, the second servo motor 28 is in transmission connection with the speed reducer, and the speed reducer is mounted in the bearing mounting sleeve 91. The bearing mounting sleeve 91 is fixedly connected with the first connecting plate 29 through a first flat key 38, a locking nut 37 is connected to the lower side of the first connecting plate 29 of the bearing mounting sleeve 91 through threads, and the locking nut 37 locks the bearing mounting sleeve 91 on the first connecting plate 29. The lower side of the first connecting plate 29 is fixedly connected with an annular mounting frame, the outer wall of the mounting frame is slidably provided with eight slide ways 78 which can slide along the vertical direction, each slide way 78 is slidably provided with a slide block 79, and the eight slide blocks 79 are uniformly arranged at intervals in the circumferential direction of the mounting frame. Eight first cylinders 30, eight first displacement sensors 44 and eight angle sensors 45 are fixedly connected to the lower side of the first connection plate at the outer side of the mounting frame. The eight first cylinders 30 are in one-to-one correspondence with the eight slide blocks in the up-down direction, and the end portions of the piston rods of the first cylinders 30 are fixedly connected to the slide blocks 79. The third servo motors 42 are fixedly connected to the respective sliders 79, and the cutters 43 are mounted on the rotating shafts of the respective third servo motors 42. When the third servo motor 42 rotates, the cutter 43 is driven to rotate, so as to complete operations such as drilling, reaming, tapping or polishing on the workpiece. The first cylinder 30 drives the slide block 79 to slide along the slide way 78 and simultaneously drives the third servo motor 42 and the cutter 43 to do linear reciprocating motion. The moving distance is controlled by the first displacement sensor 44 so that the depth of the processed hole can be controlled. When the second servo motor 28 rotates, the speed reducer, the bearing mounting sleeve 91, the first connecting plate 29, the first cylinder 30, the electromagnet 41, the third servo motor 42 and the cutter 43 are driven to move together. The angle of rotation is controlled by a first angle sensor 45.

In order to facilitate the handling of the workpiece during the machining process, the lower end of the bearing mounting sleeve 91 is fixedly connected with a second air cylinder 39, the second air cylinder 39 comprises a cylinder body and a second piston rod 40, and the end of the second piston rod 40 is connected with an electromagnet 41. The electromagnet is located in the middle of the mounting frame, and the electromagnet 41 can reciprocate up and down under the drive of the second cylinder 39 and the second piston rod 40, so that the workpiece can be adsorbed, and the carrying effect is achieved. When not in use, the tool can be retracted and hidden in the tool rest, and other operations are not influenced.

In this embodiment, the moving beam 17 is provided with a seventh servo motor 92, and a fourth toothed pulley 93 is mounted at an axial end of the seventh servo motor 92. The end of the third screw 22 is provided with a fifth toothed belt wheel 95, and the fifth toothed belt wheel 95 is in transmission connection with the fourth toothed belt wheel 93 through a third toothed belt 94. In this embodiment, when the seventh servo motor 92 rotates, the fourth toothed belt pulley 93 is driven to rotate, and the fourth toothed belt pulley 93 drives the fifth toothed belt pulley 95 and the third lead screw 22 to rotate through the third toothed belt 94. The third screw 22 drives the third nut 23 to reciprocate linearly, thereby driving the first movable rotating frame 24, the second movable rotating frame 27, and the first connecting plate 29 to reciprocate linearly.

In this embodiment, the first rotating/moving frame 24 is provided with a sixth servo motor 63, and the sixth servo motor 63 is in transmission connection with the first rotating shaft 66. When the sixth servo motor 63 rotates, the first rotating shaft 66 is driven to rotate, so as to drive the third rotating and moving frame 90 to rotate by a certain angle. The magnitude of the angle is controlled by a second angle sensor 70. When the first servo motor 25 rotates, the second rotating shaft 74 is driven to rotate, the second rotating shaft 74 drives the second connecting plate to rotate by a certain angle, and the lower belt of the rotating angle is controlled by a third angle sensor 75.

In this embodiment, the second upper cross beam 80 is a hollow structure, the third cylinder 46 and the third piston rod 47 are installed in the second upper cross beam 80, and the third piston rod 47 is connected with the first joint 50. A fifth servomotor 87 and a first harmonic reducer 49 are installed in the first joint 50, the first arm 51, the second joint 52, the second arm 53, the third joint 54, the third arm 55, the fourth joint 56, the fourth arm 57, the fifth joint 58, and the robot arm 59 are connected one by one to form a robot arm portion, and an angle sensor 45 and a speed sensor are installed at each joint to control the movement speed and angle of the robot arm.

The third piston rod 47 of the third cylinder 46 can extend and retract, and when the third piston rod extends out, the first joint 50 is ejected out, the space posture of each mechanical arm can be adjusted by rotating the fifth servo motor 87 and the harmonic reducer 49 in the first joint 50 for 360 degrees, meanwhile, each mechanical arm can rotate for a certain angle by the servo motor and the harmonic reducer at each joint, and the angle and the speed can be controlled by the angle sensor and the speed sensor which are arranged at the joints so as to adjust the space posture of each mechanical arm.

In this embodiment, the manipulator 59 can realize functions such as carrying, stacking, welding, polishing, installing parts of the workpiece. After the mechanical arm and the mechanical arm 59 are machined, all joints can be rotated to enable the mechanical arm to be folded and retracted onto the second upper cross beam 80 of the frame body 9, and the third piston rod 47 is retracted to drive all mechanical arm parts to be hidden in the second upper cross beam 80, so that the space is not occupied.

In this embodiment, the working table 5 is provided with a positioner which is matched with the cutter 43 to realize multi-angle processing. The positioner mainly can realize two functions of rotation and overturning. In fact, the rotation function of the positioner and the rotation function of the tool rest belong to redundancy functions, and the positioning of the machining position of the tool 43 and the workpiece is realized at the fastest speed by the cooperation of the positioner and the tool rest. The turning function of the positioner can control the angle and the speed of the workpiece by controlling a servo motor of the positioner through an angle sensor, a speed sensor and the like, so that the workpiece is positioned at the optimal assembly and machining angle.

The working principle of the multifunctional industrial robot is as follows: when the third cylinder 46 extends out, the first joint 50 is ejected out, the fifth servo motor 8748 and the harmonic reducer in the first joint 50 rotate 360 degrees to adjust the space posture of the mechanical arm, meanwhile, each joint is provided with the servo motor and the harmonic reducer, each mechanical arm can rotate a certain angle, the angle and the speed can be controlled by an angle sensor and a speed sensor which are arranged at the joint, and the space posture of each mechanical arm is adjusted. The manipulator 59 (note that the manipulator can be replaced by different types of manipulators as required) can carry, stack, weld, polish and mount parts on workpieces. After the mechanical arm and the mechanical arm 59 are machined, all joints can be rotated to enable the mechanical arm to be overlapped and folded back on the second upper beam 80, and the third air cylinder 46 is retracted to drive all mechanical arm parts to be hidden in the upper beam of the second frame body 9. Does not occupy space.

The length of each arm and the rotation angle of each arm of the four multi-axis robots are determined by kinematics and dynamics analysis of the four multi-axis robots, so that a working space formed by the four arms together can almost realize 360-degree coverage. Not only can the robot 59 reach the target position at a set speed, but also can the robot 59 be controlled to approach the workpiece at an optimum attitude using the angle sensor and the speed sensor; in addition, the robot 59 can reach the target position in the optimum path, and the maximum efficiency can be obtained without interference. The four manipulators 59 are provided with different tools or cutters 43, so that the operations of welding, polishing, drilling, tapping, reaming, milling, carrying, loading and unloading and the like of workpieces can be realized, and in addition, the operations of assembling and the like can also be realized through the matching of the mechanical arms. After the processing task is finished, the workpiece can be retracted into the first upper cross beam, so that the space is reduced, and the workpiece is prevented from interfering with other objects.

The fifth servo motor 87 rotates to drive the second toothed belt wheel 83 to rotate, and the first toothed belt wheel 81 and the third toothed belt wheel 94 are driven to rotate by the first toothed belt and the second toothed belt, so that the left and right second lead screws 10 rotate to drive the second lifting nut 11, and the movable cross beam 17 moves up and down.

The sixth servo motor 63 rotates to drive the first rotating shaft 66 to rotate, so as to drive the third rotating and moving frame 90 to rotate by a certain angle, and the size of the rotating angle is controlled by the second angle sensor 70. The first servo motor 25 rotates to drive the second rotating shaft 74 to rotate, so as to drive the second connecting plate to rotate by a certain angle, and the size of the rotating angle is controlled by the third angle sensor 75. The second servo motor 28 rotates to drive the speed reducer, the bearing mounting sleeve 91, the first connecting plate 29, the first air cylinder 30, the electromagnet 41 and other parts of the processing part to move together, and the rotating angle is controlled and adjusted by the first angle sensor 45. The first cylinder 30 drives the slide block 69 to drive the third servo motor 42 and the processing tool 43 to reciprocate up and down along the slide way 68. The distance of movement is controlled by a first displacement sensor 44. The third servo motor 42 rotates to enable the machining tool 43 to rotate or a polishing tool to polish a workpiece, a welding gun can be further installed to weld the workpiece, parts can be further assembled, and carrying or stacking can be achieved by installing different manipulators 59. The piston rod of the cylinder can be retracted and hidden after each processing or operation, and other operation items are not limited by space and have interference phenomenon.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A multifunctional industrial robot is characterized by comprising a base, wherein a workbench is arranged on the base, frame bodies positioned on two sides of the workbench are assembled on the base in a sliding mode, a movable cross beam capable of moving up and down along the frame bodies is arranged on the frame bodies, a first rotary moving frame capable of moving along the movable cross beam is assembled on the movable cross beam in a sliding mode, a third rotary moving frame is hinged to the lower side of the first rotary moving frame, a second rotary moving frame is hinged to the lower side of the third rotary moving frame, the third rotary moving frame is perpendicular to the rotating axis of the second rotary moving frame, a second motor is installed on the second rotary moving frame, a connecting plate is connected to the rotating shaft of the second motor, a second telescopic cylinder is fixedly connected to the lower side of the connecting plate, and an electromagnet used for carrying workpieces is fixedly connected to the lower end of the second telescopic cylinder, the lower side of the connecting plate is also fixedly connected with a first telescopic cylinder, a piston rod of the first telescopic cylinder is connected with a third motor, and a rotating shaft of the third motor is connected with a cutter.

2. The multifunctional industrial robot according to claim 1, wherein the base is provided with dovetail rails arranged in parallel on both sides of the worktable, the dovetail rails are slidably equipped with a slide, and the frame body is fixedly connected to the slide.

3. The multifunctional industrial robot according to claim 2, wherein the slide is of an inverted U-shaped structure, dovetail grooves matched with the dovetail guide rails are formed in the end portions of two vertical edges of the slide, a fixed block is arranged in a groove of the slide and fixedly connected with the frame body, a first lead screw extending along the dovetail guide rails is connected to the fixed block in a threaded mode, and the first lead screw drives the frame body to slide along the dovetail guide rails when rotating.

4. The multifunctional industrial robot according to claim 1, wherein a second lead screw is mounted on the inner side of the frame body through a bearing assembly, and a second lifting nut is arranged on the second lead screw and fixedly connected with the movable cross beam.

5. The multifunctional industrial robot according to claim 4, wherein a first toothed belt wheel is provided at an end of the second lead screw, a fifth motor is provided on the frame body, a second toothed belt wheel is fixedly connected to a rotating shaft of the fifth motor, and the first toothed belt wheel and the second toothed belt wheel are in transmission connection through a toothed belt.

6. The multifunctional industrial robot according to claim 1, wherein a bearing mounting sleeve is fixedly connected to the rotating shaft of the second motor, the bearing mounting sleeve is fixed to the second rotationally moving frame through a bearing seat, and the bearing mounting sleeve is fixedly connected to the connecting plate.

7. The multifunctional industrial robot of claim 6 wherein the bearing mounting sleeve extends downwardly through the connecting plate, and the bearing mounting sleeve is provided with a locking nut on the underside of the connecting plate for securing the bearing mounting sleeve to the connecting plate.

8. The multifunctional industrial robot of claim 1, wherein an annular mounting frame is connected to a lower side of the connecting plate, a plurality of sliders are slidably mounted on the mounting frame and circumferentially arranged along the mounting frame, the third motors and the first telescopic cylinders are respectively provided with a plurality of third motors, the third motors are connected to the sliders in a one-to-one correspondence manner, the sliders are connected to a lower end of a piston rod of the first telescopic cylinder in a one-to-one correspondence manner, an angle sensor for monitoring a rotation angle of a tool is arranged on the mounting frame, the electromagnet is located inside the mounting frame, and the second telescopic cylinder drives the electromagnet to move in and out of the mounting frame.

9. The multifunctional industrial robot according to claim 1, wherein the upper end of the frame body is provided with a robot arm, and an angle sensor and a speed sensor are mounted at joints of the robot arm.

10. The multifunctional industrial robot of claim 9, wherein an upper cross beam is fixedly connected to the upper end of the frame body, the upper cross beam is of a tubular structure, a third telescopic cylinder is installed in the upper cross beam, and a piston rod of the third telescopic cylinder is fixedly connected with the mechanical arm, so that the mechanical arm can be retracted into the upper cross beam.