| 摘要 |
PROBLEM TO BE SOLVED: To provide a bending operation system that attains a high detection accuracy of bending angles and a simplified compact structure and construction. SOLUTION: In the optical encoder of a manipulator 1, the light enters into slits 40A, 40B and 40Z where two kinds of reflective parts 41A and 41B with different light reflectances are longitudinally arranged in a prescribed pattern, and a light reception device receives the reflective light reflecting from the slits 40A, 40B and 40Z. Since the light quantity introduced into a light fiber 22 differs between the first and second reflective parts 41A and 41B, the encoder slit 32 moves in the longitudinal direction together with a wire 5, the light reception device detects an electric signal wave with the wave form indicating the movement and light quantity of the encoder slit 32. The electric signal wave is converted into pulses, and the movements of encoder slit 32 and wire 5 are calculated from the number of pulses and the known size of the encoder slit 32. The bending angle of an operation part 3 is detected from the movement of the wire 5. COPYRIGHT: (C)2011,JPO&INPIT
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