Title:
SWINGING MECHANISM AND GRIPPING TOOL
Document Type and Number:
WIPO Patent Application WO/2018/073949
Kind Code:
A1
Abstract:
In order to cause swinging members, which swing relative to a base member, to swing in response to a small force, while ensuring a large swing angle of the swinging members, a swinging mechanism (3) according to the present invention is provided with: a first swinging member (5) which is supported so as to be capable of swinging around a first swinging axis (A); a second swinging member (6) which is supported on the first swinging member so as to be capable of swinging around a second swinging axis (B) provided at an interval in a direction orthogonal to the first swinging axis; a traction pulley (7) which is supported on the second swinging member so as to be capable of rotating around a rotational axis (C) provided at an interval in a direction orthogonal to the second swinging axis; a fixed pulley (8) which is supported so as to be capable of rotating around the second swinging axis; and a wire (9) which is wound around the fixed pulley and the traction pulley, and which, as a result of an applied traction force, generates tension in substantially the same direction on both sides of the traction pulley with the rotational axis therebetween. The traction pulley is provided in a position in which the resultant force of the tension of the wire acting on the rotational axis generates a moment which causes the second swinging member to swing.
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Inventors:
YAMANAKA NORIAKI (JP)
Application Number:
PCT/JP2016/081177
Publication Date:
April 26, 2018
Filing Date:
October 20, 2016
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
A61B17/29; A61B34/30; B25J15/08; B25J17/00
Foreign References:
| JP2015131015A | 2015-07-23 | |||
| EP2415418A1 | 2012-02-08 | |||
| US20130304084A1 | 2013-11-14 | |||
| JP2016518160A | 2016-06-23 |
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
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