Manipulator with camera

• US 8,280,551 B2
• Filed: 05/12/2010
• Issued: 10/02/2012
• Est. Priority Date: 05/19/2009
• Status: Expired due to Fees

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Tani, Kota
• Primary Examiner(s): Brown, Drew
• Application Number:
  US12/778,432
• Publication Number:
  US 20100298978A1
• Time in Patent Office: 874 Days
• Field of Search: 700/259, 700/245, 901 14- 18, 901/28, 901/29, 901/30, 901/31, 901/46, 901/47
• US Class Current: 700/259
• CPC Class Codes: B25J 19/023 including video camera means

Abstract

A manipulator includes at least one camera capable of observing an end effector from a direction suitable for work. A rotating portion rotatable coaxially with the end effector is provided to a link adjacent to a link located at a manipulator tip end. At least one camera for recognizing a work piece as an object is arranged on the rotating portion through a camera platform. An actuator for controlling a rotation angle of the rotating portion is driven according to a rotation angle of the link located at the manipulator tip end, and thus the camera is arranged in a direction perpendicular to a plane where the end effector can move when the end effector performs a grip work. In an assembly work, the rotating portion is rotated such that the camera is arranged in a direction parallel to the plane where the end effector can move.

Claims

1. A manipulator with at least one camera, comprising:

an articulated manipulator coupled with multiple links together;

a rotating portion provided coaxially with the articulated manipulator;

an end effector which is coupled to a link located at a tip end of the articulated manipulator and which is able to open/close in a specific plane where the end effector can move;

a camera supported by the rotating portion, for recognizing an object; and

an actuator for rotating the rotating portion,

wherein the actuator causes the rotating portion to rotate in accordance with work performed by the end effector, and causes the rotating portion to rotate such that the camera is arranged at a position at which the end effector is seen as a subject.

2. The manipulator with at least one camera according to claim 1, further comprising a sensor for detecting, based on whether or not a ray that the sensor emits is blocked, existence of another article on the ray,

wherein the actuator causes the rotating portion to rotate such that collision between another article and the camera is avoided.

3. A manipulator with at least one camera, comprising:

an articulated manipulator coupled with multiple links together;

a rotating portion which is arranged to one of a link located at a tip end of the articulated manipulator and a second link from the tip end thereof and which is rotatable coaxially with the link located at the tip end of the articulated manipulator;

an end effector which is coupled to the link located at the tip end of the articulated manipulator and which is able to open/close in a specific plane where the end effector can move;

a camera supported by the rotating portion, for recognizing an object; and

an actuator for rotating the rotating portion,

wherein the actuator causes the rotating portion to rotate such that the camera is arranged in a direction perpendicular to the plane where the end effector can move when the end effector performs a grip work of gripping the object, and the actuator causes the rotating portion to rotate such that the camera is arranged in a direction parallel to the plane where the end effector can move when the end effector performs one of an assembly work and an arrangement work.

4. A manipulator with at least one camera, comprising:

an articulated manipulator coupled with multiple links together;

a rotating portion which is arranged to a tip end of the articulated manipulator so as to be rotatable;

an end effector which is coupled to a link located at the tip end of the articulated manipulator and which is able to open/close in a specific plane where the end effector can move;

a camera supported by the rotating portion, for recognizing an object; and

an actuator for rotating the rotating portion,

wherein, when the end effector performs a grip work of gripping the object, the actuator causes the rotating portion to rotate such that the camera is arranged in a direction perpendicular to the plane where the end effector can move in a case where the object comprises a rigid body, and the actuator causes the rotating portion to rotate such that the camera is arranged in a direction parallel to the plane where the end effector can move in a case where the object comprises a flexible body.

5. A manipulator with at least one camera, comprising:

an articulated manipulator coupled with multiple links together;

a rotating portion which is arranged to one of a link located at a tip end of the articulated manipulator and a second link from the tip end thereof and which is rotatable coaxially with the link located at the tip end of the articulated manipulator;

an end effector which is coupled to the link located at the tip end of the articulated manipulator and which is able to open/close in a specific plane where the end effector can move;

a camera supported by the rotating portion, for recognizing an object; and

an actuator for rotating the rotating portion,

wherein the actuator causes the rotating portion to rotate such that the camera is arranged in a direction parallel to the plane where the end effector can move when the end effector performs one of an assembly work and an arrangement work, and the actuator causes the rotating portion to rotate such that the camera is arranged in a direction perpendicular to the plane where the end effector can move when the end effector performs an inspection work of inspecting one of an assembled state and an arranged state of the object.