Robot flexible intelligent manufacturing practical training system

Abstract

The invention provides a robot flexible intelligent manufacturing practical training system which comprises a plurality of functional units including a numerical control machining unit, a visual sorting and carrying unit, a stamping machining unit, a deburring unit, a detecting and assembling unit, an unstacking and warehousing unit, an intelligent conveying unit and a master control management unit for controlling all the units. All the units are combined to form the flexible intelligent production line. Functional units such as numerical control machining, visual sorting, stamping machining, deburring, intelligent detecting and assembling, unstacking and warehousing and the like are integrated, a plurality of basic modules are arranged on each functional unit, and practical training experiments of the basic modules such as industrial robot TCP setting, plane stacking, plane tracing, curved surface tracking, carrying coding, simulation welding and the like can be completed; the system integrates the functions of education and teaching, industrial application, scientific research and development and the like, improves the comprehensive skills of students in intelligent equipment such as industrial robots, and quickly improves the occupational skills and employment competitiveness.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing teaching and training technology, and in particular to a robot flexible intelligent manufacturing training system. Background Art

[0002] Intelligent manufacturing is a new production method based on the deep integration of new generation information and communication technology and advanced manufacturing technology, which runs through all aspects of manufacturing activities such as design, production, management, and service, and has the functions of self-perception, self-learning, self-decision-making, self-execution, and self-adaptation. Intelligent manufacturing plays a vital role at the national level and even in the entire human society.

[0003] Industrial robots and robot applications are an important part of intelligent manufacturing. In order to quickly improve students' professional skills and employment competitiveness, the school attaches great importance to cultivating students' comprehensive abilities in robot installation, programming, debugging, maintenance, operation and management. However, existing intelligent manufacturing training products have problems such as single training projects and difficulty in operation, which cannot fully cultivate students' comprehensive skills in intelligent equipment such as industrial robots, reducing students' employment competitiveness; in addition, most training products cannot integrate education and teaching, industrial applications, and scientific research and development, and have low cost performance. Summary of the invention

[0004] The present invention aims to provide a robot flexible intelligent manufacturing training system to overcome the deficiencies in the prior art.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a robot flexible intelligent manufacturing training system, including multiple functional units and an intelligent conveying unit, a general control management unit, the multiple functional units include a CNC processing unit, a visual sorting and handling unit, a stamping processing unit, a deburring unit, a detection and assembly unit, and a destacking and warehousing unit arranged in sequence;

[0006] CNC machining unit, used for CNC machining training workpieces;

[0007] The visual sorting and handling unit is used to sort the corresponding assembly training workpieces and transport them to the next station according to the sorting results;

[0008] Stamping processing unit, used for stamping processing training workpieces;

[0009] Deburring unit, used to perform surface deburring on training workpieces;

[0010] Inspection and assembly unit, used to inspect the processing quality of training workpieces and assemble training workpieces;

[0011] The destacking and warehousing unit is used to inspect the assembly quality and destacking and warehousing the unqualified workpieces;

[0012] Intelligent conveying unit, used to connect various functional units and transport training workpieces between various functional units;

[0013] The master control management unit includes a master control cabinet, a computer, a console and a touch screen all-in-one machine, which is used to control various functional units and intelligent conveying units, and realize comprehensive data management and process control through the industrial Internet cloud platform;

[0014] Moreover, the CNC machining unit, visual sorting and handling unit, stamping processing unit, deburring unit, inspection and assembly unit, and depalletizing and warehousing unit are all configured with multiple basic modules, including a quick-change tool module, a TCP calibration module, a plane stacking module, a plane drawing module, a surface tracking module, a handling coding module, and a simulated welding module.

[0015] Furthermore, in the above-mentioned robot flexible intelligent manufacturing training system, the TCP calibration module, plane stacking module, plane drawing module, surface tracking module, handling coding module, and simulated welding module are all installed on the training table of each functional unit through a basic base; the basic base includes a base and a mounting plate arranged on the base, and the base is assembled from aluminum profiles, and the mounting plate is arranged on the top of the base, and is provided with a plurality of positioning holes for positioning the basic module, and a detection sensor for detecting the presence or absence of the basic module is also provided under the mounting plate; the TCP calibration module, plane stacking module, plane drawing module, surface tracking module, handling coding module, and simulated welding module are all connected to the mounting plate through a fixed base plate, and a positioning pin cooperating with the positioning hole is provided under the fixed base plate, and handles are provided on both sides of the fixed base plate.

[0016] Furthermore, in the above-mentioned robot flexible intelligent manufacturing training system, each functional unit is provided with a unit control cabinet, which can control the functional unit individually. The unit control cabinet is an open design, including a mesh panel cabinet body and an electrical control system arranged on the mesh panel cabinet body.

[0017] Furthermore, in the above-mentioned robot flexible intelligent manufacturing training system, the intelligent conveying unit includes an AGV robot, a transfer conveyor, and a guide belt conveyor. One side of the CNC machining unit, the visual sorting and handling unit, the stamping machining unit, and the deburring unit is provided with a guide belt conveyor connected to the downstream functional unit. The AGV robot runs along a set route and is used to transfer workpieces between the inspection and assembly unit, the CNC machining unit, and the depalletizing and warehousing unit. The outer sides of the inspection and assembly unit, the CNC machining unit, and the depalletizing and warehousing unit are provided with transfer conveyors docked with the AGV robot; a vehicle-mounted conveying roller is provided above the AGV robot, and the vehicle-mounted conveying roller is docked with the transfer conveyor for conveying pallets loaded with workpieces.

[0018] Furthermore, in the above-mentioned robot flexible intelligent manufacturing training system, the CNC machining unit includes a training table and a CNC machine tool, a robot and a storage module arranged on the training table. The CNC machine tool is used to process training workpieces. The robot is arranged on the front side of the CNC machine tool, and an end tool for picking up the workpiece is provided at its end for automatic loading and unloading. The storage module is used to store the blanks to be processed. The storage module is arranged on one side of the robot, and includes a storage bracket and a placement plate. The storage bracket is assembled from aluminum profiles, and a plurality of placement plates are arranged on it in the vertical direction. The placement plate is provided with a plurality of storage positions for storing the blanks.

[0019] Furthermore, in the above-mentioned robot flexible intelligent manufacturing training system, the main body of the training platform 1 is a frame assembled from aluminum profiles, the top surface of the frame is provided with a mounting platform, the front and rear sides are provided with visual switch doors, and the other sides are closed by sheet metal sealing plates, and the mounting platform is assembled from multiple aluminum profiles with mounting slots. The training platforms of other functional units are similar in structure to the training platform 1.

[0020] Furthermore, the above-mentioned robot flexible intelligent manufacturing training system, the visual sorting and handling unit includes a training platform 2 and a robot 2 arranged on the training platform 2, a storage mechanism, a belt conveyor, and a visual detection mechanism. The robot 2 is arranged on the front side of the training platform 2, and its end is provided with an end tool for picking up workpieces for automatic loading and unloading; the belt conveyor is arranged on the front side of the robot 2, and guide plates are arranged on both sides of the belt conveyor. The guide plates are parallel to the belt conveying surface of the belt conveyor and higher than the belt conveying surface. A stop positioning piece and a sensor are arranged at the end of the belt conveyor; the storage mechanism is arranged at one end of the belt conveyor, including a bracket 1, a glass warehouse tube, a push cylinder, a push The bracket one is fixed above the training platform two, and a glass warehouse tube is provided at one end thereof close to the belt conveyor. The bottom of the glass warehouse tube is a discharge port, and the bottom discharge port is suspended above the bracket one through a warehouse tube seat. The pushing cylinder is fixed on the top surface of the bracket one, and a push head is provided at the output end thereof. The push head extends into the warehouse tube seat and pushes the workpiece at the discharge port onto the belt conveyor through the pushing cylinder. The visual inspection mechanism is arranged on one side of the belt conveyor, including a detection bracket and a detection camera one and a material sensor arranged on the detection bracket. The detection bracket is installed on the training platform two, and the detection camera one and the material sensor are arranged above the detection station of the belt conveyor.

[0021] Furthermore, in the above-mentioned robot flexible intelligent manufacturing training system, the stamping processing unit includes a training platform three and a robot three, a stamping mechanism, and a positioning mechanism arranged on the training platform three. The robot three is arranged on the front side of the training platform three, and its end is provided with an end tool for picking up the workpiece for automatic loading and unloading; the stamping mechanism includes a mounting base plate and a stamping assembly, the mounting base plate is installed above the training platform three, the stamping assembly includes a step-feed translation platform and a stamping tool arranged on the step-feed translation platform, and the step-feed translation platform is fixed above the mounting base plate through a stamping bracket; The positioning mechanism includes a slide and a clamp. The slide is arranged directly below the stepping feed translation stage, and includes a slide base, a slider, a sliding plate, and a sliding cylinder. The slide base is fixed above the mounting base, and the sliding cylinder is fixed on the slide base. A slider is provided at the output end of the slide. Guide rods slidably connected to the slider are provided on both sides of the slider, and the sliding plate is fixed on the slider. The clamp is arranged on the sliding plate, and includes a fixed splint, a movable splint, and a clamping cylinder. The fixed splint and the movable splint are relatively arranged on the sliding plate, and the output end of the clamping cylinder is connected to the movable splint.

[0022] Furthermore, the above-mentioned robot flexible intelligent manufacturing training system, the deburring unit includes a training table four and a robot four and a positioner arranged on the training table four. The robot four is arranged on the front side of the training table four, and its end is provided with an end gripper tool for picking up the workpiece and an end grinding tool for deburring, which is used for automatic loading and unloading and deburring; the positioner includes a rotating table and a clamp two arranged on the rotating table, the rotating table can rotate around the X-axis to change the grinding angle, and the clamp two is used to locate the workpiece position.

[0023] Furthermore, in the above-mentioned robot flexible intelligent manufacturing training system, the detection and assembly unit includes a training table five and a robot five, a detection and assembly mechanism, and a rotary feeding mechanism arranged on the training table five. The robot five is arranged at the front side of the training table five, and an end tool for picking up the workpiece is provided at its end for automatic loading and unloading; the detection and assembly mechanism includes a detection table, a fixture three, and a detection camera two. The detection table is arranged at the rear side of the robot five, and a fixture three for positioning the training workpiece is provided thereon. The detection camera two is arranged directly above the fixture three for detecting the processing quality of the training workpiece; the rotary feeding mechanism includes a rotating bracket and a rotating feed tray arranged on the rotating bracket. The rotating feed tray is rotatably connected to the rotating bracket for temporarily storing the training workpieces that have passed the inspection.

[0024] Furthermore, the above-mentioned robot flexible intelligent manufacturing training system, the depalletizing and warehousing unit includes a training platform 6 and a robot 6 arranged on the training platform 6, a detection mechanism, a plane depalletizing module, a storage module 2, and a waste tank. The robot 6 is arranged on the front side of the training platform 6, and its end is provided with an end tool for picking up workpieces for automatic loading and unloading; the detection mechanism is arranged on the rear side of the robot 6, including a rotating disc and an RFID reader and writer arranged around the rotating disc, and a detection component. The rotating disc is provided with three stations, namely, a loading and unloading station, an RFID reading and writing station, and a detection station. The RFID reader and writer is installed on a bracket 2, located at the RF The detection component is installed on the bracket three, which is located above the detection station. The detection component is used to detect the assembly quality, including a lifting cylinder and a displacement sensor arranged at the output end of the lifting cylinder; the plane dismantling module is arranged on one side of the robot six, and the storage module two and the waste trough are arranged in parallel on the other side of the robot six. The storage module two is used to store the disassembled training workpieces, and the waste trough is used to store defective dismantling products and workpieces that fail the inspection. The plane dismantling module includes a dismantling frame and a plane chessboard arranged on the dismantling frame, and cooperates with the robot six for plane dismantling operations.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention is configured with six desktop functional units, connected into a flexible intelligent manufacturing production line, to complete CNC processing, visual sorting, simulated stamping processing, robot deburring, intelligent detection and assembly of training workpieces, and is configured with a guide belt conveyor, a transfer conveyor and a laser navigation AGV robot to perform training workpiece transfer and transportation operations, and to integrate the automated production line through the MES management system.

[0026] Each functional unit of the present invention is relatively independent, and users can freely match and increase or decrease them according to their needs, so that the functional units can be freely combined and flexibly matched; and each functional unit is configured with multiple basic modules, which can complete the practical training experiments of basic modules such as industrial robot TCP setting, plane stacking, plane tracing, surface tracking, handling coding, simulated welding, etc., integrating education and teaching, industrial application, scientific research and development and other functions, cultivating students' comprehensive skills in intelligent equipment such as industrial robots, and quickly improving their professional skills and employment competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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 description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a structural schematic diagram of the robot flexible intelligent manufacturing training system of the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of the numerical control machining unit of the present invention;

[0030] Figure 3 It is a schematic diagram of the structure of the visual sorting and handling unit of the present invention;

[0031] Figure 4 It is a structural schematic diagram of the belt conveyor and the out-of-warehouse mechanism of the present invention;

[0032] Figure 5 It is a schematic diagram of the structure of the stamping processing unit of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the punching mechanism and the positioning mechanism of the present invention;

[0034] Figure 7 It is a schematic diagram of the structure of the deburring unit of the present invention;

[0035] Figure 8 It is a schematic diagram of the structure of the detection and assembly unit of the present invention;

[0036] Fig. 9 This is a schematic diagram of the structure of the dismantling and warehousing unit of the present invention;

[0037] Fig.10 It is a schematic diagram of the structure of the detection mechanism of the present invention;

[0038] Fig.11 It is a schematic diagram of the structure of the quick-change tool module of the present invention;

[0039] Fig.12 It is a schematic diagram of the basic base structure of the present invention;

[0040] Fig.13 It is a schematic diagram of the structure of the TCP calibration module of the present invention;

[0041] Fig.14 It is a schematic diagram of the structure of the planar stacking module of the present invention;

[0042] Fig.15 It is a schematic diagram of the structure of the plane drawing module of the present invention;

[0043] Fig.16 It is a schematic diagram of the structure of the curved surface tracking module of the present invention;

[0044] Fig.17 This is a schematic diagram of the structure of the transport coding module of the present invention;

[0045] In the figure: 1, CNC machining unit; 11, training table 1; 111, rack; 112, mounting platform; 12, CNC machine tool; 13, robot 1; 14, storage module 1; 141, storage bracket; 142, placement board;

[0046] 2. Visual sorting and handling unit; 21. Training table 2; 22. Robot 2; 23. Outbound mechanism; 231. Bracket 1; 232. Glass warehouse tube; 233. Push cylinder; 234. Push head; 235. Warehouse tube seat; 24. Belt conveyor; 241. Guide plate; 242. Stop positioning piece; 25. Visual inspection mechanism; 251. Inspection bracket; 252. Inspection camera 1; 253. Material sensor;

[0047] 3. Stamping processing unit; 31. Training table three; 32. Robot three; 33. Stamping mechanism; 331. Mounting base plate; 332. Stepping feed translation table; 333. Stamping tool; 334. Stamping bracket; 34. Positioning mechanism; 341. Slide base; 342. Sliding block; 343. Sliding plate; 344. Sliding cylinder; 345. Fixed splint; 346. Movable splint; 347. Clamping cylinder;

[0048] 4. Deburring unit; 41. Training table 4; 42. Robot 4; 43. Positioner; 431. Rotating table; 432. Fixture 2;

[0049] 5. Inspection and assembly unit; 51. Training table five; 52. Robot five; 53. Inspection and assembly mechanism; 531. Inspection table; 532. Fixture three; 533. Inspection camera two; 54. Rotary feeding mechanism; 541. Rotary bracket; 542. Rotary feeding tray;

[0050] 6. Depalletizing and warehousing unit; 61. Training table six; 62. Robot six; 63. Detection mechanism; 631. Rotating disc; 632. RFID reader; 633. Bracket two; 634. Bracket three; 635. Lifting cylinder; 636. Displacement sensor; 64. Planar depalletizing module; 641. Depalletizing chassis; 642. Planar chessboard; 65. Storage module two; 66. Waste trough; 67. Display stand;

[0051] 7. Intelligent conveying unit; 71. Guide belt conveyor; 72. AGV robot; 73. Transfer conveyor;

[0052] 8. General control management unit;

[0053] 9. Basic module; 91. Quick-change tool module; 911. Quick-change base plate; 912. Quick-change bracket; 913. Quick-change tool; 92. Basic base; 921. Base; 922. Mounting plate; 9221. Positioning hole; 923. Fixed base plate; 93. TCP calibration module; 94. Plane stacking module; 95. Plane drawing module; 96. Surface tracking module; 97. Handling coding module;

[0054] 10. Unit control cabinet. DETAILED DESCRIPTION

[0055] 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.

[0056] Example 1

[0057] In this embodiment, sleeve workpieces and end cap workpieces are used as the training workpieces of the training system, and RFID electronic tags are installed in the upper plane grooves of the training workpieces. In order to increase the diversity of the experiment, the system is equipped with red and blue nylon and metal workpieces.

[0058] like Figure 1-10 As shown, a robot flexible intelligent manufacturing training system includes multiple functional units and an intelligent conveying unit 7, a general control management unit 8, and the multiple functional units include a CNC processing unit 1, a visual sorting and handling unit 2, a stamping processing unit 3, a deburring unit 4, a detection and assembly unit 5, and a destacking and warehousing unit 6 which are arranged in sequence;

[0059] CNC machining unit 1, used for CNC machining training workpieces;

[0060] Visual sorting and transport unit 2, used to sort the corresponding assembled training workpieces and transport them to the next station according to the sorting results;

[0061] Stamping processing unit 3, used for stamping processing training workpieces;

[0062] Deburring unit 4, used for performing surface deburring treatment on the training workpiece;

[0063] Inspection and assembly unit 5, used to inspect the processing quality of the training workpiece and assemble the training workpiece;

[0064] The destacking and warehousing unit 6 is used to detect the assembly quality and destacking and warehousing the workpieces that fail the inspection;

[0065] Intelligent conveying unit 7, used to connect various functional units and transfer and convey training workpieces between various functional units;

[0066] The master control management unit 8 includes a master control cabinet, a computer, a control console and a touch screen all-in-one machine, which is used to control each functional unit and the intelligent conveying unit, and realize comprehensive data management and process control through the industrial Internet cloud platform;

[0067] In addition, the CNC machining unit 1, the visual sorting and handling unit 2, the stamping processing unit 3, the deburring unit 4, the inspection and assembly unit 5, and the depalletizing and warehousing unit 6 are all configured with multiple basic modules 9, and the multiple basic modules 9 include a quick-change tool module 91, a TCP calibration module 93, a plane stacking module 94, a plane drawing module 95, a surface tracking module 96, a handling coding module 97, and a simulated welding module.

[0068] like Figure 1 As shown, each functional unit is provided with a unit control cabinet 10, which can control the functional unit individually. The unit control cabinet 10 is arranged in front of the corresponding functional unit, and is an open design, including a mesh panel cabinet and an electrical control system arranged on the mesh panel cabinet. The electrical control system adopts a modular and compact design with strong scalability. Each functional unit module is relatively independent, and users can freely match and increase or decrease according to their needs, allowing each functional unit to be freely combined and flexibly matched to meet the needs of teachers and students of different majors and levels to conduct practical training experiments related to industrial robots and intelligent manufacturing.

[0069] Among them, Figure 1-17 As shown, the TCP calibration module 93, the plane stacking module 94, the plane drawing module 95, the surface tracking module 96, the handling coding module 97, and the simulation welding module are all installed on the training table of each functional unit through the basic base 92; Fig.12As shown, the basic base 92 includes a base 921 and a mounting plate 922 arranged on the base 921, and the base 921 is assembled from aluminum profiles. The mounting plate 922 is arranged on the top of the base 921, and is provided with a plurality of positioning holes 9221 for positioning the basic module 9, and a detection sensor for detecting the presence or absence of the basic module 9 is also provided under the mounting plate 922, so that the robot can perform automated operations according to the signal; the TCP calibration module 93, the plane stacking module 94, the plane drawing module 95, the surface tracking module 96, the handling coding module 97, and the simulation welding module are all connected to the mounting plate 922 through the fixed base plate 923, and a positioning pin cooperating with the positioning hole 9221 is provided under the fixed base plate 923, and handles are provided on both sides of the fixed base plate for easy installation and replacement. In order to meet the processing operations of flexible production line operation, each functional unit is equipped with multiple basic training modules. By replacing different quick-change tools in the quick-change tool module 91, the robot can independently perform basic training operations such as TCP calibration, palletizing, drawing, tracking, handling, and simulated welding. The training projects are rich and diverse to meet different training needs. Since there are multiple basic modules, it is impossible to install them on the training table at the same time. The basic modules 9 that are not installed on the training table are placed in the training table of each functional unit so that they can be replaced at any time.

[0070] In the above structure, if Fig.13 As shown, the TCP calibration module 93 includes a calibration rod arranged on a fixed bottom plate 923. The fixed bottom plate is made of aluminum material and processed by oxidation, and is placed on a basic base for fixing. By operating a robot and using a TCP top cone tool, a TCP calibration training experiment can be realized.

[0071] like Fig.14 As shown, the planar palletizing module 94 includes a palletizing kit arranged on a fixed base plate 923. During the experiment, it can be placed on the basic base and fixed. The industrial robot picks up the palletizing kit as required by the suction cup tool to perform the palletizing task, which can practice the understanding of industrial robot palletizing and strengthen the training of rapid programming and teaching. The palletizing kit is placed in the corresponding compartment of the fixed base plate, and the robot picks up the palletizing kit as required by the suction cup tool to perform the palletizing task; the palletizing kit has two types: rectangular and square. The operator can choose to place it according to the needs, and can also freely combine and palletize various shapes according to the needs. The module can be used in various ways, and users can expand the application independently.

[0072] like Fig.15 As shown, the plane drawing module 95 includes a plane drawing board arranged on a fixed base plate 923, which can be placed on a basic base and fixed for practical training experiments. By operating the robot to use a drawing pen tool to draw on a drawing paper, the basic point teaching, straight line and curve movement methods of the robot can be mastered.

[0073] like Fig.15As shown, the surface tracking module 96 includes a surface drawing board arranged on a fixed base plate 923, which can be placed on a basic base and positioned and installed for practical training experiments. By operating the robot end tool to perform tracing operations on the surface drawing board, the robot's surface space movement method can be mastered.

[0074] like Fig.17 As shown, the transport coding module 97 includes a coding platform disposed on a fixed bottom plate 923. The coding platform is positioned by processing grooves according to the shape of the sample, and the sample can be fixedly placed. The transport coding module realizes the inclined assembly and coding pairing assembly of special-shaped parts. The module can be used in various ways, and users can expand the application independently.

[0075] The simulated welding module includes a fixed base and a welding workpiece on a fixed bottom plate. The welding workpiece is fixed on the fixed base and placed on the basic base platform for practical training experiments. The industrial robot picks up the end tool to simulate the welding workpiece, and you can learn the welding process and technology of the industrial robot.

[0076] like Fig.11 As shown, the quick-change tool module 91 includes a quick-change base plate 911, a quick-change bracket 912 disposed on the quick-change base plate 911, and a detection sensor, the detection sensor is used to detect whether the detection tool is in place, and the quick-change tool 913 is placed on the quick-change bracket with positioning and detection functions, including an end gripper tool, a suction cup tool, a TCP cone tool, a drawing and laser pen tool, etc. A variety of different quick-change tools are provided according to different training objectives and operation objects.

[0077] It should be noted that the above basic modules can be used in a variety of ways, and users can also expand the application independently.

[0078] Example 2

[0079] Based on the structure of Example 1, Figure 1As shown, the intelligent conveying unit 7 includes a guide belt conveyor 71, an AGV robot 72, and a transfer conveyor 73. A guide belt conveyor 71 connected to a downstream functional unit is provided on one side of the CNC machining unit 1, the visual sorting and handling unit 2, the stamping machining unit 3, and the deburring unit 4. The AGV robot 72 runs along a set route and is used to transfer workpieces between the inspection and assembly unit 5, the CNC machining unit 1, and the depalletizing and warehousing unit 6. A transfer conveyor 73 docking with the AGV robot 72 is provided on the outside of the inspection and assembly unit 5, the CNC machining unit 1, and the depalletizing and warehousing unit 6. A vehicle-mounted conveying roller is provided above the AGV robot 72, and the vehicle-mounted conveying roller is docked with the transfer conveyor 73 for conveying pallets loaded with workpieces. The guide belt conveyor 71 is used to transport training workpieces. Baffles are arranged on both sides for guiding, and stop positioning parts are provided at the end to carry out the transfer and transportation of training workpieces between this unit and the next unit; the transfer conveyor 73 is mainly constructed of aluminum alloy profiles, with adjustable feet at the bottom. It has a regular and beautiful appearance and is used for the transfer and transportation of training workpieces and pallets between this unit and the AGV robot 72.

[0080] like Figure 2 As shown, the CNC machining unit 1 includes a training table 11 and a CNC machine tool 12, a robot 13, and a storage module 14 arranged on the training table 11. The CNC machine tool 12 is used to process training workpieces. The robot 13 is arranged on the front side of the CNC machine tool 12, and its end is provided with an end tool for picking up the workpiece for automatic loading and unloading. The storage module 14 is used to store the blanks to be processed. The storage module 14 is arranged on one side of the robot 13, and includes a storage bracket 141 and a placement plate 142. The storage bracket 141 is assembled from aluminum profiles, and a plurality of placement plates 142 are arranged on it in the vertical direction. The placement plate 142 is provided with a plurality of positions for storing blanks. In addition, as Figure 2 As shown, a quick-change tool module 9 is also installed on the training platform 11.

[0081] In the above structure, the main body of the training platform 11 is a frame 111 assembled from aluminum profiles, the top surface of the frame 111 is provided with a mounting platform 112, the front and rear sides are provided with visual switch doors, and the other sides are closed by sheet metal sealing plates. The mounting platform 112 is assembled from a plurality of aluminum profiles with mounting slots, which can be conveniently installed with various functional modules and basic modules, and the installation is convenient and stable. The training platform has a stable structure and a neat and beautiful appearance. The bottom of the training platform is equipped with brake rollers and adjustable feet for easy support and movement. The training platforms of other functional units have similar structures to the training platform 1 and will not be described in detail later.

[0082] During CNC machining, the end tool of robot 13 picks up the blank from storage module 14 and loads it to CNC machine tool 12 to realize CNC machining of the end cap workpiece. After the CNC machine tool 12 completes the machining, robot 13 picks up the end cap workpiece and sends it to the guide belt conveyor 71 of this unit. The end cap workpiece runs with the guide belt conveyor 71 to the end positioning stop, and arrives at the visual sorting and handling unit 2 to prepare for subsequent operations.

[0083] like Figure 3-4 As shown, the visual sorting and handling unit 2 includes a training platform 21 and a robot 22, a storage mechanism 23, a belt conveyor 24, and a visual detection mechanism 25 arranged on the training platform 21. The robot 22 is arranged at the front side of the training platform 21, and an end tool for picking up workpieces is arranged at its end for automatic loading and unloading; the belt conveyor 24 is arranged at the front side of the robot 22, and guide plates 241 are arranged on both sides of the belt conveyor 24. The guide plates 241 are parallel to the belt conveying surface of the belt conveyor 24 and are higher than the belt conveying surface. A stop positioning piece 242 and a sensor are arranged at the end of the belt conveyor 24; the storage mechanism 23 is arranged at one end of the belt conveyor 24, and includes a bracket 231, a glass warehouse tube 232, a push cylinder 233, and a push head 234. The bracket 231 is fixed above the training platform 22, and its A glass bin tube 232 is provided at one end close to the belt conveyor 24. The glass bin tube 232 is used to store sleeve workpieces. The bottom of the glass bin tube 232 is a discharge port, and the bottom discharge port is suspended above the bracket 231 through a bin tube seat 235. The push cylinder 233 is fixed on the top surface of the bracket 231, and a push head 234 is provided at the output end. The push head 234 extends into the bin tube seat 235, and pushes the workpiece at the discharge port onto the belt conveyor 24 through the push cylinder 233. The visual inspection mechanism 25 is arranged on one side of the belt conveyor 24, including a detection bracket 251 and a detection camera 252 and a material sensor 253 arranged on the detection bracket 251. The detection bracket 251 is installed on the training platform 21, and the detection camera 252 and the material sensor 253 are arranged above the detection station of the belt conveyor 24. In addition, as Figure 3 As shown, a quick-change tool module 91 and a transport coding module 96 arranged on a basic base 92 are installed on the training table 2 21 , and other basic modules are prevented from being inside the training table 2 21 .

[0084] During sorting, the pusher 234 pushes the sleeve workpiece in the glass warehouse tube 232 to the belt conveyor 24 in turn for feeding. The end cap workpiece can be directly picked up by the robot 22 to the starting end of the guide belt conveyor 71 of this unit. The sleeve workpiece is transported to the inspection station by the belt conveyor 24 and stopped by the sensor. The material sensor detects the material of the workpiece. The inspection camera 1 252 is used to detect the position, color, shape and other information of the workpiece. The inspection result is sent to the robot 2 22 via Ethernet. The robot 2 22 sorts and locates the corresponding sleeve workpiece according to the type of the end cap workpiece, and sends it to the guide belt conveyor 71 of this unit. It runs to the end position and stops, and arrives at the next unit. The workpiece inspection result is recorded with the master control communication to prepare for subsequent operations.

[0085] Robot 22 uses digital input and output control to monitor the glass bin 232 and control the pusher to complete the feeding of parts. By controlling this module, students can master the skills related to robot digital IO control. The operation of the visual inspection mechanism 25 can enable students to understand the application of machine vision in robot control systems.

[0086] like Figure 5-6 As shown, the stamping processing unit 3 includes a training table 31 and a robot 32, a stamping mechanism 33, and a positioning mechanism 34 arranged on the training table 31. The robot 32 is arranged on the front side of the training table 31, and an end tool for picking up the workpiece is arranged at its end for automatic loading and unloading; the stamping mechanism 33 includes a mounting base plate 331 and a stamping assembly. The mounting base plate 331 is installed above the training table 31. The stamping assembly includes a step-feed translation table 332 and a stamping tool 333 arranged on the step-feed translation table 332. The step-feed translation table 332 is fixed above the mounting base plate 331 by a stamping bracket 334; the positioning mechanism 34 includes a slide and a fixture 1. The slide is arranged at Directly below the step-feed translation stage 332, there is a slide base 341, a slider 342, a sliding plate 343, and a sliding cylinder 344. The slide base 341 is fixed on the top of the mounting base 331. The sliding cylinder 344 is fixed on the slide base 341. The output end of the slide base 341 is provided with a slider 342. Both sides of the slider 342 are provided with guide rods slidably connected thereto. The sliding plate 343 is fixed on the slider 342. The clamp 1 is provided on the sliding plate 343 and includes a fixed clamp plate 345, a movable clamp plate 346, and a clamping cylinder 347. The fixed clamp plate 345 and the movable clamp plate 346 are relatively arranged on the sliding plate 343. The output end of the clamping cylinder 347 is connected to the movable clamp plate 346. In addition, as Figure 5 As shown, a quick-change tool module 91 and a transport coding module 96 arranged on a basic base 92 are installed on the training platform three 31, and other basic modules are prevented from being inside the training platform three 31.

[0087] During stamping, robot 3 32 picks up the sleeve workpiece on the guide belt conveyor 71 of the previous unit and puts it into fixture 1. After the sensor detects that it is in place, the workpiece is clamped. The slide drives fixture 1 to move to the stamping station. At the same time, the stepping feed translation table 332 drives the stamping tool 333 to move to the stamping station to perform simulated stamping operations. After the processing is completed, each device returns to the initial position, fixture 1 is released, and robot 3 32 picks up the sleeve workpiece and sends it to the guide belt conveyor 71 between this unit, and then it is transported to the end of the guide belt conveyor 71 for positioning and stopping, and arrives at the deburring unit to prepare for subsequent operations.

[0088] like Figure 7 As shown, the deburring unit 4 includes a training table 41, a robot 42 and a positioner 43 arranged on the training table 41. The robot 42 is arranged on the front side of the training table 41, and its end is provided with an end gripper tool for picking up the workpiece and an end grinding tool for deburring (not shown in the figure), which is used for automatic loading and unloading and deburring; the positioner 43 includes a rotating table 431 and a clamp 2 432 arranged on the rotating table 431. The rotating table 431 can rotate around the X-axis to change the grinding angle, and the clamp 2 432 is used to locate the workpiece. The positioner 43 is provided with a universal installation interface, and the robot 3 42 controls the movement of the positioner through information interaction. In this embodiment, the clamp 2 432 is similar to the clamp 1 in structure, and will not be described in detail here.

[0089] When deburring, the end gripper tool of robot 3 42 picks up the sleeve workpiece and the end cap workpiece at the end of the guide belt conveyor 71 of the previous unit and puts them into the clamp 2 432 on the positioner 43. The workpiece position is positioned by the clamp 2 432, and the rotating table 431 rotates to adjust the grinding angle. The end grinding tool of robot 3 42 and the rotating table 431 cooperate to complete the simulated deburring processing operation. After the operation is completed, the clamp 2 432 is released, and the end gripper tool of robot 3 42 picks up the sleeve workpiece and the end cap workpiece and sends them to the transfer guide belt conveyor 71 of this unit. The guide belt conveyor 71 transports them to the end positioning stop and arrives at the inspection and assembly unit 5 to prepare for subsequent operations.

[0090] like Figure 8As shown, the inspection and assembly unit 5 includes a training table 51 and a robot 52, an inspection and assembly mechanism 53, and a rotary feeding mechanism 54 arranged on the training table 51. The robot 52 is arranged at the front side of the training table 51, and an end tool for picking up workpieces is arranged at its end for automatic loading and unloading; the inspection and assembly mechanism 53 includes an inspection table 531, a fixture 3 532, and an inspection camera 2 533. The inspection table 531 is arranged at the rear side of the robot 52, and a fixture 3 532 for positioning the training workpiece is arranged thereon. The inspection camera 2 533 is arranged directly above the fixture 3 532 for inspecting the processing quality of the training workpiece; the rotary feeding mechanism 54 includes a rotating bracket 541 and a rotating feeding tray 542 arranged on the rotating bracket 541. The rotating feeding tray 542 is rotatably connected to the rotating bracket 541, and is used to temporarily store the training workpieces that have passed the inspection.

[0091] Before assembly, robot five 52 picks up the sleeve and end cover training workpieces to fixture three 532 of the inspection and assembly mechanism 53 respectively, and the inspection camera two 533 performs workpiece processing quality defect inspection. Unqualified products are put back to their original place and transported to the next unit by the AGV robot 72 and placed in the waste trough 66; if the product is qualified in the inspection, the end cover workpiece that is inspected first is picked up to the rotating supply tray 542 for temporary storage. After the sleeve workpiece is qualified in the inspection, assembly begins. Robot five 52 picks up the end cover workpiece of corresponding material and color on the rotating supply tray 542, assembles it with the corresponding sleeve workpiece, and after the assembly is completed, it is picked up by robot five 52 to the tray of the transfer conveyor 73, transported to the end positioning stop, docked with the AGV robot 72, and continued to be transported downward.

[0092] Robot 5 52 can detect and assemble different training workpieces according to the training requirements, and train the learning of precise positioning of industrial robots. Through information interaction, the rotating feed tray 542 is rotated to the specified position according to the system instructions, so that robot 5 can accurately grasp the end cap workpiece. Students can master the application and control method of stepper control system in industrial robot integrated system.

[0093] like Figure 9-10As shown, the depalletizing and warehousing unit 6 includes a training platform 61 and a robot 62, a detection mechanism 63, a plane depalletizing module 64, a storage module 2 65, and a waste tank 66 arranged on the training platform 61. The robot 62 is arranged on the front side of the training platform 61, and an end tool for picking up workpieces is arranged at its end for automatic loading and unloading; the detection mechanism 63 is arranged on the rear side of the robot 62, including a rotating disk 631 and an RFID reader 632 and a detection component arranged around the rotating disk 631. Three stations are arranged on the rotating disk 632, namely, a loading and unloading station, an RFID reading and writing station, and a detection station. The RFID reader 632 is installed on a bracket 2 633, located above the RFID reading and writing station, and is used to read and detect the warehousing information of the training workpiece; the detection group The components are installed on the bracket three 634, which is located above the inspection station. The inspection component is used to detect the assembly quality, including a lifting cylinder 635 and a displacement sensor 636 arranged at the output end of the lifting cylinder 635; the plane dismantling module 64 is arranged on one side of the robot six 62, and the storage module two 65 and the scrap trough 66 are arranged in parallel on the other side of the robot six 62. The storage module two 65 is used to store the training workpieces after disassembly, and the scrap trough 66 is used to store defective dismantling products and workpieces that fail the inspection; the plane dismantling module 64 includes a dismantling base frame 641 and a plane chessboard 642 arranged on the dismantling base frame 641, and cooperates with the robot six 62 for plane destacking operations. Specifically, the end tool of the robot six 62 places the defective finished products after inspection on the plane chessboard 642, and performs destacking and placing operations according to the set program.

[0094] Robot six 62 is a collaborative robot. The training workpiece is equipped with an RFID electronic tag. The RFID reader 632 reads and detects the storage information of the training workpiece, and transmits and processes information with the master control through the bus. During assembly inspection, the rotating disc 631 runs to the inspection station, the lifting cylinder 635 is actuated, and the displacement sensor 636 detects the height size of the workpiece in a downward contact manner, thereby detecting the assembly quality. Storage module two 65 and waste trough 66 form a storage mechanism. Storage module two 65 is similar in structure to storage module one 14 and is used to place disassembled training workpieces. The waste trough 66 is made of aluminum profiles and spray-painted steel plates. It has a beautiful appearance and is used to place undemolished defective products and unqualified workpieces detected by the inspection and assembly unit.

[0095] When the depalletizing and warehousing unit 6 is working, the robot 6 62 picks up the finished workpiece from the transfer conveyor 73 and places it in the positioning slot of the loading and unloading station of the rotating disc 631. The motor drives the rotating disc 531 to rotate, and passes through the RFID reading and writing station and the detection station respectively to read and write the RFID workpiece information, detect whether the assembly height is qualified, and the general control MES records the workpiece related information. The qualified finished product is picked up by the collaborative robot to the tray of the transfer conveyor 73 of this unit, and transported to the display stand 67 by the AGV robot 72 for visitors to visit or give as gifts. The display stand 67 is set on one side of the general control management unit 8; the unqualified products are placed by the collaborative robot to the plane depalletizing module 64 for depalletizing and warehousing operations, or the unqualified workpieces detected and processed in the intelligent detection and assembly unit 5 are placed in the waste slot 66, or the AGV robot 72 can continue to transport the depalletized workpiece to the CNC processing unit 1 to restart the cycle of production and manufacturing, forming a closed-loop process of intelligent manufacturing.

[0096] The above robots are all equipped with robot bases, robot control systems and teaching boxes to facilitate practical training. Among them, Robot 11, Robot 21, Robot 31, Robot 41, and Robot 51 are ABB robots, ABB's smallest multi-purpose robots to date, with the characteristics of agility, compactness and lightness. They have obtained the "ISO Class 5 Clean Room (Class 100)" certification from the IPA organization and can give full play to their advantages in harsh clean room environments; Robot 6 51 is a collaborative robot, model HB03-650-CR, which has collision detection, drag teaching, human-machine safety interaction and other functions.

[0097] The present invention is equipped with six desktop functional units, which are connected into an intelligent manufacturing production line to complete CNC processing, visual sorting, simulated stamping processing, robot deburring, intelligent detection and assembly of training workpieces. It is also equipped with a guide belt conveyor, a transfer conveyor and a laser navigation AGV robot to perform training workpiece transfer and transportation operations, and integrates the automated production line through an MES management system.

[0098] Each functional unit is relatively independent, and users can freely match and increase or decrease it according to their needs. It allows the functional units to be freely combined and flexibly matched. At the same time, it has development and expansion training functions such as CNC system programming, PLC programming development, electrical system design and wiring, human-machine interface design, mechanical adjustment, and quick-change tool replacement, which can meet the needs of teachers and students of different majors and levels to conduct industrial robots and intelligent manufacturing related training experiments. In addition, the system adopts a modular design, and each functional unit is equipped with multiple basic modules, which can complete the training experiments of basic modules such as industrial robot TCP setting, plane stacking, plane tracing, surface tracking, handling coding, and simulated welding, so as to cultivate students' comprehensive skills in intelligent equipment such as industrial robots, and quickly improve their professional skills and employment competitiveness.

[0099] The system can use offline programming software to learn the operation and programming of real robot brands in a virtual environment, integrating industrial robots, intelligent technology and modern industrial production as a whole. It is close to industrialized production and based on training and teaching. It fully reflects the production mode and management concept of modern enterprises with modern manufacturing, integrated control and industrialization, and integration of information and information technology. It integrates education and teaching, industrial application, scientific research and development and other functions. It is a comprehensive integrated practice platform for the construction of industrial robot professional groups and the cultivation of compound technical talents. It is an industrial scenario training teaching equipment that can meet the needs of undergraduate colleges for the cultivation of skilled talents in the industrial robot professional groups, so that students' professional skills training matches the skills needed for enterprise employment, and students can quickly adapt to the actual work requirements of the enterprise after graduation.

[0100] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0101] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot flexible intelligent manufacturing training system, characterized by: It includes multiple functional units, intelligent conveying units, and general control management units. The multiple functional units include CNC processing units, visual sorting and handling units, stamping processing units, deburring units, inspection and assembly units, and depalletizing and warehousing units that are arranged in sequence. CNC machining unit, used for CNC machining training workpieces; The visual sorting and handling unit is used to sort the corresponding assembly training workpieces and transport them to the next station according to the sorting results; Stamping processing unit, used for stamping processing training workpieces; Deburring unit, used to perform surface deburring on training workpieces; Inspection and assembly unit, used to inspect the processing quality of training workpieces and assemble training workpieces; The destacking and warehousing unit is used to inspect the assembly quality and destacking and warehousing the unqualified workpieces; Intelligent conveying unit, used to connect various functional units and transport training workpieces between various functional units; The master control management unit includes a master control cabinet, a computer, a console and a touch screen all-in-one machine, which is used to control various functional units and intelligent conveying units, and realize comprehensive data management and process control through the industrial Internet cloud platform; Moreover, the CNC machining unit, visual sorting and handling unit, stamping processing unit, deburring unit, inspection and assembly unit, and depalletizing and warehousing unit are all configured with multiple basic modules, including a quick-change tool module, a TCP calibration module, a plane stacking module, a plane drawing module, a surface tracking module, a handling coding module, and a simulated welding module.

2. The robot flexible intelligent manufacturing training system according to claim 1 is characterized by: Each of the functional units is provided with a unit control cabinet, which can control the functional unit individually. The unit control cabinet is of open design, including a mesh panel cabinet body and an electrical control system arranged on the mesh panel cabinet body.

3. The robot flexible intelligent manufacturing training system according to claim 2 is characterized in that: The TCP calibration module, plane stacking module, plane drawing module, surface tracking module, handling coding module, and simulated welding module are all installed on the training table of each functional unit through a basic base; the basic base includes a base and a mounting plate arranged on the base, and the base is assembled from aluminum profiles. The mounting plate is arranged on the top of the base, and is provided with a plurality of positioning holes for positioning the basic module, and a detection sensor for detecting the presence or absence of the basic module is also provided under the mounting plate; the TCP calibration module, plane stacking module, plane drawing module, surface tracking module, handling coding module, and simulated welding module are all connected to the mounting plate through a fixed base plate, and a positioning pin cooperating with the positioning hole is provided under the fixed base plate.

4. The robot flexible intelligent manufacturing training system according to claim 1 is characterized in that: The intelligent conveying unit includes an AGV robot, a transfer conveyor, and a guide belt conveyor. A guide belt conveyor connected to a downstream functional unit is provided on one side of the CNC machining unit, the visual sorting and handling unit, the stamping machining unit, and the deburring unit. The AGV robot runs along a set route and is used to transfer workpieces between the inspection and assembly unit, the CNC machining unit, and the depalletizing and warehousing unit. Transfer conveyors docked with the AGV robot are provided on the outside of the inspection and assembly unit, the CNC machining unit, and the depalletizing and warehousing unit. A vehicle-mounted conveying roller is provided above the AGV robot, and the vehicle-mounted conveying roller is docked with the transfer conveyor for conveying pallets loaded with workpieces.

5. The robot flexible intelligent manufacturing training system according to claim 1 or 4, characterized in that: The CNC machining unit includes a training table and a CNC machine tool, a robot, and a storage module arranged on the training table. The CNC machine tool is used to process training workpieces. The robot is arranged on the front side of the CNC machine tool, and an end tool for picking up workpieces is provided at its end for automatic loading and unloading. The storage module is used to store blanks to be processed. The storage module is arranged on one side of the robot, and includes a storage bracket and a placement plate. The storage bracket is assembled with aluminum profiles, and a plurality of placement plates are arranged on it in the vertical direction. The placement plate is provided with a plurality of storage positions for storing blanks.

6. The robot flexible intelligent manufacturing training system according to claim 1 or 4, characterized in that: The visual sorting and handling unit includes a training platform 2 and a robot 2, a storage mechanism, a belt conveyor, and a visual inspection mechanism. The robot 2 is arranged on the front side of the training platform 2, and its end is provided with an end tool for picking up workpieces for automatic loading and unloading; the belt conveyor is arranged on the front side of the robot 2, and guide plates are arranged on both sides of the belt conveyor. The guide plates are parallel to the belt conveying surface of the belt conveyor and higher than the belt conveying surface. A stop positioning piece and a sensor are arranged at the end of the belt conveyor; the storage mechanism is arranged at one end of the belt conveyor, including a bracket 1, a glass warehouse tube, a push cylinder, and a push head. The bracket 1 is fixed on Above the second training platform, a glass warehouse tube is provided at one end close to the belt conveyor, the bottom of the glass warehouse tube is a discharge port, and the bottom discharge port is suspended above the first bracket through a warehouse tube seat, the pushing cylinder is fixed on the top surface of the first bracket, and a push head is provided at the output end thereof, the push head extends into the warehouse tube seat, and pushes the workpiece at the discharge port onto the belt conveyor through the pushing cylinder; the visual inspection mechanism is arranged on one side of the belt conveyor, including a detection bracket and a detection camera 1 and a material sensor arranged on the detection bracket, the detection bracket is installed on the second training platform, and the detection camera 1 and the material sensor are arranged above the detection station of the belt conveyor.

7. The robot flexible intelligent manufacturing training system according to claim 1 or 4, characterized in that: The stamping processing unit includes a training platform 3 and a robot 3, a stamping mechanism, and a positioning mechanism arranged on the training platform 3. The robot 3 is arranged on the front side of the training platform 3, and an end tool for picking up workpieces is arranged at its end for automatic loading and unloading; the stamping mechanism includes a mounting base plate and a stamping assembly, and the mounting base plate is installed above the training platform 3. The stamping assembly includes a step-feed translation platform and a stamping tool arranged on the step-feed translation platform, and the step-feed translation platform is fixed above the mounting base plate through a stamping bracket; the positioning mechanism includes a slide, Clamp 1, the slide is arranged directly below the stepping feed translation stage, including a slide base, a slider, a sliding plate, and a sliding cylinder. The slide base is fixed above the mounting base, the sliding cylinder is fixed on the slide base, and a slider is provided at its output end. Guide rods slidably connected to the slider are provided on both sides of the slider, and the sliding plate is fixed on the slider; Clamp 1 is arranged on the sliding plate, including a fixed splint, a movable splint, and a clamping cylinder. The fixed splint and the movable splint are relatively arranged on the sliding plate, and the output end of the clamping cylinder is connected to the movable splint.

8. The robot flexible intelligent manufacturing training system according to claim 1 or 4, characterized in that: The deburring unit includes a training table four and a robot four and a positioner arranged on the training table four. The robot four is arranged on the front side of the training table four, and its end is provided with an end gripper tool for picking up the workpiece and an end grinding tool for deburring, which is used for automatic loading and unloading and deburring; the positioner includes a rotating table and a clamp two arranged on the rotating table, the rotating table can rotate around the X-axis to change the grinding angle, and the clamp two is used to locate the workpiece position.

9. The robot flexible intelligent manufacturing training system according to claim 1 or 4, characterized in that: The inspection and assembly unit includes a training table five and a robot five, an inspection and assembly mechanism, and a rotary feeding mechanism arranged on the training table five. The robot five is arranged on the front side of the training table five, and an end tool for picking up workpieces is arranged at its end for automatic loading and unloading; the inspection and assembly mechanism includes an inspection table, a fixture three, and an inspection camera two. The inspection table is arranged on the rear side of the robot five, and a fixture three for positioning the training workpiece is arranged on it. The inspection camera two is arranged directly above the fixture three for inspecting the processing quality of the training workpiece; the rotary feeding mechanism includes a rotating bracket and a rotating feeding tray arranged on the rotating bracket. The rotating feeding tray is rotatably connected to the rotating bracket and is used to temporarily store the training workpieces that have passed the inspection.

10. The robot flexible intelligent manufacturing training system according to claim 1 or 4, characterized in that: The depalletizing and warehousing unit includes a training platform 6 and a robot 6, a detection mechanism, a flat depalletizing module, a storage module 2, and a waste tank arranged on the training platform 6. The robot 6 is arranged on the front side of the training platform 6, and an end tool for picking up workpieces is arranged at its end for automatic loading and unloading. The detection mechanism is arranged on the rear side of the robot 6, including a rotating disc and an RFID reader / writer and a detection component arranged around the rotating disc. Three stations are arranged on the rotating disc, namely, a loading and unloading station, an RFID reading and writing station, and a detection station. The RFID reader / writer is installed on a bracket 2, located above the RFID reading and writing station, and is used for for reading and detecting the warehousing information of the training workpieces; the detection component is installed on the bracket three, located above the detection station, the detection component is used to detect the assembly quality, and includes a lifting cylinder and a displacement sensor arranged at the output end of the lifting cylinder; the plane dismantling module is arranged on one side of the robot six, and the storage module two and the waste trough are arranged in parallel on the other side of the robot six, the storage module two is used to store the disassembled training workpieces, and the waste trough is used to store defective dismantling products and workpieces that fail the inspection, the plane dismantling module includes a dismantling frame and a plane chessboard arranged on the dismantling frame, and cooperates with the robot six for plane destacking operations.

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