CN212256626U - Be suitable for multi-type industrial robot's multi-functional real standard equipment - Google Patents

Abstract

The utility model relates to a be suitable for real equipment of instructing of multi-type industrial robot's multi-functional, including the frame, still include operation platform and real standard module, operation platform is located the top of frame, through elevating system with the horizontal shelf board of frame is connected, real standard module demountable installation be in operation platform is last, real standard module is equipped with the control module who is used for controlling its work, control module installs in the frame. The utility model discloses relatively independent with industrial robot, not integrated in an organic whole, small, with low costs, operation platform's height-adjustable can instruct in fact with the industrial robot supporting of instructing the room current different grade type and specification model in fact, and the application scope of industrial robot type and specification model is wide, can suitably select and change according to the different purposes of instructing in fact instruct module and adjustment mounted position, help corresponding carry out the industrial robot and instruct in fact, be favorable to the corresponding promotion that has pertinence of student's knowledge and skill.

Description

Be suitable for multi-type industrial robot's multi-functional real standard equipment

Technical Field

The utility model relates to a real standard equipment of industrial robot especially relates to a be suitable for real standard equipment of multi-type industrial robot's multi-functional.

Background

Real standard equipment of industrial robot of present maturity to large-scale workstation has installed various functional module on the workstation as the base, and wherein industrial robot also places on the workstation, thereby forms real standard equipment of a whole set of industrial robot application. The disadvantages of the training equipment are that firstly, because the integration level is high, the bottom application program is constructed and completed, so that the improvement of the knowledge and the skill of students is not facilitated; and secondly, because the industrial robot is placed on the workbench, only a small industrial robot can be selected, the load capacity is weak, the working range of the industrial robot is limited, and the development of practical application is not facilitated. In addition, the practical training equipment is usually large in size, which puts higher requirements on the space of a practical training room and is inconvenient for practical training.

SUMMERY OF THE UTILITY MODEL

For overcoming the above-mentioned defect of prior art, the utility model provides a be suitable for multiclass type industrial robot's multi-functional real standard equipment, small, with low costs can realize with different industrial robot's coordinated action.

The utility model discloses realize above-mentioned purpose's technical scheme is: the utility model provides a be suitable for real equipment of instructing of multi-functional of polymorphic type industrial robot, includes the frame, still includes operation platform, operation platform is located the top of frame, through elevating system with the horizontal frame plate of frame is connected, the last removable mounting structure who is used for installing real standard module that is equipped with of operation platform.

Preferably, elevating system is worm gear screw rod mechanism, including worm gear mechanism and lead screw, the vertical setting of lead screw, its top fixed connection operation platform's bottom, the bottom is passed the frame plate extends to the below of frame plate, be equipped with on the frame plate and supply the through hole that the lead screw passed, worm gear mechanism sets up on the frame plate, the wheel face level of its worm wheel, the inner edge of worm wheel be equipped with the external screw thread matched with internal thread of lead screw, the worm wheel with lead screw threaded connection.

Generally, the worm gear mechanism may be provided with a worm drive motor for driving the worm to rotate and a rotation handle.

Preferably, operation platform is equipped with direction moving mechanism, direction moving mechanism includes guide bar and sliding sleeve, the vertical setting of guide bar, its top fixed connection operation platform's bottom, the bottom is passed the frame plate extends to the below of frame plate, be equipped with on the frame plate and supply the guide bar hole that the guide bar passed, the sliding sleeve suit is in on the guide bar and with guide bar sliding fit, sliding sleeve fixed connection be in on the frame plate.

Preferably, the number of the guide moving mechanisms is four, and the four guide moving mechanisms are respectively arranged at four corners of the operating platform.

The training module can be generally provided with a module base for mounting or bearing other parts in the module, and the module base is provided with a platform connecting structure matched with the detachable mounting structure.

Preferably, the training module includes:

the conveying belt is horizontally arranged on the operating platform and used for conveying parts, a conveying belt driving motor is arranged, a guardrail at the feeding end of the conveying belt driving motor or the operating platform is provided with a first part detection sensor, and a second part detection sensor, a third part detection sensor and a fourth part detection sensor are arranged on the guardrail at one side of the conveying direction or the operating platform at intervals;

the part warehouse is columnar, is vertically arranged on the operating platform, is positioned on the feeding end side of the conveyor belt and is used for storing parts with different shapes, all the parts are vertically arranged in the part warehouse, and a horizontally penetrating notch suitable for a feeding mechanism to push out the parts and push the parts onto the conveyor belt is formed in the bottom end of the part warehouse;

the feeding mechanism comprises a sliding block which is suitable for being horizontally inserted into the opening in a sliding mode and pushing the part onto the conveyor belt, the operating platform is provided with or not provided with a sliding rail matched with the sliding block, and the sliding block is provided with a driving cylinder for driving the sliding block to horizontally slide;

the finished product assembling table is positioned on the discharge end side of the conveyor belt and used for finished product assembling and part temporary storage, and comprises a finished product assembling station and a plurality of part temporary storage stations, wherein the finished product assembling station is provided with a groove matched with the shape of a bottom part of a finished product, and the plurality of part temporary storage stations are respectively provided with grooves matched with the shapes of different assembled parts of the finished product;

and the waste material box is positioned on one side of the conveying direction of the conveying belt, is aligned with the fourth part detection sensor along the direction vertical to the conveying direction of the conveying belt, and is used for storing parts required by non-finished product assembly.

According to practical training needs, when the practical training device is used, the practical training module with the following functions is equipped according to an existing practical training control method or an existing practical training device (practical training module):

the vision submodule comprises a camera for identifying the parts transmitted on the conveying belt through video, and the camera is positioned right above the conveying belt and vertically corresponds to the position of the third part detection sensor;

the RFID sub-module comprises a reader-writer and a transceiver, the reader-writer is arranged on the operation platform and is in two-way communication with the control module, and the transceiver is arranged on the back of the bottom part of the finished product;

and the I/O and power supply module is used for signal transmission and power supply and is in two-way communication with the control module, the output of each part detection sensor is connected into the I/O and power supply module, and the output is respectively connected into the driver of the conveyor belt driving motor and the control end of the electromagnetic valve of the driving cylinder.

Preferably, the operation platform is provided with a clamp seat, the clamp seat is located on the feeding end side of the conveyor belt and used for placing an end clamp of an industrial robot, and the clamp comprises a sucker clamp and a clamping jaw clamp.

According to the actual needs, the following devices can be equipped on the operating platform in use by using the prior art:

a touch display screen: for the input and display of information, in two-way communication with the communication circuit of the associated control module or other associated communication/control circuit;

a button switch: the system comprises start, stop, emergency stop and reset buttons, wherein the output of each button is connected to the I/O and power supply module;

according to actual needs, a control circuit, such as a PLC controller, a switch, a frequency converter for controlling the lifting mechanism, and a vision submodule controller for controlling the vision submodule to work, may be provided on the control module according to the prior art, the PLC controller is in bidirectional communication with the I/O and power supply submodule, the reader/writer, and the switch is in bidirectional communication with the touch display screen, the frequency converter, the vision submodule controller, a computer, and an industrial robot.

Preferably, finished assembled parts include bottom part, middle level part and upper part, and each part all is the column, the cross section of bottom part is square, the cross section of middle level part is circular, the cross section of upper part is triangle-shaped, be equipped with on the top surface of bottom part and be suitable for the middle level part embedded groove of middle level part embedding, be equipped with on the top surface of middle level part and be suitable for the upper part embedded groove of upper part embedding.

Preferably, the removable mounting structure for the level set up in a plurality of shape of falling T spouts on operation platform's the top surface, the shape of falling T spout is parallel to each other and the interval equals, platform connection structure for set up in be suitable for the level on the bottom surface of module base insert the shape of falling T spout and with shape of falling T spout sliding fit's slider, instruct the module with operation platform passes through the slider with sliding fit connection can be dismantled to the shape of falling T spout.

The utility model has the advantages that: the utility model discloses relatively independent with industrial robot, not integrated in an organic whole, small, with low costs, operation platform's height-adjustable can instruct in fact with the industrial robot supporting of instructing the room current different grade type and specification model, can combine the real standard technique of current robot, through manual operation or under relevant software or automatic control technical support, realize the industrial robot coordinated action with the different grade type, the application scope of industrial robot type and specification model is wide. The practical training module is detachably mounted on the operating platform, the practical training module can be selected and replaced appropriately according to different purposes of practical training, the mounting position of the practical training module can be adjusted appropriately, the practical training of the industrial robot can be performed in a targeted manner, the targeted promotion of knowledge and skills of students is facilitated, and the requirements on the size of the operating platform and the size of the space of the practical training chamber can be reduced.

Drawings

Fig. 1 is a front perspective view of the present invention;

fig. 2 is a side perspective view of the present invention;

fig. 3 is a schematic view of a connection structure between the operation platform and the frame according to the present invention;

fig. 4 is a top view of the operation platform of the present invention;

fig. 5 is a schematic structural view of the bottom layer component of the present invention;

fig. 6 is a rear view of the bottom part of the invention;

fig. 7 is a schematic structural view of the middle layer part of the present invention;

fig. 8 is a schematic structural view of the upper layer part of the present invention;

fig. 9 is a partial sectional view of the detachable connection structure of the training module and the operation platform according to the present invention;

fig. 10 is a block diagram of an electrical control structure that can be adopted in practice of the present invention.

Detailed Description

Referring to fig. 1 to 10, the utility model discloses a be suitable for real equipment of instructing of multi-type industrial robot's multi-functional, which comprises a frame, the frame includes horizontally frame plate 1 and vertical locating supporting leg 2 in the bottom surface four corners of frame plate still includes operation platform 3 and real standard module, operation platform can adopt the aluminium alloy to make, is located the top of frame, through elevating system 4 with the frame plate is connected, operation platform for the height of frame plate can pass through elevating system adjusts wantonly, can instruct with the supporting of the industrial robot of instructing the current different grade type of room and specification model in fact, can realize the industrial robot coordination action with the different grade type, and the application scope of industrial robot type and model specification is wide. The practical training module is detachably mounted on the operating platform, the practical training module can be selected and replaced appropriately according to different purposes of practical training, the mounting position of the practical training module can be adjusted appropriately, the practical training of the industrial robot can be performed in a targeted manner, the targeted promotion of knowledge and skills of students is facilitated, and the requirements on the size of the operating platform and the size of the space of the practical training chamber can be reduced. The practical training module is provided with a control module used for controlling the practical training module to work, the control module is installed on the rack and located below the rack plate, the rack can be provided with an operation panel 5, and the control module is installed on the operation panel.

The lifting mechanism is preferably a worm gear and worm screw rod mechanism, and comprises a worm gear and worm screw mechanism and a screw rod 41, the screw rod is vertically arranged, the top end of the screw rod is fixedly connected with the bottom surface of the operating platform, the bottom end of the screw rod penetrates through the frame plate and extends to the lower part of the frame plate, a through hole for the screw rod to penetrate through is arranged on the frame plate, the worm gear and worm mechanism is arranged on the frame plate, the wheel surface of a worm wheel 42 of the worm gear and the worm 43 are horizontal, the inner edge of the worm wheel is provided with an internal thread matched with the external thread of the screw rod, the worm wheel is sleeved on the screw rod and is in threaded connection with the screw rod, the worm wheel can be rotatably connected on the frame plate (such as through a bearing connection), the worm can be arranged on the frame plate through a, so that the height of the operating platform can be adjusted by means of manual or automatic control, the worm drive motor preferably being an asynchronous motor.

The operation platform is preferred to be equipped with direction moving mechanism to the stability of operation when guaranteeing its altitude mixture control, direction moving mechanism includes guide bar 6 and sliding sleeve 7, the vertical setting of guide bar, its top fixed connection operation platform's bottom, the bottom is passed the frame plate extends to the below of frame plate, be equipped with on the frame plate and supply the guide bar hole that the guide bar passed, the sliding sleeve suit is in on the guide bar and with guide bar sliding fit (the fit clearance is usually left between the two), sliding sleeve fixed connection be in on the frame plate, the shaft hole of sliding sleeve with the coaxial intercommunication in guide bar hole. The number of the guide moving mechanisms is preferably four, and the four guide moving mechanisms are preferably arranged at four corners of the operating platform respectively, so that the operating stability and the straightness of the operating platform during height adjustment are further ensured.

The practical training module preferably comprises a conveyor belt 8, a part library 9, a feeding mechanism 10, a vision sub-module 11, a finished product assembling table 12 and a waste box 13. The conveyer belt level is located operation platform is last for the part conveying, the conveyer belt is equipped with conveyer belt driving motor 14, conveyer belt driving motor is preferred step motor, the guardrail of the feed end of conveyer belt or be equipped with first part detection sensor 15 on the operation platform, its along one side guardrail of direction of transfer or operation platform is last to be equipped with second, third and fourth part detection sensor 16, 17, 18 at the interval, and each part sensor can be infrared ray sensor, laser sensor or ultrasonic sensor, is used for detecting part transfer position on the conveyer belt. The part storehouse can be the column, and vertical the locating operation platform is last, is located the feed end side of conveyer belt for deposit the part of different shapes, each part is in vertical arrangement in the part storehouse, be equipped with the vertical space that is used for holding each part in the part storehouse, the bottom in part storehouse is equipped with and is suitable for feeding mechanism releases the part and pushes away to the opening that the level on the conveyer belt runs through, the bottom surface in part storehouse is higher than the conveyer belt, so that follow the part that the opening was released can push away smoothly to or fall on the conveyer belt. The feeding mechanism comprises a sliding block which is suitable for being inserted into the opening in a horizontal sliding mode and pushing the part onto the conveyor belt, the sliding block is flush with the opening in height, the operating platform is provided with or not provided with a sliding rail matched with the sliding block, and the sliding block is provided with a driving air cylinder for driving the sliding block to horizontally slide. The vision submodule comprises a camera (generally for identifying the shape, the transmission position and the orientation of the part) for video identification of the part transmitted on the conveyor belt, the camera is positioned right above the conveyor belt so as to conveniently carry out video identification on the part transmitted below the camera, and the camera corresponds to the third part detection sensor up and down in position. Finished product equipment platform is located the discharge end side of conveyer belt for finished product equipment and part are kept in, including a finished product equipment station 121 and a plurality of part station 122, 123 of keeping in, finished product equipment station is equipped with the shape matched with recess with off-the-shelf bottom part, is suitable for off-the-shelf bottom part to put into wherein, and is a plurality of the part station of keeping in is equipped with the shape matched with recess with off-the-shelf different equipment part respectively, is suitable for off-the-shelf different equipment part to put into wherein, the finished product equipment platform can also include a finished product station 124 of keeping in for the finished product after the equipment keeps in, the finished product station of keeping in is equipped with the shape matched with recess with off-the-shelf bottom part, is. The waste material box is positioned on one side of the conveying direction of the conveying belt, is aligned with the fourth part detection sensor along the direction vertical to the conveying direction of the conveying belt and is used for storing parts required by non-finished product assembly.

The training module may further include an RFID sub-module and an I/O and power supply sub-module 19. The RFID sub-module comprises a reader-writer 20 and a transceiver 21, the reader-writer is arranged on the operating platform, a reading-writing induction end of the reader-writer can be vertically upward, the reader-writer is in two-way communication with the control module, reading-writing information is conveniently transmitted to the control module, the control information from the control module is received by the control module, the transceiver is arranged on the back surface of a finished bottom part, and the transceiver can be a button type electronic tag. The I/O and power supply module is used for signal transmission and power supply and is in two-way communication with the control module, the output of each part detection sensor is connected into the I/O and power supply module through an I/O hard wire, and the output is respectively connected into the driver 22 of the conveyor belt driving motor and the control end of the electromagnetic valve 23 of the driving cylinder through an I/O hard wire.

The operating platform is preferably provided with a touch display screen 24, a button switch 25 and a clamp seat 26. The touch display screen is used for inputting and displaying information, and is mainly used for writing and displaying data of the RFID sub-module, displaying control information of the operation platform, the feeding mechanism and the conveyor belt and an identification result of the vision sub-module, and the touch display screen is in two-way communication with the control module. The button switch usually includes start, stop, scram and reset buttons for controlling the corresponding actions of the equipment, the output of each button is connected to the I/O and power supply module through I/O hard wiring, the I/O and power supply module can be divided into two parts of an I/O sub-module and a power supply module, or can be integrated into a whole. The fixture seat is located on the feeding end side of the conveying belt and used for placing an end fixture of an industrial robot, the fixture comprises a sucker fixture and a clamping jaw fixture, and a fixture groove or other suitable fixture positioning structures suitable for fixture positioning can be arranged on the fixture seat. The operating platform can be further provided with an equipment operation indicating lamp and an alarm indicating lamp for visual indication of the operation condition of the equipment, and the corresponding output of the I/O and power supply module is connected into the equipment operation indicating lamp and the alarm indicating lamp.

The control module preferably comprises a PLC controller (e.g. siemens PLC controller) 27, a switch 28, a frequency converter 29 (of a worm drive motor) for controlling the lifting mechanism and a vision submodule controller 30 for controlling the operation of the vision submodule, the PLC controller is in two-way communication with the I/O and power supply module through I/O hard wiring, the PLC controller and the reader-writer are in bidirectional communication through RS-422 or RS-232, the PLC controller is in bidirectional communication with the switch through Ethernet, the switch is in bidirectional communication with the touch display screen and the frequency converter through PROFINET respectively, the switch and the vision sub-module controller are in bidirectional communication through Modbus TCP, the switch and the computer are in bidirectional communication through an Ethernet, and the switch and the industrial robot are in bidirectional communication through Modbus TCP or PROFINET. The control module may also include a power supply module 31, such as a power supply or battery, for powering the control module.

The finished assembled parts can comprise a bottom part 32, a middle part 33 and an upper part 34, each part is columnar, the cross section of the bottom part is square, the cross section of the middle part is circular, the cross section of the upper part is triangular, a middle part embedded groove suitable for embedding the middle part is arranged on the top surface of the bottom part, the shape and the size of the middle part embedded groove are the same as those of the cross section of the middle part (an assembly gap is usually reserved), namely, the middle part embedded groove is a circular groove 321, an upper part embedded groove suitable for embedding the upper part is arranged on the top surface of the middle part, the shape and the size of the upper part embedded groove are the same as those of the cross section of the upper part (an assembly gap is usually reserved), namely, the upper part embedded groove is a triangular groove, the top surface of the middle-layer part can be also provided with a circular groove which is concentric with the triangular groove and is sunken downwards, the triangular groove and the circular groove form a main body which is circular, and the circumference is provided with three irregular grooves 331 with sharp corners extending outwards in the radial direction, so that the raw materials of the part are saved.

The top surface of the operation platform is preferably provided with a plurality of vertical downward inverted T-shaped sliding grooves 35 in an equidistant and horizontal parallel mode, the sliding grooves are distributed on the top surface of the operation platform, the bottom surface of the practical training module (including the various components of the practical training module) is provided with a sliding block 36 which is suitable for horizontal insertion into the sliding grooves and matched with the sliding grooves in a sliding mode, the sliding block can be in a vertical downward inverted T shape, the practical training module is matched with the operation platform through the sliding block and the sliding grooves, sliding fit connection is detachable (sliding fit gaps are usually reserved), the practical training module is installed on the operation platform in a sliding fit mode, relative positions between the practical training module and the sliding groove can be fixed through a positioning structure, the positioning structure can adopt a positioning structure which is suitable for fixing relative positions of plug connectors in any mode under the prior art, and the.

The assembly process of the multifunctional practical training equipment and the industrial robot 37 is as follows: firstly, the multifunctional practical training equipment is moved to the front of a certain industrial robot, then the mechanical installation, the electrical wiring and the air circuit connection of the practical training module and the control module are completed, the installation of an end effector and an air circuit of the industrial robot is completed, and a set of multifunctional practical training equipment based on a certain type of industrial robot can be formed. Then, according to the type or specification of the industrial robot, the height of the operating platform is manually or automatically adjusted to adapt to the working range of the robot, and then according to the specific requirements of practical training, the type of the practical training module is selected and the installation position is adjusted to form a plurality of different working processes.

An example of a certain working process of the multifunctional practical training equipment is as follows: the bottom part (square), the middle part (circular), the upper part (triangle) and the waste are randomly placed in the part library, after the parts are started to work, the feeding mechanism pushes the lowest part in the part library to the conveyor belt, the PLC controller controls the conveyor belt driving motor to start to run at a higher speed after the first part detection sensor detects a signal, when the second part detection sensor detects a signal, the running speed of the conveyor belt is reduced, the conveyor belt runs slowly, when the third part detection sensor detects a signal, the conveyor belt stops running, the vision sub-module starts to work, the type, the position and the orientation of the parts are judged, if the parts are the bottom part (square), the middle part (circular) or the upper part (triangle), then directly start industrial robot, the transport part arrives finished product equipment is accomplished to the finished product assembly table, if for the waste material, then the conveyer belt continues low-speed operation, works as when fourth part detects the sensor and detects the signal, conveyer belt stop operation begins to start industrial robot action, and the transport waste material arrives waste material box. The bottom layer part, the middle layer part or the upper layer part are assembled at a finished product assembling station of the finished product assembling table, and a part temporary storage station is used for temporarily storing the bottom layer part, the middle layer part and the upper layer part. Wherein, in industrial robot working process, can be according to the difference of part type, the suitable anchor clamps of selection. If the industrial robot grabs the bottom part, the industrial robot moves to the upper end of the reader-writer, the reader-writer reads data from the transceiver on the back face of the bottom part and displays the data on the touch display screen, and then the industrial robot places the bottom part to a finished product assembling station of the finished product assembling table. After the bottom layer part, the middle layer part and the upper layer part are completely assembled, the industrial robot clamps the finished product and moves the finished product to the upper end of the reader-writer again, the reader-writer writes data on the transceiver on the back surface of the finished product, then the industrial robot places the finished product on a finished product temporary storage station of the finished product assembling table, the finished product temporary storage station is a position to be shipped, and then the operation platform is controlled to descend so as to facilitate other equipment to take the goods, and thus a whole set of flow actions is completed.

Claims (10)

1. The utility model provides a be suitable for real equipment of instructing of multi-functional of polymorphic type industrial robot, includes the frame, its characterized in that still includes operation platform, operation platform is located the top of frame, through elevating system with the horizontal frame plate of frame is connected, the last removable mounting structure who is used for installing real module of instructing that is equipped with of operation platform.

2. The practical training device for multiple types of industrial robots according to claim 1, wherein the lifting mechanism is a worm and gear screw mechanism, and comprises a worm and gear mechanism and a screw, the screw is vertically arranged, the top end of the screw is fixedly connected with the bottom surface of the operating platform, the bottom end of the screw penetrates through the frame plate and extends to the lower side of the frame plate, a through hole for the screw to penetrate through is arranged on the frame plate, the worm and gear mechanism is arranged on the frame plate, the wheel surface of a worm wheel of the worm wheel is horizontal, the inner edge of the worm wheel is provided with an internal thread matched with the external thread of the screw, and the worm wheel is in threaded connection with the screw.

3. The multifunctional practical training device suitable for multiple types of industrial robots according to claim 2 is characterized in that the worm gear and worm mechanism is provided with a worm driving motor and a rotating handle for driving the worm to rotate.

4. The multifunctional practical training device suitable for multiple types of industrial robots of claim 3, wherein the operation platform is movably connected with the machine frame through a guide moving mechanism.

5. The practical training device for multiple types of industrial robots according to claim 4, wherein the guiding and moving mechanism comprises a guiding rod and a sliding sleeve, the guiding rod is vertically arranged, the top end of the guiding rod is fixedly connected with the bottom surface of the operating platform, the bottom end of the guiding rod penetrates through the frame plate and extends to the lower portion of the frame plate, a guiding rod hole for the guiding rod to penetrate through is formed in the frame plate, the sliding sleeve is sleeved on the guiding rod and is in sliding fit with the guiding rod, and the sliding sleeve is fixedly connected to the frame plate.

6. The multifunctional practical training device suitable for multiple types of industrial robots as claimed in claim 5, wherein the number of the guide moving mechanisms is four, and four guide moving mechanisms are respectively arranged at four corners of the operating platform.

7. The multifunctional practical training device for multiple types of industrial robots according to any one of claims 1-6, wherein the practical training module comprises:

the conveying belt is horizontally arranged on the operating platform and used for conveying parts, a conveying belt driving motor is arranged, a guardrail at the feeding end of the conveying belt driving motor or the operating platform is provided with a first part detection sensor, and a second part detection sensor, a third part detection sensor and a fourth part detection sensor are arranged on the guardrail at one side of the conveying direction or the operating platform at intervals;

the part warehouse is columnar, is vertically arranged on the operating platform, is positioned on the feeding end side of the conveyor belt and is used for storing parts with different shapes, all the parts are vertically arranged in the part warehouse, and a horizontally penetrating notch suitable for a feeding mechanism to push out the parts and push the parts onto the conveyor belt is formed in the bottom end of the part warehouse;

the feeding mechanism comprises a sliding block which is suitable for being horizontally inserted into the opening in a sliding mode and pushing the part onto the conveyor belt, the operating platform is provided with or not provided with a sliding rail matched with the sliding block, and the sliding block is provided with a driving cylinder for driving the sliding block to horizontally slide;

the finished product assembling table is positioned on the discharge end side of the conveyor belt and used for finished product assembling and part temporary storage, and comprises a finished product assembling station and a plurality of part temporary storage stations, wherein the finished product assembling station is provided with a groove matched with the shape of a bottom part of a finished product, and the plurality of part temporary storage stations are respectively provided with grooves matched with the shapes of different assembled parts of the finished product;

a waste box located at one side of the conveying direction of the conveyor belt, aligned with the fourth part detection sensor in a direction perpendicular to the conveying direction of the conveyor belt, for storing parts required for non-finished product assembly,

the practical training module is provided with a module base, and the module base is provided with a platform connecting structure matched with the detachable mounting structure.

8. The practical training device for multiple types of industrial robots according to claim 7 is characterized in that the operation platform is provided with a clamp seat, the clamp seat is located on the feeding end side of the conveyor belt and used for placing an end clamp of the industrial robot, and the clamp comprises a sucker clamp and a clamping jaw clamp.

9. The multifunctional practical training device suitable for the multiple types of industrial robots as claimed in claim 8, wherein the finished assembly parts comprise a bottom part, a middle part and an upper part, each part is columnar, the cross section of the bottom part is square, the cross section of the middle part is circular, the cross section of the upper part is triangular, a middle part embedding groove suitable for embedding the middle part is formed in the top surface of the bottom part, and an upper part embedding groove suitable for embedding the upper part is formed in the top surface of the middle part.

10. The multifunctional practical training device suitable for multiple types of industrial robots according to claim 9, wherein the detachable mounting structure is a plurality of inverted-T-shaped sliding grooves horizontally arranged on the top surface of the operating platform, the inverted-T-shaped sliding grooves are parallel to each other and are equally spaced, the platform connecting structure is a sliding block arranged on the bottom surface of the module base and is suitable for being horizontally inserted into the inverted-T-shaped sliding grooves and being in sliding fit with the inverted-T-shaped sliding grooves, and the practical training module is detachably and slidably connected with the operating platform through the sliding block and the inverted-T-shaped sliding grooves.

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