FIELD OF THE INVENTION |
The prent invention relates to a manipulator such as a minute component asmbly apparatus which asmbles a minute object such as a micromachine component or unit by using a magnifying obrvation device such as an optical microscope, electron microscope, or scanning tunneling microscope, or a compact manipulator apparatus which performs diagnosis, medical treatment, rearch, biological production, or the like by physically manipulating, for example, minute tissues, cells, or genes of a living body and a minute object manipulating apparatus using the manipulator. |
BACKGROUND OF THE INVENTION |
There have been known a technique of controlling the posture of a manipulating member (end-effector) by rotating a general size arm using a general size bearing and a technique of performing a necessary process on a minute work in a working device by rotating an arm or tool along an arcuated guide (e, for example, Japane Patent Laid-Open No. 7-256575). |
In a conventional apparatus like tho described above, if the distal end of an end-effector is not located on the rotation axis of a bearing or arcuated guide, the distal end of the end-effector moves out of the visual field or depth of focus of a microscope due to posture control operation. This makes it necessary to position the microscope and the distal end of the end-effector again. As described above, in a manipulator which manipulates a minute object, when the posture of the end-effector at the distal end is controlled, the manipulation target object often moves out of the visual field of the microscope. In a conventional manipulator having three degrees of rotational freedom, in particular, since the rotation axes corresponding to the respective degrees of freedom do not coincide with each other and do not cross at one point, the distal end of the end-effector tends to move out of the visual field or depth of focus of the microscope due to posture control operation. In such a ca, the microscope and the distal end of the end-effector must be positioned again. This operation requires a long period of time. israeli>环保材料做的衣服 | attack是什么意思
SUMMARY OF THE INVENTION |
It is an object of the prent invention to provide a manipulator such as a compact manipulator apparatus which solves the above problems and manipulates a minute target object, and a minute object manipulating apparatus or the like using the manipulator. |
In order to achieve the above object, according to the prent invention, there is provided a manipulator comprising: a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes; all the plurality of free rotation axes crossing at one point; and, a manipulation distal end portion of the manipulating member being placed near the interction. |
According to this arrangement, the manipulator has a mechanism in which a plurality of (typically three) free rotation axes cross at one point, and the distal end portion of a manipulating member (end-effector) which manipulates a manipulation target object is placed near the interction. With this structure, even if, for example, the posture of the end-effector is changed, its distal end portion can be made to remain within the visual field of a microscope. |
The following embodiment can be provided on the basis of the above basic arrangement. |
According to an embodiment of the prent invention, the manipulating member is integrally mounted on a spherical shell movable member, the manipulation distal end portion of the manipulating member is placed near the center of the spherical shell movable member, the spherical shell movable member is in contact with a vibration member which can vibrate, and rotation of the spherical shell movable member around the center thereof is controlled by controlling vibration of the vibration member, thereby controlling a posture of the manipulating member. |
When the rotation of the movable member in the form of a spherical shell is controlled by controlling the vibration of the vibration member, the distal end portion of the end-effector is made to remain within the visual field of the microscope even if the posture of the end-effector is changed. |
According to another embodiment of the prent invention, the manipulator further compris: first rotating means for rotating a first rotating shaft on which a first arm is mounted; cond rotating means for rotating a cond rotating shaft which is mounted on the first arm and on which a cond arm is mounted; and third rotating means for rotating a third rotating shaft which is mounted on the cond arm and on which a third arm is mounted, wherein the manipulating member is mounted on the third rotating shaft, and the first, cond, and third rotating shafts pass through a manipulation distal end portion of the manipulating member. |
In addition, in order to achieve the above object, according to the prent invention, there is provided a minute object manipulating apparatus comprising: a manipulator comprising a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes, all the plurality of free rotation axes crossing at one point, and a manipulation distal end portion of the manipulating member being placed near the interction; a magnifying obrvation device for magnifying obrvation of the manipulation target object and the manipulation distal end portion of the manipulating member; and a remote controller for remotely controlling the manipulator. 王思聪 花千芳 |
This apparatus also makes the most of the advantages of the above manipulator. In addition, for example, the manipulator can be placed on the upper side of a manipulation target object, and the magnifying obrvation device can be placed on the lower side of the manipulation target object. |
Other features and advantages of the prent invention will be apparent from the following description taken in conjunction with the accompanying drawings, in which like reference characters designate the same or similar parts throughout the figures thereof. |
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS |
Preferred embodiments of the prent invention will now be described in detail in accordance with the accompanying drawings. |
First Embodiment |
The first embodiment of the prent invention will be described first with reference to FIGS. 1 and 2A to 2D. This embodiment us a mechanism in which all the axes corresponding to three degrees of rotational freedom cross at one point. In this system, the center of the distal end manipulating portion of an end-effector is placed near the center of the spherical rotating member of a vibration actuator having three degrees of freedom like the one disclod in Japane Patent Laid-Open No. 11-220891. In such a vibration actuator, rotation axes can be arbitrarily t. Since all the rotation axes pass through the center of a spherical rotating member, a simple system with high rigidity can be formed by using this actuator. As a nsor for feeding back the position and velocity of the spherical rotating member, a two-dimensional position nsor using a detection principle like that disclod in Japane Patent Laid-Open No. 10-65882 is suitably ud. This nsor irradiates a spherical surface with light emitted from an irradiation source bad on the optical mou system or the like to form an irradiation pattern constituted by a high-luminance region and a relatively low-luminance region corresponding to the minute shape of the spherical surface. Movement information is then obtained by using the movement of the irradiation pattern bad on the relative movement between the spherical surface and the nsor. |
FIG. 1 is a view which is most indicative of the main part of this embodiment. Reference numerals 20-1, 20-2, and 20-3 denote the first, cond, and third elastic member vibration elements of a multiple degree-of-freedom vibration actuator, respectively; and 1-1 and 1-2, piezoelectric ceramics which generate bending vibrations and longitudinal vibrations, respectively. Each vibration element 20 is fixed/supported on a frame (not shown) with an arm portion (e 1#x2013;2#x2032; in FIG. 6) extending from an electrode plate portion for a piezoelectric ceramic in the radial direction. The driving principle and arrangement of the multiple degree-of-freedom vibration actuator will be described in detail later. |
Reference numeral 2 denotes a movable member in the form of a spherical shell who spherical surface comes into contact with the vibration element 20-1. In this embodiment, only a portion of the movable member 2 is a spherical surface, which comes into contact with the vibration element 20-1. The mechanism of driving control will be described later. Reference numeral 3 denotes a micro-hand which is integrally mounted on the mount portion of the lower portion of the movable member 2 in the form of a spherical shell. The micro-hand 3 has manipulation functions such as a function of grasping or releasing a minute object such as a cell and a function of performing a process such as forming a hole in a minute object or cutting it. The micro-hand 3 is placed near the center of the spherical surface of the movable member 2. Reference numeral 4 denotes a vesl in which a minute object such as a cell is stored. The vesl 4 is made of a transparent material such as glass. A liquid such as physiological saline solution is often contained in the vesl 4. Reference numeral 5 denotes an X-Y or X-Y-Z stage which can adjust the relative position between the micro-hand 3 and a minute object as a manipulation target object by adjusting the position of the vesl 4 on the stage; and 6, a magnifying obrvation device such as a microscope, which magnifies images of the manipulation target object and micro-hand 3 to allow obrvation of them. Referring to FIG. 1, the magnifying obrvation device 6 allows obrvation from below the transparent vesl 4 through the hole in the center of the X-Y-Z stage 5. Reference numeral 7 denotes a magnet which attracts and holds the movable member 2 made of iron, and also has a function of bringing the spherical surface of the movable member 2 into contact with the vibration element 20-1 with a constant pressure. |
The details of the multiple degree-of-freedom vibration actuator will be described. FIGS. 2A to 2D show the driving principle of this vibration actuator. A piezoelectric element 33 rving as an electro-mechanical energy converting element which provides the displacements shown in FIGS. 2B to 2D is clamped/fixed between cylindrical elastic members 31 each rving as a single vibration member. The piezoelectric element is formed by stacking a plurality of single piezoelectric element plates with electrode plates being inrted between the piezoelectric element plates as needed. This allows an alternating signal for driving to be applied to each necessary piezoelectric element plate. In this ca, the piezoelectric element 33 repeats expansion and contraction displacements in the axial direction upon application of alternating signals, and includes the first piezoelectric element which excites longitudinal vibration as a displacement in the direction of the z-axis of the three axes, i.e., the x-axis, y-axis, and z-axis, as shown in FIG. 2B, the cond piezoelectric element which excites transver (bending) vibration within the z-x plane as shown in FIG. 2C, and the third piezoelectric element which excites transver (bending) vibration within the z-y plane as shown in FIG. 2D. The above first piezoelectric element is uniformly polarized in the thickness direction. Each of the cond and third piezoelectric elements is polarized such that the portions on both sides of the diameter have opposite polarities in the thickness direction. |
When, for example, alternating signals having a pha difference of 90#xb0; are applied to the cond and third piezoelectric elements, two bending vibrations in the vibration member combine to form an elliptic motion around the z-axis (within the x-y plane) on the surface of the vibration member. In this ca, since the natural frequency of the vibration member with respect to the x-axis is almost equal to that with respect to the y-axis, the above elliptic vibration can be generated by applying alternating signals having this natural frequency as a driving frequency to the cond and third piezoelectric elements. |
When an alternating signal having a frequency almost equal to the natural frequency in the z-axis direction of the vibration member is applied to the first piezoelectric element, the vibration member repeats longitudinal vibration of the primary mode at a predetermined period. In this ca, when an alternating signal is applied to the cond piezoelectric element to excite vibration of one period matching (almost matching) with one period of longitudinal vibration in the vibration member, an elliptic motion is produced within the x-z plane at a point on the surface of the vibration member, thereby obtaining a driving force in the x-axis direction (around the y-axis). In this ca, since the natural frequency of the vibration member in the z-axis direction differs from the natural frequency of the primary mode of bending vibration in the x-z plane, the cond piezoelectric element is driven in the condary mode of the natural frequency of bending vibration in the x-axis direction, thereby matching the period of longitudinal vibration with the period of bending vibration, as shown in FIG. 2C. |
Likewi, when an alternating signal is applied to the third piezoelectric element to excite vibration of one period matching (almost matching) with one period of longitudinal vibration in the vibration member, an elliptic motion is produced within the y-z plane at a point on the surface of the vibration member, thereby obtaining a driving force in the y-axis direction (around the x-axis). In this ca, since the natural frequency of the vibration member in the z-axis direction differs from the natural frequency of bending vibration within the y-z plane, the third piezoelectric element is driven in the condary mode of the natural frequency of bending vibration in the y-axis direction, thereby matching the period of longitudinal vibration with the period of bending vibration, as shown in FIG. 2D. That is, when an alternating signal having a frequency similar to the natural frequency of a vibration member 1, e.g., an AC voltage, is applied to the first, cond, and third piezoelectric elements, longitudinal vibration or transver (bending) vibration having a natural frequency is excited in the vibration member as shown in FIGS. 2B to 2D. When an alternating signal is lectively applied to two of the first, cond, and third piezoelectric elements, the longitudinal vibration of the vibration member 1 is combined with transver (bending) vibration in a direction perpendicular to that of the longitudinal vibration to produce an elliptic motion at a point on the surface of the vibration member 1. For example, the vibrations shown in FIGS. 2B and 2C are combined with each other to produce an elliptic motion within the x-z plane. When the vibrations shown in FIGS. 2B and 2D are combined with each other, an elliptic motion within the y-z plane is produced. When the vibrations shown in FIGS. 2C and 2D are combined with each other, an elliptic motion within the x-y plane is produced. |
When, therefore, a movable member (the movable member 2 in FIG. 1) is presd against a portion of the vibration member, the movable member can be driven in a plurality of directions. In this ca, elliptic motions around the three axes (within three orthogonal planes) can be produced by combining three-pha piezoelectric elements (first, cond, and third piezoelectric elements). This makes it possible to realize a vibration actuator which can be driven within three orthogonal planes by using a single vibration member. |
FIG. 1 shows the basic arrangement of a vibration member in the vibration actuator of this embodiment shown in FIG. 1. In this ca, the vibration member includes the first elastic member vibration element 20-1 having a female threaded portion formed in the inner diameter portion and the cond and third elastic member vibration elements 20-2 and 20-3 each having a hole formed in a central portion. The piezoelectric elements 1-2 and 1-1 are placed between the first elastic member vibration element 20-1 and the cond elastic member vibration element 20-2 and between the cond elastic member vibration element 20-2 and the third elastic member vibration element 20-3. A fastening bolt 22 which is inrted from the third elastic member vibration element 20-3 side and rves as a central shaft member is screwed in the female threaded portion of the first elastic member vibration element 20-1. With this structure, the piezoelectric elements 1-2 and 1-1 are clamped between the first elastic member vibration element 20-1 and the cond elastic member vibration element 20-2 and between the cond elastic member vibration element 20-2 and the third elastic member vibration element 20-3 so as to be integrally coupled to each other. |
In this embodiment, the piezoelectric element 1-2 placed between the first elastic member vibration element 20-1 and the cond elastic member vibration element 20-2 is the first piezoelectric element which excites, for example, longitudinal vibration in the vibration member. The piezoelectric element 1-1 placed between the cond elastic member vibration element 20-2 and the third elastic member vibration element 20-3 includes the cond piezoelectric element which produces bending vibration within the x-z plane and the third piezoelectric element which produces bending vibration within the y-z plane. The cond and third piezoelectric elements are so positioned as to have a pha difference of 90#xb0;. |
canflyThe inner surface of the distal end portion of the first elastic member vibration element 20-1, which comes into contact with the movable member 2 in the form of a spherical shell and is oblique with respect to the axis, is formed into a tapered surface. In this embodiment, therefore, the movable member 2 in the form of a spherical shell can be rotated about the x-axis, y-axis, and z-axis by combining two kinds of vibrations of longitudinal vibration and vibrations in the two directions which are produced in the vibration member. For example, a combination of the vibrations shown in FIGS. 2B and 2D can rotate the movable member 2 about the z-axis, a combination of the vibrations shown in FIGS. 2B and 2C can rotate the movable member 2 about the y-axis, and a combination of the vibrations shown in FIGS. 2B and 2D can rotate the movable member 2 about the x-axis. That is, the movable member 2 can rotate about three orthogonal axes. By controlling the vibrations of the vibration elements 20, the movable member 2 can be rotated/controlled about an arbitrary axis. In this ca, since the micro-hand 3 is located at the center of the spherical surface of the movable member 2, only the posture of the micro-hand 3 always changes at the same position. Even if posture control operation is done, since the position of the micro-hand 3 does not change, the manipulation target object never moves out of the visual field of the microscope 6. |
The above description has exemplified control on the posture of the micro-hand 3. When, however, the posture of a manipulation target object such as a cell is to controlled, it suffices if the posture of the micro-hand 3 is changed after the manipulation target object is grasped by the micro-hand 3, and then the manipulation target object is relead. In this ca as well, since the position of the manipulation target object does not change, it never moves out of the visual field of the microscope 6. |
In the apparatus of this embodiment, the relative position of a manipulation target object can be adjusted by the X-Y-Z stage 5, and the posture and direction of the object can be adjusted by controlling the vibrations of the vibration elements 20-1 to 20-3. |
Although FIG. 1 shows the rod-like vibration elements, vibration elements like tho shown in FIGS. 3A to 3D or FIGS. 4A to 4D may be ud. According to the form of the vibration actuator shown in FIGS. 3A to 3D, a single vibration member 200 is formed by joining a cylindrical elastic member 201 to a disk-like elastic member 202. The elastic member 201 is actually divided into two portions, and piezoelectric elements 203 and 204 rving as two electro-mechanical energy converting elements are clamped between the two portions. Piezoelectric elements 205a to 205d rving as four electro-mechanical energy converting elements are arranged on the surface of the disk-like elastic member 202. |
The piezoelectric element 203 is ud to displace the elastic member 201 rving as a driving portion in the x-axis direction, as shown in FIG. 3C. The piezoelectric element 204 is ud to displace the elastic member 201 in the y-axis direction. As shown in FIG. 3B, the piezoelectric elements 203 and 204 have a polarization pha difference of 90#xb0;. On the other hand, all the piezoelectric elements 205a to 205d are polarized to have the same characteristics. When the disk-like elastic member 202 is bent as shown in FIG. 3D, the elastic member 201 rving as a driving portion is displaced in the z-axis direction. |
A spherical movable member 206 (the movable member 2 in FIG. 1) is in contact with the elastic member 201 rving as a driving portion. The movable member 206 can be rotated about the x-axis by supplying alternating signals to the piezoelectric element 204 and the piezoelectric elements 205a to 205d with, for example, a pha difference of 90#xb0;. By supplying alternating signals to the piezoelectric element 203 and the piezoelectric elements 205a to 205d with, for example, a pha difference of 90#xb0;, the movable member 206 can be rotated about the y-axis. When the movable member 206 is to be rotated about z-axis, alternating signals are supplied to the piezoelectric elements 203 and 204 with, for example, a pha difference of 90#xb0; |
| nelly 英语角策划书According to the form of the vibration actuator shown in FIGS. 4A to 4D, a single vibration member 300 is formed by joining a cylindrical elastic member 301 to a disk-like elastic member 302. The elastic member 301 incorporates a permanent magnet (not shown) to always attract a movable member 306 (the movable member 2 in FIG. 1) made of a magnetic material so as to obtain a pressing force. Four piezoelectric elements (polarized regions) 303a to 303d rving as electro-mechanical energy converting elements are arranged on the surface of the elastic member 302. By lectively supplying alternating signals to the piezoelectric elements 303a to 303d, the elastic member 301 rving as a driving portion can be displayed in the x-axis direction, y-axis direction, or z-axis direction, as shown in FIGS. 4B to 4D. When the movable member 306 is to be rotated about the x-axis, a displacement in the y-axis direction (FIG. 4C) and a displacement in the z-axis direction (FIG. 4D), may be provided with, for example, a pha difference of 90#xb0;. When the movable member 306 is to be rotated about the y-axis, a displacement in the x-axis direction (FIG. 4B) and a displacement in the z-axis direction (FIG. 4D) may be provided with, for example, a pha difference of 90#xb0;. When the movable member 306 is to be rotated about the z-axis, a displacement in the x-axis direction (FIG. 4B) and a displacement in the y-axis direction (FIG. 4C) may be provided with, for example, a pha difference of 90#xb0;. Alternating signals are supplied to the piezoelectric elements 303a to 303d in the same manner as in the form shown in FIGS. 3A to 3D. |
Alternatively, a plate-like vibration member like the one disclod in Japane Patent Laid-Open No. 2002-272147 may be ud. FIG. 5 shows this vibration member. In this ca, contact projections PC1 to PC4 are integrally formed at almost the middle portions of the four sides of a plate-like vibration member 402. A projection PG having a magnet 405 for attracting a movable member (the movable member 2 in FIG. 1) is formed at a central portion of the vibration member, and projections PE1 to PE4 are formed at the four corners of the vibration member. A vibration element 401 is formed by bonding/fixing a piezoelectric element 403 to the vibration member 302. The piezoelectric element 403 is driven to excite three different natural vibration modes in the vibration element 401. Combining the modes makes it possible to realize multiple degree-of-freedom driving, e.g., rotation about three orthogonal axes and rotation in two directions and about one axis. |
Referring to FIG. 1, the micro-hand 3 rving as an end-effector is placed in the center of the spherical movable member 2. However, the prent invention is not limited to this. For example, the micro-hand 3 may be replaced with a micro-tool which cuts a manipulation target object or forms a hole in the object. |
Second Embodiment | 南京商务英语培训
FIG. 6 is a view for explaining the cond embodiment of the prent invention. Since reference numerals 1 to 5, 7, 20, and 22 in FIG. 1 denote the same parts as in FIG. 6, a description thereof will be omitted. Reference numerals 6-1 and 6-2 denote microscopes for magnifying obrvation. In this embodiment, more visual information is acquired by using two microscopes placed at upper and lower positions, thereby improving operability. The two microscopes may have the same magnification power. However, decreasing the magnification of the lower microscope 6-1 to allow obrvation with a wide visual field will allow both obrvation with a low magnification and a wide visual field and obrvation with a high magnification and a narrow visual field. |
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