CN106373450B - Modular SCARA robot comprehensive practical training platform - Google Patents
Modular SCARA robot comprehensive practical training platform Download PDFInfo
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- CN106373450B CN106373450B CN201610919575.2A CN201610919575A CN106373450B CN 106373450 B CN106373450 B CN 106373450B CN 201610919575 A CN201610919575 A CN 201610919575A CN 106373450 B CN106373450 B CN 106373450B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention provides a modularized comprehensive practical training platform for a SCARA robot, which comprises the SCARA robot, a module mounting plate, a practical training function module, an electric element mainboard module and a virtual simulation system module, wherein the module mounting plate is of a concentric annular sector structure and is provided with five parts which are sequentially and adjacently arranged; the practical training functional modules are in independent modular design and fixed on the module mounting plates of the five concentric annular sector surface structures, and can cover the stroke range of 0-300 degrees of rotation of the SCARA robot. According to the comprehensive practical training platform, each practical training functional module is independently designed, the function is split, each module is convenient to replace, the function setting is from shallow to deep, simple and easy to operate, the defects that the function pertinence of a teaching product is not strong and no examination link is set are overcome, students can be assisted to stretch into and learn various functions of the SCARA robot, and the teaching platform is intended to cultivate the autonomous ability of the students and perform related examination.
Description
Technical Field
The invention belongs to the technical field of industrial robot teaching practical training platforms, and particularly relates to a modularized SCARA robot comprehensive practical training platform.
Background
The robot training platform is teaching equipment which can be competent for electromechanical professional teaching experiments and can also be used for electromechanical skill demonstration and training. The existing industrial robot practical training platform, such as a modular mechatronic production training system, a six-degree-of-freedom desktop type series robot system, an industrial robot and intelligent vision system application practical training platform and the like, is suitable for automatic demonstration and various display activities, and has the advantages of rich demonstration function, high integration level and strong attraction; however, the device has no modularized single function arrangement, is poor in interchangeability, has higher requirements on students, and cannot adapt to zero-base teaching.
Disclosure of Invention
In order to solve the technical problems, the invention provides a modularized SCARA robot comprehensive practical training platform, each practical training functional module is independently designed, has split functions, is simple and easy to learn, can assist students to deeply learn various functions of the robot, and aims to cultivate the automatic and manual ability of the students and perform related examination; meanwhile, the working range of the robot is effectively utilized, and one device can be simultaneously used for 3-5 students to operate and learn; in addition, the robot and the virtual simulation system are integrated into one platform, and the system is suitable for people with different skill bases to learn and train.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a real standard platform of modularization SCARA robot synthesis, includes real standard platform cabinet body and sets up the real standard platform mesa on its top, its characterized in that: the device also comprises an SCARA robot, a module mounting plate, a practical training functional module, an electric element mainboard module and a virtual simulation system module, wherein a sliding groove is arranged on the practical training platform along the length extension direction of the platform,
the SCARA robot is detachably fixed on the practical training table top through a robot mounting plate, and a robot controller of the SCARA robot is arranged in the practical training table cabinet body;
the module mounting plate is fixed on the training platform table top in a movable mode along the sliding groove, is of a concentric annular sector structure and has five modules which are arranged next to each other in sequence, and the robot mounting plate is arranged at the center of the five module mounting plates which are arranged next to each other in sequence;
the practical training functional modules are of independent modular design, each practical training functional module can be detachably fixed on the module mounting plate and can freely move in the stroke range of the SCARA robot along with the sliding process of the module mounting plate in the sliding groove, and the practical training functional modules fixed on the module mounting plates of five concentric annular sector structures can cover the stroke range of the SCARA robot rotating by 0-300 degrees;
the practical training functional module at least comprises a servo division module, an assembly module, a stepping conveyor belt, a stacking module, a laser engraving module and a gluing module;
the main body of the electrical component main board module is arranged in the practical training table cabinet body, and the electrical components and the line connection of each practical training function module are integrated on the electrical component main board module;
the virtual simulation system module is provided with a system main body arranged in the practical training table cabinet body and a simulation result display screen arranged on the practical training table board;
after the electric element mainboard module is electrically connected with the robot controller, corresponding teaching operation, practical training operation and skill assessment can be carried out;
and the virtual simulation system module can perform simulation operation after being electrically connected with the robot controller.
In a preferred embodiment of the present invention, the training platform further comprises a circle center positioning plate disposed between the module mounting plate and the robot mounting plate, the circle center positioning plate, the robot mounting plate and each module mounting plate are provided with a center line, the center lines are straight lines, and the center lines on the surfaces of the circle center positioning plate, the robot mounting plate and the module mounting plate are on the same straight line during installation.
In a preferred embodiment of the present invention, the module mounting plate is further provided with nine mounting holes, the distance between each mounting hole and the center of an adjacent mounting hole is equal, the bottom of each practical training functional module is provided with a fixing hole, and the practical training functional module is placed on the module mounting plate and then detachably fixed on the module mounting plate by a fastening member penetrating through the mounting hole and the fixing hole.
In a preferred embodiment of the invention, each practical training functional module is provided with a clamp, the action execution end of the SCARA robot is provided with a universal flange, and each clamp is detachably fixed on the universal flange through a high-head step screw.
In a preferred embodiment of the invention, a banana socket panel is disposed at a top end of the practical training platform cabinet body, which is close to the practical training platform table top, a banana socket is disposed on the banana socket panel, which is independent of each other, corresponding to each practical training function module, and the SCARA robot, the clamp and the routing related to each practical training function module are all automatically connected on the banana socket panel.
In a preferred embodiment of the invention, the platform surface of the practical training platform is provided with a robot wiring board, and banana sockets are arranged on the robot wiring board corresponding to the electrical wiring of the SCARA robot.
In a preferred embodiment of the present invention, a plurality of lockers for individually storing the training functional modules are further disposed in the training table cabinet body under the training table top.
In a preferred embodiment of the present invention, the electric component main board module is disposed inside the practical training cabinet body and located on the back side of the banana socket panel, and the robot controller and the system main body of the virtual simulation system module are disposed inside the practical training cabinet body and located right below the banana socket panel.
The invention has the beneficial effects that:
according to the modularized SCARA robot comprehensive practical training platform, each practical training functional module is independently designed, functions are split, each module is convenient to replace, the function setting is from shallow to deep, simple and easy to operate, the defects that the pertinence of functions of teaching products is not strong and no examination link is set are overcome, students can be assisted to deeply learn various functions of the SCARA robot, and the teaching products are intended to cultivate the autonomous and manual abilities of the students and conduct related examinations;
the module mounting plates with optimized structural design can effectively utilize the working range of the SCARA robot, and the module mounting plates with five concentric ring sector structures are sequentially arranged in close proximity to cover the stroke range of 0-300 degrees of rotation of the SCARA robot, so that one device can be simultaneously used for 3-5 students to operate and study;
considering the influence of frequent replacement of the clamp on the action execution end of the SCARA robot when the practical training functional module is replaced, and optimizing the installation of a universal flange on the action execution end of the SCARA robot;
fourthly, the SCARA robot and the virtual simulation system are integrated into a platform, and the system is suitable for people with different skill bases to learn and train;
fifthly, the functions of the robot are split through different modules, students can freely operate and learn, and different modules are selected to learn corresponding function operations; meanwhile, the positions of the practical training functional modules can be selected, a single or multiple module mounting plate areas are selected according to teaching contents, boring and tasteless teaching modes can be avoided through switching of different positions, and a teaching effect is better achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic perspective view of a preferred embodiment of the present invention;
FIG. 2 is a schematic top view of a preferred embodiment of the present invention;
FIG. 3 is a schematic side view of the preferred embodiment of the present invention;
FIG. 4 is a schematic illustration of the construction of a preferred embodiment of the palletizing module according to the present invention;
FIG. 5 is a schematic structural view of a laser engraving module and a corresponding fixture according to a preferred embodiment of the present invention;
fig. 6 is a schematic structural view of a gluing module and a corresponding clamp according to a preferred embodiment of the invention.
Wherein: 2-a practical training platform cabinet body, 4-a practical training platform table top, 6-a SCARA robot, 8-a module mounting plate, 10-a sliding groove, 12-a robot mounting plate, 14-a servo division module, 16-an assembly module, 18-a stepping conveyor belt, 20-a stacking module, 22-a laser engraving module, 24-a gluing module, 26-a circle center positioning plate, 28-a fixed center line, 30-a mounting hole, 32-a banana socket panel, 34-a banana socket and 36-a robot wiring board;
201-stacking installation bottom plate, 202-handle, 203-top plate pillar, 204-stacking panel, 205-stacking block;
221-laser module base plate, 222-top plate support, 223-laser engraving panel, 82-laser head clamp;
241-gluing module bottom plate, 242-top plate support, 243-gluing panel, 244-organic glass and 83-gluing clamp;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
As shown in fig. 1-3, the embodiment discloses a modular SCARA robot comprehensive practical training platform, which includes a practical training platform cabinet body 2, a practical training platform table top 4, a robot wiring board 36 and a banana socket panel 32 are arranged at the top end of the practical training platform cabinet body, a sliding groove 10 is arranged on the practical training platform table top 4 along the length extending direction of the table top, the practical training platform table top 4 is assembled by an aluminum profile, and a T-shaped nut is embedded in the aluminum profile; the system comprises an SCARA robot 6, a module mounting plate 8, a practical training function module, an electrical component mainboard module and a virtual simulation system module.
The SCARA robot 6 can be detachably fixed on the practical training platform table top 4 through the robot mounting plate 12, specifically, the robot mounting plate 12 is provided with mounting holes and is connected with T-shaped nuts on the practical training platform table top 4 through cylindrical head screws, the robot mounting plate 12 is fixed on the practical training platform table top 4, and then the SCARA robot 6 is fixed on the robot mounting plate 12; and a robot controller of the SCARA robot 6 is arranged in the practical training table cabinet body 2.
The module mounting plate 8 can move along the sliding groove 10 and is fixed on the practical training platform table top 4, as shown in fig. 1 and 2, the module mounting plate 8 is a concentric annular sector structure, the module mounting plate has five modules which are sequentially and adjacently arranged, and the robot mounting plate 12 is arranged at the center of the five module mounting plates 8 which are sequentially and adjacently arranged; in order to ensure that the five module mounting plates 8 are concentrically arranged, the practical training platform table top 4 is further provided with a circle center positioning plate 26, the circle center positioning plate 26 is arranged between the module mounting plates 8 and the robot mounting plate 12, the circle center positioning plate 26, the robot mounting plate 12 and each module mounting plate 8 are respectively provided with a fixed line 28, the fixed lines are straight lines, the fixed lines 28 on the surfaces of the circle center positioning plate 26, the robot mounting plate 12 and the module mounting plates 8 are aligned during installation so as to be capable of being connected into a straight line, and at the moment, the working ranges of 5/6 circles, the circle center positioning plate 26 and the SCARA robot 6 formed by the five module mounting plates 8 can be ensured to be concentric.
The practical training functional modules are provided with a plurality of independent modular designs, each practical training functional module can be fixed on the module mounting plate 8 in a replaceable manner, specifically, the module mounting plate 8 is provided with a mounting hole 30, the bottom of each practical training functional module is provided with a fixing hole, the practical training functional modules are placed on the module mounting plate 8 and then penetrate through the mounting holes and the fixing holes through fasteners to fix the practical training functional modules on the module mounting plate 8, and the fasteners are preferably plum blossom screws and can be manually and quickly disassembled and assembled; in order to diversify the fixed positions, nine mounting holes 30 are preferably formed in the module mounting plate 8, the distances between the mounting holes 30 and the centers of the adjacent mounting holes 30 are equal, nine fixing holes are preferably formed in the bottom of each practical training function module, and the distances between the fixing holes and the centers of the adjacent fixing holes are equal, so that 184 positions of the practical training function module can be placed and selected by the arrangement, and multiple possibilities are provided for students to study and examine.
After the practical training functional module is fixed on the module mounting plate 8, the practical training functional module can freely move in the stroke range of the SCARA robot 6 along with the sliding process of the module mounting plate 8 in the sliding groove 10, and the practical training functional module fixed on the module mounting plate 8 with five concentric ring sector structures can cover the stroke range of the SCARA robot 6 rotating by 0-300 degrees, so that one device can be simultaneously used for 3-5 students to operate and learn.
The electric element mainboard module main body is arranged in the practical training platform cabinet body 2, and the electric elements and the circuit connection of each practical training function module are integrated on the electric element mainboard module;
after the electric element mainboard module is electrically connected with the robot controller, corresponding teaching operation, practical training operation and skill assessment can be carried out;
the practical training functional module is installed on the module installation plate 8, teaching and learning of the practical training functional module are completed by programming the SCARA robot 6, the fixed position of the practical training functional module can be timely adjusted according to actual use conditions, teaching, learning and examination of multiple directions and multiple moving distances are facilitated, and meanwhile interestingness of operation is enriched.
Meanwhile, in order to meet the compatible use of students with different skill bases, the practical training platform is further provided with a virtual simulation system module, a system main body of the virtual simulation system module is arranged in the practical training platform cabinet body 2, a simulation result display screen of the virtual simulation system module is arranged on the table top 4 of the practical training platform, and the virtual simulation system module can be subjected to simulation operation after being electrically connected with the robot controller.
As shown in fig. 1-3, the practical training functional module of the present invention at least includes a servo division module 14, an assembly module 16, a stepping conveyor belt 18, a stacking module 20, a laser engraving module 22, and a gluing module 24, each of the practical training functional modules is configured with a clamp, each clamp can be detachably fixed at an action execution end of the SCARA robot 6, considering the influence of frequent replacement of the clamp on the action execution end of the SCARA robot 6 when the practical training functional module is replaced, it is optimized to mount a universal flange at the action execution end of the SCARA robot 6, the clamp corresponding to each of the practical training functional modules can be detachably fixed on the universal flange through a high-head step screw, and the preferred high-head joint screw can be manually and quickly detached.
The specific structure of part of the practical training functional modules is as follows:
when the stacking module 20 is mounted on the module mounting plate 8, the SCARA robot 6 is programmed and controlled to complete the stacking action of the workpieces: as shown in fig. 4, the pallet mounting base plate 201, the handle 202, the top plate pillar 203, the pallet panel 204 and the pallet block 205 are mainly formed. The stacking mounting base plate 201 is provided with mounting holes, and is connected with threaded holes on the module mounting plate 8 through a handle 202 to fix the stacking modules 20 on the module mounting plate 8; the top plate strut 203 is used for supporting the stacking panel 204 and is fixed on the stacking installation bottom plate 201, four square sinking grooves are formed in the stacking panel 204, characters of ABCD are arranged on the four square sinking grooves respectively, and the stacking block 205 is arranged in the square sinking grooves and can be placed in any one of the ABCD sinking grooves according to requirements.
Secondly, when the laser engraving module 22 is installed on the module installation plate 8, the SCARA robot 6 is programmed to complete the laser engraving action on the workpiece: as shown in fig. 5, the laser engraving machine mainly comprises a laser module bottom plate 221, a top plate pillar 222 and a laser engraving panel 223, wherein the laser module bottom plate 221 and the laser engraving panel 223 are connected through the top plate pillar 222. The laser head emitting light source of the laser head holder 82 simulates different engraving tracks on the laser engraving panel 223 of the laser engraving module 22 as required.
Thirdly, when the gluing module 24 is installed on the module installation plate 8, the programming control SCARA robot 6 finishes the gluing action on the workpiece: as shown in fig. 6, it mainly comprises a gluing module bottom plate 241, a top plate pillar 242, a gluing panel 243, and a plastic glass 244, wherein the gluing panel 243 and the gluing module bottom plate 241 are connected by the top plate pillar 242, the plastic glass 244 is disposed on the gluing panel 243, the gluing clamp 83 is used in cooperation with the gluing module 24, and the gluing clamp 83 presses out liquid glue to move along the shape of the plastic glass 244.
When the assembly module 18 is arranged on the module mounting plate 8, the SCARA robot 6 is controlled by programming to complete the assembly action of the workpiece;
fifthly, when the servo division module 16 is arranged on the module mounting plate 8, the SCARA robot 6 is controlled by programming to complete the servo division action on the workpiece;
when the stepping conveyer belt 18 is arranged on the module mounting plate 8, the SCARA robot 6 is programmed and controlled to complete the stepping conveying action of the workpiece.
Instruct real standard platform mesa of top next-door neighbour of the cabinet body 2 of reality to be equipped with banana socket panel 32, correspond each real standard functional module on banana socket panel 32 and be equipped with independent banana socket 34 separately, the relevant line of walking of SCARA robot 6, anchor clamps and each real standard functional module all is put through on banana socket panel 32 by oneself, instruct to be equipped with robot wiring board 36 on the platform mesa 4 in fact, the electric wiring that corresponds SCARA robot 6 on the robot wiring board 36 all is equipped with banana socket 34, instructs the electric wiring of platform to integrate in fact, adopts banana socket 34's connected mode electric wiring, easily operates, makes things convenient for the student to work a telephone switchboard to start real standard.
As a further improvement of the invention, a plurality of lockers for individually storing each training function module are arranged in the training platform cabinet body 2 and under the training platform table surface, the training function modules are all stored in the lockers when not in use, and are neatly arranged and convenient to maintain, and any training function module needs to be used to be taken out from the lockers, and the training function modules are correspondingly fixed on the module mounting bottom 8 and then are connected to be powered on to start.
The electric element mainboard module is arranged in the practical training platform cabinet body 2 and is positioned on the back side of the banana socket panel 32, and the robot controller and the system main body of the virtual simulation system module are both arranged in the practical training platform cabinet body 2 and are positioned right below the banana socket panel 32, so that the internal layout is compact, and the size of the whole practical training platform is favorably reduced; meanwhile, the electric wiring is concealed and is not easy to be damaged.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides a real standard platform of modularization SCARA robot synthesis, includes real standard platform cabinet body and sets up the real standard platform mesa on its top, its characterized in that: the device also comprises an SCARA robot, a module mounting plate, a practical training functional module, an electric element mainboard module and a virtual simulation system module, wherein a sliding groove is arranged on the practical training platform along the length extension direction of the platform,
the SCARA robot is detachably fixed on the practical training table top through a robot mounting plate, and a robot controller of the SCARA robot is arranged in the practical training table cabinet body;
the module mounting plate is fixed on the training platform table top in a movable mode along the sliding groove, is of a concentric annular sector structure and has five modules which are arranged next to each other in sequence, and the robot mounting plate is arranged at the center of the five module mounting plates which are arranged next to each other in sequence;
the practical training functional modules are of independent modular design, each practical training functional module can be detachably fixed on the module mounting plate, can freely move within the stroke range of the SCARA robot in the process of sliding of the module mounting plate in the sliding groove, and can cover the stroke range of the SCARA robot rotating by 0-300 degrees;
the practical training functional module at least comprises a servo division module, an assembly module, a stepping conveyor belt, a stacking module, a laser engraving module and a gluing module;
the main body of the electrical component main board module is arranged in the practical training table cabinet body, and the electrical components and the line connection of each practical training function module are integrated on the electrical component main board module;
the virtual simulation system module is provided with a system main body arranged in the practical training table cabinet body and a simulation result display screen arranged on the practical training table board;
after the electric element mainboard module is electrically connected with the robot controller, corresponding teaching operation, practical training operation and skill assessment can be carried out;
and the virtual simulation system module can perform simulation operation after being electrically connected with the robot controller.
2. The comprehensive practical training platform for the modular SCARA robot as claimed in claim 1, wherein: still be equipped with centre of a circle locating plate on the real standard platform mesa, centre of a circle locating plate sets up between module mounting panel and robot mounting panel, all be equipped with the line of centring on centre of a circle locating plate, robot mounting panel and each module mounting panel, the line of centring is the straight line, during the installation centre of a circle locating plate, robot mounting panel and module mounting panel three face on the line of centring.
3. The modular SCARA robot comprehensive training platform as recited in claim 1, wherein: nine mounting holes are formed in the module mounting plate, the distance between each mounting hole and the center of a hole of an adjacent mounting hole is equal, a fixing hole is formed in the bottom of each practical training functional module, and the practical training functional modules are placed on the module mounting plate and then penetrate through the mounting holes and the fixing holes through fasteners to detachably fix the practical training functional modules on the module mounting plate.
4. The modular SCARA robot comprehensive training platform as recited in claim 1, wherein: each practical training functional module is provided with a clamp, a universal flange is arranged at the action execution end of the SCARA robot, and the clamps can be detachably fixed on the universal flange through high-head step screws.
5. The modular SCARA robot comprehensive training platform as claimed in claim 4, wherein: the top of the practical training platform cabinet body is provided with a banana socket panel close to the practical training platform table surface, each banana socket panel is provided with an independent banana socket corresponding to each practical training functional module, and the SCARA robot, the clamp and the wiring related to each practical training functional module are all automatically connected on the banana socket panel.
6. The modular SCARA robot comprehensive training platform as recited in claim 1, wherein: the robot wiring board is arranged on the table board of the practical training table, and banana sockets are arranged on the robot wiring board corresponding to the electrical wiring of the SCARA robot.
7. The modular SCARA robot comprehensive training platform as recited in claim 1, wherein: and a plurality of storage cabinets for separately storing various practical training functional modules are arranged under the practical training platform table board in the practical training platform cabinet body.
8. The modular SCARA robot comprehensive training platform as claimed in claim 5, wherein: the electric element mainboard module is arranged on the back face of the banana socket panel in the practical training platform cabinet body, and the robot controller and the system main body of the virtual simulation system module are arranged under the banana socket panel in the practical training platform cabinet body.
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| CN201610919575.2A CN106373450B (en) | 2016-10-21 | 2016-10-21 | Modular SCARA robot comprehensive practical training platform |
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| CN107123356A (en) * | 2017-03-21 | 2017-09-01 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform practical training method |
| CN106935087A (en) * | 2017-03-21 | 2017-07-07 | 上海和盛前沿科技有限公司 | Industrial robot basic skills operating platform experience system |
| CN107967861A (en) * | 2017-11-22 | 2018-04-27 | 宁波摩科机器人科技有限公司 | A kind of SCARA industrial robots practical traning platform |
| CN107919050B (en) * | 2017-11-22 | 2023-11-14 | 宁波摩科机器人科技有限公司 | Real standard platform of industrial robot basis in series |
| CN108470506A (en) * | 2018-04-09 | 2018-08-31 | 重庆鲁班机器人技术研究院有限公司 | Half robot teaching's device in kind |
| CN108436891A (en) * | 2018-06-05 | 2018-08-24 | 合肥哈工海渡工业机器人有限公司 | A kind of robot Multifunctional mobile platform |
| CN113359765A (en) * | 2021-07-05 | 2021-09-07 | 北京理工大学 | Reconfigurable unmanned vehicle function module reconfiguration device |
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| CN104464485B (en) * | 2013-10-18 | 2016-12-07 | 浙江工业大学 | Robot teaching's Control testing bench method |
| JP2015175922A (en) * | 2014-03-13 | 2015-10-05 | 独立行政法人国立高等専門学校機構 | Quoits robot teaching material and quoits robot learning method |
| CN204204316U (en) * | 2014-10-29 | 2015-03-11 | 肇庆三向教学仪器制造有限公司 | A kind of teaching open robot's real training workbench |
| CN104732835B (en) * | 2015-02-02 | 2017-08-01 | 上海交通大学 | A kind of intelligent miniature vehicle instructional device in stadium |
| CN204965811U (en) * | 2015-08-15 | 2016-01-13 | 浙江海控教学设备有限公司 | Multifunctional machine ware people instructs device in fact |
| CN205564075U (en) * | 2016-03-08 | 2016-09-07 | 浙江亚龙教育装备股份有限公司 | Industrial robot welding shifts and instructs device in fact |
| CN206516121U (en) * | 2016-10-21 | 2017-09-22 | 江苏哈工海渡工业机器人有限公司 | A kind of modularization SCARA robots comprehensive practical traning platform |
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