| 摘要 |
<P>PROBLEM TO BE SOLVED: To drive a pair of end effectors of a distal end working part by one driving mechanism. <P>SOLUTION: The working part 12 has: a gear 168 rotating in a direction orthogonal to a reference axis C; a gear ring 156 the proximal end side end face of which is brought into contact with the gear 168, whose rotating direction is changed, and which rotates with the reference axis C as a center; a first end effector 220 which is brought into contact with the upper part of distal end side end face of the gear ring 156, whose rotation direction is changed, and which rotates with a rotary shaft Og orthogonal to the reference axis C as a center; and a second end effector 222 which is brought into contact with the lower part of the distal end side end face, whose rotation direction is changed, and which rotates in a direction reverse to that of the first end effector 220 with the rotary shaft Og as a center. The first end effector 220 and the second end effector 222 open and close symmetrically. <P>COPYRIGHT: (C)2008,JPO&INPIT |
