Robot Mounting

All Zivid 3D camera models can be mounted on a robot. However, Zivid Two is especially suited for on-arm mounting because of its compact size, light weight, capture speed, and specialized field of view.

Zivid On-Arm Mount

Zivid On-Arm Mount is a mount for attaching a Zivid camera to industrial and collaborative robots. It is compatible with Zivid One+ and Zivid Two cameras.

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There are four variants of the Zivid On-Arm Mount:

  • ZVDA-MNT-OA111

    • Straight camera bracket

    • Flange adapter compatible with ISO 9409-1-50-4-M6 (UR, Omron, Doosan, ++)

  • ZVDA-MNT-OA121

    • 15-degree tilt on camera bracket (recommended when using grippers that can create occlusion)

    • Flange adapter compatible with ISO 9409-1-50-4-M6 (UR, Omron, Doosan, ++).

  • ZVDA-MNT-OA211

    • Straight camera bracket

    • Flange adapter compatible with ISO 9409-1-63-4-M6 (Yaskawa, Kawasaki, ++)

  • ZVDA-MNT-OA221

    • 15-degree tilt on camera bracket (recommended when using grippers that can create occlusion)

    • Flange adapter compatible with ISO 9409-1-63-4-M6 (Yaskawa, Kawasaki, ++)

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The datasheet and user guide in PDF and CAD files can be found at Accessories Downloads.

Mounting Instructions

In the box, you will find a camera bracket, strain relief for cable management, a robot flange adapter, and mounting screws.

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The following tools are required for installation:

  • Torx 20, 25, and 30

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Install the robot adapter using four screws (not supplied with the mount). Check appropriate robot documentation for recommended screw type and torque values. We recommend using screws in stainless steel (A2 or A4).

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Install the optional strain relief.

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Tip

The strain relief protects the camera connectors if the cables get entangled by minimizing the risk of force being exerted directly on the cable connectors, physically damaging them. The strain relief component will help channel the unwanted force coming from entangled cables into the robot arm, giving it a chance to stop movement. In addition to the strain relief, use an adequate cable management system, e.g., Igus Cable Management Solutions.

Mount the camera bracket.

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Note

Since the camera mounting bracket is symmetrical, it is possible to mount it backwards (with the arrow on the camera bracket pointing backwards). This leaves more space between the gripper and the camera.

Mount the camera by sliding the camera bracket onto the rails of the robot adapter.

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Attach cables and guide them through the strain relief. The cable clamp is designed for 5-7 mm diameter cables.

Tip

Power and Ethernet cables with angled 90 degree connectors fit well with the Zivid On-Arm Mount.

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Zivid On-Arm Mount Extender

Zivid On-Arm Mount Extender is a separate (optional) product that adds mounting flexibility. There are two variants of the extender:

  • ZVDA-MNT-OA01E

    • Compatible with ISO9409-1-50-4-M6 flanges (UR, Omron, Doosan, ++)

  • ZVDA-MNT-OA02E

    • Compatible with ISO9409-1-63-4-M6 flanges (Yaskawa, Kawasaki, ++)

The extender comes with stainless steel mounting screws.

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The datasheet can be found at Accessories Downloads.

Why use Zivid On-Arm Mounting solution?

Lightweight

Zivid On-Arm mount is light weight, designed to have a low impact on the carrying capacity of the robot arm, which is especially important for collaborative robots and more miniature industrial robots. This allows for heavier tools and grippers to be used as well as getting the most payload possible from the system.

Modularity

One camera bracket fits all our camera models, and replacing the camera is possible without complete disassembly.

Integrated cable management

Zivid On-Arm Mount has a strain relief on the camera end, which protects the connectors in case of cable entanglement. It can be installed at the back of the camera or to either side, allowing for adaptability to each unique mounting scenario.

Occlusion prevention

Two camera bracket options give the choice of flat or 15-degree tilted mounting, suitable for large grippers that occlude the camera view.

Flexibility and collision prevention

Since it has a low profile, Zivid On-Arm Mount reduces the risk of collision with other objects and provides good clearance of gripper and robot arm. Extender(s) and flexible configuration allow for multiple mounting poses, e.g., the camera bracket can be oriented in two ways. Such setups enable the camera to stay clear of large grippers and gain headroom for challenging robot movement, thus preventing self-collision. Mounting the tilted camera bracket in backward orientation makes the camera look more towards the gripper, potentially reducing the required robot motion.

Adaptability

Since it comes in multiple variants, Zivid On-Arm Mount supports various robots. In addition, its modular design allows for easy customization of the adapter to fit more robots.

For additional collision protection, check out the Zivid Two Protective Housing.

Continue reading about Tripod Mounting.