PROBLEM TO BE SOLVED: To provide a tool tip position detector which can always detect the position of the tip of a tool with high accuracy in a remote control-type actuator comprising a spindle guide, has a pipe-like external body, has an elongated shape, and comprises a tool at the tip of the spindle guide by accurately estimating the displacement of the tip position of the tool caused by the flexing of a spindle guide.SOLUTION: A remote control-type actuator 5 comprises a body housing 4 to which a base end of the spindle guide has been attached. The tool tip position detector comprises a position detection means 54 in an external force non-acting period that detects the position and the posture of the body housing, and from this detected value, detects the tip position of the tool 1 in a period where an external force does not act on the tool 1 and the spindle guide 3. The tool tip position detector further comprises a strain detection means 60 that detects the strain of the spindle guide 3 and a correction means 55 that corrects the tip position of the tool 1 detected by the position detection means 54 in the external force non-acting period using the detected strain value in the strain detection means 60.COPYRIGHT: (C)2011,JPO&INPIT【課題】 外郭がパイプ状で細長形状のスピンドルガイドの先端に工具が設けられた遠隔操作型アクチュエータに対し、スピンドルガイドの撓みによる工具の先端位置の変位を精度良く推定して、常に正確な工具の先端位置を検出できる工具先端位置検出装置を提供する。【解決手段】 遠隔操作型アクチュエータ5は、スピンドルガイドの基端を結合した本体ハウジングを備える。本体ハウジング4の位置および姿勢を検出して、この検出値から工具1およびスピンドルガイド3に外力が作用していないときの工具1の先端位置を検出する外力非作用時位置検出手段54と、スピンドルガイド3の歪みを検出する歪み検出手段60と、外力非作用時位置検出手段54で検出された工具1の先端位置を、歪み検出手段60の歪み検出値を用いて補正する補正手段55とを設ける。【選択図】 図1
