Manipulator with camera
First Claim
1. A manipulator with at least one camera, comprising:
- an articulated manipulator coupled together with multiple links;
a rotating portion provided 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;
a camera supported by the rotating portion; 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 moves a position of the camera with respect to a position of the end effector, and the actuator causes the rotating portion to rotate such that the camera is arranged at a position to view the end effector.
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Accused Products
Abstract
Provided is a manipulator with 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.
18 Citations
5 Claims
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1. A manipulator with at least one camera, comprising:
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an articulated manipulator coupled together with multiple links; a rotating portion provided 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; a camera supported by the rotating portion; 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 moves a position of the camera with respect to a position of the end effector, and the actuator causes the rotating portion to rotate such that the camera is arranged at a position to view the end effector. - View Dependent Claims (2)
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3. A manipulator with at least one camera, comprising:
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an articulated manipulator coupled together with multiple links; 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 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; a camera supported by the rotating portion; 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.
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4. A manipulator with at least one camera, comprising:
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an articulated manipulator coupled together with multiple links; 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; a camera supported by the rotating portion; 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.
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5. A manipulator with at least one camera, comprising:
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an articulated manipulator coupled together with multiple links; 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; a camera supported by the rotating portion; 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.
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Specification