CN209708358U - A kind of flat rubber belting line transporting equipment cooperating robot teaching - Google Patents
A kind of flat rubber belting line transporting equipment cooperating robot teaching Download PDFInfo
- Publication number
- CN209708358U CN209708358U CN201822204604.4U CN201822204604U CN209708358U CN 209708358 U CN209708358 U CN 209708358U CN 201822204604 U CN201822204604 U CN 201822204604U CN 209708358 U CN209708358 U CN 209708358U
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- flat rubber
- rubber belting
- transporting equipment
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- 229920001971 elastomer Polymers 0.000 title claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 55
- 230000000712 assembly Effects 0.000 claims abstract description 34
- 238000000429 assembly Methods 0.000 claims abstract description 34
- 230000001105 regulatory effect Effects 0.000 claims abstract description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 230000005693 optoelectronics Effects 0.000 claims description 11
- 239000002356 single layer Substances 0.000 claims description 8
- 230000004308 accommodation Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 2
- 230000003584 silencer Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
A kind of flat rubber belting line transporting equipment cooperating robot teaching, including parallel coil holder component, transmission line component and Turntable Assemblies；The top surface of parallel coil holder component is equipped with the regulating tank that its other side is extended to from one side；Transmission line component is used for transmission workpiece, and transmission line component includes the bottom plate set on its bottom, and bottom plate is installed on regulating tank by fixing piece；Turntable Assemblies are used for the position of turning of work piece, and Turntable Assemblies include the turntable bottom plate set set on its bottom, and turntable bottom plate is installed on regulating tank by fixing piece；Transmission line component is located at the side of Turntable Assemblies.The utility model proposes a kind of flat rubber belting line transporting equipment for cooperating robot teaching, the more industrial site of closing to reality according to above content, and practicability is high, and then can more effectively cultivate the technician of robot intelligence manufacture industry.
Description
Technical field
The utility model relates to robot teaching's apparatus field more particularly to a kind of flat rubber belting line fortune for cooperating robot teaching
Transfer device.
Background technique
As the intelligentized epoch are fast-developing, industry of industrial robots is to grow rapidly.Now robot welding,
The fields such as cutting, stacking, gluing, polishing are widely used.Current robot training platform is intended only as basic learning, into
The simple basic analog of row, has very big gap with actual industrial production, can not achieve the control system for simulating a variety of actual industrials
System, be unfavorable for culture actual industrial applies the talent.
Utility model content
The purpose of this utility model is that a kind of flat rubber belting line transporting equipment for cooperating robot teaching is proposed, more close to reality
The industrial site on border, practicability is high, and then can more effectively cultivate the technician of robot intelligence manufacture industry.
For this purpose, the utility model uses following technical scheme:
A kind of flat rubber belting line transporting equipment cooperating robot teaching, including parallel coil holder component, transmission line component and turntable
Component；
The top surface of the parallel coil holder component is equipped with the regulating tank that its other side is extended to from one side；
The transmission line component is used for transmission workpiece, and the transmission line component includes the bottom plate set on its bottom, the bottom
Plate is installed on the regulating tank by fixing piece；
The Turntable Assemblies are used for the position of turning of work piece, and the Turntable Assemblies include the turntable bottom set set on its bottom
Plate, the turntable bottom plate are installed on the regulating tank by fixing piece；
The transmission line component is located at the side of the Turntable Assemblies.
Further,
The transmission line component further includes transmission wire frame, driving device, fixed frame, driving shaft, driven axle and flat rubber belting；
The transmission wire frame and fixed frame are mounted on the top of the plate；
The fixed frame is located at the outside of one end of the transmission wire frame；
The driving device is fixed on the fixed frame；
The flat rubber belting is set to the top of the transmission wire frame, and the driving shaft and driven axle are respectively arranged on the flat rubber belting
Both ends, the driving of the driving device driving shaft rotation is to drive flat rubber belting to move.
Further,
The transmission line component further includes baffle, and the baffle is respectively arranged on the front and back of the flat rubber belting；
The both ends of the inside of the baffle are equipped with angle of chamfer.
Further,
The transmission line component further includes stopper, optoelectronic switch and air plug seat；
The stopper is located at the discharge end of the flat rubber belting；
The top of the stopper is equipped with optoelectronic switch；
The top of the baffle is equipped with optoelectronic switch, which is located at the feed end of flat rubber belting；
The air plug seat is set to the bottom of the transmission wire frame.
Further,
The Turntable Assemblies further include vertical plate, top plate, turntable and rotary disc driving mechanism；
Two pieces of vertical plates are vertically relatively arranged on the top of the turntable bottom plate, and the top plate is set to two pieces of vertical plates
Top, the rotary disc driving mechanism is vertically arranged in the accommodation space being made of the turntable bottom plate, vertical plate and top plate；
The output end of the rotary disc driving mechanism is located at the top of the top plate, and the turntable is located at the upper of the top plate
Side, the output end of the rotary disc driving mechanism are connect with the bottom of the turntable.
Further,
The Turntable Assemblies further include positioning column and bumper post, the positioning column are set to the bottom of the turntable, institute in place
State the top that bumper post in place is set to the top plate.
Further,
The Turntable Assemblies further include work piece holder, single layer connecting terminal, guide rail and solenoid valve；
The top of the turntable is equipped with a plurality of mounting groove being parallel to each other, and the peace is fixed in the bottom of the work piece holder
Tankage, the guide rail are set to the turntable bottom plate, and the single layer connecting terminal is installed on the guide rail, and the solenoid valve is set to institute
State the side of vertical plate.
Further,
The rotary disc driving mechanism includes turntable driving motor and retarder；
It further include turntable shaft, bearing, bearing block and pedestal；
The output end of the turntable driving motor is connect with the input terminal of the retarder, and the output end of the retarder is worn
The top plate and the connection with the turntable shaft are crossed, the bottom of the turntable is fixed at the top of the turntable shaft；
The pedestal is set to the top of the top plate, and the bearing is set to the outer wall of the main body of the turntable shaft, the axis
The outer wall held is fixed on the inner wall of the pedestal；
The bearing block is set to the top of the pedestal, and the bottom of the bearing block resists the top of the bearing.
Further,
Further include touch screen, is set to the side of the parallel coil holder component.
Further,
Four end angles of the bottom of the parallel coil holder component are equipped with idler wheel.
The utility model according to above content propose it is a kind of cooperate robot teaching flat rubber belting line transporting equipment, more close to
Actual industrial site, practicability is high, and then can more effectively cultivate the technician of robot intelligence manufacture industry.
Liang Ge robot cooperation parallel lines transporting equipment carries out teaching use；Firstly, wherein a robot removes workpiece
It transports on transmission line component, workpiece is delivered to its discharge end from the feed end of transmission line component, then, an other robot handle
Workpiece is carried to Turntable Assemblies from transmission line component discharge end, and the Turntable Assemblies can put steady and turning of work piece direction, side
Continue after an action of the bowels and workpiece is processed, to be applicable in different machining states, the more industrial site of closing to reality, practicability
Height, and then can more effectively cultivate the technician of robot intelligence manufacture industry.
It is such since the top surface of the parallel coil holder component is equipped with the regulating tank for extending to its other side from one side
Words, can be by adjusting the position of the bottom plate and turntable bottom plate on the regulating tank, to adjust transmission line component and turntable
The relative position of component, the more industrial site of closing to reality facilitate and process different workpiece.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the one of embodiment of the utility model；
Fig. 2 is the structural schematic diagram of the transmission line component of the one of embodiment of the utility model；
Fig. 3 is the structural schematic diagram of the Turntable Assemblies of the one of embodiment of the utility model；
Fig. 4 is the top view of the Turntable Assemblies of the one of embodiment of the utility model；
Fig. 5 is the A-A of the utility model Fig. 4 to sectional view.
Wherein: parallel coil holder component 1, idler wheel 12, transmission line component 2, bottom plate 21, transmission wire frame 22, drives regulating tank 11
Dynamic device 23, fixed frame 24, driving shaft 25, driven axle 26, flat rubber belting 27, baffle 28, angle of chamfer 281, stopper 29, photoelectricity are opened
Close 210, air plug seat 211, Turntable Assemblies 3, turntable bottom plate 31, vertical plate 32, top plate 33, turntable 34, mounting groove 341, turntable driving
Mechanism 35, turntable driving motor 351, retarder 352, turntable shaft 353, bearing 354, bearing block 355, pedestal 356, positioning column
36, in place bumper post 37, close to switch triggering metal plate 38, turntable close to switch 39, work piece holder 310, cylinder 3101, pipe direct type
One-way throttle valve 3102, guide rail 312, solenoid valve 313, thread straight-through 3131, silencer 3132, accommodates single layer connecting terminal 311
Space 301, touch screen 4, touch screen cover 41.
Specific embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
As shown in Figs. 1-5, a kind of flat rubber belting line transporting equipment cooperating robot teaching, including parallel coil holder component 1, transmission
Line component 2 and Turntable Assemblies 3；
The top surface of the parallel coil holder component 1 is equipped with the regulating tank 11 that its other side is extended to from one side；
The transmission line component 2 is used for transmission workpiece 5, and the transmission line component 2 includes the bottom plate 21 set on its bottom, institute
It states bottom plate 21 and the regulating tank 11 is installed on by fixing piece；
The Turntable Assemblies 3 are used for the position of turning of work piece 5, and the Turntable Assemblies 3 include the turntable set set on its bottom
Bottom plate 31, the turntable bottom plate 31 are installed on the regulating tank 11 by fixing piece；
The transmission line component 2 is located at the side of the Turntable Assemblies 3.
In the present embodiment, if there are two robot cooperation parallel lines transporting equipments to carry out teaching use；Firstly, wherein one
Platform robot is transported to workpiece 5 on transmission line component 2, and workpiece 5 is delivered to its discharge end from the feed end of transmission line component 2,
Then, in addition workpiece 5 is carried to Turntable Assemblies 3,3 energy of Turntable Assemblies from 2 discharge end of transmission line component by a robot
Enough put steady and turning of work piece 5 direction, facilitate it is subsequent workpiece 5 is processed, to be applicable in different machining states, more close to
Actual industrial site, practicability is high, and then can more effectively cultivate the technician of robot intelligence manufacture industry.
Since the top surface of the parallel coil holder component 1 is equipped with the regulating tank 11 for extending to its other side from one side, in this way
If, it can be by adjusting the position of the bottom plate 21 and turntable bottom plate 31 on the regulating tank 11, to adjust transmission line group
The relative position of part 2 and Turntable Assemblies 3, the more industrial site of closing to reality facilitate and process different workpiece 5.
Further,
The transmission line component 2 further includes transmission wire frame 22, driving device 23, fixed frame 24, driving shaft 25, passive
Axis 26 and flat rubber belting 27；
The transmission wire frame 22 and fixed frame 24 are mounted on the top of the plate 21；
The fixed frame 24 is located at the outside of one end of the transmission wire frame 22；
The driving device 23 is fixed on the fixed frame 24；
The flat rubber belting 27 is set to the top of the transmission wire frame 22, and the driving shaft 25 and driven axle 26 are respectively arranged on
The both ends of the flat rubber belting 27, the driving of the driving device 23 rotation of driving shaft 25 is to drive flat rubber belting 27 to move.
The fixed frame 24 can guarantee that driving device 23 is stable and be mounted thereon that driving device 23 is motor and deceleration
The cooperation of machine after the matching revolving speed of motor via reducer, then drives the rotation of driving shaft 25 to drive flat rubber belting 27 to move, work
Part 5 is delivered to its discharge end in the feed end of flat rubber belting 27, realizes that the simulation of workpiece 5 is transported.
Further,
The transmission line component 2 further includes baffle 28, and the baffle 28 is respectively arranged on the front and back of the flat rubber belting 27；
The both ends of the inside of the baffle are equipped with angle of chamfer 281.
By two block baffles 28, workpiece 5 can be limited and steadily transported on flat rubber belting 27, guarantee workpiece 5 when transporting not
Meeting sideslip, the both ends of the inside of the baffle are equipped with angle of chamfer 281, play the role of being oriented to workpiece 5.
Further,
The transmission line component 2 further includes stopper 29, optoelectronic switch 210 and air plug seat 211；
The stopper 29 is located at the discharge end of the flat rubber belting 27；
The top of the stopper 29 is equipped with optoelectronic switch 210；
The top of the baffle 28 is equipped with optoelectronic switch 210, which is located at the feed end of flat rubber belting 27；
The air plug seat 211 is set to the bottom of the transmission wire frame 22.
By being located at matching for the optoelectronic switch 210 at the top of the optoelectronic switch 210 and stopper 29 of the feed end of flat rubber belting 27
It closes, can accurately detect the position of workpiece 5, the stopper 29 can prevent workpiece 5 from skidding off flat rubber belting 27.
Further,
The Turntable Assemblies 3 further include vertical plate 32, top plate 33, turntable 34 and rotary disc driving mechanism 35；
Two pieces of vertical plates 32 are vertically relatively arranged on the top of the turntable bottom plate 31, and the top plate 33 is set to two pieces of institutes
The top of vertical plate 32 is stated, the rotary disc driving mechanism 35 is vertically arranged to by the turntable bottom plate 31, vertical plate 32 and 33 groups of top plate
At accommodation space 301 in；
The output end of the rotary disc driving mechanism 35 is located at the top of the top plate 33, and the turntable 34 is located at the top plate
33 top, the output end of the rotary disc driving mechanism 35 are connect with the bottom of the turntable 34.
The turntable bottom plate 31, vertical plate 32 and top plate 33 form accommodation space 301, so that the structure of Turntable Assemblies 3 is more
Compact, accommodation space 301 is capable of providing 35 installation site of rotary disc driving mechanism, and the output end of the rotary disc driving mechanism 35 is located at
The top of the top plate 33, more convenient its drives the turntable 34 to rotate, to drive 5 turns of workpiece for being placed on turntable 34
To.
Further,
The Turntable Assemblies 3 further include positioning column 36 and bumper post 37, the positioning column 36 are set to the turntable 34 in place
Bottom, the bumper post in place 37 be set to the top plate 33 top.
When turntable 34 turns to certain angle, pass through the contact of positioning column 36 and bumper post 37 in place, prompt rotary disk 34
Position is gone to, the bumper post in place 37 of the present embodiment is polyurethane block.
Further,
The Turntable Assemblies 3 further include close to switch triggering metal plate 38 and the close switch 39 of turntable；
The bottom edge that the turntable 34 is set to close to switch triggering metal plate 38, the turntable are set to close to switch 39
The edge of the top plate 33.
Further,
The Turntable Assemblies 3 further include work piece holder 310, single layer connecting terminal 311, guide rail 312 and solenoid valve 313；
The top of the turntable 34 is equipped with a plurality of mounting groove 341 being parallel to each other, and the bottom of the work piece holder 310 is fixed
In the mounting groove 341, the guide rail 312 is set to the turntable bottom plate 31, and the single layer connecting terminal 311 is installed on described lead
Rail 312, the solenoid valve 313 are set to the side of the vertical plate 32.
Work piece holder 310 is the fixture clamped by the driving of cylinder 3101, and the work piece holder 310 is for clamping workpiece 5, gas
Pipe direct type one-way throttle valve 3102 is installed on cylinder 3101, the mounting groove 341, more convenient adjustment work piece holder are set
310 installation site, to adapt to different operating conditions；The single layer connecting terminal 311 guarantees conveniently to connect by enough electric currents
Energization source；The guide rail 312 of the present embodiment is DIN guide rail, and solenoid valve 313 is five mouthfuls of two solenoid valves, and there are three spiral shells for installation thereon
Line straight-through 3131, thread straight-through 3131 is connect by tracheae with the cylinder 3101 in work piece holder 310；It is installed on solenoid valve 313
There are two silencer 3132, since reduce the Aerodynamic Noise of A of pneumatic element or device exhaust.
Further,
The rotary disc driving mechanism 35 includes turntable driving motor 351 and retarder 352；
It further include turntable shaft 353, bearing 354, bearing block 355 and pedestal 356；
The output end of the turntable driving motor 351 is connect with the input terminal of the retarder 352, the retarder 352
Output end pass through the top plate 33 and the connection with the turntable shaft 353, the top of the turntable shaft 353 is fixed on described
The bottom of turntable 34；
The pedestal 356 is set to the top of the top plate 33, and the bearing 354 is set to the main body of the turntable shaft 353
Outer wall, the outer wall of the bearing 354 are fixed on the inner wall of the pedestal 356；
The bearing block 355 is set to the top of the pedestal 356, and the bottom of the bearing block 355 resists the axis
Hold 354 top.
The turntable driving motor 351 drives the turntable shaft 353 to rotate after matching revolving speed by retarder 352, thus
The turntable 34 is driven to rotate, the bearing 354 can reduce the frictional force being subject to when turntable shaft 353 rotates, the pedestal 356
Can steadily fixing bearing 354 and turntable shaft 353, the bearing block 355 being capable of further fixing bearing 354.
Further,
Further include touch screen 4, is set to the side of the parallel coil holder component 1.
Touch screen 4 is equipped with touch screen cover 41, and for protecting touch screen, touch screen cover 41 is equipped with start button, stops
Button and scram button.
Further,
Four end angles of the bottom of the parallel coil holder component 1 are equipped with idler wheel 12.
It is moved easily flat rubber belting line transporting equipment by idler wheel 12, easy to use and cleaning equipment.
Technical principle of the utility model has been described above with reference to specific embodiments.These descriptions are intended merely to explain this reality
With novel principle, and it cannot be construed to the limitation to scope of protection of the utility model in any way.Based on the explanation herein,
Those skilled in the art, which does not need to pay for creative labor, can associate with other specific implementation modes of this utility model,
These modes are fallen within the protection scope of the utility model.
Claims (10)
1. a kind of flat rubber belting line transporting equipment for cooperating robot teaching, it is characterised in that: including parallel coil holder component, transmission line group
Part and Turntable Assemblies；
The top surface of the parallel coil holder component is equipped with the regulating tank that its other side is extended to from one side；
The transmission line component is used for transmission workpiece, and the transmission line component includes the bottom plate set on its bottom, and the bottom plate is logical
It crosses fixing piece and is installed on the regulating tank；
The Turntable Assemblies are used for the position of turning of work piece, and the Turntable Assemblies include the turntable bottom plate set set on its bottom, institute
It states turntable bottom plate and the regulating tank is installed on by fixing piece；
The transmission line component is located at the side of the Turntable Assemblies.
2. a kind of flat rubber belting line transporting equipment for cooperating robot teaching according to claim 1, it is characterised in that:
The transmission line component further includes transmission wire frame, driving device, fixed frame, driving shaft, driven axle and flat rubber belting；
The transmission wire frame and fixed frame are mounted on the top of the bottom plate；
The fixed frame is located at the outside of one end of the transmission wire frame；
The driving device is fixed on the fixed frame；
The flat rubber belting is set to the top of the transmission wire frame, and the driving shaft and driven axle are respectively arranged on the two of the flat rubber belting
End, the driving of the driving device driving shaft rotation is to drive flat rubber belting to move.
3. a kind of flat rubber belting line transporting equipment for cooperating robot teaching according to claim 2, it is characterised in that:
The transmission line component further includes baffle, and the baffle is respectively arranged on the front and back of the flat rubber belting；
The both ends of the inside of the baffle are equipped with angle of chamfer.
4. a kind of flat rubber belting line transporting equipment for cooperating robot teaching according to claim 3, it is characterised in that:
The transmission line component further includes stopper, optoelectronic switch and air plug seat；
The stopper is located at the discharge end of the flat rubber belting；
The top of the stopper is equipped with optoelectronic switch；
The top of the baffle is equipped with optoelectronic switch, which is located at the feed end of flat rubber belting；
The air plug seat is set to the bottom of the transmission wire frame.
5. a kind of flat rubber belting line transporting equipment for cooperating robot teaching according to claim 1, it is characterised in that:
The Turntable Assemblies further include vertical plate, top plate, turntable and rotary disc driving mechanism；
Two pieces of vertical plates are vertically relatively arranged on the top of the turntable bottom plate, and the top plate is set to the top of two pieces of vertical plates
Portion, the rotary disc driving mechanism are vertically arranged in the accommodation space being made of the turntable bottom plate, vertical plate and top plate；
The output end of the rotary disc driving mechanism is located at the top of the top plate, and the turntable is located at the top of the top plate, institute
The output end for stating rotary disc driving mechanism is connect with the bottom of the turntable.
6. a kind of flat rubber belting line transporting equipment for cooperating robot teaching according to claim 5, it is characterised in that:
The Turntable Assemblies further include positioning column and bumper post, the positioning column are described to arrive set on the bottom of the turntable in place
Bit buffering column is set to the top of the top plate.
7. a kind of flat rubber belting line transporting equipment for cooperating robot teaching according to claim 5, it is characterised in that:
The Turntable Assemblies further include work piece holder, single layer connecting terminal, guide rail and solenoid valve；
The top of the turntable is equipped with a plurality of mounting groove being parallel to each other, and the installation is fixed in the bottom of the work piece holder
Slot, the guide rail are set to the turntable bottom plate, and the single layer connecting terminal is installed on the guide rail, and the solenoid valve is set to described
The side of vertical plate.
8. a kind of flat rubber belting line transporting equipment for cooperating robot teaching according to claim 5, it is characterised in that:
The rotary disc driving mechanism includes turntable driving motor and retarder；
It further include turntable shaft, bearing, bearing block and pedestal；
The output end of the turntable driving motor is connect with the input terminal of the retarder, and the output end of the retarder passes through institute
Top plate and the connection with the turntable shaft are stated, the bottom of the turntable is fixed at the top of the turntable shaft；
The pedestal is set to the top of the top plate, and the bearing is set to the outer wall of the main body of the turntable shaft, the bearing
Outer wall is fixed on the inner wall of the pedestal；
The bearing block is set to the top of the pedestal, and the bottom of the bearing block resists the top of the bearing.
9. a kind of flat rubber belting line transporting equipment for cooperating robot teaching according to claim 1, it is characterised in that:
Further include touch screen, is set to the side of the parallel coil holder component.
10. a kind of flat rubber belting line transporting equipment for cooperating robot teaching according to claim 1, it is characterised in that:
Four end angles of the bottom of the parallel coil holder component are equipped with idler wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822204604.4U CN209708358U (en) | 2018-12-26 | 2018-12-26 | A kind of flat rubber belting line transporting equipment cooperating robot teaching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822204604.4U CN209708358U (en) | 2018-12-26 | 2018-12-26 | A kind of flat rubber belting line transporting equipment cooperating robot teaching |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209708358U true CN209708358U (en) | 2019-11-29 |
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ID=68637126
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822204604.4U Expired - Fee Related CN209708358U (en) | 2018-12-26 | 2018-12-26 | A kind of flat rubber belting line transporting equipment cooperating robot teaching |
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| Country | Link |
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| CN (1) | CN209708358U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109523860A (en) * | 2018-12-26 | 2019-03-26 | 佛山犀灵机器人技术服务有限公司 | A kind of flat rubber belting line transporting equipment cooperating robot teaching |
-
2018
- 2018-12-26 CN CN201822204604.4U patent/CN209708358U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109523860A (en) * | 2018-12-26 | 2019-03-26 | 佛山犀灵机器人技术服务有限公司 | A kind of flat rubber belting line transporting equipment cooperating robot teaching |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191129 |