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US 10,238,271 B2Granted
Traction balance adjustment mechanism, manipulator and manipulator system
AssigneeOlympus Corporation
InventorMasafumi Haraguchi
Life of this patent
Estimating the term…
Abstract
The traction balance adjustment mechanism 1 includes a movable part 2 that goes into operation through at least one degree of freedom, wires 7 connected to the movable part 2, and a traction part 6 that pulls one of the wires 7 and pushes out the other, wherein the length of the one wire 7 pulled by the traction part 6 is longer than the length of the other wire 7 pushed out.
Claims5
A traction balance adjustment mechanism comprising:
- a movable part that moves with respect to a cylindrical coupler through at least one degree of freedom;
- a first wire and a second wire that are connected to an inside of the movable part for transmission of power to the movable part;
- and
- an operating part that is provided at a proximal end of the coupler to operate the movable part by the first wire and the second wire, and
- a pulley provided on the operating part wherein the pulley rotates with respect to a center axis of the pulley, wherein:
- the pulley comprises:
- a first take-up portion that is mounted on a first surface portion defining a vertical plane with respect to the center axis of the pulley to wind up the first wire, and a second take-up portion that is mounted on a second surface portion provided parallel with the first surface portion to wind up the second wire, wherein the first take-up portion includes a first smallest diameter site where a distance from the center axis to an outer diameter of the first take-up portion is shortest and a first largest diameter site where a distance from the center axis to the outer diameter of the first take-up portion is longest, and
- the second take-up portion includes a second smallest diameter site where a distance from the center axis to an outer diameter of the second take-up portion is shortest and a second largest diameter site where a distance from the center axis to the outer diameter of the second take-up is longest, wherein:
- an amount of the first wire wound up by the first take-up portion is larger than an amount of the second wire fed by the second take-up portion toward the movable part,
- the outer diameter of the first take-up portion is gradually incremental from the first smallest diameter site to the first largest diameter site, and
- the outer diameter of the second take-up portion is gradually incremental from the second smallest diameter site to the second largest diameter site.
8 more elements
Dependencies are inferred from the claim text.