Manipulator
First Claim
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1. A manipulator, comprising:
- a first rotor axis portion which crosses to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target;
a main shaft portion which is rotatably supported around the first rotor axis portion such that the first rotor axis portion is a rotational pivot axis about which the main shaft portion rotates;
a first treating member and a second treating member which are provided in the treating portion;
a first gear rotatably supported in the direction around the first rotor axis;
a second gear rotatably supported in the direction around the first rotor axis;
a third gear which engages with the first gear and is rotatably supported around the main shaft portion;
a fourth gear which engages with the second gear and is rotatably supported around the main shaft portion;
a fifth gear which coaxially rotates with the third gear;
a sixth gear which coaxially rotates with the fourth gear;
a seventh gear which is provided to transmit rotation torque of the fifth gear to the first treating member and engages with the fifth gear;
an eighth gear which is provided to transmit rotation torque of the sixth gear to the second treating member and engages with the sixth gear; and
a second rotor axis portion which is a rotation center of the seventh gear and the eighth gear and is arranged in a torsional relationship with the first rotor axis portion.
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Abstract
A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.
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Citations
4 Claims
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1. A manipulator, comprising:
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a first rotor axis portion which crosses to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target; a main shaft portion which is rotatably supported around the first rotor axis portion such that the first rotor axis portion is a rotational pivot axis about which the main shaft portion rotates; a first treating member and a second treating member which are provided in the treating portion; a first gear rotatably supported in the direction around the first rotor axis; a second gear rotatably supported in the direction around the first rotor axis; a third gear which engages with the first gear and is rotatably supported around the main shaft portion; a fourth gear which engages with the second gear and is rotatably supported around the main shaft portion; a fifth gear which coaxially rotates with the third gear; a sixth gear which coaxially rotates with the fourth gear; a seventh gear which is provided to transmit rotation torque of the fifth gear to the first treating member and engages with the fifth gear; an eighth gear which is provided to transmit rotation torque of the sixth gear to the second treating member and engages with the sixth gear; and a second rotor axis portion which is a rotation center of the seventh gear and the eighth gear and is arranged in a torsional relationship with the first rotor axis portion. - View Dependent Claims (2, 3, 4)
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Specification