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FINE WORK ASSISTANCE SYSTEM AND FINE WORK MANIPULATOR

外国特許コード F170009071
整理番号 (S2016-0670-N0)
掲載日 2017年5月29日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2016JP082468
国際公開番号 WO 2017078022
国際出願日 平成28年11月1日(2016.11.1)
国際公開日 平成29年5月11日(2017.5.11)
優先権データ
  • 特願2015-217912 (2015.11.5) JP
発明の名称 (英語) FINE WORK ASSISTANCE SYSTEM AND FINE WORK MANIPULATOR
発明の概要(英語) A fine work assistance system wherein parallel link mechanisms having multiple degrees of freedom are used in a slave manipulator operated via master operations to appropriately perform fine movements corresponding to microsurgery, or the like, by remote control, thus enabling a reduction in the burden on an operator. Parallel link mechanisms having multiple degrees of freedom are used as link mechanisms that enable an end effector (22) to move with respect to a base (21) in a slave unit (20) of a master-slave manipulator, and the slave unit (20) is operated according to the operation of the master unit by a user by using a hydraulic drive mechanism to drive a tip operation unit so as to move the end effector (22) by moving one end of each link by means of a plurality of linear actuators (24) supported by the base (21), thus enabling precise movements of the end effector (22) to be achieved. Even under remote control by the user, various operations associated with fine work can be performed by the end effector (22), and operability is improved, thereby reducing the burden on the user.
特許請求の範囲(英語) [claim1]
1. It possesses the manipulator of master slave system, corresponding to the operation input of the user for the master section of the particular manipulator, the slave section it executes the specified operation which relates to minute job vis-a-vis the job object, in the minute job support system,
The image pickup section which the aforementioned job object image pickup is done and,
Expanding the picture of the job object which is acquired in the particular image pickup section, in the user recognition the indicatory department which in possibly is indicated having,
The aforementioned slave section, possessing with the ended effector which handles the base and the job object or the job instrument tool which are supported in the specified place in the space where the job object exists and the aforementioned base and the plural links which are arranged in parallel between the ended effectors, it makes the position and direction of the ended effector variable inside the specified range vis-a-vis the base, having the parallel link mechanism plural degree of freedom of 3, or more it becomes,
The particular parallel link mechanism, the straight line making the link one end each every link move with the plural linear actuators which are supported in the base, moves the ended effector which is connected with each link other end,
The aforementioned ended effector, difference effector from the movement of the whole end by the parallel link mechanism, 1 or the liquid pressure drive which generates the movement which handles the aforementioned job object or job instrument tool of the advanced operation section and the particular advanced operation section which execute the job object or the handling of job instrument tool with the movement plural degree of freedom possessing,
While the aforementioned master section, movement possibly supporting the operation input section in same as the operation input section and the aforementioned parallel link mechanism which receive the operation of the user degree of freedom, position of the operation input section and information of direction with the plural sensors acquisition the support mechanism section which is made possible possessing,
The aforementioned operation input section, the operation of moving input section the whole operation corresponding to the specified operation of the user who becomes independent, as it possesses the input device which makes the liquid pressure change of the hydraulic fluid cause, particular input device and as circulation possibility the liquid pressure drive in the ended effector of the slave section, via the tube it is connected the hydraulic fluid,
The aforementioned liquid pressure drive, receiving the liquid pressure change of the hydraulic fluid which accompanies the operation of the aforementioned input device of the user in the operation input section, operating the aforementioned advanced operation section
The minute job support system which is made feature.
[claim2]
2. In the aforementioned claim 1 in the minute job support system of statement,
As the linear actuator of the aforementioned slave section, designates the coil as portion of the needle, the permanent magnet is designated as portion of the stator, it makes the linear motor of coil movable type,
The aforementioned needle, has with the coil of installation and others re ru cylindrical arrangement as one unit in the direct dynamic slider and the particular direct dynamic slider which distribution facilities are done as rectilinear movement possible vis-a-vis the aforementioned base, the particular coil, coil axial direction is arranged with the direction which is made parallel with slider portable direction,
The aforementioned stator, has the cylindrical permanent magnet which is shorter than the aforementioned coil, the particular permanent magnet, agreeing the coil and tube axial direction, being locked to the aforementioned base at the same time the coil the tube inner spatial part of the permanent magnet as an arrangement state where movement possibly it penetrates,
The minute job support system which is made feature.
[claim3]
3. In the aforementioned claim 2 in the minute job support system of statement,
As the aforementioned linear actuator while each linear motor, making the respective needle portable direction parallel mutually, around the specified hypothetical centerline which becomes parallel with particular needle portable direction, with the arrangement which is side where the inside coil of the needle is closest to the aforementioned hypothetical centerline the common spoon re te, distribution facilities being done in the base, it becomes,
At the same time each linear motor, around the coil possessing the magnetic sealed component of the specified cross section which is arranged over the coil movable range respectively, at least covering each coil with the magnetic sealed component vis-a-vis the other coil
The minute job support system which is made feature.
[claim4]
4. The aforementioned claim in either 1 or 3 in the minute job support system of statement,
The parallel link mechanism of the aforementioned slave section, six or more arranging the linear actuator and link in parallel, making the mechanism 6 degree of freedom or more
The minute job support system which is made feature.
[claim5]
5. The aforementioned claim in either 1 or 4 in the minute job support system of statement,
The ended effector of the aforementioned slave section, the specified range part which at least includes the aforementioned advanced operation section vis-a-vis the connected part which it is connected with the plural link other ends in the parallel link mechanism, separation making interchangeable
The minute job support system which is made feature.
[claim6]
6. In the aforementioned claim 5 in the minute job support system of statement,
Providing the cover of the seat condition which covers section all slaves excludes the separated interchangeable aforementioned specified range part vis-a-vis the connected part of the aforementioned ended effector,
The aforementioned specified range part of the ended effector, even in cover distribution facilities state in the aforementioned joint part installation and removal making possible
The minute job support system which is made feature.
[claim7]
7. The aforementioned claim in either 1 or 6 in the minute job support system of statement,
Input device of the aforementioned operation input section, corresponding to the movement of the built-in piston which reciprocating is done attendant upon the operation of the user, having the liquid pressure cylinder mechanism where volume of compartment hydraulic fluid inside the cylinder changes,
Particular liquid pressure cylinder mechanism, adjusting to the movement of the built-in piston, while becoming deformed, inside the cylinder dividing with into the territory and the hydraulic fluid room which have the built-in piston, possessing the built-in piston and the rolling diaphragm which maintains the liquid dense state between the hydraulic fluid rooms
The minute job support system which is made feature.
[claim8]
8. The aforementioned claim in either 1 or 7 in the minute job support system of statement,
Damping force as a reaction force vis-a-vis the control force which it tries that the support mechanism section of the aforementioned master section, will make the operation input section of the user move, occurrence possessing the braking section which is made possible,
The particular braking section, corresponding to the operation to the operation input section of the user, in order to grant specified damping force vis-a-vis the further operation when the ended effector of the slave section which is moved reaches to movable limited position, of trying probably to move the operation input section of the master section to the territory where it corresponds outside the movable limit of slave section side, operating
The minute job support system which is made feature.
[claim9]
9. In place of the person in the manipulator for the minute work of executing the specified operation which relates to minute job vis-a-vis the job object,
Possessing with the ended effector which handles the base and the job object or the job instrument tool which are supported in the specified place in the space where the job object exists and the aforementioned base and the plural links which are arranged in parallel between the ended effectors, it makes the position and direction of the ended effector variable inside the specified range vis-a-vis the base, having the parallel link mechanism plural degree of freedom of 3 or more,
The particular parallel link mechanism, the straight line making the link one end each every link move with the plural linear actuators which are supported in the base, moves the ended effector which is connected with each link other end,
The aforementioned ended effector, difference from the entire movement by the parallel link mechanism, 1 or the liquid pressure drive which generates the movement which handles the aforementioned job object or job instrument tool of the advanced operation section and the particular advanced operation section which execute the job object or the handling of job instrument tool with the movement plural degree of freedom possessing,
Giving the liquid pressure change of the hydraulic fluid from outside vis-a-vis the aforementioned liquid pressure drive, making the movement cause which handles the aforementioned job object or job instrument tool of the aforementioned advanced operation section
The manipulator for minute job which is made feature.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • KYUSHU UNIVERSITY
  • 発明者(英語)
  • OGURI SUSUMU
  • HASHIZUME MAKOTO
  • MURATA MASAHARU
国際特許分類(IPC)
指定国 (WO201778022)
National States: AE AG AL AM AO AT AU AZ BA BB BG BH BN BR BW BY BZ CA CH CL CN CO CR CU CZ DE DJ DK DM DO DZ EC EE EG ES FI GB GD GE GH GM GT HN HR HU ID IL IN IR IS KE KG KN KP KR KW KZ LA LC LK LR LS LU LY MA MD ME MG MK MN MW MX MY MZ NA NG NI NO NZ OM PA PE PG PH PL PT QA RO RS RU RW SA SC SD SE SG SK SL SM ST SV SY TH TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
EPO: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN ST TD TG
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