Patent ID: 9623566
Date: 2017-04-18
CPC Classifications: B25J

Claim:
1. A master apparatus for a master slave apparatus, the master apparatus controlling a slave apparatus, the master apparatus comprising: a hand operation mechanism configured to be operated by a person for opening and closing a hand mechanism including a pair of opening and closing members, the hand mechanism being connected to a slave mechanism, the slave apparatus including the slave mechanism and the hand mechanism; a master mechanism configured to operate the slave mechanism; a master hand controlling device; and an output unit, wherein the hand operation mechanism includes a grip unit, an opening and closing operation unit, and a slide unit, wherein the opening and closing operation unit is connected to the slide unit, wherein the opening and closing operation unit is configured to be reciprocated with respect to the grip unit, and to be opened and closed with respect to the grip unit, wherein the master hand controlling device controls opening and closing of the pair of opening and closing members on the basis of an opening and closing amount of the opening and closing operation unit, wherein the output unit outputs operation information to the slave mechanism on the basis of the opening and closing amount and a position of the opening and closing operation unit at the grip unit, the operation information including an angle of the pair of opening and closing members, wherein the slide unit is connected to the grip unit, wherein the grip unit is connected to an end of the master mechanism, wherein the slide unit includes a linear slide rail and an operating-unit supporting section, wherein the linear slide rail is fixed to the grip unit along a longitudinal direction of the grip unit, wherein the operating-unit supporting section engages with the linear slide rail and is configured to be manually slid along the linear slide rail, and wherein the opening and closing operation unit is disposed at the operating-unit supporting section so as to be rotatable.