JPS58137595A - Robot with hand eye - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to a robot with hand and eyes.

In recent years, painting and welding have become popular in the manufacturing and processing industry.

In response to the demand for complete automation of machining, assembly, inspection, etc., various industrial robots are being actively developed.

These industrial robots have an arm equipped with a mechanical hand that has functions similar to the general 1-1 human hand.
Intelligent robots equipped with visual and tactile functions and capable of autonomous actions have become mainstream.

As a robot with visual accuracy, for example, as shown in FIG.
In recent years, a so-called hand-eye robot has been developed in which only the imaging device 6 or its imaging optical system is attached to obtain the visual information necessary for working with the mechanical hand 1.

However, in such a hand-eye robot, the illumination device 4 for the field of view provided by the imaging device 3 is fixedly installed separately from the robot 5, as shown in FIG. A large number of illumination devices are required to illuminate the entire field of view of the imaging device 6. In addition, the robot's arm 2 sometimes got in the way and obscured the object they were trying to see.

This invention was made in order to solve such problems in robots with hand-eyes, and uses a small number of illumination devices C2 to ensure that the field of view of the imaging device is always sufficiently clear regardless of the movement of the robot's arm. The purpose is to enable lighting.

Therefore, the robot with hand and eyes according to this invention,
An illumination device for illuminating the field of view of an imaging optical system in a photographing device as a hand eye is installed on the arm (2) The above object is achieved.

Hereinafter, the present invention will be described in detail with reference to FIG. 2 and subsequent figures of the accompanying drawings.

FIG. 2 and FIG. 6 are a side view and a front view of the hand-eye robot according to the present invention as seen from the direction of arrow A.

In these figures, reference numeral 11 denotes a shoulder portion rotatably mounted on the robot body (not shown), and a shaft 1 is attached to this shoulder portion 11.
2 rotatably supports the base end portion of the first arm 16. A base end of a second arm 15 is rotatably supported at the free end of the first arm 16 by a shaft 14, and a third arm 17 is rotatably supported at the tip of the second arm 15 by a shaft 16. A mechanical hand 19 is rotatably mounted on the tip of the third arm 17 via a shaft 18.

These shoulders 11. First arm 13, 127-arm 15.
Third arm 17. Similarly to a normal robot, the mechanical hand 19 is driven by a drive mechanism (not shown) based on a control command from a robot body (not shown).

And the third arm 1 equipped with the mechanical hand 19
A photographing optical system 20 of a television camera as a photographing device is attached to the upper surface of the camera 7. Furthermore, illumination devices 21 and 22 are attached to both sides of the third arm 17 to illuminate the field of view of the photographing optical system 20.

In the second text and FIG. 6, the illumination light fluxes of the illumination devices 21 and 22 are shown with diagonal lines, and the dashed-dotted line indicates the optical axis of the photographing optical system.

In this embodiment, the television camera body is provided in the robot body (not shown), and the imaging light beam from the photographing optical system is guided to the television camera body by a fiber scope. There is no problem if you install it.

For example, as shown in FIG. 4, the illumination devices 21 and 22 include a built-in unit provided with two light bulbs 24 and a convex lens 25 for condensing light, in a truncated conical cylinder 26 for regulating the intensity of illumination. There is.

FIG. 5 shows another embodiment of the illumination device, in which a light bulb 27 and two fiberscope bundles 2 are housed in a sealed cylinder 26.
8. The end faces of 29 are arranged facing each other, and a convex lens 6 is placed between them.
0 is installed, and the light emitted from the light bulb 27 is guided out of the cylinder body 26. It is provided in the arm or in another arm to guide the phino (scope bundle 28, 29 around the photographing optical system,
Fix the distal end face toward the photographic field of view.

In this way, only one light source is required, and by increasing the number of fiberscope bundles, illumination can be performed from any direction.

As explained in the embodiments below, the hand-eye robot according to the present invention has at least the photographing optical system of the hand-eye and its illumination device attached to the arm (two), so it is difficult to (The relative positional relationship between the photographing optical system and the illumination device does not change even after two turns, so /h
Even with several illumination devices, the field of view of the photographing optical system is always sufficiently illuminated, and the visual information necessary for working with the mechanical hand can be reliably obtained.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram showing an example of a conventional robot with hand eyes and its illumination device. FIG. 2 is a side view of a portion beyond the shoulder of a robot with hand eyes showing an embodiment of the present invention. Fig. 6 is a front view similarly seen from the direction of arrow A in Fig. 2, Fig. 4 is a plan view of the main part similarly showing one illumination device in cross section, and Fig. 5 is used in the present invention. It is a sectional view showing other examples of a lighting device. DESCRIPTION OF SYMBOLS 11... Shoulder part 16... First arm 15... Second arm 17... Third arm 19... Mechanical hand 20... Photographing optical system, 21.22...
lighting equipment

Claims (1)

[Claims] 1 At least an imaging optical system of an imaging device is attached to an arm that is equipped with a mechanical hand, and a robot with a hand eye designed to obtain necessary visual information is placed on the arm (= A robot with hand eyes, characterized by being equipped with an illumination device that illuminates the field of view of the imaging optical system.