Mobile device

Abstract

This invention discloses a moving device for moving a tubular component, comprising: a housing for the tubular component to pass through; a first roller and a second roller disposed facing each other on both sides of the tubular component inside the housing and having an outer peripheral surface that presses against the tubular component; an actuator for providing a driving force to rotate the first roller; a sensor for measuring the amount of movement of the tubular component; and a control unit for controlling the actuator based on the amount of movement of the tubular component; wherein, if the first roller rotates, the tubular component between the first roller and the second roller is moved by friction.

Description

Technical Field

[0001] This invention relates to a mobile device, and more specifically, to a mobile device with a movable tubular component. Background Technology

[0002] Endoscopes were developed to visualize organ lesions that could not be directly observed without surgery or autopsy; they are instruments inserted into the body for observation. Recently, research is underway on various surgical instruments that allow surgery to be performed inside organs without opening the patient's body.

[0003] The portion of such endoscopic instruments inserted into the human body is typically composed of tubular components due to the body's structural features and to minimize the surgical site. For example, devices have been developed that use an endoscope to insert surgical instruments into the patient's body to perform surgery.

[0004] In addition, tubular components are also widely used in endoscopic instruments for confirming the internal structure of structures or inspecting the inside of pipes, in order to facilitate and improve the efficiency of insertion and extraction.

[0005] When manually inserting such tubular components, the insertion and removal of these components during operations or surgery takes a considerable amount of time. Considering the nature of the operating environment that requires repeated insertion and removal operations, the physical burden on the user is substantial. Furthermore, because the user directly moves the tubular component, it is difficult to accurately measure and control the amount of movement.

[0006] Therefore, there is an urgent need to develop a mobile device that can automatically move tubular components while accurately controlling the amount of movement of the tubular components. Summary of the Invention

[0007] (The problem to be solved)

[0008] The present invention is intended to solve the problems described above, and the object of the present invention is to provide a moving device for automatically moving tubular components.

[0009] Another object of the present invention is to provide a moving device that can accurately control the amount of movement of a tubular component.

[0010] Another object of the present invention is to provide a mobile device in which the working part, the driving part, and the working control part are detachable.

[0011] Another object of the present invention is to provide a mobile device that can be easily switched from an automatic mode in which tubular components can be automatically inserted or removed to a manual mode in which the user directly inserts or removes the tubular components, or vice versa.

[0012] The subject matter of this invention is not limited to the subject matter mentioned above, and other subject matters not mentioned will be clearly understood by those skilled in the art from the following description.

[0013] (Solutions)

[0014] According to one aspect of the present invention, a moving device is provided for moving a tubular component, comprising: a housing for the tubular component to pass through; a first roller and a second roller disposed facing each other on both sides of the tubular component inside the housing and having an outer peripheral surface capable of pressing the tubular component; an actuator for providing a driving force to rotate the first roller; a sensor for measuring the amount of movement of the tubular component; and a control unit for controlling the actuator based on the amount of movement of the tubular component; wherein, if the first roller rotates, the tubular component between the first roller and the second roller is moved by friction.

[0015] At this time, the sensor includes a first sensor that senses the position of the first roller; the control unit may be configured to measure the amount of movement of the tubular component using the position of the first roller.

[0016] At this time, the actuator is a motor, the first sensor is a first encoder disposed on the rotating shaft of the motor, and the control unit can use the position of the rotating shaft sensed by the first encoder to measure the amount of movement of the tubular component.

[0017] At this time, the sensor includes a second sensor that senses the position of the second roller; the control unit can use the position of the second roller to measure the amount of movement of the tubular component.

[0018] At this time, a magnet that rotates together with the second roller is arranged on one side of the second roller; the sensor includes a second encoder, which is located adjacent to the magnet and can sense the position of the magnet; the control unit can use the position of the magnet to measure the amount of movement of the tubular component.

[0019] At this time, the sensor includes: a first sensor for sensing the position of the first roller; and a second sensor for sensing the position of the second roller. The control unit may be configured to control the actuator based on a first amount of movement of the tubular component measured using the position of the first roller and a second amount of movement of the tubular component measured using the position of the second roller.

[0020] At this time, the housing includes: a first housing housing the first roller and the second roller; and a second housing housing the actuator. The first housing and the second housing are detachably combined, and the control unit and the sensor are disposed in the second housing.

[0021] At this time, the moving device also includes a roller working part, which is disposed in the housing to move the second roller toward the first roller side; if the first roller rotates at a first position adjacent to the second roller and the first roller, the tubular component moves by the friction force.

[0022] At this time, a hole is formed in the outer casing for the tubular component to pass through; the roller working part includes: a working component configured to be movable relative to the outer casing, one side of which is coupled to the rotation axis of the second roller; a drive component for moving the working component; and a door opening / closing component located adjacent to the hole in the outer casing to open / close the hole in the outer casing. The working component is moved by the drive component, thereby moving the second roller from a second position to a first position, the second position being further away from the first roller than the first position.

[0023] At this time, there are multiple first rollers arranged along the length of the tubular component. The multiple first rollers include a first upper roller and a first lower roller. A belt is arranged on the outer peripheral surface of the first upper roller and the first lower roller. The outer side of the belt contacts the outer peripheral part of the tubular component. If the first rollers rotate, the tubular component between the belt and the second rollers moves due to friction.

[0024] (The effect of the invention)

[0025] According to the above structure, the moving device of the present invention is that first and second rollers having outer peripheral surfaces of pressurizable tubular components are arranged facing each other on both sides of the tubular component. As the first roller, which receives driving force from the actuator, rotates, the tubular component moves by friction, thereby automatically moving the tubular component.

[0026] In addition, in an embodiment of the present invention, the moving device is such that a sensor and a control unit measure the amount of movement of the tubular component, and the control unit controls the actuator based on the amount of movement of the tubular component, thus accurately controlling the amount of movement of the tubular component.

[0027] Furthermore, the mobile device of the present invention is a first housing that detachably combines a working part with a second housing that detachably combines a driving part and a working control part, thereby allowing the working part and the driving part to be separated.

[0028] In addition, the moving device in the embodiment of the present invention is such that the roller working part moves the second roller to a first position adjacent to the first roller, or moves the second roller to a second position further away from the first roller than the first position, thereby easily performing an automatic mode that can automatically insert or extract tubular components to a manual mode in which the user directly inserts or extracts tubular components, or the reverse conversion.

[0029] The effects of this invention are not limited to those described above, but should be understood to include all effects that can be inferred from the structure of the invention as described in the detailed description or claims. Attached Figure Description

[0030] Figure 1 and Figure 2 These are perspective views of the mobile device according to the first embodiment of the present invention from different viewpoints. For the purpose of illustrating the invention, the first and second housings are indicated by dashed lines, and the structures shown through the first and second housings are indicated by solid lines. In addition, guide members are not shown.

[0031] Figure 3 This is a plan view of a mobile device according to a first embodiment of the present invention. For illustrative purposes, the first and second housings are shown with dashed lines, and the structures shown through the first and second housings are shown with solid lines. Additionally, guide members are not shown.

[0032] Figure 4 and Figure 5 This is an exploded perspective view of the first and second rollers, first and second sensors, actuator and control unit of the mobile device of the first embodiment of the present invention from different perspectives.

[0033] Figure 6 This is a cross-sectional view of the mobile device according to the first embodiment of the present invention.

[0034] Figure 7 This is a perspective view of a mobile device according to a second embodiment of the present invention. For the purpose of illustrating the invention, the first and second housings are indicated by dashed lines, and the structures shown from a perspective view of the first and second housings are indicated by solid lines.

[0035] Figure 8 This is an exploded perspective view of the second roller and roller working part of the moving device according to the second embodiment of the present invention.

[0036] Figure 9 and Figure 10 This is a diagram illustrating the operation of the roller working part of the moving device according to the second embodiment of the present invention.

[0037] Figure 11This is a perspective view of a mobile device according to a third embodiment of the present invention. For the purpose of illustrating the invention, the first and second housings are indicated by dashed lines, and the structures shown from a perspective view of the first and second housings are indicated by solid lines.

[0038] Figure 12 This is a perspective view of a mobile device according to a fourth embodiment of the present invention. For the purpose of illustrating the invention, the first and second housings are indicated by dashed lines, and the structures shown through the first and second housings are indicated by solid lines.

[0039] Figures 13 to 16 This is a diagram illustrating a modified example of the first and second rollers of the moving device according to an embodiment of the present invention.

[0040] (Explanation of reference numerals in the attached diagram)

[0041] 1, 101, 201, 301: Moving device; 2: Tubular component

[0042] 10, 110, 210, 310: First outer casing; 20, 120, 220, 320: First rollers

[0043] 30, 130, 230, 330: Second rollers; 40, 140, 240, 340: Second outer casing.

[0044] 50, 150, 250, 350: Actuators; 160, 360: Roller working parts

[0045] 70, 170, 270, 370: Control unit; 80, 180, 280, 380: First sensor

[0046] 82, 182, 282, 382: Second sensor Detailed Implementation

[0047] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement the invention. The present invention can be implemented in various different forms and is not limited to the embodiments described herein. For the purpose of clearly illustrating the invention, parts unrelated to the description are omitted in the drawings, and the same or similar reference numerals are used throughout the specification.

[0048] The words and terms used in this specification and claims should not be interpreted in their usual or dictionary sense, but rather in accordance with the principle that the inventors may define terms and concepts in order to best explain their invention, so as to conform to the meaning and interpretation of the technical ideas of the invention.

[0049] In this specification, the terms "including" or "having" should be understood to specify the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, without precluding the possibility of the presence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0050] When a component is located "in front of," "behind," "above," or "below" another component, it means, unless there are special circumstances, that it is not only directly in contact with the other component when positioned in front of, behind, above, or below, but also includes situations where other components are positioned in between. Furthermore, when a component is "connected" to another component, it means, unless there are special circumstances, that it includes not only direct connections but also indirect connections.

[0051] One embodiment of the present invention relates to a moving device for moving a tubular component, specifically a moving device in which first and second rollers press against both sides of the outer periphery of the tubular component. The outer peripheral surfaces of the first and second rollers respectively press against both sides of the outer periphery of the tubular component. The first roller receives driving force via an actuator, and the tubular component is moved by the friction between the outer periphery of the tubular component and the outer peripheral surfaces of the first and second rollers. In this embodiment, the moving device measures the amount of movement of the tubular component using a sensor and a control unit, and the control unit controls the actuator based on the measured amount of movement, thereby accurately controlling the amount of movement of the tubular component.

[0052] On the other hand, a tubular component can refer to a component extended with a diameter of, for example, a few millimeters to a few centimeters. The diameter of the tubular component movable by the moving device can be selected in various ways depending on the size of the components of the moving device. As an embodiment, the tubular component can be part of an endoscope or part of a surgical tool or device used with an endoscope. However, the moving device for moving the tubular component according to an embodiment of the present invention is not limited to a structure that is part of an endoscope device or a part of an endoscope instrument.

[0053] Figure 1 and Figure 2 These are perspective views of the mobile device according to the first embodiment of the present invention from different viewpoints. For the purpose of illustrating the invention, the first and second housings are indicated by dashed lines, and the structures shown through the first and second housings are indicated by solid lines. In addition, guide members are not shown. Figure 3 This is a plan view of a mobile device according to a first embodiment of the present invention. For illustrative purposes, the first and second housings are shown with dashed lines, and the structures shown through the first and second housings are shown with solid lines. Additionally, guide members are not shown. Figure 4 and Figure 5This is an exploded perspective view of the first and second rollers, first and second sensors, actuator and control unit of the mobile device of the first embodiment of the present invention from different perspectives. Figure 6 This is a cross-sectional view of the mobile device according to the first embodiment of the present invention.

[0054] The following description of the accompanying drawings is intended to illustrate... Figure 1 The coordinate axes shown are defined and their directions are explained. More specifically, the positive direction of the z-axis is defined as upward, and the negative direction of the z-axis is defined as downward. The positive direction of the y-axis is defined as backward, and the negative direction of the y-axis is defined as forward. The positive direction of the x-axis is defined as left, and the negative direction of the x-axis is defined as right.

[0055] Reference Figures 1 to 3 The moving device 1 of the first embodiment of the present invention may include: a first housing 10, first and second rollers 20 and 30, a second housing 40, an actuator 50, a control unit 70, and sensors 80 and 82. Here, the first and second rollers 20 and 30 are referred to as the working part for moving the tubular component 2, the actuator 50 is referred to as the driving part for providing driving force for moving the tubular component 2, and the control unit 70 and sensors 80 and 82 are referred to as the working control unit for measuring and controlling the amount of movement of the tubular component 2.

[0056] The accompanying drawings primarily illustrate the structure necessary for understanding the invention, with other structures omitted. Although not shown in the drawings, other components for providing the aforementioned structure may also be configured in the first and second housings 10 and 40.

[0057] Reference Figure 1 and Figure 2 In the first embodiment of the present invention, the first outer shell 10 serves as a box-shaped structural component, housing and protecting the working parts (i.e., the first and second rollers 20 and 30) inside. The first outer shell 10 can be constructed from various materials, such as metal or thermosetting resin.

[0058] An entrance 11 communicating with the internal space of the first housing 10 is formed on one side of the first housing 10, for example on the upper side, and an outlet 13 connecting the internal space of the first housing 10 to the outside is formed on the lower side of the opposite side. At this time, the entrance 11 and the outlet 13 are coaxially arranged corresponding to each other.

[0059] The tubular component 2 can be inserted into the interior of the first housing 10 or extended to the outside through the inlet 11 and outlet 13 of the first housing 10. Therefore, the diameters of the inlet 11 and outlet 13 are larger than the diameter of the tubular component 2. Preferably, the diameters of the inlet 11 and outlet 13 are large enough to accommodate the guide components 12 and 14 (described later). Figure 6 (As shown).

[0060] Reference Figure 6In the first embodiment of the present invention, a first guide member 12 and a second guide member 14 may be respectively configured at the inlet 11 and outlet 13 of the first housing 10.

[0061] The first guide member 12 is fixedly disposed at the inlet 11 of the first housing 10. At this time, a first guide hole is formed at the center of the first guide member 12, and the first guide hole is formed into a trumpet shape with the diameter increasing from the inside to the outside of the first housing 10. Accordingly, the tubular member 2 can be easily inserted into the inside of the first housing 10 from the outside through the first guide hole.

[0062] The second guide member 14 is fixedly disposed at the outlet 13 of the first housing 10. A second guide hole is formed at the center of the second guide member 14, and the second guide hole is formed in the shape of a trumpet tube whose diameter increases from the outside to the inside of the second housing 40. Accordingly, the tubular member 2 inserted inside the first housing 10 can be easily led out of the first housing 10 through the second guide hole.

[0063] In addition, the guide members 12 and 14 guide the movement of the tubular member 2 inside the first housing 10, and then guide the tubular member 2 into the space between the first and second rollers 20 and 30, which can prevent the tubular member 2 from getting tangled inside the first housing 10.

[0064] Reference Figures 3 to 5 Inside the first housing 10, first and second rotating shaft components 22 and 32 are respectively arranged along first and second parallel axes C1 and C2. The first and second axes C1 and C2 can refer to axes extending from the front and rear of the first housing 10.

[0065] In this case, according to the first embodiment of the present invention, one end of the first rotating shaft component 22 is disposed on the inner wall of the first housing 10, while the other end extends rearward through the rear wall of the first housing 10 to be directly or indirectly connected to the actuator 50 located outside the first housing 10. A power transmission component 54 is disposed at the other end of the first rotating shaft component 22 to receive the driving force generated from the actuator 50. In this embodiment, the power transmission component 54 disposed at the other end of the first rotating shaft component 22 is composed of a spur gear.

[0066] Both ends of the second rotating shaft component 32 are disposed on the inner wall of the first housing 10. At this time, at one end of the second rotating shaft component 32, ... Figure 4 A magnet groove 37 is formed at the rear end of the assembly, where a magnet 38 can be installed. The magnet 38 is inserted into and fixed in the magnet groove 37, and can rotate integrally with the second rotating shaft assembly 32. The function of the magnet 38 will be explained later along with the second sensor 82.

[0067] In this embodiment, to allow the first and second rotating shaft components 22 and 32 to rotate flexibly, a first bearing component 25 is disposed at one end of the first rotating shaft component 22, and a second bearing component 26 is disposed between a portion of the first rotating shaft component 22 that penetrates the first housing 10 and the rear wall of the first housing 10. Similarly, third and fourth bearing components 35 and 36 are disposed at both ends of the second rotating shaft component 32. The first to fourth bearing components 25, 26, 35, and 36 can be constructed of ball bearings.

[0068] The first and second disc-shaped rollers 20 and 30 are arranged facing each other on both sides of the tubular member 2 passing through the first housing 10. The tubular member 2 can pass between the first and second rollers 20 and 30, and the first and second rollers 20 and 30 are arranged side by side at an appropriate distance to pressurize the outer periphery of the tubular member 2.

[0069] At this time, the first roller 20 is disposed on the first rotating shaft component 22 so as to be able to rotate together with the first rotating shaft component 22, and the second roller 30 is disposed on the second rotating shaft component 32 so as to be able to rotate together with the second rotating shaft component 32.

[0070] If the first roller 20 and the first rotating shaft component 22 receive driving force from the outside to rotate unidirectionally while pressing the outer periphery of the tubular component 2, the tubular component 2 moves by the friction force generated between the outer peripheral surface of the first roller 20 and the tubular component 2.

[0071] At this time, the second roller 30 presses against the opposite side of the tubular member 2, thereby performing the function of providing vertical resistance so that sufficient frictional force can act on the tubular member 2. On the other hand, the second roller 30 also rotates in one direction due to the frictional force generated between the tubular member 2 and the second roller 30.

[0072] As described above, the moving device 1 of the first embodiment of the present invention can move the tubular component 2 by means of the friction between the rollers 20, 30 and the tubular component 2.

[0073] On the other hand, refer to Figure 3 Grooves corresponding to the outer periphery of the tubular component 2 are formed on the outer peripheral surfaces 21 and 31 of the first roller 20 and the second roller 30. This increases the contact area between the outer peripheral surfaces 21 and 31 of the first and second rollers 20 and the tubular component 2, thus allowing a greater frictional force to be applied to the tubular component 2.

[0074] In this embodiment, the grooves formed on the outer peripheral surfaces 21 and 31 of the first and second rollers 20 and 30 may be semi-circular depending on the cross-sectional shape of the tubular component 2, or may be elliptical or the like depending on the shape of the tubular component 2.

[0075] Furthermore, in order to increase the friction between the first and second rollers 20, 30 and the tubular component 2, friction components 21, 31 may be disposed on the outer peripheral surfaces of the first and second rollers 20, 30. In this case, multiple friction components 21, 31 may be disposed.

[0076] In addition, grooves (not shown) with a similar shape to those on the outer circumference of a car tire can be formed on the outside of the friction components 21 and 31 to increase friction or the coefficient of friction.

[0077] In this embodiment, the friction components 21 and 31 are composed of multiple elastic rubber rings, or the shape or material of the friction components 21 and 31 is not particularly limited as long as it can improve the friction force or coefficient of friction between the first and second rollers 20 and 30 and the tubular component 2.

[0078] Re-reference Figure 1 and Figure 2 On one side of the first outer casing 10, with Figure 1 A second housing 40 is detachably attached to the rear of the first housing 10. The second housing 40 is a box-shaped structural member with an internal space, which performs the function of housing and protecting the drive unit (i.e., actuator 50) and the operation control unit (i.e., control unit 70 and sensors 80, 82) in the internal space.

[0079] At this time, the detachable connection structure between the first and second outer shells 10 and 40 can use various connection methods, such as a connection structure with bolts and nuts, a connection structure using a sliding method, or a connection structure using hooks.

[0080] As described above, the mobile device 1 of the first embodiment of the present invention has a working part, a drive part, and a working control part separately arranged in the first and second housings 10 and 40, respectively, and the first and second housings 10 and 40 are detachably connected, so that only the first housing 10 can be removed for cleaning. Therefore, damage to the drive part and the working control part caused during the cleaning process of the working part can be prevented.

[0081] Furthermore, the mobile device 1 of the first embodiment of the present invention can be used by easily replacing or repairing parts in the working part, drive part and working control part that are worn, damaged or defective.

[0082] The actuator 50, serving as a device for providing driving force to rotate the first rotating shaft component 22 and the first roller 20, is fixedly disposed inside the second housing 40. In this embodiment, the actuator 50 is constituted by an electric motor having a motor rotating shaft 52. Although not shown, a battery or the like for powering the actuator 50 may be disposed inside the second housing 40.

[0083] Reference Figures 3 to 5A power transmission component 54 is disposed between the actuator 50 and the first rotating shaft component 22. The power transmission component 54 consists of multiple gears and performs the function of transmitting the driving force generated by the actuator 50 to the first rotating shaft component 22, and adjusting the rotational speed ratio, rotational direction and torque ratio between the motor rotating shaft 52 and the first rotating shaft component 22.

[0084] At this time, the power transmission component 54 may include at least two gears. These at least two gears consist of a gear disposed at one end of the motor rotating shaft 52 and a gear disposed at the other end of the first rotating shaft component 22.

[0085] In this embodiment, the power transmission component 54 is composed of multiple spur gears. However, in order to reduce backlash, the power transmission component 54 may include various known gears, such as worm gears and worms.

[0086] A control unit 70 is disposed on one side of the actuator 50, which can control the actuator 50. At this time, the control unit 70 may be composed of a processing device such as a printed circuit board (PCB), a microprocessor, a general-purpose processor, a central processing unit (CPU), a digital signal processor (DSP), or a combination of such structures.

[0087] The control unit 70 is electrically connected to the first and second sensors 82 (described later) to receive information, and measures the amount of movement of the tubular component 2 based on the received information, thereby controlling the actuator 50.

[0088] On the other hand, although not shown, an operating unit may be disposed on one side of the first housing 10 or the second housing 40 to allow the user to control the amount of movement of the actuator 50 and the tubular component 2. The operating unit is configured to be physically or electrically connected to the control unit 70 and to transmit and receive signals. In this case, the operating unit may consist of multiple buttons or a touch-sensitive display screen, etc.

[0089] Reference Figures 1 to 5 The first sensor 80, configured to measure the position of the first roller 20, such as its rotation angle and direction, can be configured on the actuator 50 or on one side of the first roller 20. In this embodiment, the first sensor 80 is composed of a first encoder configured on the motor rotation shaft 52.

[0090] The first sensor 80 measures the rotation angle and direction of the motor rotating shaft 52. Taking into account the gear ratio and rotation direction changes caused by the power transmission component 54, the first sensor 80 can indirectly measure the rotation angle and direction of the first roller 20.

[0091] The second sensor 82, configured to measure the position of the second roller 30, such as its rotation angle and direction, can be disposed on one side of the second roller 30. In this embodiment, the second sensor 82 is disposed on one side of the second rotating shaft component 32, to... Figure 4 The second encoder is configured behind the second rotating shaft component 32. At this time, the second sensor 82 can be disposed on the wall of the second housing 40 or installed in the side wall of the second housing 40.

[0092] The second sensor 82 measures the rotation angle and direction of the magnet 38, which is magnetically fixed to the end of the second rotating shaft component 32. By measuring the rotation angle and direction of the magnet 38, the second sensor 82 can indirectly measure the rotation angle and direction of the second roller 30.

[0093] In this embodiment, sensors 80 and 82 indirectly measure the movement of the tubular component 2 by measuring the rotation angle and direction of the first and second rollers 20 and 30. However, in another embodiment, in order to directly measure the movement of the tubular component 2, the sensors can of course be arranged adjacent to the tubular component 2. In addition, as long as it can prevent sensor contamination and damage caused by the tubular component 2 and foreign matter adsorbed on the tubular component 2, the sensors can also be arranged in the first housing 10.

[0094] On the other hand, the second sensor 82 may be configured as a second rotating shaft component 32 directly disposed on the second roller 30 or disposed on a shaft connected to the second rotating shaft component 32 via gears, thereby sensing the rotation angle and direction of the second roller 30.

[0095] Of course, as long as the position of the second roller 30 can be sensed directly or indirectly, there are no special restrictions on the second sensor. All known sensors and structures that can be used to sense the position of the second roller 30 directly or indirectly can be applied to the second sensor 82.

[0096] The process by which the sensors 80, 82 and the control unit 70 of the first embodiment of the present invention measure the amount of movement of the tubular component 2 and control the actuator 50 will be described in more detail below.

[0097] Reference Figure 5 and Figure 6 The rotation angle and direction of the first roller 20 are indirectly measured by the first sensor 80 measuring the rotation angle and direction of the motor shaft 52. The rotation angle and direction of the second roller 30 are indirectly measured by the second sensor 82 measuring the rotation angle and direction of the magnet 38.

[0098] More specifically, the amount of movement of the tubular component 2 can be indirectly measured by measuring the distance moved by a point on the outer circumference of the first roller 20 as it rotates. That is, the length L1 of the arc calculated by multiplying the rotation angle θ1 of the first roller 20 by the radius R1 of the first roller 20 is the amount of movement of the tubular component 2 through the first roller 20. Hereinafter, the amount of movement of the tubular component 2 measured in this manner will be referred to as the first measured movement amount.

[0099] According to a first embodiment of the present invention, the first sensor 80 measures the rotation direction and angle of the first roller 20, and the first sensor 80 or the control unit 70 receiving information from the first sensor 80 calculates the first measured movement amount of the tubular component 2, thereby accurately controlling the movement amount d of the tubular component 2.

[0100] For example, the control unit 70 controls the actuator 50 to rotate the first roller 20 so that the first measured movement amount is the same as the target movement amount of the tubular component 2, thereby accurately controlling the movement amount d of the tubular component 2.

[0101] On the other hand, a gap may be generated between the outer peripheral surface of the first roller 20 and the outer peripheral portion of the tubular component 2. This gap refers to the relative movement between the outer peripheral surface of the first roller 20 and the outer peripheral portion of the tubular component 2 caused by the action of kinetic friction. If a gap is generated, there will be a difference between the actual movement d of the tubular component 2 and the first measured movement.

[0102] To improve this phenomenon, the control unit 70 calculates the movement amount of the tubular component using the rotation angle and direction of the second roller 30, and uses the movement amount of the tubular component calculated by the second roller 30 together with the first measured movement amount to control the actuator 50, thereby enabling more accurate control of the movement amount d of the tubular component 2.

[0103] The second roller 30 is a driven roller that rotates by the friction generated between the outer peripheral surface of the second roller 30 and the outer peripheral portion of the tubular component 2. Therefore, no gap is generated between the outer peripheral surface of the second roller 30 and the outer peripheral portion of the tubular component 2, or the gap is less than that generated between the outer peripheral surface of the first roller 20 and the outer peripheral portion of the tubular component 2.

[0104] That is, by using the second roller 30, which produces little or no gap, to estimate the gap generated in the tubular component 2, and using this estimation to control the actuator 50, the movement amount d of the tubular component 2 can be controlled more accurately.

[0105] More specifically, the amount of movement of the tubular component 2 can be indirectly measured by measuring the distance a point moves on the outer circumferential surface of the second roller 30 as the second roller 30 rotates. That is, the length L2 of the arc calculated by multiplying the rotation angle θ2 of the second roller 30 by the radius R2 of the second roller 30 is the amount of movement of the tubular component 2. Hereinafter, the amount of movement of the tubular component 2 measured in this manner will be referred to as the second measured movement amount.

[0106] At this time, the control unit 70 can control the actuator 50 using the first and second measured movement amounts. For example, the control unit 70 first controls the actuator 50 to rotate the first roller 20 so that the first measured movement amount is the same as the target movement amount of the tubular component 2, and then controls the actuator 50 to rotate the first roller 20 a second time so that the second measured movement amount is the same as the target movement amount of the tubular component 2, thereby moving the tubular component 2.

[0107] By using this control method, the amount of gap generated between the tubular component 2 and the rollers 20 and 30 can be estimated and reflected in the control of the actuator, thereby enabling more accurate control of the movement of the tubular component 2.

[0108] Of course, the control unit 70 first controls the actuator 50 to rotate the first roller 20 so that the first measured movement amount is the same as the target movement amount of the tubular component 2, and then controls the actuator 50 to rotate the first roller 20 a second time so that the average value of the first measured movement amount and the second measured movement amount is the same as the target movement amount of the tubular component 2.

[0109] As described above, in the first embodiment of the present invention, the moving device 1 uses the control unit 70 to control the movement of the tubular component 2 by utilizing both the first measured movement amount and the second measured movement amount, thereby enabling more accurate control of the actual movement of the tubular component 2. Of course, in another embodiment, the control unit 70 may also control the actuator 50 using only the second measured movement amount measured by the second sensor 82.

[0110] The following describes a moving device according to a second embodiment of the present invention. The moving device of the second embodiment of the present invention has the same structure as the moving device of the first embodiment of the present invention, except for the roller working part and the first housing. Therefore, a detailed description of this same structure is omitted, and the first housing and roller working part of the second embodiment of the present invention will be described in detail.

[0111] Figure 7 This is a perspective view of a mobile device according to a second embodiment of the present invention. For the purpose of illustrating the invention, the first and second housings are indicated by dashed lines, and the structures shown from a perspective view of the first and second housings are indicated by solid lines. Figure 8 This is an exploded perspective view of the second roller and roller working part of the moving device according to the second embodiment of the present invention. Figure 9 and Figure 10 This is a diagram illustrating the operation of the roller working part of the moving device according to the second embodiment of the present invention.

[0112] Reference Figure 7 In the second embodiment of the present invention, the first housing 110 of the moving device 101 is provided with guide holes 115 for inserting the two ends of the second rotating shaft component 132. Accordingly, the second rotating shaft component 132 and the second roller 130 can move left and right along the guide holes 115.

[0113] Reference Figure 7 and Figure 8 The second embodiment of the moving device 101 further includes a roller working part 160. The roller working part 160 is composed of a working component 164, a driving component, and a door opening and closing component 137. The working component 164 is movably disposed within the first housing 110 and is coupled to the second rotating shaft component 132. The driving component is used to move the working component 164. The door opening and closing component 137 opens and closes the entrance 111 or the exit 113 of the first housing 110.

[0114] In this embodiment, the driving component includes a button component 161, which can be pressurized to the inside of the first housing 110. The button component 161 consists of a pressurizable head 162 and a body portion 163, wherein the body portion 163 extends from the head 162 toward the inside of the first housing 110 and penetrates the sidewall of the first housing 110. The body portion 163 can slide along the through hole of the first housing 110 and be inserted into the inside of the first housing 110 or can be extended outward.

[0115] Reference Figure 8 A working member 164 is formed on one side of the main body 163. A pair of connecting portions 165a and 165b are disposed on one side of the working member 164, and the pair of connecting portions 165a and 165b protrude and cover both sides of the second roller 130. Connecting holes 166a and 166b are formed in the connecting portions 165a and 165b in the axial direction of the second rotating shaft member 132.

[0116] One end of the second rotating shaft component 132 and the third bearing component 135 are disposed in the coupling hole 166a of the front side coupling portion 165a, and the other end of the second rotating shaft component 132 and the fourth bearing component 136 are disposed in the coupling hole 166b of the rear side coupling portion 165b. Accordingly, the second rotating shaft component 132 and the second roller 130 can rotate relative to the roller working portion 160 and can also move linearly together with the roller working portion 160.

[0117] Reference Figure 9As the button component 161 is pressed into the inside of the first housing 110, the working component 164, the second rotating shaft component 132 and the second roller 130 move to the right, and the second roller 130 is positioned in a first position adjacent to the first roller 120.

[0118] With the second roller 130 in the first position, both sides of the tubular component 2 are pressurized by the first and second rollers 120 and 130 to generate vertical resistance. Accordingly, if the first roller 120 rotates by friction, the tubular component 2 moves while being inserted into the inside of the first housing 110 or extended outward.

[0119] That is, the tubular component 2 is moved by transmitting the driving force of the actuator 150 through the first rotating shaft component 122 and the first roller 120. Hereinafter, the state in which the tubular component 2 can move automatically by the actuator 150 is referred to as the automatic mode.

[0120] Reference Figure 10 As the button component 161 is extended to the outside of the first housing 110, the second rotating shaft component 132 and the second roller 130, which move linearly integrally with the working component 164, move to the left, and the second roller 130 is located in a second position that is further away from the first roller 120 than the first position.

[0121] With the second roller 130 in the second position, the left side of the tubular component 2 is not pressurized by the second roller 130, so the vertical resistance that can generate friction between the first roller 120 and the tubular component 2 cannot act on the tubular component 2.

[0122] Therefore, even if the first roller 120 rotates, the driving force of the actuator 150 cannot move the tubular component 2. That is, the user can manually move the tubular component 2. Hereinafter, the state in which the user can manually move the tubular component 2 will be referred to as manual mode.

[0123] As described above, in the second embodiment of the present invention, the moving device 101 is such that the roller working part 160 moves the second roller 130 to a first position adjacent to the first roller 120, or moves the second roller 130 to a second position further away from the first roller 120 than the first position, thereby easily performing a conversion from an automatic mode in which the tubular component 2 can be automatically inserted or extracted to a manual mode in which the user directly inserts or extracts the tubular component 2, or vice versa.

[0124] On the other hand, in this embodiment, the driving component of the moving working part 164 is composed of a button component 161 that moves by external force. However, in order to move the working part 164 automatically, the driving component may also include gears and motors.

[0125] On the other hand, refer to Figure 7 and Figure 8 In the second embodiment of the present invention, the door opening / closing component 167 of the moving device 1 serves as a component for opening / closing the outlet 113 of the first housing 110, and opens / closing from one side of the working component 164, i.e. Figure 8 The lower part of the first housing 110 extends downward and then extends towards the outlet 113. In order to enable the outlet 113 to be opened and closed, the door opening component 167 preferably covers a considerable portion of the lower part of the inner wall of the first housing 110. At this time, the door opening hole 168 is formed in the door opening component 167.

[0126] Reference Figure 9 In order to enable communication between the switch door hole 168 and the outlet 113 of the switch door component 167 when the button component 161 is pressed against the inside of the first housing 110, the switch door hole 168 and the outlet 113 are located in corresponding positions. In this case, the switch door hole 168 preferably has a diameter slightly larger than the diameter of the tubular component 2, so that the tubular component 2 can easily pass through. In this configuration, the tubular component 2 can be inserted into the interior of the first housing 110 or extended to the outside through the switch door hole 168 and the outlet 113.

[0127] Reference Figure 10 With the button component 161 extending outward from the first housing 110, the door opening 168 of the door opening component 167 moves slightly to the left. Accordingly, the door opening component 167 at least covers and closes a portion of the outlet 113.

[0128] As the opening and closing mechanism 167 moves to the left with the tubular component 2 passing through the opening and closing door hole 168, the inner circumference of the opening and closing door hole 168 presses the tubular component 2 to the left. If the tubular component 2 is slightly flexible, a portion 3 of the tubular component 2 located inside the opening and closing door hole 168 will bend slightly.

[0129] As described above, as the door opening / closing component 167 pushes the tubular component 2 to one side, the tubular component 2, passing through the first housing 110, becomes more spaced from the first roller 120. Therefore, the outer peripheral surface of the first roller 120 does not contact the outer peripheral portion of the tubular component 2. Consequently, the driving force of the actuator cannot be transmitted to the tubular component 2 through the first roller 120, thus allowing a complete switch from automatic mode to manual mode.

[0130] The following describes a moving device according to a third embodiment of the present invention. The moving device of the third embodiment of the present invention has the same structure as the moving device of the first embodiment of the present invention, except for the first and second gears. Therefore, detailed descriptions of the same structure are omitted, and the first and second gears of the third embodiment of the present invention will be described in detail.

[0131] Figure 11This is a perspective view of a mobile device according to a third embodiment of the present invention. For the purpose of illustrating the invention, the first and second housings are indicated by dashed lines, and the structures shown from a perspective view of the first and second housings are indicated by solid lines.

[0132] Reference Figure 11 The moving device 201 of the third embodiment of the present invention may further include a first gear 224 and a second gear 234 that mesh with each other. In this case, the first gear 224 is fixedly disposed on the first rotating shaft component 222, and the second gear 234 is fixedly disposed on the second rotating shaft component 232, so that the first gear 224 and the first rotating shaft component 222 can rotate together, and the second gear 234 and the second rotating shaft component 232 can rotate together.

[0133] Accordingly, a portion of the driving force generated by the actuator 250 and transmitted to the first rotating shaft component 222 is used for the rotation of the first roller 220, while the remaining driving force is used for the rotation of the second rotating shaft component 232 and the second roller 230 through the first gear 224 and the second gear 234.

[0134] At this time, in order to make the first measurement movement amount the same as the second measurement movement amount, the gear ratio of the first gear 224 and the second gear 234, as well as the radius of the first roller 220 and the radius of the second roller 230, can be adjusted appropriately.

[0135] As described above, the moving device 201 of the third embodiment of the present invention distributes the driving force of the actuator 250 to the first roller 220 and the second roller 230 by means of the first and second gears 224 and 234, thereby enabling both sides of the tubular member 2 to move together, thus effectively suppressing the generation of gaps between the first and second rollers 220 and 230 and the tubular member 2.

[0136] The following describes a moving device according to a fourth embodiment of the present invention. The moving device of the fourth embodiment of the present invention has the same structure as the moving device of the third embodiment of the present invention, except for the roller working part; therefore, descriptions of the same structure are omitted, and the roller working part of the fourth embodiment of the present invention will be described in detail.

[0137] Figure 12 This is a perspective view of a mobile device according to a fourth embodiment of the present invention. For the purpose of illustrating the invention, the first and second housings are indicated by dashed lines, and the structures shown through the first and second housings are indicated by solid lines.

[0138] Reference Figure 12 The moving device 301 of the fourth embodiment of the present invention may further include a roller working part 360. In this case, the structure of the roller working part 360 may be the same as that of the roller working part of the moving device of the second embodiment of the present invention.

[0139] That is, in the moving device 301 of the fourth embodiment of the present invention, a guide hole 315 is provided in the first housing 310 to insert the two ends of the second rotating shaft component 332. Accordingly, the second rotating shaft component 332 and the second roller 330 can move left and right along the guide hole 315.

[0140] The roller working part 360 may be composed of a button component 361, a working component 364, and a door opening / closing component 367. As one side of the button component 361 is pressed, the button component 361 and the working component 364 move inward toward the first housing 310, thereby moving the second rotating shaft component 332 and the second roller 330 from the second position to the first position. If the second roller 330 is in the first position, both sides of the tubular component 2 are pressed by the first and second rollers 320 and 330, so the tubular component 2 moves by the friction generated by the rotation of the first roller 320 (automatic mode).

[0141] With the second roller 330 in the second position, the tubular component 2 is not pressurized by the second roller 330, and therefore no vertical resistance is generated in the tubular component 2. Consequently, the driving force of the actuator 350 is not transmitted to the tubular component 2 through the first roller 320 (manual mode). In this case, the user can manually adjust the movement of the tubular component 2.

[0142] As described above, the moving device 301 of the fourth embodiment of the present invention has a roller working part 360 that can move the second roller 330 to the first position and the second position, so it can easily perform the conversion from an automatic mode in which the tubular component 2 can be automatically inserted or extracted to a manual mode in which the user directly inserts or extracts the tubular component 2, or vice versa.

[0143] In addition, the moving device 301 of the fourth embodiment of the present invention has first and second gears 324 and 334 arranged in the first and second rotating shaft components 322 and 332, so that the gap between the first and second rollers 320 and 330 and the tubular component 2 can be effectively suppressed.

[0144] Hereinafter, variations of the first and second rollers of the moving device according to an embodiment of the present invention will be described.

[0145] Figures 13 to 16 This is a diagram illustrating a modified example of the first and second rollers of the moving device according to an embodiment of the present invention.

[0146] Reference Figure 13In a modified embodiment of the present invention, the first rollers 420a and 420b may include a first upper roller 420a and a first lower roller 420b, which are arranged side by side along the length direction on one side of the tubular member 2. In this case, a belt 427 is disposed on the outer peripheral surface of the first upper roller 420a and the outer peripheral surface of the first lower roller 420b.

[0147] A second roller 430 is arranged facing each other on the other side of the tubular component 2, applying pressure to the tubular component 2 towards the belt 427. Of course, by arranging the aforementioned roller working part on the second roller 430, it is possible to switch between manual and automatic modes, and the pressure applied by the second roller 430 to the other side of the tubular component 2 can be adjusted.

[0148] If the first upper roller 420a and the first lower roller 420b rotate synchronously at the same tangential speed, the tubular component 2 moves by the friction force generated between the belt 427 and the tubular component 2.

[0149] At this time, the synchronization of the first upper roller 420a and the first lower roller 420b is electronically controlled, which can be achieved by multiple motors respectively connected to the first upper roller 420a and the first lower roller 420b, or by a power transmission component consisting of multiple gears connected to a motor.

[0150] As described above, by means of the first and second rollers 420a, 420b, and 430 of the modified embodiment of the present invention, the contact area for transmitting frictional force to the tubular component 2 via the belt 427 is increased, thereby increasing the frictional force (or gripping force) acting on the tubular component 2, and thus the tubular component 2 can be moved more stably and effectively.

[0151] Reference Figure 14 In another variation of the present invention, the first rollers 520a and 520c may include a first upper roller 520a and a first lower roller 520c, a first upper gear 524a is disposed on the first upper rotating shaft component 522a, and a first lower gear 524c is disposed on the first lower rotating shaft component 522c.

[0152] The first upper roller 520a and the first lower roller 520c are arranged side by side along the length of one side of the tubular component 2, and the second roller 530 is arranged facing each other on the other side of the tubular component 2, applying pressure to the tubular component 2 towards the first rollers 520a and 520c. Of course, by arranging the aforementioned roller working part on the second roller 530, it is possible to switch between manual and automatic modes, and the pressure applied by the second roller 530 to the other side of the tubular component 2 can be adjusted.

[0153] At this time, a third rotating shaft component 522b and a third gear 524b can be disposed between the first upper roller 520a and the first lower roller 520c. The third rotating shaft component 522b receives driving force from the actuator to rotate, and the third gear 524b is disposed on the third rotating shaft component 522b. One side of the third gear 524b meshes with the first upper gear 524a, and the other side meshes with the first lower gear 524b.

[0154] If the third rotating shaft component 522b rotates unidirectionally via the actuator, the first rollers 520a and 520c receive power through gears 524a, 524b, and 524c and can rotate synchronously in the same direction and at the same speed. Accordingly, the tubular component 2 moves due to the friction generated between the first rollers 520a and 520c and the tubular component 2. At this time, the synchronization of the first upper roller 520a and the first lower roller 520c can be achieved by a power transmission component, which consists of multiple gears coupled to the actuator.

[0155] As described above, in another variation of the present invention, the number of first rollers 520a and 520c that contact the tubular component 2 is increased, thereby increasing the frictional force (or gripping force) acting on the tubular component 2, thereby enabling stable yet effective movement of the tubular component 2, and the amount of movement of the tubular component 2 can be accurately measured using the second roller 530.

[0156] Of course, increasing the number of the first and second rollers 520a, 520c, and 530 by structural deformation of the actuator or power transmission component can also increase the friction (or grip) acting on the tubular component 2.

[0157] Reference Figure 15 According to another variation of the present invention, the second rollers 630a and 630b may include a second upper roller 630a and a second lower roller 630b, which are arranged side by side along the length of the tubular member 2.

[0158] At this time, a first gear 624 is arranged in the first rotating shaft component 622, and a second gear 634a is arranged in the second upper roller rotating shaft component 632a. The first gear 624 and the second gear 634a mesh with each other.

[0159] Accordingly, a portion of the driving force generated by the actuator and transmitted to the first rotating shaft component 622 is used for the rotation of the first roller 620, while the remaining driving force is used for the rotation of the second upper roller rotating shaft component 632a and the second upper roller 630a through the first gear 624 and the second gear 634a.

[0160] As described above, in another variation of the present invention, the moving device distributes the driving force of the actuator to the first roller 620 and the second upper roller 630a using the first and second gears 624 and 634a, thereby enabling both sides of the tubular member 2 to move together. This effectively suppresses the generation of gaps between the first roller and the second upper roller 620 and 630a and the tubular member 2.

[0161] In addition, the second lower roller 630b on the lower side of the second upper roller 630a assists the second upper roller 630a in pressing the tubular component 2 toward the first roller 620, thereby increasing the friction (or grip) acting on the tubular component 2, thus allowing the tubular component 2 to move more stably and effectively.

[0162] Of course, by arranging the aforementioned roller working parts on the second rollers 630a and 630b, the manual mode and automatic mode can be switched, and the pressure on the other side of the pressure tubular component 2 on the second rollers 630a and 630b can be adjusted.

[0163] Reference Figure 16 , with the above Figure 15 In another variation of the invention described together, the positions of the second rollers 730a and 730b may be changed. In this variation, the second upper roller 730a is positioned slightly higher than the first roller 630, and the second lower roller 730b is positioned lower than the first roller 630.

[0164] As described above, by adjusting the positions of the first and second rollers 620, 730a, and 730b, the first and second rollers 620, 730a, and 730b can more stably pressurize both sides of the tubular component 2, thus enabling the tubular component 2 to move more stably and effectively.

[0165] Of course, the first gear 624 of the first roller 620 and the second gear 734a of the second upper roller 730a can also be slightly modified to position the second upper roller 730a at a higher position.

[0166] As described above, the moving device of the present invention is such that it can automatically move the tubular component by utilizing the friction between a first roller that rotates by a driving force generated by an actuator and the tubular component.

[0167] Furthermore, in an embodiment of the present invention, the moving device includes a sensor for measuring the amount of movement of the tubular component and a control unit for controlling the actuator. The control unit uses the amount of movement of the tubular component measured by the sensor to control the actuator, thereby accurately controlling the amount of movement of the tubular component.

[0168] On the other hand, although it has been stated that the first and second outer shells are quadrilateral in shape, considering their relationship with the surrounding devices, the shape of each structure can be formed as a curved surface, or it can be bent into a handle shape for ease of use, etc., as long as it does not affect the technical concept of the present invention.

[0169] The embodiments of the present invention have been described above. However, the concept of the present invention is not limited to the embodiments presented in this specification. Rather, those skilled in the art who understand the concept of the present invention can easily propose another embodiment by adding, changing, deleting, or adding components within the same conceptual scope, and this is also included within the conceptual scope of the present invention.

Claims

1. A moving device for moving a tubular component, comprising: The outer casing allows the tubular component to pass through; The first roller and the second roller are disposed facing each other on both sides of the tubular member inside the housing, and have an outer peripheral surface that presses the tubular member. An actuator provides the driving force to rotate the first roller; A sensor is used to measure the amount of movement of the tubular component; The control unit controls the actuator based on the amount of movement of the tubular component; and A roller working part is disposed in the housing to allow the second roller to move toward the side of the first roller; If the first roller rotates, the tubular component between the first and second rollers moves due to friction. Specifically, if the first roller rotates at a first position adjacent to the second roller, the tubular component moves due to friction. Wherein, a hole is formed in the outer shell for the tubular component to pass through; The roller working part includes: A working component, configured to be movable relative to the housing, is coupled on one side to the rotation axis of the second roller; a drive component for moving the working component; and a door opening / closing component, located adjacent to the opening of the housing, for opening and closing the opening of the housing. The working component moves via the driving component, thereby moving the second roller from the second position to the first position, wherein the second position is further away from the first roller than the first position; wherein The door opening / closing component extends from one side of the working component and moves integrally with the working component. An opening for the tubular component to pass through is formed in the door opening and closing component; and With the working component moving the second roller to the second position, the inner circumferential surface of the switch hole presses against one side of the tubular component so that the tubular component is spaced apart from the first roller.

2. The mobile device according to claim 1, characterized in that, The sensor includes a first sensor that senses the position of the first roller; The control unit uses the position of the first roller to measure the amount of movement of the tubular component.

3. The mobile device according to claim 2, characterized in that, The actuator is composed of a motor; The first sensor is a first encoder configured on the rotating shaft of the motor; The control unit measures the amount of movement of the tubular component using the position of the rotating shaft sensed by the first encoder.

4. The mobile device according to claim 1, characterized in that, The sensor includes a second sensor that senses the position of the second roller; The control unit measures the amount of movement of the tubular component using the position of the second roller.

5. The mobile device according to claim 4, characterized in that, A magnet is disposed on one side of the second roller and rotates together with the second roller; The sensor includes a second encoder located adjacent to the magnet to sense the position of the magnet; The control unit uses the position of the magnet to measure the amount of movement of the tubular component.

6. The mobile device according to claim 1, characterized in that, The sensor includes: a first sensor for sensing the position of the first roller; and a second sensor for sensing the position of the second roller; The control unit controls the actuator based on a first movement of the tubular component measured using the position of the first roller and a second movement of the tubular component measured using the position of the second roller.

7. The mobile device according to claim 1, characterized in that, The outer casing includes: A first housing, housing the first roller and the second roller; and a second housing, housing the actuator; The first outer shell and the second outer shell can be detachably combined. The control unit and the sensor are disposed in the second housing.

8. The mobile device according to claim 1, characterized in that, Having multiple first rollers, The plurality of first rollers are arranged along the length of the tubular component. The plurality of first rollers includes a first upper roller and a first lower roller. A belt is disposed on the outer peripheral surface of the first upper roller and the first lower roller, and the outer side of the belt contacts the outer peripheral part of the tubular component; If the first roller rotates, the tubular component between the belt and the second roller will move due to friction.

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