Work device

Abstract

To provide a work device that can be made more compact than a conventional structure and can be reduced in manufacturing cost.SOLUTION: A work device 1 comprises: a direct acting mechanism part 60 having a direct acting actuator with orthogonal two shafts; a rotation mechanism part 80 having a rotary actuator Ra; and an angle control mechanism part 7 having a rotary actuator 10 that positions a work body E at an angle of a rotation 2 degree of freedom, which further comprises a control part 70 that determines positions and angles of the direct acting mechanism part 60, the rotary mechanism part 80, and the angle control mechanism part 7 and gives movement commands to the actuators respectively. Work is performed so that a distance between a position where the work body is mounted on and a work position is equal to a designated value, in accordance with the movement commands from the control part 70. At least either of the rotary mechanism part 80 and the angle control mechanism part 7 is loaded on the direct acting mechanism part 60 so that a relative position between the rotary mechanism part 80 and the angle control mechanism part 7 can be changed, in a state where a rotary shaft C1 of the rotary mechanism part 80 and a base end-side center shaft QA of the angle control mechanism part 7 keep an angle.SELECTED DRAWING: Figure 1

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