CN203882524U - Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer - Google Patents
Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer Download PDFInfo
- Publication number
- CN203882524U CN203882524U CN201420079355.XU CN201420079355U CN203882524U CN 203882524 U CN203882524 U CN 203882524U CN 201420079355 U CN201420079355 U CN 201420079355U CN 203882524 U CN203882524 U CN 203882524U
- Authority
- CN
- China
- Prior art keywords
- plc
- pneumatic manipulator
- cylinder
- chip microcomputer
- solenoid valve
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a pneumatic manipulator training device using multiple control modes of a PLC, a single-chip microcomputer and a computer. The training device consists of an aluminum plate, a pneumatic manipulator device, an electromagnetic valve group, an air source processor, positions A and B, a single-chip microcomputer control system, a PLC adapter box and a switching power supply. A pneumatic manipulator unit, which has five degrees of freedom and is capable of extending out in a horizontal axis, dropping in a vertical axis, gripping fingers, rising up in the vertical axis, retracting in the horizontal axis, turning left in a base rotation axis to a position B, overturning 180 degrees clockwise in a palm rotation axis, relaxing fingers, turning right in a base rotation axis to a position A, and overturning 180 degrees counterclockwise in the palm rotation axis, is used as an executing object, and control modes of the PLC, the single-chip microcomputer and the computer can be switched through a control mode selection switch.
Description
Technical field
The utility model relates to a kind of Pneumatic manipulator actual training device, can carry out by PLC, single-chip microcomputer, computing machine multimode the control of five degree of freedom to Pneumatic manipulator unit, the practice teaching that is mainly used in education and training industry and carries out the explanation of Pneumatic manipulator theory and structure and PLC, single-chip microcomputer, computer utility.Grasp the program thread of controlling pneumatic manipulator device with PLC, grasp programmed method and the essential of exercise with Single-chip Controlling pneumatic manipulator device, grasp the synchronization principles with pneumatic manipulator device action with upper machine configuration monitoring.
Background technology
In current teaching equipment, Pneumatic manipulator actual training device is mostly the elemental motion in doublejointed, three joints, and simple mechanism simple in structure, that action logic is not strong, and only have a kind of control mode, be generally that PLC controls or for computer control or for Single-chip Controlling.Actual training device can only carry out a kind of real training and a teaching of control mode, can not meet the requirement of teaching and the demand of training program, can not promote student's multiple thinking ability.
Summary of the invention
The utility model can only carry out a kind of shortcoming of control mode real training in order to overcome single pneumatic manipulator device in teaching equipment in the past, proposed the Pneumatic manipulator actual training device of a kind of PLC of having, single-chip microcomputer, the multi-control mode of computing machine.
The utility model device adopts following technical scheme to realize goal of the invention:
By the PLC interconnecting device, single-chip computer control system, PLC, the pneumatic manipulator device by several air cylinder driven, the solenoid valve group that several solenoid valves form, the air-source treater that source of the gas is provided to pneumatic manipulator device of realizing control mode switching; Single-chip computer control system comprises single-chip microcomputer and peripheral circuit, the communication interface being connected with host computer, the Control interface unit with several relays; PLC interconnecting device comprises stop button, the control mode selector switch that USB interface, several plug terminals that are connected with single-chip microcomputer, the start button of controlling pneumatic manipulator device operation, control pneumatic manipulator device stop; The air intake opening of described solenoid valve group is connected with air-source treater, and the gas outlet of each solenoid valve of solenoid valve group is connected with the difference cylinder of pneumatic manipulator device successively; The input of the signal of single-chip computer control system and PLC is connected with several plug terminals successively with output port; The coil of each solenoid valve of described solenoid valve group is connected with Control interface unit by plug terminal; Described single-chip computer control system is installed in PLC interconnecting device.
As the further restriction to the technical program, the head of the cylinder of described pneumatic manipulator device and afterbody are provided with several Hall elements to cylinder state and position probing; Described single-chip computer control system also comprises PCF8574P sensor interface unit; Described Hall element is connected with PCF8574P sensor interface unit by plug terminal; Being connected between the coil of described PLC and PLC interconnecting device, solenoid valve and Control interface unit, Hall element and PCF8574P all adopts banana p-wire to patch connection.
As the further restriction to the technical program, the other different position of described pneumatic manipulator device be fixed with that gas finger grabbing workpiece carries and place work piece apparatus one, work piece apparatus two; On described work piece apparatus one, work piece apparatus two, Fibre Optical Sensor is all installed; Described Fibre Optical Sensor is connected with PCF8574P sensor interface unit; On described work piece apparatus one or work piece apparatus two, be placed with workpiece;
As the further restriction to the technical program, described aluminium base, by width 150, thickness 30, groove width 8.5, groove depth 10.5, separation 25 is totally 5 compositions, contain 2 handles, four footing is installed, Pneumatic manipulator unit like this, solenoid valve group, air-source treater, position A and position B, single-chip computer control system, PLC interconnecting device, switching elements is arranged on flute profile substrate by " T " screw, be convenient to student's install and adjust repeatedly, student is in the time of the position of the each parts of fine tuning, do not need all parts to remove, only need unclamp " T " screw, be allowed to condition on flute profile substrate and slide up and down, convenient adjusting.Student is in exercise when real training like this, can Reusability, and indeformable, damaged.
The beneficial effects of the utility model are: the Pneumatic manipulator actual training device with PLC, single-chip microcomputer, the multi-control mode of computing machine of the present utility model, possess PLC, single-chip microcomputer, the multi-control mode of computing machine simultaneously, can not only reduce the cost of applying unit, improve the comprehensive utilization ratio of actual training device, avoid overlapping investment, and being conducive to cultivate Students ' Comprehensive and utilizing the ability of knowledge, the developing visual field, solves identical problem by diverse ways.
Brief description of the drawings
Fig. 1 represents to have PLC, the Pneumatic manipulator actual training device structural representation of single-chip microcomputer, the multi-control mode of computing machine.
Fig. 2 represents PLC interconnecting device front-end architecture schematic diagram.
Fig. 3 represents PLC interconnecting device rear end structure schematic diagram.
Fig. 4 represents interconnecting device silk-screen figure schematic diagram.
Fig. 5 represents work piece apparatus one structural representation.
Fig. 6 represents board structure schematic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is made to specific description.
As shown in Figure 1, there is a Pneumatic manipulator actual training device for PLC, single-chip microcomputer, the multi-control mode of computing machine, comprise realize the PLC interconnecting device 13, single-chip computer control system, PLC of control mode switching, by the pneumatic manipulator device of several air cylinder driven, solenoid valve group 10 that several solenoid valves form, the air-source treater 11 of source of the gas is provided to pneumatic manipulator device.
The utility model for convenience of explanation, here pneumatic manipulator device adopts five degree of freedom Pneumatic manipulator, and it is made up of base rotary cylinder 8, VTOL (vertical take off and landing) cylinder 5, horizontal extension cylinder 4, gas finger 6, palm turning axle cylinder 3; VTOL (vertical take off and landing) cylinder 5 is arranged on base rotary cylinder 8, horizontal extension cylinder 4 is arranged on VTOL (vertical take off and landing) cylinder 5, palm turning axle cylinder 3 is arranged on horizontal extension cylinder 4, and gas finger 6 is arranged on palm turning axle cylinder 3, and base rotary cylinder 8 is installed on base 9.
Base rotary cylinder 8 is mainly realized the motion of the transverse axis of Pneumatic manipulator, VTOL (vertical take off and landing) cylinder 5 is realized moving up and down of Pneumatic manipulator, horizontal extension cylinder 4 is realized transverse axis flexible of Pneumatic manipulator, palm turning axle cylinder 3 realize Pneumatic manipulator clockwise with counterclockwise upset, general turning 180 degree, have workpiece 7 clampings and the action of loosening by controlling gas finger 6.
As shown in Figure 5, the other different position of pneumatic manipulator device be fixed with that gas points that 6 grabbing workpieces 7 carry and place work piece apparatus 1, work piece apparatus 2 31; On described work piece apparatus 1, work piece apparatus 2 31, Fibre Optical Sensor is all installed; Work piece apparatus 1, work piece apparatus 2 31 by the mount pad 27 of bottom fixation, be fixed on cylindrical material 2 on mount pad 27, be positioned at the upper end of cylindrical material 2 for the workpiece cylindrical mouth 25 of place work piece.
The type of drive of Pneumatic manipulator is solenoid valve group 10, air-source treater 11, in solenoid valve group 10, there are several single control solenoid valves, here we use four single control solenoid valves, solenoid valve group 10 has an air intake opening, and be connected with air-source treater 11, so just provide source of the gas to solenoid valve group 10, and each solenoid valve is divided into gas circuit and circuit two-way system, gas circuit is passed through tracheae, speed governing joint respectively with base rotary cylinder 8, VTOL (vertical take off and landing) cylinder 5, horizontal extension cylinder 4, gas finger 6, palm turning axle cylinder 3 is connected, circuit refers to coil break-make how to control solenoid valve group 10, we are connected to the coil of each solenoid valve of solenoid valve group 10 on 74HC595 Control interface unit, target is to realize workpiece 28 to be transported to work piece apparatus 2 31 from work piece apparatus 1, or installs the 2 31 automatic cycle processes that are transported to work piece apparatus 1 from workpiece 28, state and stroke detection for each cylinder mainly judge by Hall element, and Hall element is arranged on head and the afterbody of each cylinder, and the detection of work piece apparatus 1 and work piece apparatus 2 31 completes by Fibre Optical Sensor.
As shown in Figures 2 and 3, PLC interconnecting device 13 comprises stop button 20, the control mode selector switch 21 that USB interface 29, several plug terminals 18 that are connected with single-chip microcomputer, the start button 19 of controlling pneumatic manipulator device operation, control pneumatic manipulator device stop; PLC interconnecting device 13 is provided with several pilot lamp 24 that shows pneumatic manipulator device running status; Pilot lamp 24 is connected with Control interface unit; Supply socket 23, switch 22 to power supply control are also installed on PLC interconnecting device 13, and for easy to use, the supply socket 23 of installation is the supply socket of " D " type, and switch 22 is ship type switch.
As shown in Figure 4, in order to allow user use more intuitively PLC interconnecting device 13, on PLC interconnecting device, post the PLC interconnecting device silk-screen Figure 30 that indicates ingredient explanation, start button 19 indicates " Start ", stop button mark 20 has " Stop ", control mode selector switch 21 is expressed as SA1, for more clear clear operative installations, the position corresponding with PLC interconnecting device 13 on PLC interconnecting device silk-screen Figure 30 marks the schematic diagram that has pilot lamp 24 and plug terminal 18 to apply, on the corresponding PLC interconnecting device silk-screen figure of pilot lamp, be labeled as: stretch out, retract, left-handed, dextrorotation, rise, decline, before turn over, after turn over.
Single-chip computer control system comprises single-chip microcomputer and peripheral circuit, the communication interface being connected with host computer, the Control interface unit with several relays, PCF8574P sensor interface unit, communication interface adopts RS232 and RS485 communication interface circuit, Control interface unit adopts 74HC595 Control interface circuit, the input of the signal of single-chip computer control system and PLC is connected with several plug terminals 18 successively with output port, the coil of each solenoid valve of described solenoid valve group 10 is connected with Control interface unit by plug terminal 18, for the ease of switching the convenience using, being connected between PLC and PLC interconnecting device 13 adopts banana p-wire to patch connection, each coil of solenoid valve and Control interface unit, Hall element adopts screw type connection terminal to be connected with PCF8574P, USB mouth is T-shape by one one, one is that the cable of USB type is connected with computing machine, in the time that we select different mode control, as long as connect and select the control mode of control mode selector switch and the connection of USB communication line just can realize PLC by different the patching of banana p-wire, the different control mode of single-chip computer control system and computing machine.
74HC595 Control interface unit adopts spi bus mode, be connected respectively on each coil of solenoid valve group 10 and in run indicator 24, control the break-make of solenoid valve group and show by run indicator the running status that Pneumatic manipulator is corresponding by pilot relay, and the normally opened contact of relay is connected with the coil of solenoid valve group 10, thereby reach the break-make of controlling solenoid valve, PCF8574P sensor interface unit mainly gathers the Hall element on each cylinder, the signal of the Fibre Optical Sensor of work piece apparatus 1 and work piece apparatus 2 31 and outside startup, the signal of stop button.
Single-chip microcomputer adopts STC type 51 series monolithics, and by slave computer software Keil uVision4 coding, host computer is to be connected by RS232 interface with being connected of slave computer, completes the download work of program; Computing machine is as host computer, mainly realize the control to pneumatic manipulator device by software, but with entering will carry out the setting of the USB interface 29 being connected with single-chip microcomputer, as baud rate is 9600, data are 8, to stop be 1, no parity, when Pneumatic manipulator unit is in the time moving, can and monitor Pneumatic manipulator running status by host computer true-time operation, and realize synchronization principles; In order to realize the control of PLC to Pneumatic manipulator, single-chip computer control system must be arranged in PLC interconnecting device 13, object be by pneumatic manipulator device sensor signal and the coil of solenoid valve group 10 guide on the plug terminal 18 on PLC interconnecting device 13.In addition RS485 communication port be realize many pneumatic manipulator devices network connect, can realize the control of 1:N network by computer control multiple devices of real training like this, and not need to change computing machine.
In the time that the sensor of work piece apparatus 1 has signal, transverse axis stretches out, and then Z-axis declines, then finger clamps, when picking up after workpiece 28, Z-axis then rises, and at this moment transverse axis is retracted, then base turning axle turns left clockwise to the position of work piece apparatus 1, then palm turning axle overturns 180 ° clockwise, and then Z-axis declines again, and at this moment gas finger 6 loosens, after workpiece 28 puts down, Z-axis rises again, in the time that work piece apparatus 2 31 sensors have signal, base turning axle turns left clockwise to the position of work piece apparatus 2 31, palm turning axle overturns 180 ° clockwise, Z-axis declines, gas finger 6 clamps, when picking up after workpiece, Z-axis rises, then base turning axle turns right to A position counterclockwise, at this moment palm turning axle 180 ° of degree of upset counterclockwise, transverse axis starts to stretch out, after transverse axis stretches out and puts in place, Z-axis could decline, after decline puts in place, gas finger 6 starts to loosen, workpiece 28 puts down rear Z-axis and again rises, after rising puts in place, transverse axis stretches out, the novel actual training device of this sample is worked and so forth, in the time that Pneumatic manipulator does corresponding action, on PLC interconnecting device silk-screen figure, be labeled as and stretch out, retract, left-handed, dextrorotation, rise, decline, before turn over, after the control that will connect by Control interface unit of the corresponding pilot lamp that turns over show corresponding state.
For the ease of carrying and operating, pneumatic manipulator device, solenoid valve group 10, air-source treater 11, work piece apparatus 1, work piece apparatus 2 31, PLC interconnecting device 13 are installed on the substrate 15 of plane, and the Switching Power Supply 12 of convenient power supply is installed on substrate 15 simultaneously.
As shown in Fig. 1 and Fig. 6, substrate 15 is long and the wide aluminium base that is respectively 1200 millimeters, 750 millimeters; Aluminium base is by 150 millimeters of width, 30 millimeters of thickness, 8.5 millimeters of groove widths, 10.5 millimeters of groove depths, 25 millimeters of separation totally 5 compositions; The various piece of device is secured in grooved aluminium base by T-shape screw 26, use flute profile aluminium base, be convenient to student's install and adjust repeatedly, student is in the time of the position of the each parts of fine tuning, do not need all parts to remove, only need unclamp T-shape screw 26, be allowed to condition on flute profile substrate and slide up and down, convenient adjusting.Student is in exercise when real training like this, can Reusability, and indeformable, damaged.The drift angle place, four of bottoms of aluminium base is fixed with the installation footing 16 that keeps aluminium base horizontal positioned; The both sides that aluminium base is relative are separately installed with handle 17.
Above embodiment is only more typical example in numerous examples; its Pneumatic manipulator actual training device is not limited only to five degree of freedom Pneumatic manipulator cellular construction, allly carries out simple modification etc. and all should belong to this and carry out novel protected scope by changing the installations of position, panel layout, cylinder stroke, substrate size, sensor.
Claims (4)
1. a Pneumatic manipulator actual training device with PLC, single-chip microcomputer, the multi-control mode of computing machine, is characterized in that: described device is by the PLC interconnecting device, single-chip computer control system, PLC, the pneumatic manipulator device by several air cylinder driven, the solenoid valve group that several solenoid valves form, the air-source treater that source of the gas is provided to pneumatic manipulator device of realizing control mode switching; Single-chip computer control system comprises single-chip microcomputer and peripheral circuit, the communication interface being connected with host computer, the Control interface unit with several relays; PLC interconnecting device comprises stop button, the control mode selector switch that USB interface, several plug terminals that are connected with single-chip microcomputer, the start button of controlling pneumatic manipulator device operation, control pneumatic manipulator device stop; The air intake opening of described solenoid valve group is connected with air-source treater, and the gas outlet of each solenoid valve of solenoid valve group is connected with the difference cylinder of pneumatic manipulator device successively; The input of the signal of single-chip computer control system and PLC is connected with several plug terminals successively with output port; The coil of each solenoid valve of described solenoid valve group is connected with Control interface unit by plug terminal; Described single-chip computer control system is installed in PLC interconnecting device.
2. the Pneumatic manipulator actual training device of PLC according to claim 1, single-chip microcomputer, the multi-control mode of computing machine, it is characterized in that: described pneumatic manipulator device is made up of base rotary cylinder, VTOL (vertical take off and landing) cylinder, horizontal extension cylinder, gas finger, palm turning axle cylinder, can realize clockwise and spend with counterclockwise 180 the palm turning axle cylinder that upset is controlled; VTOL (vertical take off and landing) cylinder is arranged on base rotary cylinder, and horizontal extension cylinder is arranged on VTOL (vertical take off and landing) cylinder, and palm turning axle cylinder is arranged on horizontal extension cylinder, and gas finger mounted is on palm turning axle cylinder, and base rotary cylinder is installed on base.
3. the Pneumatic manipulator actual training device of PLC according to claim 1, single-chip microcomputer, the multi-control mode of computing machine, is characterized in that: described single-chip computer control system is made up of 51 series monolithics, RS232 and RS485 communication port, PCF8574P sensor interface unit, 74HC595 Control interface unit, MCU board unit.
4. the Pneumatic manipulator actual training device of PLC according to claim 1, single-chip microcomputer, the multi-control mode of computing machine, it is characterized in that: described PLC interconnecting device by 22 12mm safety sockets, 10 LED lamp mounting holes, USB interface, the supply socket of " D " type, rocker type switch, startup the Start Button SB1, stop " Stop " button SB2, run indicator, control mode selector switch SA1 and form, PLC is connected with PLC interconnecting device by banana p-wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420079355.XU CN203882524U (en) | 2014-02-22 | 2014-02-22 | Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420079355.XU CN203882524U (en) | 2014-02-22 | 2014-02-22 | Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203882524U true CN203882524U (en) | 2014-10-15 |
Family
ID=51683000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420079355.XU Expired - Fee Related CN203882524U (en) | 2014-02-22 | 2014-02-22 | Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203882524U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104167146A (en) * | 2014-07-22 | 2014-11-26 | 苏晓兵 | Assembled teaching mechanical arm |
| CN104889981A (en) * | 2015-05-26 | 2015-09-09 | 重庆德新机器人检测中心有限公司 | Net grabbing robot for building wallboard forming system and control method thereof |
| CN104891339A (en) * | 2015-05-07 | 2015-09-09 | 南京工业职业技术学院 | Adaptive pressure balance control system based on microcontroller |
| CN105047059A (en) * | 2014-11-07 | 2015-11-11 | 苏州健雄职业技术学院 | Practical training aid for pneumatic manipulator workstation |
| CN105487462A (en) * | 2015-12-14 | 2016-04-13 | 大连理工大学 | PLC motion control module function verification device and verification method |
| CN105702148A (en) * | 2016-04-25 | 2016-06-22 | 电子科技大学中山学院 | Industrial robot teaching device |
| CN106128276A (en) * | 2016-08-29 | 2016-11-16 | 苏州哈工海渡工业机器人有限公司 | Six-joint robot comprehensive practical traning platform |
| CN106297526A (en) * | 2016-10-21 | 2017-01-04 | 苏州哈工海渡工业机器人有限公司 | A kind of modularity six-joint robot comprehensive practical traning platform |
| CN107633759A (en) * | 2017-10-26 | 2018-01-26 | 江苏省交通技师学院 | A kind of PLC actual training devices towards factory application |
| CN112123347A (en) * | 2020-09-11 | 2020-12-25 | 扬州哈工科创机器人研究院有限公司 | Motion control method and system for simulation robot |
-
2014
- 2014-02-22 CN CN201420079355.XU patent/CN203882524U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104167146A (en) * | 2014-07-22 | 2014-11-26 | 苏晓兵 | Assembled teaching mechanical arm |
| CN104167146B (en) * | 2014-07-22 | 2019-08-20 | 扬州市伊兴机械有限公司 | Pin-connected panel Mechanical hands for teaching |
| CN105047059A (en) * | 2014-11-07 | 2015-11-11 | 苏州健雄职业技术学院 | Practical training aid for pneumatic manipulator workstation |
| CN104891339A (en) * | 2015-05-07 | 2015-09-09 | 南京工业职业技术学院 | Adaptive pressure balance control system based on microcontroller |
| CN104889981A (en) * | 2015-05-26 | 2015-09-09 | 重庆德新机器人检测中心有限公司 | Net grabbing robot for building wallboard forming system and control method thereof |
| CN105487462B (en) * | 2015-12-14 | 2018-06-08 | 大连理工大学 | A kind of PLC motion-control modules function verification device and verification method |
| CN105487462A (en) * | 2015-12-14 | 2016-04-13 | 大连理工大学 | PLC motion control module function verification device and verification method |
| CN105702148A (en) * | 2016-04-25 | 2016-06-22 | 电子科技大学中山学院 | Industrial robot teaching device |
| CN105702148B (en) * | 2016-04-25 | 2018-07-03 | 电子科技大学中山学院 | Industrial robot teaching device |
| CN106128276A (en) * | 2016-08-29 | 2016-11-16 | 苏州哈工海渡工业机器人有限公司 | Six-joint robot comprehensive practical traning platform |
| CN106297526A (en) * | 2016-10-21 | 2017-01-04 | 苏州哈工海渡工业机器人有限公司 | A kind of modularity six-joint robot comprehensive practical traning platform |
| CN107633759A (en) * | 2017-10-26 | 2018-01-26 | 江苏省交通技师学院 | A kind of PLC actual training devices towards factory application |
| CN112123347A (en) * | 2020-09-11 | 2020-12-25 | 扬州哈工科创机器人研究院有限公司 | Motion control method and system for simulation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203882524U (en) | Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer | |
| CN205810238U (en) | Multifunctional industrial robot actual training device | |
| CN105068517A (en) | Automatic portable cable transport robot | |
| CN201604155U (en) | Control system for four-DOF (degree of freedom) flexible industrial taking manipulator | |
| CN105234942B (en) | The control system and its control method of the big prudent small arm of hydraulic pressure | |
| CN204808036U (en) | Automatic portable cable sender ware people | |
| CN203070664U (en) | Pneumatic mechanical arm experiment demonstration apparatus | |
| CN104149081A (en) | Modular handheld double-operating-end master robot | |
| CN102059691A (en) | Master-slave type plastic spraying robot | |
| CN204516240U (en) | A kind of teaching robot | |
| CN208466377U (en) | A kind of use for laboratory intelligence gluing and quality detection device | |
| CN105252544A (en) | Flexible bionic mechanical hand device | |
| CN203250470U (en) | Teaching and training equipment for mechatronics and automation | |
| CN211761534U (en) | Triaxial truss manipulator system and triaxial truss manipulator control system | |
| CN110370318A (en) | A kind of industrial robot with faults itself detection function | |
| CN112767761A (en) | Multifunctional servo drive training platform | |
| CN205622147U (en) | Automatic type combination type cable conveying robot | |
| CN203134243U (en) | Three degree-of-freedom motion control system teaching practical training robot platform | |
| CN207536723U (en) | A kind of automation collator for production line | |
| CN207482849U (en) | Charge motion station | |
| CN107790878A (en) | A kind of hi-precision cutting robot at any angle | |
| CN205920685U (en) | PLC material letter sorting transport experimental apparatus | |
| CN209149676U (en) | A kind of basic training platform of robot industry interconnection | |
| CN201229717Y (en) | Light electromechanical gas integrated control real training system | |
| CN208269903U (en) | The fixed and movable double-purpose type machine vision positioning experiment device of tool workpiece |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141015 Termination date: 20200222 |