CN111086006B - Adjustable length joint arm type demonstrator - Google Patents
Adjustable length joint arm type demonstrator Download PDFInfo
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- CN111086006B CN111086006B CN201911287310.5A CN201911287310A CN111086006B CN 111086006 B CN111086006 B CN 111086006B CN 201911287310 A CN201911287310 A CN 201911287310A CN 111086006 B CN111086006 B CN 111086006B
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
Abstract
The invention discloses a length-adjustable articulated arm type demonstrator which can realize the demonstration of industrial robots of different types, wherein before the demonstrator is used, the number of articulated arms is added or reduced according to the structural characteristics of a target industrial robot, the length of the articulated arms is increased or shortened, and the simulation tail end on the demonstrator is replaced according to the tail end used by the target industrial robot, so that the demonstrator adapts to the target industrial robot, and the damping torque of each joint is adjusted according to a new structure, so that the dragging is lighter; when the teaching device is used, the demonstrator is dragged to record the motion trail required to be completed when the industrial robot works, so that the teaching of the industrial robot with high speed, high precision and low cost is realized.
Description
Technical Field
The invention belongs to the technical field of robot teaching, and particularly relates to a length-adjustable articulated arm type demonstrator.
Background
At present, teaching of industrial robot manufacturers in all countries in the world is mostly carried out in a demonstrator mode. Before the robot works, a factory worker needs to use a teaching device to edit the motion track of the robot so that the robot moves according to the expected action of people, but the teaching process is complex, and the posture of the robot needs to be continuously adjusted to complete the work required by track positioning.
In the prior art, a dragging demonstrator has a structure similar to that of an industrial robot, and can dynamically track and measure a motion track of a corona through a mechanical device, so that the purpose of teaching is achieved.
Because equipment updates the iteration problem, the robot in the factory is not necessarily same model, and the working range of robot, mechanical structure etc. have the difference, and the teaching demand of different model robots can't be satisfied to current demonstrator that drags, if want to teach with the mode of dragging, just must be equipped with different demonstrator for different model robots, and the cost is higher.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a length-adjustable articulated arm type demonstrator which can be adjusted according to industrial robots of different models, and can record the motion trail required to be completed by the industrial robot during working by dragging the demonstrator, so that the purposes of high speed, high precision and low cost demonstration of the industrial robot are achieved.
The invention is realized by adopting the following technical scheme:
an adjustable length articulated arm type demonstrator comprises a base, a base rotary joint, an articulated arm, a joint and a simulation tail end; when the joint arm is one, the base is movably connected to one end of the joint arm through the base rotating joint, and the simulation tail end (11) is movably connected to the other end of the joint arm through the joint;
when the articulated arm is a plurality of, the base passes through base rotary joint swing joint in the one end of first articulated arm, and the other end of first articulated arm passes through an articulation and another articulated arm's one end swing joint to analogize, through an articulation swing joint between the adjacent two articulated arms in the middle, the simulation end passes through an articulation swing joint at the other end of last articulated arm.
The invention is further improved in that the joint arm and the joint are fixed through the set screw, and the length of the joint arm is adjusted after the set screw is loosened.
The invention is further improved in that when the number of the articulated arms is multiple, the demonstrator can adapt to four-axis, five-axis, six-axis and seven-axis industrial robots according to the number of the articulated arms.
The invention is further improved in that the base rotary joint comprises a base rotary joint encoder, a base rotary joint friction damper rotating part, a base rotary joint rotating part joint arm support, a base rotary joint friction damper fixing part and a base rotary joint fixing part shell; the base rotary joint fixing part shell is arranged on one end surface of the base; the base rotary joint friction damper fixing part is fixed on a base rotary joint fixing part shell, the base rotary joint friction damper rotating part is fixed on a base rotary joint rotating part joint arm support, the base rotary joint rotating part joint arm support is connected with the base rotary joint friction damper fixing part through a base rotary joint friction damper rotating part, the contact force between the base rotary joint friction damper rotating part and the base rotary joint friction damper fixing part can be adjusted through screws, the base rotary joint is vertically upward, the torque brought by the self weight of a teaching arm is avoided, and the damping is changed by changing the difficulty degree during dragging; the base rotary joint encoder is arranged on the other end face of the base, is connected with the joint arm support of the rotary part of the base rotary joint and is used for recording the position data of the rotary joint shaft of the base rotary joint.
The invention is further improved in that an encoder for recording the rotary joint axis pose data is fixed on each joint and is electrically connected with the control system.
The invention is further improved in that each joint is provided with a friction damper, and the damping torque of each joint is adjusted by changing the tightness of the damper so as to balance the torque brought by the self weight of the teaching arm under the condition of different joint arm lengths.
A further improvement of the invention is that the dummy tip can be exchanged according to the size of the tip used by the target industrial robot.
The invention is further improved in that the joint comprises a joint encoder, a joint friction damper rotating part, a joint fixing part joint arm support, a joint rotating part joint arm support, a joint fixing part adapter plate, a joint rotating part adapter plate, a joint fixing part shell, a joint rotating part rotating shaft and a joint friction damper fixing part;
the joint encoder is fixed on one end face of the joint fixing part adapter plate, and the joint fixing part shell and the joint fixing part joint arm support are respectively fixed at two ends of the other end face of the joint fixing part adapter plate;
the joint rotating part joint arm support is fixed on one end face of the joint rotating part adapter plate, the joint rotating part rotating shaft is fixed on the other end face of the joint rotating part adapter plate, and the joint rotating part joint arm support and the joint rotating part rotating shaft are arranged in an opposite angle mode;
the joint friction damper fixing part is fixed on the joint fixing part shell, the joint friction damper rotating part is fixed on the joint rotating part rotating shaft, and the contact force between the joint friction damper fixing part and the joint friction damper rotating part is adjusted through screws, so that the damping torque of the base joint is changed to balance the torque brought by the self weight of the teaching arm under the condition of different joint arm lengths;
the joint encoder is connected with a joint rotating part rotating shaft through a coupler and used for recording the position and attitude data of the joint rotating part rotating shaft, the joint rotating part rotating shaft is inserted into a bearing in the joint fixing part shell, and the axial displacement is limited by a retaining ring; the joint arm is inserted into the joint arm support hole of the joint fixing part, and is fixed through a lateral fastening screw after being adjusted to a proper length.
The invention has at least the following beneficial technical effects:
1. the length-adjustable articulated arm type demonstrator provided by the invention can realize the demonstration of industrial robots of different models, before the demonstrator is used, the number of the articulated arms is added or reduced according to the structural characteristics of a target industrial robot, the length of the articulated arms is increased or shortened, and the simulation end on the demonstrator is replaced according to the end used by the target industrial robot, so that the demonstrator is suitable for the target industrial robot. When the teaching device is used, the demonstrator is dragged to record the motion trail required to be completed when the industrial robot works, so that the teaching of the industrial robot with high speed, high precision and low cost is realized.
2. The length-adjustable articulated arm type demonstrator provided by the invention has the advantages that the joints are fixed with encoders for recording the position data of the rotary joint axis, and the encoders are electrically connected with a control system and record the motion track of the demonstrator.
3. According to the length-adjustable articulated arm type demonstrator provided by the invention, the friction dampers are arranged on the joints, and the damping torque of each joint can be adjusted by changing the tightness of the dampers so as to balance the torque caused by the self weight of the demonstrator arm under the condition of different articulated arm lengths, so that the dragging demonstration becomes more portable.
Drawings
FIG. 1 is a schematic structural diagram of a length-adjustable articulated arm type demonstrator of the present invention, when the demonstrator corresponds to a five-axis industrial robot;
FIG. 2 is a schematic structural diagram of a length-adjustable articulated arm type demonstrator of the present invention for a four-axis industrial robot;
FIG. 3 is a schematic structural diagram of a length-adjustable articulated arm type demonstrator of the present invention for a six-axis industrial robot;
FIG. 4 is a schematic structural diagram of an adjustable length articulated arm type demonstrator according to the present invention under a condition of shortened articulated arm;
FIG. 5 is a schematic structural diagram of an adjustable length articulated arm type demonstrator according to the present invention, in case of an extended articulated arm;
FIG. 6 is a schematic structural diagram of a base and a base rotary joint of the length-adjustable articulated arm type demonstrator of the present invention;
FIG. 7 is a schematic structural diagram of the connection between the joint arm support and the joint arm A of the rotating part of the base rotating joint of the adjustable length joint arm type demonstrator of the present invention;
FIG. 8 is a schematic structural diagram of a joint A of the length-adjustable articulated arm demonstrator of the present invention, and the joints B and C have the same structure;
FIG. 9 is a schematic diagram of an internal structure of a joint A of the length-adjustable articulated arm demonstrator of the present invention;
FIG. 10 is a schematic structural diagram of a friction damper on a joint A of the adjustable length articulated arm demonstrator in the invention;
FIG. 11 is a schematic structural diagram of the joint arm A and the joint fixing part joint arm bracket connection of the adjustable length joint arm type demonstrator of the present invention;
FIG. 12 is a schematic structural diagram of an articulated arm D and a simulation terminal of the length-adjustable articulated arm demonstrator of the present invention;
description of reference numerals:
1 is a base; 2, a base rotary joint, 201, 202, 203, 204, 205, a base rotary joint friction damper rotating part, a base rotary joint rotating part joint arm support, a base rotary joint friction damper fixing part and a base rotary joint fixing part shell; 3 is a joint arm A; 4, a joint A, 401, 402, 403, 404, 405, 406, 407, 408 and 409, respectively, wherein the joint A is a joint encoder, 402 is a joint friction damper rotating part, 403 is a joint fixing part joint arm support, 404 is a joint rotating part joint arm support, 405 is a joint fixing part adapter plate, 406 is a joint rotating part adapter plate, 407 is a joint fixing part shell, 408 is a joint rotating part rotating shaft, and 409 is a joint friction damper fixing part; 5 is a joint arm B; 6 is a joint B; 7 is a joint arm C; 8 is a joint C; 9 is an articulated arm D; 10 is a joint D, and 1001 is a rotating part rotating shaft of the joint D10; 11 is the analog end.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings so that the advantages and features of the invention will be more readily understood by those skilled in the art, and the scope of the invention will be clearly and clearly defined.
Referring to fig. 1, the length-adjustable articulated arm demonstrator provided by the invention comprises a base 1, an articulated arm a3, an articulated arm B5, an articulated arm C7, an articulated arm D9 and a simulation terminal 11; the base 1 and the joint arm A3 are movably connected through a base rotary joint 2; the joint arm A3 and the joint arm B5 are movably connected through a joint A4; the joint arm B5 and the joint arm C7 are movably connected through a joint B6; the joint arm C7 and the joint arm D9 are movably connected through a joint C8; the joint arm D9 and the simulation tail end 11 are movably connected through a joint D10; the teaching device is dragged during working, the motion trail required to be completed during working of the industrial robot is recorded, and teaching of the industrial robot with high speed, high precision and low cost is achieved.
Referring to fig. 2, the length-adjustable articulated arm type demonstrator provided by the invention can adapt to the structure of a target industrial robot by reducing joints and articulated arms when the target industrial robot is a four-axis industrial robot.
Referring to fig. 3, the length-adjustable articulated arm type demonstrator provided by the invention can adapt to the structure of a target industrial robot by adding joints and articulated arms when the target industrial robot is a six-axis industrial robot.
Referring to fig. 4, the invention provides a length-adjustable articulated arm type demonstrator which can adapt to the structure of a target industrial robot by shortening the length of an articulated arm when the articulated arm of the target industrial robot is short.
Referring to fig. 5, the length-adjustable articulated arm type demonstrator provided by the invention can adapt to the structure of a target industrial robot by increasing the length of the articulated arm when the articulated arm of the target industrial robot is longer.
Referring to fig. 6, the base 1 is provided with a flange hole, which can be conveniently fixed in a factory workshop; in the base rotary joint 2, a base rotary joint fixing part housing 205 is mounted on the base 1; the base rotary joint encoder 201 is arranged on the base 1, is connected with the base rotary joint rotary part joint arm support 203 and is used for recording the position and attitude data of the rotary joint shaft of the base rotary joint 2; the base rotary joint friction damper rotating part 202 is fixed on a base rotary joint rotating part joint arm support 203 through screws, and the contact force between the base rotary joint friction damper rotating part 202 and a base rotary joint friction damper fixing part 204 can be adjusted through the screws, so that the damping torque of the base rotary joint 2 is changed to balance the torque brought by the self weight of the teaching arm under the condition of different joint arm lengths, and the dragging teaching becomes lighter; the base rotary joint friction damper fixing portion 204 is fixed to the base rotary joint fixing portion case 205 by screws.
Referring to fig. 7, articulating arm a3 is inserted into a hole in base swivel knuckle arm mount 203 and secured by a side set screw.
Referring to fig. 8, in the joint a4, a joint encoder 401 is fixed on a joint fixing part adapter plate 405 by screws, connected with a joint rotating part rotating shaft 408, and used for recording the position and orientation data of a rotating joint shaft of the joint a 4; the joint friction damper rotating part 402 is fixed on a joint rotating part rotating shaft 408 through screws, and the contact force with the joint friction damper fixing part 409 can be adjusted through the screws, so that the damping torque of the base joint A4 is changed to balance the torque brought by the self weight of the teaching arm under the condition of different joint arm lengths, and the dragging teaching becomes lighter; the joint fixing part joint arm bracket 403 is fixed on the joint fixing part adapter plate 405 through screws; the joint rotating part joint arm support 404 is fixed on the joint rotating part adapter plate 406 through screws; the joint rotating part adapter plate 406 is fixed on the joint rotating part rotating shaft 408 through screws; the joint fixing part housing 407 is fixed to the joint fixing part adapter plate 405 by screws; the joint friction damper fixing part 409 is fixed on the joint fixing part housing 407 by screws; the structures of the joint B6 and the joint C8 are similar to the structure of the joint A4.
Referring to fig. 9, the joint encoder 401 is connected to the joint rotating part rotating shaft 408 through a coupling; the joint rotating part rotating shaft 408 is inserted in a bearing inside the joint fixing part shell 407, and the axial displacement is limited by a retainer ring; the internal structures of the joint B6, the joint C8 and the joint D10 are similar to those of the joint A4.
Referring to fig. 10, the joint friction damper rotating portion 402 is fixed to the joint rotating portion rotating shaft 408 by screws, and the contact force with the joint friction damper fixing portion 409 can be adjusted by the screws.
Referring to fig. 11, the arm a3 is inserted into the hole of the arm bracket 403 of the joint fixing part, adjusted to a proper length and fixed by a lateral set screw, and the other arms are fixed with the joint similarly.
Referring to fig. 12, the dummy tip 11 is fixed to the rotating portion shaft 1001 of the joint D10 by screws and can be replaced according to the size of the tip used by the target industrial robot.
Examples
The invention provides a length-adjustable articulated arm type demonstrator, wherein a base 1 and an articulated arm A3 are movably connected through a base rotary joint 2; the joint arm A3 and the joint arm B5 are movably connected through a joint A4; the joint arm B5 and the joint arm C7 are movably connected through a joint B6; the joint arm C7 and the joint arm D9 are movably connected through a joint C8; the joint arm D9 and the simulation tail end 11 are movably connected through a joint D10; the joint arm A3 is inserted into the hole of the joint arm bracket 203 of the rotary joint rotary part of the base and is fixed by a lateral fastening screw; in the joint a4, a joint encoder 401 is fixed on a joint fixing part adapter plate 405 through screws and connected with a joint rotating part rotating shaft 408 for recording the position and posture data of a joint a4 rotating joint shaft; the joint friction damper rotating part 402 is fixed on a joint rotating part rotating shaft 408 through screws, and the contact force with the joint friction damper fixing part 409 can be adjusted through the screws, so that the damping torque of the base joint A4 is changed to balance the torque brought by the self weight of the teaching arm under the condition of different joint arm lengths, and the dragging teaching becomes lighter; the joint fixing part joint arm bracket 403 is fixed on the joint fixing part adapter plate 405 through screws; the joint rotating part joint arm support 404 is fixed on the joint rotating part adapter plate 406 through screws; the joint rotating part adapter plate 406 is fixed on the joint rotating part rotating shaft 408 through screws; the joint fixing part housing 407 is fixed to the joint fixing part adapter plate 40 by screws; the friction damper fixing part 409 is fixed to the joint fixing part housing 407 by screws; the structures of the joint B6 and the joint C8 are similar to the structure of the joint A4; the articulated arm A3 is inserted into the hole of the articulated arm bracket 403 of the articulated fixing part, adjusted to a proper length and fixed by a lateral set screw, and the other articulated arms and the joints are fixed similarly. The dummy tip 11 is fixed to the joint D rotating portion shaft 1001 by screws and can be replaced according to the size of the tip used by the target industrial robot.
The specific working process of the invention is as follows:
before the robot is used, the number of the articulated arms is added or reduced according to the structural characteristics of a target industrial robot, the length of the articulated arms is increased or shortened, the simulation terminal on the demonstrator is replaced according to the terminal used by the target industrial robot, so that the demonstrator adapts to the target industrial robot, after the structure adjustment of the demonstrator is completed, the tightness of friction dampers of all joints is changed, the damping torque of all the joints is adjusted to balance the torque brought by the self weight of the demonstrator under the condition of different lengths of the articulated arms, and a new structure of the demonstrator is input into a computer for standby; when the teaching device is used, the demonstrator is dragged to record the position and posture data of the rotary joint shaft, the teaching device is combined with the demonstrator structure in the computer to obtain the motion trail required to be completed when the industrial robot works, and the teaching of the industrial robot with high speed, high precision and low cost is realized.
The foregoing illustrates and describes the principles, essential features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the appended claims.
The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An adjustable length articulated arm type demonstrator is characterized by comprising a base (1), a base rotary joint (2), an articulated arm, a joint and a simulation tail end (11); wherein the content of the first and second substances,
when the joint arm is one, the base (1) is movably connected to one end of the joint arm through the base rotating joint (2), and the simulation tail end (11) is movably connected to the other end of the joint arm through the joint;
when a plurality of joint arms are arranged, the base (1) is movably connected with one end of a first joint arm through a base rotating joint (2), the other end of the first joint arm is movably connected with one end of another joint arm through a joint, and so on, two adjacent joint arms in the middle are movably connected through a joint, and the simulation tail end (11) is movably connected with the other end of the last joint arm through a joint;
the base rotary joint (2) comprises a base rotary joint encoder (201), a base rotary joint friction damper rotating part (202), a base rotary joint rotating part joint arm support (203), a base rotary joint friction damper fixing part (204) and a base rotary joint fixing part shell (205); the base rotary joint fixing part shell (205) is arranged on one end surface of the base (1); the base rotary joint friction damper fixing part (204) is fixed on a base rotary joint fixing part shell (205), the base rotary joint friction damper rotating part (202) is fixed on a base rotary joint rotating part joint arm support (203), the base rotary joint rotating part joint arm support (203) is connected with the base rotary joint friction damper fixing part (204) through the base rotary joint friction damper rotating part (202) and can adjust the contact force between the base rotary joint friction damper rotating part (202) and the base rotary joint friction damper fixing part (204) through screws, the base rotary joint is vertically upward, the torque caused by the self weight of a teaching arm is avoided, and the damping is changed to change the difficulty degree during dragging; the base rotary joint encoder (201) is installed on the other end face of the base (1), is connected with the base rotary joint rotary part joint arm support (203), and is used for recording rotary joint axis pose data of the base rotary joint (2).
2. The length adjustable articulated arm demonstrator of claim 1, wherein said articulated arm is fixed to said joint by a set screw, and said set screw is loosened to adjust the length of said articulated arm.
3. The length adjustable articulated arm type demonstrator of claim 1, wherein when there are a plurality of articulated arms, said demonstrator can adapt to four-axis, five-axis, six-axis, seven-axis industrial robots according to the number of articulated arms.
4. The length-adjustable articulated arm demonstrator of claim 1, wherein each joint has an encoder fixed thereon for recording the position and orientation data of the rotary joint axis, and the encoder is electrically connected to the control system.
5. The adjustable length articulated arm demonstrator of claim 1, wherein each joint is provided with a friction damper, and the damping torque of each joint can be adjusted by changing the tightness of the damper to balance the torque of the demonstrator due to the weight of the demonstrator arm under different lengths of the articulated arm.
6. An adjustable length articulated arm teach pendant according to claim 1 wherein the dummy tip (11) is exchangeable according to the size of the tip used by the target industrial robot.
7. The adjustable length articulated arm demonstrator of claim 1, wherein said joint comprises a joint encoder (401), a joint friction damper rotating part (402), a joint fixing part joint arm support (403), a joint rotating part joint arm support (404), a joint fixing part adapter plate (405), a joint rotating part adapter plate (406), a joint fixing part housing (407), a joint rotating part rotating shaft (408) and a joint friction damper fixing part (409);
the joint encoder (401) is fixed on one end face of the joint fixing part adapter plate (405), and the joint fixing part shell (407) and the joint fixing part joint arm support (403) are respectively fixed at two ends of the other end face of the joint fixing part adapter plate (405);
the joint rotating part joint arm support (404) is fixed on one end face of the joint rotating part adapter plate (406), the joint rotating part rotating shaft (408) is fixed on the other end face of the joint rotating part adapter plate (406), and the joint rotating part joint arm support (404) and the joint rotating part rotating shaft (408) are arranged diagonally;
the joint friction damper fixing part (409) is fixed on a joint fixing part shell (407), the joint friction damper rotating part (402) is fixed on a joint rotating part rotating shaft (408), and the contact force between the joint friction damper fixing part (409) and the joint friction damper rotating part is adjusted through screws, so that the damping torque of the base joint is changed to balance the torque brought by the self weight of the teaching arm under the conditions of different joint arm lengths;
the joint encoder (401) is connected with a joint rotating part rotating shaft (408) through a coupler and used for recording the posture data of the joint rotating part rotating shaft, the joint rotating part rotating shaft (408) is inserted into a bearing in a joint fixing part shell (407), and the axial displacement is limited by a retaining ring; the joint arm is inserted into a hole of a joint fixing part joint arm support (403), is adjusted to a proper length and is fixed by a side fastening screw.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911287310.5A CN111086006B (en) | 2019-12-14 | 2019-12-14 | Adjustable length joint arm type demonstrator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911287310.5A CN111086006B (en) | 2019-12-14 | 2019-12-14 | Adjustable length joint arm type demonstrator |
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| CN111086006A CN111086006A (en) | 2020-05-01 |
| CN111086006B true CN111086006B (en) | 2021-04-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112497209A (en) * | 2020-10-30 | 2021-03-16 | 北京配天技术有限公司 | Robot control method, storage device, computer equipment and robot |
| CN112894776B (en) * | 2021-02-23 | 2022-08-12 | 焦作大学 | Teaching device capable of being fixed at multiple angles |
| CN112847380A (en) * | 2021-02-24 | 2021-05-28 | 宿州赛尔沃德物联网科技有限公司 | Teaching method of industrial robot |
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| JPH1139020A (en) * | 1997-07-16 | 1999-02-12 | Yaskawa Electric Corp | Direct teaching device for robot |
| CN104760044A (en) * | 2015-04-10 | 2015-07-08 | 马鞍山方宏自动化科技有限公司 | Unpowered articulated arm type demonstrator and application thereof in industrial robot |
| CN204525481U (en) * | 2015-04-10 | 2015-08-05 | 马鞍山方宏自动化科技有限公司 | A kind of unpowered articulated arm teaching machine |
| CN204585243U (en) * | 2015-04-10 | 2015-08-26 | 马鞍山方宏自动化科技有限公司 | A kind of unpowered joint arm structure |
| CN206643906U (en) * | 2017-01-13 | 2017-11-17 | 重庆萨博途斯机器人工具有限公司 | Six axle teaching robots |
| CN208451644U (en) * | 2018-07-13 | 2019-02-01 | 深圳市创客工场科技有限公司 | Teaching machine and its rotary encoder |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH1139020A (en) * | 1997-07-16 | 1999-02-12 | Yaskawa Electric Corp | Direct teaching device for robot |
| CN104760044A (en) * | 2015-04-10 | 2015-07-08 | 马鞍山方宏自动化科技有限公司 | Unpowered articulated arm type demonstrator and application thereof in industrial robot |
| CN204525481U (en) * | 2015-04-10 | 2015-08-05 | 马鞍山方宏自动化科技有限公司 | A kind of unpowered articulated arm teaching machine |
| CN204585243U (en) * | 2015-04-10 | 2015-08-26 | 马鞍山方宏自动化科技有限公司 | A kind of unpowered joint arm structure |
| CN206643906U (en) * | 2017-01-13 | 2017-11-17 | 重庆萨博途斯机器人工具有限公司 | Six axle teaching robots |
| CN208451644U (en) * | 2018-07-13 | 2019-02-01 | 深圳市创客工场科技有限公司 | Teaching machine and its rotary encoder |
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