CN106535737A - 处置器具驱动装置 - Google Patents
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Abstract
目的在于在对处置器具的多个张力传递部件一同赋予了恒定的初始张力的状态下安装处置器具并进行驱动，本发明的处置器具驱动装置(1)可装卸地安装于具有至少一对张力传递部件(2)的处置器具(3)，借助施加于张力传递部件(2)的张力对处置器具(3)进行驱动，该处置器具驱动装置(1)具有：可动部件(7)，其分别可装卸地安装于各张力传递部件(2)的一端；驱动源，其产生驱动处置器具(3)的动力；动力传递机构(9)，其切换该驱动源与可动部件(7)的连结或连结解除，并且在连结的状态下以择一地对安装在成对的张力传递部件(2)上的两个可动部件(7)施加张力的方式传递来自驱动源的动力；以及施力单元(10)，其在解除了基于该动力传递机构(9)的连结的状态下，朝着对张力传递部件(2)赋予张力的方向对两个可动部件(7)施力。
Description
技术领域
本发明涉及处置器具驱动装置。
背景技术
公知有线连结用器具，该线连结用器具用于使线在操作部侧和弯曲部侧分离，并利用连接器使它们以能够一根一根地装卸的方式连接，该线用于使设置在内窥镜的插入部前端处的弯曲部进行弯曲(例如，参照专利文献1。)。
该线连结用器具将弯曲部侧的线的基端部保持于第一保持部，将安装于操作部侧的线的前端的连接器保持于第二保持部，使两个保持部接近并连接两根线，然后卸下保持部，由此利用连接器将两根线维持为连接状态。
现有技术文献
专利文献
专利文献1：日本特开2010-200892号公报
发明内容
发明要解决的课题
专利文献1的线连结用器具能够一次性容易地连接多对线，但很难在刚连接后将赋予给线的初始张力设定为规定的大小。为了高精度地驱动弯曲部，需要对线赋予张力，因此在连接后需要对每根线进行张力调节。
本发明是鉴于上述情况而完成的，提供能够在对处置器具的多个张力传递部件一同赋予了恒定的初始张力的状态下安装处置器具并进行驱动的处置器具驱动装置。
用于解决课题的手段
本发明的一个方式是处置器具驱动装置，其可装卸地安装于具有至少一对张力传递部件的处置器具，借助施加于所述张力传递部件的张力对所述处置器具进行驱动，该处置器具驱动装置具有：可动部件，其分别可装卸地安装于各所述张力传递部件的一端；驱动源，其产生驱动所述处置器具的动力；动力传递机构，其切换该驱动源与所述可动部件的连结或连结解除，并且在连结的状态下以择一地对安装在成对的所述张力传递部件上的两个所述可动部件施加张力的方式传递来自所述驱动源的动力；以及施力单元，其在解除了基于该动力传递机构的连结的状态下，朝着对所述张力传递部件赋予张力的方向对两个所述可动部件施力。
根据本方式，在解除了动力传递机构对驱动源与可动部件的连结的状态下，当将可动部件安装于处置器具所具备的至少一对张力传递部件的一端时，利用施力单元对可动部件向一个方向施力，其结果为，对张力传递部件赋予了张力。即，在解除了连结的状态下，对处置器具的张力传递部件施加初始张力。在该状态下，当连结驱动源和可动部件时，利用动力传递机构将来自驱动源的动力传递给可动部件，通过驱动源的动作来择一地对两个可动部件施加张力，其结果为，能够择一地对处置器具的成对的张力传递部件施加张力从而驱动处置器具。
在该情况下，在成为将来自驱动源的动力传递给可动部件的状态时，能够成为对处置器具的多个张力传递部件施加了初始张力的状态。因此，无需进行对多个张力传递部件单独地赋予张力的调节作业，能够省去费工。并且，能够从安装了处置器具后的最初的动作时开始无延时且高精度地使处置器具动作。
在上述方式中，也可以是，所述处置器具驱动装置具有可装卸地与所述处置器具连结的中间机构部，该中间机构部具有所述可动部件、所述动力传递机构以及所述施力单元，所述动力传递机构通过使所述驱动源相对于所述中间机构部进行装卸来切换该驱动源与所述可动部件的连结或连结解除。
这样，当要将处置器具安装于没有安装驱动源的中间机构部时，将中间机构部的可动部件分别安装于处置器具所具备的至少一对张力传递部件的一端，利用施力单元向一个方向对可动部件施力，其结果为，对张力传递部件赋予了张力。即，在没有安装驱动源的状态下，对处置器具的张力传递部件施加了初始张力。在该状态下，当将驱动源安装于中间机构部时，利用动力传递机构将来自驱动源的动力传递给可动部件，通过驱动源的动作，择一地对两个可动部件施加张力，其结果为，能够择一地对处置器具的成对的张力传递部件施加张力，从而驱动处置器具。
在该情况下，在将驱动源安装于中间机构部时，能够成为对处置器具的多个张力传递部件赋予了初始张力的状态。因此，无需对多个张力传递部件单独地赋予张力的调节作业，能够省去费工。并且，能够从安装处置器具后的最初的动作时开始无延时且高精度地使处置器具动作。
在上述方式中，也可以是，所述驱动源是电动机，两个所述可动部件是以能够分别沿长度方向移动的方式被支承为大致平行并且齿对置的两个齿条，所述动力传递机构具有小齿轮，该小齿轮与两个所述齿条分别啮合，通过所述电动机的驱动而使两个所述齿条向相反方向移动。
这样，利用施力单元向一个方向对两个齿条施力，在对处置器具的张力传递部件赋予了张力的状态下，对与两个齿条啮合的小齿轮施加电动机的动力，由此能够使齿条向相反方向移动，择一地对成对的张力传递部件赋予张力从而驱动处置器具。由于在驱动时对张力传递部件赋予了张力，因此能够高精度地控制处置器具。
在上述方式中，也可以是，两个所述齿条分别具有所述小齿轮，并且所述小齿轮被配置为彼此同轴地旋转自如，所述动力传递机构具有嵌合孔和嵌合轴，该嵌合孔设置于各所述小齿轮，该嵌合轴固定于所述电动机，与设置于两个所述小齿轮的所述嵌合孔嵌合而连结两个所述小齿轮。
这样，在没有将电动机侧的嵌合轴嵌合于两个小齿轮的嵌合孔中的状态下，两个小齿轮自由地旋转，允许与其啮合的齿条移动，能够对两个张力传递部件单独地调节张力。并且，在将电动机侧的嵌合轴嵌合于两个小齿轮的嵌合孔中的状态下，两个小齿轮连结，由此能够通过电动机的驱动择一地对两个张力传递部件赋予张力从而驱动处置器具。
在上述方式中，也可以是，所述施力单元具有：柔软的线状部件，其两端被分别固定，以使得借助张力对两个所述小齿轮赋予旋转力；滑轮状部件，其卷绕有该线状部件的中途位置；以及施力部件，其在径向上对该滑轮状部件施力从而对所述线状部件赋予张力。
这样，当利用施力部件在径向上对滑轮状部件施力时，中途位置卷绕于滑轮状部件上的线状部件被牵引而产生张力，两个小齿轮旋转，其结果为，与小齿轮啮合的齿条沿长度方向移动，对处置器具的张力传递部件赋予了初始张力。在该状态下将嵌合轴与嵌合孔嵌合，使两个小齿轮与电动机连结，当使电动机动作时，线状部件经由滑轮状部件沿长度方向移动，向一个小齿轮侧卷绕，从另一个小齿轮侧送出。此时，由于滑轮状部件的位置没有发生变化，因此赋予给线状部件的张力不会由于齿条的位置而发生变动，能够容易地进行处置器具的控制。
在上述方式中，也可以是，所述驱动源是电动机，两个所述可动部件是线状部件，所述动力传递机构具有：两个滑轮状部件，它们分别卷绕有两个所述线状部件；从动齿轮，其同轴地固定于各该滑轮状部件；以及驱动齿轮，其可插拔地设置于同时与各该从动齿轮啮合的位置，在啮合的状态下，通过所述电动机的驱动而使两个所述线状部件向相反方向移动。
这样，在利用施力单元向一个方向对两个线状部件施力从而对处置器具的张力传递部件赋予了张力的状态下，使驱动齿轮与两个从动齿轮啮合，对卷绕有线状部件的滑轮状部件施加动力，由此能够使两个线状部件向相反方向移动，择一地对成对的张力传递部件赋予张力。由于在驱动时对张力传递部件赋予了张力，因此能够高精度地控制处置器具。
在没有使驱动齿轮与从动齿轮啮合的状态下，两个滑轮状部件自由地旋转，允许线状部件移动，能够对两个张力传递部件单独地调节张力。并且，在使驱动齿轮与两个从动齿轮啮合的状态下，两个滑轮状部件与驱动齿轮的动作联动，由此能够通过电动机的驱动择一地对两个张力传递部件赋予张力从而驱动处置器具。
在上述方式中，也可以是，所述处置器具驱动装置具有处置器具侧支承部，该处置器具侧支承部可装卸地安装于所述处置器具，将多个所述张力传递部件保持为定位状态，在所述中间机构部设置有排列机构，该排列机构在多个所述可动部件与所述张力传递部件的连结位置将多个所述可动部件保持为排列状态，所述处置器具驱动装置具有切换机构，该切换机构在所述处置器具向所述中间机构部安装时，解除所述处置器具侧支承部对所述张力传递部件的保持状态，将该张力传递部件的一端与通过所述排列机构进行排列后的所述可动部件连结。
这样，在将处置器具安装于利用排列机构对可动部件进行排列后的中间机构部时，利用切换机构来解除处置器具侧支承部对张力传递部件的保持状态，将张力传递部件的一端与可动部件连结，因此能够一次性将多个张力传递部件一同连结，省去了安装时的费工，其中，该处置器具将张力传递部件在处置器具侧支承部保持为定位状态。
在上述方式中，也可以是，所述排列机构具有：滑动件，其抵抗所述施力单元的施力而使多个所述可动部件移动；以及卡定机构，其对所述滑动件进行卡定以使得所述可动部件配置于连结位置，所述切换机构在所述张力传递部件与所述可动部件连结的状态下解除所述卡定机构对滑动件的卡定状态。
这样，当使滑动件移动时，抵抗着施力单元的施力使多个可动部件移动，利用卡定机构将多个可动部件卡定于连结位置。而且，当将被处置器具侧支承部支承的处置器具安装于中间机构部时，利用切换机构来解除卡定机构对滑动件的卡定状态，能够在经由可动部件对张力传递部件赋予施力单元的张力的状态下连结可动部件和张力传递部件。
在上述方式中，也可以是，所述滑动件具有其他施力单元，该其他施力单元朝着与所述施力单元的施力相同的方向施力。
这样，在解除了卡定机构对滑动件的卡定状态后，滑动件借助其他施力单元向离开可动部件的方向移动，能够不给之后的可动部件的移动带来影响。
发明效果
根据本发明，起到了如下效果：能够在对处置器具的多个张力传递部件一同赋予了恒定的初始张力的状态下安装处置器具并进行驱动。
附图说明
图1是示出本发明的一个实施方式的处置器具驱动装置的俯视图。
图2是在切断了驱动部的状态下示出图1的处置器具驱动装置的主视图。
图3是对将处置器具安装于图1的处置器具驱动装置的状态进行说明的主视图。
图4A是分别对将处置器具安装于图1的处置器具驱动装置时的安装前的状态进行说明的局部主视图。
图4B是分别对将处置器具安装于图1的处置器具驱动装置时的安装中的状态进行说明的局部主视图。
图4C是分别对将处置器具安装于图1的处置器具驱动装置时的安装后的状态进行说明的局部主视图。
图5A是对处置器具的线朝向图1的处置器具驱动装置的安装进行说明的安装期间的立体图。
图5B是对处置器具的线朝向图1的处置器具驱动装置的安装进行说明的安装后的立体图。
图6是示出图1的处置器具驱动装置的钩的变形例的立体图。
图7是示出驱动部朝向图1的处置器具驱动装置的中间机构部的安装前的状态的局部纵剖视图。
图8是示出驱动部朝向图1的处置器具驱动装置的中间机构部的安装后的状态的局部纵剖视图。
图9是示出图1的处置器具驱动装置的第一变形例的俯视图。
图10是示出图1的处置器具驱动装置的第二变形例的俯视图。
具体实施方式
以下，参照附图对本发明的一个实施方式的处置器具驱动装置1进行说明。
本实施方式的处置器具驱动装置1是对处置器具3进行驱动的装置，该处置器具3具有被两根一对的线(张力传递部件)2驱动的一个以上的关节和末端执行器。
例如，利用择一地施加于两根线2的张力对处置器具3的关节进行驱动，以使得当牵引一根线2时，处置器具3的关节向一个方向弯曲，当牵引另一根线2时，处置器具3的关节向另一方向弯曲。
在本实施方式的说明中，以简化的形态例示具有一对线2的处置器具3进行说明，但也可以应用于具有多对线2的处置器具3。并且，作为末端执行器，也包含有把持钳子或剪钳等、进而还包含照相机等观察单元。
如图1和图2所示，本实施方式的处置器具驱动装置1具有：中间机构部4，其可装卸地安装有处置器具3；以及驱动部5，其可装卸地安装于该中间机构部4。
在处置器具3的两根一对的线2的端部固定有球体2a。
中间机构部4具有：基底6；两个齿条7，在该基底6的表面上，它们彼此平行地配置，以能够在长度方向上移动的方式被支承；排列机构8，其使该齿条7的端部对齐配置；两个小齿轮9，它们与该齿条7分别啮合；以及施力单元10，其对该小齿轮9进行施力以使其向一个方向旋转。省略了支承齿条7的机构的图示。
如图1所示，在俯视图中，两个齿条7以使它们的齿7a彼此对置的方式配置，如图2所示，在侧视图中，两个齿条7在厚度方向上配置于不同的位置。
如图5A所示，在各齿条7的端部安装有两个爪的钩11。钩11的两个爪11a隔开大于线2的直径且小于球体2a的外径的间隔而配置。由此，如图5B所示，通过使线2贯通爪11a之间并将球体2a钩挂于爪11a处，能够将线2的端部安装于齿条7。
另外，钩11可以采用像图5A和图5B那样容易卸下的结构，也可以如图6所示，球体2a的入口朝向两个爪变狭窄，两个爪具有弹簧性能，在将球体2a钩挂于钩11时，利用球体2a使两个爪进行弹性变形从而扩展入口以进行钩挂。这样，能够使得不会仅由于线松弛就导致球体2a从钩11脱离。
如图2、图7以及图8所示，两个小齿轮(动力传递机构)9配置为同轴，并且被轴承12相对旋转自如地支承于基底6。各小齿轮9配置为与不同的齿条7啮合。图中标号13是间隔件。
在小齿轮9上，在中央形成有贯通孔，在该贯通孔的内表面上，在周向上形成有多个沿长度方向延伸的花键槽，从而构成了花键孔(嵌合孔)14。两个小齿轮9的花键孔14具有相同的形状。
在各小齿轮9的轴向上的一部分设置有滑轮部16，该滑轮部16供后述的施力单元10的线15卷绕。
排列机构8具有：导轨17，其与齿条7平行地设置于基底6；滑动件18，其以能够直线移动的方式被支承于该导轨17上；以及抵靠部件19，其设置于滑动件18。在滑动件18上设置有向基底6的宽度方向的一方突出的操作杆20，该操作杆20由操作者进行操作。
抵靠部件19配置于与各齿条7的端部的阶梯差21抵靠的位置。通过滑动件18的移动而抵靠于阶梯差21，由此使得齿条7的端部对齐。
如图4A至图4C所示，滑动件18具有卡合突起(卡定机构)18a，通过在将齿条7移动至最靠钩11侧的位置处使卡合突起18a与可动钩(卡定机构)22钩挂，能够在该位置维持为静止状态。
施力单元10具有：线(线状部件)15，其卷绕在设置于两个小齿轮9的滑轮部16上；可动滑轮(滑轮状部件)23，其用于牵引该线15的长度方向上的中途位置；以及弹簧(施力部件)24，其一端固定于该可动滑轮23，在对线15赋予张力的方向(图中箭头A的方向)上对该可动滑轮23施力。弹簧24的另一端固定于基底6。
线15的一端在卷绕于一个小齿轮9的滑轮部16之后被固定，线15的另一端在卷绕于另一个小齿轮9的滑轮部16之后被固定。线15的卷绕方向是按照如下方式卷绕的：使与各小齿轮9啮合的齿条7向与设置有钩11的端部相反侧的端部的方向(箭头B的方向)移动。
即，当对线15赋予张力时，顺时针卷绕有线15的滑轮部16受到逆时针的旋转力，因此使小齿轮9逆时针旋转，使与其啮合的齿条7向箭头B的方向移动。并且，逆时针卷绕有线15的滑轮部16使小齿轮9顺时针旋转，使与其啮合的齿条7向箭头B的方向移动。
驱动部5具有电动机25和花键轴(嵌合轴)26，利用该电动机25使该花键轴(嵌合轴)26旋转。并且，驱动部5能够利用未图示的插拔机构使花键轴26沿长度方向移动，能够切换像图7所示那样从小齿轮9的花键孔14拔出了花键轴26的状态和像图8所示那样将花键轴26插入于花键孔14中的状态。
处置器具3在安装于线支承部27的状态下安装于中间机构部4，来将该处置器具3安装于中间机构部4，其中，该线支承部27暂时对线2进行支承。如图3至图4C所示，线支承部27具有：框架27a，其可装卸地安装于处置器具3；以及臂27b，其可摆动地安装于该框架27a。在这些图中，为了简单而仅示出处置器具3的一对线2内的一根线2，但也以相同的方法支承另一根线2。由排列机构8和线支承部27构成了切换机构，该切换机构将线支承部27对线2进行支承的支承状态切换为与钩11的连结状态。
在臂27b的前端具有：缝27c，其具有大于线2的外径且小于球体2a的直径的宽度；以及凹部27d，其供球体2a稳定地接触。在像图3所述那样配置臂27b的状态下，使线2通过缝27c，将球体2a配置于凹部27d，将线2保持为无松弛地延伸的状态。
臂27b以能够向一个方向摆动的方式设置于框架27a，在框架27a的前端设置有止动件27e，当通过臂27b摆动而使被支承于臂27b的前端的球体2a移动时，该止动件27e与该球体2a抵靠以阻止球体2a的移动，使该球体2a从凹部27d脱离。标号27f、27g是用于将框架27a在处置器具3上进行装卸的突起和槽。
并且，处置器具3一边在与基底6的表面垂直的方向上移动一边相对于基底6进行安装，在该移动时，按压可动钩22，解除该可动钩22与滑动件18的卡定突起18a的卡合状态。
并且，如图4A至图4C所示，在基底6上具有抵靠部件6a，该抵靠部件6a用于通过安装处置器具3时的朝向与基底6的表面垂直的方向的动作来使臂27b摆动。
以下，对这样构成的本实施方式的处置器具驱动装置1的作用进行说明。
要想将处置器具3安装于本实施方式的处置器具驱动装置1，对驱动部5被切断的状态下的中间机构部4的操作杆20进行操作以使滑动件18移动。由此，设置于滑动件18的抵靠部件19抵靠于阶梯差21，使两个齿条7排列并且朝向钩11侧移动。
由于齿条7与小齿轮9啮合，小齿轮9与施力单元10连接，因此当齿条7移动时，小齿轮9向线15卷绕在滑轮部16上的方向旋转从而使可动滑轮23移动，由此弹簧24拉伸，施力增加。操作者通过抵抗着该施力使操作杆20移动，两个齿条7的端部的钩11的位置对齐。并且，在齿条7移动到最靠钩11侧的位置，如图4A所示，设置于滑动件18的卡合突起18a与设置于基底6的可动钩22钩挂，由此滑动件18卡定于该位置。
并且，如图3所示，预先将线支承部27安装于处置器具3。即，将框架27a安装于处置器具3，使线2通过臂27b的前端的缝27c，从而将线2的前端的球体2a收纳于臂27b的前端的凹部27d内。由此，如图3所示，将线2维持在无松弛地延伸的状态。
将这样准备好的处置器具3像图4A至图4C所示那样安装于中间机构部4。即，使处置器具3接近钩对齐后的中间机构部4，像图4A所示那样将球体2a配置于与钩11钩挂的位置，在处置器具3中，线2被线支承部27无松弛地支承。在该时刻，使设置于基底6的抵靠部件6a与臂27b抵靠。
而且，当像图4A的箭头C所示那样使处置器具3进一步接近中间机构部4时，利用抵靠部件6a使臂27b摆动。被支承于臂27b的球体2a也想要一同摆动，但由于球体2a与设置于框架27a的止动件27e抵靠，因此球体2a从臂27b的凹部脱离，被释放到钩11内。与此同时，处置器具3按压可动钩22，由此可动钩22像箭头D所示那样摆动，解除了与卡合突起18a的卡合。
由此，如图4C中箭头E所示，通过施力单元10的施力，齿条7向牵引钩11的方向移动，因此对使球体2a与钩11卡合的线2赋予与施力对应的初始张力。此时，与两个齿条7分别啮合的两个小齿轮9向将卷绕于各个滑轮部16上的线15反卷的方向旋转，但由于线15经由可动滑轮23而连续，因此可动滑轮23旋转以使得张力平衡，在处置器具3的线2与施力单元10的线15的张力平衡的位置停止。此时，滑动件18借助未图示的弹簧而移动至止动件33的位置，抵靠突起19与阶梯差21的卡合被解除。
在该状态下，从处置器具3卸下框架27a，并且如图7和图8所示，将驱动部5的花键轴26插入到形成于两个小齿轮9的花键孔14中并使它们啮合。由此，两个小齿轮9连结，并且电动机25的驱动力传递给两个小齿轮9。因此，通过电动机25的驱动，两个小齿轮9向相同方向旋转，隔着该小齿轮9而平行地配置的齿条7彼此向相反方向移动。
即，对与一个齿条7连接的处置器具3的线2赋予张力，使与另一个齿条7连接的线2的张力松弛。其结果为，能够通过电动机25的驱动来择一地对处置器具3的一对线2赋予张力。由此，能够驱动处置器具3的关节等。
在该情况下，根据本实施方式的处置器具驱动装置1，由于施力单元10的线15卷绕在可动滑轮23上，因此在通过电动机25的驱动而使小齿轮9旋转时，卷绕到一个小齿轮9的滑轮部16上的线15会卷绕到另一个小齿轮9的滑轮部16上相同长度。因此，在花键轴朝向花键孔插入后，可动滑轮23的位置不会发生变动，因此能够成为施力单元10相对于齿条7的移动而被切断的状态。
根据本实施方式的处置器具驱动装置1，在将处置器具3安装于中间机构部4时，对处置器具3的一对线2自动地赋予初始张力，因此具有以下优点：无需单独地调节处置器具3的多根线2的张力，省去了调节所需的费工。在本实施方式中，以两根一对的线2为例进行了说明，但在处置器具3具有多对线2的情况下，也能够同样地同时对所有线2赋予初始张力，进而能够大幅地削减费工。
并且，由于仅将线2的球体2a钩挂在设置于齿条7的钩11上，因此具有以下优点：在从处置器具驱动装置1卸下处置器具3时，也能够简单地将球体2a从钩11卸下。
另外，在本实施方式中，对处置器具3由一对线2进行驱动的情况进行了说明，但作为张力传递部件，不限于线2，也可以采用带、管或不仅能够传递张力还能够传递按压力的部件。
并且，在处置器具3具有多个关节等并由多对线2进行驱动的情况下，也可以按照每个关节进行调节以使初始张力不同。
并且，卷绕有线15的可动滑轮23或滑轮部16也可以是具有不旋转的圆筒面的柱状体。只要使线15沿着圆筒面滑动，就能够得到相同的效果。
并且，作为连结线2和齿条7的构造，例示了球体2a和钩11，但也可以取而代之，采用任意的连接构造。
并且，在本实施方式中，作为与处置器具3的线2连结的中间机构部4的可动部件，采用了齿条7，但也可以取而代之，如图9所示，采用卷绕在滑轮28上的线29。在该情况下，作为驱动力传递机构，可以采用具有从动正齿轮30和驱动正齿轮31的机构，该从动正齿轮30固定于滑轮28，利用电动机25使该驱动正齿轮31旋转。
当这样构成时，在驱动正齿轮31没有与从动正齿轮30啮合的状态下，两个从动正齿轮30及固定于两个从动正齿轮30的滑轮28旋转自如，能够随着施力单元10的施力而自由地旋转至使线29的张力平衡的位置。而且，在张力平衡的状态下，通过将驱动正齿轮31插入两个从动正齿轮30之间并使它们啮合，能够切断施力单元10的施力的影响，择一地对两个线29赋予张力。
并且，作为施力单元10，使旋转力作用于设置在小齿轮9上的滑轮部16，但也可以如图10所示，采用直接使张力作用于齿条7的结构。标号32是固定滑轮。并且，也可以去掉图10的小齿轮9，采用小齿轮来代替驱动部5的花键轴26，在齿条7之间直接进行插拔。
标号说明
1：处置器具驱动装置；2：线(张力传递部件)；3：处置器具；4：中间机构部；7：齿条(可动部件)；8：排列机构；9：小齿轮(动力传递机构)；10：施力单元；14：花键孔(嵌合孔)；15：线(线状部件)；18：滑动件；18a：卡合突起(卡定机构)；22：可动钩(卡定机构)；23：可动滑轮(滑轮状部件)；24：弹簧(施力部件)；25：电动机(驱动源)；26：花键轴(嵌合轴)；27：线支承部(处置器具侧支承部)；29：线(可动部件)；30：从动正齿轮(从动齿轮)；31：驱动正齿轮(驱动齿轮)。
Claims (9)
1.一种处置器具驱动装置，其可装卸地安装于具有至少一对张力传递部件的处置器具，借助施加于所述张力传递部件的张力对所述处置器具进行驱动，该处置器具驱动装置具有：
可动部件，其分别可装卸地安装于各所述张力传递部件的一端；
驱动源，其产生驱动所述处置器具的动力；
动力传递机构，其切换该驱动源与所述可动部件的连结或连结解除，并且在连结的状态下以择一地对安装在成对的所述张力传递部件上的两个所述可动部件施加张力的方式传递来自所述驱动源的动力；以及
施力单元，其在解除了基于该动力传递机构的连结的状态下，朝着对所述张力传递部件赋予张力的方向对两个所述可动部件施力。
2.根据权利要求1所述的处置器具驱动装置，其中，
所述处置器具驱动装置具有可装卸地与所述处置器具连结的中间机构部，
该中间机构部具有所述可动部件、所述动力传递机构以及所述施力单元，
所述动力传递机构通过使所述驱动源相对于所述中间机构部进行装卸来切换该驱动源与所述可动部件的连结或连结解除。
3.根据权利要求2所述的处置器具驱动装置，其中，
所述驱动源是电动机，
两个所述可动部件是以能够分别沿长度方向移动的方式被支承为大致平行并且齿对置的两个齿条，
所述动力传递机构具有小齿轮，该小齿轮与两个所述齿条分别啮合，通过所述电动机的驱动而使两个所述齿条向相反方向移动。
4.根据权利要求3所述的处置器具驱动装置，其中，
两个所述齿条分别具有所述小齿轮，并且所述小齿轮被配置为彼此同轴地旋转自如，
所述动力传递机构具有嵌合孔和嵌合轴，该嵌合孔设置于各所述小齿轮，该嵌合轴固定于所述电动机，与设置于两个所述小齿轮的所述嵌合孔嵌合而连结两个所述小齿轮。
5.根据权利要求3或4所述的处置器具驱动装置，其中，
所述施力单元具有：
柔软的线状部件，其两端被分别固定，以使得借助张力对两个所述小齿轮赋予旋转力；
滑轮状部件，其卷绕有该线状部件的中途位置；以及
施力部件，其在径向上对该滑轮状部件施力从而对所述线状部件赋予张力。
6.根据权利要求2所述的处置器具驱动装置，其中，
所述驱动源是电动机，
两个所述可动部件是线状部件，
所述动力传递机构具有：
两个滑轮状部件，它们分别卷绕有两个所述线状部件；
从动齿轮，其同轴地固定于各该滑轮状部件；以及
驱动齿轮，其可插拔地设置于同时与各该从动齿轮啮合的位置，在啮合的状态下，通过所述电动机的驱动而使两个所述线状部件向相反方向移动。
7.根据权利要求1至6中的任意一项所述的处置器具驱动装置，其中，
所述处置器具驱动装置具有处置器具侧支承部，该处置器具侧支承部可装卸地安装于所述处置器具，将多个所述张力传递部件保持为定位状态，
在所述中间机构部设置有排列机构，该排列机构在多个所述可动部件与所述张力传递部件的连结位置将多个所述可动部件保持为排列状态，
所述处置器具驱动装置具有切换机构，该切换机构在所述处置器具向所述中间机构部安装时，解除所述处置器具侧支承部对所述张力传递部件的保持状态，将该张力传递部件的一端与通过所述排列机构进行排列后的所述可动部件连结。
8.根据权利要求7所述的处置器具驱动装置，其中，
所述排列机构具有：
滑动件，其抵抗所述施力单元的施力而使多个所述可动部件移动；以及
卡定机构，其对所述滑动件进行卡定以使得所述可动部件配置于连结位置，
所述切换机构在所述张力传递部件与所述可动部件连结的状态下解除所述卡定机构对所述滑动件的卡定状态。
9.根据权利要求8所述的处置器具驱动装置，其中，
所述滑动件具有其他施力单元，该其他施力单元朝着与所述施力单元的施力相同的方向施力。
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| JP2014-152518 | 2014-07-28 | ||
| JP2014152518A JP6265859B2 (ja) | 2014-07-28 | 2014-07-28 | 処置具駆動装置 |
| PCT/JP2015/071288 WO2016017597A1 (ja) | 2014-07-28 | 2015-07-27 | 処置具駆動装置 |
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| US (1) | US10085728B2 (zh) |
| EP (1) | EP3175812B1 (zh) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106535737B (zh) | 2018-08-28 |
| US20170156711A1 (en) | 2017-06-08 |
| EP3175812A1 (en) | 2017-06-07 |
| EP3175812A4 (en) | 2018-03-14 |
| JP2016029994A (ja) | 2016-03-07 |
| JP6265859B2 (ja) | 2018-01-24 |
| US10085728B2 (en) | 2018-10-02 |
| EP3175812B1 (en) | 2019-04-10 |
| WO2016017597A1 (ja) | 2016-02-04 |
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