CN111300386A - A multifunctional industrial robot - Google Patents

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

A multifunctional industrial robot

technical field

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

Background technique

In recent years, the application of robots in industry has promoted the transformation of industrial production mode. In the next few years, a large number of robots will be introduced in industrial production to replace high-risk, high-repetition, low-skilled human labor work, which can not only improve production accuracy, production efficiency, but also reduce production costs. In fact, most of the robots currently used in production belong to the first generation of robots. Their structures and functions are relatively simple. Their commonality is that they have specific functions. For example, their movement forms include grasping, dismantling, moving, and turning over. It is mainly used in grinding, welding, cutting, sorting, etc., but its function is relatively single. Each industrial robot consists of two parts, one is the robot's actuator - the manipulator, and the other is the robot's brain - the controller. The structural form of the manipulator directly determines the type of work that the robot can complete, and the degree of freedom of the manipulator used in industry generally has 6 to 8 degrees of freedom. At present, most industrial robots have only one manipulator, which has a simple structure and can perform simple and fixed tasks, such as welding and grinding, but its shortcomings are also obvious.

With the increasing demand for robots in the current market, the expectations for them are also increasing day by day, and the complexity of tasks that need to be performed by robots is also increasing. A single robot has great limitations in operation ability or function, and the ability is slightly insufficient for complex work tasks, such as complex assembly, installation or maintenance tasks. Multi-armed robots came into being. At present, there are mainly two or three or more robots on the market. In addition to the functions of a single robot, they also have more extended functions, such as assembly and other tasks that require the cooperation of multiple arms. .

However, in actual production, it is found that industrial robots such as processing, assembly, welding, and palletizing can often only complete one job. It is not only a waste of energy, but also a waste of resources and space. If the parts are processed on the production line, the clamping position will be changed due to the change of the machine tool for processing the workpiece. When the workpiece is re-clamped, the processing reference will change and the size of the processed parts will be changed. Accuracy, shape and position accuracy can not meet the design requirements.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the present invention provides a multifunctional industrial robot to solve the technical problem that an existing industrial robot can only complete one job in processing operations, resulting in waste of resources and space.

A technical scheme of a multifunctional industrial robot of the present invention is:

A multifunctional industrial robot includes a base, a workbench is arranged on the base, a frame body located on both sides of the workbench is slidably assembled on the base, and the frame body is provided with a frame that can move up and down along the frame body. The moving beam is slidably assembled with a first rotating moving frame that can move along the moving beam, and a third rotating moving frame is hinged on the lower side of the first rotating moving frame. A second rotating moving frame is hinged on the lower side, the third rotating moving frame is perpendicular to the rotation axis of the second rotating moving frame, a second motor is installed on the second rotating moving frame, and the rotating shaft of the second motor is A connecting plate is connected on the upper side, a second telescopic cylinder is fixedly connected to the lower side of the connecting plate, an electromagnet for carrying the workpiece is fixedly connected to the lower end of the second telescopic cylinder, and the lower side of the connecting plate is also fixedly connected with a A first telescopic cylinder, a third motor is connected to the piston rod of the first telescopic cylinder, and a cutter is connected to the rotating shaft of the third motor.

As a further improvement to the above technical solution, the base is provided with parallel-arranged dovetail guide rails on both sides of the workbench, a sliding seat is slidably assembled on the dovetail guide rail, and the frame body is fixedly connected to the sliding seat .

As a further improvement to the above technical solution, the sliding seat has an inverted U-shaped structure, and the ends of the two vertical sides of the sliding seat are provided with dovetail grooves matching the dovetail guide rails. A fixing block is arranged in the groove, and the fixing block is fixedly connected with the frame body. The fixing block is threadedly connected with a first lead screw extending along the dovetail guide rail, and the first lead screw drives the frame when rotating. The body slides along the dovetail guide.

As a further improvement to the above technical solution, a second lead screw is installed on the inner side of the frame body through a bearing assembly, a second lift nut is provided on the second lead screw, and the second lift nut is fixedly connected to the moving beam.

As a further improvement to the above technical solution, the end of the second lead screw is provided with a first toothed pulley, the frame body is provided with a fifth motor, and the rotating shaft of the fifth motor is fixedly connected with a first toothed pulley. Two toothed belt pulleys, the first toothed belt pulley and the second toothed belt pulley are connected through a toothed belt drive.

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

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

As a further improvement to the above technical solution, a ring-shaped mounting frame is connected to the lower side of the connecting plate, and a plurality of sliding blocks arranged along the circumferential direction of the mounting frame are slidably assembled on the mounting frame. The third motor and the There are a plurality of first telescopic cylinders, a plurality of third motors are connected to the sliding block one by one, and a plurality of sliding blocks are connected to the lower end of the piston rod of the first telescopic cylinder in a one-to-one correspondence. There is an angle sensor for monitoring the rotation angle of the tool, the electromagnet is located inside the mounting frame, and the second telescopic cylinder drives the electromagnet to enter and exit the mounting frame.

As a further improvement to the above technical solution, 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 joints of the mechanical arm.

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

Compared with the prior art, the multifunctional industrial robot of the present invention has the following beneficial effects:

The multifunctional industrial robot of the present invention has multiple degrees of freedom, and can realize operations such as workpiece handling, welding, drilling, reaming, reaming, tapping, etc., and solves the problem that one industrial robot can only complete one work task in the prior art The disadvantage is to realize the multi-function operation of one machine. The multifunctional industrial robot of the invention solves the problem that the change of the parts station affects the machining accuracy, saves the material transfer time, and reduces the waste of energy and the working space of the robot. The multifunctional industrial robot of the invention improves the processing quality, productivity and sales profit, and creates production and income. The multifunctional industrial robot of the present invention can realize multi-angle and multi-processing types of processing, and can realize the handling and assembly of workpieces at the same time.

By installing the third telescopic cylinder on the frame body, the multifunctional industrial robot of the present invention can fold the robot arm and retract it into the upper beam of the frame body when the robot arm is not in use, avoiding the problem that the robot arm affects other operating spaces.

The multifunctional industrial robot of the present invention is provided with an electromagnet, so that the robot has a handling function, and the electromagnet can be retracted into the mounting frame when not in use, without affecting other processing operations.

Description of drawings

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

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

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

In the figure: 1. Base; 2. First bolt; 3. First nut; 4. First lead screw; 5. Workbench; 6. Dovetail guide rail; 7. Second bolt; 8. Slide seat; 9. Frame body; 10, the second screw; 11, the second lift nut; 12, the first bearing seat; 13, the first bearing; 14, the first bearing gland; 15, the third gland bolt; 16, the first upper beam; 17, moving beam; 18, fourth bolt; 19, second bearing seat; 20, second bearing; 21, third nut; 22, third lead screw; 23, third nut; 24, first rotation moving frame; 25, the first servo motor; 26, the fifth bolt; 27, the second rotating moving frame; 28, the second servo motor; 29, the first connecting plate; 30, the first cylinder; 31, the first piston rod 32, the sixth bolt; 33, the second connecting plate; 34, the reducer; 35, the third bearing; 36, the third bearing seat; 37, the lock nut; 38, the first flat key; 39, the second cylinder 40, the second piston rod; 41, the electromagnet; 42, the third servo motor; 43, the tool; 44, the first displacement sensor; 45, the first angle sensor; 46, the third cylinder; 47, the third piston rod ;48, the fifth servo motor; 49, the first harmonic reducer; 50, the first joint; 51, the first arm; 52, the second joint; 53, the second arm; 54, the third joint; 55, the first Three arms; 56, the fourth joint; 57, the fourth arm; 58, the fifth joint; 59, the manipulator; 60, the fourth bearing; 61, the fourth bearing seat; 62, the fourth bearing cap; 63, the sixth servo Motor; 64, the fourth screw; 65, the fourth servo motor; 66, the first shaft; 67, the second flat key; 68, the slide; 69, the slider; 70, the second angle sensor; 71, the second 72, the second displacement sensor; 73, the bearing sleeve; 74, the second shaft; 75, the third angle sensor; 76, the third flat key; 77, the second displacement sensor; 78, the slideway; 79, Slider; 80, the second upper beam; 81, the first toothed pulley; 82, the fourth flat key; 83, the second toothed pulley; 84, the third toothed pulley; 85, the sixth flat key ; 86, the fifth flat key; 87, the fifth servo motor; 88, the first toothed belt; 89, the second toothed belt; 90, the third rotating moving frame; 91, the bearing installation sleeve; 92, the seventh servo Motor; 93, the fourth toothed pulley; 94, the third toothed belt; 95, the fifth toothed pulley.

Detailed ways

The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.

A specific embodiment of the multifunctional industrial robot of the present invention, as shown in FIGS. 1 to 3 , includes a base 1, on which a worktable 5 and a dovetail guide rail 6 are fixedly connected, wherein the dovetail guide rail 6 has four dovetail guide rails. 6 In two groups, two dovetail guide rails 6 are fixed on both sides of the table 5 in parallel by the second bolts 7. A sliding seat 8 is slidably assembled on the dovetail guide rail 6 , and the sliding seat 8 has an inverted U-shaped structure. A frame body 9 is fixedly connected to the sliding seat 8 . The upper part of the frame body 9 is fixedly connected with the first upper beam 16 and the second upper beam 80 . Preferably, a fixing block is provided in the concave area of the inverted U-shaped sliding seat 8 , and the frame body 9 is fixedly connected to the fixing block through the first bolt 2 , and then the frame body 9 and the sliding seat 8 are fixedly connected. In this embodiment, a fourth servo motor 65 is fixedly connected to the base 1 , and a first lead screw 4 is driven and connected to the rotating shaft of the fourth servo motor 65 . When the fourth servo motor 65 rotates, it drives the first lead screw 4 to rotate. Specifically, both 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 fixing block is provided with a screw hole matching the first lead screw 4, and the first lead screw 4 is threadedly connected in the screw hole. When the fourth servo motor 65 drives the first lead screw 4 to rotate, it drives the frame body 9 to slide along the dovetail guide rail 6 .

The first bearing seat 12 , the first bearing 13 and the first bearing gland 14 are mounted on the frame body 9 , and the first bearing seat 12 is fixed on the frame body 9 by the third gland bolts 15 . A second lead screw 10 is installed in the first bearing 13 , and a first toothed pulley 88 , a third toothed pulley 84 , a fourth flat key 82 and a sixth flat key 85 are installed on the second lead screw 10 . A fifth servo motor 87 is fixedly connected to the first upper beam 16 , and the rotating shaft of the fifth servo motor 87 is connected to the second toothed pulley 83 through a fifth flat key 86 . In this embodiment, a second lifting nut 11 is threadedly connected to the second lead screw 10 , and a moving beam 17 is fixedly connected to the second lifting nut 11 . When the fifth servo motor 87 rotates, it drives the second lead screw 10 to rotate, and the second lead screw 10 drives the moving beam 17 to move up and down.

In this embodiment, a third lead screw 22 is mounted on the moving beam 17 , a third nut 23 matching the third lead screw 22 is mounted on the third lead screw 22 , and the third nut 23 is fixedly connected with a first rotating Mobile rack 24. A first rotating shaft 66 is installed on the first rotating moving frame 24 , a second flat key 67 is arranged on the first rotating shaft 66 , and the first rotating shaft 66 is connected with the second rotating moving frame 27 and the third rotating moving frame through the second flat key 67 . Rack 90. A first servo motor 25 is mounted on the third rotating and moving frame 90 , and the first servo motor 25 is drivingly connected with the second rotating shaft 74 . The second rotating shaft 74 is connected with the second connecting plate through the third flat key 76 . A second servo motor 28 and a reducer are mounted on the second connecting plate. The second servo motor 28 is connected to the reducer in a driving manner, and the reducer is installed in the bearing mounting sleeve 91 . The bearing installation sleeve 91 is fixedly connected with the first connecting plate 29 through the first flat key 38, and the bearing installation sleeve 91 is screwed with a locking nut 37 on the lower side of the first connecting plate 29. The first connecting plate 29 is locked. A ring-shaped mounting frame is fixedly connected to the lower side of the first connecting plate 29. The outer wall of the mounting frame is slidably fitted with eight slideways 78 that slide in the up-down direction. Each slideway 78 is slidably fitted with a slider 79. The blocks 79 are evenly spaced 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 connecting plate and the outer side of the mounting frame. The eight first cylinders 30 are in one-to-one correspondence with the eight sliders in the up-down direction, and the ends of the piston rods of the first cylinders 30 are fixedly connected to the sliders 79 . A third servo motor 42 is fixedly connected to each sliding block 79 , and a cutter 43 is respectively installed on the rotating shaft of each third servo motor 42 . When the third servo motor 42 rotates, the cutter 43 is driven to rotate, thereby completing operations such as drilling, reaming, reaming, tapping or grinding on the workpiece. In other embodiments, a welding torch can also be installed on the rotating shaft of the third servo motor Weld the workpiece and assemble components. The first cylinder 30 drives the slider 79 to slide along the slideway 78 and drives the third servo motor 42 and the cutter 43 to reciprocate linearly. The moving distance is controlled by the first displacement sensor 44, so that the depth of the machined hole can be controlled. When the second servo motor 28 rotates, it drives the 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 tool 43 to move together. The angle of rotation is controlled by the first angle sensor 45 .

In order to facilitate the handling of the workpiece during processing, the lower end of the bearing mounting sleeve 91 is fixedly connected with the second cylinder 39, the second cylinder 39 includes a cylinder block 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 at the middle position of the mounting frame, and the electromagnet 41 can realize up and down reciprocating motion driven by the second cylinder 39 and the second piston rod 40, and can adsorb the workpiece and play a role in transporting. When not in use, it can be retracted and hidden in the tool holder without affecting other operations.

In this embodiment, a seventh servo motor 92 is mounted on the moving beam 17 , and a fourth toothed pulley 93 is mounted on the shaft end of the seventh servo motor 92 . A fifth toothed pulley 95 is installed at the end of the third screw 22 , and the fifth toothed pulley 95 and the fourth toothed pulley 93 are connected in a driving manner through a third toothed belt 94 . In this embodiment, when the seventh servo motor 92 rotates, it drives the fourth toothed pulley 93 to rotate, and the fourth toothed pulley 93 drives the fifth toothed pulley 95 and the third lead screw through the third toothed belt 94 22 turns. The third lead screw 22 drives the third nut 23 to perform linear reciprocating motion, thereby driving the first rotating moving frame 24 , the second rotating moving frame 27 , and the first connecting plate 29 to perform linear reciprocating motion.

In this embodiment, a sixth servo motor 63 is installed on the first rotating and moving frame 24 , and the sixth servo motor 63 is connected with the first rotating shaft 66 in a driving manner. When the sixth servo motor 63 rotates, it drives the first rotating shaft 66 to rotate, thereby driving the third rotating moving frame 90 to rotate by a certain angle. The magnitude of the angle is controlled by the second angle sensor 70 . When the first servo motor 25 rotates, it drives the second rotating shaft 74 to rotate, the second rotating shaft 74 drives the second connecting plate to rotate by a certain angle, and the rotation angle is controlled by the third angle sensor 75 .

In this embodiment, the second upper beam 80 is a hollow structure, the third cylinder 46 and the third piston rod 47 are installed in the second upper beam 80 , and the third piston rod 47 is connected with the first joint 50 . The fifth servo motor 87 and the 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 , and the fourth joint 56 , the fourth arm 57 , the fifth joint 58 and the manipulator 59 are connected to form a robot arm part one by one, and an angle sensor 45 and a speed sensor are installed at each joint to control the movement speed and angle of the manipulator.

The third piston rod 47 of the third air cylinder 46 can be extended and retracted. When extended, the first joint 50 is pushed out. The fifth servo motor 87 and the harmonic reducer 49 in the first joint 50 rotate 360° to adjust the rotation of the mechanical arm. At the same time, there are servo motors and harmonic reducers at each joint, and each mechanical arm can rotate at a certain angle. The angle and speed can be controlled by the angle sensor and speed sensor installed at the joint to adjust each The spatial pose of the robotic arm.

In this embodiment, the manipulator 59 can realize the functions of workpiece handling, stacking, welding, grinding, and installation of parts. The mechanical arm and the manipulator 59 can rotate each joint after the processing is completed, so that the mechanical arm overlaps and retracts to the second upper beam 80 of the frame body 9, and the retraction of the third piston rod 47 drives all the mechanical arm parts to be hidden in the second upper beam 80. , so that it does not take up space.

In this embodiment, a positioner is installed on the worktable 5 to cooperate with the cutter 43 to realize multi-angle processing. The positioner can mainly realize two functions of turning and turning. In fact, the rotary function of the positioner and the rotary function of the tool rest are redundant functions. Through the cooperation of the positioner and the tool rest, the positioning of the tool 43 and the machining position of the workpiece can be achieved at the fastest speed. For the flip function of the positioner, the angle and speed of the workpiece can be controlled by controlling the servo motor of the positioner through an angle sensor and a speed sensor, so that the workpiece is in the best assembly and processing angle.

The working principle of the multifunctional industrial robot of the present invention is as follows: when the third cylinder 46 is extended, the first joint 50 is pushed out, and the fifth servo motor 8748 and the harmonic reducer in the first joint 50 are rotated 360° to adjust the mechanical The spatial posture of the arm, at the same time, there are servo motors and harmonic reducers at each joint, and each mechanical arm can rotate at a certain angle. The angle and speed can be controlled by the angle sensor and speed sensor installed at the joint. Adjust each The spatial pose of the robotic arm. The manipulator 59 (it should be noted that the manipulator can be replaced with different types of manipulators as required) can realize the handling, stacking, welding, grinding, and installation of parts. The manipulator arm and the manipulator 59 can rotate each joint after the machining is completed, so that the manipulator is overlapped and retracted on the second upper beam 80 , and the third cylinder 46 retracts to drive all the manipulator parts to be hidden in the upper beam of the second frame 9 . Does not take up space.

The four symmetrically distributed multi-axis robot arms hidden in the second upper beam 80 are determined by the kinematics and dynamics analysis of the four multi-axis robots to determine the arm length and arm rotation angle of the multi-axis robot, so that the four The working space formed by the arms covers almost 360°. Not only can the manipulator 59 reach the target position at a set speed, but also the angle sensor and the speed sensor can be controlled to make the manipulator 59 approach the workpiece with the best posture; obtain the highest efficiency under the premise. The four manipulators 59 are equipped with different tools or cutters 43, which can realize welding, grinding, drilling, tapping, reaming, milling, handling, loading and unloading of workpieces, etc. assembly, etc. After completing the processing task, it can be retracted into the first upper beam to reduce space and avoid interference with other objects.

The fifth servo motor 87 rotates to drive the second toothed belt pulley 83 to rotate, and drives the first toothed belt pulley 81 and the third toothed belt 94 to rotate through the first toothed belt and the second toothed belt, so that the left and right The second lead screw 10 rotates to drive the second lifting nut 11 , thereby making the moving beam 17 move up and down.

The rotation of the sixth servo motor 63 drives the rotation of the first shaft 66 , thereby driving the body 9 of the third rotating moving frame 90 to rotate by a certain angle, and the rotation angle is controlled by the second angle sensor 70 . The rotation of the first servo motor 25 drives the second shaft 74 to rotate, thereby driving the second connecting plate to rotate by a certain angle, and the magnitude of the rotation angle is controlled by the third angle sensor 75 . The second servo motor 28 rotates to drive the reducer, the bearing mounting sleeve 91, the first connecting plate 29, the first cylinder 30, the first cylinder 30, the electromagnet 41 and other processing parts to move together, and the rotation angle is determined by the first angle Sensor 45 controls the adjustment. The first cylinder 30 drives the sliding block 69 to drive the third servo motor 42 and the machining tool 43 to reciprocate linearly up and down along the slideway 68 . The moving distance is controlled by the first displacement sensor 44 . The third servo motor 42 rotates to rotate the machining tool 43 or install a grinding tool to grind the workpiece, install a welding torch to weld the workpiece, and assemble parts, and install different manipulators 59 to realize handling or stacking. At the end of each processing or operation, the cylinder piston rod can be retracted and hidden, and other operation items will not be restricted by space and interfere.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the technical principle of the present invention, several improvements and replacements can be made. These improvements and replacements It should also be regarded as the protection scope of the present invention.

Claims (10)

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.

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