WORKING MECHANISM AND MANIPULATOR
First Claim
1. A working mechanism comprising:
- a first flexible power transmitting member;
a first tubular member, said first flexible power transmitting member being wound around said first tubular member, said first tubular member being rotatable about its own axis;
a second flexible power transmitting member disposed substantially parallel to said first flexible power transmitting member and extending in sandwiching relation to said first tubular member;
a second tubular member having a rotational axis extending substantially parallel to said first tubular member, said second flexible power transmitting member being wound around said second tubular member;
a driven rotor having a rotational axis extending substantially parallel to said first tubular member;
a first rotation transmitting mechanism for transmitting rotation of said first tubular member to said driven rotor;
a first working unit operable in ganged relation to rotation of said driven rotor; and
a second working unit operable in ganged relation to rotation of said second tubular member.
3 Assignments
0 Petitions
Accused Products
Abstract
A working unit includes a gear body disposed forwardly of a tubular member around which a wire is wound and having a rotational axis disposed substantially parallel to the tubular member, and a first gear and a second gear for transmitting rotation of a gear body to another gear body. The numbers of turns of wires, the size of a main shaft, and the size of a gear body, which are positioned forwardly of the tubular member, have no adverse effect on the manner in which a wire is wound around the tubular member. The wire can be wound around the tubular member over a wide region thereof for increasing the angular displacement of the gear body. The increased angular displacement of the gear body makes it possible to increase the angular displacement and rotational torque of the gear body.
187 Citations
8 Claims
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1. A working mechanism comprising:
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a first flexible power transmitting member; a first tubular member, said first flexible power transmitting member being wound around said first tubular member, said first tubular member being rotatable about its own axis; a second flexible power transmitting member disposed substantially parallel to said first flexible power transmitting member and extending in sandwiching relation to said first tubular member; a second tubular member having a rotational axis extending substantially parallel to said first tubular member, said second flexible power transmitting member being wound around said second tubular member; a driven rotor having a rotational axis extending substantially parallel to said first tubular member; a first rotation transmitting mechanism for transmitting rotation of said first tubular member to said driven rotor; a first working unit operable in ganged relation to rotation of said driven rotor; and a second working unit operable in ganged relation to rotation of said second tubular member. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A manipulator comprising:
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a first input member and a second input member; a first rotational source and a second rotational source which are rotatable in response to operation of said first input member and said second input member; a first flexible power transmitting member including a rear portion wound around said first rotational source and a front portion wound in a plurality of turns around a first tubular member; a second flexible power transmitting member disposed substantially parallel to said first flexible power transmitting member and extending forwardly on both sides of said first rotational source, said second flexible power transmitting member including a rear portion wound around said second rotational source, said second flexible power transmitting member being wound around a second tubular member disposed forwardly of said first tubular member; a driven rotor disposed forwardly of said first tubular member and having a rotational axis disposed substantially parallel to said first tubular member; a rotation transmitting mechanism for transmitting rotation of said first tubular member to said driven rotor; a first working unit operable in ganged relation to rotation of said driven rotor; and a second working unit operable in ganged relation to rotation of said second tubular member.
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Specification