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US 9,597,803 B2Granted
Robot device
AssigneeCanon Kabushiki Kaisha
InventorsToshihiko Mimura, Takashi Arai
Life of this patent
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Abstract
Provided is a small-sized robot device having high versatility without decreasing the work efficiency. The robot device includes: an arm; a hand or a tweezer tool that includes a stereo camera for measuring a three-dimensional position of a workpiece, the hand or the tweezer tool performing a work with respect to the workpiece whose three-dimensional position has been measured by the stereo camera; and a connection portion or a hand provided at a distal end of the arm, the connection portion or the hand releasably connecting the hand or the tweezer tool to the arm.
Claims6
A robot device, comprising:
- an end effector tool having:
- a main body,
- a stereo camera provided in the main body to measure a three-dimensional position, and
- guide grooves provided in the main body;
- and
- a robot arm having:
- a robot hand at an end of the robot arm, the robot hand having three hand claws that are movable from three different points toward a center position of the three hand claws,
- wherein the robot hand is configured to separately grip a workpiece by opening and closing operations of the three hand claws, and the end effector tool by gripping the guide grooves so that the end effector tool is electronically connected to the robot arm,
- wherein when the end effector tool is gripped by the three hand claws, the center position of the three hand claws and a center position of the guide grooves are aligned along the same axial line, and the stereo camera is configured to transmit an image taken by the stereo camera through a connection in the robot hand to an image processing apparatus for measuring the three-dimensional position of a workpiece;
- and
- wherein the guide grooves of the end effector tool are not part of the three hand claws of the hand.
8 more elements
Dependencies are inferred from the claim text.