Robot System Equipped with a Tool, Camera and Light Source
A robot system comprises one or more tools ( 5, 15 ), a camera ( 9 ) and a light source ( 13 ), which can be moved independent of the camera ( 9 ), in order to illuminate the field of vision of the camera from different directions.
1 . A robot system equipped with one or more tools ( 5 , 15 ), a camera ( 9 ) and a light source ( 13 ) for illuminating the filed of view of the camera ( 9 ), wherein the light source ( 13 ) and the camera ( 9 ) can be moved independently of one another in order to illuminate the filed of view from different directions.
2 . The robot system as claimed in claim 1 , wherein a subassembly that comprises the camera ( 9 ) and the light source ( 13 ) as well as at least a first adjusting device ( 10 , 11 , 12 ) for moving camera ( 9 ) and the light source ( 13 ) relative to one another can be moved by a second adjusting device ( 8 ) with reference to a common base.
3 . The robot system as claimed in claim 2 , wherein one of the camera ( 9 ) and light source ( 3 ) is firmly connected to the second adjusting device ( 8 ).
4 . The robot system as claimed in claim 2 , wherein a subassembly that comprises the camera ( 9 ) and at least one of the tools ( 15 ) as well as at least one third adjusting device ( 14 ) for moving camera ( 9 ) and tool ( 15 ) relative to one another can be moved by a fourth adjusting device ( 8 ) with reference to a common base.
5 . The robot system as claimed in claim 4 , wherein one of the camera ( 9 ) and tool ( 15 ) is firmly connected to the fourth adjusting device ( 8 ).
6 . The robot system as claimed in claim 4 , wherein the tools ( 5 , 15 ) include at least a gripping tool ( 15 ) and a further tool ( 5 ).
7 . The robot system as claimed in claim 6 , wherein the number of degrees of freedom with which the gripping tool ( 15 ) and the camera ( 9 ) can be moved with reference to one another is greater than the number of degrees of freedom of the camera ( 9 ) and the gripping tool ( 15 ) with reference to a stationary part of the robot system.
8 . A robot system equipped with
one or more tools ( 5 , 15 ) for manipulation of a workpiece ( 6 ),
a camera ( 9 ) for detecting the geometric characteristics of the workpiece, the camera having a field of view, and
a light source ( 13 ) for illuminating the filed of view of the camera ( 9 ), wherein the light source ( 13 ) and the camera ( 9 ) are moveable independently of one another in order to illuminate the filed of view from different directions.
9 . The robot system as claimed in claim 8 , wherein a subassembly that comprises the camera ( 9 ) and the light source ( 13 ) as well as at least a first adjusting device ( 10 , 11 , 12 ) for moving camera ( 9 ) and the light source ( 13 ) relative to one another is moveable by a second adjusting device ( 8 ) with reference to a common base.
10 . The robot system as claimed in claim 9 , wherein one of the camera ( 9 ) and light source ( 3 ) is firmly connected to the second adjusting device ( 8 ).
11 . The robot system as claimed in claim 9 , wherein a subassembly that comprises the camera ( 9 ) and at least one of the tools ( 15 ) as well as at least one third adjusting device ( 14 ) for moving camera ( 9 ) and tool ( 15 ) relative to one another can be moved by a fourth adjusting device ( 8 ) with reference to a common base.
12 . The robot system as claimed in claim 11 , wherein one of the camera ( 9 ) and tool ( 15 ) is firmly connected to the fourth adjusting device ( 8 ).
13 . The robot system as claimed in claim 11 , wherein the tools ( 5 , 15 ) include at least a gripping tool ( 15 ) and a further tool ( 5 ).
14 . The robot system as claimed in claim 13 , wherein the number of degrees of freedom with which the gripping tool ( 15 ) and the camera ( 9 ) can be moved with reference to one another is greater than the number of degrees of freedom of the camera ( 9 ) and the gripping tool ( 15 ) with reference to a stationary part of the robot system.