Teaching type industrial robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a teaching type industrial robot which comprises a base, the top end of the base is rotationally connected with a lower rotating seat, the top end of the lower rotating seat is rotationally connected with a mechanical arm, and the mechanical arm is fixedly connected with a fixing plate; the first clamping seat is fixedly arranged in the middle of the bottom end of the fixing plate, a second through hole is formed in the first clamping seat, and a first upper clamping part and a first lower clamping part are fixedly connected to the inner side wall of the second through hole; the two second clamping seats are fixedly arranged at the two ends of the bottom of the fixing plate and symmetrically arranged on the two sides of the first clamping seat, and two second clamping parts are arranged in each second clamping seat in a sliding mode; and the mistake proofing mechanism is fixedly arranged at the top end of the fixing plate, when an operator inserts the welding gun handle into the first clamping base and the second clamping base with one hand, the other hand holds the mistake proofing mechanism at the same time, and the first clamping base and the second clamping base act to clamp the welding gun handle. The welding gun clamping stability of the robot can be improved, and the robot is prevented from clamping an operator.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a teaching-type industrial robot. Background Art

[0002] Industrial robots consist of three basic parts: the main body, the drive system, and the control system. Industrial robots can be fixed or movable and are used in industrial automation systems. It is a mechanical device whose mechanism usually consists of a series of mutually hinged or sliding joints, has several degrees of freedom, and has similar motion functions to human arms, used for a variety of purposes such as grasping or carrying objects. Industrial robots are widely used in mechanical welding.

[0003] Industrial robots include many types, including teaching types. The main function of teaching robots is to demonstrate mechanical structure, motion characteristics and functional relationships.

[0004] During use of existing teaching robots, the welding gun needs to be fixed on the robotic arm, but the clamping mechanism of the robotic arm usually has a single function and cannot adapt to welding guns of various shapes, resulting in unstable clamping of the welding gun; at the same time, the existing teaching robots have no error prevention function, which can easily cause pinching injuries to the operator during the process of clamping the welding gun.

[0005] Therefore, it is necessary to design a teaching industrial robot to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a teaching industrial robot to solve the above problems, so as to improve the stability of the robot's clamping of the welding gun and prevent the robot from causing injuries to the operator.

[0007] To achieve the above object, the present invention provides the following solution: a teaching industrial robot, comprising

[0008] The base has a top end rotatably connected to a lower rotating seat, the top end of the lower rotating seat is rotatably connected to a mechanical arm, the mechanical arm is L-shaped and the other end is rotatably connected to an upper rotating seat, the rotation directions of any two of the lower rotating seat, the mechanical arm and the upper rotating seat are vertical in space, and the bottom end of the upper rotating seat is fixedly connected to a fixed plate;

[0009] A first clamping seat is fixedly arranged at the middle of the bottom end of the fixing plate, a second through hole is opened inside the first clamping seat, a first upper clamping portion and a first lower clamping portion are fixedly connected to the inner side wall of the second through hole, and the first upper clamping portion and the first lower clamping portion correspond to each other in the vertical direction;

[0010] Two second clamping seats are fixedly arranged at two ends of the bottom of the fixing plate, the two second clamping seats are symmetrically arranged on both sides of the first clamping seat, two second clamping parts are slidably arranged inside each of the second clamping seats, and the two second clamping parts are symmetrical about the center of the second clamping seat;

[0011] When the clamping ends of the two second clamping parts move below the horizontal plane, they clamp the welding gun handle with a circular or triangular cross section together with the first upper clamping part; when the clamping ends of the two second clamping parts move to the horizontal plane, they clamp the welding gun handle with a quadrilateral cross section together with the first upper clamping part and the first lower clamping part;

[0012] The error-proofing mechanism is fixedly arranged on the top of the fixing plate. When the operator inserts the welding gun handle into the first clamping seat and the second clamping seat with one hand, the other hand simultaneously holds the error-proofing mechanism, and the first clamping seat and the second clamping seat move to clamp the welding gun handle.

[0013] According to a teaching-type industrial robot of the present invention, a first through hole is provided at the center of the second clamping seat, a semicircular groove is provided on the side wall below the horizontal plane of the first through hole, an arc groove is provided inside the second clamping seat, the center of the arc groove coincides with the center of the first through hole, the arc groove is connected to the semicircular groove, two of the second clamping parts are slidably arranged in the arc groove, the clamping end of the second clamping part is slidably arranged in the semicircular groove, the second clamping part is transmission-engaged with a driving part, and the driving part is fixedly embedded in the second clamping seat.

[0014] According to a teaching-type industrial robot of the present invention, the second clamping part includes an arcuate rack, which is slidably arranged in the arcuate groove, the circle of the arcuate rack coincides with the circle of the arcuate groove, and teeth are arranged on the convex side surface of the arcuate rack. The arcuate rack is meshed with the driving part through the teeth, and one end of the first telescopic rod is fixedly connected to the middle part of the concave side surface of the arcuate rack, the first telescopic rod is slidably arranged in the semicircular groove, and the other end of the first telescopic rod is fixedly connected to the first top bead.

[0015] According to a teaching-type industrial robot of the present invention, the driving part includes a motor, the motor is fixedly embedded in the second clamping seat, the output shaft of the motor is fixedly connected with a gear, the gear is rotatably arranged in a clearance groove opened inside the second clamping seat, the clearance groove is connected to the arc groove, and the gear is meshed with teeth on the outer convex side surface of the arc-shaped rack.

[0016] In the teaching-type industrial robot according to the present invention, a first sensor is fixedly connected to the top of the inner side wall of the first through hole.

[0017] According to the teaching industrial robot of the present invention, the first upper clamping part comprises a second telescopic rod, the second telescopic rod is vertically arranged and the top end is fixedly connected to the top of the inner side wall of the second through hole, and the bottom end of the second telescopic rod is fixedly connected to a second top bead;

[0018] The first lower clamping portion includes a third telescopic rod, the third telescopic rod is vertically arranged and the bottom end of the third telescopic rod is fixedly connected to the bottom of the inner side wall of the second through hole, and the top end of the third telescopic rod is fixedly connected to a third top bead;

[0019] The second top bead corresponds to the third top bead in upper and lower directions.

[0020] According to the teaching-type industrial robot of the present invention, two horizontal ends of the inner side wall of the second through hole are respectively fixedly connected with second sensors.

[0021] A teaching industrial robot based on the present invention, the error prevention mechanism includes a U-shaped seat, the U-shaped seat opening is downward and is fixedly connected to the top of the fixed plate, the bottom end of the horizontal section of the U-shaped seat is fixedly connected to two sliding rods arranged at vertical intervals, a slide plate is slidably passed through the two sliding rods, the slide plates are horizontally arranged, and a first spring is sleeved on the outer side of each sliding rod, the two ends of the first spring are respectively fixedly connected to the bottom end of the slide plate and the top of the fixed plate, a first contact switch is fixedly connected to the middle of the top end of the slide plate, and a second contact switch is fixedly connected to the middle of the bottom end of the horizontal section of the U-shaped seat, and the second contact switch corresponds to the first contact switch up and down.

[0022] A teaching industrial robot based on the present invention, a support block is arranged on the base, and a plurality of connecting rod groups are fixedly connected to two opposite side walls of the support block, each of the connecting rod groups includes two connecting rods spaced apart in an upper and lower manner, each of the connecting rods is provided with a slide groove, a sliding column is slidably arranged in the slide groove, a second spring is fixedly connected between one end of the sliding column and the side wall of the support block, the second spring is arranged in the slide groove, the other ends of the two sliding columns are commonly fixedly connected to the support column, and an electromagnet is fixedly embedded at the bottom end of the upper connecting rod.

[0023] According to the teaching-type industrial robot of the present invention, the side wall of the support column located between the two connecting rods is configured as an arc surface, and the arc surface is close to the support block.

[0024] Compared with the prior art, the present invention has the following advantages and technical effects:

[0025] When the two second clamping parts arranged in the second clamping seat of the present invention move to a position below the horizontal plane, the clamping end of the second clamping part faces a position obliquely upward, and can work together with the first upper clamping part in the first clamping seat to stably clamp a welding gun with a circular or triangular handle cross-section. When the two second clamping parts move to a position of the horizontal plane, the two clamping ends are in relative positions and work together with the first upper clamping part and the first lower clamping part in the first clamping seat to stably clamp a welding gun with a quadrilateral handle cross-section. By changing the position of the second clamping part, the robot can stably clamp welding guns with different handle shapes, thereby improving the safety level during teaching demonstrations. The error-proofing mechanism provided can prevent the operator from being clamped by the robot. When the operator inserts the welding gun into the first clamping seat and the second clamping seat with one hand, he must hold the error-proofing mechanism with the other hand at the same time, and the robot will clamp the welding gun handle, so that the problem of the operator being clamped will not occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work:

[0027] Figure 1 It is an overall schematic diagram of the present invention;

[0028] Figure 2 for Figure 1 A partial enlarged view of middle A;

[0029] Figure 3 is a cross-sectional view of a second clamping seat of the present invention;

[0030] Figure 4 It is a side view of the first clamping seat of the present invention;

[0031] Figure 5 This is a cross-sectional view of the support block, support column, and connecting rod of the present invention;

[0032] Figure 6 It is a schematic cross-sectional view of the support column of the present invention.

[0033] Among them, 1. base; 2. lower rotating seat; 3. mechanical arm; 4. upper rotating seat; 5. fixed plate; 6. first clamping seat; 7. second clamping seat; 8. support block; 9. support column; 10. U-shaped seat; 11. slide bar; 12. slide plate; 13. first spring; 14. first contact switch; 15. second contact switch; 16. first through hole; 17. arc groove; 18. semicircular groove; 19. give way groove; 20. motor; 21. gear; 22. arc rack; 23. first telescopic rod; 24. first top bead; 25. second telescopic rod; 26. second top bead; 27. third telescopic rod; 28. third top bead; 29. ​​connecting rod; 30. slide groove; 31. slide column; 32. second spring; 33. electromagnet; 34. first sensor; 35. second sensor; 36. second through hole. DETAILED DESCRIPTION

[0034] 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.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Reference Figures 1 to 6 As shown, the present invention provides a teaching type industrial robot, comprising

[0037] A base 1, the top of which is rotatably connected to a lower rotating seat 2, the top of which is rotatably connected to a mechanical arm 3, the mechanical arm 3 is L-shaped and the other end of which is rotatably connected to an upper rotating seat 4, the rotation directions of any two of the lower rotating seat 2, the mechanical arm 3, and the upper rotating seat 4 are vertical in space, and the bottom of the upper rotating seat 4 is fixedly connected to a fixed plate 5;

[0038] The first clamping seat 6 is fixedly arranged at the middle of the bottom end of the fixing plate 5. A second through hole 36 is opened inside the first clamping seat 6. The inner side wall of the second through hole 36 is fixedly connected with a first upper clamping portion and a first lower clamping portion. The first upper clamping portion and the first lower clamping portion correspond to each other in the vertical direction.

[0039] Two second clamping seats 7 are fixedly arranged at two ends of the bottom of the fixing plate 5, and the two second clamping seats 7 are symmetrically arranged on both sides of the first clamping seat 6. Two second clamping parts are slidably arranged inside each second clamping seat 7, and the two second clamping parts are symmetrical about the center of the second clamping seat 7;

[0040] When the clamping ends of the two second clamping parts move below the horizontal plane, they clamp the welding gun handle with a circular or triangular cross section together with the first upper clamping part. When the clamping ends of the two second clamping parts move to the horizontal plane, they clamp the welding gun handle with a quadrilateral cross section together with the first upper clamping part and the first lower clamping part.

[0041] The error-proofing mechanism is fixedly arranged at the top of the fixed plate 5. When the operator inserts the welding gun handle into the first clamping seat 6 and the second clamping seat 7 with one hand, the operator holds the error-proofing mechanism with the other hand at the same time, and the first clamping seat 6 and the second clamping seat 7 are actuated to clamp the welding gun handle.

[0042] When the two second clamping parts arranged in the second clamping seat 7 move to a position below the horizontal plane, the clamping end of the second clamping part faces an obliquely upward position, and can work together with the first upper clamping part in the first clamping seat 6 to stably clamp a welding gun with a circular or triangular handle cross-section. When the two second clamping parts move to a horizontal plane, the two clamping ends are in relative positions and work together with the first upper clamping part and the first lower clamping part in the first clamping seat 6 to stably clamp a welding gun with a quadrilateral handle cross-section. By changing the position of the second clamping part, the robot can stably clamp welding guns with different handle shapes, thereby improving the safety level during teaching demonstrations. The error-proofing mechanism provided can prevent the operator from being clamped by the robot. When the operator inserts the welding gun into the first clamping seat 6 and the second clamping seat 7 with one hand, he must hold the error-proofing mechanism with the other hand at the same time. Only then will the robot clamp the welding gun handle. In this way, the operator will not be clamped.

[0043] Furthermore, a first through hole 16 is provided at the center of the second clamping seat 7, a semicircular groove 18 is provided on the side wall below the horizontal plane of the first through hole 16, an arc groove 17 is provided inside the second clamping seat 7, the center of the arc groove 17 coincides with the center of the first through hole 16, the arc groove 17 is connected to the semicircular groove 18, the two second clamping parts are both slidably arranged in the arc groove 17, the clamping end of the second clamping part is slidably arranged in the semicircular groove 18, the second clamping part is transmission-engaged with a driving part, and the driving part is fixedly embedded in the second clamping seat 7.

[0044] Furthermore, the second clamping portion includes an arcuate rack 22, which is slidably arranged in the arcuate groove 17, the circle of the arcuate rack 22 coincides with the circle of the arcuate groove 17, and teeth are arranged on the convex side surface of the arcuate rack 22. The arcuate rack 22 is meshed with the driving portion through the teeth, and one end of the first telescopic rod 23 is fixedly connected to the middle part of the concave side surface of the arcuate rack 22. The first telescopic rod 23 is slidably arranged in the semicircular groove 18, and the other end of the first telescopic rod 23 is fixedly connected to the first top bead 24.

[0045] Furthermore, the driving part includes a motor 20, which is fixedly embedded in the second clamping seat 7. The output shaft of the motor 20 is fixedly connected to a gear 21. The gear 21 is rotatably arranged in a clearance groove 19 opened inside the second clamping seat 7. The clearance groove 19 is connected to the arc groove 17, and the gear 21 is meshed with the teeth on the outer convex side of the arc rack 22.

[0046] The length of the arc groove 17 is about three quarters of the entire circle, providing enough space for the movement of the arc rack 22. When the first telescopic rod 23 reaches the horizontal plane as the arc rack 22 moves, it just contacts the two top ends of the semicircular groove 18.

[0047] When it is necessary to clamp a welding gun with a quadrilateral cross-section of the handle, the motor 20 drives the arc-shaped rack 22 to move in the arc-shaped groove 17 through the gear 21, and then drives the first telescopic rod 23 to move to a horizontal position, and the telescopic ends of the two first telescopic rods 23 extend to support the two first top beads 24 on the two opposite side walls of the welding gun handle, and at the same time, the first upper clamping part and the first lower clamping part clamp the upper side wall and the lower side wall of the welding gun handle. Since the first clamping seat 6 and the two second clamping seats 7 are respectively located in different vertical planes, the clamping points of the first clamping seat 6 and the two second clamping seats 7 for the welding gun handle are also in different vertical planes. In addition, the two first top beads 24 and the first upper clamping part and the first lower clamping part can completely cover the four sides of the handle, so the welding gun can be stably clamped;

[0048] When it is necessary to clamp a welding gun with a circular or triangular cross-section of the handle, the horizontal side of the triangular welding gun needs to be located above the two inclined side surfaces, and then the first telescopic rod 23 is driven to a position below the horizontal plane by the motor 20, the gear 21 and the arc-shaped rack 22, so that the telescopic end thereof is tilted upward, and then the telescopic ends of the first telescopic rod 23 and the second telescopic rod 25 are extended at the same time, supporting the first top bead 24 and the second top bead 26 on the side wall of the handle to stably clamp the welding gun. At this time, the third telescopic rod 27 and the third top bead 28 do not participate in the clamping process of the welding gun.

[0049] Furthermore, a first sensor 34 is fixedly connected to the top of the inner wall of the first through hole 16 .

[0050] The first sensor 34 is used to sense whether the welding gun handle is inserted into the second clamping seat 7 .

[0051] Further, the first upper clamping portion includes a second telescopic rod 25, which is vertically arranged and has its top fixedly connected to the top of the inner wall of the second through hole 36, and a second top bead 26 fixedly connected to the bottom end of the second telescopic rod 25;

[0052] The first lower clamping portion includes a third telescopic rod 27, which is vertically arranged and has a bottom end fixedly connected to the bottom of the inner wall of the second through hole 36, and a third top bead 28 fixedly connected to the top of the third telescopic rod 27;

[0053] The second top bead 26 and the third top bead 28 correspond to each other vertically.

[0054] Furthermore, two horizontal ends of the inner wall of the second through hole 36 are respectively fixedly connected with the second sensor 35 .

[0055] The second sensor 35 senses whether the welding gun handle is inserted into the first clamping seat 6 .

[0056] Furthermore, the error prevention mechanism includes a U-shaped seat 10, which opens downward and is fixedly connected to the top of the fixed plate 5. The bottom end of the horizontal section of the U-shaped seat 10 is fixedly connected to two vertically spaced sliding bars 11. A slide plate 12 is slidably passed through the two slide bars 11. The slide plates 12 are horizontally arranged. A first spring 13 is sleeved on the outer side of each slide bar 11. The two ends of the first spring 13 are respectively fixedly connected to the bottom end of the slide plate 12 and the top of the fixed plate 5. A first contact switch 14 is fixedly connected to the middle of the top of the slide plate 12. A second contact switch 15 is fixedly connected to the middle of the bottom end of the horizontal section of the U-shaped seat 10. The second contact switch 15 corresponds to the first contact switch 14 up and down.

[0057] Only when the first sensor 34 and the second sensor 35 sense that the welding gun handle is inserted into the first clamping seat 6 and the second clamping seat 7, the robot will not perform the next clamping action. At this time, the operator needs to hold the U-shaped seat 10 and the slide plate 12 with his other hand and pull the slide plate 12 upward with force until the first contact switch 14 and the second contact switch 15 are in contact. At this time, the robot will perform the next action to clamp the welding gun only after receiving the contact signal from the two.

[0058] Furthermore, a support block 8 is provided on the base 1, and a plurality of connecting rod groups are fixedly connected to the two opposite side walls of the support block 8, each connecting rod group includes two connecting rods 29 spaced apart from each other, each connecting rod 29 is provided with a slide groove 30, a slide column 31 is slidably arranged in the slide groove 30, a second spring 32 is fixedly connected between one end of the slide column 31 and the side wall of the support block 8, the second spring 32 is arranged in the slide groove 30, the other ends of the two slide columns 31 are commonly fixedly connected to the support column 9, and an electromagnet 33 is fixedly embedded at the bottom end of the upper connecting rod 29.

[0059] Furthermore, the side wall of the support column 9 between the two connecting rods 29 is configured as an arc surface, and the arc surface is close to the support block 8 .

[0060] The support column 9 and the connecting rod 29 make it convenient to use a forklift to move the entire robot. The fork arm of the forklift extends between the support column 9 and the support block 8. The arc surface of the support column 9 has a guiding function for the fork arm. After the fork arm is inserted, the electromagnet 33 is energized to generate magnetism and magnetic adsorption with the fork arm, thereby improving the stability of the robot during transfer. The sliding column 31 and the second spring 32 are arranged so that the distance between the support column 9 and the support block 8 can be adjusted to adapt to forks of different widths.

[0061] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0062] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope of the present invention.

Claims

1. A teaching industrial robot, characterized in that: include A base (1), the top of which is rotatably connected to a lower rotating seat (2), the top of which is rotatably connected to a mechanical arm (3), the mechanical arm (3) is L-shaped and the other end of which is rotatably connected to an upper rotating seat (4), the rotation directions of any two of the lower rotating seat (2), the mechanical arm (3) and the upper rotating seat (4) are vertical in space, and the bottom of the upper rotating seat (4) is fixedly connected to a fixing plate (5); A first clamping seat (6) is fixedly arranged at the middle of the bottom end of the fixing plate (5), a second through hole (36) is opened inside the first clamping seat (6), a first upper clamping portion and a first lower clamping portion are fixedly connected to the inner side wall of the second through hole (36), and the first upper clamping portion and the first lower clamping portion correspond to each other in the vertical direction; Two second clamping seats (7) are fixedly arranged at two ends of the bottom of the fixing plate (5), the two second clamping seats (7) are symmetrically arranged on both sides of the first clamping seat (6), and two second clamping parts are slidably arranged inside each second clamping seat (7), and the two second clamping parts are symmetrical about the center of the second clamping seat (7); When the clamping ends of the two second clamping parts move below the horizontal plane, they clamp the welding gun handle with a circular or triangular cross section together with the first upper clamping part; when the clamping ends of the two second clamping parts move to the horizontal plane, they clamp the welding gun handle with a quadrilateral cross section together with the first upper clamping part and the first lower clamping part; The error prevention mechanism is fixedly arranged on the top of the fixing plate (5). When the operator inserts the welding gun handle into the first clamping seat (6) and the second clamping seat (7) with one hand, the operator simultaneously holds the error prevention mechanism with the other hand, and the first clamping seat (6) and the second clamping seat (7) are actuated to clamp the welding gun handle.

2. A teaching industrial robot according to claim 1, characterized in that: A first through hole (16) is provided at the center of the second clamping seat (7), a semicircular groove (18) is provided on the side wall below the horizontal plane of the first through hole (16), an arc groove (17) is provided inside the second clamping seat (7), the center of the arc groove (17) coincides with the center of the first through hole (16), the arc groove (17) is connected to the semicircular groove (18), both of the second clamping parts are slidably arranged in the arc groove (17), the clamping end of the second clamping part is slidably arranged in the semicircular groove (18), the second clamping part is transmission-engaged with a driving part, and the driving part is fixedly embedded in the second clamping seat (7).

3. A teaching industrial robot according to claim 2, characterized in that: The second clamping portion comprises an arc-shaped rack (22), the arc-shaped rack (22) is slidably arranged in the arc-shaped groove (17), the circle of the arc-shaped rack (22) coincides with the circle of the arc-shaped groove (17), teeth are arranged on the outer convex side surface of the arc-shaped rack (22), the arc-shaped rack (22) is transmission-engaged with the driving portion through the teeth, one end of a first telescopic rod (23) is fixedly connected to the middle part of the inner concave side surface of the arc-shaped rack (22), the first telescopic rod (23) is slidably arranged in the semicircular groove (18), and the other end of the first telescopic rod (23) is fixedly connected to a first top bead (24).

4. The teaching industrial robot according to claim 3, characterized in that: The driving part comprises a motor (20), the motor (20) is fixedly embedded in the second clamping seat (7), the output shaft of the motor (20) is fixedly connected with a gear (21), the gear (21) is rotatably arranged in a clearance groove (19) provided inside the second clamping seat (7), the clearance groove (19) is connected with the arc groove (17), and the gear (21) is meshed with teeth on the outer convex side surface of the arc rack (22).

5. The teaching industrial robot according to claim 2, characterized in that: A first sensor (34) is fixedly connected to the top of the inner side wall of the first through hole (16).

6. The teaching industrial robot according to claim 1, characterized in that: The first upper clamping portion comprises a second telescopic rod (25), the second telescopic rod (25) is vertically arranged and the top end is fixedly connected to the top of the inner wall of the second through hole (36), and the bottom end of the second telescopic rod (25) is fixedly connected to a second top bead (26); The first lower clamping portion comprises a third telescopic rod (27), the third telescopic rod (27) is vertically arranged and the bottom end of the third telescopic rod (27) is fixedly connected to the bottom of the inner wall of the second through hole (36), and the top end of the third telescopic rod (27) is fixedly connected to a third top bead (28); The second top bead (26) corresponds to the third top bead (28) in a vertical direction.

7. The teaching industrial robot according to claim 1, characterized in that: The two horizontal ends of the inner wall of the second through hole (36) are respectively fixedly connected with second sensors (35).

8. The teaching industrial robot according to claim 1, characterized in that: The error prevention mechanism comprises a U-shaped seat (10), the U-shaped seat (10) is opened downward and is fixedly connected to the top of the fixed plate (5), the bottom end of the horizontal section of the U-shaped seat (10) is fixedly connected to two vertically spaced sliding rods (11), a sliding plate (12) is slidably passed through the two sliding rods (11), the sliding plates (12) are horizontally arranged, a first spring (13) is sleeved on the outer side of each sliding rod (11), the two ends of the first spring (13) are respectively fixedly connected to the bottom end of the sliding plate (12) and the top of the fixed plate (5), a first contact switch (14) is fixedly connected to the middle of the top of the sliding plate (12), and a second contact switch (15) is fixedly connected to the middle of the bottom end of the horizontal section of the U-shaped seat (10), and the second contact switch (15) corresponds to the first contact switch (14) up and down.

9. The teaching industrial robot according to claim 1, characterized in that: A support block (8) is arranged on the base (1), and a plurality of connecting rod groups are fixedly connected to two opposite side walls of the support block (8), each of the connecting rod groups comprises two connecting rods (29) spaced apart from each other, each of the connecting rods (29) is provided with a slide groove (30), a slide column (31) is slidably arranged in the slide groove (30), a second spring (32) is fixedly connected between one end of the slide column (31) and the side wall of the support block (8), the second spring (32) is arranged in the slide groove (30), the other ends of the two slide columns (31) are fixedly connected to a support column (9), and an electromagnet (33) is fixedly embedded at the bottom end of the upper connecting rod (29).

10. The teaching industrial robot according to claim 9, characterized in that: The side wall of the support column (9) located between the two connecting rods (29) is configured as an arc surface, and the arc surface is close to the support block (8).

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