Connector gripping device, connector inspection system comprising the device, and connector connection system
First Claim
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1. A connector gripping device for gripping a connector provided to a cable at the distal end thereof, comprising:
- a gripping unit of a first hand mounted on a first robot, which, after gripping a portion of the cable, is moved toward the connector while gripping the cable and is stopped at a predetermined position;
a first visual sensor for detecting a position and posture of the connector assumed when the cable is held at said predetermined position by said gripping unit of said first hand; and
a gripping unit of a second hand mounted on a second robot, which grips the connector based on the position and posture of the connector detected by said first visual sensor.
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Abstract
An intermediate portion of a cable with connector is pinched by a pair of rolls of a first hand of a first robot, and the connector provided to the cable is fixed by causing the firsthand to approach. An image of this connector is obtained by a first camera and a position and posture of the connector are found. A second robot is moved to a gripping position which has been corrected based on the position and posture of that connector, thereby causing the second hand of the second robot to grip the connector at an outer periphery thereof.
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Citations
13 Claims
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1. A connector gripping device for gripping a connector provided to a cable at the distal end thereof, comprising:
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a gripping unit of a first hand mounted on a first robot, which, after gripping a portion of the cable, is moved toward the connector while gripping the cable and is stopped at a predetermined position;
a first visual sensor for detecting a position and posture of the connector assumed when the cable is held at said predetermined position by said gripping unit of said first hand; and
a gripping unit of a second hand mounted on a second robot, which grips the connector based on the position and posture of the connector detected by said first visual sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification