Title:
WORK DEVICE
Document Type and Number:
Japanese Patent JP2020039397
Kind Code:
A
Abstract:
To improve reliability in force detection sensors arranged in a treatment device.SOLUTION: A treatment device 1 includes a treatment head 3, a robot arm 2, a force sensor 23, a direct operation section 24, a force sensor 25, and a control section 5. The treatment head 3 radiates a convergent ultrasonic wave. The robot arm 2 holds the treatment head 3 and changes a position and a posture of the treatment head 3. The force sensor 23 detects force to be applied to the treatment head 3. The direct operation section 24 is gripped by a worker in order to manually operate the robot arm 2. The force sensor 25 detects force to be applied to the direct operation section 24. The control section 5 estimates force detected by the force sensor 23 on the basis of a detection result by the force sensor 25. The control section 5 determines whether at least one of the force sensors 23, 25 is abnormal by comparing an estimation result with a detection result by the force sensor 23.SELECTED DRAWING: Figure 2
Inventors:
INADA MASAO
UEYAMA TAKESHI
UEYAMA TAKESHI
Application Number:
JP2018166908A
Publication Date:
March 19, 2020
Filing Date:
September 06, 2018
Export Citation:
Assignee:
DENSO CORP
International Classes:
A61B17/00; A61B34/30; B25J19/06
Attorney, Agent or Firm:
Nagoya International Patent Service Corporation