CN110992808B - Real device of instructing of robot - Google Patents
Real device of instructing of robot Download PDFInfo
- Publication number
- CN110992808B CN110992808B CN201911235926.8A CN201911235926A CN110992808B CN 110992808 B CN110992808 B CN 110992808B CN 201911235926 A CN201911235926 A CN 201911235926A CN 110992808 B CN110992808 B CN 110992808B
- Authority
- CN
- China
- Prior art keywords
- robot
- platform
- assembly
- floating plate
- visual detection
- 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.)
- Active
Links
Images
Classifications
-
- 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)
- 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 application discloses real device of instructing of robot. This real device of instructing of robot includes: the robot assembly is arranged on the practical training platform and comprises a robot, a visual detection device and a material grabbing device, wherein the material grabbing device is arranged at one end of the robot, and the visual detection device and the material grabbing device are correspondingly arranged at one end of the robot; the robot acquires material information through the visual detection device and controls the material gripping device to grip or place the material according to the material information. This application fixes a position through the visual detection device who sets up on the robot, acquires material information to according to this material information control material grabbing device carry out snatching of material, can improve the precision that the material snatched or placed, need not many times operation and just can be accurate snatch or place the material, can improve operating efficiency.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot practical training device.
Background
With the development of science and technology, industrial robots have penetrated into various fields of manufacturing industry, the application of the industrial robots is extremely wide, and a large number of operators familiar with the functions, basic operation and control programming of the industrial robots are urgently needed in society.
The inventor of the application finds that in the prior art, in the operation training of the robot, a student generally cannot watch components on a training platform because the student cannot operate the robot skillfully, so that the operation precision of the robot is not high, the same operation needs to be carried out repeatedly, and the operation efficiency is low.
Disclosure of Invention
The main technical problem who solves of this application provides a real device of instructing of robot to improve operation precision and operating efficiency.
In order to solve the technical problem, the application adopts a technical scheme that: a robot training device is provided. The real device of instructing of robot includes: the robot assembly is arranged on the practical training platform and comprises a robot, a visual detection device and a material grabbing device, wherein the material grabbing device is arranged at one end of the robot, and the visual detection device and the material grabbing device are correspondingly arranged at one end of the robot; the robot acquires material information through the visual detection device and controls the material gripping device to grip or place the material according to the material information.
The beneficial effect of this application is: be different from prior art, the real device of instructing of robot of this application embodiment includes: the robot assembly is arranged on the practical training platform and comprises a robot, a visual detection device and a material grabbing device, wherein the material grabbing device is arranged at one end of the robot, and the visual detection device and the material grabbing device are correspondingly arranged at one end of the robot; the robot acquires material information through the visual detection device and controls the material gripping device to grip or place the material according to the material information. This application embodiment fixes a position through the visual detection device that sets up on the robot, acquires material information to control material grabbing device according to this material information and carry out snatching of material, can improve the precision that the material snatched or placed, need not the material that snatchs or places that repetitious operation just can be accurate, can improve operating efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic perspective view of an embodiment of a robot training device according to the present application;
FIG. 2 is a schematic top view of a part of the structure of the practical training device for the robot in the embodiment of FIG. 1;
fig. 3 is a schematic structural diagram of a robot assembly, a training platform, an assembling and palletizing platform and a material warehouse in the robot training device in the embodiment of fig. 1;
FIG. 4 is a schematic structural diagram of a part of a structure of the practical training device for the robot in the embodiment of FIG. 1;
FIG. 5 is a schematic structural diagram of a part of a structure of the practical training device for the robot in the embodiment of FIG. 1;
fig. 6 is a schematic view of a working flow of the robot training device in the embodiment of fig. 1.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be noted that the following examples are only illustrative of the present application, and do not limit the scope of the present application. Likewise, the following examples are only some examples and not all examples of the present application, and all other examples obtained by a person of ordinary skill in the art without any inventive step are within the scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The present application first provides a robot training device, as shown in fig. 1 to 3, fig. 1 is a schematic perspective view of an embodiment of the robot training device of the present application; FIG. 2 is a schematic top view of a part of the structure of the practical training device for the robot in the embodiment of FIG. 1; fig. 3 is a schematic structural diagram of a robot assembly, a training platform, an assembling and palletizing platform and a material library in the robot training device in the embodiment of fig. 1. The robot training device 10 of the embodiment includes: the training platform 20 and the robot assembly 30, the robot assembly 30 is arranged on the training platform 20, wherein the robot assembly 30 includes a robot 310, a visual detection device 320 and a material grabbing device 330, the material grabbing device 330 is arranged at one end of the robot 310, and the visual detection device 320 and the material grabbing device 330 are correspondingly arranged at one end of the robot 310; the robot 310 obtains the material information through the visual inspection device 320, and controls the material grabbing device 330 to grab or place the material 410 according to the material information.
The robot 310 of the embodiment is a six-axis robot, one end of which is fixed on the practical training platform 20, and the visual detection device 320 and the material grabbing device 330 are correspondingly arranged at the other end of the robot 310. In other embodiments, the robot may also be a robotic arm of other configurations.
The visual inspection device 320 of the present embodiment at least includes an image sensor (not shown) such as a camera and a fixing member (not shown) for fixing the image sensor.
Wherein, the material grabbing device 330 of this embodiment at least includes: a suction cup holder (not shown) and a fixing member (not shown) for fixing the suction cup holder. This embodiment adopts sucking disc anchor clamps to snatch material 410, can avoid causing the damage to material 410.
The material gripping device 330 includes two suction cup clamps, and the suction portions of the suction cup clamps are parallel to the upper surface of the material 410 to increase the suction area and improve the stability.
In other embodiments, gripping devices, such as jaws, may be used in place of the suction cup clamps described above.
Be different from prior art, this embodiment fixes a position through the visual detection device that sets up on the robot, acquires material information to control material grabbing device according to this material information and carry out snatching of material, can improve the precision that the material snatched or placed, need not the material that snatchs or places that many times operation just can be accurate, can improve operating efficiency.
Optionally, the practical training device 10 for a robot in this embodiment further includes: the assembling and palletizing platform 50 and the material library 40 are arranged on the practical training platform 20, the robot 310 acquires material information from the material library 40 through the visual detection device 320, and controls the material gripping device 330 to assemble or palletize the material 410 on the assembling and palletizing platform 50 according to the material information.
The material library 40 includes a material 410 and a material placing table 420. The material placing table 420 comprises a profile frame (not shown) and a bedplate (not shown) arranged on the profile frame, wherein the bedplate is supported on the practical training table 20 by the profile frame, and the material 410 is placed on the bedplate.
Further, the side of the table plate facing away from the profile frame is provided with a recess, in which the material 410 is placed, to prevent the material 410 from escaping the material store 40 when the robot 310 is not gripping the material 410.
Wherein the robot 310 and the assembly and palletization platform 50 are arranged along a first direction, and the robot 310 and the raw material storage 40 are arranged along a second direction, and the first direction is perpendicular to the second direction. That is, the robot 310 is located at the right angle of the right triangle, and the raw material storage 40 and the assembling and palletizing platform 50 are respectively located at two acute angles of the right triangle.
Due to the arrangement mode, the placing spaces of the assembling and stacking platform 50 and the material storage 40 can be ensured (the assembling and stacking platform and the material storage are not positioned on the same line), and the size of the robot practical training device 10 can be reduced. Of course, in other embodiments, the angle between the first direction and the second direction may also be an acute angle or an obtuse angle.
Optionally, referring to fig. 1 to 4 together, fig. 4 is a schematic structural diagram of a partial structure of the robot training device in the embodiment of fig. 1. The assembly and palletization platform 50 of the present embodiment comprises: the fixing plate 510, the floating plate 520 and the cylinder 530, wherein the fixing plate 510 is provided with an assembling column 511 at one side close to the floating plate 520, the floating plate 520 is provided with a through hole (not shown), the fixed end of the cylinder 530 is fixed on the fixing plate 510, and the piston end of the cylinder 530 is connected with the floating plate 520.
The extension or contraction of the piston end of the cylinder 530 can move the floating plate 520 away from or close to the fixed plate 510, so that the mounting posts 511 on the fixed plate 510 sink into the through holes or protrude out of the through holes of the floating plate 520.
Specifically, when the piston end of the cylinder 530 is extended, the floating plate 520 moves to a side away from the fixed plate 510, and when the floating plate 520 is at a preset distance from the fixed plate 510, the assembly column 511 sinks into the through hole, and the robot 310 can stack the material 410 on the floating plate 520; when the piston end of the cylinder 530 is contracted, the floating plate 520 moves toward a side close to the fixed plate 510, and when the distance between the floating plate 520 and the fixed plate 510 is less than a predetermined distance, the assembly column 511 protrudes from the through hole, and the robot 310 assembles the material 410 on the floating plate 520 through the assembly column 511.
Optionally, the assembly and palletization platform 50 further comprises a guide post 540, the guide post 540 is disposed on the fixed plate 510, one end of the guide post 540 protrudes out of one side of the fixed plate 510 close to the floating plate 520, one side of the floating plate 520 close to the fixed plate 510 is provided with an opening (not shown), and the guide post 540 moves in the opening to guide the floating plate 520 when the floating plate 520 moves relative to the fixed plate 510.
Optionally, the mounting and palletizing platform 50 further comprises a limit post 550 for adjusting a preset distance between the floating plate 520 and the fixed plate 510, so as to enable the mounting post 511 to achieve different mounting heights.
Optionally, a material assembly area (not shown) and a palletizing area (not shown) are disposed on the floating plate 520. Of course, the palletizing area may place the material 410 as the material 410 is assembled.
Optionally, the assembly and palletization platform 50 further comprises: one end of the first bracket 560 is fixed to a side of the fixed plate 510 away from the floating plate 520, and the first bracket 560 is used for supporting the fixed plate 510 on the training platform 20.
The shape of the fixed plate, the floating plate, the first bracket and the section frame is not limited, and the number of the section frames and the first brackets is not limited; instead of the first bracket, a profile frame can also be used.
Optionally, the robot training device 10 further includes a control component (not shown), the control component is connected to the robot component 30 and the cylinder 530, and the control component is used for controlling the robot component 30 and the cylinder 530 to work.
Referring to fig. 1 to 5, fig. 5 is a schematic structural diagram of a part of a structure of the robot training device in the embodiment of fig. 1. The control assembly further includes a controller 610 and a button box 620, the controller 610 is coupled to the robot assembly 30 and the button box 620, and the controller 610 generates a control command according to the pressing action received by the button box 620 to control the robot assembly 30 and the air cylinder 530 to operate.
The button box 620 is provided with a plurality of buttons (not shown) respectively corresponding to a plurality of control commands of the robot assembly 30 to implement a plurality of operations of the robot assembly 30. For example, the robot 310 moves the visual inspection device 320 to the left, moves the material grasping device 330 to the right, or controls the visual inspection device 320 to collect material information, etc.
Optionally, the control assembly further comprises a teach pendant 630, the teach pendant 630 is coupled to the controller 610, and the controller 610 defines the control instructions according to programming input by the teach pendant 630. The present embodiment may be programmed by the teach pendant 630 to establish an association between button operations of the button box 620 and control instructions of the controller 610.
Optionally, the practical training device 10 for the robot further includes a display 70, the display 70 is coupled to the controller 610, the display 70 is configured to display the material information acquired by the visual inspection apparatus 320 and is configured to receive the debugging information of the visual inspection apparatus 320, and the controller 620 generates a control instruction according to the debugging information to debug the visual inspection apparatus 320.
The display 70 of the present embodiment is a touch panel.
Optionally, the training platform 20 of the present embodiment includes a cube table 210, a surface of the cube table 210 perpendicular to a table top is enclosed by a section bar 211, the robot assembly 30 is disposed on the table top of the cube table 210, the controller 610 is disposed in the enclosed area of the section bar 211, and the button box 620 and the teach pendant 630 are disposed on an outer surface of the section bar 211.
Specifically, button box 620 and teach pendant 630 are disposed on the outer surface of profile 211 on the side facing robot assembly 30.
Wherein, real standard platform 20 adopts the side just to weld and forms, and the four sides uses the panel beating to seal to be provided with door subassembly (not marked in the figure), convenient operation and maintenance.
Optionally, the training platform 20 of the present embodiment further includes casters 220, and the casters 220 are disposed on a side of the cube table 210 opposite the table top. Through the arrangement, the moving convenience of the robot practical training device 10 can be improved.
Optionally, the robot practical training device 10 further includes a housing 230, the housing 230 is disposed on the practical training platform 20, and the robot assembly 30, the assembly and palletizing platform 50, and the material library 40 are disposed in the housing 230. The housing 230 is used to protect the robot assembly 30, the assembly and palletization platform 50, the material store 40, and the like.
The display 70 is disposed on a side of the housing 230 facing the visual inspection device 320.
Wherein the cover 230 is provided with a window 231. Specifically, the open window 231 is arranged on one side of the housing 230 facing the robot assembly 30, so that the robot assembly 30, the assembling and palletizing platform 50, the material storage 40 and the like can be conveniently viewed.
Wherein, housing 230 adopts the panel beating welding to form, adopts transparently to seal at ya keli to be provided with the door subassembly, display 70 inlays in the panel beating.
Further, the practical training device 10 for the robot further includes a safety device 240, the safety device 240 is coupled to the control component, the safety device 240 is disposed on two sides of the window 231, and the control component interrupts the operation of the robot component 30 when detecting that a foreign object enters the housing 230.
In other embodiments, the safety shield apparatus may also be disposed on either side of the fenestration.
The safety device 240 of the present embodiment may include an infrared sensor for sensing infrared rays to detect whether a foreign object enters the housing 230. Of course, in other embodiments, an optical sensor or the like may be used instead of the infrared sensor.
In an application scenario, as shown in fig. 6, the materials 410 are placed into the material storage 40 in disorder, the production mode (assembling or palletizing) is selected by a button in the button box 620, the start button is pressed, the robot 310 moves to the position above the material storage 40, the visual detection device 320 takes a picture for recognition, the suction cup clamp accurately sucks the materials 410, and then the robot 310 moves to the assembling and palletizing platform 50 for assembling or palletizing, so that the process is repeated.
Be different from prior art, the real device of instructing of robot of this application embodiment includes: the robot assembly is arranged on the practical training platform and comprises a robot, a visual detection device and a material grabbing device, wherein the material grabbing device is arranged at one end of the robot, and the visual detection device and the material grabbing device are correspondingly arranged at one end of the robot; the robot acquires material information through the visual detection device and controls the material gripping device to grip or place the material according to the material information. This application embodiment fixes a position through the visual detection device that sets up on the robot, acquires material information to control material grabbing device according to this material information and carry out snatching of material, can improve the precision that the material snatched or placed, need not the material that snatchs or places that repetitious operation just can be accurate, can improve operating efficiency.
The practical training device of robot in the embodiment of the application can cultivate the knowledge skills of students, such as industrial robot hardware, electric and pneumatic system connection and basic operation, programming and debugging based on industrial robot system application (including vision), improvement of production efficiency, reduction of energy consumption and the like.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. The utility model provides a real device of instructing of robot which characterized in that, real device of instructing of robot includes:
the robot assembly is arranged on the practical training platform and comprises a robot, a visual detection device and a material grabbing device, wherein the material grabbing device is arranged at one end of the robot, and the visual detection device and the material grabbing device are correspondingly arranged at one end of the robot;
the robot acquires material information through the visual detection device and controls the material gripping device to grip or place the material according to the material information;
wherein, the real device of instructing of robot further includes: assembly and pile up neatly platform, assembly and pile up neatly platform includes: the device comprises a fixed plate and a floating plate, wherein a material assembling and stacking area is arranged on the floating plate, an assembling column is arranged on one side of the fixed plate close to the floating plate, and the floating plate is provided with a through hole; when the floating plate and the fixed plate are away from each other by a preset distance, the assembling column sinks into the through hole, and the robot stacks the materials in the material assembling and stacking area; when the distance between the floating plate and the fixed plate is smaller than a preset distance, the assembling column protrudes out of the through hole, and the robot assembles the materials in the material assembling and stacking area.
2. The robotic training device of claim 1, further comprising: the assembling and stacking platform and the material library are arranged on the practical training platform, the robot acquires material information from the material library through the visual detection device and controls the material gripping device to assemble or stack the materials on the assembling and stacking platform according to the material information.
3. The robotic training device of claim 2, wherein the fitting and palletizing platform further comprises: the fixed end of the cylinder is fixed on the fixed plate, and the piston end of the cylinder is connected with the floating plate.
4. The robotic training device of claim 3, wherein the fitting and palletizing platform further comprises: the guide post is arranged on the fixed plate, one end of the guide post protrudes out of one side, close to the floating plate, of the fixed plate, an opening is formed in one side, close to the fixed plate, of the floating plate, and when the floating plate moves relative to the fixed plate, the guide post moves in the opening.
5. The practical training device for robots according to claim 3, wherein a material placing area is further arranged on the floating plate.
6. The robotic training device of claim 2, wherein the robot and the assembly and palletization platform are arranged along a first direction, the robot and the material store are arranged along a second direction, and the first direction is perpendicular to the second direction.
7. The robotic training device of claim 3, further comprising a control assembly, the control assembly comprising: the controller is coupled with the robot assembly and the button box, and generates a control command according to the pressing action received by the button box so as to control the robot assembly and the air cylinder to work.
8. The robotic training device of claim 7, wherein the control assembly includes a teach pendant coupled to the controller, the controller defining the control instructions according to programming input by the teach pendant;
the robot practical training device further comprises a display, the display is coupled with the controller and used for displaying the material information acquired by the visual detection device and receiving debugging information of the visual detection device, and the controller generates a control instruction according to the debugging information to debug the visual detection device.
9. The robot practical training device according to claim 8, wherein the practical training table comprises a cubic table, the surface of the cubic table perpendicular to a table top is closed by a profile, the robot assembly is arranged on the table top of the cubic table, the controller is arranged in the profile closed area, and the button box and the demonstrator are arranged on the outer surface of the profile;
the practical training platform further comprises casters, and the casters are arranged on one side of the vertical table opposite to the table top;
the practical training device for the robot further comprises a housing, the housing is arranged on the practical training platform, and the robot assembly, the assembling and stacking platform and the material storage are arranged in the housing.
10. The practical training device for the robot as claimed in claim 9, wherein the housing is provided with a window, the practical training device for the robot further comprises a safety protection device coupled to the control component, the safety protection device is disposed on two sides of the window, and the control component interrupts the operation of the robot component when a foreign object is detected to enter the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235926.8A CN110992808B (en) | 2019-12-05 | 2019-12-05 | Real device of instructing of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235926.8A CN110992808B (en) | 2019-12-05 | 2019-12-05 | Real device of instructing of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110992808A CN110992808A (en) | 2020-04-10 |
| CN110992808B true CN110992808B (en) | 2022-02-18 |
Family
ID=70090409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911235926.8A Active CN110992808B (en) | 2019-12-05 | 2019-12-05 | Real device of instructing of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110992808B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1775067A1 (en) * | 2005-10-17 | 2007-04-18 | Pratt & Whitney Canada Corp. | Fixture and method for the grinding of blade tips of a turbine rotor |
| CN206259119U (en) * | 2016-11-24 | 2017-06-16 | 深圳市盛泰奇科技有限公司 | Ray machine electrically and information processing integrated robot training platform |
| CN206400929U (en) * | 2016-11-14 | 2017-08-11 | 苏州博达特机电科技有限公司 | Industrial robot application actual training device |
| CN206982663U (en) * | 2017-06-02 | 2018-02-09 | 天津工程机械研究院有限公司 | Trick servo Work robot actual training device |
| CN108806382A (en) * | 2018-07-19 | 2018-11-13 | 陕西大中科技发展有限公司 | Robot training operation bench and its application method |
| CN108971950A (en) * | 2018-08-27 | 2018-12-11 | 广东天机工业智能系统有限公司 | Automatic assembling device |
| CN109434811A (en) * | 2018-12-25 | 2019-03-08 | 苏州富纳艾尔科技有限公司 | The storage real training mechanism, robot and robot Practical Training Teaching-Platform of view-based access control model |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10122377C1 (en) * | 2001-05-09 | 2002-09-05 | Ligmatech Automationssysteme | Return apparatus for transferring machined workpieces between machining units, comprises transfer table and lifting table with workpiece supports |
| CN100464670C (en) * | 2003-12-12 | 2009-03-04 | 张成云 | Over and under type multifunctional tea table |
| JP3140094U (en) * | 2007-12-20 | 2008-03-13 | 清 亀井 | Hydraulic circuit and vehicle lifter device using the same |
| CN201775202U (en) * | 2010-05-25 | 2011-03-30 | 姚书银 | Multifunctional table |
| CN203692841U (en) * | 2013-06-26 | 2014-07-09 | 张昌兰 | Multifunctional table |
| CN204483529U (en) * | 2015-02-04 | 2015-07-22 | 陈小青 | Multifunctional tea-table table |
| CN104905594B (en) * | 2015-04-10 | 2018-01-12 | 林圣玉 | Desk and chair bunk beds dual purpose furniture |
| CN204965811U (en) * | 2015-08-15 | 2016-01-13 | 浙江海控教学设备有限公司 | Multifunctional machine ware people instructs device in fact |
| CN206744917U (en) * | 2016-12-08 | 2017-12-15 | 天津永乐网络科技有限公司 | A kind of multifunctional dining table based on technological service |
| CN206720261U (en) * | 2016-12-31 | 2017-12-08 | 北京配天技术有限公司 | Circulation locating module applied to automatic production line |
| CN208477822U (en) * | 2018-03-16 | 2019-02-05 | 湖南铁道职业技术学院 | A kind of multifunctional industrial robot Practical teaching device |
| CN209028867U (en) * | 2018-05-07 | 2019-06-25 | 佛山博文机器人自动化科技有限公司 | A kind of multi-functional training work station of robot |
| CN208992699U (en) * | 2018-09-07 | 2019-06-18 | 深圳配天智能技术研究院有限公司 | Robot and clamp device |
| CN209246815U (en) * | 2018-12-04 | 2019-08-13 | 熊巍 | A kind of fireworks group disk machine that fireworks tube group disk is high-efficient |
-
2019
- 2019-12-05 CN CN201911235926.8A patent/CN110992808B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1775067A1 (en) * | 2005-10-17 | 2007-04-18 | Pratt & Whitney Canada Corp. | Fixture and method for the grinding of blade tips of a turbine rotor |
| CN206400929U (en) * | 2016-11-14 | 2017-08-11 | 苏州博达特机电科技有限公司 | Industrial robot application actual training device |
| CN206259119U (en) * | 2016-11-24 | 2017-06-16 | 深圳市盛泰奇科技有限公司 | Ray machine electrically and information processing integrated robot training platform |
| CN206982663U (en) * | 2017-06-02 | 2018-02-09 | 天津工程机械研究院有限公司 | Trick servo Work robot actual training device |
| CN108806382A (en) * | 2018-07-19 | 2018-11-13 | 陕西大中科技发展有限公司 | Robot training operation bench and its application method |
| CN108971950A (en) * | 2018-08-27 | 2018-12-11 | 广东天机工业智能系统有限公司 | Automatic assembling device |
| CN109434811A (en) * | 2018-12-25 | 2019-03-08 | 苏州富纳艾尔科技有限公司 | The storage real training mechanism, robot and robot Practical Training Teaching-Platform of view-based access control model |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110992808A (en) | 2020-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106002236B (en) | Restructural mounting work station | |
| EP2868441A1 (en) | Robot control device, robot system, and robot | |
| CN206242054U (en) | A kind of multi-functional many application apparatus of robot | |
| JP2019011666A (en) | Wall surface board sticking method, wall surface board sticking device and computer program | |
| CN205835346U (en) | A kind of leaf spring conveying robot | |
| WO2019109672A1 (en) | Jacking robot and robot system | |
| CN106346454A (en) | Four-axis mechanical arm type visual traying platform | |
| JP2015085479A (en) | Robot, control device, robot system and robot control method | |
| CN107919050A (en) | One kind series connection industrial robot basis practical traning platform | |
| JP2019195885A (en) | Control device and robot system | |
| CN110992808B (en) | Real device of instructing of robot | |
| CN107472910B (en) | A kind of working method with vision-based detection functional glass transfer robot | |
| CN108940913A (en) | A kind of flatness detection device | |
| CN111583747A (en) | Robot teaching training platform | |
| CN207824891U (en) | A kind of robot training platform | |
| CN108214482B (en) | Non-contact gesture teaching robot | |
| CN214651097U (en) | Intelligent warehousing device | |
| CN213381603U (en) | Novel special manipulator for shoemaking | |
| CN209579586U (en) | Cooperate robot device | |
| TWM627047U (en) | Correcting device for coupling two objects relative to each other | |
| CN209583061U (en) | Automatic stacking machine people | |
| CN221875671U (en) | Industrial automatic stacking robot | |
| CN210126077U (en) | Intelligent mechanical arm for matching with image recognition | |
| CN213381588U (en) | Industrial robot terminal mobile vision workstation | |
| Ferrari | Matlab-based Control of a SCARA Robot |
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 |