Device for fine work
AssigneeF.Med Co., Ltd.
InventorSusumu Oguri
Life of this patent
Estimating the term…
Abstract
An operating range for fine work while suppressing, as much as possible, variations of the position at which the fine work is performed. A control unit of a fine work device: accepts input of the movement of a position of a tip of a fine work manipulator, the position being a fine-work operating position; calculates, with the operating position serving as a target position, driving amounts for the fine work manipulator and a robot unit, and controls operations of the fine work manipulator and the robot unit on the basis of the driving amounts.
Claims16
A device for fine work executing a predetermined operation relating to fine work with respect to an object of work, in place of a person, wherein
- the device for fine work has a fine work manipulator that is configured to perform the fine work and that has a predetermined operating range, a robot unit that is configured to support the fine work manipulator and that has a wider operating range than the operating range of the fine work manipulator, and a control device that is configured to control driving of the fine work manipulator and the robot unit, and
- the control device accepts input of movement of a tip position of the fine work manipulator, which is an operating position of the fine work, and, with the operating position being a target position, calculates drive amounts of the fine work manipulator and the robot unit, and controls operation of the fine work manipulator and the robot unit on the basis of the drive amounts,
- wherein, when judging that the fine work manipulator is to reach the operating range when the fine work manipulator is caused to operate up to the tip position of the fine work manipulator by the fine work manipulator alone, the control device calculates the drive amounts of the fine work manipulator and the robot unit, with the operating position being the target position, and controls operations of the fine work manipulator and the robot unit on the basis of the drive amounts.
A device for fine work executing a predetermined operation relating to fine work with respect to an object of work, in place of a person, wherein
- the device for fine work has a fine work manipulator that is configured to perform the fine work and that has a predetermined operating range, a robot unit that is configured to support the fine work manipulator and that has a wider operating range than the operating range of the fine work manipulator, and a control device that is configured to control driving of the fine work manipulator and the robot unit, and
- the control device accepts input of movement of a tip position of the fine work manipulator, which is an operating position of the fine work, and, with the operating position being a target position, calculates drive amounts of the fine work manipulator and the robot unit, and controls operation of the fine work manipulator and the robot unit on the basis of the drive amounts,
- wherein the fine work manipulator includes
- a parallel link mechanism of a plurality of degrees of freedom that is three or more degrees of freedom, the parallel link mechanism having:
- a base that is supported at a predetermined location in a space in which the object of work is present;
- an end effector that handles the object of work or working equipment;
- and a plurality of links disposed in parallel between the base and the end effector, a position and an orientation of the end effector being variable with respect to the base within a predetermined range,
- the parallel link mechanism causes linear movement of one end portion of each of the links by a plurality of linear actuators supported by the base, thereby moving the end effector linked to another end portion of each of the links
- the parallel link mechanism has an initial position that is a symmetrical position with respect to a center axis of the fine work manipulator, and
- when judging that the fine work manipulator is to reach the operating range, the control device calculates the drive amount of the fine work manipulator so as to cause the parallel link mechanism to move to the initial position, and also calculates the drive amount of the robot unit so that the tip position of the fine work manipulator at that point in time does not move.
Dependencies are inferred from the claim text.