Industrial robot

• US 7,715,946 B2
• Filed: 10/29/2004
• Issued: 05/11/2010
• Est. Priority Date: 10/31/2003
• Status: Active Grant

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Watanabe, Atsushi, Inoue, Toshihiko, Nihei, Ryo
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US10/976,049
• Publication Number:
  US 20050096792A1
• Time in Patent Office: 2,020 Days
• Field of Search: 700/245, 700/248, 700/251, 700/259, 700/262, 700/264, 219/125.1, 219/124.34, 219/121.85, 219/121.71, 219/121.68
• US Class Current: 700/245
• CPC Class Codes: B25J 19/023 including video camera means

Abstract

An industrial robot, having an end-effector supporting mechanism for holding an end-effector 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. 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.

Claims

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.

2. The industrial robot as set forth in claim 1, wherein the end-effector supporting mechanism comprises:

an adaptor for accommodating the imaging device in the interior thereof; and

an end-effector holding member attached to the adaptor, for holding the end-effector;

the adaptor comprising a first attachment section for attaching the adaptor to a wrist flange surface of the wrist flange and a second attachment section having an attachment surface generally parallel to the 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,

the imaging device being capable of being held so that a center of gravity of the imaging device is positioned between the first attachment section and the second attachment section.

3. The industrial robot as set forth in claim 1, wherein the end-effector supporting mechanism comprises:

an adaptor for accommodating the imaging device in the interior thereof; and

an end-effector holding member attached to the adaptor, for holding the end-effector;

the adaptor and the end-effector holding member are integral with each other, the imaging device is held so that a center of gravity of the imaging device is positioned within the interior of the adaptor.

4. The industrial robot as set forth in claim 1, wherein the imaging device and the end-effector are attachable so that a part of the end-effector comes into a visual field of the imaging device.

5. The industrial robot as set forth in claim 1, wherein the rotary center axis of the wrist flange and a center line of the visual field of the imaging device generally coincide with each other.

6. The industrial robot as set forth in claim 1, wherein the industrial robot comprises a mechanism capable of regenerating every time the same attachment position and posture of the imaging device relative to the end-effector supporting mechanism.

7. The industrial robot as set forth in claim 1, wherein a through-hole, for allowing a cable for the imaging device to pass therethrough, is arranged in the wrist flange.

8. The industrial robot as set forth in claim 7, wherein an imaging device side connector, for supplying electric power to the imaging device and transmitting signals, and a wrist flange side connector, electrically connectable to the imaging device side connector, are disposed in the through-hole.

9. The industrial robot as set forth in claim 1, wherein the imaging device comprises a radio-communication means.

10. The industrial robot as set forth in claim 1, wherein the industrial robot comprises a protective cover covering at least a front area of the imaging device.

11. The industrial robot as set forth in claim 1, wherein the industrial robot comprises an inspecting section for inspecting the result of the welding operation by an image obtained from the imaging device.