Industrial robot
First Claim
1. An industrial robot comprising:
- a robot arm provided with a rotatable wrist flange;
an end-effector positioned at a predetermined working position by the robot arm;
an end-effector supporting mechanism attached to the wrist flange of the robot arm, for supporting the end-effector;
an imaging device accommodated in the end-effector supporting mechanism, for detecting the end-effector and the working position; and
a holding means for detachably holding the imaging device so that a center of gravity of the imaging device is located at a position within the end-effector supporting mechanism.
1 Assignment
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Accused Products
Abstract
An industrial robot, having an end-effector supporting mechanism for holding an end-effector such as a working tool and accommodating an imaging device of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position without any trouble. A container-shaped adaptor of the end-effector supporting mechanism is attached to a distal end of a wrist flange provided in a robot wrist supported by a robot arm. The adaptor has a first attachment section provided with a first attachment surface to be attached to the wrist flange, and a second attachment section provided with a second attachment surface disposed generally parallel to a wrist flange surface at a position apart from the first attachment section by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member of the end-effector supporting mechanism for holding the working tool is attached. The adaptor and the tool holding member may be integral with each other. The imaging device is held by a holding means such as a screw or a magnetic mechanism so that the rotary center axis of the wrist flange generally coincides with a center line of the visual field and a center of gravity is positioned within the adaptor. The wrist flange may be provided with a through-hole for the connector-coupling, and the imaging device may be provided with radio-communication means.
53 Citations
11 Claims
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1. An industrial robot comprising:
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a robot arm provided with a rotatable wrist flange;
an end-effector positioned at a predetermined working position by the robot arm;
an end-effector supporting mechanism attached to the wrist flange of the robot arm, for supporting the end-effector;
an imaging device accommodated in the end-effector supporting mechanism, for detecting the end-effector and the working position; and
a holding means for detachably holding the imaging device so that a center of gravity of the imaging device is located at a position within the end-effector supporting mechanism. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification