A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.
1. A manipulator, comprising:
a first rotor axis portion which crosses to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target;
a main shaft portion which is rotatably supported around the first rotor axis portion such that the first rotor axis portion is a rotational pivot axis about which the main shaft portion rotates;
a first treating member and a second treating member which are provided in the treating portion;
a first gear rotatably supported in the direction around the first rotor axis;
a second gear rotatably supported in the direction around the first rotor axis;
a third gear which engages with the first gear and is rotatably supported around the main shaft portion;
a fourth gear which engages with the second gear and is rotatably supported around the main shaft portion;
a fifth gear which coaxially rotates with the third gear;
a sixth gear which coaxially rotates with the fourth gear;
a seventh gear which is provided to transmit rotation torque of the fifth gear to the first treating member and engages with the fifth gear;
an eighth gear which is provided to transmit rotation torque of the sixth gear to the second treating member and engages with the sixth gear; and
a second rotor axis portion which is a rotation center of the seventh gear and the eighth gear and is arranged in a torsional relationship with the first rotor axis portion.
2. The manipulator according to claim 1 , wherein the first and second treating members constitutes a gripper portion which conducts open and close operations in accordance with rotations of the seventh and eighth gears.
3. The manipulator according to claim 1 , wherein the second rotor axis portion is orthogonal to a surface including the first rotor axis and the main shaft portion.
4. The manipulator according to claim 1 , wherein the fourth gear and the sixth gear share a common base.