JP2000275546A - Driving device for arm for operation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the degree of freedom of the operation of an arm for operation high, to facilitate control over the arm for operation, and to eliminate the possibility that a usable operation object (environment) is limited by providing a twist mechanism which rotates the arm for operation. SOLUTION: The twist mechanism is provided which rotates an arm 3 for operation on an axis around a center line parallel to the center line of an insert part 2a of an industrial endoscope. This twist mechanism is provided with an arm reception part 23 which supports the arm 3 for operation rotatably. A rotary shaft part 15 of the arm 3 is inserted rotatably into a fitting arm hole 24 of the insert part 2a. Longitudinal grooves 27 for wire insertion are formed between the join surface between both the end parts of a cut part of a 1st arm receiver 25 and both the end parts of a 2nd arm receiver 26. Two operation wires 28 for twist operation which rotate the arm 3 forward and backward are inserted into those longitudinal grooves 27 respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive device for a working arm used for repairing a pipe wall or the like as an object under observation using, for example, an industrial endoscope.

[0002]

2. Description of the Related Art Recently, a repair device for performing a small repair work on a pipe wall or the like as a subject under observation with an industrial endoscope has been developed.

As a drive mechanism of a working arm in a repair device for performing this kind of repair work, for example,
There is a swing mechanism in which a bending tube in which a plurality of bending pieces are juxtaposed is provided, and each bending piece is bent by a pulling operation of an operation wire to bend the entire bending tube in a desired direction.

Further, for example, a swing mechanism using a bending drive mechanism (SAM bending mechanism) using a shape memory alloy as disclosed in JP-A-6-165750 and JP-A-6-44502 is also conceivable. ing.

[0005]

In the above-mentioned conventional swing mechanism using a bending tube having a plurality of bending pieces arranged side by side as a driving mechanism of the working arm, the working arm is rotated about an axis around a center line. Since it is difficult to perform the operation, there is a problem that the operation of the working arm is limited to a relatively narrow range.

Further, in a swing mechanism using a bending tube, the structure of the bending tube is complicated, and the movement of each bending piece is complicated, so that there is a problem that it is difficult to control the posture of the working arm. Therefore, for example, there is a problem in that it is difficult to control the working arm so that the ultrasonic flaw detector is attached and vertically applied to the subject.

Further, Japanese Patent Application Laid-Open No. Hei 6-165750,
In a swing mechanism using a curved drive mechanism made of a shape memory alloy disclosed in Japanese Utility Model Laid-Open No. 6-44502, it is necessary to make the structure less susceptible to the heat generated by the welding operation.

The present invention has been made in view of the above circumstances, and has as its object a high degree of freedom in the operation of a working arm.
An object of the present invention is to provide a drive device for a work arm, in which the control of the work arm is facilitated, and there is no possibility that a usable work target (environment) is restricted.

[0009]

According to a first aspect of the present invention, a working arm is provided at a distal end of an insertion portion to be inserted into a lumen, and a proximal operation portion is provided at a base end of the insertion portion. A work arm driving device provided with a swing mechanism for swinging the work arm in accordance with the operation of the operation unit, wherein the work arm is provided with a center line parallel to a center line of the insertion portion. A driving device for a working arm, characterized in that a twist mechanism is provided at a center thereof for rotating around an axis. According to the first aspect of the present invention, the operation of the work arm is performed by rotating the work arm around the center line parallel to the center line of the insertion portion by the twist mechanism of the work arm. The degree of freedom can be increased.

According to a second aspect of the present invention, there is provided an arm receiving portion for rotatably supporting the work arm, the arm receiving portion being inserted into the insertion portion, and one end fixed to a rotation shaft portion of the work arm. Two operation wires for twisting operation of the working arm in forward and reverse directions, and a rotating shaft of the working arm on a surface of the arm receiving portion opposed to the rotating shaft of the working arm. A substantially ring-shaped wire guide portion formed along the turning direction of the portion, and moving the operation wire along the wire guide portion during pulling operation of the operation wire to apply a turning operation force to the working arm. The drive device for a working arm according to claim 1, wherein the twist mechanism is constituted by a transmitting means for transmitting a rotating operation force. According to the second aspect of the present invention, the twisting mechanism is provided by a turning operation force transmitting means including only mechanical parts for transmitting the turning operation force to the working arm by moving the operation wire along the wire guide portion during the operation of pulling the operation wire. Is configured so that the influence of heat does not need to be considered unlike the case where a shape memory alloy is used.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a schematic configuration of an entire repair device 1 for performing a small repair work on a pipe wall or the like as a subject under observation by an industrial endoscope. In FIG. 1, reference numeral 2 denotes an industrial endoscope inserted into a lumen, for example, an unillustrated industrial pipe to be repaired. The repair device 1 of the present embodiment is assembled to the industrial endoscope 2.

Further, the industrial endoscope 2 has an elongated insertion portion 2a inserted into a pipe of industrial piping, and the insertion portion 2a.
and a not-shown operation unit (not shown) arranged on the base end side of the “a”. The main body of the repair device 1 separate from the industrial endoscope 2 may be provided, and the repair device 1 and the endoscope of the present embodiment may be assembled to the main body.

Further, the repair device 1 of the present embodiment includes a working arm 3 disposed at the distal end of the insertion section 2a of the industrial endoscope 2, and a repair arm 1 of the insertion section 2a of the industrial endoscope 2. An operation unit 4 on the near side provided on the base end side is provided. Further, the working arm 3 has three arms as shown in FIGS. 2A and 2B, that is, a first arm 5a arranged at the most extreme position, and a rear arm behind the first arm 5a. Intermediate second arm 5b and the second arm 5
and a third arm 5c at the rearmost position disposed behind b. Here, the rear end of the first arm 5a and the front end of the second arm 5b are rotatably connected via a first rotary shaft 6 made of rivets. Further, a second rotating shaft 7 similarly made of rivets is provided between the rear end of the second arm 5b and the front end of the third arm 5c.
Are rotatably connected via a.

The rear end of the first arm 5a has a second end.
The first pulley 8 is attached to the surface facing the arm 5b. The first pulley 8 has a first operation wire 9
Is wrapped around. Then, by pulling the first operation wire 9 along the first pulley 8, the first arm 5 is pulled.
a rotates around the first rotation shaft 6.

The first pulley 8 is formed with a substantially U-shaped groove 8a as shown in FIG. 2 (C). And
A first operation wire 9 is wound around the first pulley 8 while passing through a gap between the U-shaped groove 8a of the first pulley 8 and the first rotation shaft 6. As a result, the first operation wire 9 has a bending habit, so that even if the first operation wire 9 is pulled, it does not slip on the outer peripheral surface of the pulley 8, and the first arm 5a can be surely rotated. it can. The first
The rivet of the rotary shaft 6 has a slight gap between the first pulley 8 and the second arm 5b, and functions to smoothly rotate the first arm 5a.

A first end is provided at the rear end of the second arm 5b.
A second pulley 10 is attached via a spacer 11 on the side facing the arm 5a. This second pulley 1
The second operation wire 12 is wound around 0. Note that the second pulley 10 is also substantially U-shaped in the same manner as the first pulley 8.
A U-shaped groove of the second pulley 10 and a second
The second operation wire 1 passes through the gap between the
2 may be wound around the second pulley 10.

Further, the second arm 5b is provided with two wire receivers 13 for preventing the first operation wire 9 from spreading in the outer peripheral direction. The first operation wire 9 passes through the inside of these wire receivers 13 and around the spacer 11, and extends toward the third arm 5c. The second operation wire 12 also extends to the third arm 5c side.

FIG. 5 shows a rear end of the third arm 5c.
As shown in (A), a bent portion 5c2 bent substantially at right angles to the main body 5c1 of the arm 5c is formed. A wire insertion hole 14 is formed substantially at the center of the bent portion 5c2. As shown in FIG. 6, the first operation wire 9 and the second operation wire 12 are inserted through the wire insertion holes 14, respectively.

A substantially cylindrical rotating shaft 15 is formed on the back surface of the bent portion 5c2 of the third arm 5c. Further, a cylindrical portion 16 having a smaller diameter than the rotating shaft portion 15 is provided on the rotating shaft portion 15 so as to project rearward. The cylindrical portion 16 passes through the inside of the rotary shaft portion
4 is connected. Then, the first operation wire 9 and the second operation wire 12 inserted through the wire insertion holes 14 are provided.
Is extended to the hand side through the inside of the rotating shaft portion 15 and the cylindrical portion 16.

The first operation wire 9 and the second operation wire 12 extending to the proximal side through the inside of the cylindrical portion 16 are respectively inserted into the close-wound coil 17 for protection.

FIG. 2C shows the inside of the cylindrical portion 16.
As shown in FIG. 2, a coil stopper 18 and a coil cover 19 serving to fix the coil stopper 18 are inserted. Here, the coil stopper 18 is formed in a substantially X shape as shown in FIG. 9A, and is fixed to a step portion between the rotation shaft 15 and the inside of the cylindrical portion 16. Then, the first operation wire 9 and the second operation wire 9 are
The operation wire 12 is positioned.

The coil cover 19 shown in FIG.
Each of the close-wound coils 17 of the first operation wire 9 and the second operation wire 12 is included in the inside. The distal ends of the closely wound coils 17 of the first operation wire 9 and the second operation wire 12 abut against a coil stopper 18 and are fixed.

The operation unit 4 on the hand side is provided with a swing operation means 20, which will be described later, for pulling and driving the first operation wire 9 and the second operation wire 12. And
The first operation wire 9 and the second operation wire 12 are towed in accordance with the operation of the swing operation means 20, and the first arm 5a is moved relative to the second arm 5b in accordance with the operation of the first operation wire 9. Is rotated around the first rotating shaft 6, and the second arm 5 b moves the second rotating shaft 7 with respect to the third arm 5 c with the operation of the second operation wire 12. It is driven to rotate around the center. Thus, a swing mechanism 21 for swinging the work arm 3 of the present embodiment is formed.

In the repair device 1 of the present embodiment, a twist for rotating the working arm 3 about an axis parallel to the center line of the insertion section 2a of the industrial endoscope 2 around the axis. A mechanism 22 is provided. This twist mechanism 22
Is provided with an arm receiving portion 23 for rotatably supporting the working arm 3.

The arm receiving portion 23 has the industrial endoscope 2
Mounting hole 24 formed in the distal end surface of insertion portion 2a
A first arm receiver 25 having a substantially C-shaped cross section obtained by dividing a cylindrical body in a circumferential direction; and a second arm having an arc cross section substantially corresponding to an arc cross section of a cutout portion of the first arm receiver 25. A receiver 26 is provided. Then, as shown in FIG. 8, the rotating shaft 15 of the working arm 3 is rotatably inserted into the arm mounting hole 24 of the insertion portion 2a of the industrial endoscope 2, and the first arm receiving portion is provided. The cylindrical portion 16 of the working arm 3 is interposed between the arm 25 and the second arm receiver 26.

A vertical groove 27 for inserting a wire is formed between both ends of the notch in the first arm receiver 25 and both ends of the second arm receiver 26. Two operation wires (third operation wires) 28 for twist operation for rotating the working arm 3 in the forward and reverse directions are inserted into these vertical grooves 27, respectively. In the present embodiment, for example, one third wire is folded back to form two third operation wires 2 for twist operation.
8 are formed.

Further, the third arm 5 of the working arm 3
c, a wire fixing portion 29 is provided at the tip of the bent portion 5c2.
Are formed. The wire fixing portion 29 is formed with two wire insertion grooves 29a and a wire locking portion 29b arranged between the wire insertion grooves 29a. Then, as shown in FIG. 5 (A), the wire locking portion 29b has a folded portion 28a at the distal end of the two third operation wires 28.
In a state where is wound around, the distal ends of the wire locking portions 29b are crushed, whereby the distal ends of the two third operation wires 28 are caulked and fixed to the wire fixing portion 29.

Also, as shown in FIG. 8, the height of the second arm receiver 26 is set to be higher than the height of the first arm receiver 25. The gap between the opposing surfaces of the first arm receiver 25 of the arm receiving portion 23 and the rotating shaft portion 15 of the working arm 3 and the work arm 3
As shown in FIG. 10, a gap is formed between the outer peripheral surface of the cylindrical portion 16 and the arm mounting hole 24 of the industrial endoscope 2 along the turning direction of the turning shaft portion 15 of the working arm 3. A substantially ring-shaped (substantially C-shaped) wire guide portion 30 is formed.

Here, the wire fixing portion 2 of the working arm 3
Reference numeral 9 is arranged at a substantially central portion of the wire guide portion 30. Further, two vertical grooves 27 between both ends of the first arm receiver 25 and both ends of the second arm receiver 26 are arranged at both ends of the wire guide 30. Also, when the twist mechanism 22 is operated, the two third operation wires 28
Either one is selectively towed. Then, a turning operation force transmitting means 31 for transmitting the turning operation force to the working arm 3 by moving the third operation wire 28 along the wire guide portion 30 at the time of the towing operation of the third operation wire 28 is formed. Have been.

The proximal ends of the two third operation wires 28 for twist operation extend to the proximal side. Here, two third operation wires 28 are attached to the operation unit 4 on the hand side.
Is provided with a twist operation means 32 to be described later for tow driving. Then, in accordance with the operation of the twist operating means 32, one of the two third operation wires 28 is selectively towed, and the working arm 3 is moved to the industrial endoscope 2.
The twist mechanism 22 that rotates around a center line parallel to the center line of the insertion portion 2a is driven.

Further, the operation unit 4 on the hand side of the present embodiment is provided with three operation arms 33a, 33b, 33c having the same configuration as the three arms 5a, 5b, 5c of the working arm 3. . The first operation wire 9, the second operation wire 12, and the third operation wire 28 of the three arms 5a, 5b, 5c of the working arm 3 are
Each of the operation arms 33a, 33b, 33c is connected in a similar configuration. Therefore, the swing operation means 20 is formed by the two operation arms 33a and 33b of the operation section 4, and the twist operation means 32 is formed by the remaining operation arms 33c. Then, the three operation arms 33a, 33 of these operation units 4 are provided.
b, 33c, the three arms 5a, 5 of the working arm 3 of the repair device 1 of the present embodiment by the twist operating means 20 and the twist operating means 32.
Drive devices b and 5c are configured.

As shown in FIG. 5B, the third operation wire 28 of the present embodiment has a small-diameter wire 34 disposed at the distal end. The base end of the small-diameter wire 34 is fixed while being inserted into a connecting pipe (wire joining member) 35. Further, a large-diameter wire (not shown) is fixed to the base end of the connection pipe 35. The connecting pipe 35 may replace the large diameter wire.

The small-diameter wire 34 is inserted into a small-diameter coil 36 which is a close-wound coil. Further, the connecting pipe 35 is inserted into a large-diameter coil 37 that is a close-wound coil larger in diameter than the small-diameter coil 36.

A coil splicing member 38 is provided in the middle of the third operation wire 28. The coil joining member 38 is formed with a small-diameter pipe portion 38a on the front end side and a large-diameter pipe portion 38b on the rear end side. further,
Inside the coil joining member 38, a small-diameter pipe portion 38a is provided.
A coil stopper 38c is formed between the coil stopper 38c and the large diameter pipe 38b. The base end of the small-diameter coil 36 is inserted into the small-diameter pipe 38a of the coil joining member 38, and is fixed in a state of being abutted against the coil stopper 38c. Further, the tip of the large-diameter coil 37 is inserted into the large-diameter pipe portion 38b of the coil joining member 38, and is fixed in a state of being abutted against the coil stopper 38c.

Further, a welding electrode 39 is attached to the first arm 5a of the working arm 3 in the repair device 1 of the present embodiment. The welding electrode 39 is fixed to the distal end of a cable 40 inserted into the channel 2b of the insertion section 2a of the industrial endoscope 2. Then, the welding arm 39 is moved toward the pipe wall surface of an unillustrated industrial pipe to be repaired by the working arm 3, so that the welding electrode 39 enables a mild welding operation. An ultrasonic flaw detector (not shown) may be attached to the first arm 5a of the working arm 3 in place of the welding electrode 39, so that the length of a flaw of the subject can be measured.

Next, the operation of the above configuration will be described.
When using the repair device 1 of the present embodiment, the three operation arms 33a, 33b, 33c of the operation unit 4 are operated. At this time, the two operation arms 33a, 3 of the operation section 4
The first operation wire 9 and the second operation wire 12 are respectively tow-driven by 3b. Here, when the operation arm 33a is operated, the first operation wire 9 is pulled and driven. Then, the first arm 5 a of the working arm 3 is driven to rotate about the first rotation shaft 6 with respect to the second arm 5 b via the first operation wire 9.

When the operation arm 33b is operated,
The second operation wire 12 is driven by traction. Then, the second arm 5b of the working arm 3 is connected to the third arm 5c via the second operation wire 12 by the second rotating shaft 7.
Is similarly driven to rotate. At this time, the first arm 5a and the second arm 5b of the working arm 3 move in the same manner as the two operation arms 33a and 33b of the operation unit 4,
The swing operation of the working arm 3 is performed.

Further, when the operation arm 33b of the operation section 4 is rotated, one of the third operation wires 28 is selectively towed. During the towing operation of the third operation wire 28, the third operation wire 28 is provided in a gap between the first arm receiver 25 of the arm receiver 23 and the rotating shaft 15 of the working arm 3. In addition, the arm 3 moves along the wire guide portion 30 in a gap between the outer peripheral surface of the cylindrical portion 16 of the working arm 3 and the arm mounting hole 24 of the industrial endoscope 2, and a rotating operation force is applied to the working arm 3. Is transmitted. Thus, a twist operation of rotating the working arm 3 about an axis parallel to the center line of the insertion section 2a of the industrial endoscope 2 is performed.

Therefore, the above configuration has the following effects. That is, the repair device 1 of the present embodiment
Then, a swing mechanism 21 for swinging the working arm 3
In addition, since the working arm 3 can be rotated around the axis of the insertion portion by the twist mechanism 15 of the working arm 3, the degree of freedom of operation of the working arm 3 can be increased.

Further, in this embodiment, the third operation wire 28 by the twist operation means 32 of the operation unit 4 on the hand side is provided.
Since the twisting mechanism 22 is constituted by the turning operation force transmitting means 31 of only the mechanical parts for transmitting the turning operation force to the working arm 3 by moving the operation wire 28 along the wire guide portion 30 at the time of the towing operation, It is not necessary to consider the influence of heat as in the case of using a memory alloy. Therefore, it is possible to reliably perform a high-temperature operation in which the welding operation is performed by the welding electrode 39.

Further, the swing mechanism 21 and the twist mechanism 15 of the working arm 3 in the repair device 1 according to the present embodiment have less complicated movement than the bending mechanism using the bending piece and can perform an operation with linearity. Therefore, there is also an effect that the posture control can be easily performed.

Further, in this embodiment, three operation arms 33a, 33b, 33c having the same configuration as the three arms 5a, 5b, 5c of the working arm 3 are provided on the operation unit 4 on the hand side.
And three arms 5a, 5b, 5 of the working arm 3 are provided.
c, the first operation wire 9, the second operation wire 12, and the third operation wire 28 are connected to the three operation arms 3 of the operation unit 4.
3a, 33b, and 33c, respectively, in the same configuration, the three operation arms 33a, 33b,
The operation of 3c is performed by the three arms 5a and 5 of the working arm 3.
The operation can be reproduced as operations b and 5c. Therefore, the three operation arms 33a, 33b, 33 of the operation section 4
c, and three arms 5a, 5b, 5c of the working arm 3
Since the operation is reproduced one-to-one, the operation of the working arm 3 is more easily controlled.

In the present embodiment, a small-diameter wire 34 is provided at the distal end of the third operation wire 28, and the base end of the small-diameter wire 34 is fixed in a state of being inserted into the connection pipe 35. At the same time, a large-diameter wire (not shown) was fixed to the base end of the connecting pipe 35. Therefore, the small diameter wire 34
Since the repair device 1 can be downsized by connecting the large diameter wire and the wire 28, the endoscope 2 with the repair device 1 can be lengthened because the wire 28 can be pulled with a stronger force.

The present invention is not limited to the above embodiment. For example, in the above embodiment, three arms 5a, 5b,
5c, three operation arms 33a, 33b,
Although the configuration provided with 33c is shown, the first operation wire 9, the second operation wire 12, and the third operation wire 2 of the three arms 5a, 5b, 5c of the working arm 3 are provided on the operation unit 4.
8 may be replaced with a configuration in which the motor 8 is pulled by a motor.

Further, it goes without saying that various modifications can be made without departing from the spirit of the present invention. next,
Other characteristic technical matters of the present application are additionally described as follows. (Additional Item 1) A working arm is provided at a distal end of an insertion portion to be inserted into a lumen, and a hand-side operation unit is provided at a base end of the insertion portion. A work arm drive device provided with a swing mechanism for swinging the work arm in accordance with the operation of the operation arm, further comprising a twist mechanism for rotating the work arm around an axis of the insertion portion; An arm receiving portion rotatably supporting the work arm, and a twisting operation inserted into the insertion portion, one end of which is fixed to a rotation shaft portion of the work arm, and the work arm is operated to rotate in the forward and reverse directions. Ring-shaped wire guide portion formed on the contact surface between the two operation wires for use and the work arm in the arm receiving portion along the rotation direction of the rotation shaft portion of the work arm And the operation wire A rotating operation force transmitting means for transmitting a rotating operation force to the working arm by moving the operation wire along the wire guide portion during a pulling operation, and forming the twist mechanism with the working arm; A small-diameter wire is provided on the fixed portion side, and a large-diameter wire is provided on the operation portion side. The base end of the small-diameter wire and the distal end of the large-diameter wire are connected via a wire joining member. A work arm drive device comprising an operation wire.

(Additional Item 2) The wire splicing member is formed by a connecting pipe, a base end of the small diameter wire is inserted into one end of the connecting pipe, and a distal end of the large diameter wire is inserted into the other end. The driving device for a working arm according to claim 1, wherein the parts are connected.

(Effects of Additional Items 1 and 2) By connecting a small diameter wire and a large diameter wire, the repair device can be downsized.
Since the wire can be pulled with a stronger force, the endoscope with the repair device can be made longer.

[0048]

According to the first aspect of the present invention, a twist mechanism is provided for rotating the working arm around an axis parallel to the center line of the insertion portion in the direction around the axis. The degree of freedom of operation can be increased, and the working range of the working arm can be expanded.

According to the second aspect of the present invention, the turning operation force transmitting means including only mechanical parts for transmitting the turning operation force to the work arm by moving the operation wire along the wire guide portion during the pulling operation of the operation wire. Since the twist mechanism is configured, there is no possibility that a work target (environment) that can be used like a bending drive mechanism using a shape memory alloy is limited. In addition, by adopting this mechanism, the movement of each bending piece can be performed with linearity without complicating the movement of each bending piece like a swing mechanism using a bending tube, so it is suitable for posture control, It is possible to measure the length of a flaw of a subject by an ultrasonic flaw detector that requires attitude control with linearity, which can not be performed by the technique described above, and to perform a mild welding operation using a welding electrode.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an entire repair device according to a first embodiment of the present invention.

2A is a plan view of the working arm in the working arm drive device according to the first embodiment, FIG. 2B is a side view of the working arm, and FIG. 2C is an operation of the working arm for a swing mechanism. The longitudinal section of the important section showing the arrangement state of the wire.

FIG. 3 is a plan view illustrating a bent state of three arms of the working arm in the working arm drive device according to the first embodiment;

FIG. 4 is a vertical cross-sectional view of a main part for describing the operation of the operation wires when the three arms of the working arm in the driving device for the working arm according to the first embodiment are bent.

FIG. 5A is a perspective view illustrating a main part of a twist mechanism of the working arm in the working arm drive device according to the first embodiment, and FIG. 5B is a working arm according to the first embodiment; FIG. 5 is a longitudinal sectional view of a main part showing a connecting portion between a small diameter wire and a large diameter wire of an operation wire in the drive device of FIG.

FIG. 6 is a cross-sectional view of a main part showing a fixing part of an operation wire for a twist mechanism of the working arm in the working arm drive device according to the first embodiment;

FIGS. 7A and 7B show the arrangement of operation wires for a twisting mechanism of the working arm in the driving device for the working arm according to the first embodiment, wherein FIG. 7A is a plan view and FIG. .

FIG. 8 is a side view showing a wire guide portion of an operation wire for a twist mechanism of the work arm in the drive device for the work arm according to the first embodiment.

9A is a plan view showing a coil stopping member of an operation wire for a swing mechanism of the working arm in the working arm drive device according to the first embodiment, and FIG. 9B is a plan view showing a coil of the working arm. FIG. 3 is a longitudinal sectional view showing a cover.

FIG. 10 is an explanatory diagram for explaining a wire guide portion of an operation wire for a twist mechanism of the work arm in the drive device for the work arm according to the first embodiment.

[Explanation of symbols]

 2 Industrial Endoscope 2a Insertion Section 3 Working Arm 4 Operation Section 15 Rotating Shaft 21 Swing Mechanism 22 Twist Mechanism 23 Arm Receiving Section 28 Third Operation Wire 29 Wire Fixing Section 30 Wire Guide Section 31 Rotating Operating Force Means of transmission

Claims (2)

[Claims] 1. A working arm is provided at a distal end of an insertion portion to be inserted into a lumen, and a proximal operation portion is disposed at a base end of the insertion portion. In a driving device for a working arm provided with a swing mechanism for swinging the working arm with an operation, the working arm is rotated around a center line parallel to a center line of the insertion portion in a direction around an axis. A driving device for a working arm, comprising a twist mechanism. 2. An arm receiving portion for rotatably supporting the work arm; and an arm receiving portion inserted into the insertion portion, one end portion of which is fixed to a rotation shaft portion of the work arm so as to correct the work arm. Two operation wires for twist operation that are rotated in opposite directions, and a rotation of the rotation shaft of the work arm on a surface of the arm receiving portion facing the rotation shaft of the work arm. A substantially ring-shaped wire guide portion formed along a direction, and a rotation for transmitting a rotation operation force to the work arm by moving the operation wire along the wire guide portion during a pulling operation of the operation wire. The drive device for a working arm according to claim 1, wherein the twist mechanism is constituted by an operating force transmitting means.