Tubular component moving device

Abstract

The present invention provides a tubular component moving device. The tubular component moving device on one hand of the present invention is used for moving a tubular component and includes: a first housing through which the tubular component passes; a driving roller part including a driving roller which is arranged on one side part of the tubular component inside the first housing; a driven roller part including a first driven roller which is arranged on the other side part of the tubular component; a first actuator for providing a driving force for rotating the driving roller; and a second housing which is detachably combined with the first housing and internally houses the first actuator.

Description

Technical Field

[0001] The present invention relates to a tubular member moving device, and more particularly, to a tubular member moving device capable of moving a tubular member. Background Art

[0002] An endoscope is an instrument invented to enable observation by inserting an instrument into the body to confirm a lesion of an organ that cannot be directly observed without surgery or autopsy. Recently, various types of surgical instruments have been invented to perform surgery on the inside of an organ without cutting the patient's body.

[0003] In such an endoscope instrument, the portion inserted into the human body is generally composed of a tubular member to adapt to the structural characteristics of the body and minimize the surgical site. For example, a device has been developed for inserting an endoscope attached with a surgical instrument into the inside of a patient's body for surgery.

[0004] In addition, for convenient and efficient insertion and extraction, tubular members are widely used in devices for confirming and inspecting the inside of components or pipes.

[0005] The tubular members used in industrial and medical fields are repeatedly inserted and extracted during operation. For this reason, a considerable amount of time and labor are required. In order to save the time and labor required for the insertion and extraction operations, a moving device for automatically inserting or extracting a tubular member has been developed.

[0006] The moving device as described above includes a structure in which a driving roller that rotates by receiving driving force from a motor and a driven roller that rotates freely are in contact with each other and are disposed on both side portions of the tubular member, and the tubular member is moved by the frictional force generated between the driving roller and the tubular member.

[0007] However, in the existing moving device, since the contact area between the tubular member and the driving roller is insufficient, there is a problem that the driving force generated by the motor cannot be effectively transmitted to the tubular member.

[0008] In addition, in the existing moving device, if it is contaminated by the tubular member inside, the entire moving device needs to be cleaned or replaced, so there is a problem that electronic components such as the motor are damaged during the cleaning process or reusable components are discarded, resulting in waste of resources. Summary of the Invention

[0009] (Problems to be Solved)

[0010] The present invention has been made in consideration of the above viewpoints, and an object of the present invention is to provide a tubular member moving device capable of automatically inserting or extracting a tubular member.

[0011] Another object of the present invention is to provide a tubular component moving device as follows: it is easy to perform the conversion between the automatic mode of automatically inserting or pulling out the tubular component and the manual mode of manually inserting or pulling out the tubular component, or the reverse conversion.

[0012] Another object of the present invention is to provide a tubular component moving device as follows: to expand the contact area between the driving roller and the tubular component, and thus the tubular component can be effectively moved.

[0013] Another object of the present invention is to provide a tubular component moving device that can replace or clean only the components contaminated by the tubular component by disassembling them.

[0014] The problems of the present invention are not limited to those mentioned above. For other problems not mentioned, those of ordinary skill in the technical field to which the present invention pertains will clearly understand from the following description.

[0015] (Means for Solving the Problem)

[0016] According to an aspect of the present invention, there is provided a tubular component moving device for moving a tubular component, including: a first housing through which the tubular component passes; a driving roller unit including a driving roller disposed on one side of the tubular component inside the first housing; a driven roller unit including a first driven roller disposed on the other side of the tubular component; a first actuator providing a driving force for rotating the driving roller; and a second housing detachably coupled to the first housing and accommodating the first actuator therein.

[0017] At this time, the tubular component moving device may further include a roller operation unit for moving the first driven roller from a second position to a first position, the second position being farther from the driving roller than the first position adjacent to the driving roller.

[0018] At this time, the roller operation unit includes a second actuator for moving the first driven roller from the second position to the first position; the second actuator may be located inside the second housing.

[0019] At this time, the second actuator is a linear actuator, and the linear actuator is connected to the first driven roller through a plurality of connecting members.

[0020] At this time, the roller operation unit may include: a first connecting member disposed inside the first housing and pivotally coupled to the first housing such that one side can pivot about a first axis; a second connecting member coupled to the first connecting member and the first driven roller; and a button member connected to the first connecting member and disposed on the first housing.

[0021] At this time, the button member may include an elastic member that provides an elastic force to protrude the button member outward from the first housing in a state where no external force is applied, so that the first driven roller is spaced apart from the driving roller by a greater distance than the diameter of the tubular member.

[0022] At this time, the roller operation unit may include an elastic member that elastically presses the first driven roller in a direction from the second position toward the first position.

[0023] At this time, the driven roller unit includes a second driven roller that is arranged at an interval in the longitudinal direction of the tubular member from the first driven roller, and the driving roller may be located between the first and second driven rollers in the longitudinal direction of the tubular member.

[0024] At this time, the tubular member may move while bending along the outer circumferential surface of the driving roller with a predetermined curvature within the first housing.

[0025] At this time, the diameters of the first and second driven rollers may be smaller than the diameter of the driving roller.

[0026] At this time, the first housing may have a guiding member for guiding the tubular member.

[0027] At this time, the tubular member penetrates through and passes through the first housing, and may be arranged outside the second housing.

[0028] At this time, the second housing may be provided with an operation button for driving the first actuator.

[0029] (Advantages of the Invention)

[0030] In the tubular member moving device according to an embodiment of the present invention, a driving roller unit that rotates by receiving a driving force from an actuator applies a frictional force to the tubular member in the moving direction, so that the tubular member can be automatically inserted or pulled out.

[0031] In addition, in the tubular member moving device according to an embodiment of the present invention, the roller operation unit can dispose the driven roller adjacent to the driving roller or space the driven roller apart from the driving roller, so that it is easy to switch from the automatic mode to the manual mode or vice versa.

[0032] In addition, in the tubular member moving device according to an embodiment of the present invention, the driving roller is arranged adjacent to the actuator, and the driven roller is arranged adjacent to the roller operation unit, so that the internal components are compactly arranged, the width in the front and rear directions is thin and the weight is light, and the power transmission efficiency is excellent.

[0033] In addition, the tubular component moving device according to an embodiment of the present invention is configured such that the second housing accommodating the actuator and the roller running portion face each other with the tubular component as the center, thereby improving the operation convenience and efficiency for the user.

[0034] In addition, the tubular component moving device according to an embodiment of the present invention is such that the roller running portion includes an elastic member that elastically presses the driven roller toward the driving roller side. Therefore, regardless of the diameter of the tubular component, the driven roller can press the tubular component with a predetermined force.

[0035] In addition, the tubular component moving device according to an embodiment of the present invention is such that a plurality of driven rollers press the tubular component toward the driving roller side, so that while the tubular component is bent, it surrounds the outer peripheral surface of the driving roller, thereby increasing the contact area between the driving roller and the tubular component.

[0036] The effects of the present invention are not limited to the above effects, and those with ordinary knowledge in the technical field to which the present invention pertains can clearly understand the unmentioned effects from this specification and the drawings. Description of the Drawings

[0037] Figure 1 is a perspective view of the tubular component moving device according to the first embodiment of the present invention.

[0038] Figure 2 is a front view of the tubular component moving device according to the first embodiment of the present invention.

[0039] Figure 3 is a rear view of the tubular component moving device according to the first embodiment of the present invention.

[0040] Figure 4 is a view showing the roller, the tubular component, and the guide component of the tubular component moving device according to the first embodiment of the present invention, Figure 4 where (a) is a perspective view, Figure 4 and (b) is a plan view.

[0041] Figure 5 is a view showing the second actuator and the roller in the manual mode and the automatic mode of the tubular component moving device according to the first embodiment of the present invention, Figure 5 where (a) is a view showing the state in the automatic mode, Figure 5 and (b) is a view showing the state in the manual mode.

[0042] Figure 6 is a view showing the state in which the first housing and the second housing of the tubular component moving device according to the first embodiment of the present invention are separated.

[0043] Figure 7 is a view showing the state in which the connecting component of the tubular component moving device according to the first embodiment of the present invention is manually moved.

[0044] Figure 8 It is a diagram showing a modified example of the tubular member moving device according to the first embodiment of the present invention.

[0045] Figure 9 It is a perspective view of the tubular member moving device according to the second embodiment of the present invention.

[0046] Figure 10 It is an exploded perspective view of the tubular member moving device according to the second embodiment of the present invention.

[0047] Figure 11 It is an exploded perspective view of the tubular member moving device according to the second embodiment of the present invention.

[0048] Figure 12 It is a perspective view of the first housing of the tubular member moving device according to the second embodiment of the present invention and the structure accommodated in the first housing, observed from different angles.

[0049] Figure 13 It is a plan view showing the drive roller, the driven roller, the rotating shafts of the drive roller and the driven roller, the first gear, and the tubular member of the tubular member moving device according to the second embodiment of the present invention.

[0050] Figure 14 and Figure 15 As a diagram for explaining the working process of the tubular member moving device according to the second embodiment of the present invention, Figure 14 it is a diagram showing the state (automatic mode) where the driven roller is in the first position, Figure 15 it is a diagram showing the state (manual mode) where the driven roller is in the second position.

[0051] Figure 16 It is a diagram showing a modified example of the tubular member moving device according to the second embodiment of the present invention.

[0052] Figure 17 and Figure 18 It is a diagram for explaining the tubular member moving device according to the third embodiment of the present invention.

[0053] Figure 19 It is a diagram for explaining a modified example of the tubular member moving device according to the third embodiment of the present invention.

[0054] (Explanation of reference numerals)

[0055] 1, 101, 201: Tubular member moving device 10, 110, 210: Housing

[0056] 20, 120, 220: Drive roller section 30, 130, 230: Driven roller section

[0057] 40, 42: Actuators 50, 150: Power transmission components

[0058] 60, 160, 260: Roller running parts 70, 170: Control parts

[0059] 80, 180: Operation parts 190: Energy storage tool Detailed implementation manners

[0060] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those with ordinary knowledge in the technical field to which the present invention pertains can easily implement it. The present invention can be implemented in various different forms and is not limited to the embodiments described herein. To clearly illustrate the present invention, parts irrelevant to the description are omitted in the drawings, and the same or similar components are given the same reference numerals throughout the specification.

[0061] Regarding the words and terms used in this specification and claims, they should not be limited to the ordinary or dictionary meanings, but should be interpreted according to the principle that the inventor can define terms and concepts in order to best describe his own invention, in accordance with the meanings and concepts that conform to the technical idea of the present invention.

[0062] In this specification, words such as "comprising" or "having" should be understood to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and do not preclude in advance the existence or additional possibility of one or more other features or numbers, steps, actions, components, parts, or combinations thereof.

[0063] Regarding a certain component being "in front of", "behind", "above", or "below" another component, unless there are special circumstances, it includes the case of being directly in contact with the other component and being "in front of", "behind", "above", or "below", and moreover, it also includes the case where other components are arranged in the middle. In addition, regarding a certain component being "connected" to another component, unless there are special circumstances, it includes not only the case of being directly connected to each other, but also the case of being indirectly connected to each other.

[0064] The tubular component moving device according to an embodiment of the present invention relates to a tubular component moving device that presses a tubular component against a driving roller through a driven roller part including a driven roller, generates frictional force between the tubular component and the driving roller, and uses this frictional force to move the tubular component.

[0065] At this time, the tubular component moving device according to an embodiment of the present invention includes a roller running part that can move the driven roller toward or in the opposite direction of the driving roller, and can press the tubular component against or space it from the driving roller, so it is easy to switch from the automatic mode to the manual mode or vice versa, and the contact area between the tubular component and the driving roller can be increased.

[0066] On the other hand, for example, a tubular member may refer to a member having a diameter of several millimeters to several centimeters and formed by stretching. The diameter of the tubular member that can be moved by the tubular member moving device can be variously selected according to the size of the components of the tubular member moving device.

[0067] As an embodiment, the tubular member may be a part of an endoscope or a part of a surgical tool or device used together with the endoscope. However, the tubular member moving device for moving the tubular member according to an embodiment of the present invention is not limited to a part of an endoscope device or a part for moving an endoscope instrument.

[0068] Hereinafter, the tubular member moving device according to the first embodiment of the present invention will be described.

[0069] Figure 1 is a perspective view of the tubular member moving device according to the first embodiment of the present invention. Figure 2 is a front view of the tubular member moving device according to the first embodiment of the present invention. Figure 3 is a rear view of the tubular member moving device according to the first embodiment of the present invention. Figure 4 is a view showing a roller, a tubular member, and a guide member of the tubular member moving device according to the first embodiment of the present invention, Figure 4 where (a) is a perspective view, Figure 4 and (b) is a plan view.

[0070] At this time, in Figures 1 to 3 the structures shown by perspective views of the first and second housings are represented by dashed lines.

[0071] Referring to Figure 1 and 2 , the tubular member moving device 1 according to the first embodiment of the present invention may include: a housing 10, a driving roller unit 20, a driven roller unit 30, a first actuator 40, a second actuator 42, a power transmission member 50, and a roller running unit 60.

[0072] The housing 10 is composed of a first housing 11 and a second housing 17. The driving roller unit 20, the driven roller unit 30, and the guide members 12, 14 are accommodated inside the first housing 11 for protection. At this time, the driving roller unit 20 includes a driving roller 21, and the driven roller unit 30 includes a driven roller 31.

[0073] The first housing 11 may be formed in a box-shaped structure with sufficient dimensions so that the driving roller 21, the driven roller 31, and the guide members 12, 14 can be provided inside.

[0074] Referring to Figure 1 and Figure 2, the driving roller 21 is located at the center of the first housing 11, and the driven roller 31 is spaced from the driving roller 21 by an appropriate distance so that the guiding members 12, 14 can be located between the two rollers 21, 31. The appropriate distance will be described later.

[0075] Refer to Figure 4 , the driving roller 21 and the driven roller 31 are disk-shaped members having a predetermined thickness, and grooves 21a, 31a corresponding to the outer peripheral portion of the tubular member 2 are formed on the outer peripheral surface.

[0076] In this embodiment, the grooves 21a, 31a of the driving roller 21 and the driven roller 31 are formed in a semicircular shape according to the shape of the tubular member 2. However, of course, they can also be formed in an elliptical shape or the like according to the cross-sectional shape of the tubular member 2.

[0077] Refer to Figure 4 As shown in (b) of, if the roller grooves 21a, 31a are formed to correspond to the outer peripheral portion of the tubular member 2, most of the outer peripheral portion of the tubular member 2 contacts the outer peripheral surfaces of the rollers 21, 31, and further, the contact area between the outer peripheral surfaces of the rollers 21, 31 and the tubular member 2 can be increased more.

[0078] In addition, a friction member (not shown) made of a rubber pad or the like is provided on the outer peripheral surfaces of the rollers 21, 31, and the friction coefficient between the tubular member 2 and the outer peripheral surfaces of the rollers 21, 31 can be increased.

[0079] Refer to Figure 1 , roller shafts 22, 32 can be rotatably provided together at the centers of the rollers 21, 31.

[0080] The roller shafts 22, 32 are members having a rod shape extending a predetermined length, and can be made of metal or plastic having a predetermined strength. The driving roller shaft 22 is fixedly provided in the x-axis direction at the center of the first housing 11, and the driven roller shaft 32 is arranged in parallel at a predetermined distance in the y-axis direction of the driving roller shaft 22.

[0081] Both ends of the roller shafts 22, 32 are rotatably provided on the inner wall of the first housing 11. For this purpose, a bearing member (not shown) can be provided between the first housing 11 and the roller shafts 22, 32.

[0082] Refer to Figure 1 , a gear is provided on the driving roller shaft 22, and the gear receives a rotational force at a predetermined distance in the x-axis direction from the driving roller 21 and can rotatably drive the driving roller 21.

[0083] A third connecting member 66 is provided on the driven roller shaft 32, and the third connecting member 66 is spaced apart from the driven roller 31 by a predetermined distance in a direction opposite to the x-axis. The third connecting member 66 transmits a force capable of moving the driven roller shaft 32 in the y-axis direction. At this time, a bearing member (not shown) is provided between the third connecting member 66 and the driven roller shaft 32, and they can rotate relative to each other. The third connecting member 66 will be described later.

[0084] Refer to Figure 4 , the guiding members 12, 14 include a first guiding member 12 and a second guiding member 14.

[0085] In the present embodiment, the guiding members 12, 14 are located between the driving roller 21 and the driven roller 31, and the first guiding member 12 and the second guiding member 14 are arranged at intervals so that the tubular member 2 can be in direct contact with the outer peripheral surfaces of the driving roller 21 and the driven roller 31.

[0086] As another embodiment, the first guiding member 12 and the second guiding member 14 are formed integrally, and through holes may be formed only in the portions of the outer peripheral surfaces of the guiding members 12, 14 where the tubular member 2 contacts the rollers 21, 31.

[0087] Refer to Figure 3 and Figure 4 , an inlet 13 and an outlet 15 through which the tubular member 2 penetrates are respectively formed on the upper and lower surfaces of the first housing 11. The guiding members 12, 14 connect the outlet 15 and the inlet 13 of the first housing 11 so that the tubular member 2 can penetrate the first housing 11.

[0088] According to the present embodiment, the guiding members 12, 14 are formed in a straight line to connect the inlet 13 and the outlet 15. However, in another embodiment, depending on the flexibility of the tubular member 2, the positions of the inlet 13 and the outlet 15, and the configuration of the internal components of the first housing 11, the guiding members 12, 14 may be formed in a curved shape.

[0089] In addition, in another embodiment, the guiding members 12, 14 may protrude outward from the first housing 11 so that the tubular member 2 is guided by the guiding members 12, 14 to the inside of the first housing 11.

[0090] On the other hand, the second housing 17 is formed in a box-shaped structure with sufficient size to accommodate the first actuator 40 and the second actuator 42 inside and protect them.

[0091] Refer to Figure 1 , the second housing 17 may be provided at the lower right side of the first housing 11. However, the relative positions of the first housing 11 and the second housing 17 may be appropriately configured according to the convenience of the user of the endoscopic instrument or the configuration of the components of the tubular member moving device 1.

[0092] For example, considering the operation of a medical endoscope by a doctor or the surgical environment, during Figure 2 observation, the second housing 17 is preferably disposed on the lower right side or the lower left side of the entrance 13 of the first housing 11.

[0093] During Figure 1 observation, a first actuator 40 is disposed on the left side inside the second housing 17, and a second actuator 42 is disposed behind the first actuator 40.

[0094] The first actuator 40 generates a driving force for rotating the driving roller 21, and the second actuator 42 generates a driving force for linearly moving the driven roller 31 in the y-axis direction. In this embodiment, the first actuator 40 is a rotary motor, and the second actuator 42 is a linear motor that can linearly move a specific component.

[0095] A power transmission member 50 for transmitting the driving force is provided between the first actuator 40 and the driving roller 21, and a roller running portion 60 for transmitting the driving force is provided between the second actuator 42 and the driven roller 31.

[0096] At this time, a rotary shaft that rotates by the first actuator 40 is provided on one side of the first actuator 40, and the rotary shaft, the roller center shafts 22 and 32 are arranged in parallel in the x-axis direction.

[0097] Referring to Figure 1 and 2 , in this embodiment, the first actuator 40 transmits the driving force to the driving roller shaft 22 through the power transmission member 50 provided inside the first housing 11.

[0098] At this time, the power transmission member 50 includes first to third gears 52, 54, and 56. The first to third gears 52, 54, and 56 are formed as spur gears. The first gear 52 is disposed on the rotary shaft of the first actuator 40, and the third gear 56 is disposed on the driving roller shaft 22. The second gear 54 is connected to the first and third gears 52 and 56.

[0099] According to the number of teeth of the first to third gears 52, 54, and 56, the rotation speed ratio, the rotation direction, and the torque ratio between the first actuator 40 and the driving roller 21 can be adjusted.

[0100] However, the first to third gears 52, 54, and 56 of the power transmission member 50 are not limited to spur gears. For example, the first and third gears 52 and 56 are formed by turbines, and the second gear 54 can be formed by a worm. In this case, the backlash is small, so the movement amount of the tubular member 2 can be precisely controlled.

[0101] At this time, referring to Figure 1, openings 18 in the shape of right-angled quadrilaterals are formed on the mutually facing surfaces of the first and second outer shells 11 and 17. Through the openings 18, the interiors of the first outer shell 11 and the second outer shell 17 communicate with each other. One side portion of the first gear 52 of the first actuator 40 is connected to the second gear 54 through the opening 18.

[0102] On the other hand, referring to Figure 3 , the roller running part 60 is arranged. The roller running part 60 performs the function of transmitting the driving force generated by the second actuator 42 to the driven roller 31. The roller running part 60 includes first, second, and third connecting components 62, 64, and 66. At this time, the roller running part 60 can be made of a material such as metal with a predetermined rigidity.

[0103] The first connecting component 62 extends from one side of the second actuator 42 toward the inside of the first outer shell 11 in the z-axis direction, and the second connecting component 64 extends from the inside of the second outer shell 17 in the x-axis direction. At this time, one ends of the first and second connecting components 62 and 64 are joined to each other.

[0104] As described above, the third connecting component 66 and the driven roller shaft 32 are rotatably joined to each other. The other end of the second connecting component 64 is joined to the third connecting component 66.

[0105] However, as long as the driving force of the second actuator 42 can be transmitted to the driven roller 31, there is no particular limitation on the joining structure between the first to third connecting components 62, 64, and 66. For example, it can be achieved by a sliding joining method of a guide groove and a guide projection. In addition, the roller running part 60 can also be formed integrally.

[0106] Referring to Figure 1 and Figure 3 , when the second actuator 42 linearly moves the roller running part 60, the driven roller shaft 32 that is linearly joined to the roller running part 60 is linearly moved, thereby linearly moving the driven roller 31.

[0107] Although not shown, in order to be able to guide the driven roller 31 to move in the y-axis direction, additional guide parts can be formed on the inner wall of the first outer shell 11.

[0108] At this time, a guide hole 19 is formed on the surface where the first outer shell 11 and the second outer shell 17 are joined to each other so that the first connecting component 62 passing through the side walls of the first outer shell 11 and the second outer shell 17 can move smoothly.

[0109] On the other hand, in the present embodiment, the distance between the first actuator 40 and the driving roller 21 may be smaller than the distance between the second actuator 42 and the driven roller 31. Accordingly, the size of the member and the internal design can be simplified, and the power transmission efficiency of the power transmission member 50 can be improved. In addition, the internal members can be compactly arranged, so that the tubular member moving device 1 with a thin width and a light weight in the front and rear directions can be provided.

[0110] At this time, in order to effectively transmit the driving force to the driving roller 21, it is preferable to shorten the distance between the first actuator 40 and the driving roller 21 as much as possible. In contrast, the roller running unit 60 only needs to perform the action of linearly moving the driven roller 31. Therefore, even if the distance between the second actuator 42 and the driven roller 31 is relatively long, the reduction of the power transmission efficiency and the adverse effects on the simplification of the design will be reduced.

[0111] Thus, in the present embodiment, the distance between the first actuator 40 and the driving roller 21 is smaller than the distance between the second actuator 42 and the driven roller 31.

[0112] However, the arrangement of the rollers 21, 31 and the actuators 40, 42 is exemplary and can be appropriately changed according to the operating environment of the tubular member moving device 1, the characteristics of the members constituting the power transmission member 50 and the roller running unit 60, and the manufacturing process.

[0113] Hereinafter, the automatic mode and the manual mode of the tubular member moving device according to the first embodiment of the present invention will be described.

[0114] Figure 5 It is a view showing the second actuator and the rollers in the manual mode and the automatic mode of the tubular member moving device according to the first embodiment of the present invention. Figure 5 (a) thereof is a view showing the state in the automatic mode. Figure 5 (b) thereof is a view showing the state in the manual mode.

[0115] In the present embodiment, the position of the driving roller 21 is fixed inside the first housing 11 and does not move, but the driven roller 31 can be moved in the horizontal direction by the second actuator 42.

[0116] At this time, the distance between the driving roller shaft 22 and the driven roller shaft 32 in the case of the automatic mode is set as L1, and the distance between the driving roller shaft 22 and the driven roller shaft 32 in the case of the manual mode is set as L2. Thus, the second actuator 42 can move the driven roller 31 by a distance of "L2 - L1".

[0117] Refer to Figure 5(a), in the case of the automatic mode, the distance between the driving roller 21 and the driven roller 31 is shortened. Therefore, the tubular member 2 that receives force by being supported in contact with the outer peripheral surface of the driving roller 21 can be supported by the outer peripheral surface of the driven roller 31.

[0118] Thus, the outer peripheral surface of the driving roller 21 can generate a vertical resistance in the horizontal direction with respect to the tubular member 2. Accordingly, when observing Figure 5 the tubular member 2 moves upward along the outer peripheral surface of the driving roller 21 due to the frictional force between the driving roller 21 and the tubular member 2. Hereinafter, the position of the driven roller 31 in the automatic mode is referred to as the "first position".

[0119] When the driving roller 21 rotates in the clockwise direction, the tubular member 2 is inserted and moved in the exit direction; when the driving roller 21 rotates in the counterclockwise direction, the tubular member 2 is pulled out in the entrance direction. Accordingly, according to the present invention, the tubular member 2 can be automatically moved.

[0120] At this time, of course, the distance between the driving roller 21 and the driven roller 31 should be appropriately adjusted so that the tubular member 2 moves by frictional force. If the distance between the rollers 21 and 31 is too short, the tubular member 2 cannot move when inserted between the rollers 21 and 31; if the distance between the rollers 21 and 31 is too long, no vertical resistance is generated, and thus the tubular member 2 does not move by frictional force.

[0121] On the other hand, referring to Figure 5 (b), in the case of the manual mode, the driven roller 31 moves "L2 - L1" in a direction away from the driving roller 21. Accordingly, a space is formed between the tubular member 2 and the driven roller 31, and thus no vertical resistance is generated. As a result, the outer peripheral surfaces of the rollers 21 and 31 cannot press the tubular member 2.

[0122] Accordingly, since no frictional force can be generated between the rollers 21 and 31 and the tubular member 2, the tubular member 2 cannot be moved by the driving force of the first actuator 40. Hereinafter, the position of the driven roller 31 in the manual mode is referred to as the "second position". In this case, the user can manually adjust the movement of the tubular member 2.

[0123] As described above, with the tubular member moving device 1 according to the present embodiment, the user can automatically move the tubular member 2 to the target length in the automatic mode, thereby alleviating the physical burden. In addition, after that, the user converts the tubular member moving device 1 to the manual mode to precisely and directly move the tubular member 2, and thus can precisely adjust the movement amount of the tubular member 2.

[0124] On the other hand, referring back to Figure 1, the tubular component moving device 1 of the first embodiment of the present invention may include a control unit 70. The control unit 70 controls the second actuator 42 to move the driven roller 31 to the first position or the second position, can adjust the conversion between the automatic mode and the manual mode, and controls the first actuator 40 to rotate the driving roller 21, and can automatically move the tubular component 2.

[0125] The control unit 70 is disposed between the first actuator 40 and the second actuator 42 inside the second housing 17 or the like, and is electrically connected to the actuators 40 and 42 through a telecommunication line, or may also be connected to the actuators 40 and 42 by a wireless communication method. Alternatively, the control unit 70 may also be provided separately outside the first housing 11 or the second housing 17.

[0126] Referring to Figure 1 , an operation unit 80 is provided on one side of the control unit 70. At this time, the operation unit 80 may include a mode conversion button.

[0127] Referring together to Figure 4 , if the user presses the mode conversion button when the driven roller 31 is in the first position and in the automatic mode, the first actuator 40 is activated to move the driven roller 31 to the second position, and thus the tubular component moving device 1 can be converted to the manual mode.

[0128] Conversely, if the user presses the mode conversion button when the driven roller 31 is in the second position and in the manual mode, the first actuator 40 is activated to move the driven roller 31 to the first position, and thus the tubular component moving device 1 can be converted to the automatic mode.

[0129] In addition, the operation unit 80 may include up and down buttons. When the user selects the up button among the up and down buttons, the first actuator 40 is activated to rotate the driving roller 21 in the clockwise direction, and thus the tubular component 2 can be moved from the inlet 13 to the outlet 15.

[0130] Conversely, when the user selects the down button, the first actuator 40 is activated to rotate the driving roller 21 in the counterclockwise direction, and thus the tubular component 2 can be moved from the outlet 15 to the inlet 13.

[0131] In addition, when the up and down buttons are selected through the operation of the user, the control unit 70 controls the second actuator 42 to move the driven roller 31 to the first position, then controls the first actuator 40 to rotate the driving roller 21 at a set number of revolutions, and then controls the second actuator 42 to move the driven roller 31 to the second position. Accordingly, the tubular component moving device 1 of the present embodiment can accurately move the tubular component 2 by a preset moving amount.

[0132] In this embodiment, the operation unit 80 is composed of a button component protruding outward from the outside of the control unit 70, or the operation unit 80 may also include a display screen provided outside the control unit 70, and the user makes a selection by touching the display screen.

[0133] Figure 6 FIG. is a view showing a state in which the first housing and the second housing of the tubular member moving device according to the first embodiment of the present invention are separated. Figure 7 FIG. is a view showing a state in which the connecting member of the tubular member moving device according to the first embodiment of the present invention is manually moved. At this time, the structures shown through the first and second housings are represented by dashed lines.

[0134] Refer to Figure 6 , in this embodiment, the first housing 11 and the second housing 17 are detachably coupled. At this time, various fastening methods such as coupling using bolts and nuts, coupling using a sliding method, etc. can be used for the detachable coupling method.

[0135] At this time, when the first housing 11 and the second housing 17 are separated, the first gear 52 located inside the first housing 11 and the second gear 54 located inside the second housing 17 can be separated.

[0136] In addition, when the first housing 11 and the second housing 17 are separated, the first connecting member 62 and the second actuator 42 can also be separated together. However, when the first housing 11 and the second housing 17 are separated, the first connecting member 62 and the second connecting member 64 can also be separated.

[0137] Refer to Figure 7 , when the second connecting member 64 and the second actuator 42 are separated, the user manually moves the second connecting member 64, and thus the third connecting member 66 and the driven roller 31 can be moved.

[0138] As described above, in order for the user to manually move the second connecting member 64, one end of the second connecting member 64 may protrude outward from the first housing 11, or an additional member for the user to operate may also be coupled.

[0139] Thus, if the user can manually move the second connecting member 64, the user can manually convert the tubular member moving device 1 into a manual mode or an automatic mode even without the second actuator 42.

[0140] Figure 8 FIG. is a view for explaining a modified example of the tubular member moving device according to the first embodiment of the present invention. At this time, a cross-section of the second housing is shown to see the inside.

[0141] Refer to Figure 8, in a modification of the first embodiment of the present invention, the first actuator 40' provided in the second housing 17 is formed such that the rotation shaft penetrates through the opening 18b' of the second housing 17, and a sealing member 58' is provided between the rotation shaft and the opening.

[0142] Power can be transmitted by coupling the first and second gears 52', 54' to the rotation shaft of the first actuator 40'. Additionally, a sealing member (not shown) can also be provided between the first connecting member 62 coupled to the second actuator 42 and the guide groove 19b.

[0143] The sealing member can be formed of a known material such as rubber. Accordingly, the second housing 17 that separately houses the first actuator 40 and the second actuator 42 can prevent contamination from occurring.

[0144] Refer back to Figure 6 , the tubular member moving device 1 of the first embodiment of the present invention detachably couples the first housing 11 and the second housing 17. The first housing 11 houses the driving roller 21 and the driven roller 31 that move the tubular member 2, and the second housing 17 includes the first actuator 40 and the second actuator 42. That is, the operating part and the driving part can be detachably configured.

[0145] Accordingly, according to this embodiment, the first housing 11 can be detached for cleaning, so damage to the actuators 40, 42 and the control unit 70 during the cleaning process can be prevented.

[0146] For example, when the tubular member 2 is part of an endoscope for the human body, the tubular member 2 contaminated by tumors, blood, etc. can contaminate the rollers 21, 31, etc. Thus, in order to use the tubular member moving device 1 during the operation of other patients, cleaning of the rollers 21, 31 is required.

[0147] At this time, for the tubular member moving device 1 according to this embodiment, the user can detach the first housing 11 for cleaning, so damage to the actuators 40, 42 and the control unit 70 during the cleaning process can be prevented.

[0148] Additionally, for the tubular member moving device 1 of the first embodiment of the present invention, in a situation where it is necessary to detach the first housing 11 and the second housing 17, such as when repair, replacement, or maintenance is required, etc., the user can easily detach and couple the first housing 11 and the second housing 17.

[0149] Next, the tubular member moving device of the second embodiment of the present invention will be described.

[0150] Figure 9 is a perspective view of the tubular member moving device of the second embodiment of the present invention. Figure 10 is an exploded perspective view of the tubular member moving device of the second embodiment of the present invention.Figure 11 Exploded perspective view of the tubular component moving device according to the second embodiment of the present invention. Figure 12 Perspective view of the first housing of the tubular component moving device according to the second embodiment of the present invention and the structure accommodated in the first housing, observed from a different angle.

[0151] At this time, in Figure 11 the first and second housings are represented by dashed lines, and the structure of the first and second housings seen through is represented by dashed lines.

[0152] Hereinafter, when explaining the drawings, each direction is defined and described based on the coordinate axes shown in Figure 9 More specifically, the positive direction of the z-axis is defined as the upper side, and the negative direction of the z-axis is defined as the lower side. The positive direction of the y-axis is defined as the rear, and the negative direction of the y-axis is defined as the front. The positive direction of the x-axis is defined as the right side, and the negative direction of the x-axis is defined as the left side.

[0153] Referring to Figures 9 to 12 , the moving device according to the second embodiment of the present invention may include: a housing 110, a driving roller unit 120, a driven roller unit 130, an actuator 140, a power transmission member 150, a roller running unit 160, a control unit 170, an operation unit 180, and an energy storage tool 190.

[0154] Hereinafter, the driving unit refers to the structure and related structures that provide and transmit the driving force for moving the tubular component 2, and the running unit refers to the structure and related structures that receive the driving force from the driving unit to move the tubular component 2.

[0155] That is, the driving unit includes the actuator 140, the control unit 170, the operation unit 180, and the energy storage tool 190, and the running unit includes the driving roller unit 120, the driven roller unit 130, and the roller running unit 160.

[0156] The housing 110 includes a first housing 111 and a second housing 117 that can be detachably coupled to each other. The running unit is accommodated inside the first housing 111, and the driving unit is accommodated inside the second housing 117.

[0157] On the other hand, the driving roller unit 120 includes a driving roller 121, and the driven roller unit 130 includes a driven roller 131.

[0158] Referring to Figure 9 and Figure 10 , the second housing 117 is disposed on the left side of the first housing 111. The first housing 111 is composed of a horizontal part and upper and lower parts. The horizontal part has a rectangular parallelepiped shape extending in the horizontal direction, and the upper and lower parts are rectangular parallelepiped shapes extending downward from the right side of the horizontal part.

[0159] The tubular member 2 can penetrate and pass through the left side of the horizontal portion of the first housing 111. At this time, the tubular member 2 is spaced a predetermined distance from the upper and lower portions of the first housing 111 and can be arranged in the vertical direction.

[0160] Refer to Figure 11 , the internal spaces of the horizontal portion and the upper and lower portions of the first housing 111 communicate with each other. The driving roller 121 and the driven roller 131 are accommodated in the horizontal portion, and the roller running portion 160 is accommodated in the right side portion and the upper and lower portions of the horizontal portion.

[0161] At this time, the driving roller 121 performs a rotational movement in place, and the driven roller 131 and the roller running portion 160 perform a linear movement in the left and right directions. That is, the structure accommodated inside the first housing 111 does not move in the front and rear directions.

[0162] Accordingly, the thickness of the first housing 111 in the front and rear directions can be smaller than the width in the left and right directions. Thus, in this embodiment, the first housing 111 can be manufactured compactly and made small, and the space utilization rate can be improved, and the weight and manufacturing cost can be reduced.

[0163] In addition, the width of the horizontal portion of the first housing 111 has a sufficient length to accommodate the driving roller 121 and the driven roller 131 described later, and the length of the upper and lower portions has a sufficient length to accommodate the lower portion of the roller running portion 160 described later.

[0164] Refer to Figure 11 , an outlet 115 and an inlet 113 are respectively formed on the upper and lower surfaces of the first housing 111, and the tubular member 2 can be inserted or removed. At this time, the inlet 113 and the outlet 115 are formed side by side in the length direction of the tubular member 2 so that the tubular member 2 can pass straight through.

[0165] On the other hand, guiding members 112 and 114 are provided at the inlet 113 and the outlet 115. The guiding members 112 and 114 are formed of cylindrical members having a hole formed in the center. Grooves are formed along the circumferential direction on the outer peripheral surfaces of the guiding members 112 and 114.

[0166] The frame portions of the inlet 113 or the outlet 115 are inserted into the grooves inside the guiding members 112 and 114, and further, the guiding members 112 and 114 are provided on the first housing 111. One end portions of the guiding members 112 and 114 are formed in a hemispherical shape.

[0167] At this time, the guiding members 112 and 114 are arranged such that the end portions formed in a hemispherical shape face the inside of the first housing 111. The guiding members 112 and 114 can perform the function of guiding the movement of the tubular member 2 passing through the first housing 111.

[0168] Refer to Figure 10, a coupling hole 118 is formed on the surface where the first housing 111 and the second housing 117 are combined facing each other. That is, a first coupling hole 118a is formed in the first housing 111, and a second coupling hole 118b is formed in the second housing 117, and the second coupling hole 118b corresponds to the first coupling hole 118a.

[0169] The interiors of the first and second housings 111 and 117 can be communicated through the coupling hole 118. One side portion of the second gear 154 accommodated inside the first housing 111 can protrude outward from the first housing 111 through the first coupling hole 118a. The second gear 154 will be described later.

[0170] Refer to together Figure 10 and Figure 12 , a pair of guide holes 116 extending in the left - right direction are symmetrically formed on the front and rear surfaces of the first housing 111. Both ends of a driven roller shaft 132 described later are inserted into the guide holes 116.

[0171] Refer back to Figures 9 to 12 , the actuator 140, the control unit 170, and the energy storage tool 190 are accommodated inside the second housing 117 of the tubular member moving device 101 according to the second embodiment of the present invention to be protected. The second housing 117 has a box - shaped structure with a rectangular parallelepiped shape and has an operation unit 180 described later on the left side surface.

[0172] The actuator 140 is provided inside the second housing 117 to provide a driving force for rotationally driving the roller 121. For example, the actuator 140 can be an electric motor.

[0173] A drive shaft 142 can be coupled to the rear part of the actuator 140, and the drive shaft 142 is connected to the drive roller 21 through a power transmission member 150. At this time, the power transmission member 150 includes a first gear 152 and a second gear 154.

[0174] The first gear 152 is coupled to the drive shaft 142. The first gear 152 is located at a position corresponding to the second coupling hole 118b so as to be coupled to a second gear 154 described later through the second coupling hole 118b.

[0175] The energy storage tool 190 supplies electric energy for operating the actuator 140. At this time, the energy storage tool 190 can be connected to a terminal (not shown) disposed in the second housing 117. Accordingly, the energy storage tool 190 can receive electric energy supply from an external power source connected to the terminal and be charged.

[0176] The control unit 170 refers to a processor that can control the operation, rotation direction, rotation speed, etc. of the actuator 140. For example, the control unit 170 can be composed of a printed circuit board (PCB) or a micro - control unit (MCU).

[0177] The actuator 140 is electrically connected to the control unit 170 and the energy storage tool 190, receives an electrical signal for controlling the actuator 140 from the control unit 170, and receives electrical energy for operating the actuator 140 from the energy storage tool 190.

[0178] On the other hand, the left side surface of the first housing 111 is in surface contact with and combined with the right side surface of the second housing 117. At this time, the first housing 111 and the second housing 117 are combined to adjust their relative positions so that the first coupling hole 118a and the second coupling hole 118b are correspondingly connected to form a single coupling hole 118.

[0179] At this time, as described above, the first housing 111 and the second housing 117 are detachably combined. For example, a guiding protrusion is formed on the first housing 111, a guiding groove is formed on the second housing 117, and then the first housing 111 is slidably combined with the second housing 117. In addition, the first housing 111 and the second housing 117 can also be detachably combined by bolts and nuts.

[0180] Accordingly, the tubular component moving device 101 of the second embodiment of the present invention is such that the operating part and the driving part are respectively accommodated in the first housing 111 and the second housing 117, and the first housing 111 and the second housing 117 are detachably combined, so that the operating part and the driving part can be separated.

[0181] Thus, the tubular component moving device 101 of the second embodiment of the present invention can only disassemble and clean and maintain the first housing 111 and the operating part contaminated by the tubular component 2, so that damage to the driving part can be prevented during the cleaning or maintenance of the operating part.

[0182] In addition, the first housing 111 and the operating part of the tubular component moving device 101 of the second embodiment of the present invention can be manufactured as disposable or replaceable for use, while the driving part is accommodated inside the second housing 117 and is protected and can be used several times.

[0183] Figure 13 It is a plan view showing the driving roller, the driven roller, the rotating shafts of the driving roller and the driven roller, the first gear, and the tubular component of the tubular component moving device according to the second embodiment of the present invention.

[0184] Refer to Figure 11 and Figure 13 , in the first housing 111 of the tubular component moving device 101 of the second embodiment of the present invention, the driven roller shaft 132 and the driving roller shaft 122 are arranged in parallel in the front-rear direction. The driving roller shaft 122 is disposed on the left side inside the first housing 111, and the driven roller shaft 132 is disposed on the right side of the driving roller shaft 122.

[0185] At this time, the driving roller shaft 122 and the driven roller shaft 132 are rotatably provided in front of and behind the first housing 111. For this purpose, bearing members (not shown) may be provided on the front and rear surfaces of the first housing 111.

[0186] In addition, as described above, both ends of the driven roller shaft 132 are coupled to the guide holes 116 of the first housing 111. Accordingly, the driven roller shaft 132 can move along the guide holes 116.

[0187] The driven roller 131 is coupled to the driven roller shaft 132, and the driven roller 131 can be rotated together. In addition, the driving roller 121 is coupled to the driving roller shaft 122, and the driving roller 121 can be rotated together. A second gear 154 is coaxially arranged behind the driving roller 121. At this time, the second gear 154 is located at a position corresponding to the first coupling hole 118a, and can be coupled to the first gear 152 through the first coupling hole 118a of the first housing 111.

[0188] The first housing 111 is provided with a roller operation unit 160 for moving the driven roller 131. At this time, the roller operation unit 160 is disposed closer to the driven roller 131 than to the driving roller 121, and the second housing 117 and the actuator 140 accommodated in the second housing 117 are disposed closer to the driven roller 131 than to the driving roller 121. That is, the roller operation unit 160 is disposed on the right side of the driven roller 131, and the second housing 117 and the actuator 140 are disposed on the left side of the driving roller 121.

[0189] Accordingly, the tubular member moving device 101 according to the second embodiment of the present invention disposes the driving roller 121 and the actuator 140 that provides driving force to the driving roller 121 in proximity, and disposes the driven roller 131 and the roller operation unit 160 that moves the driven roller 131 in proximity, thereby minimizing the driving force loss that may occur during the power transmission process.

[0190] In addition, the tubular member moving device 101 according to the second embodiment of the present invention can improve the space efficiency inside the first housing 111, and can compactly arrange each structure, so it can be manufactured in a small size.

[0191] Refer to Figure 10 and Figure 11 , one side of the first gear 152 passes through the coupling hole 118 and is coupled to one side of the second gear 154. The first and second gears 152, 154 transmit the driving force provided by the actuator 140 to the driving roller shaft 122. The driving roller shaft 122 that receives the driving force can rotatably drive the driving roller 121.

[0192] At this time, in addition to the function of transmitting the driving force of the actuator 140 to the driving roller 121, the power transmission member 150 can also perform functions such as adjusting the rotation speed and rotation direction of the driving roller shaft 122. To perform such functions, a plurality of different gears can also be arranged between the first gear 152 and the second gear 154.

[0193] The tubular member 2 is inserted into the interior of the first housing 111 through the inlet 113 of the first housing 111, passes between the driving roller 121 and the driven roller 131, and then can be pulled out of the first housing 111 through the outlet 115 of the first housing 111.

[0194] Refer to Figure 13 , the tubular member 2 can pass between the outer peripheral surfaces of the driving roller 121 and the driven roller 131. At this time, grooves 121a and 131a are formed on the outer peripheral surfaces of the driving roller 121 and the driven roller 131, and the grooves 121a and 131a have a semi-circular cross-section corresponding to the outer peripheral surface of the tubular member 2.

[0195] The left outer peripheral surface of the tubular member 2 contacts the inner peripheral surface of the groove 121a of the driving roller 121, and the right outer peripheral surface of the tubular member 2 contacts the inner peripheral surface of the groove 131a of the driven roller 131.

[0196] Accordingly, the tubular member moving device 101 of the second embodiment of the present invention increases the contact area between the outer peripheral portion of the tubular member 2 and the outer peripheral surfaces of the driving roller 121 and the driven roller 131, and thus can increase the frictional force for moving the tubular member 2.

[0197] Figure 14 And Figure 15 As a diagram for explaining the working process of the tubular member moving device according to the second embodiment of the present invention, Figure 14 is a diagram showing the state (automatic mode) in which the driven roller is in the first position, Figure 15 is a diagram showing the state (manual mode) in which the driven roller is in the second position. At this time, a cross-section of the first housing is shown to see the interior.

[0198] Refer to Figure 11 , Figure 14 And Figure 15 , in this embodiment, the roller running part 160 is arranged on the right side of the driven roller 131 and is accommodated in the right side part of the horizontal part and the interior of the upper and lower parts of the first housing 111.

[0199] The roller running part 160 includes: first to third connecting members 162, 164, 166, first to third pins 161, 163, 165, a button member 168 and an elastic member 169.

[0200] The first connecting member 162 is composed of a rod-shaped member extending in the up-and-down direction parallel to the extending direction of the tubular member 2 passing through the first housing 111. The upper end of the first connecting member 162 is pivotally coupled to the first housing 111 via the first pin 161 so as to be pivotally rotatable about the first axis C1.

[0201] The third connecting member 166 is coupled to the lower end of the first connecting member 162 via the third pin 165. More specifically, a guide hole is formed at the lower end of the first connecting member 162 in the extending direction of the first connecting member 162 (the up-and-down direction with respect to Figure 14 as a reference). The lower end of the first connecting member 162 is coupled to the third connecting member 166 via the third pin 165 inserted into the guide hole of the first connecting member 162.

[0202] Accordingly, the first connecting member 162 and the third connecting member 166 can rotate relative to each other about the third axis C3 via the third pin 165. On the other hand, the third connecting member 166 is composed of a rod-shaped member extending in the left-and-right direction.

[0203] Accordingly, when the third connecting member 166 moves horizontally in the left-and-right direction, the first connecting member 162 is pressed by the third connecting member 166 and the third pin 165 and can rotate about the first axis C1.

[0204] On the other hand, the first pin 161 and the first axis C1 are spaced apart and disposed on the upper side with respect to a reference plane including the driving roller shaft 122 and the driven roller shaft 132, and the third pin 165 and the third axis C3 are spaced apart and disposed on the lower side with respect to the reference plane.

[0205] The second connecting member 164 is composed of a rod-shaped member extending in the left-and-right direction. The right end of the second connecting member 164 is pivotally coupled to the first connecting member 162 via the second pin 163 so as to be relatively rotatable about the second axis C2.

[0206] The left end of the second connecting member 164 is rotatably coupled to the driven roller shaft 132. At this time, the second pin 163 and the second axis C2 are located between the first pin 161 and the third pin 165.

[0207] A cylindrical button member 168 is provided at the right end of the third connecting member 166. The button member 168 is slidably coupled to the side wall of the first housing 111, and one end thereof protrudes outward from the first housing 111.

[0208] An elastic member 169 is disposed at the left end of the third connecting member 166. At this time, the elastic member may be composed of a coil spring. One side of the elastic member 169 is coupled to the left end of the third connecting member 166, and the other side is supported by the inner wall of the first housing 111.

[0209] At this time, an elastic member groove 119 is formed on the inner wall of the first outer shell 111, and the other side of the elastic member 169 can be provided. The elastic member groove 119 is formed to have a depth in the horizontal direction. Accordingly, the force with which the elastic member 169 elastically presses the third connecting member 166 can be applied in the horizontal direction through the elastic member groove 119.

[0210] Referring to Figure 14 , as the button member 168 is pressed inwardly against the first outer shell 111, the third connecting member 166 moves to the left. As the third connecting member 166 moves to the left, the lower end portion of the first connecting member 162 moves to the left, and the first connecting member 162 rotates clockwise about the first pin 161.

[0211] As the first connecting member 162 rotates clockwise, the first connecting member 162 pushes the second connecting member 164 and the driven roller shaft 132 and the driven roller 131 connected to the second connecting member 164 to the left.

[0212] As a result, the driven roller 131 comes into surface contact with the outer peripheral surface of the tubular member 2 and is located at a first position adjacent to such an extent that a frictional force is generated between the tubular member 2 and the driven roller 131. That is, both side portions of the outer peripheral portion of the tubular member 2 can be supported and pressed by the driving roller 121 and the driven roller 131. That is, the tubular member moving device is converted to the automatic mode.

[0213] As the driving roller 121 that receives the driving force from the actuator 140 rotates counterclockwise, the driven roller 131 rotates clockwise. Accordingly, the tubular member 2 can move upward. When the driving roller 121 rotates clockwise through the actuator 140, the reverse process of the above is performed, so that the tubular member 2 can move downward.

[0214] On the other hand, in order to be able to maintain the state of being converted from the manual mode to the automatic mode, a locking structure (not shown) may be provided on the inner wall of the first outer shell 111 to fix the position of the button member 168.

[0215] Accordingly, if, in the manual mode state where the button member 168 protrudes outward from the first outer shell 111, the user presses the button member 168 by a predetermined depth once, the tubular member moving device is converted to the automatic mode, and the position of the button member 168 is fixed by the locking structure. Thus, even if the user does not continuously apply an external force to the button member 168, the tubular member moving device can be maintained in the manual mode state.

[0216] Referring to Figure 15, in the case of reaching the normal state where the external force no longer acts on the button member 168, the third connecting member 166 moves to the right by the elastic restoring force of the elastic member 169. That is, the tubular member moving device is converted from the automatic mode to the manual mode.

[0217] As the third connecting member 166 moves to the right, the lower end portion of the first connecting member 162 moves to the right, and the first connecting member 162 rotates clockwise about the first pin 161.

[0218] As the first connecting member 162 rotates clockwise, the second connecting member 164, the driven roller shaft 132 connected to the second connecting member 164, and the driven roller 131 move to the right. That is, the driven roller 131 moves to a second position that is farther from the driving roller 121 than the first position.

[0219] Accordingly, the outer peripheral portion of the tubular member 2 is no longer pressed and supported by the driven roller 131. Therefore, even if the driving roller 121 rotates, the tubular member 2 cannot move upward. In this case, the user directly applies a force to the tubular member 2, and thus the tubular member 2 can be inserted or pulled out.

[0220] As described above, the tubular member moving device 101 of the second embodiment of the present invention can easily achieve the conversion from the automatic mode in which the tubular member 2 can be automatically inserted or pulled out through the button member and the roller operation portion 160 to the manual mode in which the user directly inserts or pulls out the tubular member 2, or vice versa.

[0221] In addition, the tubular member moving device 101 of the second embodiment of the present invention configures the roller operation portion 160 to have a simple connection structure including a plurality of connecting members and pins, thereby improving the space efficiency, enabling it to be manufactured in a small size, and saving the manufacturing cost.

[0222] On the other hand, the second pin 163 and the second shaft C2 are located at positions that are more adjacent to the upper end portion than the lower end portion of the first connecting member 162. Accordingly, with the first shaft C1 as the center, the rotation radius of the second pin 163 is smaller than the rotation radius of the third pin 165. That is, when the first connecting member 162 rotates about the first shaft C1, the distance that the second pin 163 moves in the horizontal direction is smaller than the distance that the third pin 165 moves in the horizontal direction.

[0223] That is, as the user presses the button member 168, the moving distance of the driven roller 131 is smaller than the moving distances of the button member 168 and the third connecting member 166. Therefore, the user can finely adjust the moving distance of the driven roller 131 by using the button member 168.

[0224] In addition, considering the balance of the forces and torques applied to the first connecting member 162 by the first to third pins 161, 163, and 165, the second pin 163 and the second shaft C2 are arranged closer to the upper end portion than the lower end portion of the first connecting member 162. Thus, as the third connecting member 166 pushes the first connecting member 162 to the left, the force with which the first connecting member 162 pushes the second connecting member 164 to the left can be increased more.

[0225] Accordingly, the second connecting member 164 can press the driven roller shaft 132 and the driven roller 131 to the left with a greater force. Therefore, the driven roller 131 can press the tubular member 2 with a greater force. Thus, the frictional force between the tubular member 2 and the rollers 121 and 131 can be increased.

[0226] On the other hand, referring back to Figure 9 and Figure 14 , an operation unit 180 is provided on the left side surface of the second housing 117. The operation unit 180 can generate a command signal for performing the function of applying a signal to the control unit 170 and operating the actuator 140 by the control unit 170.

[0227] At this time, the operation unit 180 is arranged on the surface facing the outside with the tubular member 2 passing through the first housing 111 as the center. That is, the button member 168 is arranged on the right side surface of the first housing 111, and the operation unit 180 is arranged on the left side surface of the second housing 117.

[0228] Since the button member 168 and the operation unit 180 are arranged facing each other outward, the user can operate the button member 168 and the operation unit 180 without being interfered by the tubular member 2. Accordingly, the tubular member moving device 101 of the second embodiment of the present invention can improve the convenience and efficiency of the user's operation.

[0229] Hereinafter, a modification example of the tubular member moving device of the second embodiment of the present invention will be described. At this time, in this modification example, the structures other than the button member, the elastic member, and the elastic member groove are the same as those of the tubular member moving device of the second embodiment of the present invention described above, so the detailed description thereof is omitted.

[0230] Figure 16 It is a view showing a modification example of the tubular member moving device of the second embodiment of the present invention. At this time, a cross-section of the first housing is shown to facilitate seeing the inside. Here, the same reference numerals as those in the above-mentioned drawings refer to the same components performing the same functions.

[0231] According to the modification example, in a state where no external force is applied to the tubular member moving device, the elastic member presses the first connecting member so that the driven roller moves toward the driving roller side. For this purpose, a predetermined deformation can be applied to the elastic member in advance.

[0232] Referring toFigure 16 , in this modification example, the elastic member 169' is a compression spring and is located on the opposite side of the driven roller 131 with the first connecting member 162 as the center (on the right side with respect to Figure 16 ), and the button member 168' is located at a position facing the elastic member 169' (on the left side with respect to Figure 16 ). At this time, the button member 168' is slidably coupled to the side wall of the first housing 111.

[0233] One side of the elastic member 169' is supported by the inner wall of the first housing 111, and the other side is connected to the third connecting member 166. At this time, the elastic member 169' is set to be pre-deformed to a certain extent and applies a predetermined elastic force outward to restore its original shape.

[0234] Accordingly, in order to rotate the first connecting member 162 clockwise with respect to Figure 16 , the elastic member 169' can apply an elastic force to the left side with respect to the third connecting member 166. Thus, in a state where no external force is applied to the tubular member moving device, the driven roller 131 can elastically press the tubular member 2 toward the driving roller 121.

[0235] As described above, according to this modification example, the driven roller 131 can always press the tubular member 2 with a predetermined force, so that the tubular member 2 between the first driven roller 131 and the driving roller 121 can be moved regardless of the diameter of the tubular member 2.

[0236] At this time, an elastic member groove 119' is formed on the inner wall of the first housing 111, and the elastic member 169' is accommodated inside the elastic member groove 119'. The elastic member groove 119' is formed to have a depth in the horizontal direction. Accordingly, the force by which the elastic member 169' elastically presses the third connecting member 166 can be applied in the horizontal direction through the elastic member groove 119'.

[0237] On the other hand, the user presses the button member 168' toward the inside of the first housing 111 to rotate the first connecting member 162 clockwise, and further, the tubular member moving device can be switched from the automatic mode to the manual mode.

[0238] At this time, in order to be able to maintain the state of being switched from the automatic mode to the manual mode, a locking structure (not shown) may be provided on the inner wall of the first housing 111 to fix the position of the button member 168'.

[0239] Accordingly, in the automatic mode state where the button member 168' protrudes outward from the first housing 111, if the user presses the button member 168' to a predetermined depth once, the tubular member moving device is switched to the manual mode, and the position of the button member 168' is fixed by the locking structure. Thus, even if the user does not continuously apply an external force to the button member 168', the tubular member moving device can be maintained in the manual mode state.

[0240] Hereinafter, the tubular member moving device according to the third embodiment of the present invention will be described. In this embodiment, the structures of the second housing and the actuator, the power transmission member, the control unit, and the operation unit disposed inside the second housing may be the same as those of the first or second embodiment of the present invention described above, and thus the description thereof will be omitted.

[0241] Figure 17 and Figure 18 is a view for explaining the tubular member moving device according to the third embodiment of the present invention. At this time, the drive roller portion and the driven roller portion shown in a perspective view of the first housing are represented by dotted lines, and in Figure 17 a cross section of the first housing is shown to see the inside. Figure 18 For the first housing, a cross section is shown to see the inside.

[0242] Referring to Figure 17 and Figure 18 , the driven roller portion 230 of the tubular member moving device 201 according to the third embodiment of the present invention includes first and second driven rollers 231 and 236.

[0243] More specifically, the first driven roller 231 is disposed on one side portion of the tubular member 2, and the second driven roller 236 is disposed at a distance from the first driven roller 231 in the longitudinal direction of the tubular member 2. At this time, the drive roller 221 is disposed on the other side portion facing one side portion of the tubular member 2 and is located between the first and second driven rollers 231 and 236.

[0244] At this time, referring to Figure 17 the enlarged view of, a guide hole 216 is formed in the side wall of the first housing 211 in the horizontal direction. A sliding member 235 is provided inside the guide hole 216, and the sliding member 235 is slidably coupled to the guide hole 216.

[0245] An elastic member 218 is provided in the guide hole 216 to elastically press (or elastically support) the first driven roller 231 toward the drive roller 221 side. More specifically, one side of the elastic member 218 is supported by the inner wall of the guide hole 216, and the other side is coupled to the sliding member 235. At this time, an elastic member setting portion 217 is provided on the inner wall of the guide hole 216 to set the elastic member 218.

[0246] The sliding member 235 is rotatably coupled to the first driven roller shaft 232. To this end, a bearing member 234 is provided between the sliding member 235 and the first driven roller shaft 232. The bearing member 234 may be constituted by a ball bearing.

[0247] According to the present embodiment, the elastic member 218 can move the first driven roller 231 from the second position to the first position until the magnitude of the reaction force against the elastic force is the same as the elastic force, and the second position is farther from the driving roller 221 than the first position. Then, the elastic member 218 can elastically press (or elastically support) the first driven roller 231 toward the driving roller 221 side.

[0248] Accordingly, in the tubular member moving device 201 according to the present embodiment, the first driven roller 231 can constantly press the tubular member 2 toward the driving roller 221 with a predetermined force. In addition, regardless of the size of the diameter of the tubular member 2, the first driven roller 231 can stably press and support the tubular member 2 toward the driving roller 221 side.

[0249] In addition, since the first and second driven rollers 231 and 236 press the tubular member 2 at both side portions in the longitudinal direction of the driving roller 221, the tubular member 2 is bent along the outer circumferential surface of the driving roller 221 with a predetermined curvature. That is, a substantial part of the tubular member 2 is in contact with the outer circumferential surface of the driving roller 221.

[0250] As described above, the tubular member moving device 201 of the present embodiment increases the contact area (or, friction area) between the tubular member 2 and the driving roller 221, and thus can effectively move the tubular member 2.

[0251] Hereinafter, a modification of the tubular member moving device according to the third embodiment of the present invention will be described.

[0252] Figure 19 It is a view for explaining a modification of the tubular member moving device according to the third embodiment of the present invention. At this time, a cross section of the first housing is shown to facilitate seeing the inside. Here, the same reference numerals as those in the above drawings refer to the same components performing the same functions.

[0253] Refer to Figure 19 , the tubular member moving device of this modification is such that, in order to move the first and second driven rollers 231 and 236 from the second position, which is farther from the driving roller 221 than the first position, to the first position, it further includes a roller running portion 260 disposed in the roller running portion 260 of the first housing 211.

[0254] The roller running portion 260 includes a main body 261, and the main body 261 is slidably coupled to the side wall of the first housing 211. One side portion of the main body 261 is located outside the first housing 211, and the other side portion is located inside the first housing 211.

[0255] At this time, an operation member 262 for facilitating operation by a user is provided on one side portion of the main body 261. A connection member 263 branched in the longitudinal direction of the tubular member 2 is provided on the other side portion of the main body 261.

[0256] The connection member 263 is formed to extend in the longitudinal direction of the tubular member 2 so that both end portions are respectively located at positions corresponding to the first and second driven rollers 231 and 236. A pair of engaging members 264a and 264b extending toward the first and second driven rollers 231 and 236 are respectively formed at both end portions of the connection member 263. The first and second driven rollers 231 and 236 are rotatably engaged with the engaging member 264.

[0257] Accordingly, in the tubular member moving device according to this modification example, when the user operates the roller operation unit 260, the driven roller unit 230 can be further moved from the second position, which is farther from the driving roller 221 than the first position, to the first position. Accordingly, the user can switch the tubular member moving device from the automatic mode to the manual mode or perform the reverse switching.

[0258] Refer to Figure 19 the enlarged view, a guide hole 265a is formed in the engaging member 264, and the guide hole 265a is formed in the moving direction of the roller operation unit 260 (in the horizontal direction with respect to Figure 19 as a reference). A sliding member 235' is slidably engaged with the inside of the guide hole 265a along the guide hole 265a.

[0259] The first driven roller shaft 232 is rotatably engaged with the sliding member 235'. For this purpose, a bearing member 234' is provided between the first driven roller shaft 232 and the sliding member 235'. The bearing member 234' can be constituted by a ball bearing.

[0260] On the other hand, an elastic member 268a is provided inside the guide hole 265a, and the elastic member 268a elastically presses (or elastically supports) the first driven roller 231 toward the driving roller 221 side. An elastic member setting portion 266a for setting the elastic member 268a is formed on the inner wall of the guide hole 265a.

[0261] According to this modification example, the elastic member 268 can move the driven roller unit 230 from the second position, which is farther from the driving roller 221 than the first position, to the first position until the magnitude of the reaction force against the elastic force is the same as the elastic force. Then, the elastic member 268 can elastically press (or elastically support) the driven roller unit 230 toward the driving roller 221 side.

[0262] Accordingly, in the tubular member moving device according to this modified example, the driven roller portion 230 can constantly press the tubular member 2 toward the driving roller 221 with a predetermined force, and can stably press and support the tubular member 2 toward the driving roller 221 regardless of the diameter of the tubular member 2.

[0263] In addition, the first and second driven rollers 231 and 236 press the tubular member 2 against both side portions in the longitudinal direction of the driving roller 221, so that the tubular member 2 bends with a predetermined curvature along the outer peripheral surface of the driving roller 221. That is, a substantial part of the tubular member 2 is in contact with the outer peripheral surface of the driving roller 221.

[0264] Accordingly, the tubular member moving device according to this modified example increases the contact area between the tubular member 2 and the driving roller 221, and thus can move the tubular member 2 more effectively.

[0265] In addition, according to this modified example, even if the roller running portion 260 is pressed inwardly of the first housing 211 so that the distance between the driven roller portion 230 and the driving roller 221 is excessively shortened, the first and second driven rollers 231 and 236 can be separated somewhat in a direction away from the driving roller 221 by the reaction force applied to the driven roller portion 230 through the tubular member 2, and thus the distance between the driven roller portion 230 and the driving roller 221 can be adjusted somewhat.

[0266] Accordingly, the tubular member moving device according to this modified example can prevent the tubular member 2 from being damaged by being excessively pressed by the roller running portion 260.

[0267] As described above, one embodiment of the present invention has been described. However, the idea of the present invention is not limited to the embodiments presented in this specification. Those skilled in the art who understand the idea of the present invention can easily propose other embodiments by adding, changing, deleting, increasing, etc. of components within the same idea range, and this is also included within the idea range of the present invention.

Claims

1. A tubular component moving device for moving a tubular component, comprising: A first housing through which the tubular component passes; A driving roller part including a driving roller, the driving roller being arranged on one side of the tubular component inside the first housing; A driven roller part including a first driven roller, the first driven roller being arranged on the other side of the tubular component; A first actuator providing a driving force for rotating the driving roller; A second housing detachably coupled to the first housing and accommodating the first actuator inside; And A roller running part for moving the first driven roller from a second position to a first position, the second position being farther from the driving roller than the first position adjacent to the driving roller, Wherein, the roller running part includes: a first connecting member arranged inside the first housing and pivotally coupled to the first housing on one side with a first axis as the center; a second connecting member coupled to the first connecting member and the first driven roller; and a button member connected to the first connecting member and provided on the first housing, An elastic member is provided in the button member, and the elastic member provides an elastic force to protrude the button member outward from the first housing in a state where no external force is applied, so that the first driven roller is spaced farther from the driving roller than the diameter of the tubular component.

2. The tubular component moving device according to claim 1, wherein The roller running part includes a second actuator for moving the first driven roller from the second position to the first position; The second actuator is located inside the second housing.

3. The tubular component moving device according to claim 2, wherein The second actuator is a linear actuator; The linear actuator is connected to the first driven roller through a plurality of connecting members.

4. The tubular component moving device according to claim 1, wherein The roller running part includes an elastic member that elastically presses the first driven roller in the direction from the second position to the first position.

5. The tubular component moving device according to claim 1, wherein The driven roller part includes a second driven roller, the second driven roller being arranged at an interval in the longitudinal direction of the tubular component from the first driven roller; The driving roller is located between the first and second driven rollers in the longitudinal direction of the tubular component.

6. The tubular component moving device according to claim 5, wherein The tubular component moves while bending a predetermined curvature along the outer peripheral surface of the driving roller inside the first housing.

7. The tubular component moving device according to claim 5, wherein The diameters of the first and second driven rollers are smaller than the diameter of the driving roller.

8. The tubular component moving device according to claim 1, wherein A guiding member for guiding the tubular component is provided in the first housing.

9. The tubular component moving device according to claim 1, wherein The tubular member penetrates and passes through the first housing and is disposed outside the second housing.

10. The tubular member moving device according to claim 1, wherein an operation button is provided on the second housing for driving the first actuator.

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