Practical training robot device

Abstract

The utility model relates to a practical training robot device, which is provided with a mechanical arm, an actuator clamping seat, an actuator and a tool rack, the actuator clamping seat is arranged at the tail end of the mechanical arm, the main body part of the actuator clamping seat is in the shape of a rectangular cylinder, the opening of the cylinder is forward, the rear part of the actuator is provided with an actuator base, the actuator base is in the shape of a rectangular column, and the tool rack is arranged on the actuator base. A plurality of elastic protrusions are distributed on the side face of the rear portion of the actuator base, the tool frame is in a rectangular cylinder shape, a cylinder opening faces upwards, the cross section of a cavity of the tool frame is matched with the cross section of the front portion of the actuator base in shape, and an electromagnet embedded in the side wall of the cavity of the tool frame is arranged in the cavity of the tool frame. And the electromagnets on the actuator base are opposite to the corresponding soft magnets on the actuator base. The mechanical arm is allowed to be provided with a plurality of different actuators, the actuators can be automatically mounted on and dismounted from the mechanical arm through the action of the mechanical arm, and the mechanical arm is convenient to use and has good expandability.

Description

Technical Field

[0001] The utility model relates to a training robot device. Background Art

[0002] In recent years, the industrial robot market has shown rapid growth. With the transformation, upgrading, and intelligent development of the manufacturing industry, more and more companies are introducing industrial robots to improve production efficiency and product quality. Simultaneously, the demand for skilled personnel mastering industrial robot technology is also growing. Therefore, developing practical training devices for robotics and cultivating more personnel with industrial robot operation and maintenance skills has become a top priority.

[0003] The practical training system is a comprehensive teaching system that simulates actual work scenarios, allowing students to practice in a simulated environment, improving the practicality and interest of learning and cultivating practical work skills. Its functions include practical training simulation, teaching management, interactive teaching, learning resource management, and data analysis and evaluation. Through practical training, it helps to enhance students' learning interest, cultivate practical skills, improve teaching effectiveness, enrich learning resources, and be convenient and flexible. Therefore, the practical training system should meet the actual requirements of industry, enabling students to have the actual operation ability of industrial robot equipment used in practice and in line with future development directions, laying a foundation for post-graduation employment.

[0004] As a training facility, a training robot should have broad adaptability. To meet this requirement, a tool library can be set up, and the robot can be equipped with a number of actuators with different functions to perform different processing tasks. The required actuators should be automatically removed from the tool library and installed on the robot arm through the robot arm. After the task is completed, the robot arm can automatically remove the actuators from the robot arm and return them to the corresponding position in the tool library. However, the installation and removal mechanisms of the actuators currently equipped in the robot are not perfect, which brings inconvenience to the user. For example, Chinese patent document CN210443108U discloses a robot training platform tool library with three functional manipulators, including a manipulator bracket, a grinding manipulator, a brush manipulator and a suction cup manipulator. The manipulator bracket is composed of a column, a crossbeam and a placement plate. Three slots for placing the manipulator are arranged side by side on the side of the placement plate away from the column. The grinding manipulator includes a female quick-change chuck, a sub-quick-change chuck, a transition positioning flange, a bracket, a mounting seat and a micro electric grinder. The brush manipulator includes a female quick-change chuck, a sub-quick-change chuck, a transition positioning flange, a bracket, a spring seat, a movable sleeve and a brush. The suction cup manipulator includes a female quick-change chuck, a sub-quick-change chuck, a transition positioning flange, a bracket, a mounting assembly and a suction cup assembly. The female quick-change chuck and the sub-quick-change chuck are both commercially available products. Chinese patent document CN117583656A discloses a tool changing mold device and design method for a milling machine, including a device frame installed at the lower end of a servo motor, a precision guide rail system installed below the device frame, a built-in sensor installed in the middle of the precision guide rail system, and an automatic chuck installed below the precision guide rail system. The device is equipped with an automatic chuck and a servo motor to achieve rapid grasping and releasing of the tool, wherein the built-in sensor is used to automatically identify tools in the tool library. Chinese patent document CN117340717A discloses a quick-change tool magazine for grinding equipment, including a quick-change magazine assembly, a protective assembly, and a grinding assembly. The quick-change magazine assembly includes a mounting base, with mounting brackets fixed to one side of the mounting base via bolts. Multiple sets of mounting brackets are arranged in parallel. A mounting plate is fixed to one side of the mounting bracket via bolts. The mounting plate is provided with multiple sets of mounting bayonet holes, each of which is provided with a quick-change disc female head. A quick-change camera, a radial floating file machine, a special-angle radial floating spindle, and a floating electric spindle with a tracking system are sequentially arranged on one side of the mounting plate. The tool side is connected to a quick-change disc female head, which is adapted to the mounting plate bayonet hole. Chinese patent document CN220491453U discloses a training platform for robot system integration application technology.This platform, based on a lithium battery intelligent assembly line, comprises a training platform, an internal control system, a power supply unit, a communication unit, a robotics unit, a linear motion track unit, a tool library unit, a flat storage unit, a box assembly unit, a feeding unit, a belt conveyor unit, an industrial vision system, an assembly unit, a simulated CNC machining unit, and an HMI unit. The training platform is protected by sheet metal shields on all four sides, and the three front doors are each fitted with acrylic panels. All components are connected to the control system. The platform consists of multiple functional units, all with fully accessible components and interfaces. Selecting individual unit modules allows for the creation of various application systems. The platform also incorporates protection features to ensure both personnel and equipment safety during training. Each of these technologies has its own unique characteristics and is well-suited for specific applications. However, they also commonly suffer from issues such as inconvenient disassembly, loose fastening, complex structures, and the need for extensive human intervention. Therefore, further development of technologies more suitable for practical training is necessary. Utility Model Content

[0005] The purpose of the utility model is to provide a training robot device capable of conveniently replacing an actuator.

[0006] The technical solution of the utility model is: a training robot device, which is provided with a mechanical arm, an actuator holder, an actuator and a tool rack. The actuator holder is installed at the end of the mechanical arm, and its main body is in the shape of a rectangular cylinder with the cylinder mouth facing forward. The rear of the actuator is provided with an actuator base, which is in the shape of a rectangular column, and the cross-section of its rear is conformable to the cross-section of the actuator holder cavity. A number of elastic protrusions are distributed on the side of the rear of the actuator base. The tool rack is in the shape of a rectangular cylinder with the cylinder mouth facing upward, and the cross-section of the tool rack cavity is conformable to the cross-section of the front of the actuator base.

[0007] The number of tool racks can be one or more.

[0008] The number of the actuators can be one or more.

[0009] The number of tool racks should not be less than the number of actuators.

[0010] The inner wall of the actuator holder cavity may be provided with a plurality of axial grooves corresponding to different elastic protrusions respectively, or may not be provided with a plurality of axial grooves corresponding to different elastic protrusions respectively.

[0011] Preferably, the bottom of the axial groove is a smooth curved surface, which is smoothly connected to the inner wall of the actuator seat cavity.

[0012] Preferably, the elastic protrusion can be an axially extending arc-shaped spring piece, which is embedded in the side surface of the rear part of the actuator base, and the middle part of the arc-shaped spring piece protrudes from the surface of the actuator base.

[0013] Preferably, the elastic protrusion can be made of an elastomer, which is embedded in the side surface of the rear part of the actuator base, with the middle part protruding from the surface of the actuator base, and the surface of the protruding part is a smooth curved surface.

[0014] Preferably, a continuous or discontinuous annular flange is provided between the front and rear of the actuator base. The annular flange protrudes from the side of the actuator and surrounds the actuator base. Its cross-section is rectangular, and its front and rear faces are both planes perpendicular to the axis of the actuator base.

[0015] Furthermore, the rear end face of the annular flange serves as a limiting structure for the actuator base to be installed in place on the actuator holder, and the front end face of the annular flange serves as a limiting structure for the actuator base to be installed in place on the tool holder.

[0016] An electrical plug groove may be provided on the side surface of the rear portion of the actuator base, one end of the electrical plug groove being open to the rear end face of the actuator base, and an electrical plug serving as an actuator power access terminal is provided on the end face of the other end. An electrical socket matching the electrical plug is provided in the actuator holder. When the actuator base is plugged into place on the actuator holder, the electrical plug is plugged into place on the matching electrical socket.

[0017] A signal plug-in groove may be provided on the side surface of the rear part of the actuator base. One end of the signal plug-in groove opens at the rear end face of the actuator base, and the end face of the other end is provided with a signal plug serving as an actuator signal output terminal. A signal socket matching the signal plug is provided in the actuator holder. When the actuator base is plugged into place on the actuator holder, the signal plug is plugged into place on the matching signal socket.

[0018] Preferably, the tool holder cavity is provided with an electromagnet embedded in its side wall, and the side of the actuator base is provided with a soft magnetic body corresponding to the electromagnet. When the actuator base is plugged into place on the tool holder, the electromagnet on the actuator base is opposite to the corresponding soft magnetic body on the actuator base.

[0019] The beneficial effects of the present invention are as follows: since a rectangular base is provided on the actuator, this base form can be provided on several actuators with different functions, and has strong adaptability; since the connections between the actuator base, the actuator holder and the tool holder all adopt a rectangular column hole plug-in method, there is a certain depth, which is conducive to improving firmness; since a number of spring pieces are distributed on the side of the actuator base, it is conducive to improving the firmness and stability of the actuator when it is loaded on the robot arm, and avoiding the actuator from deflecting and shaking on the robot arm; since an electromagnet corresponding to the actuator base is provided on the side wall of the tool holder, when the actuator is placed in the fixture, the electromagnetic When the electromagnet is energized, a sufficiently strong suction force is generated on the actuator base. When the robotic arm / actuator holder is lifted, the suction force overcomes the clamping force between the actuator holder and the actuator base, separating the actuator holder from the actuator, thereby realizing the removal of the actuator from the robotic arm and the placement on the tool holder. Since the clamping force between the actuator base and the actuator holder is greater than the clamping force between the actuator base and the tool holder when the electromagnet is not energized, when the robotic arm picks up the actuator, as long as the actuator base is inserted into the actuator holder, the actuator can move with the robotic arm and detach from the tool holder, thereby facilitating the loading of the actuator on the robotic arm.

[0020] The utility model allows the robot arm to be equipped with a number of different actuators, and the installation and removal of the actuators on the robot arm can be automatically achieved through the movement of the robot arm. It is easy to use and has good scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the utility model;

[0022] Figure 2 It is a schematic diagram of the actuator holder involved in the utility model;

[0023] Figure 3 It is a schematic diagram of the tool rack involved in the utility model;

[0024] Figure 4 It is a schematic diagram of the actuator involved in the utility model. DETAILED DESCRIPTION

[0025] The utility model is improved on the basis of the existing training robot device (or equipment, or system, or platform) to facilitate the loading of the actuator on the robot arm and the taking and placing in the tool library.

[0026] See also Figures 1-4 This training robot device is provided with a robot arm 10, an actuator holder 20, an actuator 40 and a tool rack 30. The tool rack is an actuator storage unit in the tool library. The actuators not loaded on the robot arm are placed on each tool rack respectively. The actuator holder can be fixedly mounted on the end of the robot arm through the flange 28 at its rear end.

[0027] The main body of the actuator holder is in the shape of a rectangular cylinder (a cylinder with a rectangular cross section), with the cylinder mouth facing forward (in the front of the extension direction of the robotic arm).

[0028] An actuator base 41 is provided at the rear of the actuator. The actuator base is in the shape of a rectangular column (a column with a rectangular cross-section). The cross-section of its rear portion is conformal to the cross-section of the actuator holder cavity (the rectangular cylindrical cavity of the actuator holder) (their shapes adapt to each other), and can be inserted into the cavity of the actuator holder without leaving excessive gaps to maintain stability. Several elastic protrusions 42 are distributed on the side surfaces of the rear portion of the actuator base. When the rear portion of the actuator base is inserted into the actuator holder cavity, these elastic protrusions are squeezed and deformed by the inner wall of the actuator cavity, generating a certain elastic force, thereby achieving the required fixing strength between the actuator base and the actuator holder.

[0029] The tool holder is in the shape of a rectangular cylinder (a cylinder with a rectangular cross section) with the cylinder mouth facing upward. The cross section of the tool holder cavity (the rectangular cylinder cavity of the tool holder) is conformed to the cross section of the front of the actuator base, so that the front of the actuator base can be inserted without leaving too much gap to maintain stability.

[0030] The front and rear portions of the actuator base may be of equal diameter (same cross-section), in which case they may be considered as two parts of the same rectangular cylinder; the front and rear portions of the actuator base may also be of unequal diameter (different cross-sections, including different sizes and / or shapes), depending on actual needs.

[0031] There are usually multiple tool racks to facilitate the configuration of multiple actuators.

[0032] When appropriate, the number of tool racks may also be one.

[0033] The number of actuators is usually multiple, and a variety of different actuators can be used, each of which is provided with its own tool 49 or other actuator so as to be able to perform several different functions. The number of each actuator can be one, or multiple if necessary.

[0034] If appropriate, the number of the actuator may be one.

[0035] The number of tool holders should generally be no less than the number of actuators.

[0036] To perform different functions, the robot arm and tool rack can be fixed on the platform of the training robot device. The tool rack should be within the reach of the robot arm to ensure that the robot arm can pick up the actuator from the tool rack and put the actuator into the tool rack.

[0037] A continuous or discontinuous (intermittent) annular flange 44 is provided between the front and rear portions of the actuator base. The annular flange protrudes from the surface (side surface, or side) of the actuator base and surrounds the actuator base. Its cross-section (the cross-section perpendicular to the direction of the surround) is rectangular, and its front and rear faces are both planes (respectively located in their respective planes) and perpendicular to the axis of the actuator base (the center line of the cylinder).

[0038] The annular flange on the side of the actuator base serves as a limiting structure for the actuator's installation in the actuator holder and tool holder. Typically, the outer cross-section of the annular flange (a cross-section perpendicular to the axis of the actuator base, bounded by this outer edge) is larger than the inner cross-section of the actuator holder and larger than the inner cross-section of the tool holder. When the actuator is installed (plugged) into the actuator holder, the front end of the actuator holder abuts the rear end of the annular flange, thereby limiting the actuator's insertion depth into the actuator holder. When the actuator is installed (plugged) into the tool holder, the top end of the tool holder abuts the front end of the annular flange, thereby limiting the actuator's insertion depth into the actuator holder.

[0039] The dimensions of the actuator cartridge (cavity dimensions, especially cavity depth) should allow the actuator to be plugged into place on the actuator cartridge, that is, the actuator cartridge cavity should be able to accommodate all parts of the actuator located behind the annular flange.

[0040] The dimensions of the tool holder (cavity dimensions, in particular cavity depth) should allow the actuator to be plugged into place on the tool holder, ie the tool holder cavity should be able to accommodate all parts of the actuator that are located in front of the annular flange.

[0041] The inner wall of the actuator cartridge cavity may or may not be provided with multiple axial grooves (axially extending grooves) corresponding to the multiple elastic protrusions distributed on the side surface of the rear portion of the actuator base. The bottom of the axial groove is a smooth curved surface in the axial direction and is smoothly connected to the inner wall of the actuator cartridge cavity (smooth transition). When the rear portion of the actuator base is inserted into the cavity of the actuator cartridge, the corresponding elastic protrusions on the side surface of the rear portion of the actuator base are exactly located in their corresponding axial grooves and should still be in a certain degree of compression.

[0042] The elastic protrusion can be an arc-shaped spring piece extending axially (in the axial direction of the actuator base). A spring piece mounting groove is provided on the side of the rear part of the actuator base. The arc-shaped spring piece is mounted on the spring piece mounting groove, and the middle part protrudes from the surface of the actuator base.

[0043] The curved spring piece may be an elastic metal piece. One or both ends of the curved spring piece may be fixedly connected to the bottom of the spring piece embedding groove (for example, by welding, tight-fitting plug-in connection / clip-on connection), or the two ends may be appropriately clipped to prevent the curved spring piece from falling out of the spring piece embedding groove.

[0044] The elastic protrusion may also be an elastic body with an exposed surface being a smooth curved surface (eg, an ellipsoidal surface). An elastic body embedding groove is provided on the side surface of the rear portion of the actuator base, and the elastic body is embedded in the elastic body embedding groove.

[0045] The elastomer can be made of a polymer elastic material (for example, rubber, rubber plastic). An annular pressure plate can be provided on the notch of the elastomer mounting groove to press the edge area of ​​the elastomer located in the elastomer mounting groove into the elastomer mounting groove, with the central protrusion structure of the elastomer exposed from the central through hole of the annular pressure plate. The annular pressure plate can be fixedly connected to the notch of the elastomer mounting groove, with its surface flush with the surface of the actuator base around the elastomer mounting groove (forming a flat surface). The annular pressure plate can be pressed against the notch of the elastomer mounting groove by an interference fit, or the annular pressure plate can be aligned with the notch of the elastomer mounting groove and then welded to fix it. The shape of the portion of the elastomer located in the elastomer mounting groove can be adapted to the space in the groove after the annular pressure plate is provided, and can be slightly larger than the space in the groove after the annular pressure plate is provided, so that the annular pressure plate can press it tightly and fix it.

[0046] According to actual needs, an electrical plug groove (or electrical plug notch) 46 can be provided on the side surface of the rear part of the actuator base. One end of the electrical plug groove opens at the rear end surface of the actuator base and extends forward from the rear end surface of the actuator base. An electrical plug 45 serving as the actuator power access terminal is provided on the end surface of the other end. An electrical socket matching the electrical plug serving as the actuator power access terminal is provided in the actuator holder. When the actuator base is plugged into place on the actuator holder, the electrical plug serving as the actuator power access terminal should be plugged into place with the electrical socket matching it. Based on this requirement, an electrical socket matching the electrical plug serving as the actuator power access terminal can be provided in the actuator holder, and the setting position of the corresponding electrical socket is determined based on this requirement.

[0047] The electrical plug groove should usually be cylindrical and extend axially (in the direction of the axis of the actuator base). In this way, when the actuator base is inserted into the actuator holder, the corresponding electrical socket can smoothly pass through the electrical plug groove until it is plugged into the corresponding electrical plug.

[0048] The electrical plug-in groove may be provided on one side surface of the actuator base, or may be provided at a corner portion where two adjacent side surfaces of the actuator base are connected to each other.

[0049] The power input circuit of the actuator can be set according to actual needs. A unified electrical plug can be set for various actuators, and matching electrical sockets can be set according to the power supply needs of the actuator (or according to the corresponding electrical plug).

[0050] When different actuators require different power inputs, and / or when a single actuator requires different power inputs, the required multiple power input terminals can be arranged according to a specific rule on the same electrical connector, and the multiple power output terminals can be arranged according to the same rule on the same electrical outlet. For a specific actuator, the electrical plug can be wired according to the specific power input required by the actuator. Once the electrical plug and outlet are properly connected, the corresponding power supply on the outlet is connected to the actuator through the relevant wiring of the electrical connector (the redundant power output terminals on the outlet can be considered open circuit). If necessary, multiple pairs of electrical plugs and outlets can be provided.

[0051] The power circuit for supplying power to the actuator may be set according to actual conditions, and the wiring and electrical connection from the power circuit to the electrical socket may be achieved in any suitable manner according to the prior art.

[0052] A signal plug-in groove (or signal plug-in notch) 47 may be provided on the side surface of the rear portion of the actuator base. One end of the signal plug-in groove opens at the rear end surface of the actuator base and extends forward from the rear end surface of the actuator base. A signal plug serving as an actuator signal output terminal (for example, a signal output terminal of a sensor in the actuator) is provided on the end surface of the other end. A signal socket matching the signal plug serving as the actuator signal output terminal is provided in the actuator holder. When the actuator base is plugged into place on the actuator holder, the signal plug serving as the actuator signal output terminal should be plugged into place on the signal socket matching it. Based on this requirement, a signal socket matching the signal plug serving as the actuator signal output terminal can be provided in the actuator holder, and the setting position of the corresponding signal socket is determined based on this requirement.

[0053] The signal plug-in groove should usually be cylindrical and extend axially (in the direction of the axis of the actuator base). In this way, when the actuator base is inserted into the actuator holder, the corresponding signal socket can smoothly pass through the signal plug-in groove until it is plugged into the corresponding signal plug.

[0054] The signal plug-in groove may be provided on one side surface of the actuator base, or may be provided at a corner portion where two adjacent side surfaces of the actuator base are connected to each other.

[0055] The actuator's signal output circuit should be configured based on actual needs. A signal plug and its corresponding signal socket should be configured based on the actuator's signal output needs. A unified signal plug can be used for various actuators.

[0056] When different actuators have different signal outputs, and / or a single actuator has different signal outputs, the required multiple signal output terminals can be arranged according to a specific rule on the same signal plug. The signal plug is wired according to the specific signal output of the actuator. Following the same rule, the multiple signal input terminals can be arranged on the same signal socket. By plugging the signal plug into the signal socket, the actuator output signal is connected to the signal socket (the redundant signal output terminals on the signal socket can be considered open circuit). Multiple pairs of signal plugs and signal sockets can be provided if necessary.

[0057] When in use, the signal processing device for signal reception and processing (for example, the control system of a robot) should be set up according to actual conditions, and the wiring and signal cable connection from the signal socket to the signal processing device can be achieved in any appropriate manner based on existing technology.

[0058] A positioning element or structure can be provided on the rear end surface of the actuator base. During operation, the positioning element or structure can be used to determine or position the actuator, allowing the robot arm to pick up the actuator in the correct orientation and align the actuator base with the actuator holder in the correct direction (circumferential position). The method for determining or positioning the actuator using the positioning element or structure can be based on any suitable existing technology.

[0059] The positioning structure can be a positioning notch (or positioning groove) 48 provided on the rear end face of the actuator base. A positioning block can be provided within the actuator holder to match the positioning notch on the rear end face of the actuator base. When the positioning block and the positioning notch are axially aligned, the actuator base can be inserted into the actuator holder and the positioning block inserted into the positioning notch. When the positioning block and the positioning notch are not axially aligned, the actuator base cannot be inserted into the actuator holder. After insertion to a certain depth, the positioning block abuts against the rear end face of the actuator base without the positioning notch, preventing further insertion of the actuator. This condition can be detected / sensed using any suitable existing technology, and the actuator holder can be controlled to withdraw through a relevant control system. The actuator's orientation can then be re-detected and the rotation angle of the end arm / actuator holder readjusted to ensure that the actuator is inserted into the correct orientation.

[0060] An electromagnet can be embedded on the side wall of the tool holder cavity, and a soft magnet 43 corresponding to the electromagnet is provided on the side wall of the actuator base (when the actuator base or the part of the base corresponding to the permanent magnet is made of soft magnetic material, there is no need to set up a soft magnet corresponding to the electromagnet separately). When the actuator base is plugged into place on the tool holder, the electromagnet on the actuator base is opposite to the corresponding soft magnet on the actuator base. In this state, the power supply of the permanent magnet is turned on, and a sufficiently large attraction force is formed between the permanent magnet and the corresponding soft magnet. Then the robotic arm drives the actuator holder to retreat (rise), and the attraction force between the permanent magnet and the soft magnet overcomes the clamping force between the actuator holder and the actuator base, so that the actuator remains stationary on the workpiece fixture. As the actuator holder rises, the actuator holder separates from the actuator base, and the actuator is released from the actuator holder. Then the power supply of the electromagnet is disconnected, and the actuator relies on its own gravity, the small attraction force generated by the residual magnetism of the permanent magnet, and the small clamping force (movement resistance) between the tool holder cavity and the actuator base to maintain and stabilize it on the tool holder.

[0061] The permanent magnets on the sidewalls of the tool holder cavity are typically multiple, but can be one if appropriate. The multiple electromagnets are preferably distributed on the sidewalls of the tool holder cavity in different directions, preferably in a rotationally symmetrical pattern (with the axis of the actuator base as the axis of rotational symmetry). The electromagnets (and the power supply circuits of the electromagnetic coils) can be equipped with a power control switch (e.g., an electronic switch or other electrically controlled switch serving as a power switch). The on / off control of the permanent magnet power control switch can be performed using any suitable existing technology.

[0062] Unless otherwise specified or when one preferred or optional technical means is a further limitation of another technical means, the preferred and optional technical means disclosed in the present utility model can be arbitrarily combined to form several different specific implementation methods.

Claims

1. A training robot device with a robotic arm, characterized by An actuator holder, an actuator and a tool holder are also provided. The actuator holder is installed at the end of the robotic arm. The main part of the actuator holder is in the shape of a rectangular cylinder with the tube mouth facing forward. The rear of the actuator is provided with an actuator base. The actuator base is in the shape of a rectangular column. The cross section of its rear part is conformable to the cross section of the actuator holder cavity. Several elastic protrusions are distributed on the side of the rear part of the actuator base. The tool holder is in the shape of a rectangular cylinder with the tube mouth facing upward. The cross section of the tool holder cavity is conformable to the cross section of the front part of the actuator base.

2. The training robot device according to claim 1, characterized in that The number of the tool racks is one or more, and the number of the actuators is one or more.

3. The training robot device according to claim 1, wherein The inner wall of the actuator holder cavity is provided with or without a plurality of axial grooves corresponding to different elastic protrusions respectively. The bottom of the axial groove is a smooth curved surface and is smoothly connected to the inner wall of the actuator holder cavity.

4. The training robot device according to claim 1, wherein The elastic protrusion adopts an axially extended arc-shaped spring piece, which is embedded in the side surface of the rear part of the actuator base, and the middle part of the arc-shaped spring piece protrudes from the surface of the actuator base.

5. The training robot device according to claim 1, wherein The elastic protrusion adopts an elastomer, which is embedded in the side surface of the rear part of the actuator base. The middle part protrudes from the surface of the actuator base, and the surface of the protruding part is a smooth curved surface.

6. The training robot device according to claim 1, wherein A continuous or discontinuous annular flange is provided between the front and rear of the actuator base. The annular flange protrudes from the side of the actuator and surrounds the actuator base. Its cross section is rectangular, and its front and rear faces are both planes perpendicular to the axis of the actuator base.

7. The training robot device according to claim 6, wherein The rear end face of the annular flange is used as a limiting structure for the actuator base to be installed in place on the actuator holder, and the front end face of the annular flange is used as a limiting structure for the actuator base to be installed in place on the tool holder.

8. The training robot device according to claim 1, wherein An electrical plug groove is provided on the side of the rear part of the actuator base. One end of the electrical plug groove is open to the rear end face of the actuator base, and the end face of the other end is provided with an electrical plug serving as the actuator power access terminal. An electrical socket matching the electrical plug is provided in the actuator base. When the actuator base is plugged into place on the actuator base, the electrical plug is plugged into place on the matching electrical socket.

9. The training robot device according to claim 1, wherein A signal plug-in groove is provided on the side surface of the rear part of the actuator base. One end of the signal plug-in groove is open to the rear end face of the actuator base, and a signal plug serving as the actuator signal output terminal is provided on the end face of the other end. A signal socket matching the signal plug is provided in the actuator base. When the actuator base is plugged into place on the actuator base, the signal plug is plugged into place on the matching signal socket.

10. The training robot device according to any one of claims 1 to 9, characterized in that The tool holder cavity is provided with an electromagnet embedded in its side wall, and the side of the actuator base is provided with a soft magnetic body corresponding to the electromagnet. When the actuator base is plugged into place on the tool holder, the electromagnet on the actuator base is opposite to the corresponding soft magnetic body on the actuator base.

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