Industrial robot and control system

Abstract

The invention relates to the technical field of industrial robots, and provides an industrial robot and a control system, which are convenient for any movement of a workpiece in a three-dimensional space, can change the placement direction and placement angle of the workpiece, and are higher in flexibility, simpler in structure and easy to maintain in the later period. Comprising a mounting frame, a displacement plate, a three-dimensional space moving mechanism, a rotating ring, a connecting plate and a clamping mechanism, the displacement plate is arranged on the mounting frame, the three-dimensional space moving mechanism is arranged on the mounting frame and used for driving the displacement plate to move, and the rotating ring is rotationally connected to the displacement plate; the displacement plate is provided with a rotation driving assembly used for driving the rotating ring to rotate, the two connecting plates are fixedly connected to the rotating ring, rotating shafts are fixedly connected to the connecting plates, a turnover plate is fixedly connected between the two rotating shafts, turnover assemblies are arranged on the connecting plates, and the clamping mechanism is arranged on the turnover plate. The clamping device is used for clamping a workpiece.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial robot and a control system. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. An industrial robot control system in the prior art, patent publication number CN118254065A, monitors the contact force between the grinding head of the electric grinding equipment and the workpiece surface and the load data of the motor in real time through the contact force detection mechanism and the motor performance detection mechanism when working. The above data are transmitted to the data receiving unit in a wireless manner. Under the action of the data analysis unit and the data adjustment unit, the contact force between the grinding head and the workpiece surface is detected and the load data of the motor is monitored in real time. When the contact force between the parts and the load data of the motor are abnormal, the relevant software of the control system can be adaptively corrected; there is also a splicing type six-degree-of-freedom industrial articulated robot, the patent publication number is CN107414817A, which realizes the installation of the mechanical structure of the articulated industrial robot through splicing, reduces the weight of the industrial robot body, and reduces the cost due to the existing casting process. It uses a single-chip microcomputer as the core controller, and realizes the connection between the input and output signals and the single-chip microcomputer controller through the optoelectronic isolation system, thereby enhancing the system's anti-interference ability. Compared with the existing industrial robot PLC control system, the cost is greatly reduced.

[0003] However, the above-mentioned prior art has certain limitations on the movement of the workpiece, and can only move the workpiece in position, but cannot flexibly flip the workpiece. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides an industrial robot and a control system to solve the problem that the prior art mentioned in the background art can only move the workpiece in position but cannot flexibly flip the workpiece.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an industrial robot, comprising a mounting frame, a displacement plate, a three-dimensional space moving mechanism, a rotating ring, a connecting plate and a clamping mechanism, wherein the displacement plate is arranged on the mounting frame, and the three-dimensional space moving mechanism is arranged on the mounting frame, and is used to drive the displacement plate to move its position, the rotating ring is rotatably connected to the displacement plate, and a driving component for driving the rotating ring to rotate is arranged on the displacement plate, and two connecting plates are provided, and both of the two connecting plates are fixedly connected to the rotating ring, and a rotating shaft is fixedly connected to the connecting plate, and a flip plate is fixedly connected between the two rotating shafts, and a flip component for driving the flip plate to flip is arranged on the connecting plate, and the clamping mechanism is arranged on the flip plate, and is used to clamp the workpiece.

[0006] Preferably, the three-dimensional space moving mechanism includes a storage box, a moving plate, a first swivel seat, a first rotating plate, a second swivel seat, a second rotating plate, a rotating column and a moving assembly. The storage boxes are provided with three, the storage boxes are fixedly connected to the mounting frame, the moving plate is slidably connected to the storage box, the first swivel seat is fixedly connected to the moving plate, the first rotating plate is rotatably mounted on the first swivel seat, the second swivel seat is rotatably mounted on the first rotating plate, the second rotating plate is fixedly connected to the second swivel seat, the rotating column is rotatably connected to the second rotating plate, and the rotating column is fixedly connected to the displacement plate, and the moving assembly is arranged on the storage box for driving the moving plate to slide.

[0007] Specifically, the moving assembly includes a first screw, a threaded plate and a first motor, the first screw is rotatably connected to the storage box, the threaded plate is threadedly sleeved on the first screw, and the threaded plate is fixedly connected to the moving plate, the storage box is provided with a moving groove for moving the threaded plate, the threaded plate is slidably connected to the storage box, the first motor is fixedly mounted on the storage box, and the output end of the first motor passes through the storage box and is concentrically connected to the first screw.

[0008] Furthermore, the driving assembly includes a rotating rod, a rotating gear, an internal gear and a second motor. The rotating rod is rotatably connected to the displacement plate, the rotating gear is fixedly mounted on the rotating rod, the internal gear is fixedly connected to the rotating ring, and the internal gear is meshed with the rotating gear. The second motor is fixedly mounted on the displacement plate, and the output end of the second motor is concentrically connected to the rotating rod.

[0009] Furthermore, the flipping assembly includes a first bevel gear, a driving rod, a second bevel gear and a third motor, the first bevel gear is fixedly mounted on the rotating shaft, the driving rod is rotatably connected to the connecting plate, the second bevel gear is fixedly mounted on the driving rod, and the first bevel gear is meshed with the second bevel gear, the third motor is fixedly mounted on the connecting plate, and the output end of the third motor passes through the connecting plate and is concentrically connected to the driving rod.

[0010] Furthermore, the clamping mechanism includes a sliding plate, a central component, a fixed frame, an extension plate, an extension component and a clamping pad. There are multiple sliding plates, and the multiple sliding plates are slidably connected to the flip plate. The central component is arranged on the flip plate to drive the multiple sliding plates to slide centrally. The fixed frame is fixedly connected to the sliding plate, the extension plate is slidably connected to the fixed frame, the extension component is arranged on the fixed frame to drive the extension plate to slide, and the clamping pad is fixedly connected to the extension plate.

[0011] As a further scheme of the present invention, the centralized component includes a first turntable, a rotating plate, a second turntable, a lifting plate and a lifting component. A plurality of the first turntables are provided, and the plurality of the first turntables are respectively fixedly connected to the plurality of the sliding plates. A plurality of the rotating plates are provided, and the plurality of the rotating plates are respectively rotatably mounted on the plurality of the first turntables. A plurality of the second turntables are provided, and the plurality of the second turntables are respectively rotatably mounted on the plurality of the rotating plates. The lifting plate is fixedly connected to the plurality of the second turntables. The lifting component is provided on the flip plate to drive the lifting plate to move.

[0012] As a further solution of the present invention, the lifting assembly includes a support frame, a second screw and a fourth motor. The support frame is fixedly connected to the flip plate, the second screw is rotatably connected between the support frame and the flip plate, the lifting plate is threadedly sleeved on the second screw, the fourth motor is fixedly mounted on the support frame, and the output end of the fourth motor passes through the support frame and is concentrically connected to the second screw.

[0013] As a further solution of the present invention, the extension component includes a fixed plate, a third screw, a threaded block and a fifth motor. Two fixed plates are provided, and the fixed plates are fixedly connected to the fixed frame. The third screw is rotatably connected between the two fixed plates. The threaded block is threadedly sleeved on the third screw, and the threaded block is fixedly connected to the extension plate. The fifth motor is fixedly mounted on the fixed plate, and the output end of the fifth motor passes through the fixed plate and is concentrically connected to the third screw.

[0014] A control system for an industrial robot, comprising the above-mentioned industrial robot, further comprising the following steps:

[0015] S1. Turn on the first motor, and the output end of the first motor drives the first screw located on one side to rotate, and the rotation of the first screw drives the threaded plate located on one side to slide, and the threaded plate drives the moving plate located on one side to slide, thereby driving the first rotating plate and the second rotating plate located on one side to move, and the sliding of the moving plate drives the first rotating plates of the other two groups to rotate between the first rotating seat and the second rotating seat, and the second rotating plate rotates on the rotating column, thereby driving the displacement plate to move above the workpiece;

[0016] S2, the output end of the fifth motor drives the third screw to rotate, the third screw drives the threaded block to slide, the threaded block drives the extension plate to slide toward the workpiece, so that the extension plate is outside the workpiece, the output end of the fourth motor drives the second screw to rotate, the rotation of the second screw drives the lifting plate to move, the movement of the lifting plate drives the rotating plate to rotate between the first turntable and the second turntable, thereby driving the sliding plate to slide, the sliding plate drives the fixed frame to move, the fixed frame drives the clamping pad to move through the extension plate, and the workpiece can be clamped;

[0017] S3. The output end of the third motor drives the driving rod to rotate, the driving rod drives the second bevel gear to rotate, the second bevel gear drives the first bevel gear to rotate, the first bevel gear drives the rotating shaft to rotate, the rotating shaft drives the flip plate to flip, and the workpiece can be driven to change the placement angle, the output end of the second motor drives the rotating rod to rotate, the rotating rod drives the rotating gear to rotate, the rotating gear drives the internal gear to rotate, the internal gear drives the rotating ring to rotate, the rotating ring drives the flip plate to rotate through two connecting plates, and the workpiece can be driven to rotate, and then the displacement plate is driven to move again by the first motor to transport the workpiece to the appropriate position.

[0018] Compared with the prior art, the present invention provides an industrial robot and a control system, which have the following beneficial effects:

[0019] In the present invention, the displacement plate is driven to move its position through a three-dimensional space moving mechanism, the rotating ring is driven to rotate by a rotating assembly, thereby changing the placement direction of the workpiece, the flip plate is driven to flip by a flip assembly, thereby changing the placement angle of the workpiece, and the workpiece is clamped by a clamping mechanism. Therefore, the industrial robot is convenient for the workpiece to move arbitrarily in a three-dimensional space, and can change the placement direction and placement angle of the workpiece. It has greater flexibility, a simpler structure, and is easy to maintain later. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the three-dimensional structure of the mounting frame, displacement plate and storage box of the present invention;

[0023] Figure 3 It is a schematic diagram of the three-dimensional structure of the movable plate, the first rotating seat and the first rotating plate of the present invention;

[0024] Figure 4 It is a partially cutaway three-dimensional structural schematic diagram of the cooperation of the storage box, the first screw rod and the first motor of the present invention;

[0025] Figure 5 For the present invention Figure 4 A schematic diagram of the local enlarged structure at point A in the middle;

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the displacement plate, the rotating ring and the connecting plate of the present invention;

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the connecting plate, the rotating shaft and the turning plate of the present invention;

[0028] Figure 8 It is a partially cutaway three-dimensional structural schematic diagram of the cooperation of the rotating rod, the rotating gear and the internal gear of the present invention;

[0029] Fig. 9 It is a schematic diagram of the three-dimensional structure of the rotating shaft, the flip plate and the third motor of the present invention;

[0030] Fig.10 It is a schematic diagram of a partially cutaway three-dimensional structure of the connection plate, the rotating shaft and the flip plate of the present invention;

[0031] Fig.11 For the present invention Fig.10 A schematic diagram of the local enlarged structure at B in the middle;

[0032] Fig.12 It is a schematic diagram of the three-dimensional structure of the fixing frame, the extension plate and the clamping pad of the present invention;

[0033] Fig.13It is a partially cutaway three-dimensional structural schematic diagram of the cooperation of the flip plate, the sliding plate and the fixing frame of the present invention;

[0034] Fig.14 It is a schematic diagram of a three-dimensional structure of the first turntable, the rotating plate and the second turntable of the present invention;

[0035] Fig.15 It is a schematic diagram of the three-dimensional structure of the fixing plate, the third screw rod and the threaded block of the present invention.

[0036] In the figure: 1, mounting frame; 2, displacement plate; 3, rotating ring; 4, connecting plate; 5, rotating shaft; 6, flip plate; 7, storage box; 8, moving plate; 9, first rotating seat; 10, first rotating plate; 11, second rotating seat; 12, second rotating plate; 13, rotating column; 14, first screw; 15, threaded plate; 16, first motor; 17, rotating rod; 18, rotating gear; 19, internal gear; 20, second motor; 21, first bevel gear; 22, driving rod; 23, second bevel gear; 24, third motor; 25, sliding plate; 26, fixed frame; 27, extension plate; 28, clamping pad; 29, first turntable; 30, rotating plate; 31, second turntable; 32, lifting plate; 33, supporting frame; 34, second screw; 35, fourth motor; 36, fixed plate; 37, third screw; 38, threaded block; 39, fifth motor. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figures 1 to 15An industrial robot includes a mounting frame 1, a displacement plate 2, a three-dimensional space moving mechanism, a rotating ring 3, a connecting plate 4 and a clamping mechanism. The displacement plate 2 is arranged on the mounting frame 1. The three-dimensional space moving mechanism is arranged on the mounting frame 1 and is used to drive the displacement plate 2 to move. The three-dimensional space moving mechanism includes a storage box 7, a moving plate 8, a first rotating seat 9, a first rotating plate 10, a second rotating seat 11, a second rotating plate 12, a rotating column 13 and a moving assembly. The storage box 7 is provided with three storage boxes 7, which are fixedly connected to the mounting frame 1. The moving plate 8 is slidably connected to the storage box 7, the first rotating seat 9 is fixedly connected to the moving plate 8, the first rotating plate 10 is rotatably sleeved on the first rotating seat 9, the second rotating seat 11 is rotatably sleeved on the first rotating plate 10, the second rotating plate 12 is fixedly connected to the second rotating seat 11, the rotating column 13 is rotatably connected to the second rotating plate 12, and the rotating column 13 is fixedly connected to the displacement plate 2, the moving assembly is arranged on the storage box 7, and is used to drive the moving plate 8 to slide, and the moving assembly includes a first screw rod 14, a threaded plate 15 and a first motor 16, the first screw rod 1 4 is rotatably connected to the storage box 7, the threaded plate 15 is threadedly sleeved on the first screw rod 14, and the threaded plate 15 is fixedly connected to the moving plate 8, the storage box 7 is provided with a moving groove for the threaded plate 15 to move, the threaded plate 15 is slidably connected to the storage box 7, the first motor 16 is fixedly installed on the storage box 7, the output end of the first motor 16 passes through the storage box 7 and is concentrically connected to the first screw rod 14, when the output end of the first motor 16 drives the first screw rod 14 located on one side thereof to rotate, the rotation of the first screw 14 drives The threaded plate 15 on one side thereof slides, and the threaded plate 15 drives the movable plate 8 on one side thereof to slide, thereby driving the first rotating plate 10 and the second rotating plate 12 on one side thereof to move, and further driving the displacement plate 2 to move its position, and the sliding of the movable plate 8 will drive the other two groups of first rotating plates 10 to rotate between the first rotating seat 9 and the second rotating seat 11, and the second rotating plate 12 rotates on the rotating column 13, so as to drive the displacement plate 2 to move freely in the three-dimensional space, and has high flexibility.

[0039] See also Figures 1 to 15The rotating ring 3 is rotatably connected to the displacement plate 2, and a driving assembly for driving the rotating ring 3 to rotate is provided on the displacement plate 2. The driving assembly includes a rotating rod 17, a rotating gear 18, an internal gear 19 and a second motor 20. The rotating rod 17 is rotatably connected to the displacement plate 2, and the rotating gear 18 is fixedly sleeved on the rotating rod 17. The internal gear 19 is fixedly connected to the rotating ring 3, and the internal gear 19 is meshed with the rotating gear 18. The second motor 20 is fixedly installed on the displacement plate 2, and the output end of the second motor 20 is concentrically connected to the rotating rod 17. The output end of the second motor 20 drives the rotating rod 17 to rotate, and the rotating rod 17 drives the rotating gear 18 to rotate. The rotating gear 18 drives the internal gear 19 to rotate, and the internal gear 19 drives the rotating ring 3 to rotate. The rotating ring 3 drives the flip plate 6 to rotate through two connecting plates 4, so as to drive the workpiece to rotate, thereby adjusting the placement direction of the workpiece. Two connecting plates 4 are provided, and the two connecting plates 4 are fixedly connected to the rotating ring 3 , and a rotating shaft 5 is fixedly connected to the connecting plate 4, a flip plate 6 is fixedly connected between the two rotating shafts 5, and a flip assembly for driving the flip plate 6 to flip is provided on the connecting plate 4, the flip assembly includes a first bevel gear 21, a driving rod 22, a second bevel gear 23 and a third motor 24, the first bevel gear 21 is fixedly sleeved on the rotating shaft 5, the driving rod 22 is rotatably connected to the connecting plate 4, the second bevel gear 23 is fixedly sleeved on the driving rod 22, and the first bevel gear 21 is meshed with the second bevel gear 23, the third motor 24 is fixedly installed on the connecting plate 4, the output end of the third motor 24 passes through the connecting plate 4 and is concentrically connected with the driving rod 22, the output end of the third motor 24 drives the driving rod 22 to rotate, the driving rod 22 drives the second bevel gear 23 to rotate, the second bevel gear 23 drives the first bevel gear 21 to rotate, the first bevel gear 21 drives the rotating shaft 5 to rotate, the rotating shaft 5 drives the flip plate 6 to flip, so as to drive the workpiece to change the placement angle.

[0040] See also Figures 1 to 15The clamping mechanism is arranged on the flip plate 6 for clamping the workpiece. The clamping mechanism includes a sliding plate 25, a centralized component, a fixed frame 26, an extension plate 27, an extension component and a clamping pad 28. A plurality of sliding plates 25 are arranged. The plurality of sliding plates 25 are slidably connected to the flip plate 6. The centralized component is arranged on the flip plate 6 for driving the plurality of sliding plates 25 to slide centrally. The centralized component includes a first turntable 29, a rotating plate 30, a second turntable 31, a lifting plate 32 and a lifting component. A plurality of first turntables 29 are arranged. The plurality of first turntables 29 are respectively fixedly connected to the plurality of sliding plates 25. A plurality of rotating plates 30 are arranged. The plurality of rotating plates 30 are respectively rotatably sleeved on the plurality of first turntables 29. The second turntable 31 is arranged with a plurality of The plurality of second turntables 31 are rotatably sleeved on the plurality of rotating plates 30 respectively, the lifting plate 32 is fixedly connected to the plurality of second turntables 31, the lifting assembly is arranged on the flip plate 6, and is used to drive the lifting plate 32 to move, the lifting assembly includes a support frame 33, a second screw 34 and a fourth motor 35, the support frame 33 is fixedly connected to the flip plate 6, the second screw 34 is rotatably connected between the support frame 33 and the flip plate 6, the lifting plate 32 is threadedly sleeved on the second screw 34, the fourth motor 35 is fixedly installed on the support frame 33, the output end of the fourth motor 35 passes through the support frame 33 and is concentrically connected to the second screw 34, the output end of the fourth motor 35 drives the second screw 34 to rotate, and the rotation of the second screw 34 drives the lifting plate 32 The lifting plate 32 moves and drives the rotating plate 30 to rotate between the first turntable 29 and the second turntable 31, thereby driving the sliding plate 25 to slide, and the sliding plate 25 drives the fixed frame 26 to move, and the fixed frame 26 drives the clamping pad 28 to move through the extension plate 27, so as to clamp the workpiece. The fixed frame 26 is fixedly connected to the sliding plate 25, and the extension plate 27 is slidably connected to the fixed frame 26. The extension component is arranged on the fixed frame 26, and is used to drive the extension plate 27 to slide, and the clamping pad 28 is fixedly connected to the extension plate 27. The extension component includes a fixed plate 36, a third screw 37, a threaded block 38 and a fifth motor 39. The fixed plate 36 is provided with two, and the fixed plate 36 is fixedly connected to the fixed frame 26 The third screw 37 is rotatably connected between the two fixed plates 36, the threaded block 38 is threadedly sleeved on the third screw 37, and the threaded block 38 is fixedly connected to the extension plate 27, and the fifth motor 39 is fixedly installed on the fixed plate 36, and the output end of the fifth motor 39 passes through the fixed plate 36 and is concentrically connected to the third screw 37. The output end of the fifth motor 39 drives the third screw 37 to rotate, and the third screw 37 drives the threaded block 38 to slide, and the threaded block 38 drives the extension plate 27 to slide, so as to extend the extension plate 27 to accurately clamp and place the workpiece. The electronic mechanical equipment used can use a single-chip microcomputer as the core controller, and the connection between the input and output signals and the single-chip microcomputer controller is realized through the photoelectric isolation system.

[0041] To sum up, when the industrial robot is in use, the first motor 16 is turned on, and the output end of the first motor 16 drives the first screw 14 located on one side thereof to rotate, and the rotation of the first screw 14 drives the threaded plate 15 located on one side thereof to slide, and the threaded plate 15 drives the moving plate 8 located on one side thereof to slide, thereby driving the first rotating plate 10 and the second rotating plate 12 located on one side thereof to move, and the sliding of the moving plate 8 will drive the other two groups of first rotating plates 10 to rotate between the first rotating seat 9 and the second rotating seat 11, and the second rotating plate 12 rotates on the rotating column 13, thereby driving the displacement plate 2 to move above the workpiece, the output end of the fifth motor 39 drives the third screw 37 to rotate, and the third screw 37 drives the threaded block 38 to slide, and the threaded block 38 drives the extension plate 27 to slide toward the workpiece direction, so that the extension plate 27 is outside the workpiece, and the output end of the fourth motor 35 drives the second screw 34 to rotate, and the rotation of the second screw 34 drives the lifting plate 32 to move, and the movement of the lifting plate 32 drives the rotating The rotating plate 30 rotates between the first turntable 29 and the second turntable 31, thereby driving the sliding plate 25 to slide, and the sliding plate 25 drives the fixed frame 26 to move, and the fixed frame 26 drives the clamping pad 28 to move through the extension plate 27, so as to clamp the workpiece, and the output end of the third motor 24 drives the driving rod 22 to rotate, the driving rod 22 drives the second bevel gear 23 to rotate, the second bevel gear 23 drives the first bevel gear 21 to rotate, the first bevel gear 21 drives the rotating shaft 5 to rotate, and the rotating shaft 5 drives the flip plate 6 to flip, so as to drive the workpiece to change the placement angle, the output end of the second motor 20 drives the rotating rod 17 to rotate, the rotating rod 17 drives the rotating gear 18 to rotate, the rotating gear 18 drives the internal gear 19 to rotate, and the internal gear 19 drives the rotating ring 3 to rotate, and the rotating ring 3 drives the flip plate 6 to rotate through the two connecting plates 4, so as to drive the workpiece to rotate, and then the displacement plate 2 is driven to move the position again by the first motor 16, so as to transport the workpiece to a suitable position.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot, comprising a mounting frame (1), characterized in that: Also includes: A displacement plate (2), wherein the displacement plate (2) is arranged on the mounting frame (1); A three-dimensional space movement mechanism, the three-dimensional space movement mechanism is arranged on the mounting frame (1) and is used to drive the displacement plate (2) to move its position; A rotating ring (3), the rotating ring (3) being rotatably connected to the displacement plate (2), and the displacement plate (2) being provided with a driving assembly for driving the rotating ring (3) to rotate; A connecting plate (4), wherein two connecting plates (4) are provided, and the two connecting plates (4) are both fixedly connected to the rotating ring (3), and a rotating shaft (5) is fixedly connected to the connecting plate (4), and a flip plate (6) is fixedly connected between the two rotating shafts (5), and a flip assembly for driving the flip plate (6) to flip is provided on the connecting plate (4); A clamping mechanism, wherein the clamping mechanism is arranged on the flip plate (6) and is used for clamping the workpiece.

2. An industrial robot according to claim 1, characterized in that: The three-dimensional space movement mechanism comprises: A storage box (7), wherein three storage boxes (7) are provided, and the storage boxes (7) are fixedly connected to the mounting frame (1); A movable plate (8), the movable plate (8) being slidably connected to the storage box (7); A first rotating seat (9), wherein the first rotating seat (9) is fixedly connected to the movable plate (8); A first rotating plate (10), the first rotating plate (10) being rotatably sleeved on the first rotating seat (9); A second rotating seat (11), the second rotating seat (11) is rotatably sleeved on the first rotating plate (10); A second rotating plate (12), the second rotating plate (12) being fixedly connected to the second rotating seat (11); A rotating column (13), wherein the rotating column (13) is rotatably connected to the second rotating plate (12), and the rotating column (13) is fixedly connected to the displacement plate (2); A moving component is arranged on the storage box (7) and is used to drive the moving plate (8) to slide.

3. An industrial robot according to claim 2, characterized in that: The mobile assembly comprises: a first screw rod (14), the first screw rod (14) being rotatably connected to the storage box (7); a threaded plate (15), the threaded plate (15) being threadably sleeved on the first screw rod (14), and the threaded plate (15) being fixedly connected to the movable plate (8), the storage box (7) being provided with a moving groove for the threaded plate (15) to move, and the threaded plate (15) being slidably connected to the storage box (7); A first motor (16), wherein the first motor (16) is fixedly mounted on the storage box (7), and an output end of the first motor (16) passes through the storage box (7) and is coaxially connected to the first screw rod (14).

4. An industrial robot according to claim 3, characterized in that: The driving assembly comprises: A rotating rod (17), wherein the rotating rod (17) is rotatably connected to the displacement plate (2); A rotating gear (18), wherein the rotating gear (18) is fixedly sleeved on the rotating rod (17); an internal gear (19), the internal gear (19) being fixedly connected to the rotating ring (3), and the internal gear (19) being meshed with the rotating gear (18); A second motor (20), wherein the second motor (20) is fixedly mounted on the displacement plate (2), and an output end of the second motor (20) is coaxially connected to the rotating rod (17).

5. An industrial robot according to claim 4, characterized in that: The flip assembly comprises: A first bevel gear (21), wherein the first bevel gear (21) is fixedly sleeved on the rotating shaft (5); A driving rod (22), wherein the driving rod (22) is rotatably connected to the connecting plate (4); A second bevel gear (23), wherein the second bevel gear (23) is fixedly sleeved on the driving rod (22), and the first bevel gear (21) is meshed with the second bevel gear (23); A third motor (24), wherein the third motor (24) is fixedly mounted on the connecting plate (4), and an output end of the third motor (24) passes through the connecting plate (4) and is coaxially connected to the driving rod (22).

6. An industrial robot according to claim 5, characterized in that: The clamping mechanism comprises: A sliding plate (25), wherein a plurality of sliding plates (25) are provided, and the plurality of sliding plates (25) are all slidably connected to the flip plate (6); A centralized component, the centralized component is arranged on the flip plate (6) and is used to drive the plurality of sliding plates (25) to perform centralized sliding; A fixed frame (26), wherein the fixed frame (26) is fixedly connected to the sliding plate (25); an extension plate (27), the extension plate (27) being slidably connected to the fixing frame (26); an extension assembly, the extension assembly being arranged on the fixing frame (26) and being used for driving the extension plate (27) to slide; A clamping pad (28), wherein the clamping pad (28) is fixedly connected to the extension plate (27).

7. An industrial robot according to claim 6, characterized in that: The centralized components include: a first turntable (29), wherein a plurality of the first turntables (29) are provided, and the plurality of the first turntables (29) are respectively fixedly connected to the plurality of the sliding plates (25); A rotating plate (30), wherein a plurality of the rotating plates (30) are provided, and the plurality of the rotating plates (30) are rotatably sleeved on the plurality of the first rotating tables (29) respectively; A second turntable (31), wherein a plurality of the second turntables (31) are provided, and the plurality of the second turntables (31) are rotatably sleeved on the plurality of the rotating plates (30) respectively; A lifting plate (32), the lifting plate (32) being fixedly connected to the plurality of second turntables (31); A lifting component is arranged on the flip plate (6) and is used to drive the lifting plate (32) to move.

8. An industrial robot according to claim 7, characterized in that: The lifting assembly comprises: A support frame (33), wherein the support frame (33) is fixedly connected to the flip plate (6); a second screw rod (34), the second screw rod (34) being rotatably connected between the support frame (33) and the flip plate (6), and the lifting plate (32) being threadedly sleeved on the second screw rod (34); A fourth motor (35), the fourth motor (35) is fixedly mounted on the support frame (33), and an output end of the fourth motor (35) passes through the support frame (33) and is coaxially connected to the second screw rod (34).

9. An industrial robot according to claim 8, characterized in that: The extension assembly comprises: A fixing plate (36), wherein two fixing plates (36) are provided and the fixing plates (36) are fixedly connected to the fixing frame (26); a third screw rod (37), the third screw rod (37) being rotatably connected between the two fixing plates (36); a threaded block (38), wherein the threaded block (38) is threadably sleeved on the third screw rod (37), and the threaded block (38) is fixedly connected to the extension plate (27); A fifth motor (39), the fifth motor (39) is fixedly mounted on the fixing plate (36), and an output end of the fifth motor (39) passes through the fixing plate (36) and is coaxially connected to the third screw rod (37).

10. A control system for an industrial robot, characterized in that: An industrial robot according to any one of claims 1 to 9 is used, comprising the following steps: S1. Turn on the first motor (16), the output end of the first motor (16) drives the first screw (14) located on one side to rotate, the rotation of the first screw (14) drives the threaded plate (15) located on one side to slide, the threaded plate (15) drives the movable plate (8) located on one side to slide, thereby driving the first rotating plate (10) and the second rotating plate (12) located on one side to move, and the sliding of the movable plate (8) drives the other two groups of first rotating plates (10) to rotate between the first rotating seat (9) and the second rotating seat (11), and the second rotating plate (12) rotates on the rotating column (13), thereby driving the displacement plate (2) to move above the workpiece; S2, the output end of the fifth motor (39) drives the third screw (37) to rotate, the third screw (37) drives the threaded block (38) to slide, the threaded block (38) drives the extension plate (27) to slide in the direction of the workpiece, so that the extension plate (27) is located outside the workpiece, the output end of the fourth motor (35) drives the second screw (34) to rotate, the second screw (34) drives the lifting plate (32) to move, the lifting plate (32) moves and drives the rotating plate (30) to rotate between the first turntable (29) and the second turntable (31), thereby driving the sliding plate (25) to slide, the sliding plate (25) drives the fixed frame (26) to move, the fixed frame (26) drives the clamping pad (28) to move through the extension plate (27), and the workpiece can be clamped; S3, the output end of the third motor (24) drives the driving rod (22) to rotate, the driving rod (22) drives the second bevel gear (23) to rotate, the second bevel gear (23) drives the first bevel gear (21) to rotate, the first bevel gear (21) drives the rotating shaft (5) to rotate, the rotating shaft (5) drives the flip plate (6) to flip, so as to drive the workpiece to change the placement angle, the output end of the second motor (20) drives the rotating rod (17) to rotate, the rotating rod (17) drives the rotating gear (18) to rotate, the rotating gear (18) drives the internal gear (19) to rotate, the internal gear (19) drives the rotating ring (3) to rotate, the rotating ring (3) drives the flip plate (6) to rotate through the two connecting plates (4), so as to drive the workpiece to rotate, and then the displacement plate (2) is driven to move again through the first motor (16), so as to transport the workpiece to a suitable position.

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