| 摘要 |
PURPOSE:To make all visual fields photographable by installing a first driving means for moving and controlling a photographing part in a direction almost orthogonal with in the axial direction along an outer circumferential part of an arm part of a manipulator and also a second driving means for controlling a position of the photographing part in interlocking with this first driving means. CONSTITUTION:A photographing part 15 is driven in reverse via a driving gear 12, a driven gear 14 or the like, and its position is kept constant. In this state, a guided part 17b of a driving mechanical part 13 is moved rotationally as being slidden along a guide part 17a installed in an outer circumferential part of an arm part 10 of a manipulator, and the photographing part 15 as one body with this guided part 17b is controlled in movement along the outer circumferential part of the arm part 10. With this, a photographing dead angle of the photographing part 15 is eliminated, thus such a stable image as having no reversal in all visual fields is photographable. In consequence, handling operability for the manipulator is thus improvable. |
