WIRE DRIVING DEVICE AND MANIPULATOR

Title:

WIRE DRIVING DEVICE AND MANIPULATOR

Document Type and Number:

WIPO Patent Application WO/2015/125955

Kind Code:

A1

Abstract:

In order to compensate for loosening without having a wire slip on a pulley, provided is a wire driving device (1) which is provided with: a pair of wires (17, 18) that have one end mounted to a moving member (16a) and antagonistically drive the moving member; a pair of pulleys (20, 21) to which the other end of each wire is fixed and on which the wire is wound; a pair of driven gears (22, 23) that are coaxially fixed to the pulleys; a drive gear (24) that is connected to a drive source for generating power; and a pair of moving gears (25, 26) that are each disposed between the drive gear and the corresponding driven gear and can transmit the power of the drive source from the drive gear to the driven gears. The moving gears are movably provided so as to mesh with the drive gear and the driven gears when the drive gear is rotated in the direction in which the wires are taken up by the pulleys, and so as to go out of meshing engagement with the drive gear and/or the driven gears when the drive gear is rotated in the direction in which the wires are fed from the pulleys.

Inventors:

KISHI KOSUKE (JP)

Application Number:

PCT/JP2015/054958

Publication Date:

August 27, 2015

Filing Date:

February 23, 2015

Export Citation:

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Assignee:

OLYMPUS CORP (JP)

International Classes:

B25J17/02; A61B1/00; A61B19/00; B25J3/00; B25J17/00

Foreign References:

JPS62148176A	1987-07-02
US5828813A	1998-10-27
JP2009537280A	2009-10-29

Other References: