CN107170347B - Industrial robot assembly and detection practical training device - Google Patents
Industrial robot assembly and detection practical training device Download PDFInfo
- Publication number
- CN107170347B CN107170347B CN201710379250.4A CN201710379250A CN107170347B CN 107170347 B CN107170347 B CN 107170347B CN 201710379250 A CN201710379250 A CN 201710379250A CN 107170347 B CN107170347 B CN 107170347B
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- cavity
- feeding
- frame body
- industrial robot
- machine table
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention provides a practical training device for assembly and detection of an industrial robot, which is provided with a machine table, a mechanical claw, a first feeding part, a second feeding part, an assembling part and a discharging part, wherein the first feeding part is positioned on one side of a mechanical arm, the first feeding part is provided with a first frame body, a first cavity is formed in the first frame body, one end of the first frame body is provided with a first pushing part, a first bin is arranged on the first frame body, the second feeding part is vertical to the first feeding part in a horizontal plane, the second feeding part is provided with a second frame body, a second cavity is formed in the second frame body, one end of the second frame body is provided with a second pushing part, the assembling part is positioned between the first feeding part and the second feeding part, the assembling part is provided with a plurality of horizontal assembling tables, the discharging part is positioned on the other side of the mechanical arm relative to the first feeding part, the discharging part is provided with a conveying line, and one side of the conveying line is provided with a third pushing part and a fourth pushing part which are parallel to each other. The invention can effectively reduce the occupation of the machine space and utilize the whole device to be more miniaturized.
Description
Technical Field
The invention relates to a robot practical training device, in particular to an industrial robot assembling and detecting practical training device.
Background
In the teaching of school or the experiment in laboratory, often can need to use some real standard devices to the teaching and the experiment of robot (being industrial robot arm), this kind of real standard device mainly carries out the concentration with the function of robot device in the practical application, and the purpose lies in forming the function teaching and the demonstration to the student, and it is used that the laboratory of also being convenient for realizes some small batch product experiments.
The existing robot practical training device only integrates a series of functional modules such as a manipulator, feeding, organizing and blanking, but due to the conditions of schools or laboratories, the existing small practical training devices are more and more popular, and the existing practical training devices have certain disadvantages in space occupation and compactness of module arrangement on a machine because of the need of integrating a plurality of functions.
Disclosure of Invention
In view of this, the invention provides an industrial robot assembly and detection practical training device which can realize more compact module arrangement and miniaturization of the device.
The invention provides an industrial robot assembly and detection training device, which comprises:
the machine table is provided with a mechanical arm;
the mechanical claw is arranged at the operation end of the mechanical arm and comprises an air clamping part, the air clamping part is provided with two clamping piece units which are symmetrically arranged, the outer side of each clamping piece unit is connected with the corresponding sucking disc part, and the inner side of each clamping piece unit is provided with an arc-shaped groove;
the first feeding part is arranged on the machine table and is positioned on one side of the mechanical arm, the first feeding part is provided with a first base, a first frame body is arranged on the first base, a first cavity is arranged in the first frame body, one end of the first cavity is provided with a first outlet, the other end of the first cavity is provided with a first pushing part, a first storage bin is arranged on the first frame body, and the bottom of the first storage bin is communicated with the first cavity;
the second feeding part is arranged on the machine table and is perpendicular to the arrangement position of the first feeding part in the horizontal plane, a second base is arranged on the second feeding part, a second frame body is arranged on the second base, a second cavity is arranged in the second frame body, a second outlet is formed in one end of the second cavity, a second pushing part is arranged at the other end of the second cavity, a second storage bin is arranged on the second frame body, and the bottom of the second storage bin is communicated with the second cavity;
the assembling part is arranged on the machine table and positioned between the first feeding part and the second feeding part, the assembling part is provided with an upright post, the upright post is fixedly arranged on the machine table, and a plurality of horizontal assembling tables are arranged on the upright post;
the discharging part is arranged on the machine table and is positioned on the other side of the mechanical arm relative to the first feeding part, the discharging part is provided with a conveying line, the conveying line is driven by a motor to operate, one side of the conveying line is provided with a third material pushing part and a fourth material pushing part which are parallel, the other side of the conveying line is provided with a first material box and a second material box which correspond to the third material pushing part and the fourth material pushing part, and one end of the first material box and one end of the second material box, which are connected with the conveying line, are provided with openings.
Further, the robot arm is a six-axis robot arm.
Further, the first feeding portion is further provided with a first chassis, a third cavity is arranged in the first chassis, and a plurality of first through holes and a plurality of second through holes are further formed in the outer wall of the first chassis.
Furthermore, the first through holes are rectangular holes, the second through holes are obliquely arranged waist-shaped holes, and each two second through holes are symmetrically arranged to form a splayed through hole group.
Further, the first bin is a cylindrical bin.
Further, above-mentioned second material loading portion still has the second chassis, and the second chassis has a plurality of footing, and the top of a plurality of footing is provided with the bottom plate, and the second support body sets up on the bottom plate.
Further, the second bin is a square column bin.
Further, the relative both ends of above-mentioned transfer chain are provided with the plate body of transverse arrangement, and the both ends of plate body are provided with the portion of bending, and the department of bending of the portion of bending is provided with a plurality of breachs, and the one end of breach extends and forms the arc end to the plate body in, and the plate body has just seted up the arc notch on the side in the transfer chain.
Furthermore, a first L-shaped plate body is arranged on one side of the conveying line, a top plate of the first L-shaped plate body is located above the conveying line, a camera is arranged at the bottom of the top plate, a second L-shaped plate body is further arranged on the outer side of the first L-shaped plate body, and the third pushing portion penetrates through the first L-shaped plate body and the second L-shaped plate body.
Furthermore, two limiting rods are further arranged at two opposite ends of the machine table, the limiting rods are provided with two rod units which are arranged in an up-down symmetrical mode, a gap is formed between the two rod units, and the upper edge and the lower edge of the gap are wavy surfaces.
The invention provides a practical training device for assembly and detection of an industrial robot, which is mainly provided with a machine table, a mechanical claw, a first feeding part, a second feeding part, an assembling part and a discharging part, wherein the machine table is provided with a mechanical arm, the mechanical claw is arranged at the operating end of the mechanical arm and comprises an air clamping part, the air clamping part is provided with two clamping piece units which are symmetrically arranged, the outer side of each clamping piece unit is connected with a sucking disc part, the inner side of each clamping piece unit is provided with an arc-shaped groove, the first feeding part is arranged on the machine table, the first feeding part is arranged at one side of the mechanical arm, the first feeding part is provided with a first base, the first base is provided with a first frame body, a first cavity is arranged in the first frame body, one end of the first cavity is provided with a first outlet, the other end of the first cavity is provided with a first pushing part, the first frame body is provided with a first storage bin, the bottom of the first storage bin is communicated with the first cavity, the second feeding part is arranged on the machine table and is vertical to the arrangement position of the first feeding part in a horizontal plane, the second feeding part is provided with a second base, a second frame body is arranged on the second base, a second cavity is arranged in the second frame body, one end of the second cavity is provided with a second outlet, the other end of the second cavity is provided with a second pushing part, a second bin is arranged on the second frame body, the bottom of the second bin is communicated with the second cavity, the assembling part is arranged on the machine table and is positioned between the first feeding part and the second feeding part, the assembling part is provided with a stand column which is fixedly arranged on the machine table, a plurality of horizontal assembling tables are arranged on the stand column, the discharging part is arranged on the machine table and is positioned at the other side of the mechanical arm relative to the first feeding part, the discharging part is provided with a conveying line which is driven by a motor to operate, one side of the conveying line is provided with a third pushing part and a fourth pushing part which are parallel, a first material box and a second material box which correspond to the third material pushing part and the fourth material pushing part are arranged on the other side of the conveying line, and openings are formed in the ends, connected with the conveying line, of the first material box and the second material box; through the arrangement of the components and the structure thereof, the structure of the components on the machine table is more compact, so that the occupation of the space of the machine table can be effectively reduced, and the whole device is more miniaturized.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of an industrial robot assembly and detection practical training device provided by an embodiment of the invention at a three-dimensional angle;
fig. 2 is a schematic structural diagram of an industrial robot assembly and detection practical training device provided by an embodiment of the invention at a side view angle;
fig. 3 is a schematic structural diagram of an industrial robot assembly and detection practical training device in a top view according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1 to 3, an industrial robot assembly and detection practical training device according to an embodiment of the present invention is shown, and includes: the device comprises a machine table 1, wherein a mechanical arm 2 is arranged on the machine table 1; the gripper 21 is arranged at the operation end of the mechanical arm 2, the gripper 21 comprises an air clamping part 22, the air clamping part 22 is provided with two clamping piece units 221 which are symmetrically arranged, the outer side of each clamping piece unit 221 is connected with a disc sucking part 23, and the inner side of each clamping piece unit 221 is provided with an arc-shaped groove 222; the first feeding portion 3 is arranged on the machine table 1, the first feeding portion 3 is located on one side of the mechanical arm 2, the first feeding portion 3 is provided with a first base 31, a first frame body 32 is arranged on the first base 31, a first cavity 321 is arranged in the first frame body 32, one end of the first cavity 321 is provided with a first outlet 322, the other end of the first cavity 321 is provided with a first pushing portion 33, a first storage bin 34 is arranged on the first frame body 32, and the bottom of the first storage bin 34 is communicated with the first cavity 321; the second feeding portion 4 is arranged on the machine table 1, the second feeding portion 4 is perpendicular to the arrangement position of the first feeding portion 3 in the horizontal plane, a second base 41 is arranged on the second feeding portion 4, a second frame body 42 is arranged on the second base 41, a second cavity 421 is arranged in the second frame body 42, a second outlet 422 is formed in one end of the second cavity 421, a second pushing portion 43 is arranged at the other end of the second cavity 421, a second storage bin 44 is arranged on the second frame body 42, and the bottom of the second storage bin 44 is communicated with the second cavity 421; the assembling part 5 is arranged on the machine table 1, the assembling part 5 is positioned between the first feeding part 3 and the second feeding part 4, the assembling part 5 is provided with an upright post 51, the upright post 51 is fixedly arranged on the machine table 1, and a plurality of horizontal assembling tables 52 are arranged on the upright post 51; the discharging part 6, the discharging part 6 is arranged on the machine table 1, the discharging part 6 is located on the other side of the mechanical arm 2 relative to the first feeding part 3, the discharging part 6 is provided with a conveying line 61, the conveying line 61 is driven by a motor 62 to operate, one side of the conveying line 61 is provided with a third material pushing part 63 and a fourth material pushing part 64 which are parallel, the other side of the conveying line 61 is provided with a first material box 65 and a second material box 66 which correspond to the third material pushing part 63 and the fourth material pushing part 64, and one end, connected with the conveying line 61, of the first material box 65 and the second material box 66 is provided with an opening. Wherein, the mechanical arm 2 can be a six-axis mechanical arm; each pushing portion may be a cylinder.
The practical training device for assembly and detection of the industrial robot provided by the embodiment mainly comprises a machine table, a mechanical claw, a first feeding part, a second feeding part, an assembling part and a discharging part, wherein the machine table is provided with a mechanical arm, the mechanical claw is arranged at an operating end of the mechanical arm, the mechanical claw comprises an air clamping part, the air clamping part is provided with two clamping piece units which are symmetrically arranged, the outer side of each clamping piece unit is connected with a suction disc part, the inner side of each clamping piece unit is provided with an arc-shaped groove, the first feeding part is arranged on the machine table, the first feeding part is positioned at one side of the mechanical arm, the first feeding part is provided with a first base, a first frame body is arranged on the first base, a first cavity is arranged in the first frame body, one end of the first cavity is provided with a first outlet, the other end of the first cavity is provided with a first pushing part, a first bin is arranged on the first frame body, the bottom of the first bin is communicated with the first cavity, the second feeding part is arranged on the machine table and is vertical to the arrangement position of the first feeding part in a horizontal plane, the second feeding part is provided with a second base, a second frame body is arranged on the second base, a second cavity is arranged in the second frame body, one end of the second cavity is provided with a second outlet, the other end of the second cavity is provided with a second pushing part, a second bin is arranged on the second frame body, the bottom of the second bin is communicated with the second cavity, the assembling part is arranged on the machine table and is positioned between the first feeding part and the second feeding part, the assembling part is provided with a stand column which is fixedly arranged on the machine table, a plurality of horizontal assembling tables are arranged on the stand column, the discharging part is arranged on the machine table and is positioned at the other side of the mechanical arm relative to the first feeding part, the discharging part is provided with a conveying line which is driven by a motor to operate, one side of the conveying line is provided with a third pushing part and a fourth pushing part which are parallel, the other side of the conveying line is provided with a first material box and a second material box which correspond to the third material pushing part and the fourth material pushing part, and one ends of the first material box and the second material box, which are connected with the conveying line, are provided with openings; through the arrangement of the components and the structure thereof, the structure of the components on the machine table is more compact, so that the occupation of the space of the machine table can be effectively reduced, and the whole device is more miniaturized.
Referring to fig. 1 to 3, the first feeding portion 3 further includes a first chassis 35, a third cavity 353 is disposed in the first chassis 35, and a plurality of first through holes 351 and a plurality of second through holes 352 are further disposed on an outer wall of the first chassis 35; the first through holes 351 are rectangular holes, the second through holes 352 are obliquely arranged waist-shaped holes, and each two second through holes 352 are symmetrically arranged to form a splayed through hole group. Through the setting of this structure, utilize the effect of first chassis and first through-hole and second through-hole, when a plurality of materials are added to the first feed bin of top, and when first material portion that pushes away pushed away material, first through-hole can utilize the effect of through-hole to reduce the stress that first material portion that pushes away formed by the board when pushing away the material, thereby guarantee the levelness of the first feed bin of top effectively, the through-hole group of splayed simultaneously can shunt the pressure of the first feed bin of top to both sides, make first chassis install on the board more firmly on the one hand, also make the both sides of first feed bin keep balance simultaneously, also can guarantee the levelness of first feed bin effectively. The first bin 34 may be a cylindrical bin.
With continued reference to fig. 1 to 3, the second loading portion 4 further has a second chassis 45, the second chassis 45 has a plurality of feet 451, a bottom plate 452 is disposed on top of the feet 451, and the second frame body 42 is disposed on the bottom plate 452, so that the second loading portion 4 can obtain a better supporting effect by adopting this structure. The second silo 44 may be a square column silo.
Referring to fig. 1 and 3, two opposite ends of the conveying line 61 are provided with plate bodies 67 arranged transversely, two ends of each plate body 67 are provided with bending portions 671, the bending portions 671 are provided with a plurality of notches 672, one ends of the notches 672 extend into the plate body 67 and form an arc-shaped end 673, and the plate body 67 is provided with arc-shaped notches 675 facing one side 674 in the conveying line 61. Through the setting of this structure, utilize breach structure and arc end structure in the portion of bending on the plate body, can follow two directions of X and Y direction and form the reposition of redundant personnel effect to the air current to reduce the resistance that transfer chain operation back air current formed to the material, can be convenient for divide operation such as material, improve conveying efficiency.
Referring to fig. 1 to 3, a first L-shaped plate 68 is arranged on one side of the conveying line 61, a top plate of the first L-shaped plate 68 is located above the conveying line 61, a camera 682 is arranged at the bottom of the top plate, a second L-shaped plate 69 is further arranged outside the first L-shaped plate 68, and the third pushing part 63 penetrates through the first L-shaped plate 68 and the second L-shaped plate 69. Through the arrangement of the structure, the third material pushing part can be more stably installed, and rapid material distribution is convenient to form.
Referring to fig. 1, two limiting rods 7 are further disposed at opposite ends of the machine platform 1, the limiting rods 7 have two rod units 71 disposed vertically symmetrically, a gap 72 is formed between the two rod units 71, and upper and lower edges 73 of the gap 72 are wavy surfaces. Through the setting of this structure, can realize spacing to each part on the board, the wave face structure that edge 73 formed can form the rebound effect to the part simultaneously, prevent with the damage that the hard contact of part arouses.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides an industrial robot assembles and detects real device of instructing which characterized in that includes:
the device comprises a machine table (1), wherein a mechanical arm (2) is arranged on the machine table (1);
the mechanical claw (21) is arranged at the operation end of the mechanical arm (2), the mechanical claw (21) comprises an air clamping part (22), the air clamping part (22) is provided with two clamping piece units (221) which are symmetrically arranged, the outer side of each clamping piece unit (221) is connected with a sucking disc part (23), and the inner side of each clamping piece unit (221) is provided with an arc-shaped groove (222);
the automatic feeding device comprises a machine table (1), and is characterized by comprising a first feeding part (3), wherein the first feeding part (3) is arranged on the machine table (1), the first feeding part (3) is positioned on one side of the mechanical arm (2), a first base (31) is arranged on the first feeding part (3), a first frame body (32) is arranged on the first base (31), a first cavity (321) is arranged in the first frame body (32), one end of the first cavity (321) is provided with a first outlet (322), the other end of the first cavity (321) is provided with a first pushing part (33), a first storage bin (34) is arranged on the first frame body (32), and the bottom of the first storage bin (34) is communicated with the first cavity (321);
the second feeding portion (4) is arranged on the machine table (1), the second feeding portion (4) is perpendicular to the arrangement position of the first feeding portion (3) in the horizontal plane, a second base (41) is arranged on the second feeding portion (4), a second frame body (42) is arranged on the second base (41), a second cavity (421) is arranged in the second frame body (42), a second outlet (422) is formed in one end of the second cavity (421), a second pushing portion (43) is arranged in the other end of the second cavity (421), a second storage bin (44) is arranged on the second frame body (42), and the bottom of the second storage bin (44) is communicated with the second cavity (421);
the assembling part (5) is arranged on the machine table (1), the assembling part (5) is positioned between the first feeding part (3) and the second feeding part (4), the assembling part (5) is provided with an upright post (51), the upright post (51) is fixedly arranged on the machine table (1), and a plurality of horizontal assembling tables (52) are arranged on the upright post (51);
ejection of compact portion (6), ejection of compact portion (6) set up in on board (1), ejection of compact portion (6) for first material loading portion (3) are located the opposite side of arm (2), ejection of compact portion (6) have transfer chain (61), transfer chain (61) are by motor (62) drive operation, one side of transfer chain (61) is provided with parallel third and pushes away material portion (63) and fourth and push away material portion (64), the opposite side of transfer chain (61) is provided with the correspondence first magazine (65) and second magazine (66) that third pushed away material portion (63) and fourth and pushed away material portion (64), and first magazine (65) and second magazine (66) are connected the one end of transfer chain (61) all has the opening.
2. An industrial robot assembly and testing training device according to claim 1, characterized in that the robot arm (2) is a six-axis robot arm.
3. The industrial robot assembly and detection practical training device according to claim 1, wherein the first feeding portion (3) further comprises a first bottom frame (35), a third cavity (353) is arranged in the first bottom frame (35), and a plurality of first through holes (351) and a plurality of second through holes (352) are further arranged on the outer wall of the first bottom frame (35).
4. The practical training device for assembly and detection of an industrial robot according to claim 3, wherein the first through holes (351) are rectangular holes, the second through holes (352) are obliquely arranged waist-shaped holes, and each two second through holes (352) are symmetrically arranged and form a splayed through hole group.
5. An industrial robot assembly and testing practical training device according to claim 1 or 3, characterized in that the first magazine (34) is a cylindrical magazine.
6. The industrial robot assembly and detection practical training device according to claim 1, characterized in that the second loading part (4) further comprises a second chassis (45), the second chassis (45) comprises a plurality of feet (451), a bottom plate (452) is arranged on the tops of the feet (451), and the second frame body (42) is arranged on the bottom plate (452).
7. An industrial robot assembly and testing training device according to claim 1 or 6, characterized in that the second bin (44) is a square column bin.
8. The practical training device for industrial robot assembly and detection according to claim 1, wherein plate bodies (67) which are transversely arranged are arranged at two opposite ends of the conveying line (61), bending portions (671) are arranged at two end portions of each plate body (67), a plurality of notches (672) are arranged at the bending portions of the bending portions (671), one ends of the notches (672) extend into the plate bodies (67) to form arc-shaped ends (673), and arc-shaped notches (675) are formed in one side face (674) of the plate bodies (67) facing the conveying line (61).
9. The practical training device for assembling and detecting the industrial robot as claimed in claim 1 or 8, characterized in that a first L-shaped plate body (68) is arranged on one side of the conveying line (61), a top plate (681) of the first L-shaped plate body (68) is located above the conveying line (61), a camera (682) is arranged at the bottom of the top plate (681), a second L-shaped plate body (69) is further arranged on the outer side of the first L-shaped plate body (68), and the third pushing portion (63) penetrates through the first L-shaped plate body (68) and the second L-shaped plate body (69).
10. The practical training device for the assembly and detection of the industrial robot according to claim 1, wherein two limiting rods (7) are further arranged at two opposite ends of the machine table (1), the limiting rods (7) are provided with two rod units (71) which are symmetrically arranged up and down, a gap (72) is formed between the two rod units (71), and the upper edge (73) and the lower edge (73) of the gap (72) are wavy surfaces.
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| CN201710379250.4A CN107170347B (en) | 2017-05-25 | 2017-05-25 | Industrial robot assembly and detection practical training device |
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| CN107170347B true CN107170347B (en) | 2022-11-22 |
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| CN108877469A (en) * | 2018-07-24 | 2018-11-23 | 苏州博达特机电科技有限公司 | A kind of integrated basic training platform of industrial robot |
| CN110428719B (en) * | 2019-09-02 | 2022-01-07 | 广东汇邦智能装备有限公司 | Robot hand operation teaching method |
| CN112551187A (en) * | 2020-12-11 | 2021-03-26 | 珠海格力智能装备有限公司 | Material taking mechanism and feeding equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102402894B (en) * | 2011-12-08 | 2015-06-10 | 浙江亚龙教育装备股份有限公司 | Dynamic assembly motion control training assessment equipment |
| CN102411871B (en) * | 2011-12-29 | 2013-08-14 | 天津市源峰科技发展有限责任公司 | Modular manufacture training unit device and modular combined manufacture training system |
| CN103128608B (en) * | 2013-02-07 | 2015-09-30 | 江门市江海区杰能机电科技有限公司 | Grinding machine cut by a kind of omnipotent cutter with loading and unloading manipulator |
| CN104139390B (en) * | 2013-05-06 | 2016-04-27 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| US20160280483A1 (en) * | 2015-03-26 | 2016-09-29 | Mentalix, Inc. | Robotic Document Feeder |
| JP2017030102A (en) * | 2015-08-03 | 2017-02-09 | キヤノン株式会社 | Robot cell and packing device comprising robot cell |
| CN205354509U (en) * | 2016-01-18 | 2016-06-29 | 浙江亚龙教育装备股份有限公司 | Real device of instructing of industrial robot assembly |
| JP6366665B2 (en) * | 2016-11-01 | 2018-08-01 | キヤノン株式会社 | Robot apparatus, assembly apparatus, gripping hand, and article manufacturing method |
| CN207068335U (en) * | 2017-05-25 | 2018-03-02 | 苏州博达特机电科技有限公司 | A kind of industrial robot assembling and detection actual training device |
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