A rope-driven linear module

Abstract

This invention provides a rope-driven linear module, comprising: a base, a linear guide rail, a slider, a motor, a motor output shaft, a motor reduction wheel, an output wire wheel, a steering wire wheel, an adapter frame, a brake, and a wire rope. Compared with the prior art, this invention has the following technical advantages: due to the smooth effect of rope driving, the end effector of the rope-driven linear module can be manually and flexibly dragged; through multi-encoder positioning, the distance of the wire rope movement can be accurately determined and whether the wire rope is slipping can be judged, and the operation and positioning accuracy of the rope-driven linear module is higher; the wire rope tensioning structure is simple, when the wire rope needs to be tensioned, the tensioning shaft is rotated along the tensioning direction of the wire rope, and the locking is achieved by releasing; the rope-driven linear module can be adapted for use with a robotic arm, and the combination of a robotic arm and this rope-driven linear module can achieve both a compact end effector size and simple control.

Description

Technical Field

[0001] This invention relates to the field of mechanical structures, and more specifically to a rope-driven linear module. Background Technology

[0002] Linear modules, also known as linear slides or linear units, offer advantages such as high single-unit movement speed, high repeatability, light weight, small footprint, and long lifespan. They are currently widely used in measurement, laser welding, and laser cutting tasks, and are components of equipment such as glue applicators, sprayers, drilling machines, dispensing machines, small CNC machine tools, transfer machines, sorting machines, and testing machines.

[0003] Linear modules mainly come in two forms: ball screw type and synchronous belt type. The ball screw type linear module primarily consists of a ball screw, linear guide rail, aluminum alloy profile, ball screw support, coupling, motor, and photoelectric switch. The synchronous belt type linear module primarily consists of a belt, linear guide rail, aluminum alloy profile, coupling, motor, and photoelectric switch. However, currently common linear modules often have an externally mounted servo motor or synchronous motor, resulting in a relatively long overall size, which is more noticeable when the linear module's stroke is short.

[0004] Due to the flexibility and light weight of rope drive, more and more robots or robotic arms are starting to use rope drive structures. However, existing rope drive structures have some difficulties, such as the complex winding and tensioning structure of the wire rope, and the wire rope is prone to slippage or wear. Therefore, there is an urgent need for a rope drive linear module that can overcome the above problems. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art described in the background section and provide a rope-driven linear module. This rope-driven linear module is adaptable to robotic arms, has a simple wire rope tensioning structure, and utilizes multi-encoder positioning to accurately determine the distance the wire rope has traveled and whether it is slipping.

[0006] To achieve the above objectives, the present invention employs the following technical solution: a rope-driven linear module, comprising: a base, a linear guide rail, a slider, a motor, a motor output shaft, a motor reduction wheel, an output wire wheel, a steering wire wheel, an adapter frame, a brake, and a wire rope. The wire rope includes a reduction wire rope and an output wire rope.

[0007] Furthermore, the end of the base is used to connect with the robotic arm joint module or the end joint of the robotic arm. When the end of the robotic arm only needs to perform linear motion, the other joints of the robotic arm do not need to move, only the linear module needs to move.

[0008] Furthermore, the stator of the motor is fixedly mounted on the base, the rotor of the motor is fixedly connected to one end of the motor output shaft, the motor output shaft is mounted on the base through a large bearing, the two ends of the reduction steel wire rope are wound and fixed on the motor output shaft, the reduction steel wire rope passes through the motor reduction wheel and is wound on the motor reduction wheel, and when the motor output shaft rotates, it drives the motor reduction wheel to rotate.

[0009] Furthermore, the outer diameter of the motor output shaft wound around the deceleration steel wire rope is smaller than the outer diameter of the motor deceleration wheel wound around the deceleration steel wire rope, in order to achieve deceleration after the motor outputs power.

[0010] Furthermore, a motor reduction wheel cover is provided on the outside of the motor reduction wheel.

[0011] Furthermore, the output wire wheel and the steering wire wheel are mounted on the base via a large bearing and a small bearing. The output wire wheel is fixedly connected to the motor reduction wheel. When the motor reduction wheel rotates, it drives the output wire wheel to rotate synchronously. The two ends of the output wire rope are wound and fixed on the output wire wheel. The output wire rope passes through the steering wire wheel and is wound on the steering wire wheel. When the output wire wheel rotates, it drives the steering wire wheel to rotate.

[0012] Furthermore, the outer diameters of the output wire rope wound around the output wire rope are equal for the output wire rope and the steering wire rope.

[0013] Furthermore, the linear guide rail is fixedly mounted on the base, the slider is mounted on the linear guide rail, the adapter frame is mounted on the slider, and the output wire rope passes through and is fixed on the adapter frame; when the output wire wheel and the steering wire wheel rotate, they drive the output wire rope to move, thereby driving the adapter frame to move linearly along the linear guide rail.

[0014] Furthermore, the base is also provided with a blocking block support.

[0015] Furthermore, the linear guide rail is provided with blocking blocks at both ends. The blocking blocks are made of non-metallic elastic material and are fixedly installed on the blocking block support to limit and protect the position.

[0016] Furthermore, a brake is provided at the other end of the motor output shaft. The brake is connected to the motor output shaft through a brake hub and is mounted on a brake support seat to add a braking function to the motor.

[0017] Furthermore, an output wheel encoder is provided at the end of the output wire wheel, a steering wheel encoder is provided at the end of the steering wire wheel, and an encoder is also provided inside the motor. Through the motor encoder, the output wheel encoder, and the steering wheel encoder, the distance of the wire rope movement can be accurately determined and whether the wire rope is slipping can be judged.

[0018] Furthermore, the output wire wheel is equipped with an output wheel encoder shaft and an encoder mounting base at its end, and the steering wire wheel is equipped with a steering wheel encoder shaft and an encoder mounting base at its end. The rope-driven linear module also includes an output wheel encoder support and a steering wheel encoder support. The output wheel encoder is fixed on the output wheel encoder support, and the steering wheel encoder is fixed on the steering wheel encoder support. By adopting this multi-encoder positioning method, the rope-driven linear module has higher running and positioning accuracy.

[0019] Furthermore, the rope-driven linear module also includes a tensioning shaft and a one-way bearing. The deceleration wire rope passes through the tensioning shaft along with the motor reduction wheel, and the output wire rope passes through the tensioning shaft along with the steering wire rope. The tensioning shaft is mounted within the motor reduction wheel and the steering wire rope via the one-way bearing. When tensioning the wire rope is required, the tensioning shaft is rotated along the tensioning direction of the wire rope; loosening achieves locking. This tensioning method, relying on the tensioning shaft and the one-way bearing, results in a simple tensioning structure.

[0020] Furthermore, to prevent the wire rope from slipping, the number of turns of the deceleration wire rope around the motor output shaft and the motor deceleration wheel, and the number of turns of the output wire rope around the output wire wheel and the steering wire wheel are greater than two.

[0021] Furthermore, the rope-driven linear module also includes a main body housing and a sheath housing, which are installed on the outer periphery of the rope-driven linear module.

[0022] Furthermore, an end-tool holder is mounted on the adapter frame, and the end-tool is mounted on the end-tool holder. The end-tool holder and the end-tool are exposed outside the main body housing and the sheath housing. The end-tool can be one of a drill, needle, knife, saw, syringe, etc.

[0023] Furthermore, the base end of the rope-driven linear module is designed with a wire hole, so that when the rope-driven linear module is installed at the end of the robotic arm, it can also adopt the form of internal wiring to achieve a neat appearance.

[0024] This invention provides a rope-driven linear module, which has the following technical advantages compared with the prior art:

[0025] In medical surgery, many surgical procedures involve linear motion. Due to the compliant effect of rope drive, the end tool of the rope drive linear module can be manually and flexibly dragged.

[0026] By using motor encoders, output wheel encoders, and steering wheel encoders, the distance the wire rope moves can be accurately determined and whether the wire rope is slipping can be judged. At the same time, by adopting this multi-encoder positioning method, the operation and positioning accuracy of the rope-driven linear module is higher.

[0027] The wire rope tensioning structure of the rope-driven linear module is simple. When it is necessary to tension the wire rope, the tensioning shaft is rotated along the tensioning direction of the wire rope to release and lock it.

[0028] The rope-driven linear module can be adapted for use with robotic arms. By using a robotic arm plus the rope-driven linear module, both the end effector size can be made small and the control can be made simple. Attached Figure Description

[0029] The features, advantages and technical effects of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings.

[0030] Figure 1 This is an assembly diagram of the rope-driven linear module provided in an embodiment of the present invention at a certain angle;

[0031] Figure 2 This is an assembly diagram of the rope-driven linear module provided in an embodiment of the present invention from another angle;

[0032] Figure 3 This is a top view of the rope-driven linear module provided in an embodiment of the present invention;

[0033] Figure 4 This is a cross-sectional view of the rope-driven linear module provided in an embodiment of the present invention at section BB;

[0034] Figure 5 This is a schematic diagram of the wire rope transmission structure of the rope-driven linear module provided in an embodiment of the present invention at a certain angle;

[0035] Figure 6 This is a schematic diagram of the wire rope transmission structure of the rope-driven linear module provided in an embodiment of the present invention at another angle;

[0036] Figure 7 This is a schematic diagram of the working state of the rope-driven linear module as an independent unit provided in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of another working state of the rope-driven linear module provided in this embodiment of the invention as an independent unit;

[0038] Figure 9This is a schematic diagram of the structure of the rope-driven linear module provided in this embodiment of the invention installed at the end of a robotic arm;

[0039] Explanation of reference numerals in the attached drawings: 1. Base; 2. Linear guide rail; 3. Slider; 4. Motor; 5. Motor output shaft; 6. Motor reduction wheel; 7. Reduction wire rope; 8. Output wire wheel; 9. Steering wire wheel; 10. Output wire rope; 11. Adapter frame; 12. Brake; 13. Brake hub; 14. Brake support seat; 15. Large bearing; 16. Small bearing; 17. Motor reduction wheel cover; 18. Tensioning shaft; 19. One-way bearing; 20. Output wheel encoder shaft; 21. Encoder fixing seat; 22. Output wheel encoder; 23. Output wheel encoder support; 24. Steering wheel encoder shaft; 25. Steering wheel encoder; 26. Steering wheel encoder support; 27. Block; 28. Block support; 29. ​​End tool holder; 30. End tool; 31. Main body shell; 32. Sheath shell. Detailed Implementation

[0040] The features and exemplary embodiments of various aspects of this disclosure will now be described in detail. To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to explain this disclosure only and not to limit it. For those skilled in the art, this disclosure can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this disclosure by illustrating examples.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0042] In this document, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "assembly" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] To better understand the present invention, the rope-driven linear module provided in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0044] like Figure 1-6 As shown, the present invention provides a rope-driven linear module, comprising: a base 1, a linear guide rail 2, a slider 3, a motor 4, a motor output shaft 5, a motor reduction wheel 6, an output wire wheel 8, a steering wire wheel 9, an adapter frame 11, a brake 12, and a wire rope. The wire rope includes a reduction wire rope 7 and an output wire rope 10.

[0045] As an optional implementation, the end of the base 1 is used to connect to the robotic arm joint module or the end joint of the robotic arm.

[0046] like Figure 1 As shown, the stator of the motor 4 is fixedly mounted on the base 1, as... Figure 4 and Figure 5 As shown, the rotor of the motor 4 is fixedly connected to one end of the motor output shaft 5. The motor output shaft 5 is mounted on the base 1 through a large bearing 15. The two ends of the deceleration steel wire rope 7 are wound and fixed on the motor output shaft 5. The deceleration steel wire rope 7 passes through the motor deceleration wheel 6 and is wound on the motor deceleration wheel 6. When the motor output shaft 5 rotates, it drives the motor deceleration wheel 6 to rotate.

[0047] like Figure 5 As shown, the outer diameter of the motor output shaft 5 wound around the deceleration steel wire rope 7 is smaller than the outer diameter of the motor deceleration wheel 6 wound around the deceleration steel wire rope 7, which is used to achieve deceleration after the motor 4 outputs power.

[0048] like Figure 2 As shown, a motor reduction wheel cover 17 is provided on the outside of the motor reduction wheel 6.

[0049] like Figure 4 and Figure 5As shown, the output wire wheel 8 and the steering wire wheel 9 are mounted on the base 1 via a large bearing 15 and a small bearing 16. The output wire wheel 8 is fixedly connected to the motor reduction wheel 6. When the motor reduction wheel 6 rotates, it drives the output wire wheel 8 to rotate synchronously. The two ends of the output wire rope 10 are wound and fixed on the output wire wheel 8. The output wire rope 10 passes through the steering wire wheel 9 and is wound on the steering wire wheel 9. When the output wire wheel 8 rotates, it drives the steering wire wheel 9 to rotate.

[0050] As an optional implementation, the outer diameters of the output wire rope 10 wound around the output wire rope 10 are equal, as shown by the output wire rope 8 and the steering wire rope 9.

[0051] like Figure 1 and Figure 2 As shown, the linear guide rail 2 is fixedly mounted on the base 1, the slider 3 is mounted on the linear guide rail 2, and the adapter bracket 11 is mounted on the slider 3. Figure 5 As shown, the output wire rope 10 passes through and is fixed on the adapter frame 11. When the output wire wheel 8 and the steering wire wheel 9 rotate, they drive the output wire rope 10 to move, thereby driving the adapter frame 11 to move linearly along the linear guide rail 2.

[0052] like Figure 1 and Figure 3 As shown, a blocking block support 28 is also provided on the base 1.

[0053] As an optional implementation, the linear guide rail 2 is provided with blocking blocks 27 at both ends. The blocking blocks 27 are made of non-metallic elastic material and are fixedly installed on the blocking block support 28 to limit and protect the position.

[0054] like Figure 5 As shown, a brake 12 is provided at the other end of the motor output shaft 5. The brake 12 is connected to the motor output shaft 5 through a brake hub 13, as shown. Figure 4 As shown, the brake 12 is mounted on the brake support 14 and is used to add a holding brake function to the motor 4.

[0055] As an optional implementation, the output wire rope wheel 8 is provided with an output wheel encoder 22 at its end, the steering wire rope wheel 9 is provided with a steering wheel encoder 25 at its end, and the motor 4 is also provided with an encoder. Through the motor encoder, the output wheel encoder 22 and the steering wheel encoder 25, the distance of the wire rope movement can be accurately determined and whether the wire rope is slipping can be judged.

[0056] like Figure 4As shown, the output steel wire wheel 8 is equipped with an output wheel encoder shaft 20 and an encoder mounting base 21 at its end, and the steering steel wire wheel 9 is equipped with a steering wheel encoder shaft 24 and an encoder mounting base 21 at its end. The rope-driven linear module also includes an output wheel encoder support 23 and a steering wheel encoder support 26. The output wheel encoder 22 is fixed on the output wheel encoder support 23, and the steering wheel encoder 25 is fixed on the steering wheel encoder support 26. By adopting this multi-encoder positioning method, the rope-driven linear module has higher running and positioning accuracy.

[0057] As an optional implementation, the rope-driven linear module further includes a tensioning shaft 18 and a one-way bearing 19. The deceleration wire rope 7 passes through the motor reduction wheel 6 and also through the tensioning shaft 18. The output wire rope 10 passes through the steering wire wheel 9 and also through the tensioning shaft 18. The tensioning shaft 18 is mounted within the motor reduction wheel 6 and the steering wire wheel 9 via the one-way bearing 19. When tensioning the wire rope is required, the tensioning shaft 18 is rotated along the tensioning direction of the wire rope; loosening achieves locking. This tensioning method, relying on the tensioning shaft and the one-way bearing, results in a simple tensioning structure.

[0058] As an optional implementation, in order to prevent the wire rope from slipping, the number of turns of the deceleration wire rope 7 around the motor output shaft 5 and the motor deceleration wheel 6, and the number of turns of the output wire rope 10 around the output wire wheel 8 and the steering wire wheel 9 are greater than two.

[0059] like Figure 7-9 As shown, the rope-driven linear module also includes a main body shell 31 and a sheath shell 32, which are installed on the outer periphery of the rope-driven linear module.

[0060] like Figure 1 and Figure 2 As shown, an end tool holder 29 is mounted on the adapter frame 11, as... Figure 7-9 As shown, the end tool 30 is mounted on the end tool holder 29, and the end tool holder 29 and the end tool 30 are exposed outside the body housing 31 and the sheath housing 32. Figure 7 and Figure 8 This is a schematic diagram of the working state of the rope-driven linear module provided in the embodiment of the present invention as an independent unit, that is, the rope-driven linear module drives the end tool holder 29 and the end tool 30 to perform linear motion.

[0061] As an alternative implementation, the end tool can be one of a drill, needle, knife, saw, or syringe, or other tools.

[0062] like Figure 9As shown, the rope-driven linear module can be adapted to use with a robotic arm. When the end of the robotic arm only needs to perform linear motion, the other joints of the robotic arm do not need to move, only the linear module needs to move.

[0063] As an optional implementation, the base end of the rope-driven linear module is designed with a wire hole. When the rope-driven linear module is installed at the end of the robotic arm, it can also adopt an internal wiring method to achieve a neat appearance.

[0064] This invention provides a rope-driven linear module, which has the following technical advantages compared with the prior art:

[0065] In medical surgery, many surgical procedures involve linear motion. Due to the compliant effect of rope drive, the end tool of the rope drive linear module can be manually and flexibly dragged.

[0066] By using motor encoders, output wheel encoders, and steering wheel encoders, the distance the wire rope moves can be accurately determined and whether the wire rope is slipping can be judged. At the same time, by adopting this multi-encoder positioning method, the operation and positioning accuracy of the rope-driven linear module is higher.

[0067] The wire rope tensioning structure of the rope-driven linear module is simple. When it is necessary to tension the wire rope, the tensioning shaft is rotated along the tensioning direction of the wire rope to release and lock it.

[0068] The rope-driven linear module can be adapted for use with robotic arms. By using a robotic arm plus the rope-driven linear module, both the end effector size can be made small and the control can be made simple.

[0069] Although the invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A rope-driven linear module, characterized in that, include: The system comprises a base (1), a linear guide (2), a slider (3), a motor (4), a motor output shaft (5), a motor reduction wheel (6), an output wire wheel (8), a steering wire wheel (9), a transfer frame (11), a brake (12), and a wire rope; wherein the wire rope includes a reduction wire rope (7) and an output wire rope (10); the end of the base (1) is used to connect with the joint module of the robotic arm or the end joint of the robotic arm; the stator of the motor (4) is fixedly installed on the base (1), the rotor of the motor (4) is fixedly connected to one end of the motor output shaft (5), the motor output shaft (5) is installed on the base (1) through a large bearing (15), and the reduction wire rope... (7) The two ends of the wire rope (7) are wound and fixed on the motor output shaft (5). The deceleration wire rope (7) passes through the motor deceleration wheel (6) and is wound on the motor deceleration wheel (6). When the motor output shaft (5) rotates, it drives the motor deceleration wheel (6) to rotate. The motor deceleration wheel (6) is provided with a motor deceleration wheel cover (17). The outer diameter of the deceleration wire rope (7) wound on the motor output shaft (5) is smaller than the outer diameter of the deceleration wire rope (7) wound on the motor deceleration wheel (6), which is used to realize the deceleration after the motor (4) outputs power. The output wire wheel (8) and the steering wire wheel (9) are connected by a large bearing (15) and a small bearing (16). Mounted on the base (1), the output wire wheel (8) is fixedly connected to the motor reduction wheel (6). When the motor reduction wheel (6) rotates, it drives the output wire wheel (8) to rotate synchronously. The two ends of the output wire rope (10) are wound and fixed on the output wire wheel (8). The output wire rope (10) passes through the steering wire wheel (9) and is wound on the steering wire wheel (9). When the output wire wheel (8) rotates, it drives the steering wire wheel (9) to rotate. The outer diameters of the output wire wheel (8) and the steering wire wheel (9) around the output wire rope (10) are equal. The linear guide rail (2) is fixedly mounted on the base (1), and the slider... (3) Installed on the linear guide rail (2), the adapter frame (11) is installed on the slider (3), and the output wire rope (10) passes through and is fixed on the adapter frame (11); when the output wire wheel (8) and the steering wire wheel (9) rotate, they drive the output wire rope (10) to move, thereby driving the adapter frame (11) to move linearly along the linear guide rail (2); the other end of the motor output shaft (5) is provided with a brake (12), the brake (12) is connected to the motor output shaft (5) through the brake hub (13), and the brake (12) is installed on the brake support seat (14) to add a braking function to the motor (4);The output wire rope wheel (8) is equipped with an output wheel encoder (22) at its end, and the steering wire rope wheel (9) is equipped with a steering wheel encoder (25) at its end. The motor (4) is also equipped with an encoder. The distance the wire rope moves and whether the wire rope slips can be accurately determined by the motor encoder, the output wheel encoder (22), and the steering wheel encoder (25). The rope drive linear module also includes a tensioning shaft (18) and a one-way bearing (19). When the deceleration wire rope (7) passes through the motor deceleration wheel (6), it also passes through the tensioning shaft (18). When the output wire rope (10) passes through the motor deceleration wheel (6), it also passes through the tensioning shaft (18). The steering wire pulley (9) passes through the tensioning shaft (18). The tensioning shaft (18) is installed in the motor reduction wheel (6) and the steering wire pulley (9) via the one-way bearing (19). When the wire rope needs to be tensioned, the tensioning shaft (18) is rotated in the tensioning direction of the wire rope, and locking is achieved by releasing it. The tensioning shaft (18), the one-way bearing (19), and the steering wire pulley (9) are coaxially arranged. Furthermore, another tensioning shaft (18), another one-way bearing (19), the output wire pulley (8), and the motor reduction wheel (6) are coaxially arranged.

2. The rope-driven linear module according to claim 1, characterized in that, The base (1) is also provided with a blocking block support (28), and the two ends of the linear guide rail (2) are provided with blocking blocks (27). The blocking blocks (27) are fixedly installed on the blocking block support (28) to limit and protect.

3. The rope-driven linear module according to claim 1, characterized in that, The output wire wheel (8) is equipped with an output wheel encoder shaft (20) and an encoder fixing seat (21) at its end. The steering wire wheel (9) is equipped with a steering wheel encoder shaft (24) and an encoder fixing seat (21) at its end. The rope-driven linear module also includes an output wheel encoder support (23) and a steering wheel encoder support (26). The output wheel encoder (22) is fixed on the output wheel encoder support (23), and the steering wheel encoder (25) is fixed on the steering wheel encoder support (26). With this multi-encoder positioning method, the rope-driven linear module has higher running and positioning accuracy.

4. A rope-driven linear module according to claim 1, characterized in that, To prevent the wire rope from slipping, the number of turns of the deceleration wire rope (7) around the motor output shaft (5) and the motor deceleration wheel (6), and the number of turns of the output wire rope (10) around the output wire wheel (8) and the steering wire wheel (9) are greater than two.

5. A rope-driven linear module according to claim 1, characterized in that, The rope-driven linear module also includes a main body shell (31) and a sheath shell (32), which are mounted on the outer periphery of the rope-driven linear module; an end tool holder (29) is mounted on the adapter frame (11), and an end tool (30) is mounted on the end tool holder (29), which and the end tool (30) are exposed outside the main body shell (31) and the sheath shell (32).

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