Micro-operation device

Abstract

To ensure a sufficient range of motion for fine work while minimizing changes in the position where the work is performed. [Solution] The control unit 70 of the micro-working device 1 receives a movement input for the tip position of the micro-working manipulator 10, which is the operating position for micro-working. Using the operating position as the target position, it calculates the amount of drive for the micro-working manipulator 10 and the robot unit 20 and controls the operation of the micro-working manipulator 10 and the robot unit 20 based on the amount of drive.

Claims

1. A device for performing fine work on an object, The aforementioned fine work apparatus comprises a fine work manipulator for performing the fine work, a robot unit, and a control device for controlling the fine work manipulator and the robot unit. The aforementioned fine work manipulator comprises a base, an end effector for handling the work object or work tool, and a link disposed between the base and the end effector, and has a link mechanism that allows the relative three-dimensional coordinate position and rotation angle of the tip of the end effector with respect to the base to be variable. The robot section supports the base, and the three-dimensional coordinate position and rotation angle of the base are variable. The control device calculates control quantities for the robot section and the link mechanism in order to set the three-dimensional coordinate position and rotation angle of the tip of the end effector to the target values. The control device performs control to drive the robot unit and move the base of the fine work manipulator based on the calculated control amount for the robot unit. The control device performs control to drive the link mechanism based on the calculated control amount for the link mechanism. A fine work device in which, when predetermined conditions are met, the control device calculates control amounts for the robot section and the link mechanism in order to change the three-dimensional coordinate position and rotation angle of the base without changing the three-dimensional coordinate position and rotation angle of the tip of the end effector, and to change the relative three-dimensional coordinate position and rotation angle of the tip of the end effector with respect to the base.

2. A fine work apparatus according to claim 1, In the link mechanism, the degrees of freedom of the relative three-dimensional coordinate position and rotation angle of the tip of the end effector with respect to the base are 3 or more. A fine work device in which the degrees of freedom of the three-dimensional coordinate position and rotation angle of the base by the robot section are lower than the degrees of freedom of the three-dimensional coordinate position and rotation angle of the tip of the end effector relative to the base in the link mechanism.

3. The fine work apparatus according to claim 2, In the link mechanism, the degrees of freedom for the relative three-dimensional coordinate position and rotation angle of the tip of the end effector with respect to the base are six degrees of freedom, consisting of three translational degrees of freedom and three rotational degrees of freedom. The robot section provides the base with four degrees of freedom in terms of its three-dimensional coordinate position and rotation angle, consisting of one translational degree of freedom and three rotational degrees of freedom, for use in fine work.

4. A fine work apparatus according to claim 1, The aforementioned fine work device further includes a master unit operated by the user, The control device calculates the target three-dimensional coordinate position and rotation angle of the tip of the end effector based on the operation input instructions input by the user operating the master unit. The link mechanism has operational limits regarding the relative three-dimensional coordinate position and rotation angle of the tip of the end effector with respect to the base. The control device determines that the predetermined conditions have been met if the relative three-dimensional coordinate position and rotation angle of the tip of the end effector with respect to the base approaches a threshold value with respect to the operating limit, without changing the three-dimensional coordinate position and rotation angle of the base, thereby making the three-dimensional coordinate position and rotation angle of the tip of the end effector the target.

5. A fine work apparatus according to claim 1, The aforementioned fine work device further includes a master unit operated by the user, A fine work device in which, when the user inputs explicit instructions into the master unit, the control device determines that the predetermined conditions have been met.

6. The fine work apparatus according to claim 5, The master unit is a fine work device that includes a foot switch for the user to input the explicit instructions.

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