bending operation mechanism

Abstract

The objective of this invention is to provide a bending operation mechanism that improves the following capability of the driven part to the driving part. The bending operation mechanism of this invention includes: a driving part (5) capable of elastic bending; a driven part (7) that is separately disposed from the driving part (5) and capable of elastic bending; and a link part (9) that connects the driving part (5) and the driven part (7) and bends the driven part (7) by stretching it according to the bending of the driving part (5), and the driving part (5) and the driven part (7) respectively include an inner coil part (19) and an outer coil part (21) capable of bending relative to the axial direction, and the corresponding coil part (19a) of the inner coil part (19) is fitted into the gap (21b) between adjacent coil parts (21a) of the outer coil part (21).

Description

Technical Field

[0001] The present invention relates to a bending operation mechanism for a joint functional part of a robot or manipulator. Background Technology

[0002] Robots, manipulators, or actuators may contain joint-like functional parts that are capable of bending and extending. For example, the mechanism described in Patent Document 1 serves as a bending mechanism for manipulating such joint-like functional parts.

[0003] The bending operation mechanism of Patent Document 1 includes a first part as a driving part and a second part as a driven part. The first part and the second part include an elastic structure formed by extending both ends of multiple cables in the same way.

[0004] In the bending mechanism, the cable is stretched by bending the first part, and the second part is bent by following the first part. Therefore, the second part can be driven and follow the first part, allowing for intuitive operation.

[0005] However, in the bending mechanism, the first part can be pressed in along the axial direction. Therefore, if the first part is bent in a pressed state, the following ability of the second part is reduced, and there is a possibility of reduced intuitiveness or operational accuracy.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: International Publication No. 2015 / 105421 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] The problem to be solved is the reduced following ability of the driven part to follow the driving part.

[0011] Technical means to solve the problem

[0012] The most important feature of the bending operation mechanism of the present invention is that it includes: a driving part capable of elastic bending; a driven part, which is disposed separately from the driving part and is capable of elastic bending; and a link part connecting the driving part and the driven part, which bends the driven part by bending the driving part, and the driving part and the driven part respectively include an inner coil part and an outer coil part capable of bending relative to the axial direction, and the corresponding coil part of the inner coil part is fitted into the gap between adjacent coil parts of the outer coil part.

[0013] The effects of the invention

[0014] With this invention, when bent or not bent, the driving part and the driven part cannot be pressed in along the axial direction because the corresponding winding part of the inner coil part is fitted into the gap between the adjacent winding parts of the outer coil part, thereby improving the following of the driven part to the driving part. Attached Figure Description

[0015] Figure 1 This is a perspective view showing the bending operation mechanism of Embodiment 1 of the present invention.

[0016] Figure 2 yes Figure 1 An enlarged perspective view of the drive unit of the bending operation mechanism.

[0017] Figure 3 Therefore Figure 2 A three-dimensional cross-sectional view of a portion of the driving part.

[0018] Figure 4 (A) and (B) represent Figure 2 A cross-sectional view of the inner cylinder used in the drive unit. Figure 4 (A) represents the normal state. Figure 4 (B) refers to the bending condition.

[0019] Figure 5 (A) and (B) are Figure 1 A schematic cross-sectional view of the bending mechanism. Figure 5 (A) indicates the normal state. Figure 5 (B) indicates when bending.

[0020] Figure 6 It means Figure 1 A three-dimensional view of the state of the drive line of the bending operation mechanism.

[0021] Figure 7 (A) and (B) are schematic cross-sectional views of the bending operation mechanism of Embodiment 2 of the present invention. Figure 7 (A) indicates the normal state. Figure 7 (B) indicates when bending.

[0022] Figure 8 It means Figure 7 A three-dimensional view of the state of the drive line of the bending operation mechanism.

[0023] Figure 9 This is a schematic cross-sectional view showing the bending operation mechanism of Embodiment 3 of the present invention during bending.

[0024] Figure 10 This is a schematic cross-sectional view showing the bending operation mechanism of Embodiment 4 of the present invention during bending.

[0025] Figure 11This is a schematic diagram showing the state of the drive line of the bending operation mechanism of Embodiment 5 of the present invention.

[0026] Figure 12 This is a schematic diagram showing the state of the drive line of the bending operation mechanism in a modified example of Embodiment 5 of the present invention.

[0027] Figure 13 It means Figure 12 A conceptual diagram showing the connection positions of the drive lines of the bending operation mechanism.

[0028] Explanation of symbols

[0029] 1: Bending operating mechanism

[0030] 5: Drive Unit

[0031] 7: Follower

[0032] 9: Link section

[0033] 11: Base (front end)

[0034] 13: Movable part (base end)

[0035] 19: Inner coil section

[0036] 19a: Volume

[0037] 21: Outer coil section

[0038] 21a: Volume

[0039] 25: Drive line (cable-like component) Detailed Implementation

[0040] The purpose of improving the following accuracy of the driven part to the driven part is achieved by using double coils in both the driving part and the movable part.

[0041] That is, the bending operation mechanism (1) includes a driving part (5), a driven part (7), and a link part (9). The driving part (5) is capable of elastic bending, and the driven part (7) is separately disposed from the driving part (5) and is also capable of elastic bending. The link part (9) connects the driving part (5) and the driven part (7), and bends the driven part (7) by stretching it according to the bending of the driving part (5).

[0042] The driving part (5) and the driven part (7) respectively include an inner coil part (19) and an outer coil part (21) that are bendable in the axial direction. The corresponding coil part (19a) of the inner coil part (19) is fitted into the gap (21b) between the adjacent coil parts (21a) of the outer coil part (21).

[0043] The structure can be configured such that the length (L1) of the connection position of the link (9) to the drive (5) from the base end (13) of the drive (5) is different from the length (L2) of the connection position of the link (9) to the driven (7) from the base end (13) of the driven (7).

[0044] In this case, the structure can be configured such that the axial lengths of the driving part (5) and the driven part (7) are different, and the link part (9) connects the front end (11) of the driving part (5) and the driven part (7).

[0045] The link (9) is a cable member (25) that connects the center of the self-driving part (5) and the driven part (7) in the radial direction. When the bending angle of the driving part (5) is set to θ1, the bending angle of the driven part (7) is set to θ2, the displacement of the cable member (25) at the driving part (5) is set to r1, and the displacement of the cable member (25) at the driven part (7) is set to r2, the relationship is θ1:θ2=r2:r1.

[0046] The link section (9) may include one or more cable-like members (25), and each cable-like member (25) is connected to the drive section (5) and the driven section (7) at a position 180 degrees apart in the circumferential direction.

[0047] The structure can be configured such that each cable member (25) is formed in a spiral shape between the driving part (5) and the driven part (7), and the connection displacement is 180 degrees corresponding to the position that is 180 degrees apart, through the spiral shape between the driving part (5) and the driven part (7).

[0048] Example 1

[0049] [Bending mechanism]

[0050] Figure 1 This is a perspective view showing the bending operation mechanism of Embodiment 1 of the present invention. Figure 2 This is an enlarged perspective view of the drive unit of the bending mechanism. Figure 3 This is a three-dimensional cross-sectional view with a portion of the drive unit as the cross-section. Figure 4 This is a cross-sectional view showing the inner cylinder used in the drive unit. Figure 4 (A) represents the normal state. Figure 4 (B) refers to the bending condition. Figure 5 (A) and (B) are schematic cross-sectional views of the bending mechanism. Figure 5 (A) indicates the normal state. Figure 5 (B) indicates when bending. Figure 6 It is a three-dimensional diagram showing the state of the drive line of the bending operation mechanism.

[0051] Bending mechanism 1 is used in the joint function parts of various machines used in medical or industrial applications, such as manipulators, robots, and actuators. A joint function part is a device, mechanism, or equipment that functions as a joint for bending and extending.

[0052] The bending operation mechanism 1 of this embodiment is composed of a shaft 3, a driving part 5, a driven part 7, a chain link part 9, a flexible tube 10 as a flexible component, and a push-pull cable 12.

[0053] Shaft 3 is formed from metal or the like into a hollow cylindrical shape, such as a cylinder. A drive unit 5 and a driven unit 7 are respectively provided at both ends of shaft 3. Therefore, shaft 3 functions as a base for the drive unit 5 and the driven unit 7. Furthermore, depending on the machine using the bending operation mechanism 1, appropriate components can be used instead of shaft 3 as the base for the drive unit 5 and the driven unit 7.

[0054] The drive unit 5 is coaxially disposed at one end of the shaft 3 and is configured to be flexible relative to the axial direction. Furthermore, the axial direction refers to the direction along the axis of the bending operation mechanism 1, which includes not only a direction strictly parallel to the axis but also a slightly inclined direction.

[0055] The drive unit 5 is a part that is operated directly or indirectly by the operator, and performs bending actions according to the operation. In this embodiment, the drive unit 5 includes a base 11, a movable part 13, an inner cylinder 15, and an outer cylinder 17.

[0056] The base 11 is a columnar body, such as a cylinder, formed of resin or metal. The base 11 is mounted at one end of the shaft 3, constituting the base end of the drive unit 5. Furthermore, the base 11 is not limited to a columnar shape, but can be configured in a suitable form depending on the machine using the bending operation mechanism 1.

[0057] Like the base 11, the movable part 13 is a columnar body, such as a cylinder, formed of resin or metal. The movable part 13 constitutes the front end of the drive part 5. Furthermore, the movable part 13 may be configured in an appropriate form depending on the machine in which the bending operation mechanism 1 is applied, and is not limited to a columnar shape.

[0058] The movable part 13 is supported by the base 11 in such a way that it can be displaced relative to the axial direction by the inner cylinder 15 and the outer cylinder 17.

[0059] The inner cylinder 15 is arranged along the axial direction of the drive unit 5. The inner cylinder 15 is a double coil that can be elastically bent and restored relative to the axial direction, including an inner coil portion 19 and an outer coil portion 21.

[0060] The inner coil portion 19 and the outer coil portion 21 are respectively made of metal or resin, and are elastic coil springs that can be bent relative to the axial direction. The cross-sectional shape of the bare wires in the inner coil portion 19 and the outer coil portion 21 is circular. However, the cross-sectional shape is not limited to a circle, and may also be semi-circular or elliptical.

[0061] The inner coil portion 19 has a smaller center diameter than the outer coil portion 21 and is screwed into the outer coil portion 21. The center diameters of the inner coil portion 19 and the outer coil portion 21 are fixed from one end to the other in the axial direction. However, the center diameter of the outer coil portion 21 can also vary in the axial direction.

[0062] The outer coil portion 21 includes a plurality of gaps 21b, which are axially separated gaps between adjacent coil portions 21a (adjacent coil portions 21a). The corresponding coil portion 19a of the inner coil portion 19 is fitted from the inside into the plurality of gaps 21b. Through this fitting, the coil portion 19a of the inner coil portion 19 comes into contact with both the coil portion 21a of the adjacent outer coil portion 21.

[0063] On the other hand, the inner coil portion 19 includes a plurality of gaps 19b, which are multiple gaps that separate adjacent coil portions 19a in the axial direction. The corresponding coil portion 21a of the outer coil portion 21 is fitted into the plurality of gaps 19b from the outside. Through this fitting, the coil portion 21a of the outer coil portion 21 comes into contact with both the coil portion 19a of the adjacent inner coil portion 19.

[0064] The axial compression of the inner cylinder 15 is restricted by the structure described above.

[0065] The outer cylinder 17 is concentrically arranged with the inner cylinder 15, forming a cylinder that covers the outer periphery of the inner cylinder 15. In this embodiment, the outer cylinder 17 is constructed by stacking multiple corrugated washers 23 in the axial direction. Adjacent corrugated washers 23 in the axial direction are interlocked. The outer cylinder 17 can be bent by the elastic deformation of the corrugated washers 23.

[0066] Each wave washer 23 is formed into a closed loop shape from metal or resin. Between adjacent wave washers 23 in the axial direction, the peak 23a of one wave washer 23 abuts against the valley 23b of another wave washer 23, and these abutting peaks 23a and valleys 23b are joined by appropriate methods such as welding or bonding.

[0067] Multiple flat washers 24, with a deformation less than that of the corrugated washer 23, are installed at both ends of the outer cylinder 17 in the axial direction. The base 11 and the movable part 13 are joined at both ends of the outer cylinder 17 via the flat washers 24. This joining is achieved by a suitable method such as welding. Alternatively, the flat washers 24 may be omitted.

[0068] On the outer cylinder 17, through holes 23c and 24a, which communicate in the axial direction, are provided between the peaks 23a and valleys 23b of each wave washer 23 and at the corresponding flat washer 24. In this embodiment, the through holes 23c and 24a are arranged at 90-degree intervals in the circumferential direction.

[0069] Through holes 23c and 24a allow the drive wire 25 of the chain link 9 to pass through along the axial direction. Thus, the outer cylinder 17 functions as a guide to hold the drive wire 25 in a specific position.

[0070] Furthermore, the outer cylinder 17 is not limited to being formed by stacking the wave-shaped washers 23, and can be made of other flexible components. For example, the outer cylinder 17 can be made of a bellows containing a tube with a cross-sectional wave shape or a double coil identical to that of the inner cylinder 15.

[0071] The driven part 7 is coaxially disposed at the other end of the shaft 3 and is separate from the drive part 5. The driven part 7 constitutes a joint function of the machine using the bending operation mechanism 1, and is configured to be able to bend elastically relative to the axial direction. The bending of the driven part 7 is carried out by following the bending of the drive part 5.

[0072] The driven part 7 in this embodiment has the same structure as the driving part 5, including a base 11, a movable part 13, an inner cylinder 15, and an outer cylinder 17. Therefore, the description of each part of the driven part 7 will be referred to as the driven part 7 instead of the driving part 5.

[0073] Furthermore, the driven part 7 is configured in the opposite direction to the driving part 5. Therefore, the bending direction of the driven part 7 is opposite to the bending direction of the driving part 5. The movable part 13 of the driven part 7 constitutes the front end of the driven part 7, and an end effector or the like is installed depending on the machine that uses the bending operation mechanism 1.

[0074] The link 9 connects the driving part 5 and the driven part 7, and bends the driven part 7 by bending the driving part 5. The link 9 includes multiple parallel drive lines 25 that function as one or more cable-like members. In this embodiment, four drive lines 25 are provided.

[0075] Each drive line 25 is a cable-like member containing metal or the like. The drive line 25 has flexibility that does not impede the bending and recovery of the drive part 5 and the driven part 7 of the bending operation mechanism 1.

[0076] The cross-sectional shape of the drive wire 25 is set to be the same as the through hole 23c and through hole 24a of the outer cylinder 17 as a circle. In addition, it can also be set to different shapes such as ellipse or rectangle. Furthermore, as long as the drive wire 25 is a cable-like component, it can be set as stranded wire, NiTi (nickel-titanium) single wire, piano wire, multi-joint rod, chain, belt, yarn, rope, etc.

[0077] The drive line 25 passes through the shaft 3, the drive unit 5, and the driven unit 7 along the axial direction. In the drive unit 5 and the driven unit 7, the drive line 25 is guided through the insertion holes 23c and 24a of the outer cylinder 17. Within the shaft 3, it is guided by a guide member (not shown). The guide member can be a plate or the like fixed within the shaft 3, having an insertion hole or slit for the drive line 25 to pass through.

[0078] According to the guidance, when the bending operation mechanism 1 is straight (extended), the drive line 25 extends along the axial direction at a position where it is displaced radially from the center of the self-driving part 5, the driven part 7, and the shaft 3.

[0079] Guided by the drive line 25, both ends of the drive line 25 are connected to positions that are displaced radially from the center of the movable part 13, which serves as the front end of the drive part 5 and the driven part 7. Thus, the drive line 25, which serves as the link part 9, becomes a structure that connects the positions that are displaced radially from the center of the drive part 5 and the driven part 7.

[0080] Furthermore, in this embodiment, the displacement r1 of the drive line 25 in the drive section 5 is equal to the displacement r2 of the drive line 25 in the driven section 7. The drive line 25 connects the drive section 5 and the movable section 13 of the driven section 7 under tension, but the tension of the drive line 25 can be appropriately set according to the characteristics of the bending operation mechanism 1, etc.

[0081] Both ends of the drive wire 25 are located in the connection holes 13a provided in the movable part 13, and are prevented from disengaging by engaging with the movable part 13 through end processing, etc. Thus, both ends of the drive wire 25 are connected to the drive part 5 and the driven part 7.

[0082] Therefore, in the drive line 25 of this embodiment, the engagement position of the movable parts 13 on both sides becomes the connection position of the link part 9 to the drive part 5 and the driven part 7. The connection position is a corresponding axial position, which in this embodiment refers to a position symmetrical about the radial direction relative to the center of the axial direction passing through the bending operation mechanism 1. Furthermore, the connection can be made by appropriate methods such as welding or bonding, and the connection position can be set according to the connection method.

[0083] The length L1 of the distance between the connection position of the link 9 and the drive 5 and the base 11, which is the base end of the drive 5, is the same as the length L2 of the distance between the connection position of the link 9 and the drive 7 and the base 11, which is the base end of the drive 7.

[0084] Length L1 refers to the distance from the connection position of the link 9 to the drive 5 to any axial position of the base 11 of the drive 5. Similarly, length L2 refers to the distance from the connection position of the link 9 to the driven 7 to any axial position of the base 11 of the driven 7. Here, any axial position of the base 11 refers to a corresponding axial position. In this embodiment, it refers to a position symmetrical about the radial direction relative to the center of the axial direction passing through the bending operation mechanism 1.

[0085] As described above, since the displacements r1 and r2 are equal, in this embodiment, the bending angle θ1 when the driving part 5 bends is equal to the bending angle θ2 of the driven part 7 that bends accordingly. The relationship between the length bending angles θ1 and θ2 and the displacements r1 and r2 is θ1:θ2 = r2:r1. Furthermore, the bending angle refers to the central angle of the axis of the inner cylinder 15 and the outer cylinder 17 responsible for the bending action.

[0086] The flexible tube 10 is located at the axial center of the bending operation mechanism 1 and is a cylindrical component formed of resin or the like. Both ends of the flexible tube 10 are inserted into the inner cylinder 15 of the drive part 5 and the driven part 7. The flexible tube 10 has the flexibility to the extent that it does not hinder the bending and recovery of the drive part 5 and the driven part 7.

[0087] A push-pull cable 12 is inserted inside the flexible tube 10. The push-pull cable 12 causes the end effector and other devices to operate by moving forward and backward.

[0088] Furthermore, depending on the machine, a drive component such as an air pipe other than the push-pull cable 12 or other flexible components may be provided. Additionally, depending on the machine, either or both of the flexible components, such as the flexible pipe 10 or the push-pull cable 12, may be omitted.

[0089] [action]

[0090] The bending operation mechanism 1 in this embodiment is as follows: Figure 4 (A) and Figure 5 As shown in (A), when the drive part 5 and the driven part 7 are straight and not bent (when extended), in the drive part 5 and the driven part 7, the corresponding roll 19a of the inner coil part 19 is fitted between the adjacent roll 21a of the outer coil part 21 of the inner cylinder 15.

[0091] Therefore, even if a compressive force in the axial direction is applied to the drive part 5 or the driven part 7, the bending operation mechanism 1 will not compress the inner coil part 19 and the outer coil part 21 of the inner cylinder 15. As a result, the drive part 5 and the driven part 7 will not be pressed in, and the length of the center part can be maintained.

[0092] Therefore, before the operator bends the drive part 5, the accidental pressing of the drive part 5 and the driven part 7 can be prevented, and the change in the length of the center part of the drive part 5 and the driven part 7 can be prevented.

[0093] In the bending mechanism 1, when the driven part 7 is bent, the operator bends the drive part 5 in any direction in all 360 degrees. This pulls out one or more drive lines 25, stretching the driven part 7 to become driven, thus bending it. Therefore, the end effector of a machine using the bending mechanism 1 can be directed in the desired direction.

[0094] After pulling out the drive cable 25, as follows Figure 4 (B) and Figure 5 As shown in (B), on the inner side of the bend, the distance 21b between adjacent coil portions 21a of the outer coil portion 21 of the inner cylinder 15 decreases, while on the outer side of the bend, the distance 21b between adjacent coil portions 21a of the outer coil portion 21 of the inner cylinder 15 increases. As a result, the length of the center portion of the inner cylinder 15 remains unchanged during bending, and its posture is stable.

[0095] At this time, the inner coil portion 19 of the inner cylinder 15 is extruded toward the curved outer side. The extrusion of the inner coil portion 19 is permitted by the increased spacing 21b between the adjacent coil portions 21a of the outer coil portion 21 of the inner cylinder 15 at the curved outer portion. Therefore, the bending operation can be performed smoothly.

[0096] Furthermore, when bent, the corresponding rolls 19a of the inner coil portion 19 are continuously fitted between the adjacent rolls 21a of the outer coil portion 21 of the inner cylinder 15.

[0097] Therefore, similar to the case when it is straight, the situation where the driving part 5 and the driven part 7 are accidentally pressed in due to axial compression can be prevented, and the length of the central part can be suppressed from changing. Therefore, the driven part 7 linearly follows the bending of the driving part 5 and bends with good following performance.

[0098] [Effect of Example 1]

[0099] As explained above, this embodiment includes a drive portion 5 that can be bent elastically, a driven portion 7 that is separately disposed from the drive portion 5 and can be bent elastically, and a link portion 9 that connects the drive portion 5 and the driven portion 7 and bends the driven portion 7 according to the bending of the drive portion 5.

[0100] The driving part 5 and the driven part 7 respectively include an inner coil part 19 and an outer coil part 21 that can be bent relative to the axial direction. The corresponding winding part 19a of the inner coil part 19 is fitted into the gap 21b between the adjacent winding parts 21a of the outer coil part 21.

[0101] Therefore, in this embodiment, when bending and when not bending before and after bending, the pressing of the driving part 5 and the driven part 7 in the axial direction is suppressed, thereby improving the following of the driven part 7 to the driving part 5 and enabling intuitive operation.

[0102] Furthermore, the link 9 is a drive line 25 that serves as a cable-like member. It connects the drive section 5 and the driven section 7 at positions that are displaced radially from their centers. When the bending angle of the drive section 5 is set to θ1, the bending angle of the driven section 7 is set to θ2, the displacement of the drive line 25 at the drive section 5 is set to r1, and the displacement of the drive line 25 at the driven section 7 is set to r2, the bending operation mechanism 1 has the relationship θ1:θ2=r2:r1.

[0103] In this embodiment, since the pressing of the driving part 5 and the driven part 7 in the axial direction is suppressed, the relationship between the lengths L1 and L2 of the driving part 5 and the driven part 7 can be maintained, and the relationship θ1:θ2 = r2:r1 can be reliably obtained. Therefore, the bending angles θ1 and θ2 of the driving part 5 and the driven part 7 can be accurately set according to the displacement of the drive line 25.

[0104] In this embodiment, since the displacement r1 and displacement r2 are set to be equal, and the bending angle θ1 and bending angle θ2 are set to be equal, the degree of bending of the driving part 5 can be made to make the driven part 7 bend properly, and a more intuitive action can be performed.

[0105] Example 2

[0106] Figure 7 (A) and (B) are schematic cross-sectional views of the bending operation mechanism of Embodiment 2 of the present invention. Figure 7 (A) indicates the normal state. Figure 7 (B) indicates when bending. Figure 8 It means Figure 7 A perspective view of the state of the drive line of the bending operation mechanism. Furthermore, in Embodiment 2, the same symbols are used for the structures corresponding to those in Embodiment 1, and repeated descriptions are omitted.

[0107] In Embodiment 2, the drive line 25, which serves as the drive line for each cable-like member, connects the drive unit 5 and the driven unit 7 at positions 180 degrees apart in the circumferential direction. Otherwise, it is the same as in Embodiment 1.

[0108] That is, each drive line 25 is arranged in a spiral shape and gradually displaces along the circumferential direction, displacing 180 degrees along the circumferential direction between the connection position of the drive part 5 and the movable part 13 and the connection position of the driven part 7 and the movable part 13. Furthermore, the drive line 25 can be configured such that the displacement is set to any other arbitrary angle instead of being limited to 180 degrees, and the drive part 5 and the driven part 7 are connected at different positions in the circumferential direction according to said angle.

[0109] In this embodiment, the drive line 25 is formed in a spiral shape within the shaft 3 that serves as the drive unit 5 and the driven unit 7. Through this spiral shape within the shaft 3, the drive line 25 is displaced 180 degrees circumferentially, corresponding to connections at positions 180 degrees apart. That is, within the drive unit 5 and the driven unit 7, the drive line 25 is parallel rather than spiral. However, the drive line 25 could also be constructed entirely in a spiral shape from the movable part 13 of the drive unit 5 to the movable part 13 of the driven unit 7.

[0110] Within the shaft 3, multiple retaining members arranged along the axial direction form retaining holes that gradually shift along the circumferential direction. The spiral shape is maintained by inserting the drive wire 25 through these retaining holes. The drive wire 25 is inserted into the drive section 5 and the driven section 7 in the same manner as in Embodiment 1.

[0111] In Embodiment 2, the driven part 7 can be bent along the direction that causes the driving part 5 to bend, allowing for more intuitive operation. Furthermore, in this embodiment, only the drive line 25 within the shaft 3 is spiral-shaped, thus preventing structural complexity of the driving part 5 and the driven part 7, stabilizing the operation, and improving versatility. In addition, Embodiment 2 can achieve the same effects as Embodiment 1.

[0112] Example 3

[0113] Figure 9 This is a schematic cross-sectional view showing the bending operation mechanism of Embodiment 3 of the present invention during bending. Furthermore, in Embodiment 3, the same symbols are used for structures corresponding to those in Embodiment 1, and repeated descriptions are omitted.

[0114] In Embodiment 3, the distance L1 between the connection position of the link 9 to the drive 5 and the base 11, which serves as the base end of the drive 5, is longer than the distance L2 between the connection position of the link 9 to the driven 7 and the base 11, which serves as the base end of the driven 7. Otherwise, it is the same as in Embodiment 1.

[0115] In this embodiment, the length of the driving part 5 is longer than the length of the driven part 7 in the axial direction, and the drive line 25 of the link part 9 connects the driving part 5 and the movable part 13 of the driven part 7 in the same way as in embodiment 1.

[0116] Alternatively, the length L1 can be shorter than the length L2. In this case, the length of the drive part 5 is shorter than the length of the driven part 7 in the axial direction, and the drive line 25 of the link part 9 connects the drive part 5 and the movable part 13 of the driven part 7 in the same way as in Embodiment 1. Therefore, in this embodiment, the length L1 can be different from the length L2.

[0117] In the third embodiment, since, as in the first embodiment, the bending angle θ1 of the driving part 5 is equal to the bending angle θ2 of the driven part 7, the displacement of the movable part 13 of the driving part 5 before the bending angle θ1 is greater than the displacement of the movable part 13 of the driven part 7 before the bending angle θ2.

[0118] As a result, a small displacement of the movable part 13 of the driven part 7 can be controlled by a large displacement of the movable part 13 of the drive part 5. Small movements of the driven part 7 can be performed without reducing the size of the drive part 5, thereby improving the operability of small movements and suppressing operational errors.

[0119] Conversely, when the length L1 is shorter than the length L2, the large displacement of the movable part 13 of the driven part 7 can be controlled by the small displacement of the movable part 13 of the driving part 5, and the driven part 7 can be made to make a large displacement without increasing the size of the driving part 5.

[0120] In addition, this embodiment can also achieve the same effect as embodiment 2.

[0121] Example 4

[0122] Figure 10 This is a schematic cross-sectional view showing the bending operation mechanism of Embodiment 4 of the present invention during bending. Furthermore, in Embodiment 4, the same symbols are used for structures corresponding to Embodiment 2, and repeated descriptions are omitted.

[0123] In Embodiment 4, the displacement r1 of the drive line 25 at the drive unit 5 is set to be greater than the displacement r2 of the drive line 25 at the driven unit 7. Otherwise, it is the same as in Embodiment 1.

[0124] That is, the diameter of the outer cylinder 17 of the driving part 5 is larger than the diameter of the outer cylinder 17 of the driven part 7, and correspondingly, the insertion hole 23c of the driving part 5 is positioned further outward in the radial direction than the insertion hole 23c of the driven part 7. By inserting the driving line 25 into the insertion hole 23c, the displacement r1 is made greater than the displacement r2.

[0125] Therefore, according to the relationship θ1:θ2=r2:r1, the bending angle θ1 of the driving part 5 is smaller than the bending angle θ2 of the driven part 7. Furthermore, the displacement r1 can also be smaller than the displacement r2.

[0126] In embodiment 4, the driven part 7 can be bent at a large angle θ2 by the small bending angle θ1 of the driving part 5. Therefore, in this embodiment, the driven part 7 can be bent significantly with a small operating force. Furthermore, the diameter of the driving part 5 can be increased for easier operation, achieving bending with even less operating force.

[0127] Conversely, when the displacement r1 is less than the displacement r2, the driven part 7 can perform a bending action with a smaller bending angle θ2 by bending the driving part 5 with a larger bending angle θ1. Therefore, small movements of the driven part 7 can be realized, thereby improving the operability of small movements and suppressing operational errors.

[0128] In addition, Example 4 can also achieve the same effect as Example 2.

[0129] Example 5

[0130] Figure 11 This is a schematic diagram showing the state of the drive line of the bending operation mechanism in Embodiment 5 of the present invention. Furthermore, in Embodiment 4, the same symbols are used for the structures corresponding to Embodiment 1, and repeated descriptions are omitted.

[0131] In this embodiment, three drive lines 25 are provided. Otherwise, it is the same as in Embodiment 1. The three drive lines 25 are arranged at specific intervals along the circumferential direction, respectively connecting the driving part 5 and the driven part 7 at positions facing each other in the axial direction.

[0132] The fifth embodiment can also achieve the same effect as the first embodiment.

[0133] Figure 12 This is a schematic diagram showing the state of the drive line of the bending operation mechanism in a modified example of Embodiment 5. Figure 13 It means Figure 12 A conceptual diagram of the connection position of the drive line of the bending operation mechanism.

[0134] In a modified example, similar to Example 2, in Example 5, the drive line 25 connects the drive part 5 and the driven part 7 at positions 180 degrees apart in the circumferential direction.

[0135] The modified example can achieve the same effect as Example 2.

Claims

1. A bending operation mechanism, comprising: The drive unit is capable of flexible bending; The driven part is disposed separately from the driving part and is capable of elastic bending; and The link section connects the driving part and the driven part, and the driven part is bent by the bending of the driving part. The driving part and the driven part respectively include an inner coil part and an outer coil part that are flexible relative to the axial direction, and the corresponding coil part of the inner coil part is fitted into the gap between adjacent coil parts of the outer coil part. When the link portion is stretched to bend the driven portion, the gap between adjacent coil portions of the outer coil portion on the outer side of the bend increases, and the inner coil portion on the outer side of the bend is extruded toward the outer side of the bend, so that the corresponding coil portion of the inner coil portion is continuously fitted into the gap between adjacent coil portions of the outer coil portion in the increased gap. The driving part and the driven part each include an outer cylinder. The outer cylinder is provided with an insertion hole for the chain link to pass through. The diameter of the outer cylinder of the driving part is larger than the diameter of the outer cylinder of the driven part, and the insertion hole of the driving part is located on the outer side in the radial direction, which is more distant than the insertion hole of the driven part.

2. The bending operating mechanism according to claim 1, wherein... The length of the connection position of the link portion to the drive portion from the base end of the drive portion is different from the length of the connection position of the link portion to the driven portion from the base end of the driven portion.

3. The bending operation mechanism according to claim 2, wherein... The driving part and the driven part have different axial lengths. The link section connects the front end of the driving section and the driven section.

4. The bending operating mechanism according to any one of claims 1 to 3, wherein The link section is a cable-like member that connects the driving section and the driven section at a position that is displaced radially from the center. When the bending angle of the driving part is set to θ1, the bending angle of the driven part is set to θ2, the displacement of the cable-like member at the driving part is set to r1, and the displacement of the cable-like member at the driven part is set to r2, They have the relationship θ1:θ2=r2:r1.

5. The bending operating mechanism according to any one of claims 1 to 3, wherein The link portion includes one or more cord-like members. Each cable-like component connects the driving part and the driven part at positions that are 180 degrees apart in the circumferential direction.

6. The bending operating mechanism according to claim 5, wherein... Each of the cable-like members is formed in a spiral shape between the driving part and the driven part, and the connection displacement of 180 degrees corresponds to the position that is 180 degrees apart.

Images