CN109397270A - Secondary positioning mechanism and robot Practical Training Teaching-Platform for robot real training - Google Patents
Secondary positioning mechanism and robot Practical Training Teaching-Platform for robot real training Download PDFInfo
- Publication number
- CN109397270A CN109397270A CN201811590012.9A CN201811590012A CN109397270A CN 109397270 A CN109397270 A CN 109397270A CN 201811590012 A CN201811590012 A CN 201811590012A CN 109397270 A CN109397270 A CN 109397270A
- Authority
- CN
- China
- Prior art keywords
- robot
- positioning
- workpiece
- microscope carrier
- component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012549 training Methods 0.000 title claims abstract description 81
- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 238000005516 engineering process Methods 0.000 claims abstract description 7
- 230000032258 transport Effects 0.000 claims description 43
- 238000001514 detection method Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000004886 process control Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010020651 Hyperkinesia Diseases 0.000 description 1
- 208000000269 Hyperkinesis Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention is provided to the secondary positioning mechanisms of robot real training, including robot assembly, transport component, positioning microscope carrier；Robot assembly includes the mobile mechanical arm of PLC technology, robot training unit；Robot training unit is connect with mechanical arm；Robot training unit includes pickup unit；Positioning microscope carrier is for positioning second workpiece to be positioned；It after transporting second workpiece to be positioned to terminal by transport component, then is picked up and is transported on positioning microscope carrier by pickup unit, positioning microscope carrier positions second workpiece to be positioned.The invention further relates to robot Practical Training Teaching-Platforms.The present invention is by realizing the quick and accurate secondary positioning of workpiece, sufficiently taking exercise and investigate student to the cooperative ability of robot and conveyer using mechanical handing and combination positioning microscope carrier.Present inventive concept is ingenious, and design rationally, gives full play to students ' practical ability, promotes and applies convenient for robot teaching's real training.
Description
Technical field
The invention belongs to practice-training teaching fields, and in particular to the secondary positioning mechanism and robot for robot real training are real
Training teaching platform.
Background technique
The raising of depth and industrial intelligent level with the development of industry, industrial robot is because of its freedom degree height, energy
The multiple process of complete independently, high reliablity, while the advantages such as convenient for safeguarding and more and more in Industry Control be chosen
It selects, so far the real training education of object manipulator also becomes more and more important, and robot teaching's training platform also comes into being, machine
People's Practical Training Teaching-Platform has good teaching demonstration effect.
Though robot high degree of automation, PLC technology ability is strong, must be by accurately positioning system, in industry
In, robot how to be allowed to carry out the guarantee that precise positioning is to ensure that product quality and production controllability to workpiece；Another party
Face, existing robot real training mostly just provide robot teaching's demonstration effect, cannot largely be supplied to student one
A condition started well, for robot teaching, the robot debugging of student and wiring ability are also one very heavy
The training emphasis wanted；In whole design training platform, current teaching platform does not exactly account for how robot tempers
Raw the problem of actually controlling robot, the demo function for causing robot only to realize, practice teaching effect is fairly limited, simultaneously
The reasonable debugging of student is not also taken exercise with routing capabilities.
In this regard, being badly in need of improving existing robot training platform.
Summary of the invention
For overcome the deficiencies in the prior art, the secondary positioning mechanism proposed by the present invention for robot real training, passes through
Using mechanical handing and positioning microscope carrier is combined, the quick and accurate secondary positioning of workpiece is realized, sufficiently takes exercise and investigate student
To the cooperative ability of robot and conveyer.
The present invention is provided to the secondary positioning mechanisms of robot real training, including robot assembly, transport component, positioning load
Platform；
The robot assembly includes the mobile mechanical arm of PLC technology, robot training unit；The robot is real
Instruction unit is connect with the mechanical arm；
The robot training unit includes pickup unit；The transport component is for transporting second workpiece to be positioned；
The positioning microscope carrier is for positioning second workpiece to be positioned；The pickup unit is for picking up second workpiece；
The robot assembly is by controlling machine control in robot, the transport component and the positioning microscope carrier are by PLC device
And/or electrical equipment control, so that after second workpiece to be positioned is transported to terminal by the transport component, then pass through institute
Pickup unit is stated to pick up and be transported on the positioning microscope carrier, after the positioning microscope carrier is to second workpiece positioning to be positioned, institute
It states pickup unit the second workpiece having good positioning is transported on second workpiece microscope carrier；Wherein, it is arranged on the second workpiece microscope carrier
Have and second workpiece groove of the same size.
Preferably, the positioning microscope carrier includes positioning plate, positioning drive unit, locating piece, locating and detecting device；It is described fixed
Position plate and the locating piece form second workpiece positioning rib to be positioned；The movable terminal of the positioning drive unit is fixed to be connected
Connect the locating piece；The positioning drive unit drives the locating piece, so that the positioning plate and the locating piece are common
Second workpiece to be positioned is contradicted, the locating and detecting device is for detecting whether second workpiece to be positioned is completed to position.
Preferably, the locating and detecting device is photoelectric sensor.
Preferably, the positioning plate is equipped with positioning rib, positioning through hole；The positioning through hole is located at the two positioning gears
The intersection on side；The locating and detecting device is installed on the positioning plate lower part, so that the detection light of photoelectric sensor passes through
The positioning through hole.
Preferably, the robot training unit further includes vision collecting unit；The vision collecting unit is for acquiring
Second workpiece image simultaneously positions second workpiece position.
Preferably, the robot assembly further includes rotating connector, component connecting plate；The vision collecting unit and institute
Pickup unit is stated to be fixedly mounted on the component connecting plate；The component connecting plate and the mechanical arm are connected by the rotation
Fitting rotation connection.
Preferably, the vision collecting unit includes industrial camera, light source；The industrial camera passes through coffret and machine
Machine connection communication is controlled in device people；The industrial camera is fixedly connected by camera fixed plate with the component connecting plate；The light
Source is fixedly connected by light source connecting plate with the component connecting plate.
Preferably, the pickup unit includes picking up driving device, picking up fixed plate, sucker fixed plate, sucker；It is described to pick up
Take fixed plate that the pickup driving device is fixed on the component connecting plate；The sucker is fixed on the sucker fixed plate
On；The movable terminal for picking up driving device is fixedly connected with the sucker fixed plate；Described in the pickup driving device driving
Sucker fixed plate, so that the sucker picks up or far from second workpiece.
Preferably, the transport component includes the first delivery unit, the second delivery unit, linear carrying mechanism；The line
Property carrying mechanism be used to the second workpiece on first delivery unit being carried to second delivery unit；The pickup
Second workpiece on second delivery unit is carried on first delivery unit by unit；The linear carrying mechanism packet
Include linear drives component, transhipment component；Wherein,
The linear drives component includes linear drives sliding block, linear drives bar, straight line guide block, linear guide, stroke inspection
Survey device；The linear drives sliding block and the linear drives bar cooperate, the straight line guide block and the linear guide phase
Mutually cooperation；The transhipment component is fixedly connected with the linear drives sliding block；The device for detecting distance of travel is for detecting described turn
Transport the stroke of component；
The transhipment component includes transhipment fixed plate, transhipment driving device, transhipment sucker；The transhipment fixed plate with it is described
The movable terminal of transhipment driving device is fixedly connected；The transhipment sucker is fixed in the transhipment fixed plate；The transhipment is driven
Dynamic device is fixed on the linear drives sliding block；The linear drives sliding block is moved along linear drives rod axis direction,
So that the transhipment component moves between first delivery unit and second delivery unit, and driven by the transhipment
Dynamic device drives the transhipment sucker, so that second workpiece is carried to institute from the second workpiece on second delivery unit
It states on the first delivery unit.
A kind of robot Practical Training Teaching-Platform, including robot teaching's real training ontology；Robot teaching's real training ontology
Including controlling machine in shell, station, ancillary equipment microscope carrier, robot；Robot teaching's real training ontology further includes robot
Component transports component and positioning microscope carrier；
Simultaneously shape is integral for wrapping up robot practice teaching ontology pedestal for the shell；Fixed peace on the station
Equipped with robot assembly, transport component；Machine is controlled in the robot to be electrically connected with the robot assembly, is controlled in the robot
Machine is for controlling robot assembly's movement；The auxiliary connecting with the transport component is installed on the ancillary equipment microscope carrier
Equipment, the ancillary equipment is for controlling the transport component movement；
The station is horizontally disposed；The ancillary equipment microscope carrier is accommodated in the shell；By in debugging machine people
Control machine and ancillary equipment control the robot assembly and transport component for second workpiece to be positioned and are transported to the positioning load
Secondary positioning is carried out on platform.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is provided to the secondary positioning mechanisms of robot real training, including robot assembly, transport component, positioning load
Platform；Robot assembly includes the mobile mechanical arm of PLC technology, robot training unit；Robot training unit and mechanical arm
Connection；Robot training unit includes pickup unit；Component is transported for transporting second workpiece to be positioned；Positioning microscope carrier is used for
Second workpiece to be positioned is positioned；Pickup unit is for picking up second workpiece；Robot assembly is by controlling machine in robot
Control, transports component and positioning microscope carrier is controlled by PLC device and/or electrical equipment, so that second workpiece to be positioned passes through
It after transporting component transport to terminal, then is picked up and is transported on positioning microscope carrier by pickup unit, position microscope carrier to be positioned
After second workpiece positioning, the second workpiece having good positioning is transported on second workpiece microscope carrier by pickup unit.The invention further relates to machines
Device people's Practical Training Teaching-Platform.The present invention is by realizing the quick and accurate of workpiece using mechanical handing and combination positioning microscope carrier
Secondary positioning sufficiently takes exercise and investigates student to the cooperative ability of robot and conveyer.Present inventive concept is ingenious, and design is closed
Reason, gives full play to students ' practical ability, promotes and applies convenient for robot teaching's real training.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is robot Practical Training Teaching-Platform overall structure diagram in one embodiment of the invention；
Fig. 2 is the secondary positioning mechanism overall structure diagram for robot real training of the invention；
Fig. 3 is the secondary positioning mechanism top view for robot real training of the invention；
Fig. 4 is the partial structural diagram of transport component of the invention；
Fig. 5 is the partial structural diagram of the secondary positioning mechanism for robot real training of the invention；
Fig. 6 is the structural schematic diagram of robot training unit of the invention；
Fig. 7 is positioning stage structure schematic diagram one of the invention；
Fig. 8 is positioning stage structure schematic diagram two of the invention；
Fig. 9 is the robot Practical Training Teaching-Platform overall structure diagram of the present invention in another embodiment；
Figure 10 is the robot Practical Training Teaching-Platform use state diagram of the present invention in another embodiment；
Figure 11 is the robot Practical Training Teaching-Platform schematic internal view of the present invention in another embodiment；
Figure 12 is ancillary equipment stage structure schematic diagram of the invention；
Figure 13 is the partial structural diagram of ancillary equipment microscope carrier of the invention.
It is as shown in the figure:
Robot teaching's real training ontology 100, shell 10, door-plate 11, radiating groove 12, control in robot machine 18, industrial personal computer 19,
Station 20, control button 21, governor 22, ancillary equipment microscope carrier 30, sliding carrier bar 31, sliding fixed plate 32, microscope carrier plate 33,
Longitudinally fixed hole 331, knob 34, conflict block 35, side fixed strip 36, base frame 37, robot assembly 40, turns lateral fixation hole 332
Follower link 41, robot training unit 42, vision collecting unit 421, industrial camera 4211, light source 4212, camera fixed plate
4213, light source connecting plate 4214, coffret 4215, pickup unit 422, pick up driving device 4221, pick up fixed plate 4222,
Sucker fixed plate 4223, sucker 4224, component connecting plate 43, transport component 50, the first delivery unit 51, the first transmission belt 511,
It is first detection device 513, the second delivery unit 52, the second transmission belt 521, the second guide part 522, second detection device 523, straight
Line driving assembly 53, linear drives sliding block 531, linear drives bar 532, straight line guide block 533, linear guide 534, stroke detection dress
Set 535, transhipment component 54, transhipment fixed plate 541, transhipment driving device 542, transhipment sucker 543, second workpiece 702, the second work
Part microscope carrier 72, positioning microscope carrier 80, positioning pedestal 81, positioning plate 82, positioning rib 821, positioning through hole 822, positioning drive unit
83, locating piece 84, locating and detecting device 85, detection light 851.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, foregoing end other objects of the invention, feature, side
Face and advantage will be apparent, and so that those skilled in the art can carry out according to the description.In the accompanying drawings,
For clarity, shape and size can be amplified, and will be indicated in all figures using identical appended drawing reference identical
Or similar component.In the following description, such as center, thickness, height, length, front, back, rear portion, the left side, the right, top
The words such as portion, bottom, top, lower part are to be based on the orientation or positional relationship shown in the drawings.Particularly, " height " is equivalent to from top
Portion is to the size of bottom, and " width " is equivalent to size from left to right, and " depth " is equivalent to vertical size.These
Relative terms are to be not intended to need specifically to be orientated for convenience and usually.It is related to the term of attachment, connection etc.
(for example, " connection " and " attachment ") refer to these structures by the relationship that intermediate structure is fixed directly or indirectly to one another or is attached,
And movable or rigidly attached or relationship, unless otherwise clearly stating.
Next, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that
Under the premise of not colliding, new reality can be formed between various embodiments described below or between each technical characteristic in any combination
Apply example.
For the secondary positioning mechanism of robot real training, as shown in figures 1-13, including robot assembly 40, transport component
50, microscope carrier 80 is positioned；Wherein,
As shown in Figure 2 and Figure 3, robot assembly 40 includes the mobile mechanical arm of PLC technology, robot training unit
42；Robot training unit 42 is connect with mechanical arm；
Robot training unit 42 includes pickup unit 422；Component 50 is transported for transporting second workpiece to be positioned
702；Positioning microscope carrier 80 is for positioning second workpiece 702 to be positioned；Pickup unit 422 is for picking up second workpiece；
Robot assembly 40 is controlled by controlling machine 18 in robot, transport component 50 and positioning microscope carrier 80 by PLC device and/or
Electrical equipment control, so that after second workpiece 702 to be positioned is by transporting the transport to terminal of component 50, then it is single by picking up
Member 422 is picked up and is transported on positioning microscope carrier 80, after positioning microscope carrier 80 positions second workpiece 702 to be positioned, pickup unit
422 are transported to the second workpiece 702 having good positioning on second workpiece microscope carrier 72；Wherein, be provided on second workpiece microscope carrier 72 with
The groove of the same size of second workpiece 702.
In the present embodiment, it is precisely carried for training of students with robot, chooses length and square of different size
Shape block is corresponding as second workpiece 702 to be positioned, be provided on second workpiece microscope carrier 72 with 702 length of second workpiece with
The groove of equivalent width, as long as any position is not pair or angle is not right, second workpiece 702 to be positioned all can not be accurately placed into
In groove；In the present embodiment, since pickup unit 422 is sucker, therefore the accurate fixed of position can not be carried out to second workpiece 702
Position, in the handling process, the position of actuation and the posture of second workpiece 702 all not can guarantee；Positioning microscope carrier 80 just solves essence
Certainly position the problem of, after second workpiece 702 first carries out coarse positioning on transporting component 50, then be placed on by pickup unit 422
Positioning microscope carrier 80 carries out secondary positioning, it is ensured that accurate positioning, meanwhile, the positioning component used for positioning of microscope carrier 80 is standard component, machine
The location information of the groove configured with positioning microscope carrier 80 and second workpiece microscope carrier 72 in machine 18 is controlled in device people, to realize from positioning
Microscope carrier 80 arrives the accurate carrying of the groove of second workpiece microscope carrier 72.
In one embodiment, as shown in fig. 7, positioning microscope carrier 80 includes positioning plate 82, positioning drive unit 83, locating piece
84, locating and detecting device 85；Positioning plate 82 and locating piece 84 form second workpiece 702 to be positioned and position rib；Locating driver
The movable terminal of device 83 is fixedly connected with locating piece 84；Positioning drive unit 83 drive locating piece 84 so that positioning plate 82 with
Locating piece 84 contradicts second workpiece 702 to be positioned jointly, and locating and detecting device 85 is for detecting second workpiece 702 to be positioned
Whether completion positions.
In a preferred embodiment, as shown in Figure 7, Figure 8, locating and detecting device 85 is photoelectric sensor.On positioning plate 82
Equipped with positioning rib 821, positioning through hole 822；Positioning through hole 822 is located at the intersection of two positioning ribs 821；Locating and detecting device
85 are installed on 82 lower part of positioning plate, so that the detection light 851 of photoelectric sensor passes through positioning through hole 822.In the present embodiment,
Positioning plate 82 is mounted on station 20 by positioning pedestal 81, meanwhile, photoelectric sensor carry is in positioning pedestal 81 and position
In 822 lower section of positioning through hole on positioning plate 82.When second workpiece 702 blocks positioning through hole 822, then it can determine that
The positioning of two workpiece 702 is completed, and the second workpiece 702 that positioning is completed is carried to second workpiece and carried by control pickup unit 422 at this time
On the groove of platform 72；Further, photoelectric sensor equally can be used on the groove of second workpiece microscope carrier 72 to detect whether to carry
It is up to standard, student's teaching result is evaluated with this, distinguishingly, at least three photoelectric sensors can be used and be placed on three corner realities
It is existing.
In a preferred embodiment, such as Fig. 5, Fig. 6, robot training unit 42 further includes vision collecting unit 421；Vision
Acquisition unit 421 is for acquiring second workpiece image and positioning second workpiece position.It should be appreciated that in the present embodiment, vision
Acquisition unit 421 is auxiliary positioning, i.e., second workpiece is quickly found in the visual field of vision collecting unit 421, carries out coarse positioning.
In a preferred embodiment, as shown in fig. 6, robot assembly 40 further includes rotating connector 41, component connecting plate
43；Vision collecting unit 421 and pickup unit 422 are fixedly mounted on component connecting plate 43；Component connecting plate 43 and mechanical arm
It is rotatablely connected by rotating connector 41.In the present embodiment, vision collecting unit 421 includes industrial camera 4211, light source
4212；Industrial camera 4211 is by controlling 18 connection communication of machine in coffret 4215 and robot；Industrial camera 4211 passes through phase
Machine fixed plate 4213 is fixedly connected with component connecting plate 43；Light source 4212 is solid by light source connecting plate 4214 and component connecting plate 43
Fixed connection.Pickup unit 422 includes picking up driving device 4221, picking up fixed plate 4222, sucker fixed plate 4223, sucker
4224；It picks up fixed plate 4222 and is fixed on driving device 4221 is picked up on component connecting plate 43；Sucker 4224 is fixed on sucker
In fixed plate 4223；The movable terminal for picking up driving device 4221 is fixedly connected with sucker fixed plate 4223；Pick up driving device
4221 driving sucker fixed plates 4223, so that sucker 4224 picks up or far from second workpiece.
In a preferred embodiment, as shown in figs 2-4, component 50 is transported to transport including the first delivery unit 51, second
Unit 52, linear carrying mechanism；Linear carrying mechanism is used to the second workpiece on the first delivery unit 51 being carried to the second fortune
It send on unit 52；Second workpiece on second delivery unit 52 is carried on the first delivery unit 51 by pickup unit 422.At this
In embodiment, the first delivery unit 51 is identical as 52 structure of the second delivery unit.In the present embodiment, it is sat to simplify in robot
Operation is marked, the carriage direction of the first delivery unit 51 and the carriage direction of the second delivery unit 52 are mutually perpendicular to.
As shown in figure 4, the first delivery unit 51 includes the first transmission belt 511 being driven by motor, the first detection device
513；First detection device 513 is used to detect whether the second workpiece on the first transmission belt 511 to reach turning for linear carrying mechanism
Transport position.In the present embodiment, the first detection device 513 is photoelectric sensor, passes through distance between detection and the first transmission belt 511
Variation, judge whether second workpiece transport in place, if second workpiece in place after, controllable producing linear carrying mechanism starts to carry.
Meanwhile as shown in Figure 1, the motor of the first delivery unit 51 and the second delivery unit 52 outfit debugger 22, passes through debugger 22
Adjust the speed of transmission belt.
As shown in figure 4, the first delivery unit 51 includes the first guide part 512 for by second workpiece accurate positioning；First leads
It is installed on to part 512 on the end of first transmission belt 511；The gap of first guide part 512 is along the transport side of the first transmission belt 511
To gradually narrowing.When being transmitted to the end of the first transmission belt 511 to second workpiece, under the action of the first guide part 512,
Precisely send carrying in range to linear carrying mechanism.Accordingly, such as Fig. 4, Fig. 5, the second delivery unit 52 includes the second biography
Dynamic band 521, the second guide part 522, second detection device 523；Wherein, second detection device 523 is for detecting second workpiece
The no end for being transported to the second transmission belt 521, at this point, the control movement of robot assembly 40 makes vision collecting unit 421 in the visual field
Interior searching second workpiece controls mechanical arm and is picked up with pickup unit 422 to second workpiece after positioning；As shown in fig. 6, picking up
Afterwards, second workpiece is transported on the first delivery unit 51 by control mechanical arm and pickup unit 422.In the present embodiment, mechanical
Coordinate and vision collecting unit 421, the pickup unit 422 of arm use unified coordinate system, and mechanical arm first will during the motion
Vision collecting unit 421 quickly takes target within sweep of the eye, and vision collecting unit 421 is recycled to carry out precise positioning.
In a preferred embodiment, as shown in figure 3, linear carrying mechanism includes linear drives component 53, transhipment component 54；
Wherein,
As shown in figure 4, linear drives component 53 includes linear drives sliding block 531, linear drives bar 532, straight line guide block
533, linear guide 534, device for detecting distance of travel 535；Linear drives sliding block 531 and linear drives bar 532 cooperate, and straight line is led
Block 533 and linear guide 534 cooperate；Transhipment component 54 is fixedly connected with linear drives sliding block 531；Device for detecting distance of travel
535 for detecting the stroke of transhipment component 54；In the present embodiment, straight line guide block 533 and linear guide 534 play stable guiding
Effect guarantees that linear drives component 53 transports steadily, prevents second workpiece from falling in advance.
As shown in figure 4, transhipment component 54 includes transhipment fixed plate 541, transhipment driving device 542, transhipment sucker 543；Turn
Fortune fixed plate 541 is fixedly connected with the movable terminal for transporting driving device 542；Transhipment sucker 543 is fixed on transhipment fixed plate 541
On；Transhipment driving device 542 is fixed on linear drives sliding block 531；Linear drives sliding block 531 is along 532 axis of linear drives bar
Direction movement so that transhipment component 54 moves between the first delivery unit 51 and the second delivery unit 52, and is driven by transhipment
The dynamic driving of device 542 transhipment sucker 543, so that second workpiece is carried to the from the second workpiece on the second delivery unit 52
On one delivery unit 51.
A kind of robot Practical Training Teaching-Platform, including robot teaching's real training ontology 100；As shown in Fig. 1, Fig. 9, robot
Practice teaching ontology 100 is including controlling machine 18 in shell 10, station 20, ancillary equipment microscope carrier 30, robot；Robot teaching is real
Instruction ontology 100 further includes robot assembly 40, transports component 50 and positioning microscope carrier 80；
Simultaneously shape is integral for wrapping up 100 pedestal of robot practice teaching ontology for shell 10；Fixed peace on station 20
Equipped with robot assembly 40, transport component 50；Machine 18 is controlled in robot to be electrically connected with robot assembly 40, and machine 18 is controlled in robot
It is moved for controlling robot assembly 40；The ancillary equipment connecting with transport component 50 is installed on ancillary equipment microscope carrier 30, it is auxiliary
Help equipment for control transport component 50 movement；
Station 20 is horizontally disposed；Ancillary equipment microscope carrier 30 is accommodated in shell 10；By controlling machine 18 in debugging machine people
With ancillary equipment, robot assembly 40 and transport component 50 are controlled by second workpiece 702 to be positioned and is transported to positioning microscope carrier 80
It is upper to carry out secondary positioning.
The present invention uses the ancillary equipment microscope carrier of slidingtype storage, and inner space is big, mentions for equipment wiring and installation fixation
For convenient, students ' practical ability is given full play to, extreme enrichment Practice Curriculum realizes the designability of robot practice-training teaching, is
Achieve the effect that the mutual cooperation of each step mutually cooperates with, student can designed, designed implementation, for example, by using stroke control mode,
Travel switch class sensor is set i.e. in run trace, realizes accurate walking location control, when all debugging is completed for single step
Afterwards, linkage control can be used and continuously perform instruction in order, debug in entire implementation procedure whether reach design effect.
In a preferred embodiment, ancillary equipment is installed, ancillary equipment is mounted on positioning microscope carrier nearby on station 20
80, with by transport component 50, are convenient for debugging and installation.
In one embodiment, ancillary equipment includes electrical equipment；Electrical equipment is for controlling positioning microscope carrier 80 and transport group
Part 50, wherein electrical equipment includes electric switch, electrical control gear；Electrical control gear includes solenoid valve, gas source processing group
Part, vacuum generator, vacuum table；Electric switch is common switch, and including but not limited to air switch, disconnecting switch, vacuum is disconnected
Road device, frame circuit breaker, breaker of plastic casing, contactor, button switch.In the present embodiment, pass through electric switch and electric-controlled
Device processed is in series or in parallel with each other, realizes positioning microscope carrier 80 and transports the mechanical process control of component 50, while cooperating robot
Middle control machine 18 controls robot assembly 40, realizes that robot assembly 40 cooperates with process control with positioning microscope carrier 80 with component 50 is transported
System.
In another embodiment, ancillary equipment includes PLC device, and robot teaching's real training ontology 100 further includes industrial personal computer
19；Industrial personal computer 19 is connect with PLC device, for compiler to be written in PLC device；PLC device is for controlling positioning microscope carrier
80 with transport component 50；In the present embodiment, student is for example, by the input equipments such as keyboard and mouse and display in industrial personal computer 19
The executable program of interior compiling PLC device, after the completion of compiling in write-in PLC device, PLC device is many kinds of, and Gu Tuzhong does not show
Out；It connects PLC device and positioning microscope carrier 80 and transports component 50, the debugging of PLC program is realized by control button 21, is matched simultaneously
It closes control machine 18 in robot and controls robot assembly 40, realize that robot assembly 40 cooperates with positioning microscope carrier 80 with component 50 is transported
Process control.In the present embodiment, control button 21 includes point operation control button, linkage control button；Point operation control button is used
Once command is executed in order in control equipment；Linkage control button continuously performs instruction for controlling equipment in order, is convenient for
Student debugs according to demand.
It should be appreciated that it is different according to real training scene, electrical equipment and PLC device can be also combined, while using face
The collaboration process control controlled to electrical control, PLC control, robot, reaches the Fusion training of multiple control modes, is promoted real
Difficulty is instructed, is more bonded actual teaching result to reach.
As shown in figures 10-13, in one embodiment, ancillary equipment microscope carrier 30 includes microscope carrier plate 33, side fixed strip 36, base frame
37；Microscope carrier plate 33 is fixed on base frame 37；37 two sides of base frame are connect with side fixed strip 36 by Multi-section sliding rail；Base frame 37 is fixed on
Inside shell 10；Microscope carrier plate 33 is equipped with the mounting hole for installing ancillary equipment；As shown in Fig. 2, microscope carrier plate 33 can be solid along side
Determine 36 length direction of item to skid off inside shell 10.In the present embodiment, machine 18 is controlled in robot, industrial personal computer 19 is installed on microscope carrier plate
33 lower parts, while radiating groove 12 is offered on the door-plate 11 of shell 10, guarantee the circulation of 10 inner air of shell, avoids temperature excessively high
Lead to electric fault.
As shown in Figure 12 and Figure 13, ancillary equipment microscope carrier 30 further includes sliding carrier bar 31, sliding fixed plate 32；Microscope carrier plate 33
It is connect with sliding carrier bar 31 by sliding fixed plate 32；Sliding carrier bar 31 is made of several chain pieces being mutually rotatablely connected.Pass through
The chain piece of sliding carrier bar 31 is rolled or is recycled one by one, and skidding off microscope carrier plate 33, process is at the uniform velocity steady, and avoiding fast moving will connect
Cable is pullled, and unnecessary damage is caused.
In a preferred embodiment, ancillary equipment microscope carrier 30 further includes sliding driving device (not shown)；Sliding is driven
The movable terminal of dynamic device is fixedly connected with sliding fixed plate 32；Because on microscope carrier plate 33 may connection device category more than and weight
Greatly, it by sliding driving device, realizes the automation export of microscope carrier plate 33, reduces manual operation.In the present embodiment, auxiliary is set
Standby microscope carrier 30 further includes knob 34；With microscope carrier plate 33 pull out shell 10 be it is preceding to, knob be set to 33 front center of microscope carrier plate or
Front end two sides.As shown in figure 4, knob is set to 33 front center of microscope carrier plate；Distinguishingly, ancillary equipment microscope carrier 30 further includes sliding
Sensor；Slide sensor is for detecting whether microscope carrier plate 33 and side fixed strip 36 have relative motion, if detecting microscope carrier plate 33
There is relative motion with side fixed strip 36, then open sliding driving device, sliding driving device driving microscope carrier plate 33 moves to the limit
Position simultaneously locks；For example, slide sensor uses photoelectric sensor, when the photoelectric sensor on Multi-section sliding rail detects microscope carrier plate
After 33 start sliding, start sliding driving device, initial moves out microscope carrier plate 33 so that user need to only provide one
The power of photoelectric sensor then just can be skidded off or be slid into automatically under the driving of sliding driving device, and sliding driving device can be adopted
With pneumatic apparatus or hydraulic actuator.
In a preferred embodiment, as shown in figure 13, internal unit is collided to prevent 33 hyperkinesia of microscope carrier plate, assisted
Equipment microscope carrier 30 further includes conflict block 35, and conflict block 35 is located at 33 rear end of microscope carrier plate；Conflict block 35 is for contradicting base frame 37；Microscope carrier
Plate 33 is equipped with longitudinally fixed hole 331, lateral fixation hole 332；Longitudinally fixed hole 331 is auxiliary for fixing with lateral fixation hole 332
Equipment is helped, by the fixation hole being arranged in length and breadth, each equipment rationally arranged on microscope carrier plate 33 for student rationally advises training of students
It draws and basis is provided.
It should be noted that the present invention is different from traditional robot practical training reference, demonstration effect is functioned only as, and
The experience that can not be imparted knowledge to students to student's true operation, it is often more important that, traditional practice-training teaching can not provide reasonable Practice Curriculum,
It simultaneously can not be using the means of reasonable evaluation teaching result；In the present embodiment, sensor is connected by PLC device and industrial personal computer
It connects or sensor is directly connected to industrial personal computer, with the data of sensor acquisition student's real training process, real training effect is carried out with this
The evaluation of fruit, for example, using the stroke of light electrical sensor acquisition driving device, to differentiate whether driving executes in place, together
When combine industrial personal computer internal clocking program, record the time used of each real training process, form comprehensive appraisement system, realize machine
The Digital Teaching of device people's real training.
More than, only presently preferred embodiments of the present invention is not intended to limit the present invention in any form；All current rows
The those of ordinary skill of industry can be shown in by specification attached drawing and above and swimmingly implement the present invention；But all to be familiar with sheet special
The technical staff of industry without departing from the scope of the present invention, is made a little using disclosed above technology contents
The equivalent variations of variation, modification and evolution is equivalent embodiment of the invention；Meanwhile all substantial technologicals according to the present invention
The variation, modification and evolution etc. of any equivalent variations to the above embodiments, still fall within technical solution of the present invention
Within protection scope.
Claims (10)
1. being used for the secondary positioning mechanism of robot real training, it is characterised in that: including robot assembly (40), transport component
(50), microscope carrier (80) are positioned；
The robot assembly (40) includes the mobile mechanical arm of PLC technology, robot training unit (42)；The machine
People's training unit (42) is connect with the mechanical arm；
The robot training unit (42) includes pickup unit (422)；The transport component (50) is to be positioned for transporting
Second workpiece (702)；Positioning microscope carrier (80) is for positioning second workpiece (702) to be positioned；The pickup is single
First (422) are for picking up second workpiece；
The robot assembly (40) is by controlling machine (18) control, the transport component (50) and the positioning microscope carrier in robot
(80) it is controlled by PLC device and/or electrical equipment, so that second workpiece (702) to be positioned passes through the transport component
(50) it after transporting to terminal, then is picked up and is transported on the positioning microscope carrier (80) by the pickup unit (422), it is described fixed
After position microscope carrier (80) is to second workpiece (702) positioning to be positioned, second workpiece that the pickup unit (422) will be had good positioning
(702) it is transported on second workpiece microscope carrier (72)；Wherein, it is provided on the second workpiece microscope carrier (72) and second workpiece
(702) groove of the same size.
2. being used for the secondary positioning mechanism of robot real training as described in claim 1, it is characterised in that: the positioning microscope carrier
It (80) include positioning plate (82), positioning drive unit (83), locating piece (84), locating and detecting device (85)；The positioning plate
(82) second workpiece (702) to be positioned is formed with the locating piece (84) position rib；The positioning drive unit (83)
Movable terminal is fixedly connected with the locating piece (84)；The positioning drive unit (83) drives the locating piece (84), so that
The positioning plate (82) and the locating piece (84) contradict second workpiece to be positioned (702), the locating and detecting device jointly
(85) for detecting whether second workpiece to be positioned (702) is completed to position.
3. being used for the secondary positioning mechanism of robot real training as claimed in claim 2, it is characterised in that: the detection and localization dress
Setting (85) is photoelectric sensor.
4. being used for the secondary positioning mechanism of robot real training as claimed in claim 3, it is characterised in that: the positioning plate (82)
It is equipped with positioning rib (821), positioning through hole (822)；The positioning through hole (822) is located at two positioning rib (821)
Intersection；The locating and detecting device (85) is installed on the positioning plate (82) lower part, so that the detection light of photoelectric sensor
(851) positioning through hole (822) are passed through.
5. being used for the secondary positioning mechanism of robot real training as described in claim 1, it is characterised in that: the robot real training
Unit (42) further includes vision collecting unit (421)；The vision collecting unit (421) is for acquiring second workpiece image and determining
Position second workpiece position.
6. being used for the secondary positioning mechanism of robot real training as claimed in claim 5, it is characterised in that: the robot assembly
It (40) further include rotating connector (41), component connecting plate (43)；The vision collecting unit (421) and the pickup unit
(422) it is fixedly mounted on the component connecting plate (43)；The component connecting plate (43) and the mechanical arm are turned by described
Follower link (41) rotation connection.
7. being used for the secondary positioning mechanism of robot real training as claimed in claim 6, it is characterised in that: the vision collecting list
First (421) include industrial camera (4211), light source (4212)；The industrial camera (4211) passes through coffret (4215) and machine
Machine (18) connection communication is controlled in device people；The industrial camera (4211) passes through camera fixed plate (4213) and the component connecting plate
(43) it is fixedly connected；The light source (4212) is fixedly connected by light source connecting plate (4214) with the component connecting plate (43).
8. being used for the secondary positioning mechanism of robot real training as claimed in claim 6, it is characterised in that: the pickup unit
It (422) include picking up driving device (4221), picking up fixed plate (4222), sucker fixed plate (4223), sucker (4224)；It is described
It picks up fixed plate (4222) the pickup driving device (4221) is fixed on the component connecting plate (43)；The sucker
(4224) it is fixed on the sucker fixed plate (4223)；The movable terminal for picking up driving device (4221) is fixedly connected with institute
State sucker fixed plate (4223)；The pickup driving device (4221) drives the sucker fixed plate (4223), so that described
Sucker (4224) picks up or far from second workpiece.
9. being used for the secondary positioning mechanism of robot real training as described in claim 1, it is characterised in that: the transport component
It (50) include the first delivery unit (51), the second delivery unit (52), linear carrying mechanism；The linear carrying mechanism is used for will
Second workpiece on first delivery unit (51) is carried on second delivery unit (52)；The pickup unit
(422) second workpiece on second delivery unit (52) is carried on first delivery unit (51)；It is described linear
Carrying mechanism includes linear drives component (53), transhipment component (54)；Wherein,
The linear drives component (53) include linear drives sliding block (531), linear drives bar (532), straight line guide block (533),
Linear guide (534), device for detecting distance of travel (535)；The linear drives sliding block (531) and linear drives bar (532) phase
Mutually cooperation, the straight line guide block (533) and the linear guide (534) cooperate；The transhipment component (54) and described straight
Line driving sliding block (531) is fixedly connected；The device for detecting distance of travel (535) is used to detect the stroke of transhipment component (54)；
The transhipment component (54) includes transhipment fixed plate (541), transhipment driving device (542), transhipment sucker (543)；It is described
Transhipment fixed plate (541) is fixedly connected with the movable terminal of transhipment driving device (542)；The transhipment sucker (543) is solid
Due on the transhipment fixed plate (541)；The transhipment driving device (542) is fixed on the linear drives sliding block (531)；
The linear drives sliding block (531) moves along linear drives bar (532) axis direction, so that the transhipment component (54)
It is moved between first delivery unit (51) and second delivery unit (52), and passes through the transhipment driving device
(542) the transhipment sucker (543) is driven, so that by second workpiece from the second workpiece on second delivery unit (52)
It is carried on first delivery unit (51).
10. a kind of robot Practical Training Teaching-Platform, including robot teaching's real training ontology (100)；Robot teaching's real training
Ontology (100) includes shell (10), station (20), ancillary equipment microscope carrier (30), controls machine (18) in robot；Its feature exists
In: robot teaching's real training ontology (100) further includes robot assembly as described in claim 1 (40), transports component
(50) and microscope carrier (80) are positioned；
Simultaneously shape is integral for wrapping up robot practice teaching ontology (100) pedestal for the shell (10)；The station
(20) it is fixedly installed with robot assembly (40) on, transports component (50)；Machine (18) and the robot are controlled in the robot
Component (40) is electrically connected, and control machine (18) is for controlling the robot assembly (40) movement in the robot；The auxiliary is set
The ancillary equipment connecting with transport component (50) is installed, the ancillary equipment is for controlling the fortune on standby microscope carrier (30)
Sending component (50) movement；
The station (20) is horizontally disposed；The ancillary equipment microscope carrier (30) is accommodated in the shell (10)；Pass through debugging
Machine (18) and ancillary equipment are controlled in robot, control the robot assembly (40) and transport component (50) for be positioned second
Workpiece (702) is transported on the positioning microscope carrier (80) and carries out secondary positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811590012.9A CN109397270B (en) | 2018-12-25 | 2018-12-25 | A real teaching platform of instructing of secondary positioning mechanism and robot for real standard of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811590012.9A CN109397270B (en) | 2018-12-25 | 2018-12-25 | A real teaching platform of instructing of secondary positioning mechanism and robot for real standard of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109397270A true CN109397270A (en) | 2019-03-01 |
| CN109397270B CN109397270B (en) | 2024-03-22 |
Family
ID=65461425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811590012.9A Active CN109397270B (en) | 2018-12-25 | 2018-12-25 | A real teaching platform of instructing of secondary positioning mechanism and robot for real standard of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109397270B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293200A (en) * | 2019-08-08 | 2019-10-01 | 中国矿业大学(北京) | A kind of forging equipment robotization auxiliary device and forging dystopy detection method |
| CN112297004A (en) * | 2019-08-01 | 2021-02-02 | 发那科株式会社 | Control device for robot device for controlling position of robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103077651A (en) * | 2013-01-15 | 2013-05-01 | 北京化工大学 | Practical training teaching robot platform for three-degree-of-freedom motion control system |
| CN103111535A (en) * | 2013-01-21 | 2013-05-22 | 长沙长泰机器人有限公司 | Robot flexible punching workpiece handling system based on visual system |
| CN103231367A (en) * | 2013-05-20 | 2013-08-07 | 苏州大学 | Uniaxial motion control practice training device and feeding and discharging method |
| CN206574385U (en) * | 2017-03-09 | 2017-10-20 | 山东栋梁科技设备有限公司 | A kind of Industrial Robot Technology application experience system |
| CN107825443A (en) * | 2017-10-11 | 2018-03-23 | 江苏汇博机器人技术股份有限公司 | The multifunction combined open experience system of industrial robot |
| CN108062906A (en) * | 2018-02-08 | 2018-05-22 | 芜湖安普机器人产业技术研究院有限公司 | A kind of robot teaching's equipment |
| CN209466247U (en) * | 2018-12-25 | 2019-10-08 | 苏州富纳艾尔科技有限公司 | Secondary positioning mechanism and robot Practical Training Teaching-Platform for robot real training |
-
2018
- 2018-12-25 CN CN201811590012.9A patent/CN109397270B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103077651A (en) * | 2013-01-15 | 2013-05-01 | 北京化工大学 | Practical training teaching robot platform for three-degree-of-freedom motion control system |
| CN103111535A (en) * | 2013-01-21 | 2013-05-22 | 长沙长泰机器人有限公司 | Robot flexible punching workpiece handling system based on visual system |
| CN103231367A (en) * | 2013-05-20 | 2013-08-07 | 苏州大学 | Uniaxial motion control practice training device and feeding and discharging method |
| CN206574385U (en) * | 2017-03-09 | 2017-10-20 | 山东栋梁科技设备有限公司 | A kind of Industrial Robot Technology application experience system |
| CN107825443A (en) * | 2017-10-11 | 2018-03-23 | 江苏汇博机器人技术股份有限公司 | The multifunction combined open experience system of industrial robot |
| CN108062906A (en) * | 2018-02-08 | 2018-05-22 | 芜湖安普机器人产业技术研究院有限公司 | A kind of robot teaching's equipment |
| CN209466247U (en) * | 2018-12-25 | 2019-10-08 | 苏州富纳艾尔科技有限公司 | Secondary positioning mechanism and robot Practical Training Teaching-Platform for robot real training |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112297004A (en) * | 2019-08-01 | 2021-02-02 | 发那科株式会社 | Control device for robot device for controlling position of robot |
| CN110293200A (en) * | 2019-08-08 | 2019-10-01 | 中国矿业大学(北京) | A kind of forging equipment robotization auxiliary device and forging dystopy detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109397270B (en) | 2024-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111620024B (en) | Transfer robot, container taking method and container placing method | |
| CN109360483A (en) | A kind of teaching platform for robot real training | |
| CN107186696B (en) | Practical training device for hand-eye servo operation robot | |
| CN103236219B (en) | Linear multi-unit MPS automated logistics system | |
| CN206411028U (en) | Magnetic shoe on-line measuring device | |
| CN103630849B (en) | Household electrical appliances power supply automatic detecting device and method of testing | |
| CN208033076U (en) | A kind of sorting machine people | |
| CN109397270A (en) | Secondary positioning mechanism and robot Practical Training Teaching-Platform for robot real training | |
| CN209533388U (en) | Circulation carrying mechanism and robot Practical Training Teaching-Platform for robot real training | |
| CN102862377A (en) | Full-automatic two-sided silk-screen printing integrated machine | |
| CN206236362U (en) | A kind of track reproducing industrial robot experience system | |
| CN109434800A (en) | A kind of radio patrol checking machine people system and control method | |
| CN209466247U (en) | Secondary positioning mechanism and robot Practical Training Teaching-Platform for robot real training | |
| CN107322264A (en) | A kind of Automatic-feeding assembles device and method thereof | |
| CN109397269A (en) | The robot actual training device and robot Practical Training Teaching-Platform of view-based access control model | |
| CN108240991A (en) | Magnetic shoe on-line measuring device | |
| CN106945060A (en) | A kind of parts handler tool hand control device | |
| CN209708476U (en) | A kind of teaching platform for robot real training | |
| CN109434811A (en) | The storage real training mechanism, robot and robot Practical Training Teaching-Platform of view-based access control model | |
| CN109436731A (en) | A kind of transmission equipment | |
| CN204067830U (en) | A kind of MINI-USB-10Pin female seat automatic assembling | |
| CN109570377A (en) | A kind of plate handling equipment | |
| CN209466246U (en) | The storage real training mechanism, robot and robot Practical Training Teaching-Platform of view-based access control model | |
| CN113029959A (en) | Intelligent factory-oriented liquid crystal display defect online detection system | |
| CN203288153U (en) | Linear type multiple-unit MPS automation logistics system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |