Industrial robot practical training platform control method and device

Abstract

The invention belongs to the technical field of training platform equipment, and particularly relates to an industrial robot training platform control method and device, and the method comprises the following steps: controlling equipment to start through a control module, and inputting an equipment operation command on an operation panel; on the basis of an equipment operation command, orderly feeding is conducted through the feeding mechanism, and defective goods are removed in cooperation with the screening mechanism in the feeding process; the screened products are sorted and stacked according to colors; then through a track unit, it is ensured that the robot can move according to a preset path; when the product parts have defects, the scanner transmits a signal to a computer program, a second electric push rod is controlled by the computer program to drive a second push plate, and the product parts are pushed into a waste box; and when the product parts have no defects, the color sensor is used for monitoring, signals are transmitted, and the product parts with different colors are placed at corresponding positions of the stacking module, so that the sorting and screening functions of the product parts are realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of training platform equipment, and in particular to a control method and device for an industrial robot training platform. Background Art

[0002] In the process of industrial robot skill training, more conventional software simulation is usually selected as a training tool. However, the practicality of the software simulation itself is weak and cannot be used as an intuitive training. This will lead to insufficient thoroughness of the skill training, and the observer cannot absorb knowledge quickly. At the same time, the practitioner cannot intuitively see the shortcomings. Usually, an industrial robot training platform is used for skill training.

[0003] A Chinese patent with publication number CN106782008A discloses an industrial robot teaching workstation, including a workbench cabinet with a work surface, an industrial robot controller is installed inside the workbench cabinet, and a feeding unit, an industrial robot body, a visual detection controller, a material assembly platform, a drive device, a slide rail, a PLC controller and a detection device are installed on the work surface; the workstation centrally installs the industrial robot controller, the industrial robot body, the material assembly platform, the visual detection controller, the drive device, the slide rail, the PLC controller, and the detection device on a workbench cabinet, simulates the real application of industrial robots in the 3C industry through actual operation, aligns the teaching content with the employment content, and fully meets the school's needs for students to carry out industrial robot education. The entire industrial robot teaching workstation not only has good structural integrity and compactness, but also can realize the autonomous operation of the industrial robot, with high automated assembly precision and high automation integration.

[0004] In the current existing technology, the material assembly position is set to facilitate the detection of whether the product installation meets the requirements. However, during the feeding process, some product parts are unqualified. If they are not screened and eliminated in advance, and then tested during assembly, it will obviously delay work efficiency and is not suitable for the normal product assembly process.

[0005] To this end, the present invention provides an industrial robot training platform control method and device. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a control method of an industrial robot training platform described in the present invention, the control method comprises the following steps:

[0008] S1: Start the device through the control module, and then input the device operation command on the operation panel;

[0009] S2: Based on the equipment operation command, the material is loaded in order through the loading mechanism, and the screening mechanism is cooperated in the loading process. When the product parts are defective, the signal is transmitted to the computer program through scanning, and the screening mechanism is controlled by the computer program to push the product parts out; when the product parts are not defective, they continue to be transported;

[0010] S3: sort and stack the screened products according to color;

[0011] S4: Through the trajectory unit, according to the task requirements, the robot's motion trajectory is planned to ensure that the robot can move along the predetermined path;

[0012] S5: Finally, assembly is performed and storage is carried out after assembly.

[0013] Preferably, an industrial robot training platform control device comprises a training workbench, and a screening mechanism, a stacking module, a trajectory module, an assembly module, a storage module and a robot body are arranged on the top of the training workbench;

[0014] The screening mechanism is arranged on the top of the training workbench, and the screening mechanism includes a mounting seat fixedly connected to the top of the training workbench, one end of the top of the mounting seat is installed with a conveyor belt, and the other end of the top of the mounting seat is fixedly connected to a feeding box; limited blocks are fixedly connected to the two inner side walls of the mounting seat, and the inner side walls of the limit blocks are rotatably connected with rollers through a rotating shaft; a first mounting frame is fixedly connected to one end of the top of the mounting seat close to the limit block, a scanner is installed on the first mounting frame, a second side plate is fixedly connected to the side wall of the mounting seat, a second electric push rod is fixedly connected to the top of the second side plate, and a second push plate is fixedly connected to the output end of the second electric push rod, and the second push plate is arranged on one side of the first mounting frame; the scanner is electrically connected to the second electric push rod; a second mounting frame is fixedly connected to one end of the top of the mounting seat away from the feeding box, and a color sensor is installed on the second mounting frame; the color sensor is electrically connected to the robot body; a waste box is fixedly connected to one side of the mounting seat.

[0015] Preferably, a first side plate is fixedly connected to the side wall of the mounting seat close to the loading box, a first electric push rod is fixedly connected to the top of the first side plate, a first push plate is fixedly connected to the output end of the first electric push rod, and the first push plate cooperates with the loading box.

[0016] Preferably, a connector is installed at the output end of the robot body, a changing box is fixedly connected to the top of the training workbench, and the connector cooperates with the changing box; a warning light is fixedly connected to the top of the training workbench.

[0017] Preferably, the stacking module comprises a first supporting platform fixedly connected to the top of the workbench, a stacking plate is fixedly connected to the top of the first supporting platform, and a pressure sensor is provided between the stacking plate and the first supporting platform.

[0018] Preferably, the track module includes a second support platform fixedly connected to the top of the training workbench, and a track plate is fixedly connected to the top of the second support platform; the assembly module includes a third support platform fixedly connected to the top of the training workbench, and an assembly plate is fixedly connected to the third support platform.

[0019] Preferably, the storage module includes a storage box fixedly connected to the top of the training workbench, the storage box is stepped and is respectively provided with a first top plate, a second top plate and a third top plate, the first top plate, the second top plate and the third top plate are all slidably connected in the storage box, and a cylinder is provided at the bottom.

[0020] Preferably, a fixed seat is provided on one side of the stacking module, and the fixed seat is fixedly connected to the top of the training workbench. A lifting rod is slidably connected in the fixed seat, and a reciprocating screw rod is rotatably connected to the bottom inner wall of the fixed seat through a bearing. The lifting rod is threadedly connected to the reciprocating screw rod, and a second bevel gear is fixedly connected to the bottom end of the reciprocating screw rod. A rotating rod is rotatably connected to the fixed seat through a rotating shaft, and one end of the rotating rod is fixedly connected to a first bevel gear, and the first bevel gear is meshed with the second bevel gear; two limit rods are fixedly connected to the lifting rod, and the limit rods both slide on the fixed seat; a third motor is fixedly connected to the fixed seat, and the output shaft of the third motor is fixedly connected to the rotating rod; a camera is installed on the top of the lifting rod, and a first motor is provided on one side of the camera.

[0021] Preferably, a first gear is fixedly connected to the fixing seat, a second motor is fixedly connected to the training workbench, a second gear is fixedly connected to the output shaft of the second motor, and the second gear is meshed with the first gear.

[0022] Preferably, a control panel, control buttons and a display screen are fixedly connected to the front side wall of the training workbench; a distribution box is installed on the rear side wall of the bottom end of the training workbench, and a heat dissipation mechanism is provided on the distribution box.

[0023] The beneficial effects of the present invention are as follows:

[0024] 1. The control method and device of an industrial robot training platform described in the present invention, through the cooperation of a scanner, a color sensor and a second push plate, in the process of feeding, by pushing the product parts in the feeding box onto the conveyor belt, under the action of a limit block and a roller, the product parts are limited in the middle of the conveyor belt for transportation, when passing through the scanner, the product parts are detected by the scanner, when the product parts are defective, the scanner transmits a signal to a computer program, and the computer program controls the second electric push rod, and the output end of the second electric push rod drives the second push plate to push the product parts into the waste bin; when the product parts are not defective, they continue to be transported, and after monitoring by the color sensor, the color sensor identifies product parts of different colors, transmits the signal, and the system controls the robot body to place product parts of different colors at the corresponding positions of the stacking module, thereby realizing the sorting and screening functions of product parts.

[0025] 2. The control method and device of an industrial robot training platform described in the present invention, through the cooperation of the first bevel gear, the second bevel gear, the first gear and the second gear, when the height of the camera needs to be adjusted, the third motor needs to be turned on, and the output shaft of the third motor drives the rotating rod to rotate, and the first bevel gear is driven to rotate through the rotating rod, and the second bevel gear is driven to rotate through the first bevel gear, and the reciprocating screw is driven to rotate through the second bevel gear, and the lifting rod is driven to move up and down through the reciprocating screw, and the camera is driven to move up and down through the lifting rod, so as to realize the function of adjusting the height of the camera; when the angle of the camera needs to be adjusted, the first motor needs to be turned on, and the camera is driven to swing up and down through the first motor, so as to realize the function of adjusting the angle of the camera; when the angle of the fixed seat needs to be adjusted, the second motor is turned on, and the second gear is driven to rotate through the output shaft of the second motor, and the first gear is driven to rotate through the second gear, and the fixed seat is driven to rotate through the first gear, so as to adjust the angle of the fixed seat and expand the front and rear shooting range of the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] Figure 1 is a stereogram of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the loading box in the present invention;

[0029] Figure 3 It is a structural schematic diagram of the waste box in the present invention;

[0030] Figure 4 It is a structural schematic diagram of a fixing base and a lifting rod in the present invention;

[0031] Figure 5 is a cross-sectional view of the fixing seat in the present invention;

[0032] Figure 6 is a cross-sectional view of the first support platform in the present invention;

[0033] Figure 7 is a cross-sectional view of a storage box in the present invention;

[0034] Figure 8 is a method flow chart of an embodiment of the present invention;

[0035] In the figure: 1. Training workbench; 11. Control panel; 12. Control button; 13. Display screen; 14. Distribution box; 2. Robot body; 21. Connector; 22. Changing box; 23. Warning light; 3. Loading box; 31. Mounting seat; 32. First mounting frame; 33. Scanner; 34. Second mounting frame; 35. Color sensor; 36. Limit block; 37. Roller; 38. Conveyor belt; 39. Waste box; 4. First side panel; 41. First electric push rod; 42. First push plate; 43. Second side panel; 44. Second electric push rod; 45. Second push plate; 5. Fixed seat; 51. Lifting rod; 52. Limit Rod; 53, camera; 531, first motor; 54, first gear; 541, second gear; 542, second motor; 55, third motor; 551, rotating rod; 552, first bevel gear; 553, second bevel gear; 554, reciprocating screw; 6, stacking module; 61, stacking plate; 62, first support platform; 63, pressure sensor; 7, track module; 71, track plate; 72, second support platform; 8, assembly module; 81, assembly plate; 82, third support platform; 9, storage module; 91, storage box; 92, first top plate; 93, second top plate; 94, third top plate; 95, cylinder. DETAILED DESCRIPTION

[0036] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0037] like Figure 8 As shown, a control method for an industrial robot training platform according to an embodiment of the present invention comprises the following steps:

[0038] S1: Start the device through the control module, and then input the device operation command on the operation panel;

[0039] S2: Based on the equipment operation command, the material is loaded in order through the loading mechanism, and the screening mechanism is cooperated in the loading process. When the product parts are defective, the signal is transmitted to the computer program through scanning, and the screening mechanism is controlled by the computer program to push the product parts out; when the product parts are not defective, they continue to be transported;

[0040] S3: sort and stack the screened products according to color;

[0041] S4: Through the trajectory unit, according to the task requirements, the robot's motion trajectory is planned to ensure that the robot can move along the predetermined path;

[0042] S5: Finally, assembly is performed and storage is carried out after assembly.

[0043] like Figures 1 to 7 As shown, a control device for an industrial robot training platform, the device includes a training workbench 1, the top of the training workbench 1 is provided with a screening mechanism, a stacking module 6, a trajectory module 7, an assembly module 8, a storage module 9 and a robot body 2; the screening mechanism is arranged on the top of the training workbench 1, the screening mechanism includes a mounting seat 31 fixedly connected to the top of the training workbench 1, one end of the top of the mounting seat 31 is provided with a conveyor belt 38, and the other end of the top of the mounting seat 31 is fixedly connected to a loading box 3; the two inner side walls of the mounting seat 31 are fixedly connected to limit blocks 36, and the inner side walls of the limit blocks 36 are rotatably connected to rollers 37 through a rotating shaft; the top of the mounting seat 31 is close to the limit blocks 36. A first mounting frame 32 is fixedly connected to one end of the mounting seat 31, a scanner 33 is installed on the first mounting frame 32, a second side plate 43 is fixedly connected to the side wall of the mounting seat 31, a second electric push rod 44 is fixedly connected to the top of the second side plate 43, a second push plate 45 is fixedly connected to the output end of the second electric push rod 44, and the second push plate 45 is arranged on one side of the first mounting frame 32; the scanner 33 is electrically connected to the second electric push rod 44; a second mounting frame 34 is fixedly connected to the end of the top of the mounting seat 31 away from the loading box 3, a color sensor 35 is installed on the second mounting frame 34; the color sensor 35 is electrically connected to the robot body 2; a waste box 39 is fixedly connected to one side of the mounting seat 31.

[0044] When the industrial robot is in practical training, the robot body 2 stacks, tracks, assembles and stores the products according to the set computer program control system. Some product parts are unqualified during stacking and loading. If they are not screened and removed in advance, they will be tested during assembly, which will obviously delay work efficiency and is not suitable for the normal assembly process of the product. When the screening mechanism provided by the present invention is used, during the feeding process, the product parts in the feeding box 3 are pushed onto the conveyor belt 38, and the product parts are limited in the middle of the conveyor belt 38 for transportation under the action of the limit block 36 and the roller 37. When the product parts are scanned, When the instrument 33 is used, the product parts are detected by the scanner 33. When the product parts are defective, the scanner 33 transmits a signal to the computer program, and the computer program controls the second electric push rod 44, and drives the second push plate 45 through the output end of the second electric push rod 44 to push the product parts into the waste box 39; when the product parts are not defective, they continue to be transported and monitored by the color sensor 35. The color sensor 35 identifies product parts of different colors and transmits a signal. The system controls the robot body 2 to place product parts of different colors at corresponding positions of the stacking module 6, thereby realizing the sorting and screening functions of product parts.

[0045] like Figure 2 and Figure 3 As shown, the mounting seat 31 is fixedly connected to the side wall of the loading box 3 with a first side plate 4, the top of the first side plate 4 is fixedly connected to a first electric push rod 41, the output end of the first electric push rod 41 is fixedly connected to a first push plate 42, and the first push plate 42 cooperates with the loading box 3.

[0046] When the first push plate 42 provided by the present invention is in use, the product parts are in the loading box 3, wherein the bottom layer of product parts are just placed on the mounting seat 31, and by turning on the first electric push rod 41, the first push plate 42 is driven to move by the output end of the first electric push rod 41, and the first push plate 42 pushes the bottom layer of product parts onto the conveyor belt 38, and then slides downward in sequence under the action of gravity; wherein the automatic opening and closing time of the first electric push rod 41 is set to keep the product parts arranged in a spacing manner on the conveyor belt 38.

[0047] like Figure 1 As shown, a connector 21 is installed at the output end of the robot body 2, a changing box 22 is fixedly connected to the top of the training workbench 1, and the connector 21 cooperates with the changing box 22; a warning light 23 is fixedly connected to the top of the training workbench 1.

[0048] When the changing box 22 provided by the present invention is in use, the robot body 2 uses different connectors 21 at different stages when it is working. Under the setting of the control system, during different operations, the connector 21 needs to be inserted into the corresponding socket of the changing box 22 for replacement.

[0049] like Figure 6 As shown, the stacking module 6 includes a first support platform 62 fixedly connected to the top of the workbench, a stacking plate 61 is fixedly connected to the top of the first support platform 62, and a pressure sensor 63 is provided between the stacking plate 61 and the first support platform 62.

[0050] The pressure sensor 63 provided by the present invention is used to monitor the quality of the products on the stacking plate 61 when in use. When the set quality is reached on the stacking plate 61, a signal is transmitted through the pressure sensor 63 to control the robot body 2 to stop stacking and enter the next program.

[0051] like Figure 1 As shown, the track module 7 includes a second support platform 72 fixedly connected to the top of the training workbench 1, and a track plate 71 is fixedly connected to the top of the second support platform 72; the assembly module 8 includes a third support platform 82 fixedly connected to the top of the training workbench 1, and an assembly plate 81 is fixedly connected to the third support platform 82.

[0052] When the track board 71 provided by the present invention is in use, the track module 7 is set. The track module 7 is responsible for planning the movement trajectory of the robot according to the task requirements, ensuring that the robot can move along the predetermined path, and perform operations such as engraving and milling of the corresponding trajectory on the product parts; through the track module 7, the movement speed and acceleration of the robot can also be accurately controlled to adapt to different operation requirements, while reducing mechanical wear and improving movement accuracy and stability; through the assembly module 8, the product parts are assembled to form a product.

[0053] like Figure 7 As shown, the storage module 9 includes a storage box 91 fixedly connected to the top of the training workbench 1. The storage box 91 is stepped and is respectively provided with a first top plate 92, a second top plate 93 and a third top plate 94. The first top plate 92, the second top plate 93 and the third top plate 94 are all slidably connected in the storage box 91, and a cylinder 95 is provided at the bottom.

[0054] When the storage box 91 provided by the present invention is in use, different products are placed on the corresponding first top plate 92, second top plate 93 and third top plate 94. After one layer is arranged on the first top plate 92, second top plate 93 and third top plate 94, the corresponding cylinder 95 needs to be moved downward, and then the next layer is arranged to ensure that the products can be arranged stably and neatly.

[0055] like Figure 4 and Figure 5As shown, a fixed seat 5 is provided on one side of the stacking module 6, and the fixed seat 5 is fixedly connected to the top of the training workbench 1. A lifting rod 51 is slidably connected in the fixed seat 5. A reciprocating screw rod 554 is rotatably connected to the bottom inner wall of the fixed seat 5 through a bearing. The lifting rod 51 is threadedly connected to the reciprocating screw rod 554, and a second bevel gear 553 is fixedly connected to the bottom end of the reciprocating screw rod 554. A rotating rod 551 is rotatably connected to the fixed seat 5 through a rotating shaft, and one end of the rotating rod 551 is fixedly connected to a first bevel gear 552, and the first bevel gear 552 is meshed with the second bevel gear 553; two limit rods 52 are fixedly connected to the lifting rod 51, and the limit rods 52 both slide on the fixed seat 5; a third motor 55 is fixedly connected to the fixed seat 5, and the output shaft of the third motor 55 is fixedly connected to the rotating rod 551; a camera 53 is installed on the top of the lifting rod 51, and a first motor 531 is provided on one side of the camera 53.

[0056] When the first bevel gear 552 and the second bevel gear 553 provided by the present invention are in use, when it is necessary to adjust the height of the camera, the third motor 55 needs to be turned on, and the rotating rod 551 is driven to rotate by the output shaft of the third motor 55, and the first bevel gear 552 is driven to rotate by the rotating rod 551, and the second bevel gear 553 is driven to rotate by the first bevel gear 552, and the reciprocating screw rod 554 is driven to rotate by the second bevel gear 553, and the lifting rod 51 is driven to move up and down by the reciprocating screw rod 554, and the camera is driven to move up and down by the lifting rod 51, so as to realize the function of adjusting the height of the camera; when it is necessary to adjust the angle of the camera, the first motor 531 needs to be turned on, and the camera is driven to swing up and down by the first motor 531, so as to realize the function of adjusting the angle of the camera.

[0057] like Figure 4 As shown, a first gear 54 is fixedly connected to the fixing seat 5 , a second motor 542 is fixedly connected to the training workbench 1 , an output shaft of the second motor 542 is fixedly connected to a second gear 541 , and the second gear 541 is meshed with the first gear 54 .

[0058] When the first gear 54 and the second gear 541 provided by the present invention are in use and the angle of the fixing base 5 needs to be adjusted, the second motor 542 is turned on, and the second gear 541 is driven to rotate by the output shaft of the second motor 542, and the first gear 54 is driven to rotate by the second gear 541, and the fixing base 5 is driven to rotate by the first gear 54, thereby adjusting the angle of the fixing base 5 and expanding the front and rear shooting range of the camera.

[0059] like Figure 1 As shown, a control panel 11, a control button 12 and a display screen 13 are fixedly connected to the front side wall of the training workbench 1; a distribution box 14 is installed on the rear side wall of the bottom end of the training workbench 1, and a heat dissipation mechanism is provided on the distribution box 14.

[0060] The control panel 11 , the control buttons 12 and the display screen 13 provided by the present invention facilitate operation and control of the robot body 2 when in use, and provide power support for the operation of the robot body 2 through the power distribution box 14 .

[0061] Working principle: When the industrial robot is in training operation, according to the set computer program control system, the robot body 2 stacks, tracks, assembles and stores the products respectively. Some product parts are unqualified during stacking and loading. If they are not screened and removed in advance, they will be tested during assembly, which will obviously delay work efficiency and is not suitable for the normal assembly process of products. When the screening mechanism provided by the present invention is used, during the feeding process, the product parts in the feeding box 3 are pushed onto the conveyor belt 38, and the product parts are limited in the middle of the conveyor belt 38 for transportation under the action of the limit block 36 and the roller 37. When passing through When the scanner 33 is used, the product parts are detected by the scanner 33. When the product parts are defective, the scanner 33 transmits a signal to the computer program, and the computer program controls the second electric push rod 44, and the output end of the second electric push rod 44 drives the second push plate 45 to push the product parts into the waste bin 39; when the product parts are not defective, they continue to be transported, and are monitored by the color sensor 35. The color sensor 35 identifies the product parts of different colors and transmits the signal. The system controls the robot body 2 to place the product parts of different colors at the corresponding positions of the stacking module 6, so as to realize the sorting and screening functions of the product parts;

[0062] When the robot body 2 is working, different connectors 21 are used in different stages. Under the setting of the control system, the connector 21 needs to be inserted into the corresponding socket of the changing box 22 for replacement during different operations. When the set quality is reached on the stacking plate 61, a signal is transmitted through the pressure sensor 63 to control the robot body 2 to stop stacking and enter the next program. The motion trajectory of the robot body 2 is set through the trajectory module 7, and the product parts are subjected to the corresponding trajectory engraving, cutting and milling operations. The product parts are assembled through the assembly module 8 to form a product. Different products are placed on the corresponding first top plate 92, the second top plate 93 and the third top plate 94. After one layer is arranged on the first top plate 92, the second top plate 93 and the third top plate 94, the corresponding cylinder 95 needs to be moved downward, and then the next layer is arranged to ensure that the products can be arranged stably and neatly.

[0063] When the height of the camera needs to be adjusted, the third motor 55 needs to be turned on, and the output shaft of the third motor 55 drives the rotating rod 551 to rotate, and the first bevel gear 552 is driven to rotate through the rotating rod 551, and the second bevel gear 553 is driven to rotate through the first bevel gear 552, and the reciprocating screw rod 554 is driven to rotate through the second bevel gear 553, and the lifting rod 51 is driven to move up and down through the reciprocating screw rod 554, and the camera is driven to move up and down through the lifting rod 51, so as to achieve the function of adjusting the height of the camera; when the angle of the camera needs to be adjusted, the first motor 531 needs to be turned on, and the camera is driven to swing up and down through the first motor 531, so as to achieve the function of adjusting the angle of the camera; when the angle of the fixing seat 5 needs to be adjusted, the second motor 542 is turned on, and the second gear 541 is driven to rotate through the output shaft of the second motor 542, and the first gear 54 is driven to rotate through the second gear 541, and the fixing seat 5 is driven to rotate through the first gear 54, so as to adjust the angle of the fixing seat 5 and expand the front and rear shooting range of the camera.

[0064] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A control method for an industrial robot training platform, characterized in that: The control method comprises the following steps: S1: Start the device through the control module, and then input the device operation command on the operation panel; S2: Based on the equipment operation command, the material is loaded in order through the loading mechanism, and the screening mechanism is cooperated in the loading process. When the product parts are defective, the signal is transmitted to the computer program through scanning, and the screening mechanism is controlled by the computer program to push the product parts out; when the product parts are not defective, they continue to be transported; S3: sort and stack the screened products according to color; S4: Through the trajectory unit, according to the task requirements, the robot's motion trajectory is planned to ensure that the robot can move along the predetermined path; S5: Finally, assembly is performed and storage is carried out after assembly.

2. An industrial robot training platform control device, applicable to the industrial robot training platform control method according to claim 1, characterized in that: The device comprises a training workbench (1), wherein a screening mechanism, a stacking module (6), a track module (7), an assembly module (8), a storage module (9) and a robot body (2) are arranged on the top of the training workbench (1); The screening mechanism is arranged on the top of the training workbench (1), and comprises a mounting seat (31) fixedly connected to the top of the training workbench (1), a conveyor belt (38) being installed at one end of the top of the mounting seat (31), and a loading box (3) being fixedly connected at the other end of the top of the mounting seat (31); two inner side walls of the mounting seat (31) are fixedly connected with limit blocks (36), and the inner side walls of the limit blocks (36) are both rotatably connected with rollers (37) via rotating shafts; a first mounting frame (32) is fixedly connected to one end of the top of the mounting seat (31) close to the limit blocks (36), and a scanner (33) is installed on the first mounting frame (32), and the mounting seat (31) is provided with a plurality of rollers (37) disposed on the inner side walls of the limit blocks (36). A second side plate (43) is fixedly connected to the side wall, a second electric push rod (44) is fixedly connected to the top of the second side plate (43), a second push plate (45) is fixedly connected to the output end of the second electric push rod (44), and the second push plate (45) is arranged on one side of the first mounting frame (32); the scanner (33) is electrically connected to the second electric push rod (44); a second mounting frame (34) is fixedly connected to the top of the mounting seat (31) at one end away from the loading box (3), and a color sensor (35) is installed on the second mounting frame (34); the color sensor (35) is electrically connected to the robot body (2); a waste box (39) is fixedly connected to one side of the mounting seat (31).

3. The industrial robot training platform control device according to claim 2, characterized in that: A first side plate (4) is fixedly connected to the side wall of the mounting seat (31) close to the loading box (3); a first electric push rod (41) is fixedly connected to the top of the first side plate (4); a first push plate (42) is fixedly connected to the output end of the first electric push rod (41); and the first push plate (42) cooperates with the loading box (3).

4. The industrial robot training platform control device according to claim 3, characterized in that: The output end of the robot body (2) is provided with a connector (21); the top of the training workbench (1) is fixedly connected with a changing box (22); the connector (21) cooperates with the changing box (22); and the top of the training workbench (1) is fixedly connected with a warning light (23).

5. The industrial robot training platform control device according to claim 4, characterized in that: The stacking module (6) comprises a first support platform (62) fixedly connected to the top of the workbench, a stacking plate (61) is fixedly connected to the top of the first support platform (62), and a pressure sensor (63) is provided between the stacking plate (61) and the first support platform (62).

6. The industrial robot training platform control device according to claim 5, characterized in that: The track module (7) comprises a second support platform (72) fixedly connected to the top of the training workbench (1), and a track plate (71) is fixedly connected to the top of the second support platform (72); the assembly module (8) comprises a third support platform (82) fixedly connected to the top of the training workbench (1), and an assembly plate (81) is fixedly connected to the third support platform (82).

7. The industrial robot training platform control device according to claim 6, characterized in that: The storage module (9) comprises a storage box (91) fixedly connected to the top of the training workbench (1); the storage box (91) is in a stepped shape and is respectively provided with a first top plate (92), a second top plate (93) and a third top plate (94); the first top plate (92), the second top plate (93) and the third top plate (94) are all slidably connected in the storage box (91), and a cylinder (95) is provided at the bottom.

8. The industrial robot training platform control device according to claim 7, characterized in that: A fixed seat (5) is provided on one side of the stacking module (6), the fixed seat (5) is fixedly connected to the top of the training workbench (1), a lifting rod (51) is slidably connected inside the fixed seat (5), a reciprocating screw rod (554) is rotatably connected to the bottom inner wall of the fixed seat (5) via a bearing, the lifting rod (51) is threadedly connected to the reciprocating screw rod (554), a second bevel gear (553) is fixedly connected to the bottom end of the reciprocating screw rod (554), a rotating rod (551) is rotatably connected to the fixed seat (5) via a rotating shaft, and the rotating rod (55 1) is fixedly connected to one end of a first bevel gear (552), the first bevel gear (552) being meshed with a second bevel gear (553); two limit rods (52) are fixedly connected to the lifting rod (51), the limit rods (52) both slide on the fixing seat (5); a third motor (55) is fixedly connected to the fixing seat (5), the output shaft of the third motor (55) is fixedly connected to the rotating rod (551); a camera (53) is installed on the top of the lifting rod (51), and a first motor (531) is provided on one side of the camera (53).

9. The industrial robot training platform control device according to claim 8, characterized in that: The fixing seat (5) is fixedly connected with a first gear (54), the training workbench (1) is fixedly connected with a second motor (542), the output shaft of the second motor (542) is fixedly connected with a second gear (541), and the second gear (541) is meshed with the first gear (54).

10. The industrial robot training platform control device according to claim 9, characterized in that: A control panel (11), control buttons (12) and a display screen (13) are fixedly connected to the front side wall of the training workbench (1); a distribution box (14) is installed on the rear side wall at the bottom end of the training workbench (1), and a heat dissipation mechanism is provided on the distribution box (14).

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