CN207901205U - A kind of tool unit for industrial robot teaching - Google Patents
A kind of tool unit for industrial robot teaching Download PDFInfo
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- CN207901205U CN207901205U CN201721903716.8U CN201721903716U CN207901205U CN 207901205 U CN207901205 U CN 207901205U CN 201721903716 U CN201721903716 U CN 201721903716U CN 207901205 U CN207901205 U CN 207901205U
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Abstract
The utility model, which is created, is related to a kind of tool unit for industrial robot teaching, the tool unit includes tool lower supporting plate, tool upper backup pad and several tool support columns between two support plates, the tool lower supporting plate is fixedly connected with the table top, the tool upper backup pad is equipped with the fluting of several place tools, the tool includes fixture block, upper mounted plate, low suspension plate, guide rod, link block and functor, fixed plate is located in the supporting table in the fluting, the fixture block is fixedly arranged on fixed plate, the functor is set on the link block.The advantageous effect that the utility model is created：Upper mounted plate, low suspension plate, the guide rod of tool unit form suspension structure, which can be used for flexible regulatory function part at a distance from objective plane, to meet various real training situations.
Description
Technical field
The invention belongs to robot field, more particularly, to a kind of tool unit for industrial robot teaching.
Background technology
For the training of robot, before carrying out real training function, robot needs to grip corresponding work by fixture
It after tool, then goes to carry out corresponding real training, still, in the prior art, each function real training is various with tool model, before robot gripping
Corresponding fixture is needed replacing, and existing tool construction is unreasonable, is unable to flexible modulation tool at a distance from target part, it is unfavorable
In the progress of real training process, the invention is the improvement carried out on the basis of above-mentioned technical problem.
Invention content
It is an object of the present invention to provide a kind of tool unit for industrial robot teaching, each tool on the tool unit
Fixture block part size structure it is identical, i.e., robot before gripping without needing to change fixture, convenient for the smooth of robot real training process
It carries out.
In order to solve the above technical problems, the invention the technical solution adopted is that：
A kind of tool unit for industrial robot teaching, the tool unit include tool lower supporting plate, on tool
Support plate and several tool support columns between two support plates, the tool lower supporting plate are fixedly connected with table top, institute
The fluting that tool upper backup pad is equipped with several place tools is stated, the tool includes fixture block, upper mounted plate, low suspension plate, leads
To bar, link block and functor, fixed plate is located in the supporting table in the fluting, and the fixture block is fixedly arranged on described
In fixed plate, the relatively fixed plate of low suspension plate is arranged in parallel, and fixed plate and low suspension plate are by guide rod
Connection, the guide rod top is screwed with fixed plate to be connect, and the guide rod lower part passes through spring and low suspension
It is screwed and connect with plug after plate, the link block is fixedly connected with low suspension plate lower surface, and the functor is set to
On the link block.
Further, the tool is specially to simulate gluing tool, simulating cut tool and simulation milling tools.
Further, the functor of the simulation gluing tool is sucker.
Further, the sucker includes the tracheae connecting pole being from top to bottom sequentially fixedly connected, sucker fixed column and sucker
Portion, the tracheae connecting pole are to be threadedly coupled fixation with sucker fixed column, and the tracheae connecting pole is hollow tube structure, and with
Suction hole connection on sucker.
Further, the functor of the simulating cut tool is writing pen.
Further, the functor of the simulation milling tools is grinding head.
The invention has the beneficial effect that：
Upper mounted plate, low suspension plate, the guide rod of tool unit form suspension structure, which can be used for flexible adjust
Functor is saved at a distance from objective plane, to meet various real training situations；And the tool unit carries out different types of tool
Space is saved in unified storage, and convenient for the unified management of tool；In addition, the fixture block part size structure of each tool is identical, i.e.,
Robot nothing before gripping needs to change fixture.
Description of the drawings
Fig. 1 is the overall structure diagram of the practical traning platform in embodiment；
Fig. 2 is the structural schematic diagram of the robot cell in embodiment；
Fig. 3 is the structural schematic diagram of the supply unit in embodiment；
Fig. 4 is the structural schematic diagram of the palletized unit in embodiment；
Fig. 5 is the structural schematic diagram of the Cutting unit in embodiment；
Fig. 6 is the structural schematic diagram of the coating unit in embodiment；
Fig. 7 is the structural schematic diagram of the polishing unit in embodiment；
Fig. 8 is the structural schematic diagram of the tool unit in embodiment；
Fig. 9 is the structural schematic diagram of the simulation gluing tool in embodiment；
Figure 10 is the structural schematic diagram of the simulating cut tool in embodiment；
Figure 11 is the structural schematic diagram of the simulation milling tools in embodiment.
In figure：
A- table tops；
B- supply units, B1- scraping wings, B2- convey cylinder, and B3- conveys air cylinder base, and B4- conveys expeller, B5- material
Storehouse, B51- annular disks, B6- feed bin pedestals, B7- conveyer belts, B8- material blocking blocks, B9- luminance sensors, B10- photoelectric sensors；
C- palletized units, C1- stacking upper backup pads, C2- stacking lower supporting plates, C3- stacking supporting rods；
D- Cutting units, D1- cut upper backup pad, and D2- cuts lower supporting plate, and D3- cuts supporting rod；
E- coating units, E1- gluing pedestals, E2- gluing supporting rods, E3- gluing support plates, E4- glue rifles；
F- tool units, F1- tool lower supporting plates, F2- tool upper backup pads, F21- flutings, F22- supporting tables, F3- works
Has support column；
G- polishing units, G1- polishing lower supporting plates, G2- polishing upper backup pads, G21- polishing cylinders, G22- polishing pushers
Block, G23- polishing backgauge columns, G3- polishing support columns；
H- robot cells, H1- robots, H2- machinery beds, H3- finger cylinders；
J- simulates gluing tool, J1- gluing tool fixture blocks, J2- gluing tool upper mounted plates, J3- gluing tool low suspensions
Plate, J4- gluing tool guide rods, J5- gluing tool link blocks, J6- suckers；
K- simulating cut tools, K1- cutting tool fixture blocks, K2- cutting tool upper mounted plates, K3- cutting tool low suspensions
Plate, K4- cutting tool guide rods, K5- cutting tool link blocks, K6- writing pens；
L- simulates milling tools, L1- milling tools fixture blocks, L2- milling tools upper mounted plates, L3- milling tools low suspensions
Plate, L4- milling tools guide rods, L5- milling tools link blocks, L6- grinding heads；
M- touch-screen displays；
N- alarms；
P- workpiece.
Specific implementation mode
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies to describe, rather than indicate
Or imply that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more this feature.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
In some embodiments, which includes the supply unit B being located on table top A, palletized unit C, Cutting
Cells D, coating unit E, tool unit F, polishing unit G, robot cell H, touch-screen display M and alarm N, wherein
Supply unit B, palletized unit C, Cutting cells D, coating unit E, tool unit F, assembly unit G are respectively positioned on robot list
In the radius of clean-up of first H.Each unit can be specifically laid out according to Fig. 1, the compact in design, is conducive to reduce whole real training
The volume of platform；And the electrical wiring of the practical traning platform is integrated, starts real training convenient for student's wiring, it is easy to operate；In addition, above-mentioned electricity
It is built-in to make line leave with rage, it is not easy to be damaged.
The table top of the practical traning platform is bolted to connection by aluminium alloy extrusions, using aluminium alloy extrusions as main body
Structure, not only good appearance, but also assemble and be easy, it is only necessary to simple allen wrench can assemble completion.
Wherein, alarm N is specially buzzer siren, which is provided with indicator light, when each equipment of the practical traning platform is normally transported
In the case of row, which is green, and in the case of each equipment operation exception of practical traning platform, which is red, bee
Ring alarm equipment alarm.
Preferably, aluminium alloy extrusions selects A1 40x40 and A2 two kinds of models of 40x80.
In addition, robot teaching's system that the practical traning platform is related to is the prior art, it is preferable that its hardware composition includes control
Cabinet, robot, teaching machine, router, touch-screen display and the ends PC, above-mentioned each hardware is commercial product, wherein robot
For the final actuating station of robot teaching's system, responsible execution write by program；Teaching machine carries out teaching volume to robot
Journey, teaching by program can send the ends PC to, or the action of robot is directly controlled by switch board, by switch board
Controller control robot motion when, can be selected the touch-screen display that is connect with switch board select teaching by program.
Switch board is the core of robot teaching's system, is responsible for the action of control robot；Router is by switch board and the ends PC group
At network group；The ends PC are equipped with robot motion simulation software, and teaching can be sent to by router by emulating the program passed through
Device；It is connected by cable between switch board, robot and teaching machine and router, by wirelessly connecting between multiple ends PC and router
It connects, is configured by the network address to each equipment, program can be run in the mutual distribution of machine people of each equipment room.
Preferably, the model DSQC679 of teaching machine.
Preferably, the model of switch board：120-505490.
In some embodiments, the robot H1 units H includes robot H1, machinery bed H2 and finger cylinder H3,
The bottoms robot H1 are fixedly connected by machinery bed H2 with table top A, and machinery bed H2 is process by aluminium sheet, the aluminium sheet
It is fixedly connected with table top A by bolt, when needing replacing robot H1 models, machinery bed H2 need to be replaced together.Machine
The ends device people H1 are fixed with finger cylinder H3, and finger cylinder H3 is used for capturing different tools.
Preferably, the IRB120 models robot of ABB manufacturers may be selected in robot H1, which is
580mm。
In some embodiments, the supply unit B is equipped with two groups, and two groups of supply unit structures are identical, respectively defeated
Send the workpiece of different model, the settings of two groups of supply units can allow student's operation robot H1 to the workpiece of different model into
Row stacking real training.
The supply unit includes the pusher portion being fixedly arranged on table top A and transport unit, and the pusher portion hangs down with the transport unit
Straight setting.
The pusher portion includes scraping wings B1, conveying cylinder B2, conveying air cylinder base B3, conveying expeller B4, feed bin B5
It is fixedly arranged on the scraping wings B1 with feed bin pedestal B6, the conveying cylinder B2 by conveying air cylinder base B3, the conveying pushes away
Material block B4 is connect with the drive link of the conveying cylinder B2, and the feed bin pedestal B6 is fixedly arranged on the scraping wings B1, the material
Orlop seat B6 includes the pedestal support plate of integrally connected and the pedestal support leg positioned at pedestal support plate both sides, two pedestals
Be equipped between support leg for the conveying expeller B4 by straight slot, it is logical that the pedestal support plate is equipped with workpiece in feed bin B5
The through-hole crossed；The end face that the conveying expeller B4 is contacted with the workpiece is equipped with V font gap；
The feed bin B5 includes annular disk B51 and four support columns, the top of four support columns and the annular disk B51
It is fixedly connected, the bottom of four support columns is fixedly connected with the pedestal support plate, which is located at the pedestal
The periphery of through-hole in support plate；Feed bin B5 structures can intuitive judgment its interior workpiece number, personnel easy to operation add in time
Workpiece, in order to avoid influence real training process；
The both sides the conveying expeller B4 are arranged with guide post, and the guide post includes column core and is located at outside the column core
The bearing enclosed, column core bottom are fixedly arranged on the scraping wings B1.
The transport unit includes conveyer belt B7, material blocking block B8, luminance sensor B9 and photoelectric sensor B10, the briliancy
Sensor B9 is fixedly arranged on by luminance sensor B9 holders right over the conveyer belt B7, and the photoelectric sensor B10 passes through photoelectricity
Sensor stand is fixedly arranged on the side of the conveyer belt B7, and the material blocking block B8 is fixedly arranged on the top of the tail portions the conveyer belt B7,
The end face that the material blocking block B8 is contacted with workpiece is equipped with V-shape gap.
Luminance sensor B9 can distinguish the color of workpiece so that robot H1 carries out follow-up stacking according to different colors
Operation；The photoelectric sensor can incude the location of workpiece, after which senses that workpiece reaches precalculated position, robot H1
Follow-up grasping manipulation can be started.
Preferably, luminance sensor model O5C-500；Photoelectric sensor model PZ-042N.
Preferably, conveyer belt is outsourcing product, using the conveyor product of the existing maturation in market as the conveying of practical traning platform
Unit reduces the life cycle costing of design, has saved fund and the time of design, has increased the stability of practical traning platform.
In some embodiments, the palletized unit C includes stacking upper backup pad C1, stacking lower supporting plate C2 and is located at this
Four stacking supporting rod C3 between two support plates, the stacking lower supporting plate C2 is fixedly arranged on the table top A, in the stacking
It is decorated with 6x6 square grids on the upper surfaces support plate C1, when stacking real training, student can clearly complete a stacking sudden peal of thunder.
In some embodiments, the Cutting cells D includes cutting upper backup pad D1, cutting lower supporting plate D2 and position
Four cutting supporting rod D3 between two support plates, the cutting lower supporting plate D2 is fixedly arranged on the table top A, described to cut
It cuts the upper surfaces upper backup pad D1 and is machined with triangular form, curve, square, ellipse etc. for student's cutting training figure.
In some embodiments, the coating unit E includes gluing pedestal E1, gluing supporting rod E2, gluing support plate E3
With the glue rifle E4 equipped with glue, the bottoms gluing supporting rod E2 are fixedly arranged on the gluing pedestal E1, top and the painting
Glue support plate E3 is vertically fixedly connected, and the free end of the gluing support plate E3 is equipped with the card slot for fixing the glue rifle E4.
Wherein, glue rifle E4 can be simple syringe, and the inside is equipped with glue, and the syringe is at low cost, does not have to purchase price
The glue rifle of lattice costliness, and true gluing process can be simulated.
In some embodiments, the polishing unit G includes polishing lower supporting plate G1, polishing upper backup pad G2 and positioned at should
Four between two support plates polishing support column G3, the polishing lower supporting plate G1 are fixedly connected with the table top A, the polishing
Upper backup pad G2 be equipped with polishing cylinder G21, polishing expeller G22 and polishing backgauge column G23, the polishing expeller G22 and
The drive link connection of polishing cylinder G21, the end face that the polishing expeller G22 is contacted with workpiece is equipped with V-shape gap, described to beat
Mill cylinder G21 pushes polishing expeller to push to workpiece and is abutted with polishing backgauge column.
In some embodiments, the tool unit F includes tool lower supporting plate F1, tool upper backup pad F2 and is located at this
Four tool support column F3 between two support plates, the tool lower supporting plate F1 are fixedly connected with the table top A, the tool
Set on upper backup pad F2 there are three the F21 that slots, each lower parts fluting F21 are equipped with supporting table F22, simulate gluing tool J,
Simulating cut tool K, simulation milling tools L are located in the supporting table in the corresponding fluting.Fluting F21 structure letters
It is single, and to the accurate positioning of workpiece.
In some embodiments, the simulation gluing tool J includes gluing tool fixture block J1, gluing tool upper mounted plate
J2, gluing tool low suspension plate J3, gluing tool guide rod J4, gluing tool link block J5 and two sucker J6, the gluing
Tool upper mounted plate J2 is located in the supporting table in the fluting, and the gluing tool fixture block J1 is fixedly arranged on the gluing tool
On fixed plate J2, the relatively described gluing tool upper mounted plate J2 of the gluing tool low suspension plate J3 are arranged in parallel, the gluing
Tool upper mounted plate J2 is connected with gluing tool low suspension plate J3 by gluing tool guide rod J4, the gluing tool guide rod J4
Top is screwed with the gluing tool upper mounted plate J2 and connect, the lower parts gluing tool guide rod J4 pass through spring and
It is screwed and connect with plug after gluing tool low suspension plate J3；Under the gluing tool link block J5 and the gluing tool
Suspension board J3 is fixedly connected, and two sucker J6 are fixedly arranged on the gluing tool link block J5, and the relatively described gluing work
Have low suspension plate J3 to be symmetrical arranged.
Wherein, gluing tool fixture block J1 is the crawl position of finger cylinder H3 in robot.
Wherein, gluing tool upper mounted plate J2, gluing tool low suspension plate J3, gluing tool guide rod J4 form the knot that suspends
Structure, the structure can be used for the flexible workpiece that adjusts at a distance from glue rifle E4.
The sucker J6 includes the tracheae connecting pole being from top to bottom sequentially fixedly connected, sucker J6 fixed columns and sucker J6
Portion, wherein tracheae connecting pole is to be threadedly coupled fixation with sucker J6 fixed columns, which is hollow tube structure, and
It is connected to the suction hole on sucker J6, needs to use with mates such as air intake ducts when sucker J6 is used, the portions sucker J6 material
Optional nitrile rubber is made, the material have larger breaking tenacity, draw or put down workpiece workpiece will not be caused it is any
Damage.
Preferably, which can be selected ZPT40HN model suckers.
In some embodiments, the simulating cut tool K includes cutting tool fixture block K1, cutting tool upper mounted plate
K2, cutting tool low suspension plate K3, cutting tool guide rod K4, cutting tool link block K5 and writing pen K6, the cutter
Tool upper mounted plate K2 is located in the supporting table in the fluting, and the cutting tool fixture block K1 is fixedly arranged on the cutting tool solid
On fixed board K2, the relatively described cutting tool upper mounted plate K2 of the cutting tool low suspension plate K3 are arranged in parallel, the cutter
Tool upper mounted plate K2 is connected with cutting tool low suspension plate K3 by cutting tool guide rod K4, on the cutting tool guide rod K4
Portion is screwed with the cutting tool upper mounted plate K2 and connect, and the lower parts cutting tool guide rod K4 pass through spring and cutting
It is screwed and connect with plug after tool low suspension plate K3；The cutting tool link block K5 and the cutting tool low suspension plate
K3 is fixedly connected, and the writing pen K6 is fixedly arranged on the cutting tool link block K5.
Wherein, cutting tool fixture block K1 is the crawl position of finger cylinder H3 in robot.
Wherein, cutting tool upper mounted plate K2, cutting tool low suspension plate K3, cutting tool guide rod K4 form the knot that suspends
Structure, the structure can be used for flexible adjust at a distance from the upper surfaces writing pen K6 and cutting upper backup pad D1.
In some embodiments, the simulation milling tools L includes milling tools fixture block L1, milling tools upper mounted plate
L2, milling tools low suspension plate L3, milling tools guide rod L4, milling tools link block L5 and grinding head L6, the polishing work
Tool upper mounted plate L2 is located in the supporting table in the fluting, and the milling tools fixture block L1 is fixedly arranged on the milling tools solid
On fixed board L2, the relatively described milling tools upper mounted plate L2 of the milling tools low suspension plate L3 are arranged in parallel, the polishing work
Tool upper mounted plate L2 is connected with milling tools low suspension plate L3 by milling tools guide rod L4, on the milling tools guide rod L4
Portion is screwed with the milling tools upper mounted plate L2 and connect, and the lower parts milling tools guide rod L4 pass through spring and polishing
It is screwed and connect with plug after tool low suspension plate L3；The milling tools link block L5 and the milling tools low suspension plate
L3 is fixedly connected, and the grinding head L6 is fixedly arranged on the milling tools link block L5.
Wherein, milling tools fixture block L1 is the crawl position of finger cylinder H3 in robot.
Wherein, milling tools upper mounted plate L2, milling tools low suspension plate L3, milling tools guide rod L4 form the knot that suspends
Structure, the structure can be used for the flexible grinding head L6 that adjusts at a distance from workpiece.
Real training process in the various embodiments described above is as follows：
(1) stacking real training
Workpiece is stacked in feed bin B5, workpiece is dropped down onto by gravity in the straight slot of feed bin pedestal B6, and cylinder B2 bands are conveyed
Unit one is pushed to conveyer belt B7 by dynamic conveying expeller B4, and the communicated band B7 of workpiece is transmitted to designated position；Startup is shown
Device, control robot H1 is taught to be moved to the top of unit one；Finger cylinder H3 is opened, and robot H1 captures first work
Part, will be in first grid of workpiece handling to palletized unit；It completes after capturing for the first time, due to gravity, second work
Part is fallen, and conveying cylinder B2 shifts second workpiece onto conveyer belt B7 again, and robot H1 completes the crawl of second workpiece, and will
It is put into second box of palletized unit；As above cycle, until the workpiece of feed bin B5 has been grabbed, real training is completed.
(2) real training is cut
Start teaching machine, controlling robot H1 according to study course is moved to practical traning platform tool placement unit, and finger cylinder H3 is beaten
It opens, the simulating cut tool on gripping tool platform, then moves to above Cutting unit, student is according to requiring to complete track
Teaching so that the shape track that robot H1 is carved on Cutting unit moves；The place being moved through passes through cutter
Writing pen K6 on tool is drawn, for judging that student programs the accuracy of teaching.
(3) gluing real training
Start teaching machine, controlling robot H1 according to study course is moved to practical traning platform tool placement unit, and finger cylinder H3 is beaten
Open, the simulation gluing tool on gripping tool platform, simulate gluing tool sucker J6 workpiece is sucked after, robot H1 is moved to painting
Jiao Danyuanchu, the syringe of coating unit is interior to be equipped with glue, and the top of the syringe is equipped with tracheae, and robot H1 moves workpiece
It moves immediately below syringe, teaching movement is carried out according to the track that real training requires using teaching machine control robot H1；Glue exists
It is flowed out by syringe outlet under the blowing of gas, makes to form the required rail of gluing on workpiece by being moved to for robot H1
Mark.
(4) polishing real training
Start teaching machine, controlling robot H1 according to study course is moved to practical traning platform tool placement unit, and finger cylinder H3 is beaten
It opens, the milling tools on gripping tool platform, then robot H1 is moved to polishing unit, the real training polished.
One embodiment of the invention is described in detail above, but the content is only the invention
Preferred embodiment should not be construed as limiting the practical range of the invention.It is all to be made according to the invention application range
All the changes and improvements etc., shall remain within the patent scope covered by the invention.
Claims (6)
1. a kind of tool unit for industrial robot teaching, which is characterized in that the tool unit includes being supported under tool
Plate, tool upper backup pad and several tool support columns between two support plates, the tool lower supporting plate are solid with table top
Fixed connection, the tool upper backup pad are equipped with the fluting of several place tools, the tool include fixture block, upper mounted plate, under
Suspension board, guide rod, link block and functor, fixed plate are located in the supporting table in the fluting, and the fixture block is solid
On fixed plate, the relatively fixed plate of low suspension plate is arranged in parallel, fixed plate and low suspension
Plate is connected by guide rod, and the guide rod top is screwed with fixed plate to be connect, and the guide rod lower part passes through bullet
It is screwed and connect with plug after spring and low suspension plate, the link block is fixedly connected with low suspension plate lower surface, described
Functor is set on the link block.
2. a kind of tool unit for industrial robot teaching according to claim 1, which is characterized in that the tool
Specially simulate gluing tool, simulating cut tool and simulation milling tools.
3. a kind of tool unit for industrial robot teaching according to claim 2, which is characterized in that the simulation
The functor of gluing tool is sucker.
4. a kind of tool unit for industrial robot teaching according to claim 3, which is characterized in that the sucker
Including tracheae connecting pole, sucker fixed column and the sucking disk part being from top to bottom sequentially fixedly connected, the tracheae connecting pole and sucker
Fixed column is to be threadedly coupled to fix, and the tracheae connecting pole is hollow tube structure, and is connected to the suction hole on sucker.
5. a kind of tool unit for industrial robot teaching according to claim 2, which is characterized in that the simulation
The functor of cutting tool is writing pen.
6. a kind of tool unit for industrial robot teaching according to claim 2, which is characterized in that the simulation
The functor of milling tools is grinding head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721903716.8U CN207901205U (en) | 2017-12-29 | 2017-12-29 | A kind of tool unit for industrial robot teaching |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721903716.8U CN207901205U (en) | 2017-12-29 | 2017-12-29 | A kind of tool unit for industrial robot teaching |
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| Publication Number | Publication Date |
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| CN207901205U true CN207901205U (en) | 2018-09-25 |
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| CN201721903716.8U Active CN207901205U (en) | 2017-12-29 | 2017-12-29 | A kind of tool unit for industrial robot teaching |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623873A (en) * | 2018-12-21 | 2019-04-16 | 王萍 | Robot maintenance aid |
| CN114012714A (en) * | 2021-11-29 | 2022-02-08 | 三江学院 | Robot teaching platform based on MCD technology |
-
2017
- 2017-12-29 CN CN201721903716.8U patent/CN207901205U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623873A (en) * | 2018-12-21 | 2019-04-16 | 王萍 | Robot maintenance aid |
| CN114012714A (en) * | 2021-11-29 | 2022-02-08 | 三江学院 | Robot teaching platform based on MCD technology |
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