Joint mechanism and medical equipment
Provided is a joint mechanism including two spur gears and; a support member that supports the two spur gears and so as to be rotatable about two joint shafts and that are disposed in a skew-lines positional relationship with a space between each other; and a rotational-force transmitting mechanism that transmits a rotational force between the spur gears and, wherein the rotational-force transmitting mechanism is provided with a transmission member formed of a rigid piece that is supported so as to be movable only in a direction parallel to a line of intersection between planes and that are respectively orthogonal to the two joint shafts and cam mechanisms or linkage mechanisms that are disposed between the transmission member and the two spur gears and, respectively, and that convert rotational motions of the spur gears and to a linear motion of the transmission member.
1. A joint mechanism comprising:
two rotation members;
a support member that supports the two rotation members so as to be rotatable about two joint shafts that are disposed in a skew-lines positional relationship with a space between each other; and
a rotational-force transmitting mechanism that transmits a rotational force between the two rotation members,
wherein the rotational-force transmitting mechanism is provided with a transmission member and cam mechanisms,
the transmission member is formed of a rigid piece that is supported so as to be movable only in a direction parallel to a line of intersection between planes that are respectively orthogonal to the two joint shafts,
the cam mechanisms are disposed between the transmission member and the two rotation members, respectively, and convert rotational motions of the two rotation members to a linear motion of the transmission member, and
each of the cam mechanisms includes an elongated hole that is provided in one of the transmission member and a corresponding rotation member of the two rotation members, each elongated hole extends in a direction that intersects a direction in which the transmission member moves, each cam mechanism includes a movable portion that is accommodated in the elongated hole so as to be movable in the elongated hole in a longitudinal direction, the movable portion being provided in the other of the transmission member and the corresponding rotation member of the two rotation members.
2. A joint mechanism according to claim 1 , wherein the support member is provided with a guide member that supports the transmission member so as to allow linear movement thereof.
3. A joint mechanism according to claim 1 , wherein at least one of an inner side surface of the elongated hole and a side surface of the movable portion that comes into contact with the inner side surface is formed of a friction-reducing material.
4. A medical equipment comprising:
a first linkage having an end effector at a distal end thereof;
a second linkage; and
a joint mechanism according to claim 1 , which couples the first and second linkages.