Manipulator and manipulator system
The invention has for its object to provide a manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving assembly actuates rapidly in association with the operation of an operating assembly. The manipulator 1 includes an operating assembly 2 operated by an operator, a moving assembly 3 operated by the operating assembly 2 , a transmitting assembly 4 for coupling the operating assembly 2 to the moving assembly 3 to transmit driving force of the operating assembly 2 to the moving assembly 3 , and a transmission compensating assembly 6 for making up for a dynamic surplus occurring in the transmitting assembly 4 in association with the operation of the operating assembly 2.
1. A manipulator, comprising:
an operating assembly operated by an operator;
a moving assembly operated by the operating assembly;
a transmitting assembly including an operating-side pulley that rotates in association with operation of the operating assembly and a transmitting wire that is at least partly wound around the operating-side pulley to transmit power to the moving assembly,
a transmission compensating assembly including an urging member configured to urge against the transmitting wire, a moving member for moving the urging member against the transmitting wire, and a driving member for driving the moving member, wherein the transmission compensating assembly at least partially removes a slack in the transmitting wire by means of the urging member being urged against the transmitting wire;
a sensor for detecting a rotation of the operating assembly resulting from a rotational operation of the operating assembly; and
a controller configured to:
detect the rotation of the operating side-pulley in a given direction with respect to a rotating axis of the operating assembly; and
where the rotation is detected, drive the driving member to urge the urging member located between the moving assembly and the operating-side pulley against the transmitting wire for removal of the slack in the transmitting wire.
2. A manipulator as recited in claim 1 , the transmitting wire includes a first wire and a second wire located between the moving assembly and the operating-side pulley, and the transmission compensating assembly makes up for the slack in only one of the first wire and the second wire.
3. A manipulator as recited in claim 2 , wherein:
the transmission compensating assembly includes an operating-side disengagement member for disengaging transmission of force from the operating assembly to the operating-side pulley, and further includes a driving member for rotating the operating-side pulley when the operating assembly is disconnected from the operating-side pulley by the operating-side disengagement member.
4. A manipulator as recited in claim 3 , wherein the transmission compensating assembly includes a moving-side disengagement member for disengaging transmission of force from the driving member to the operating-side pulley such that upon operation of the operating assembly, the driving member is disconnected from the operating-side pulley by the moving-side disengagement member.
5. A manipulator as recited in claim 1 , wherein
the transmitting wire includes a first wire and a second wire located between the moving assembly and the operating-side pulley and the urging member is located between the first wire and the second wire to urge only one of the first wire and the second wire.
6. A manipulator as recited in claim 5 , wherein the urging member rotates and moves.
7. A manipulator as recited in claim 5 , wherein the urging member moves linearly.
8. A manipulator as recited in claim 5 , wherein there are a plurality of the urging members provided.
9. A manipulator as recited in claim 5 , wherein the transmitting wire includes guide rollers located on both sides of a position where the transmitting wire is urged by the urging member in place.
10. A manipulator as recited in claim 9 , which includes:
an idler pulley in abutment on the transmitting wire;
a resilient member that biases the idler pulley on the transmitting wire side;
a stopper that is located with the idler pulley interposed between the stopper and the resilient member to constrain movement of the idler pulley; and
a surplus absorber assembly for absorbing a dynamic slack occurring in the transmitting wire in association with operation of the operating assembly.
11. A manipulator as recited in claim 9 , wherein:
the transmitting assembly includes a moving-side pulley that rotates together with the moving assembly;
the transmitting wire is divided into an operating-side transmitting wire routed around the operating-side pulley and a moving-side transmitting wire routed around the moving-side pulley, and includes a first support member attached to one end and the other end of the operating-side transmitting wire, respectively, a second support member attached to one end and the other end of the moving-side transmission wire, respectively, and a resilient member supported at one end on the first support member and at the other end on the second support member, and further comprises a surplus absorber assembly capable of absorbing a dynamic slack occurring in the transmitting wire in association with operation of the operating assembly.
12. A manipulator as recited in claim 11 , wherein:
the first support member includes a bottom to which the operating-side transmitting wire is attached, a tubular portion extending vertically from the bottom and located in opposition to the operating-side transmitting wire to surround the resilient member, and a lid located in opposition to the bottom with respect to the tubular portion and provided with a bore through which the moving-side transmission wire passes;
the resilient member attached at one end to a portion of the first support member in opposition to the operating-side transmitting wire on the bottom and at the other end to the second support member; and
the second support member is larger than the bore formed in the lid, and attached on the bottom side to the other end of the resilient member and on the lid side to the moving-side transmitting wire in such a way as to be movable in the first support member.
13. A manipulator system, comprising:
a manipulator as recited in claim 1 ,
a display unit for displaying images obtained through the manipulator; and
wherein the manipulator includes an endoscope having a viewing optical system, an imaging device and a lighting optical system, and
the controller further enables images obtained through the endoscope to be displayed on the display unit.
14. A manipulator as recited in claim 1 , wherein the sensor is an encoder.
15. A manipulator as recited in claim 1 , wherein the urging member is disposed between the operating-side pulley and the moving assembly.
16. A manipulator, comprising:
an operating assembly operated by an operator;
a moving assembly operated by the operating assembly;
a transmitting assembly including an operating-side pulley that rotates in association with operation of the operating assembly and a transmitting wire that is at least partly wound around the operating-side pulley to transmit power to the moving assembly,
a transmission compensating assembly including an urging member configured to urge the transmitting wire, a moving member for moving the urging member, and a driving member for driving the moving member, wherein the transmission compensating assembly at least partially removes a slack in the transmitting wire by means of the urging member;
a sensor for detecting a rotation of the operating assembly resulting from a rotational operation of the operating assembly; and
a controller configured to:
detect the rotation of the operating side-pulley in a given direction with respect to a rotating axis of the operating assembly; and
where the rotation is detected, drive the driving member to urge the urging member located between the moving assembly and the operating-side pulley against the transmitting wire for removal of the slack in the transmitting wire
wherein the urging member is disposed between the moving assembly and the operating-side pulley.
17. A manipulator as recited in claim 16 , wherein the sensor is an encoder.