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    MANIPULATOR
    94.
    发明公开
    MANIPULATOR 审中-公开

    公开(公告)号：EP3587054A1

    公开(公告)日：2020-01-01

    申请号：EP17897340.0

    申请日：2017-02-27

    申请人： Asahi Intecc Co., Ltd.

    发明人： YAMAGUCHI, Shinji

    IPC分类号： B25J17/02 ,  A61B1/018 ,  A61B17/94 ,  B25J17/00

    摘要： A manipulator comprising: an operation portion, wherein forceps are opened and closed, when a first forceps pulley of a first forceps piece and a second forceps pulley of a second forceps piece rotate in opposite directions to each other, a direction of the forceps is changed when both pulleys rotate in the same direction, and a direction of the forceps can be changed about a P axis (pitch axis); a first driving portion comprising a left driving pulley and a right driving pulley slidably movable along a Z axis (main axis) direction; and an endless loop-shaped wire rope, wherein in the loop-shaped wire rope, a first engaging body, a second engaging body, a third engaging body and a fourth engaging body are provided one after another on its loop-shaped wire rope main body, and the loop-shaped wire rope is arranged to engage the first engaging body to the first forceps pulley, the second engaging body to the second forceps pulley, the third engaging body to a left driving pulley, and the fourth engaging body to a right driving pulley.