CN106601118B - Machining system for mechanical teaching - Google Patents
Machining system for mechanical teaching Download PDFInfo
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- CN106601118B CN106601118B CN201710089605.6A CN201710089605A CN106601118B CN 106601118 B CN106601118 B CN 106601118B CN 201710089605 A CN201710089605 A CN 201710089605A CN 106601118 B CN106601118 B CN 106601118B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention discloses a machining system for mechanical teaching, which comprises a plurality of machining units, wherein every two machining units are connected through a flexible conveying unit; the processing unit comprises a self-adaptive pneumatic unit, a high-speed parallel robot unit and a vision multiplexing unit; the high-speed parallel robot unit comprises a fixed seat, a parallel robot control mechanism, a parallel robot movement mechanism, a vacuum chuck and a material carrying assembly, wherein the parallel robot control mechanism is fixed at the top of a shield of the parallel robot control mechanism through the fixed seat, the parallel robot movement mechanism is connected with the parallel robot control mechanism, and the vacuum chuck is arranged below the parallel robot movement mechanism. The invention can visually see the control and processing phenomena in the processing system for teaching and has visual and obvious teaching effect.
Description
Technical Field
The invention relates to the technical field of machinery teaching, in particular to a machining system for machinery teaching.
Background
In recent years, mechanical application technology is applied to various industries, but has a large gap for talents. Therefore, the national instructor increases the support force for modern general technologies, popularizes general technical courses across the country, requires various regions to list general technologies into trial items, and urgently needs to convert corresponding processing equipment for production into practical teaching special equipment to cooperate with the national instructor in training modern applied technical talents.
Therefore, the present inventors have earnestly demanded to conceive a new technology to improve the problems thereof.
Disclosure of Invention
The invention aims to provide a machining system for mechanical teaching, which has a visual and obvious teaching effect.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a machining system for machine teaching, comprising: the processing units are connected with each other through a flexible conveying unit, each processing unit and each flexible conveying unit respectively comprise a rack and a shield covering the rack, and at least one visual window is arranged on the shield; the processing unit comprises a self-adaptive pneumatic unit, a high-speed parallel robot unit and a vision multiplexing unit;
the high-speed parallel robot unit comprises a fixed seat, a parallel robot control mechanism, a parallel robot movement mechanism, a vacuum chuck and a loading assembly, wherein the parallel robot control mechanism is fixed at the top of a shield of the parallel robot control mechanism through the fixed seat; the material loading assembly is arranged on the rack of the machine and is provided with a material to be processed.
Preferably, the frame of the adaptive pneumatic unit is a frame body, a working platform is arranged at the upper end part of the frame, the working platform is provided with the cylinder combination unit, the cylinder combination unit comprises a first transmission mechanism, a second transmission mechanism and a third transmission mechanism, the second transmission mechanism and the third transmission mechanism are connected with the first transmission mechanism, the first transmission mechanism is provided with a first cylinder, and the second transmission mechanism is provided with a second cylinder and a third cylinder; the third transmission mechanism is provided with a fourth cylinder and a fifth cylinder, the third transmission mechanism is connected with the first transmission mechanism through a connecting piece, the fourth cylinder and the fifth cylinder are fixed below the connecting piece, and a clamping mechanism used for clamping the assembly module is arranged below the fifth cylinder.
Preferably, the vision reusing unit further comprises a conveying mechanism and a CCD mechanism executing mechanism, wherein the conveying mechanism and the CCD mechanism executing mechanism are both arranged at the upper end face of the frame.
Preferably, the shield of the flexible conveying unit is a frame body, which is covered on the rack, and the shield specifically comprises four side surfaces, an upper end surface and an open lower end surface, wherein two opposite side surfaces are respectively provided with an opening for the first production line to pass through, and the size and the dimension of the lower end surface are matched with the rack; the upper end face of the rack is a first workbench, a first production line is arranged on the first workbench, and two ends of the first production line are respectively provided with a connection mechanism.
Preferably, the robot system further comprises a control unit which is connected with the adaptive pneumatic unit and the high-speed parallel robot unit through the flexible conveying unit.
Preferably, the control unit is a servo control unit or a step control unit.
Preferably, the lower end of the frame is provided with four outward wheels.
Preferably, a human-computer interaction unit is arranged on the shield.
Preferably, the visualization window is a transparent glass door.
Preferably, the human-computer interaction unit comprises one or more of a touch screen, a button and an indicator light.
By adopting the technical scheme, the invention at least comprises the following beneficial effects:
the machining system for machine teaching can visually see the control and machining phenomena in the machining system for teaching, and has a visual and obvious teaching effect.
Drawings
FIG. 1a is a schematic view of the construction of a flexible transfer unit according to the present invention (with the shield omitted);
FIG. 1b is a schematic view of the construction of the cover of the flexible transfer unit according to the present invention;
FIG. 1c is a schematic illustration of the connection of two flexible transfer units;
FIG. 2a is a schematic structural view of an adaptive pneumatic unit according to the present invention (with a shield omitted);
FIG. 2b is a schematic structural diagram of the cylinder assembly of the present invention;
FIG. 2c is a schematic diagram of the connection of the adaptive pneumatic unit to the flexible transport unit;
FIG. 3a is a schematic structural diagram of a servo control unit according to the present invention;
FIG. 3b is a schematic diagram of the connection between the servo control unit and the flexible transfer unit according to the present invention;
FIG. 4a is a schematic structural diagram of a step control unit according to the present invention;
FIG. 4b is a schematic view of the connection of the stepper control unit and the flexible transfer unit according to the present invention;
FIG. 5 is a schematic view of the construction of a shroud for a processing unit according to the present invention;
FIG. 6a is a schematic view of the construction of the vision multiplexing unit according to the present invention (with the cover omitted);
FIG. 6b is a schematic view of the connection of the vision multiplexing unit with the flexible transport unit;
FIG. 7a is a schematic structural diagram of a high-speed parallel robot unit according to the present invention (with a shield omitted);
FIG. 7b is a schematic structural view of a shield for a high-speed parallel robot unit;
FIG. 7c is a schematic diagram of the high speed parallel robotic unit coupled to the flexible transport unit;
fig. 8 is a schematic structural diagram of a robot model in an embodiment.
Wherein: 01. a frame, 011, outward wheel; 02. a shield, 021, an indicator light, 022, a touch screen, 023, a button, 024, a visual window; 1. the flexible conveying unit comprises a flexible conveying unit, 11, a first workbench, 12, a second workbench, 13, a first production line, 14, a second production line and 15, a connection mechanism; 2. an adaptive pneumatic unit, 21, a cylinder combination unit, 22, a first cylinder, 23, a second cylinder, 24, a third cylinder, 25, a fourth cylinder, 26, a fifth cylinder; 3. the servo control unit 31, the first demonstration component 32, the second demonstration component 33, the first sliding table component 34, the first longitudinal conveying component 35, the first transverse conveying component 36 and the fourth sucker; 4. the step control unit is 41, a third demonstration assembly is 42, a weight support is 43, a second sliding table assembly is 44, a second longitudinal conveying assembly is 45, and a second transverse conveying assembly is 45; 5. a robot model; 6. the vision multiplexing unit comprises a vision multiplexing unit 61, a conveying mechanism and a 62 CCD mechanism executing mechanism; 7. high-speed parallel robot unit, 71 fixed seat, 72 parallel robot moving mechanism, 73 vacuum chuck, 7 material loading component.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 8, a machining system for teaching machinery according to the present invention includes: the processing units are connected through a flexible conveying unit 1, each processing unit and each flexible conveying unit 1 comprise a rack 01 and a shield 02 covering the rack 01, and at least one visualization window 024 is arranged on the shield 02; the processing unit comprises a self-adaptive pneumatic unit 2, a high-speed parallel robot unit 7 and a vision multiplexing unit 6;
the high-speed parallel robot unit 7 comprises a fixed seat 71, a parallel robot control mechanism, a parallel robot movement mechanism 72, a vacuum chuck 73 and a material loading assembly 74, wherein the parallel robot control mechanism is fixed on the top of a shield 02 of the parallel robot control mechanism through the fixed seat 71, the parallel robot movement mechanism 72 is connected with the parallel robot control mechanism, and the vacuum chuck 73 is arranged below the parallel robot movement mechanism 72; the loading assembly 74 is arranged on the frame 01 thereof, and is provided with a material to be processed.
High speed parallel robot parameters
Brand name: zong Ou
The parallel robot model: ZO-D700-4
Maximum load: 3kg of
Number of axes: 4
Repeated positioning accuracy: XYZ axis (mm) ± 0.1, R axis (degree) ± 0.2 degree
The working range is as follows:
A(mm)：450
B(mm)：245
C(mm)：45
D(mm)：700
E(mm)：610
F(mm)：36
rotation angle: 720 degree
Standard beat cycle 1kg (25 × 305 × 25): 0.33
The weight of the body is as follows: 42kg of
Subscriber wiring (sqX root): phi 8X1
I/O interface: 16 input +16 output (Expandable)
Communication interface: RS232/RS485/1 Ethernet
Compared with four-axis and six-axis robots, the parallel robot is characterized by a completely symmetrical parallel mechanism, better isotropy, no accumulated error and higher precision. Because of compact structure, high rigidity and large bearing capacity, according to the characteristics, the parallel robot is in the field needing high rigidity, high precision or large load without large working space.
The robot unit can meet the practical training teaching requirements of courses such as industrial robot field programming, industrial robot typical application case analysis, industrial robot technology and application, industrial robot actual operation and application skill and the like, can represent the practical application of the robot in typical industrial production, and can clearly reflect the phenomena of a handling link, a motion control link and the like in a factory production line.
Preferably, the frame 01 of the adaptive pneumatic unit 2 is a frame body, a working platform is arranged at the upper end part of the frame, the cylinder combination unit 21 is arranged on the working platform, the cylinder combination unit 21 comprises a first transmission mechanism, and a second transmission mechanism and a third transmission mechanism which are connected with the first transmission mechanism, a first cylinder 22 is arranged on the first transmission mechanism, and a second cylinder 23 and a third cylinder 24 are arranged on the second transmission mechanism; the third transmission mechanism is provided with a fourth cylinder 25 and a fifth cylinder 26, the third transmission mechanism is connected with the first transmission mechanism through a connecting piece, the fourth cylinder 25 and the fifth cylinder 26 are fixed below the connecting piece, and a clamping mechanism used for clamping the assembly module is arranged below the fifth cylinder 26. Preferably, the first cylinder 22, the second cylinder 23, the third cylinder 24, the fourth cylinder 25 and/or the fifth cylinder 26 is one of a rodless cylinder, a thin cylinder, a wide jaw cylinder, a rotary cylinder, a standard cylinder, a rotary cylinder, a double-rod cylinder, a mini cylinder and a multi-position fixing cylinder. More preferably, the first cylinder 22 is a rodless cylinder, the second cylinder 23 is a rodless cylinder, the third cylinder 24 is a rotary cylinder, the fourth cylinder 25 is a thin cylinder, and the fifth cylinder 26 is a wide jaw cylinder. The working principle is as follows: the grabbing mechanism under the fifth cylinder 26 is used for grabbing products, and the fourth cylinder 25 drives the fifth cylinder 26 to move up and down. Meanwhile, if the product needs to be turned over, the product can be turned over for 180 degrees through the third air cylinder 24 (namely, the rotary air cylinder), and the second air cylinder 23 drives the third air cylinder 24 to move up and down. In addition, the third transmission assembly is connected with the first transmission assembly through a connecting piece, so that the first air cylinder 22 on the first transmission assembly can drive the grabbed product to move in the horizontal direction, and send the grabbed product to the production transmission line for the next installation procedure. As the shield 02 covering the rack 01 is provided with the visual window 024, students can visually see the motion process of each component through the window, and the observation and understanding of the students are facilitated.
The self-adaptive pneumatic unit 2 can meet the practical training teaching requirements of relevant courses such as pneumatic transmission and control, PLC principle and application, taida PLC programming technology and application case, electronic Design Automation (EDA) and the like, can represent the application of a typical industrial production pneumatic technology, can clearly reflect the pneumatic control phenomenon in a factory production line, and has a visual and obvious teaching effect.
Preferably, the vision reusing unit 6 further comprises a conveying mechanism 61 and a CCD mechanism actuator 62, wherein the conveying mechanism 61 and the CCD mechanism actuator 62 are both disposed at the upper end face of the frame 01.
Preferably, the CCD mechanism actuator 62 specifically includes:
the first detection unit is used for acquiring the image information of the assembly position of the material;
the second detection unit is used for acquiring shape image information of the material;
a communication mechanism for transmitting the acquired assembly position image information and shape image information to the programmable controller.
Preferably, the first detection unit is a smart camera detection unit.
Preferably, the second detection unit is an industrial camera detection unit.
The CCD execution unit comprises two sets of CCD detection units, a first detection unit consisting of an intelligent camera and a second detection unit consisting of a common industrial camera. The two sets of detection units are respectively formed by combining a camera, a light source, a lens and the like. Since the data collection process is a conventional technique for those skilled in the art, it is not described herein in detail.
Preferably, the shield 02 of the flexible conveying unit 1 is a frame body, which covers the rack 01, and the shield 02 specifically includes four side surfaces, an upper end surface and an open lower end surface, wherein two opposite side surfaces are respectively provided with an opening for the first production line 13 to pass through, and the size and the dimension of the lower end surface are matched with the rack 01; the upper end face of the rack 01 is a first workbench 11, a first production line 13 is arranged on the first workbench 11, and two ends of the first production line 13 are respectively provided with a connection mechanism 15. Preferably, a second production line 14 is further included, the second production line 14 is arranged on a second workbench 12 inside the equipment rack 01, and the second workbench 12 is positioned right below the first workbench 11. And two ends of the second production line 14 are respectively provided with a connection mechanism 15. Preferably, the docking mechanism 15 is a card interface, which can realize a fixed connection with other card interfaces, and the specific shape is shown in the attached drawings. Through the arrangement of the connection mechanism 15, not only can the connection with different processing units be realized, but also the connection of a plurality of flexible conveying units 1 can be realized.
Preferably, the robot system further comprises a control unit which is connected with the adaptive pneumatic unit 2 and the high-speed parallel robot unit 7 through the flexible conveying unit 1.
Preferably, the control unit is a servo control unit 3 or a step control unit 4.
Preferably, the servo control unit 3 comprises a first demonstration component 31 for demonstrating the simple servo motor step loss phenomenon and a second demonstration component 32 for demonstrating the servo motor step loss phenomenon, the first demonstration component 31 and the second demonstration component 32 respectively comprise an upright post fixed on the table top of the rack 01, the upper end of the upright post is provided with a first servo motor, and the first servo motor drives the lifting plate to move up and down through a synchronous belt; the lifting plate is characterized in that a first guide rail is vertically arranged on the stand column, and a first sliding block matched with the first guide rail is fixedly connected to the lifting plate. The first demonstration component 31 and the second demonstration component 32 are identical in structure and composition, demonstration functions are slightly different, the first demonstration component 31 is mainly used for demonstrating the phenomenon that a simple servo motor loses steps, and the second demonstration component 32 is mainly used for demonstrating the phenomenon that a conventional servo motor is overloaded and loses steps. More preferably, the rack 01 is further provided with a first material conveying mechanism 61, which includes a first sliding table assembly 33, a first longitudinal conveying assembly 34, a first transfer assembly and a first transverse conveying assembly 35, wherein the first sliding table assembly 33 conveys the material from the material tray to the first longitudinal conveying assembly 34, the first longitudinal conveying assembly 34 conveys the material to the first transfer assembly, and the first transverse conveying assembly 35 conveys the material on the first transfer assembly to the assembling area for assembling. And a fourth sucking disc 36 for sucking materials is arranged on one side of the first transverse conveying assembly 35.
Preferably, step control unit 4 is including setting up the third demonstration subassembly 41 that is used for demonstrating step motor and loses step phenomenon in frame 01, one side of third demonstration subassembly 41 is provided with the weight support 42 that is used for placing the weight, weight support 42 includes the bottom plate of a level setting and the riser of a vertical setting, the bottom plate with the riser is L type fixed connection, the both sides of bottom plate are provided with a curb plate that is right triangle or right trapezoid respectively, the lower extreme of curb plate with the bottom plate is connected, curb plate perpendicular limit with the riser is connected. Preferably, the rack 01 is further provided with a second material conveying mechanism 61, which includes a second sliding table assembly 43, a second longitudinal conveying assembly 44, a switching assembly and a second transverse conveying assembly 45, wherein the second sliding table assembly 43 conveys the material from the material tray to the second longitudinal conveying assembly 44, the second longitudinal conveying assembly 44 conveys the material to the switching assembly, and the second transverse conveying assembly 45 conveys the material on the switching assembly to the assembling area for assembling.
Preferably, the lower end of the rack 01 is provided with four outward wheels 011, so that the rack is convenient to move and can be suitable for different specifications of laboratories.
Preferably, a human-computer interaction unit is arranged on the shield 02.
Preferably, the visualization window 024 is a transparent glass door, so that students can observe, open, maintain, operate and the like conveniently.
Preferably, the human-computer interaction unit comprises one or more of a touch screen 022, buttons 023 and indicator lights 021.
Since the functional module is consistent with the design concept of the industrial processing equipment, the connection and control modes (which belong to conventional technical means) of the functional module can be designed with reference to the industrial processing equipment, and those skilled in the art should know completely, so that the present embodiment is not described herein again.
Preferably, a power management unit is further disposed on the cover 02, and the power management unit is used for being used by authorized personnel. The device can prevent from being mistakenly operated by other people to cause unnecessary property loss and casualties, and is simultaneously beneficial to effectively monitoring the use condition of students by schools.
The working principle of the embodiment is as follows: since it is mainly for teaching purpose, the processed product is designed as a robot model 5 (as shown in fig. 8) in this embodiment, and a plurality of materials to be assembled (see hollow parts of various shapes in the robot module in the figure) are arranged on the robot model 5, and the materials are respectively completed by different processing units. In the present embodiment in particular, a plurality of flexible transport units 1 are spliced to each other to form a transport line on which a robot model 5 to be processed is transported. The robot model 5 firstly passes through the adaptive pneumatic unit 2, is processed by the adaptive pneumatic unit, then is transmitted to the control unit through the flexible transmission unit 1, then is processed by the control unit, finally passes through the robot unit and the vision multiplexing unit 6, and then flows into other subsequent processes (such as a detection unit, a 3d printing unit and the like). Meanwhile, due to the arrangement of the flexible conveying unit 1, each processing unit can be used separately, and can also be connected into a production line for use. In addition, if some additional functional modules exist, the flexible conveying unit 1 can be connected into the production line, so that the flexibility and the practicability are higher.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. The utility model provides a system of processing for machine teaching which characterized in that includes: each two processing units are connected through a flexible conveying unit, each processing unit and each flexible conveying unit respectively comprise a rack and a protective cover covered on the rack, and at least one visual window is arranged on the protective cover; the processing unit comprises a self-adaptive pneumatic unit, a high-speed parallel robot unit and a vision multiplexing unit;
the high-speed parallel robot unit comprises a fixed seat, a parallel robot control mechanism, a parallel robot movement mechanism, a vacuum chuck and a loading assembly, wherein the parallel robot control mechanism is fixed at the top of a shield of the parallel robot control mechanism through the fixed seat; the material loading assembly is arranged on the rack of the machine and is provided with a material to be processed;
the frame of the self-adaptive pneumatic unit is a frame body, a working platform is arranged at the upper end part of the frame body, a cylinder combination unit is arranged on the working platform and comprises a first transmission mechanism, a second transmission mechanism and a third transmission mechanism, the second transmission mechanism and the third transmission mechanism are connected with the first transmission mechanism, a first cylinder is arranged on the first transmission mechanism, and a second cylinder and a third cylinder are arranged on the second transmission mechanism; a fourth cylinder and a fifth cylinder are arranged on the third transmission mechanism, the third transmission mechanism is connected with the first transmission mechanism through a connecting piece, the fourth cylinder and the fifth cylinder are fixed below the connecting piece, and a clamping mechanism used for clamping an assembly module is arranged below the fifth cylinder;
the vision multiplexing unit also comprises a conveying mechanism and a CCD mechanism executing mechanism, wherein the conveying mechanism and the CCD mechanism executing mechanism are both arranged on the upper end surface of the frame;
the protective cover of the flexible conveying unit is a frame body and covers the rack, and the protective cover specifically comprises four side faces, an upper end face and an open lower end face, wherein two opposite side faces are respectively provided with an opening for a first production line to pass through, and the size and the dimension of the lower end face are matched with those of the rack; the upper end surface of the rack is provided with a first workbench, a first production line is arranged on the first workbench, and two ends of the first production line are respectively provided with a connection mechanism;
the control unit is connected with the self-adaptive pneumatic unit and the high-speed parallel robot unit through the flexible conveying unit;
the control unit is a servo control unit or a stepping control unit;
the servo control unit comprises a first demonstration assembly and a second demonstration assembly, the first demonstration assembly is used for demonstrating the step loss phenomenon of the simple servo motor, the second demonstration assembly is used for demonstrating the step loss phenomenon of the servo motor, the first demonstration assembly and the second demonstration assembly respectively comprise an upright post fixed on the table top of the rack, a first servo motor is arranged at the upper end of the upright post, and the first servo motor drives the lifting plate to move up and down through a synchronous belt; a first guide rail which is vertically arranged is arranged on the upright post, and a first sliding block matched with the first guide rail is fixedly connected to the lifting plate; the first demonstration component is mainly used for demonstrating the step loss phenomenon of the simple servo motor, and the second demonstration component is mainly used for demonstrating the overload step loss phenomenon of the conventional servo motor; the rack is also provided with a first material conveying mechanism which comprises a first sliding table assembly, a first longitudinal conveying assembly, a first switching assembly and a first transverse conveying assembly, wherein the first sliding table assembly conveys materials from a material tray to the first longitudinal conveying assembly, the first longitudinal conveying assembly conveys the materials to the first switching assembly, and the first transverse conveying assembly conveys the materials on the first switching assembly to an assembly area for assembly; a fourth sucking disc for adsorbing materials is arranged on one side of the first transverse conveying assembly;
the stepping control unit comprises a third demonstration component which is arranged on the rack and used for demonstrating the step loss phenomenon of the stepping motor, a weight support used for placing weights is arranged on one side of the third demonstration component, the weight support comprises a horizontally arranged bottom plate and a vertically arranged vertical plate, the bottom plate and the vertical plate are fixedly connected in an L shape, two sides of the bottom plate are respectively provided with a side plate in a right-angled triangle shape or a right-angled trapezoid shape, the lower end of the side plate is connected with the bottom plate, and the vertical edge of the side plate is connected with the vertical plate; still be equipped with second material conveying mechanism in the frame, it includes second slip table subassembly, the vertical transport module of second, switching subassembly, the horizontal transport module of second, the second slip table subassembly is carried the material for the vertical transport module of second from the charging tray, the vertical transport module of second carries the material to the switching subassembly on, the horizontal transport module of second will material on the switching subassembly is carried and is assembled to the equipment district.
2. The machining system for teaching mechanics according to claim 1, wherein: the lower end of the frame is provided with four outward wheels.
3. The machining system for teaching of machines as claimed in claim 1, wherein: a human-computer interaction unit is arranged on the shield.
4. The machining system for teaching mechanics according to claim 1, wherein: the visual window is a transparent glass door.
5. The machining system for teaching mechanics according to claim 3, wherein: the man-machine interaction unit comprises one or more of a touch screen, a button and an indicator light.
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| CN201710089605.6A CN106601118B (en) | 2017-02-20 | 2017-02-20 | Machining system for mechanical teaching |
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| CN108363373A (en) * | 2018-03-05 | 2018-08-03 | 菲尼克斯(南京)智能制造技术工程有限公司 | Flexible manufacturing system and its corresponding demo system |
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| CN203282474U (en) * | 2013-04-27 | 2013-11-13 | 张家港诺信自动化设备有限公司 | Machine vision parallel connection sorting robot |
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| CN206639504U (en) * | 2017-02-20 | 2017-11-14 | 苏州市职业大学 | A kind of rote teaching system of processing |
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2017
- 2017-02-20 CN CN201710089605.6A patent/CN106601118B/en active Active
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| CN201364682Y (en) * | 2009-03-12 | 2009-12-16 | 华南理工大学 | Experiment platform for small flexible manufacturing system |
| EP2546032A2 (en) * | 2011-07-15 | 2013-01-16 | Kabushiki Kaisha Yaskawa Denki | Parallel link robot and picking system |
| CN203048165U (en) * | 2013-02-26 | 2013-07-10 | 浙江纺织服装职业技术学院 | Magnetic steel grabbing mechanism |
| CN203282474U (en) * | 2013-04-27 | 2013-11-13 | 张家港诺信自动化设备有限公司 | Machine vision parallel connection sorting robot |
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