Joint Function Department

Abstract

The present invention aims to provide a joint function part capable of suppressing unintentional displacement of a movable side member. A joint function part (1) is provided, wherein a movable part (13) is supported by a base (11) so as to be displaceable relative to an axial direction, and the joint function part (1) comprises: a plurality of driving wires (19), one side of which is a fixed part (27) fixed to the movable part (13), and the other side of which is a supported part (29) supported by the base (11); and an elastic body (21) which supports the supported parts (29) of the plurality of driving wires (19) on the base (11), applies force to the supported parts (29) in the axial direction relative to the fixed part (27), thereby applying tension to the driving wires (19).

Description

Technical Field

[0001] The present invention relates to a joint function part provided to a robot, a manipulator, or the like. Background Art

[0002] Some robots, manipulators, and actuators include a joint function unit capable of flexion and extension. For example, one such joint function unit is used in a surgical instrument described in Patent Document 1.

[0003] In the joint function part, the end effector as the movable-side member is coupled to the tube as the fixed-side member via a bendable member.

[0004] One side of a starting cable as a cord-shaped member is fixed to the end effector. By pulling the other side of the starting cable, the bendable member can be bent, thereby displacing the end effector relative to the shaft.

[0005] However, in the conventional joint function unit, when external force is applied to the end effector and the like, the bendable member is forcibly bent, and unintentional displacement of the end effector may occur.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Publication No. 2009-538186 Summary of the Invention

[0009] Problems to be solved by the invention

[0010] The problem to be solved is that the movable side member is unintentionally displaced by external force.

[0011] Technical means to solve the problem

[0012] The present invention is a joint functional part in which a movable side member is supported by a fixed side member so as to be displaceable between a flexed position and an extended position, and the most important feature of the joint functional part is that it includes: a plurality of cable-like members, one side of which in the axial direction is a fixed part fixed to the movable side member, and the other side in the axial direction is a supported part supported by the fixed side member; and an elastic body, which supports the supported parts of the plurality of cable-like members on the fixed side member, applies force to the supported parts toward the opposite side of the axial direction relative to the fixed part, thereby applying tension to the cable-like members.

[0013] Effects of the Invention

[0014] According to the present invention, the tension applied by the elastic body relaxes in the cord-like member, thereby improving the bending rigidity of the joint functional part. Therefore, even if an external force acts on the movable side member, unintentional displacement of the movable side member can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a perspective view showing the main parts of a manipulator to which the joint function unit according to the first embodiment of the present invention is applied.

[0016] Figure 2 yes Figure 1 Cross-sectional view of the robot arm.

[0017] Figure 3 Yes Figure 2 A schematic diagram of the main parts.

[0018] Figure 4 (A) and Figure 4 (B) is Figure 1 Conceptual image of the robotic arm. Figure 4 (A) indicates normal time. Figure 4 (B) indicates buckling.

[0019] Figure 5 This is a graph showing the relationship between the displacement amount with respect to the external force and the load on the elastic body.

[0020] Figure 6 This is a graph showing the relationship between the load and the flexion angle of the joint functional part.

[0021] Figure 7 This is a conceptual diagram showing a manipulator to which a joint function unit according to a second embodiment of the present invention is applied.

[0022] Figure 8 This is a conceptual diagram showing a manipulator to which a joint function unit according to a third embodiment of the present invention is applied.

[0023] Figure 9 This is a conceptual diagram showing a manipulator to which a joint function unit according to a fourth embodiment of the present invention is applied.

[0024] Figure 10 (A) is a conceptual diagram of a manipulator to which a joint function unit according to a modified example of the fourth embodiment of the present invention is applied. Figure 10 (B) is observed from a 90-degree angle. Figure 10 Conceptual diagram of (A).

[0025] Figure 11 This is a conceptual diagram showing a manipulator to which a joint function unit according to a fifth embodiment of the present invention is applied.

[0026] Explanation of symbols

[0027] 1: Joint function

[0028] 3: Robotic arm

[0029] 5: Axis

[0030] 7: End effector (movable side member)

[0031] 11: Base (fixed side member)

[0032] 13: Movable part (movable side member)

[0033] 19: Driving wire (cable-shaped member)

[0034] 21: Elastomer

[0035] 27: Fixed part

[0036] 29: Supported part

[0037] 33: Guidance

[0038] 35: Supporting members

[0039] 41: Support DETAILED DESCRIPTION

[0040] By applying tension to the cord-like member for displacing the movable-side member using the elastic body, unintentional displacement of the movable-side member can be suppressed.

[0041] That is, in the joint functional part (1), the movable side member (13) is supported by the fixed side member (11) so as to be displaceable between a flexed position and an extended position, and the joint functional part (1) includes a plurality of cable-like members (19) and an elastic body (21). One axial side of the cable-like member (19) is a fixed portion (27) fixed to the movable side member (13), and the other axial side is a supported portion (29) supported by the fixed side member (11). The elastic body (21) supports the supported portions (29) of the plurality of cable-like members (19) on the fixed side member (11), applies axial force to the supported portions (29) relative to the fixed portion (27), thereby applying tension to the cable-like members.

[0042] The following structure may also be adopted: the elastic body (21) and the plurality of cord-shaped members (19) are arranged in parallel.

[0043] The structure may also be as follows: a plurality of cord-like members (19) are respectively inserted through the fixed side member (11) between the fixed portion (27) and the supported portion (29); and the elastic body (21) is interposed between the supported portion (29) of the plurality of cord-like members (19) and the fixed side member (11).

[0044] The structure may also be as follows: the elastic body (21) is inserted through each of the plurality of cord-shaped members (19) and is arranged coaxially.

[0045] The joint function part (1) may also be configured as follows: the joint function part (1) includes a supporting member (35) spanning between supported parts (29) of a plurality of cord-shaped members (19); and the elastic body (21) is interposed between the supporting member (35) and the fixed side member (11).

[0046] The structure may also be as follows: the joint function part (1) includes a guide part (33), the guide part (33) guides one of the multiple cable-like members (19) so that the supported parts (29) of the multiple cable-like members (19) are located on the same axis, and the elastic body (21) connects the supported parts (29) of the multiple cable-like members (19).

[0047] The structure may also be as follows: the fixed side member (11) includes a support portion (41), the support portion (41) is located on the side opposite to the fixed portion (27) in the axial direction across the supported portion (29) of the plurality of cable-like members (19), and the elastic body (21) is interposed between the support portion (41) and the supported portion (29) of the plurality of cable-like members (19).

[0048] The elastic body (21) may also be configured as a coil spring.

[0049] The cable-shaped member (19) may also be provided as a driving wire for operating the supported portion (29) in the axial direction in order to displace the movable side member (13) relative to the fixed side member (11). The cable-shaped member may also be provided separately from the driving wire.

[0050] Example 1

[0051] [Robot]

[0052] Figure 1 1 is a perspective view showing the main parts of a manipulator to which the joint function unit of the first embodiment of the present invention is applied. Figure 2 yes Figure 1 A cross-sectional view of Figure 3 Yes Figure 2 A schematic diagram of the main parts.

[0053] In this embodiment, the robot arm 3 is described as an example of a device having a joint function unit 1. The robot arm 3 is a medical forceps and is used not only as forceps mounted on a surgical robot but also as an endoscopic camera or manual forceps not mounted on a surgical robot.

[0054] Furthermore, any device having the joint function unit 1 may be any device requiring a joint function, and may be a robot, a manipulator, an actuator, or the like in various fields.

[0055] The robot 3 includes a shaft 5 , a joint function unit 1 , and an end effector 7 .

[0056] The shaft 5 is formed in a cylindrical shape, for example. An end effector 7 is movably supported on the distal end side of the shaft 5 via the joint function part 1. The joint function part 1 will be described later.

[0057] The end effector 7 is a medical forceps and is axially supported by the movable portion 13 of the joint functional unit 1 (described later) so that a pair of gripping portions 7a can be opened and closed. The end effector 7 is connected to a push-pull cable 9 that passes through the shaft 5 and the joint functional unit 1. The gripping portions 7a are opened and closed by axial movement (advance and retraction) of the push-pull cable 9.

[0058] The gripping portion 7a may be driven by air, etc. The end effector 7 may be an end effector 7 other than forceps, such as scissors, a gripping retractor, and a needle driver.

[0059] [Joint Function Department]

[0060] The joint function part 1 includes a base 11 , a movable part 13 , a flexible member 15 , a driving wire 19 , and an elastic body 21 .

[0061] The base 11 is a columnar body, particularly a cylindrical body, formed of resin or metal. The base 11 is attached to the front end of the shaft 5 and constitutes a fixed side member. Furthermore, the shaft 5 also constitutes a part of the fixed side member.

[0062] The base 11 is not limited to a columnar body, and may be a plate-shaped body, etc., as long as it is a wall-shaped body through which the driving wire 19 described later is inserted. The base 11 can be formed into an appropriate shape according to the device to which the joint function part 1 is applied.

[0063] The movable portion 13 is a columnar body, particularly a cylindrical body, formed of resin or metal. The movable portion 13 is attached to the end effector 7 and constitutes a movable side member. The end effector 7 also constitutes a part of the movable side member.

[0064] The movable portion 13 is not limited to a columnar body and may be a plate-shaped body, etc., as long as it can be mounted with the end effector 7. The movable portion 13 may be configured in an appropriate form depending on the device to which the joint function unit 1 is applied.

[0065] The movable part 13 is supported by the base 11 so as to be displaceable between a flexed position and an extended position relative to the axial direction through a flexible member 15. Furthermore, when simply referred to as the axial direction, it refers to the direction along the axis of the joint functional part 1, and in addition to the direction strictly parallel to the axis, it also includes a slightly inclined direction. The so-called flexed position is a position where the axis of the movable part 13 intersects the axial direction and the flexion of the joint functional part 1 becomes the maximum. The so-called extended position is a position where the axis of the movable part 13 is along the axial direction. In the extended position, the axis of the movable part 13 does not need to be strictly along the axial direction, and a slight offset is also included.

[0066] The flexible member 15 is disposed at the central portion of the joint functional part 1 and displaceably supports the movable part 13 on the base 11. The flexible member 15 of this embodiment includes an inner flexible tube 16 and an outer flexible tube 17.

[0067] The inner flexible tube 16 is a double coil that is axially flexible and includes an outer coil portion 23 and an inner coil portion 25. The inner flexible tube 16 is not limited to a double coil as long as it can displaceably support the movable portion 13 on the base 11.

[0068] The outer coil portion 23 and the inner coil portion 25 are coil springs. The material of the outer coil portion 23 and the inner coil portion 25 can be set to metal, resin, etc. In addition, the cross-sectional shape of the bare wire of the outer coil portion 23 and the inner coil portion 25 is circular. However, the cross-sectional shape is not limited to a circle.

[0069] The inner coil portion 25 has a smaller diameter than the outer coil portion 23 and is threadedly engaged within the outer coil portion 23. The diameters of the outer coil portion 23 and the inner coil portion 25 are constant from one axial end to the other. The diameter of the outer coil portion 23 can also vary in the axial direction.

[0070] The outer coil portion 23 has a plurality of gaps (pitch) separating axially adjacent winding portions. The winding portions of the inner coil portion 25 are fitted into the plurality of gaps from the inside.

[0071] The flexible member 15 has elasticity such that the outer coil portion 23 and the inner coil portion 25 can bend and restore in the axial direction of the coil shape, and the flexible member 15 as a whole has elasticity such that it can bend and restore in the axial direction.

[0072] The periphery of the flexible member 15 is covered by an outer flexible tube 17 interposed between the base portion 11 and the movable portion 13 .

[0073] The outer flexible tube 17 is formed of a bellows tube having a corrugated cross-sectional shape. The outer flexible tube 17 is made of metal, resin, or the like. Furthermore, the outer flexible tube 17 can also be formed of a coil spring or other cylindrical body, and is not particularly limited as long as it has an elastic tubular shape.

[0074] The outer flexible tube 17 elastically bends and returns to its original shape according to the displacement of the movable portion 13 relative to the base portion 11. Thus, the outer flexible tube 17 imparts a linear load characteristic to the joint functional portion 1, where the load increases with increasing flexion angle. The load characteristic will be described below.

[0075] Therefore, the flexible member 15 displaces the movable portion 13 and the end effector 7 relative to the base 11 and the shaft 5 by its own bending and restoration. This displacement is performed by the driving wire 19 .

[0076] The driving wires 19 are cord-like members made of metal or the like. In this embodiment, they are arranged at four locations in 90-degree increments around the circumference of the joint functional portion 1. The driving wires 19 face each other in the radial direction of the joint functional portion 1 in pairs. Therefore, in this embodiment, two pairs of driving wires 19 are included.

[0077] In this case, a pair of drive wires 19 can be omitted, and the joint functional unit 1 only needs to include multiple drive wires 19. For example, three drive wires 19 can be provided. In this case, the drive wires 19 are preferably arranged in units of 120 degrees in the circumferential direction. In addition, if the drive wires 19 are cable-like components, they can be provided as stranded wires, nickel-titanium (NiTi) single wires, piano wires, multi-jointed rods, chains, belts, wires, ropes, etc.

[0078] These driving wires 19 bend the joint functional part 1 by being pulled in the axial direction, and are directly or indirectly connected to an operating mechanism (not shown) and operated in the axial direction.

[0079] One side of each driving wire 19 serves as a fixed portion 27 fixed to the movable portion 13. The fixing means used for the fixed portion 27 is not limited.

[0080] Each driving wire 19 extends from the fixing portion 27 in the axial direction, passes through the outer flexible tube 17 and the base portion 11, and the other side passes through the interior of the shaft 5. The other side of each driving wire 19 serves as a supported portion 29.

[0081] The supported portion 29 is provided on the other side of the driving wire 19 and is supported by the base 11. In this embodiment, the supported portion 29 is a riveted portion at the other end of the driving wire 19, connected to the end of the connecting wire 31 by riveting. The supporting portions 29 of the paired driving wires 19 are connected via the connecting wire 31. Furthermore, the paired driving wires 19 can also be provided integrally in a ring shape.

[0082] The connecting wire 31 passes through a guide 33, with both ends arranged coaxially with the other ends of the paired driving wires 19, and then reaches the supported portion 29. In this embodiment, the guide 33 is a pulley and is supported by the shaft 5 or an operating mechanism. Furthermore, the connecting wire 31 and guide 33 can be omitted, and the supported portion 29 can be combined with the operating mechanism.

[0083] The elastic body 21 supports the supported portion 29 of the driving wire 19 on the base 11 and urges the supported portion 29 in the axial direction opposite to the fixing portion 27 of the same driving wire 19. Thus, the elastic body 21 applies tension to each driving wire 19, thereby increasing the bending rigidity of each driving wire 19.

[0084] In this embodiment, the elastic body 21 comprises a coil spring, specifically a compression spring with a spacing. Furthermore, the elastic body 21 may be made of metal or resin, and may be shaped appropriately based on the elastic modulus. For example, in the case of rubber, the elastic body may be cylindrical or cylindrical.

[0085] The elastic body 21 is interposed between the supported portion 29 of the driving wire 19 and the base 11. Specifically, the elastic body 21 is provided for each driving wire 19, inserted through each driving wire 19, and coaxially arranged. Both ends of the elastic body 21 abut against the base 11 and the supported portion 29, respectively.

[0086] Therefore, the elastic body 21 is configured to be arranged parallel to the driving wire 19 so that the elastic force is exerted in the axial direction. "Parallel" here means that the elastic body 21 is arranged so that the axial direction is parallel to the direction in which the elastic force is exerted. However, the two directions do not need to be strictly parallel; a situation in which one of the two directions is slightly inclined relative to the other is also considered parallel. Furthermore, a configuration in which the elastic body 21 is omitted between the supported portion 29 and the base 11 and the guide portion 33 is stretched by the elastic body 21 is also possible.

[0087] The axial dimension of each elastic body 21 in its free state is set to be smaller than the axial dimension between the supported portion 29 and the base portion 11. Therefore, each elastic body 21 is compressed between the supported portion 29 and the base portion 11 by the difference in dimensions. This compression applies a load to each elastic body 21, imparting tension to the driving wire 19 in accordance with the load.

[0088] The elastic body 21, together with the flexible member 15, can impart a linear load characteristic to the joint functional part 1, in which the load increases as the flexion angle increases. The load characteristic will be described below.

[0089] [action]

[0090] Figure 4 (A) and Figure 4 (B) is Figure 1Conceptual image of the robotic arm. Figure 4 (A) indicates normal time. Figure 4 (B) indicates buckling.

[0091] In this embodiment, during normal times when the driving wire 19 is not being operated, the driving wire 19 is relaxed and loses its tension due to the elastic body 21 , thereby increasing the bending rigidity.

[0092] Therefore, even if the end effector 7 or the movable portion 13 of the joint function part 1 as the movable side member is moved in the direction intersecting with the axial direction ( Figure 4 By applying an external force F in the left-right direction (A), unintentional displacement of the movable portion 13 and the end effector 7 can also be suppressed.

[0093] When an operator, such as a doctor, operates the manipulator 3, they flex the joint functional unit 1 by pulling any one of the drive wires 19. Furthermore, by pulling different pairs of drive wires 19 in combination, the joint functional unit 1 can flex 360 degrees. This allows the end effector 7 to be pointed in a desired direction.

[0094] When any one of the driving wires 19 is pulled to bend the joint functional part 1, as shown in FIG. Figure 4 As shown in FIG. 1B , at the inner portion of the bend, the supported portion 29 of the driving wire 19 (referred to as the inner wire 19 ) is displaced in the axial direction to expand the gap with the base 11 . Accordingly, the fixing portion 27 of the inner wire 19 is pulled toward the base 11 .

[0095] At this time, in order to maintain the flexion of the joint functional part 1, a tension greater than normal is applied to the inner wire 19. As a result, the inner wire 19 is in a state of increased bending rigidity.

[0096] On the other hand, in the flexed outer portion, the driving wire 19 (referred to as the outer wire 19 ) paired with the inner wire 19 is pulled to the fixing portion 27 along with the flexion, and the supported portion 29 is displaced and pressed so as to narrow the gap between the supported portion 29 and the base 11 in the axial direction.

[0097] At this point, the elastic member 21 coaxial with the outer wire 19 overcomes its own elastic force and is compressed, while the elastic member 21 coaxial with the inner wire 19 extends between the supported portion 29 and the base 11 due to its own elastic force. Therefore, even if the supported portion 29 displaces toward the base 11 in a direction that reduces tension, the outer wire 19 remains tensioned. As a result, both the outer wire 19 and the inner wire 19 achieve increased flexural rigidity.

[0098] As described above, in the manipulator 3 of this embodiment, even when the driving wire 19 is operated to bend, the bending rigidity of the driving wire 19 is improved both inside and outside the bending.

[0099] Therefore, even if the end effector 7 or the movable portion 13 of the joint function part 1 is moved in the direction intersecting the axial direction ( Figure 4 By applying an external force F in the vertical direction (A), unintentional displacement of the end effector 7 can also be suppressed.

[0100] Furthermore, the operating force for compressing the elastic body 21 coaxial with the outer line 19 can be assisted by the elastic force for extending the elastic body 21 coaxial with the inner line 19. Therefore, the increase in the overall operating force for flexing the joint functional part 1 can be suppressed, and the flexion of the joint functional part 1 can be easily performed.

[0101] [Displacement characteristics]

[0102] Figure 5 This is a graph showing the relationship between the displacement amount with respect to the external force and the load on the elastic body.

[0103] Figure 5 This is a graph showing the displacement of the end effector 7 measured when an external force F of 2 N is applied to the end effector 7 in a direction intersecting the axial direction in normal times. Figure 5 The load represents the load applied to the elastic body 21 in normal times.

[0104] like Figure 5 As shown, the rate of reduction in the displacement of the end effector 7 is large from the state where no load is applied to the elastic body 21 until the magnitude of the load on the elastic body 21 is equal to the external force F. On the other hand, even when the load on the elastic body 21 exceeds the external force F, the rate of reduction in the displacement becomes smaller. Furthermore, as the load on the elastic body 21 increases, the bending rigidity of the drive wire 19 increases, making it more difficult to bend the joint functional unit 1. Therefore, it is preferable to set the load on each elastic body 21 to be equal to the assumed external force F.

[0105] [Load characteristics]

[0106] Figure 6 Table 6 shows the relationship between the load on the joint functional unit and the flexion angle. Table 6 shows the loads on the joint functional unit 1, the flexible member 15, and the driving wires 19 when the paired driving wires 19 are operated to flex the joint functional unit 1 from a flexion angle of 0 degrees to 90 degrees and then return it to 0 degrees.

[0107] In this embodiment, the elastic body 21 and the flexible member 15 have a linear load characteristic in which the load increases with an increase in the flexion angle, and the joint functional part 1 has a linear load characteristic in which the elastic body 21 and the flexible member 15 are combined.

[0108] Therefore, the joint functional part 1 has excellent load resistance and bendability. In addition, by adjusting the load characteristics of the elastic body 21 and the flexible member 15, the load characteristics of the joint functional part 1 can be adjusted and set.

[0109] [Effects of Example 1]

[0110] As described above, in this embodiment, a joint functional part 1 is provided, wherein the movable part 13 is supported by the base 11 so as to be displaceable between a flexed position and an extended position, and the joint functional part 1 includes: a plurality of driving wires 19, one side of which in the axial direction is a fixed part 27 fixed to the movable part 13, and the other side in the axial direction is a supported part 29 supported by the base 11; and an elastic body 21, which supports the supported parts 29 of the plurality of driving wires 19 on the base 11, applies force to the supported parts 29 in the axial direction opposite to the fixed part 27, thereby applying tension to the driving wires 19.

[0111] Therefore, in this embodiment, the slack of the driving wire 19 disappears due to the tension applied by the elastic body 21, and the bending rigidity is improved. Therefore, even if the external force F acts on the movable part 13 or the end effector 7, the unintentional displacement of the movable part 13 or the end effector 7 can be suppressed.

[0112] Since the elastic body 21 is arranged in parallel with the plurality of driving wires 19 , tension can be easily and reliably applied to the driving wires 19 .

[0113] The plurality of driving wires 19 are respectively inserted through the base portion 11 between the fixing portion 27 and the supported portion 29 , and the elastic body 21 is interposed between the supported portion 29 of the plurality of driving wires 19 and the base portion 11 .

[0114] Therefore, in this embodiment, tension can be applied to the driving wire 19 with a simple structure.

[0115] Furthermore, the elastic body 21 is provided coaxially with the plurality of driving wires 19 inserted therethrough, and thus can be held between the supported portion 29 and the base portion 11 with a simple structure.

[0116] Example 2

[0117] Figure 7 2 is a conceptual diagram showing a manipulator to which a joint function unit according to a second embodiment of the present invention is applied. In the second embodiment, components corresponding to those in the first embodiment are denoted by the same reference numerals and redundant descriptions are omitted.

[0118] In Example 2, a single elastic body 21 is used for the paired driving wires 19 of the joint functional unit 1. Specifically, a support member 35 spans between the supported portions 29 of the paired driving wires 19, and the elastic body 21 is interposed between the support member 35 and the base 11. Other configurations are the same as in Example 1.

[0119] The support member 35 is a plate-like body provided across the supported portions 29 of the paired driving wires 19. The driving wires 19 are inserted through the support member 35. The support member 35 is pressed against the supported portions 29 by the elastic body 21.

[0120] In the second embodiment, the same effects as those of the first embodiment can be achieved.

[0121] Example 3

[0122] Figure 8 3 is a conceptual diagram showing a manipulator to which a joint function unit according to a third embodiment of the present invention is applied. In the third embodiment, components corresponding to those in the first embodiment are denoted by the same reference numerals and redundant descriptions are omitted.

[0123] In Example 3, the pair of driving wires 19 of the joint functional unit 1 is connected by an elastic body 21. Specifically, the elastic body 21 includes a guide portion 33 that guides one of the paired driving wires 19 so that the supported portions 29 of the paired driving wires 19 are coaxially positioned. The elastic body 21 connects the supported portions 29 of the paired driving wires 19. Other aspects are the same as in Example 1.

[0124] The guide portion 33 is configured similarly to that of Example 1. One of the paired driving wires 19 is formed longer than the other, and is wound around the guide portion 33 so that the supported portions 29 of the two driving wires 19 are coaxially located.

[0125] In this embodiment, a pair of elastic bodies 21 are provided, each coupled to a supported portion 29. The elastic bodies 21 are connected by a pair of coupling members 37. The coupling members 37 are members that integrally couple the elastic bodies 21. These coupling members 37 engage with each other by clamping a drive shaft 39 with a clamping portion 37a.

[0126] The elastic body 21 urges the connecting member 37 in a direction to clamp the drive shaft 39 with the clamping portion 37a, and maintains the clamping state of the drive shaft 39 by the clamping portion 37a. The drive shaft 39 is connected to the operating mechanism and is displaced in the axial direction according to the operation of the operating mechanism.

[0127] Therefore, in the third embodiment, the same effects as those in the first embodiment can be achieved.

[0128] Example 4

[0129] Figure 9 1 is a conceptual diagram showing a manipulator to which the joint function unit of the fourth embodiment of the present invention is applied. Figure 10 (A) is a conceptual diagram showing a modified example thereof. Figure 10 (B) is observed from a 90-degree angle. Figure 10 In the fourth embodiment, the same reference numerals are given to the corresponding structures in the first embodiment, and duplicate descriptions are omitted.

[0130] In the fourth embodiment, the flexible member 15 of the joint function part 1 includes a universal joint. Other aspects are the same as those of the first embodiment. Furthermore, the flexible member 15 is not limited to a universal joint if it is a flexible member 15 formed by connecting a plurality of swingable members to each other. For example, Figure 10 (A) and Figure 10 As shown in (B), the first rocking member 40a may be rockably connected to the base 11, the rocking member 40b may be rockably connected to the first rocking member 40a in the straight direction, and the movable portion 13 may be coupled to the rocking member 40b.

[0131] In Example 4, the same effects as those in Example 1 can be achieved. In Example 4, the elastic body 21 can impart linear load characteristics to the joint functional part 1 that does not have linear load characteristics.

[0132] Example 5

[0133] Figure 11 1 is a conceptual diagram showing a manipulator to which a joint function unit according to a fifth embodiment of the present invention is applied. In the fifth embodiment, components corresponding to those in the first embodiment are denoted by the same reference numerals and redundant descriptions are omitted.

[0134] In Example 5, the elastic body 21 is provided between the supporting portion 41 of the shaft 5 serving as the fixed-side member and the supported portion 29 of the driving wire 19. Specifically, the shaft 5 includes a supporting portion 41 located on the opposite side of the fixed portion 27 across the supported portion 29 of each driving wire 19 in the axial direction, and the elastic body 21 is interposed between the supporting portion 41 and the supported portion 29. Furthermore, in Example 5, the connecting wire 31 and the guide portion 33 are omitted, and the supported portion 29 is combined with the operating mechanism. In this embodiment, tension is applied to the driving wire 19 by the above combination. However, the connecting wire 31 and the guide portion 33 may also be included as in Example 1. The rest is the same as in Example 1.

[0135] The support portion 41 may be provided at the end of the shaft 5 or inside the shaft 5. The shape of the support portion 41 may be any shape as long as it can support the elastic body 20. The elastic body 21 of this embodiment serves as a tension spring.

[0136] In the fifth embodiment, the same effects as those of the first embodiment can be achieved.

Claims

1. A joint functional part, wherein: The movable side member is supported by the fixed side member so as to be displaceable between a flexed position and an extended position, and the joint function part includes: a plurality of cable-like members, one side of which in the axial direction is a fixed portion fixed to the movable-side member, and the other side of which in the axial direction is a supported portion supported by the fixed-side member; and an elastic body, supporting the supported portions of the plurality of cable-like members on the fixed-side member, and applying force to the supported portions in the axial direction opposite to the fixed portion, thereby applying tension to the plurality of cable-like members, wherein The plurality of cord-like members are respectively inserted through the fixing side member between the fixing portion and the supported portion. The elastic body is interposed between the supported portions of the plurality of cord-shaped members and the fixed-side member.

2. The joint functional part according to claim 1, wherein: The elastic body and the plurality of cord-like members are arranged in parallel.

3. The joint functional part according to claim 1 or 2, wherein: The elastic bodies are respectively inserted through the plurality of cord-shaped members and are coaxially arranged.

4. The joint functional part according to claim 1 or 2, comprising a supporting member, The supporting member spans across the supported portions of the plurality of cable-like members. The elastic body is interposed between the supporting member and the fixed-side member.

5. The joint function part according to claim 1 or 2, comprising a guide part, The guide portion guides one of the plurality of cable-like members so that the supported portions of the plurality of cable-like members are coaxially located. The elastic body connects the supported portions of the plurality of cord-shaped members.

6. The joint functional part according to claim 1 or 2, wherein: The fixed-side member includes a supporting portion located on the opposite side of the fixed portion across the supported portion of the plurality of cord-like members in the axial direction. The elastic body is interposed between the supporting portion and the supported portions of the plurality of cord-shaped members.

7. The joint functional part according to claim 1 or 2, wherein: The elastic body is a coil spring.

8. The joint functional part according to claim 1 or 2, wherein: The plurality of cord-like members are driving wires for operating the supported portion in the axial direction in order to displace the movable-side member relative to the fixed-side member.

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