JPS5893489U - Master-slave type manipulator - Google Patents

Master-slave type manipulator

Info

Publication number
JPS5893489U
JPS5893489U JP18992781U JP18992781U JPS5893489U JP S5893489 U JPS5893489 U JP S5893489U JP 18992781 U JP18992781 U JP 18992781U JP 18992781 U JP18992781 U JP 18992781U JP S5893489 U JPS5893489 U JP S5893489U
Authority
JP
Japan
Prior art keywords
pair
master
slave type
type manipulator
images
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP18992781U
Other languages
Japanese (ja)
Other versions
JPS6137510Y2 (en
Inventor
能木　貞治
松尾　友靖
Original Assignee
株式会社明電舎
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社明電舎 filed Critical 株式会社明電舎
Priority to JP18992781U priority Critical patent/JPS5893489U/en
Publication of JPS5893489U publication Critical patent/JPS5893489U/en
Application granted granted Critical
Publication of JPS6137510Y2 publication Critical patent/JPS6137510Y2/ja
Granted legal-status Critical Current

Links

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【図面の簡単な説明】[Brief explanation of drawings]

第１図は従来のマスタースレーブ形マニプレータの操作
原理を表す作業概念図、第２図は本考案ニヨルマスター
スレーブ形マニプレータの一実施例の制御原理図、第３
図は一実施例の側面図、第４図はその平面図、第５図は
その正面図、第６図は画像合成装置の原理図、第７図は
画像合成装置の一例の正面図である。 図面中、１１は作業対象物、１２は作業ロボット、１３
は作業者、１４は操作ロボット、１５は追従装置、１６
．１７は工業用テレビカメラ、１８は視線追従装置、１
９は画像合成装置、２０は立体虚像、２２はミラーハウ
ジング、２３゜２４は受像管、２５．２６は受像管の画
像面、２７．２８は反射板、２９．３０は半透明鏡であ
る。Fig. 1 is a working conceptual diagram showing the operating principle of a conventional master-slave type manipulator, Fig. 2 is a control principle diagram of an embodiment of the master-slave type manipulator of the present invention, and Fig. 3
The figure is a side view of one embodiment, FIG. 4 is a plan view thereof, FIG. 5 is a front view thereof, FIG. 6 is a principle diagram of the image synthesizing device, and FIG. 7 is a front view of an example of the image synthesizing device. . In the drawing, 11 is a work object, 12 is a work robot, 13
is a worker, 14 is an operating robot, 15 is a follow-up device, 16
．． 17 is an industrial television camera, 18 is a line-of-sight tracking device, 1
9 is an image synthesis device, 20 is a three-dimensional virtual image, 22 is a mirror housing, 23.degree. 24 is a picture tube, 25.26 is an image plane of the picture tube, 27.28 is a reflector, and 29.30 is a semi-transparent mirror.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 相互に平行に配置され且つ一体的に移動して作業対象物
を撮像する一対の撮像装置と、この撮像装置による前記
作業対象物の二つの画像を上方に導（一対の下向きの受
像管と各受像管による画像を中央に導く一対の反射鏡及
び各反射鏡からの画像を合成して立体虚像を得る立体鏡
を具えた画像合成装置と、作業者によって操作され且つ
前記立体虚像に対して作業する操作ロボットと、この操
作ロボットの動作に追従し且つ前記作業対象物に対して
作業を行なう作業ロボットと、前記作業者の頭部に固定
され且つこの頭部の動きを前記撮像装置に追従させる視
線追従装置とからなるマスタースレーブ形マニプレータ
。A pair of imaging devices arranged parallel to each other and moving integrally to take images of the workpiece; and a pair of downward-facing picture tubes and a an image synthesizing device comprising a pair of reflecting mirrors that guide images from a picture tube to the center and a stereoscopic mirror that synthesizes images from each reflecting mirror to obtain a three-dimensional virtual image; a working robot that follows the movements of the operating robot and works on the work object; and a working robot that is fixed to the head of the worker and causes the imaging device to follow the movement of the head. A master-slave type manipulator consisting of a line-of-sight tracking device.
JP18992781U 1981-12-19 1981-12-19 Master-slave type manipulator Granted JPS5893489U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP18992781U JPS5893489U (en) 1981-12-19 1981-12-19 Master-slave type manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP18992781U JPS5893489U (en) 1981-12-19 1981-12-19 Master-slave type manipulator

Publications (2)

Publication Number Publication Date
JPS5893489U true JPS5893489U (en) 1983-06-24
JPS6137510Y2 JPS6137510Y2 (en) 1986-10-30

Family

ID=29994193

Family Applications (1)

Application Number Title Priority Date Filing Date
JP18992781U Granted JPS5893489U (en) 1981-12-19 1981-12-19 Master-slave type manipulator

Country Status (1)

Country Link
JP (1) JPS5893489U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58128433U (en) * 1982-02-25 1983-08-31 株式会社明電舎 Line-of-sight tracking device in master-slave type manipulator
JPH05328408A (en) * 1992-05-26 1993-12-10 Olympus Optical Co Ltd Head mounted display device
JPH0662438A (en) * 1992-08-14 1994-03-04 Olympus Optical Co Ltd Stereoscopic image observation system

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57191180U (en) * 1981-05-29 1982-12-03

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57191180U (en) * 1981-05-29 1982-12-03

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58128433U (en) * 1982-02-25 1983-08-31 株式会社明電舎 Line-of-sight tracking device in master-slave type manipulator
JPH05328408A (en) * 1992-05-26 1993-12-10 Olympus Optical Co Ltd Head mounted display device
JPH0662438A (en) * 1992-08-14 1994-03-04 Olympus Optical Co Ltd Stereoscopic image observation system

Also Published As

Publication number Publication date
JPS6137510Y2 (en) 1986-10-30

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