Apparatus for supporting an imaging device

• US 4,728,974 A
• Filed: 05/30/1986
• Issued: 03/01/1988
• Est. Priority Date: 05/31/1985
• Status: Expired due to Term

• Current Assignee: Yaskawa Electric Manufacturing Company Limited (Yaskawa Electric Corporation)
• Original Assignee: Yaskawa Electric Manufacturing Company Limited (Yaskawa Electric Corporation)
• Inventors: Nio, Satoru, Fujii, Hajime
• Primary Examiner(s): Adams, Russell E.
• Application Number:
  US06/868,752
• Time in Patent Office: 641 Days
• Field of Search: 354/75, 354/76, 354/79, 354/81, 901/44, 901/46, 901/47, 358/93, 358/100, 358/101, 358/901, 350/227, 350/561, 219/124.34
• US Class Current: 348/359
• CPC Class Codes: B23K 9/0956 using sensing means, e.g. optical
• CPC Class Codes: B25J 19/0025 Means for supplying energy to the end effector
• CPC Class Codes: B25J 19/025 including optical fibres

Abstract

According to the invention, the fiber scope is inserted into the highly rigid tube and this tube is clamped as a rigid member by the robot wrist (or fiber scope supporting device) and camera supporting device, thereby allowing the camera supporting device and tube to move intergrally with the robot wrist. Therefore, no twisting of the fiber scope occurs within the operating range of the robot wrist axis. Also, even at any position in the operating range of the robot wrist axis as well, the angle of bend of the fiber scope can be held to a constant value below the allowable bending angly of the fiber scope. Consequently, it has been possible to realize an imaging device in which interference between the object to be worked and the optical system is remarkably improved.

Claims

1. An apparatus for supporting in which a camera supporting device having a camera therein and a fiber scope are attached to and supported the wrist of a robot having a swing axis and a twist axis, comprising:

a tube having high rigidity into which said fiber scope is inserted and which connects said camera supporting device with said robot wrist;

first identical moving means for allowing the camera supporting device to perform the same motion as said swing axis in the direction of the swing axis around the rotational center of the swing axis as the rotational center; and

second identical moving means for allowing the camera supporting device to perform the same motion as said twist axis such that the rotational center of the camera supporing device is located on the rotational center of the twist axis.

2. An apparatus according to claim 1, wherein said camera supporting device is formed with a groove adapted to adjust the center of gravity.

3. An apparatus according to claim 1 or 2, wherein a bearing is provided as said second identical moving means.

4. An apparatus according to claim 3, wherein an outer race of said bearing is coupled with an attaching seat which is vertical to the rotational center of the swing axis.

5. An apparatus according to claim 4, wherein said camera supporting device has an automatic filter switching device therein.

6. An apparatus according to claim 5, wherein said camera supporting device has a shutter switching device therein.

7. An apparatus according to claim 1, wherein said camera supporting device has an automatic filter switching device therein.

8. An apparatus according to claim 2, wherein said camera supporting device has an automatic filter switching device therein.

9. An apparatus according to claim 3, wherein said camera supporting device has an automatic filter switching device therein.

10. An apparatus for supporting in which a camera supporting device having a camera therein and a fiber scope are attached to and supported on the wrist of a robot having a swing axis and a twist axis, comprising:

a rotational angle control motor, attached to said robot wrist such that its output shaft coincides with the rotational axis of said twist axis, for controlling the angle of rotation of said fiber scope;

a fiber scope supporting device attached to an output shaft of a reduction gear coupled with the output shaft of said rotational angle control motor;

a tube having high rigidity into which said fiber scope is inserted and which connects said camera supporting device with said fiber scope supporting device;

first identical moving means for allowing the camera supporting device to perform the same motion as said swing axis in the direction of the swing axis around the rotational center of the swing axis as the rotational center; and

second identical moving means for allowing the camera supporting device to perform the same motion as said twist axis such that the rotational center of the camera supporting device is located on the rotational center of the twist axis.

11. An apparatus according to claim 10, wherein said camera supporting device is formed with a groove adapted to adjust the center of gravity.

12. An apparatus according to claim 10 or 11, wherein a bearing is provided as said second identical moving means.

13. An apparatus according to claim 12, wherein an outer race of said bearing is coupled with an attaching seat which is vertical to the rotational center of the swing axis.

14. An apparatus according to claim 13 wherein said camera supporting device has an automatic filter switching device therein.

15. An apparatus according to claim 14, wherein said camera supporting device has a shutter switching device therein.

16. An apparatus according to claim 10, wherein said camera supporting device has an automatic filter switching device therein.

17. An apparatus according to claim 11, wherein said camera supporting device has an automatic filter switching device therein.

18. An apparatus according to claim 12, wherein said camera supporting device has an automatic filter switching device therein.