Linear member movement device and linear member movement system

Abstract

To provide a linear member movement device that can move a linear member in an extension direction, and moreover, rotates the linear member around an extension direction central axis.SOLUTION: A linear member movement device includes: a body 100; a pair of first grip members 210, 220 operably supported by a body so as to grip a linear member 1 or release gripping of the linear member 1; a pair of second grip members 310, 320 operably supported by the body so as to compress the pair of first grip members or release compression of the pair of first grip members such that the pair of first grip members grip the linear member or release gripping of the linear member and move in an extension direction of the linear member; a first drive module 400 that provides a drive force for the pair of second grip members to compress the pair of first grip members or release compression of the pair of first grip members and move in the extension direction of the linear member; and a second drive module 500 that provides a drive force for the pair of first grip members to rotate around the extension direction central axis of the linear member.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a linear member moving device and a linear member moving system. [Background technology]

[0002] As robots continue to develop, efforts are underway to have them, which were previously only used in industrial settings, replace human labor in the service sector, including housework, cooking, and hospitality.

[0003] Recently, many procedures have been performed in which tube-shaped surgical tools such as catheters and guidewires are inserted for the treatment of arrhythmia or blood vessels.

[0004] In particular, robotic systems are widely used to shorten treatment times and perform precise treatments.

[0005] Conventionally, surgical tools in the form of tubes, such as catheters and guidewires, have been inserted manually or by using an insertion tool having a roller structure.

[0006] Although it varies depending on the procedure, most involve repeated insertion and removal processes using various surgical tools.

[0007] On the other hand, prior art US Pat. No. 6,096,004 illustrates a surgical tool inserter in the form of a tube.

[0008] Prior art tube-type surgical tool inserters use rollers to insert and perform surgical tools.

[0009] When inserting a surgical tool using a roller, the roller makes line contact with the surgical tool, so excessive force is required to obtain the required friction. This not only damages the surgical tool, but also makes it difficult to insert the surgical tool precisely.

[0010] Meanwhile, during surgery, it is necessary to rotate the tube-shaped surgical tool, and in order to solve this problem, conventionally, the surgical tool has been rotated by rotating the entire device for moving the surgical tool or by rubbing the surgical tool with a roller.

[0011] However, when the entire device is rotated, the device volume becomes excessively large, requiring a strong force, and when using a roller to rub the device, there is a limit to the rotation angle, making it impossible to apply to a linear-motion automatic insertion machine. Summary of the Invention [Problem to be solved by the invention]

[0012] The present invention has been made to solve the above problems, and an object of the present invention is to provide a linear member moving device that can not only move a linear member in the extension direction of the linear member but also rotate the linear member around the central axis in the extension direction of the linear member, and that is configured to be small in volume and have no limit on the rotation angle.

[0013] The objects of the present invention are not limited to those mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the following description. [Means for solving the problem]

[0014] According to one aspect of the present invention, there is provided a linear member moving device for moving a linear member in an extension direction of the linear member, comprising: a main body; a pair of first gripping members arranged opposite each other across the linear member and operably supported on the main body to grip or release the grip of the linear member; a pair of second gripping members arranged opposite each other across the pair of first gripping members and operably supported on the main body to pressurize or depressurize the pair of first gripping members so that the pair of first gripping members grip or release the grip of the linear member, and move in the extension direction of the linear member; a first drive module that provides a driving force for the pair of second gripping members to pressurize or depressurize the pair of first gripping members and move in the extension direction of the linear member; and a second drive module that provides a driving force for the pair of first gripping members to rotate about a central axis of the extension direction of the linear member.

[0015] At this time, the pair of second grip members can move together with the linear member and the pair of first grip members in the extension direction of the linear member while pressing the pair of first grip members, and the pair of first grip members can rotate together with the linear member around the central axis of the linear member in the extension direction while being pressed by the pair of second grip members.

[0016] At this time, the pair of second grip members can move in the extension direction of the linear member with the pair of first grip members released from pressure, and the pair of first grip members can rotate around the central axis of the extension direction of the linear member with the pair of second grip members released from pressure.

[0017] Meanwhile, the first driving module may include a gripper that operates the pair of second gripping members to pressurize or depressurize the pair of first gripping members, and the gripper may include a pair of pressure members respectively coupled to the pair of second gripping members; and a gripper actuator that provides a driving force to the pair of pressure members to pressurize or depressurize the pair of first gripping members, causing the pair of second gripping members to pressurize or depressurize the pair of first gripping members.

[0018] In this case, the first driving module may include an actuator that provides a driving force for moving the gripper in the extension direction of the linear member.

[0019] Meanwhile, the first driving module includes a pair of pressure members coupled to the pair of second gripping members; a driving motor that provides driving force for operating the pair of pressure members; and a pair of link units that operably connect the driving motor and the pair of pressure members and move the pair of pressure members along a first locus that moves in one direction of the extension direction of the linear member and a second locus that moves in the other direction of the extension direction of the linear member, moving away from and then toward the linear member, so that the linear member is gripped when the pair of pressure members move along the first locus and released from its grip when the pair of pressure members move along the second locus.

[0020] In this case, each link unit includes a driving link having one end that receives the driving force of the driving motor and rotates about a third direction that is perpendicular to both a first direction that is the extension direction of the linear member and a second direction that is the direction in which the pair of second gripping members move toward and away from each other; a connecting link having one end that is pivotally connected to the other end of the driving link and the other end that is connected to each of the pressure members; and an auxiliary link having one end that is pivotally connected to one side of the main body and the other end that is pivotally connected to a central region of the connecting link, and the driving link of each link unit can rotate in the opposite direction by receiving the driving force of the driving motor.

[0021] In this case, the first driving module further includes a pair of link driving gears axially coupled to rotate together with one end of the driving link of each link unit, the pair of link driving gears meshing with each other to rotate in opposite directions, and one of the pair of link driving gears is operably connected to the driving motor to provide driving force.

[0022] Meanwhile, the second driving module may include a rotating member that is disposed apart from the pair of first grip members in the extension direction of the linear member and supported by the main body so as to rotate around the central axis of the extension direction of the linear member; a motor that is operably connected to the rotating member to rotate the rotating member; and a connecting member that connects the rotating member to the pair of first grip members and is provided for each of the first grip members, at least one of which is provided for each of the first grip members.

[0023] At this time, the connecting member may have a bar shape extending in an extension direction of the linear member, and each of the first grip members may have a connecting member through-hole through which the connecting member passes.

[0024] In this case, the connecting member can guide each of the first gripping members when the first gripping members move in the extension direction of the linear member.

[0025] Meanwhile, the connecting member through-hole may extend in a direction in which the pair of first grip members move toward or away from each other.

[0026] In this case, the connecting member can guide the pair of first gripping members when the pair of first gripping members perform a gripping or releasing operation.

[0027] Meanwhile, each of the pair of first grip members may be formed so that at least a portion of one surface facing the linear member is flat, and at least a portion of the other surface located opposite the one surface is curved.

[0028] Meanwhile, an elastic body may be disposed between the pair of first grip members to provide elastic force in a direction in which the pair of first grip members move away from each other.

[0029] Meanwhile, each of the pair of second gripping members may include a second gripping member body disposed spaced apart from the linear member in a direction perpendicular to the extension direction of the linear member; and at least one rolling member coupled to the second gripping member body so as to come into contact with the pair of first gripping members and perform a rolling motion when the pair of first gripping members rotate while gripping the linear member.

[0030] Meanwhile, the linear member moving device may further include a pushing unit that pushes and moves the pair of first gripping members in the moving direction of the second gripping members when the pair of second gripping members move in the extension direction of the linear member with the pressure on the pair of first gripping members completely released.

[0031] At this time, the push portion may be configured to move in the extension direction of the linear member by a driving force applied from the first driving module to move the pair of second grip members in the extension direction of the linear member.

[0032] At this time, the push portion may be supported by a portion of the first driving module that moves in the extension direction of the linear member together with the pair of second grip members.

[0033] Meanwhile, the pushing portion may include a pair of pushing members spaced apart in the extension direction of the linear member with the pair of first gripping members interposed therebetween.

[0034] In this case, each of the push members may include a rotary plate having a linear member through-hole through which the linear member passes and disposed facing one of the pair of first grip members on either side in the extension direction of the linear member; and a push member body supporting the rotary plate rotatably around the linear member through-hole.

[0035] Meanwhile, the linear member moving device may further include a force sensor interposed between both sides of the pair of first gripping members in the extension direction of the linear member and the pair of pushing members.

[0036] Meanwhile, according to another aspect of the present invention, there is provided a linear member moving system including a pair of linear member moving devices, wherein the pair of linear member moving devices includes a first linear member moving device and a second linear member moving device, and when a first driving module of the first linear member moving device provides a driving force for moving the linear member in one direction of extension in a state where the pair of second grip members of the first linear member moving device press the pair of first grip members of the first linear member moving device, the first driving module of the second linear member moving device provides a driving force for moving the linear member in the other direction of extension in a state where the pair of second grip members of the second linear member moving device releases pressure from the pair of first grip members of the second linear member moving device. [Effects of the Invention]

[0037] With the above-described configuration, the linear member moving device according to one aspect of the present invention can smoothly perform a task using a linear member, such as surgery, by separately or simultaneously performing an operation of linearly moving the linear member in the extension direction of the linear member and an operation of rotating the linear member around the central axis of the extension direction of the linear member.

[0038] At this time, since the first gripping member gripping the linear member is rotatably supported by the second gripping member, the linear member can be rotated by simply rotating the first gripping member without having to rotate the entire device. This allows the size of the device to be reduced, and the linear member can be rotated without any restrictions on the rotation direction or rotation angle.

[0039] The effects of the present invention are not limited to the effects described above, but should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description of the present invention or the claims. [Brief explanation of the drawings]

[0040] [Figure 1] 1 is a view showing a linear member moving device according to an embodiment of the present invention; [Figure 2] 1 is a view showing an arbitrary separation of a linear member moving device according to an embodiment of the present invention; [Figure 3] 3 is a partially exploded perspective view of the linear member moving device shown in FIG. 2. FIG. [Figure 4] 4 is a diagram illustrating the arrangement and operation of a pair of first grip members and a pair of second grip members according to an embodiment of the present invention. [Figure 5] 4 is a diagram illustrating the arrangement and other operations of a pair of first grip members and a pair of second grip members according to an embodiment of the present invention. [Figure 6] 10 is a diagram illustrating the arrangement of a pair of first grip members and a pair of second grip members according to an embodiment of the present invention, and further another operation. [Figure 7] 7 is a view showing one side of a first grip member in a form different from the one side of the first grip member shown in FIGS. 4 to 6. [Figure 8] 2 is a diagram illustrating an example of a first driving machine according to an embodiment of the present invention. [Figure 9] 10 is a view showing another example of a first driving machine according to an embodiment of the present invention. [Figure 10] 10 is a view showing yet another example of a first driving machine according to an embodiment of the present invention. [Figure 11] 1 is a view illustrating a push unit according to an embodiment of the present invention; [Figure 12] 1 is a view illustrating a push unit according to an embodiment of the present invention; [Figure 13] 4 is a diagram illustrating a mechanism by which a linear member moving device according to an embodiment of the present invention moves a linear member in an extension direction of the linear member; [Figure 14] 4 is a diagram illustrating a mechanism by which a linear member moving device according to an embodiment of the present invention moves a linear member in an extension direction of the linear member; [Figure 15]4 is a diagram illustrating a mechanism by which a linear member moving device according to an embodiment of the present invention moves a linear member in an extension direction of the linear member; [Figure 16] 4 is a diagram illustrating a mechanism by which a linear member moving device according to an embodiment of the present invention moves a linear member in an extension direction of the linear member; [Figure 17] 4 is a diagram illustrating a mechanism for rotating a linear member around a central axis in an extension direction of the linear member in a linear member moving device according to an embodiment of the present invention. [Figure 18] 4 is a diagram illustrating a mechanism for rotating a linear member around a central axis in an extension direction of the linear member in a linear member moving device according to an embodiment of the present invention. [Figure 19] 1 is a diagram illustrating a configuration that can be added to a linear member moving device according to an embodiment of the present invention. [Figure 20] FIG. 10 is a perspective view of a first driving module according to another embodiment of the present invention, viewed from one direction. [Figure 21] 10 is a view of a first driving module according to another embodiment of the present invention, viewed from another direction. [Figure 22] 10 is a diagram illustrating the operation of a pair of link units constituting a first driving module according to another embodiment of the present invention. [Figure 23] 1 is a diagram showing a linear member moving system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0041] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may be embodied in various different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention, parts not related to the description will be omitted in the drawings, and the same reference numerals will be used throughout the specification to refer to the same or similar components.

[0042] The words and terms used in this specification and claims should not be interpreted in a limited manner based on their ordinary or dictionary meanings, but should be interpreted in a manner that is consistent with the technical idea of ​​the present invention, in accordance with the principle that the inventor can define the terms and concepts in order to best describe his or her invention.

[0043] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings correspond to preferred embodiments of the present invention and do not represent the entire technical idea of ​​the present invention, and therefore, there may be various equivalents and modifications that replace the relevant configurations at the time of filing of the present invention.

[0044] In this specification, the terms "comprise" or "have" and the like are intended to describe the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0045] When a component is "in front of," "behind," "above," or "below" another component, it does not only mean that it is placed "in front of," "behind," "above," or "below" the other component immediately adjacent to it, unless there are special circumstances, but also includes cases where other components are placed between them. Furthermore, when a component is "connected" to another component, it does not only mean that they are directly connected to each other, but also means that they are indirectly connected to each other, unless there are special circumstances.

[0046] Fig. 1 is a view showing a linear member moving device according to an embodiment of the present invention, Fig. 2 is a view of an arbitrarily separated linear member moving device according to an embodiment of the present invention, Fig. 3 is a perspective view of a portion of the linear member moving device shown in Fig. 2, Fig. 4 is a view for explaining the arrangement and one operation of a pair of first gripping members and a pair of second gripping members according to an embodiment of the present invention, Fig. 5 is a view for explaining the arrangement and another operation of a pair of first gripping members and a pair of second gripping members according to an embodiment of the present invention, and Fig. 6 is a view for explaining the arrangement and yet another operation of a pair of first gripping members and a pair of second gripping members according to an embodiment of the present invention.

[0047] 1 to 6, a linear member moving device 10 according to an embodiment of the present invention is a device for moving a linear member 1 in the extension direction of the linear member 1. As shown in FIG.

[0048] The linear member 1 includes a tubular surgical tool such as a catheter, a guidewire, etc. The linear member 1 has a predetermined length, and FIG. 1 illustrates only a portion of the entire linear member 1 that is moved by the linear member moving device 10.

[0049] In one embodiment of the present invention, a portion of the linear member 1 moved by the linear member moving device 10 may extend in the X-axis direction as shown in Fig. 1. For example, the linear member through-holes (510a, 540a, etc. in Fig. 3) formed in the linear member moving device 10 so that the linear member 1 can move through them may be aligned in a row in the X-axis direction.

[0050] However, the area not shown in FIG. 1 does not necessarily extend in the X-axis direction, but may extend in various forms such as a curved line or a combination of curved and straight lines.

[0051] The linear member 1 can be moved in the X-axis direction, which is the extension direction of the linear member 1, by a linear member moving device 10.

[0052] At this time, the linear member 1 can be moved in the +X direction or the -X direction by the linear member moving device 10 according to the embodiment of the present invention.

[0053] If the tip of the linear member 1 is in an area not shown to the right of the linear member 1 when viewed from FIG. 1, then when the linear member 1 moves in the +X direction, it can be said that the linear member 1 moves forward, and when it moves in the -X direction, it can be said that the linear member 1 moves backward.

[0054] In one embodiment of the present invention, the linear member moving device 10 can not only move the linear member 1 forward or backward in the extension direction of the linear member 1, but also rotate the linear member 1 around the central axis K in the extension direction.

[0055] The linear member moving device 10 may include a main body 100 , a pair of first gripping members 210 , 220 , a pair of second gripping members 310 , 320 , a first driving module 400 , and a second driving module 500 .

[0056] The main body 100 is a structure that directly or indirectly supports the components described below.

[0057] Although the main body 100 is illustrated in FIG. 1 as having a rectangular parallelepiped shape with an internal space 101, this is merely an example, and it goes without saying that the main body 100 may have various shapes that directly or indirectly support the components described below.

[0058] The main body 100 may be provided with a linear member support (not shown) that supports a portion of the linear member 1 so that the linear member 1 is extended in a linear form as shown in FIG.

[0059] In one embodiment of the present invention, a pair of first gripping members 210, 220 are disposed opposite each other across the linear member 1. The pair of gripping members operates to grip or release the linear member 1.

[0060] More specifically, the pair of first gripping members 210, 220 grip the linear member 1 by moving toward each other and pressing the sides of the linear member 1, as shown in Figure 5. Then, the pair of first gripping members 210, 220 move away from each other to release their grip on the linear member 1, as shown in Figures 4 and 6.

[0061] In one embodiment of the present invention, a pair of first gripping members 210, 220 may be operably supported on the body 100 to grip or release the linear member 1.

[0062] For example, the pair of first gripping members 210, 220 may extend in the extension direction of the linear member 1 and be supported by connecting members 530 supported on the main body 100. Each of the first gripping members 210, 220 may be supported on the main body 100 by at least one connecting member 530.

[0063] The pair of first grip members 210 and 220 may have connecting member through holes 210a and 220a through which the connecting member 530 passes.

[0064] The connecting member through holes 210a, 220a may have the form of slits extending in a direction in which the pair of first gripping members 210, 220 move toward or away from each other. In other words, the connecting member through holes 210a, 220a may have the form of slits extending in a direction in which the pair of first gripping members 210, 220 move toward or away from each other. For example, the connecting member through holes 210a, 220a may extend in the Z-axis direction when viewed from FIGS. 3 to 6.

[0065] The pair of first gripping members 210 and 220 can be operably supported on the main body 100 by the connecting member 530 and the connecting member through holes 210a and 220a so as to grip or release the linear member 1.

[0066] The gripping and releasing operations of the pair of first gripping members 210, 220 are performed by a pair of second gripping members 310, 320, which will be described later.

[0067] According to one embodiment of the present invention, at least one elastic body 230 may be disposed between the pair of first gripping members 210, 220 to provide elastic force in a direction in which the pair of first gripping members 210, 220 move away from each other.

[0068] When no external force is applied to the pair of first gripping members 210 and 220, the pair of first gripping members 210 and 220 can easily release their grip on the linear member 1 due to the elastic body 230.

[0069] An elastic body insertion hole 210b into which the elastic body 230 is inserted may be formed in the pair of first gripping members 210, 220. Note that the elastic body insertion hole formed in the first gripping member 220 located in the +Z direction in FIG. 3 is hidden by the main body of the first gripping member 220 and cannot be seen.

[0070] In one embodiment of the present invention, each of the first gripping members 210, 220 may be formed so that at least a portion of a surface 211, 221 facing the linear member 1 is flat.

[0071] For example, each of the first gripping members 210 and 220 may be formed so that a surface 211 or 221 facing the linear member 1 is entirely flat, as shown in FIGS.

[0072] In this case, the surfaces of the first gripping members 210 and 220 facing the linear member 1 may be arranged side by side. In this case, even if the linear member 1 is placed at a position between the pair of first gripping members 210 and 220 facing each other, the degree of pressure on the linear member 1 may be the same.

[0073] 7, the surfaces 211, 221 of the first gripping members 210, 220 facing the linear member 1 may have insertion grooves 211a, 221a into which the linear member 1 is partially inserted. In this case, the surfaces 211, 221 of the first gripping members 210, 220 may be partially flat.

[0074] When the linear member 1 is inserted into the insertion grooves 211a, 221a and gripped by the pair of first gripping members 210, 220, the linear member 1 is compressed while being surrounded by the insertion grooves 211a, 221a. In this case, since there is a large contact space between the linear member 1 and the inner surfaces of the insertion grooves 211a, 221a, pressure is dispersed, thereby reducing damage to the linear member 1.

[0075] Incidentally, FIG. 7 is a drawing showing one side of the first grip member in a form different from the one side shown in FIGS.

[0076] Meanwhile, although not shown, a friction pad insertion groove into which a friction pad is inserted may be formed on one surface of the first gripping member facing the linear member, and the linear member can be gripped by the friction pad inserted into the friction pad insertion groove.

[0077] In one embodiment of the present invention, each of the first gripping members 210, 220 may be formed so that at least a portion of the other surface 212, 222 located opposite to the one surface 211, 221 facing the linear member 1 is curved.

[0078] For example, the other surfaces 212, 222 of each of the first gripping members 210, 220, which are located opposite to the surfaces 211, 221 facing the linear member 1, may be formed to be entirely curved, as shown in Figures 4 to 6. In this case, the pair of first gripping members 210, 220 can rotate smoothly even when pressed by the second gripping members 310, 320, which will be described later.

[0079] In one embodiment of the present invention, each of the first gripping members 210, 220 may have a semicircular cross section perpendicular to the extension direction of the linear member 1, as shown in FIGS.

[0080] In this case, when the pair of first gripping members 210, 220 grip the linear member 1 as shown in FIG. 5, the pair of first gripping members 210, 220 may have a circular cross section perpendicular to the extension direction of the linear member 1 as a whole.

[0081] In this case, the pair of second grip members 310, 320 described below can easily and effectively support the pair of first grip members 210, 220 so that they can rotate.

[0082] In one embodiment of the present invention, the pair of first gripping members 210, 220 can move in the extension direction of the linear member 1 while gripping the linear member 1, as shown in Figure 5. In this case, the linear member 1 can move in the extension direction of the linear member 1 together with the pair of first gripping members 210, 220. This will be described in detail later.

[0083] In one embodiment of the present invention, the pair of first gripping members 210, 220 can rotate around the central axis K in the extension direction of the linear member 1 while gripping the linear member 1, as shown in Fig. 5. In this case, the linear member 1 can rotate around the central axis K in the extension direction. This will be described in detail later.

[0084] In one embodiment of the present invention, the pair of second gripping members 310, 320 are disposed opposite each other with the linear member 1 and the pair of first gripping members 210, 220 sandwiched between them. For example, when viewed from FIG. 5, the pair of second gripping members 310, 320 may be disposed spaced apart vertically with the linear member 1 and the pair of first gripping members 210, 220 sandwiched between them.

[0085] In one embodiment of the present invention, the pair of second gripping members 310, 320 move toward each other and press the pair of first gripping members 210, 220, as shown in Figure 5. In other words, the pair of second gripping members 310, 320 move toward the linear member 1 and press the pair of first gripping members 210, 220. In this case, the pair of first gripping members 210, 220 can grip the linear member 1 by moving toward each other.

[0086] In one embodiment of the present invention, the pair of second gripping members 310, 320 pressurizing the pair of first gripping members 210, 220 means that the pair of second gripping members 310, 320 pressurize the pair of first gripping members 210, 220 with a predetermined pressure so that the pair of first gripping members 210, 220 grip the linear member 1.

[0087] In one embodiment of the present invention, the pair of second gripping members 310, 320 move away from each other as shown in Figure 4 to release the pressure on the pair of first gripping members 210, 220. In this case, the pair of first gripping members 210, 220 can move away from each other to release their grip on the linear member 1.

[0088] In one embodiment of the present invention, the pair of second gripping members 310, 320 releasing pressure from the pair of first gripping members 210, 220 means that the pair of second gripping members 310, 320 pressurize the pair of first gripping members 210, 220 below the predetermined pressure so that the pair of first gripping members 210, 220 release their grip on the linear member 1.

[0089] For ease of explanation, a state in which the pair of second gripping members 310, 320 are completely separated from the pair of first gripping members 210, 220 and the pressure is zero, as shown in FIG. 4, will be referred to as a completely released pressure state, and a state in which the pair of second gripping members 310, 320 pressurize the pair of first gripping members 210, 220 with a pressure that exceeds zero but is less than a predetermined pressure, as shown in FIG. 6, will be referred to as an incompletely released pressure state.

[0090] In one embodiment of the present invention, the pair of second gripping members 310, 320 can rotatably support the pair of first gripping members 210, 220 that grip the linear member 1 while applying pressure to the first gripping members 210, 220.

[0091] Referring to FIGS. 3 to 6, each of the second gripping members 310, 320 may include a second gripping member body 311, 321 and a rolling member 312, 322.

[0092] The second gripping member bodies 311 and 321 are spaced apart from the linear member 1 in a direction perpendicular to the extension direction of the linear member 1 .

[0093] The second gripping member bodies 311 and 321 may be manufactured in the form of a plurality of plates joined together as shown in Fig. 3. Alternatively, although not shown, the second gripping member bodies 311 and 321 may be manufactured as a single body.

[0094] The side of the second gripping member body 311, 321 facing the linear member 1 may be formed to be concave so as to surround the linear member 1 or the first gripping members 210, 220.

[0095] The rolling members 312, 322 are coupled to the second grip member bodies 311, 321 so as to be capable of rolling movement.

[0096] For example, as shown in FIG. 5, when a pair of first gripping members 210, 220 pressed by a pair of second gripping members 310, 320 rotate while gripping a linear member 1, the rolling members 312, 322 can make contact with the outer circumferential surfaces of the pair of first gripping members 210, 220 and perform rolling motion.

[0097] For example, as shown in FIG. 6, when a pair of first gripping members 210, 220, which has been incompletely released from pressure by a pair of second gripping members 310, 320, rotates while releasing its grip on the linear member 1, the rolling members 312, 322 can make contact with the outer circumferential surfaces of the pair of first gripping members 210, 220 and perform rolling motion.

[0098] For example, the rolling members 312, 322 may be rollers as shown in Figure 3. Alternatively, although not shown, the rolling members 312, 322 may be balls.

[0099] At least one rolling member 312, 322 may be attached to each second grip member body 311, 321.

[0100] In one embodiment of the present invention, a pair of second gripping members 310, 320 may be operably supported on the body 100 to compress or decompress the pair of first gripping members 210, 220.

[0101] For example, the pair of second gripping members 310, 320 may be operably coupled to a first drive module 400 supported on the main body 100. In other words, the pair of second gripping members 310, 320 may be operably supported on the main body 100 via the first drive module 400.

[0102] In one embodiment of the present invention, the first driving module 400 operates the pair of second gripping members 310, 320 to pressurize or depressurize the pair of first gripping members 210, 220, and operates the pair of second gripping members 310, 320 to move in the extension direction of the linear member 1.

[0103] In one embodiment of the present invention, the first driving module 400 may include a gripper 410. The gripper 410 provides a driving force for the pair of second gripping members 310, 320 to press or depress the pair of first gripping members 210, 220.

[0104] The gripper 410 may include a pair of pressure members 411 and 412 , a gripper body 413 , and a gripper actuator 415 .

[0105] The pair of pressure members 411 and 412 are respectively coupled to the pair of second grip members 310 and 320. The pair of pressure members 411 and 412 can move toward or away from each other while coupled to the pair of second grip members 310 and 320.

[0106] The pair of pressure members 411, 412 operating in this manner actuates the pair of second grip members 310, 320 so that the pair of second grip members 310, 320 presses or releases pressure on the pair of first grip members 210, 220.

[0107] The pair of pressure members 411 and 412 may be supported by the gripper body 413 so as to be movable toward and away from each other.

[0108] The gripper body 413 may extend in a direction in which the pair of pressure members 411 and 412 move toward or away from each other. In other words, the gripper body 413 may extend in a direction perpendicular to the extension direction of the linear member 1.

[0109] At this time, the gripper body 413 may be formed with a guide groove 413 a for guiding the movement of the pair of pressure members 411 and 412 .

[0110] The gripper actuator 415 provides a driving force to the pair of pressure members 411 and 412 for the pair of second grip members 310 and 320 to press or release the pair of first grip members 210 and 220 .

[0111] Such a gripper actuator 415 may be operatively connected to a pair of pressure members 411, 412.

[0112] 8, the gripper actuator 415 may be a hydraulic or pneumatic cylinder operatively connected to the pressure members 411 and 412. In this case, two gripper actuators 415 may be used corresponding to the number of pressure members 411 and 412.

[0113] Each gripper actuator 415 is supported on one side and the other side of the gripper body 413 and is arranged so that the pair of pressure members 411 and 412 can expand and contract in the direction of moving toward and away from each other. Ends of each gripper actuator 415 can be fixed to the pressure members 411 and 412.

[0114] As another example, the gripper actuator 415′ may be a motor as shown in FIG. 9. In this case, the driving force of the gripper actuator 415′, which is a motor, may be transmitted to the pressure members 411 and 412 through a rack 421 and a pinion 422.

[0115] At this time, the rack 421 is connected to the pressure members 411 and 412, extends in the movement direction of the pressure members 411 and 412, and is slidably supported on the gripper body 413. A pinion 422 meshing with the rack 421 and a gripper actuator 415′ for rotating the pinion 422 are supported on the gripper body 413.

[0116] At this time, two gripper actuators 415' can be used in accordance with the number of pressure members 411 and 412.

[0117] As yet another example, the gripper actuator 415, which is a motor, may be operatively connected to the pressure members 411 and 412 by a nut 424 and a screw 425 as shown in FIG.

[0118] At this time, the nut 424 is connected to the pressure members 411 and 412 and slidably supported on the gripper body 413. A screw 425 that engages with the nut 424 is rotatably supported on the gripper body 413. A gripper actuator 415′ operatively connected to the screw 425 is supported on the gripper body 413 and rotates the screw 425.

[0119] At this time, two gripper actuators 415, which are motors, can be used in accordance with the number of pressure members 411 and 412.

[0120] 8 and 9, two gripper actuators 415' are used to operate a pair of pressure members 411 and 412. However, in other embodiments (not shown), a single gripper actuator (not shown) can be used to operate a pair of pressure members using a power transmission member such as a gear, belt, link, etc.

[0121] In one embodiment of the present invention, the first driving module 400 may include an actuator 430 that provides a driving force for moving the gripper 410 in the extension direction of the linear member 1 .

[0122] The actuator 430 may be operatively connected to the gripper 410 to move the gripper 410 in the extension direction of the linear member 1 .

[0123] In one embodiment of the present invention, the gripper 410 may be supported by a moving member 443 movably coupled to a guide rail 441 extending in the extension direction of the linear member 1. In this case, the guide rail 441 is supported by the main body 100. Alternatively, the guide rail 441 may constitute a part of the main body.

[0124] The moving member 443 can move along the guide rail 441 by the driving force provided by the actuator 430 .

[0125] As an example, although not specifically shown, the actuator 430 may be a hydraulic or pneumatic cylinder. In this case, the actuator 430 may be supported by the main body 100 or the guide rail 441.

[0126] As another example, although not specifically shown, the actuator 430 may be a motor, in which case the actuator 430 may move the moving member 443 using a rack and pinion or a nut and screw.

[0127] In one embodiment of the present invention, an intermediate support member 445 may be interposed between the gripper 410 and the moving member 443, but is not limited to this.

[0128] In one embodiment of the present invention, the second driving module 500 is supported by the main body 100 so as to rotate the pair of first gripping members 210, 220 about the central axis K in the extension direction of the linear member 1.

[0129] The second drive module 500 may include a rotating member 510 , a motor 520 , and a coupling member 530 .

[0130] The rotating member 510 is disposed spaced apart from the pair of first gripping members 210, 220 in the extension direction of the linear member 1. The rotating member 510 is supported by the main body 100 so as to rotate around a central axis K in the extension direction of the linear member 1.

[0131] The rotating member 510 may have a disk shape.

[0132] The rotation member 510 may be rotatably supported by a bracket 551. The bracket 551 may be a part of the main body 100 or may be manufactured separately and coupled to the main body 100. The bracket 551 may have a rotation member coupling hole 551a formed therein to which the rotation member 510 is rotatably coupled.

[0133] The rotation member 510 may be rotatably coupled to the rotation member coupling hole 551a via a bearing (not shown).

[0134] The rotary member 510 is formed with a linear member through-hole 510a through which the linear member 1 can pass and move.

[0135] The motor 520 provides a rotational driving force for rotating the rotating member 510. The motor 520 is operatively coupled to the rotating member 510.

[0136] 2 and 3, the motor 520 may be operably connected to the rotating member 510 through a driving gear 521 coupled to the motor 520 and a driven gear 523 meshing with the driving gear 521 and coupled to the rotating member 510. In this case, a linear member through-hole 523a through which the linear member 1 passes may be formed in the driven gear 523.

[0137] As another example, although not shown, the motor 520 may be operatively connected to the rotating member 510 through a belt or pulley.

[0138] The connecting member 530 connects the rotating member 510 and the pair of first gripping members 210, 220 to each other.

[0139] The connecting member 530 may have a bar shape extending in the extension direction of the linear member 1 .

[0140] In one embodiment of the present invention, at least one connecting member 530 is provided for each of the first gripping members 210 and 220 .

[0141] 3 to 6, two connecting members 530 may be provided for each of the first gripping members 210 and 220. The two connecting members 530 connected to each of the first gripping members 210 and 220 may be connected to each of the first gripping members 210 and 220 symmetrically about the central axis K of the linear member 1 in the extension direction.

[0142] In this case, when the two connecting members 530 rotate around the central axis K in the extension direction of the linear member 1, the first gripping members 210 and 220 connected to the two connecting members 530 can rotate stably.

[0143] In one embodiment of the present invention, the connecting member 530 penetrates the first gripping members 210, 220 and is connected to the first gripping members 210, 220. In this case, the connecting member 530 can not only rotate the first gripping members 210, 220 but also guide the first gripping members 210, 220 in the extension direction of the linear member 1.

[0144] Connection member through holes 210a, 220a are formed in the first gripping members 210, 220. The connection member through holes 210a, 220a may extend in a direction in which the pair of first gripping members 210, 220 move toward or away from each other.

[0145] In this case, the connecting member 530 may serve to guide the pair of first gripping members 210 and 220 when the pair of first gripping members 210 and 220 grip or release the grip.

[0146] One end of the connecting member 530 is fixedly supported by the rotating member 510. At this time, the rotating member 510 may have a connecting member coupling hole 510b to which one end of the connecting member 530 is coupled.

[0147] The other end of the connecting member 530 may be fixedly supported by the auxiliary rotating member 540. At this time, the auxiliary rotating member 540 may have a connecting member coupling hole 540b to which the other end of the connecting member 530 is coupled.

[0148] The auxiliary rotating member 540 is disposed apart from the rotating member 510 in the extension direction of the linear member 1 .

[0149] In this regard, even when one end of the connecting member 530 is fixedly supported by the rotating member 510, it can support various movements of the first gripping members 210, 220, such as movement in the extension direction of the linear member 1, movement to grip the linear member 1, and rotational movement around the central axis of the extension direction of the linear member 1.

[0150] In this situation, when the other end of the connecting member 530 is fixedly supported by the auxiliary rotating member 540, various movements of the first gripping members 210 and 220 can be stably supported.

[0151] The auxiliary rotating member 540 may have a disk shape.

[0152] The auxiliary rotation member 540 may be rotatably supported by a bracket 552. The bracket 552 may be a part of the main body 100 or may be manufactured separately and connected to the main body 100. The bracket 552 may have a rotation member connection hole 552a formed therein to which the auxiliary rotation member 540 is rotatably connected.

[0153] The auxiliary rotating member 540 may be rotatably coupled to the rotating member coupling hole 552a via a bearing (not shown).

[0154] The auxiliary rotating member 540 is formed with a linear member through-hole 540a through which the linear member 1 can pass and move.

[0155] 11 and 12 are views for explaining a pushing unit according to an embodiment of the present invention. Referring to FIGS. 2, 3, 11 and 12, the linear member moving device 10 according to an embodiment of the present invention may further include a pushing unit 600.

[0156] The push unit 600 is operably supported on the main body 100 so as to push the pair of first gripping members 210, 220 in the movement direction of the pair of second gripping members 310, 320 when the pair of second gripping members 310, 320 moves in the extension direction of the linear member 1 with the pressure on the pair of first gripping members 210, 220 completely released, as shown in Figures 4 and 11.

[0157] In this regard, when the pair of second gripping members 310, 320 moves in the extension direction of the linear member 1 while applying pressure to the pair of first gripping members 210, 220, as shown in Figures 5 and 12, the pair of first gripping members 210, 220 can move together with the pair of second gripping members 310, 320.

[0158] When the pair of second gripping members 310, 320 moves in the extension direction of the linear member 1 while partially releasing pressure on the pair of first gripping members 210, 220 as shown in FIG. 6, the pair of first gripping members 210, 220 can move together with the pair of second gripping members 310, 320 due to the pressure provided by the pair of second gripping members 310, 320.

[0159] However, when the pair of second gripping members 310, 320 moves in the extension direction of the linear member 1 while completely releasing pressure from the pair of first gripping members 210, 220 as shown in Figures 4 and 11, the pair of first gripping members 210, 220 cannot move together with the pair of second gripping members 310, 320 because there is no pressure provided by the pair of second gripping members 310, 320. In this case, the pushing unit 600 pushes the pair of first gripping members 210, 220 in the movement direction of the pair of second gripping members 310, 320, causing them to move together.

[0160] In one embodiment of the present invention, the pushing unit 600 may include a pair of pushing members 610 and 620 that are spaced apart in the extension direction of the linear member 1 with a pair of first gripping members 210 and 220 sandwiched therebetween.

[0161] The pair of push members 610, 620 may be arranged to face both sides 201, 202 of the pair of first grip members 210, 220 in the extension direction of the linear member 1.

[0162] The pair of push members 610 and 620 may be connected to each other and supported by a separate connecting support member (not shown).

[0163] In one embodiment of the present invention, each push member 610, 620 has a plate shape as shown in Figures 2, 3 and 11, and is illustrated as having a shape that covers not only both sides 201, 202 of the pair of first gripping members 210, 220 in the extension direction of the linear member 1, but also both sides 310, 320 of the pair of second gripping members in the extension direction of the linear member 1.

[0164] However, each push member 610, 620 is not limited to the above-mentioned shape, and may have various shapes that can push and move the pair of first grip members 210, 220 when the pair of second grip members 310, 320 is completely released from pressure on the pair of first grip members 210, 220.

[0165] In one embodiment of the present invention, the pushing unit 600 can move in the extension direction of the linear member 1 by the driving force of the first driving module 400 that moves the pair of second gripping members 310 and 320 in the extension direction of the linear member 1 .

[0166] In this case, the pushing unit 600 may be supported on a portion of the first driving module 400 that moves in the extension direction of the linear member 1 together with the pair of second gripping members 310, 320. In this case, the pushing unit 600 may be operably supported on the main body 100 via the driving module supported on the main body 100.

[0167] For example, the pair of push members 610 and 620 constituting the push unit 600 may be fixedly supported on the gripper body 413 of the first driving module 400 .

[0168] As another example, or although not shown, the pair of push members 610 and 620 constituting the push unit 600 may be fixedly supported by the moving member 443 of the first driving module 400 .

[0169] Alternatively, although not shown, the pair of push members 610 and 620 of the push unit 600 can be moved by the first drive module 400 and another separate drive module.

[0170] In one embodiment of the present invention, the pair of push members 610 and 620 are spaced apart by a predetermined distance in the extension direction of the linear member 1 .

[0171] In one embodiment of the present invention, the pair of first gripping members 210, 220 can grip or release between the pair of push members 610, 620, and the pair of push members 610, 620 can guide the movement of the pair of first gripping members 210, 220.

[0172] 11 and 12, the pair of first gripping members 210 and 220 on both sides 201 and 202 in the extension direction of the linear member 1 and the pair of pushing members 610 and 620 may be spaced apart by a predetermined distance.

[0173] In one embodiment of the present invention, the pair of push members 610 and 620 are formed in a shape that covers both sides of the pair of first grip members 210 and 220 in the extension direction of the linear member 1.

[0174] Furthermore, the pair of push members 610, 620 are formed in a shape that covers both sides of the pair of second grip members 310, 320 in the extension direction of the linear member 1.

[0175] At this time, the pair of second gripping members 310, 320 can perform a pressure or release operation between the pair of pushing members 610, 620, and the pair of pushing members 610, 620 can guide the operation of the pair of second gripping members 310, 320.

[0176] 11 and 12, both sides of the pair of second gripping members 310 and 320 in the extension direction of the linear member 1 may contact the respective push members 610 and 620. In this case, the contact surfaces of the pair of second gripping members 310 and 320 and the pair of push members 610 and 620 may be processed to have a low coefficient of friction.

[0177] As another example, although not shown, both sides of the pair of second gripping members 310, 320 in the extension direction of the linear member 1 may be spaced apart from the pair of pushing members 610, 620 by a predetermined distance.

[0178] In one embodiment of the present invention, each of the push members 610, 620 may include a rotating plate 611, 621 and a push member body 612, 622, respectively.

[0179] The rotary plates 611 and 621 may have linear member through holes 610a and 620a through which the linear members 1 pass. The rotary plates 611 and 621 may rotate around the linear member through holes 610a and 620a.

[0180] The rotating plates 611, 621 may be disposed facing either one of the two sides 201, 202 of the pair of first gripping members 210, 220 in the extension direction of the linear member 1. In this case, the rotating plates 611, 621 may be parts that push out the pair of first gripping members 210, 220.

[0181] The push member bodies 612 and 622 rotatably support the rotary plates 611 and 621. The push member bodies 612 and 622 may have rotary plate coupling holes 612a and 622a to which the rotary plates 611 and 621 are rotatably coupled. The rotary plates 611 and 621 may be rotatably coupled to the rotary plate coupling holes 612a and 622a via bearings.

[0182] The rotary plates 611 and 621 are formed with connecting member through-holes 610b and 620b through which the connecting member 530 constituting the second driving module 500 passes. At this time, the connecting member 530 disposed to pass through the connecting member through-holes 610b and 620b can guide the pair of pushing members 610 and 620 including the rotary plates 611 and 621 in the extension direction of the linear member 1.

[0183] The connecting member through holes 610b and 620b may be formed around the linear member through holes 610a and 620a.

[0184] In another embodiment, although not shown, each of the pair of push members may include a push member body similar to the push member bodies 612 and 622 of Fig. 3 without the rotating plates 611 and 621 shown in Fig. 3. In this case, the push member body may have an integrated through-hole (not shown) through which the connecting member 530 and the linear member 1 pass.

[0185] At this time, the through hole may be formed so that when the push member body moves in the extension direction of the linear member 1 with the pair of first gripping members 210, 220 releasing their grip on the linear member 1, the periphery of the through hole is engaged with the pair of first gripping members 210, 220.

[0186] Figures 13 to 16 are drawings for explaining the mechanism by which a linear member moving device according to one embodiment of the present invention moves a linear member in the extension direction of the linear member, and Figures 17 to 18 are drawings for explaining the mechanism by which a linear member moving device according to one embodiment of the present invention rotates a linear member around the central axis in the extension direction of the linear member.

[0187] 13 to 18, some of the configuration of the linear member moving device 10 according to one embodiment of the present invention is omitted.

[0188] Hereinafter, with reference to FIGS. 13 to 16, an operation mechanism for moving the linear member 1 in the extension direction of the linear member 1 by the linear member moving device 10 according to one embodiment of the present invention will be described.

[0189] 13, the pair of second gripping members 310, 320 is in a state where it has completely released its grip on the pair of first gripping members 210, 220. At this time, the pair of pressure members 411, 412 of the first driving module 400 operates so that the pair of second gripping members 310, 320 presses the pair of first gripping members 210, 220.

[0190] By operating the pair of pressure members 411, 412 in this manner, the pair of first grip members 210, 220 can grip the linear member 1 as shown in FIG.

[0191] Referring to Figure 14, while the pair of first gripping members 210, 220 grip the linear member 1, the pair of pressure members 411, 412 of the first driving module 400 operate to move the pair of second gripping members 310, 320 in the +X direction, which is one of the extension directions of the linear member 1.

[0192] At this time, the linear member 1 gripped by the pair of first gripping members 210 and 220 can move in the moving direction of the pair of pressure members 411 and 412 or in the extending direction of the linear member 1.

[0193] By operating the pair of pressure members 411 and 412 as described above, the pair of second gripping members 310 and 320, the pair of first gripping members 210 and 220, and the linear member 1 can move a predetermined distance in the +X direction as shown in Figure 15 and then stop moving.

[0194] 15, the pair of pressure members 411, 412 of the pair of first drive modules 400 operate so that the pair of second gripping members 310, 320 release pressure from the pair of first gripping members 210, 220. Incidentally, FIG. 15 illustrates a state in which the pair of second gripping members 310, 320 have completely released pressure from the pair of first gripping members 210, 220.

[0195] By operating the pair of pressure members 411, 412 in this manner, the pair of first grip members 210, 220 can release their grip on the linear member 1 as shown in FIG.

[0196] Referring to Figure 16, when the pair of first gripping members 210, 220 releases the grip on the linear member 1, the pair of pressure members 411, 412 of the first driving module 400 operates to move the pair of second gripping members 310, 320 in the -X direction, which is the other direction of the extension direction of the linear member 1.

[0197] At this time, the push members 610 and 620 supported by the gripper body 413 of the first driving module 400 can move the pair of first grip members 210 and 220, which have been completely released from the pair of second grip members 310 and 320, in the -X direction, which is the movement direction of the pair of pressure members 411 and 412.

[0198] 13 to 16 illustrate a mechanism by which the linear member moving device 10 according to one embodiment of the present invention moves the linear member 1 in one direction of the extension direction of the linear member 1, that is, in the +X direction.

[0199] However, it will be obvious to those skilled in the art that the linear member moving device 10 according to one embodiment of the present invention can move the linear member 1 in the other direction of the extension direction of the linear member 1, i.e., the -X direction, using a mechanism substantially the same as the mechanism described in Figures 13 to 16.

[0200] Hereinafter, an operation mechanism of the linear member moving device 10 according to one embodiment of the present invention, which rotates the linear member 1 around the central axis of the linear member 1 in the extension direction, will be described with reference to FIGS.

[0201] Referring to Figure 17, by operating the pair of pressure members 411, 412 of the first driving module 400, the pair of second grip members 310, 320 press the pair of first grip members 210, 220, and in a chain reaction, the pair of first grip members 210, 220 can grip the linear member 1.

[0202] When the pair of first gripping members 210, 220 grip the linear member 1 and the motor 520 of the second driving module 500 is operated, the driving force of the motor 520 is transmitted to the pair of first gripping members 210, 220 through the driving gear 521, the driven gear 523, and the connecting member 530.

[0203] The pair of first gripping members 210, 220, which receive the driving force from the motor 520, can rotate in one direction around the central axis of the linear member 1 in the extension direction as shown in Fig. 18. In this process, the linear member 1 gripped by the pair of first gripping members 210, 220 can also rotate.

[0204] The direction of rotation of the pair of grip members and the linear member 1 can be changed depending on the direction of the rotational driving force generated by the motor 520 .

[0205] Meanwhile, the linear member moving device 10 according to one embodiment of the present invention can perform the operation of moving the linear member 1 in the extension direction of the linear member 1 and the operation of rotating the linear member 1 around the central axis of the extension direction of the linear member 1 separately or simultaneously.

[0206] The linear member moving device 10 according to one embodiment of the present invention discussed above can smoothly perform a task using the linear member 1, such as surgery, by separately or simultaneously performing the operation of linearly moving the linear member 1 in the extension direction of the linear member 1 and the operation of rotating the linear member 1 around the central axis of the extension direction of the linear member 1.

[0207] At this time, the first gripping members 210, 220 gripping the linear member 1 are rotatably supported by the second gripping members 310, 320, so that the linear member 1 can be rotated by rotating only the first gripping members 210, 220 without having to rotate the entire device. This allows the size of the device to be reduced, and the linear member 1 can be rotated without any restrictions on the rotation direction or rotation angle.

[0208] Figure 19 is a diagram illustrating a configuration that can be added to a linear member moving device according to an embodiment of the present invention. Similar to Figure 12, Figure 19 shows a state in which a pair of second gripping members presses a pair of first gripping members 210, 220, causing the pair of first gripping members 210, 220 to grip a linear member.

[0209] Referring to FIG. 19, the linear member moving device 10 may further include a force sensor 640 .

[0210] The force sensor 640 may be interposed between the pair of first gripping members 210 and 220 on both sides 201 and 202 in the extension direction of the linear member 1 and the pair of pushing members 610 and 620 .

[0211] The force sensor 640 measures the pressure between the pair of first gripping members 210, 220 and the pair of push members when the pair of first gripping members 210, 220 grips the linear member 1 and moves in the extension direction of the linear member.

[0212] The pressure measured by the force sensor 640 is proportional to or substantially the same as the tension applied to the linear member 1 when the pair of first gripping members 210, 220 grips the linear member 1 and moves in the extension direction of the linear member 1. The tension of the linear member 1 can be adjusted based on the pressure measured by the force sensor 640.

[0213] Meanwhile, the first driving module 400 according to an embodiment of the present invention includes a gripper 410 and an actuator 430 as shown in FIGS.

[0214] Alternatively, a first driving module 400' according to another embodiment of the present invention may include a pair of pressure members 411 and 412, a driving motor 450, and a pair of link units 460 and 470 as shown in FIGS.

[0215] Incidentally, Figure 20 is an oblique view of a first drive module according to another embodiment of the present invention viewed from one direction, and Figure 21 is a drawing of a first drive module according to another embodiment of the present invention viewed from another direction, with the pair of pressure members omitted from Figure 20.

[0216] The pair of pressure members 411, 412 may be coupled to the pair of second grip members 310, 320, respectively.

[0217] The drive motor 450 provides a driving force for operating the pair of pressure members 411 and 412 .

[0218] The pair of link units 460, 470 operably connect the driving motor 450 and the pressure members 411, 412. The pair of link units 460, 470, which receive the driving force of the driving motor 450, operate the pair of pressure members 411, 412 so that the pair of pressure members 411, 412 move along a first locus in one direction of the extension direction of the linear member 1 and along a second locus in the other direction of the extension direction of the linear member 1, moving away from and then toward the linear member 1. This will be described later.

[0219] As an example, each link unit 460, 470 includes a driving link 461, 471, a connecting link 463, 473, and a supplemental link 465, 475.

[0220] One end of the driving links 461 and 471 can be rotated by the driving motor 450. At this time, the driving links 461 and 471 can rotate around a third direction that is perpendicular to both the first direction, which is the extension direction of the linear member 1, and the second direction, which is the direction in which the pair of second gripping members 310 and 320 move toward or away from each other, by receiving the driving force of the driving motor 450.

[0221] In other words, the drive links 461 and 471 can rotate around the lateral direction of the extension direction of the linear member 1 by receiving the drive force of the drive motor 450 .

[0222] One end of the drive links 461 , 471 may be rotatably supported on the main body 100 .

[0223] For example, the rotation shafts 462 and 472 coupled to one end of the driving links 461 and 471 may be rotatably supported by a first support member 111 that constitutes a part of the main body 100 via a bearing (not shown).

[0224] At this time, the rotary shafts 462 and 472 are fixedly connected to one end of the driving links 461 and 471 , and when the rotary shafts 462 and 472 are rotated by the driving motor 450 , they can be rotated together with the driving links 461 and 471 .

[0225] The connecting links 463 and 473 connect the pressure members 411 and 412 to the driving links 461 and 471. One end of the connecting links 463 and 473 may be pivotally connected to the other end of the driving links 461 and 471, and the other end of the connecting links 463 and 473 may be pivotally connected to the pressure members 411 and 412.

[0226] For example, one end of the connecting links 463, 473 and the other end of the driving links 461, 471 can be pivotally connected by pivot shafts 464a, 474a, and the other end of the connecting links 463, 473 and each of the pressure members 411, 412 can be connected to pivot shafts 464b, 474b.

[0227] The auxiliary links 465, 475 may be formed so that one end is pivotally coupled to the main body 100 and the other end is pivotally coupled to a central region of the connecting links 463, 473.

[0228] For example, one end of the auxiliary links 465, 475 and the second support member 112 that forms part of the main body 100 can be pivotally connected by pivot shafts 466a, 476a, and the other end of the auxiliary links 465, 475 and the central regions of the connecting links 463, 473 can be pivotally connected to pivot shafts 466b, 476b.

[0229] In this embodiment, the driving links 461 and 471 of the link units 460 and 470 can rotate in opposite directions by receiving the driving force of the driving motor 450 .

[0230] In this case, the pair of link units 460 and 470, which receive the driving force of the driving motor 450, operate in a symmetrical structure with respect to the linear member 1 when viewed from the third direction, and the pair of pressure members 411 and 412 connected to the pair of link units 460 and 470 move along the first and second loci, but can also move in a symmetrical structure with respect to the linear member 1 when viewed from the third direction. This will be described in detail with reference to FIG. 22.

[0231] In this embodiment, the first driving module 400' may further include a pair of link driving gears 481 and 482.

[0232] Each link drive gear 481, 482 may be axially coupled to one end of the drive link 461, 471 of each link unit 460, 470 so as to rotate together with the drive link 461, 471. In this case, the link drive gear 481, 482 may be axially coupled to a rotation shaft 462, 472 axially coupled to one end of the drive link 461, 471.

[0233] In this case, when the rotary shafts 462, 472 rotate, the link drive gears 481, 482 and the drive links 461, 471 can rotate together.

[0234] The pair of link drive gears 481 and 482 are meshed with each other to rotate in opposite directions, and one of the pair of link drive gears 481 and 482 is operatively connected to a drive motor 450 to provide a driving force.

[0235] In this case, one drive motor 450 can be used to rotate the pair of link drive gears 481 and 482 that are meshed with each other, which is economical.

[0236] The driving motor 450 can transmit driving force to one of the pair of link driving gears 481 and 482 through a power transmission means such as a gear, a pulley, a belt, etc. Alternatively, the driving motor 450 can transmit driving force by being directly connected to a rotating shaft that is axially coupled to one of the pair of link driving gears 481 and 482.

[0237] For example, the drive motor 450 can transmit drive force to the link drive gear 481 located below in FIGS. 20 and 21 indirectly by a power transmission means or directly without a power transmission means.

[0238] FIG. 22 is a diagram illustrating the operation of a pair of link units constituting a first driving module according to another embodiment of the present invention.

[0239] 20 to 22, when the driving force of the driving motor 450 is transmitted to the driving links 461, 471 of each link unit 460, 470, the driving links 461, 471 rotate in different directions.

[0240] For example, when viewed from FIG. 22, the lower driving link 461 can rotate counterclockwise around the rotation axis 462, and the upper driving link 471 can rotate clockwise around the rotation axis 472.

[0241] At this time, the pressure members 411 and 412 connected to the other ends of the connecting links 463 and 473 connected to each driving link 461 and 471 by pivot shafts 464b and 474b can move along a first trajectory T1 moving in one direction of the extension direction of the linear member 1 and a second trajectory T2 moving in the other direction of the extension direction of the linear member 1, moving away from and then approaching the linear member 1.

[0242] In this case, the first locus T1 may have a linear shape, and the second locus T2 may have a semi-elliptical shape.

[0243] The first locus T1 and the second locus T2 of the pressure members 411 and 412 have a symmetrical structure with respect to the linear member 1 when viewed from FIG. 22, that is, when viewed from the third direction.

[0244] In the process in which the pair of pressure members 411, 412 move along the first trajectory T1, the pair of pressure members 411, 412 press the pair of second grip members 310, 320 with a predetermined pressure or more.

[0245] In this case, the pair of first gripping members 210, 220 can be in a state of gripping the linear member 1, and as a result, the pair of pressure members 411, 412, the pair of second gripping members 310, 320, the pair of first gripping members 210, 220, and the linear member 1 can all move in one direction of the extension direction of the linear member 1.

[0246] Here, one of the extension directions of the linear member 1 may be the right direction when viewed from Fig. 22. However, one of the extension directions of the linear member 1 may be the left direction when viewed from Fig. 22 depending on the rotation direction of the driving motor 450.

[0247] In the process of the pair of pressure members 411, 412 moving along the second locus T2, the pair of pressure members 411, 412 press the pair of second grip members 310, 320 at a pressure less than a predetermined pressure.

[0248] In this case, the pair of first gripping members 210, 220 may release their grip on the linear member 1, and as a result, the pair of pressure members 411, 412 and the pair of second gripping members 310, 320 may both move in the other direction of the extension direction of the linear member 1.

[0249] Here, the other extension direction of the linear member 1 may be the left direction when viewed from Fig. 22. However, the other extension direction of the linear member 1 may be the right direction when viewed from Fig. 22 depending on the rotation direction of the driving motor 450.

[0250] In addition to the above-mentioned first driving modules 400, 400', it is of course possible to propose various types of first driving modules in which a pair of second gripping members 310, 320 pressurize or release the pressure on a pair of first gripping members 210, 220 to provide a driving force for moving the linear member 1 in the extension direction.

[0251] Meanwhile, FIG. 23 is a diagram showing a linear member moving system according to an embodiment of the present invention.

[0252] Referring to FIG. 23, a linear member movement system 5 according to one embodiment of the present invention can include a pair of linear member movement devices 10', 10''.

[0253] The first linear member moving device 10' and the second linear member moving device 10" in Figure 23 are identical to the linear member moving device 10 described above, and are illustrated with different identification numbers only. Therefore, specific explanations of the configuration, structure, operation, modifications, etc. of the first linear member moving device 10' and the second linear member moving device 10" are substituted for the explanation of the linear member moving device 10 described above.

[0254] In one embodiment of the linear member moving system 5 of the present invention, when the first driving module 400 of the first linear member moving device 10' provides a driving force for moving the linear member 1 in one direction of extension in a state where the pair of second gripping members 310, 320 of the first linear member moving device 10' presses the pair of first gripping members 210, 220 of the first linear member moving device 10', the first driving module 400 of the second linear member moving device 10'' operates to provide a driving force for moving the linear member 1 in the other direction of extension in a state where the pair of second gripping members 310, 320 of the second linear member moving device 10'' releases pressure from the pair of first gripping members 210, 220 of the second linear member moving device 10''.

[0255] In this case, the first linear member moving device 10' performs an operation of gripping and moving the linear member 1 in one direction of the extension direction of the linear member 1, and then the second linear member moving device 10'' performs an operation of gripping and moving the linear member 1 in one direction of the extension direction of the linear member 1.

[0256] In this case, the first linear member moving device 10' and the second linear member moving device 10" can continuously move the linear member 1 in the extension direction of the linear member 1 with a time difference between them. This allows the linear member 1 to be moved quickly in the extension direction of the linear member 1.

[0257] In addition, the linear member moving system 5 according to this embodiment may further include a control unit (not shown) for controlling the driving timing of the first linear member moving device 10' and the second linear member moving device 10''.

[0258] The control unit can detect whether the movement of the first linear member moving device 10' has been completed, for example, through a sensor (e.g., an optical sensor, an encoder, a stroke sensor, etc.), or can determine the operation sequence through built-in program logic or intercommunication signals.

[0259] As a result, after the first linear member moving device 10' has completed moving the linear member 1, the second linear member moving device 10'' operates continuously, and both moving devices can efficiently transport the linear member 1 in the extension direction.

[0260] This control method can be implemented on a hardware or software basis, and the control unit 700 can be a central controller or a local controller installed in each mobile device.

[0261] Meanwhile, the first linear member moving device 10' and the second linear member moving device 10" constituting the linear member moving system 5 according to one embodiment of the present invention may each be equipped with a first driving module 400' as shown in FIG. 20. In this case, the first driving module 400' of the first linear member moving device 10' and the first driving module 400' of the second linear member moving device 10" can provide driving forces for continuously moving the linear member 1 in the extension direction of the linear member 1 with a time lag.

[0262] Although the embodiments of the present invention have been described, the concept of the present invention is not limited to the embodiments presented in this specification, and a person skilled in the art who understands the concept of the present invention may easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same concept, which may also fall within the scope of the concept of the present invention. [Explanation of symbols]

[0263] 1: Linear member 10: Linear member moving device 100:Main body 101: Interior space 210, 220: First grip member 210a, 220a: extension member through holes 210b: Elastic body insertion hole 211, 221: One side 211a, 221a: Insertion groove 212, 222: Other side 230: Elastic body 310, 320: second grip member 311, 321: Second grip member body 312, 322: Rolling members 400, 400′: First drive module 410: Gripper 411, 412: pressure members 413: Gripper body 413a: Guide groove 415: Gripper actuator 421: Rack 422: Pinion 424: Nut 425:Screw 430: Actuator 441: Guide rail 443: Moving parts 445: Intermediate support member 450: Drive motor 460, 470: Link unit 461, 471: Driving link 463, 473: Links 465, 475: Auxiliary links 481, 482: Link drive gear 500: Second drive module 510: Rotating member 510a: Linear member through hole 510b: connecting member connection hole 520: Motor 521: Drive gear 523: Driven gear 523a: Linear member through hole 530: Connecting member 540: Auxiliary rotating member 540a: Linear member through hole 540b: connecting member connection hole 551: Bracket 551a: Rotating member connection hole 552: Bracket 552a: Rotating member connection hole 600: Push section 610: First push member 610a: Linear member through hole 610b: connecting member through hole 611: Rotating plate 612: Push member body 612a: Rotating plate connection hole 620: Second push member 620a: Linear member through hole 620b: connecting member through hole 621: Rotating plate 622: Push member body 622a: Rotating plate connection hole 640: Force sensor

Claims

1. A linear member moving device that moves a linear member in an extension direction of the linear member, Main body: a pair of first gripping members disposed opposite each other across the linear member and operably supported on the body to grip or release the linear member; a pair of second gripping members disposed opposite each other with the pair of first gripping members therebetween, but operably supported on the body so as to apply pressure to or release pressure from the pair of first gripping members so that the pair of first gripping members grip or release the grip of the linear member, and move in the extension direction of the linear member; a first drive module that applies pressure or depressurization to the pair of second gripping members against the pair of first gripping members to provide a driving force for moving the linear member in the extension direction; and a second drive module that provides a driving force for rotating the pair of first gripping members about the central axis of extension of the linear member;

2. the pair of second grip members are movable together with the linear member and the pair of first grip members in the extension direction of the linear member while pressing the pair of first grip members, 2. The linear member moving device according to claim 1, wherein the pair of first gripping members are rotatable together with the linear member about a central axis of the linear member in an extension direction while being pressed by the pair of second gripping members.

3. the pair of second gripping members are movable in the extension direction of the linear member in a state where the pair of first gripping members are released from pressure, 3. The linear member moving device according to claim 2, wherein the pair of first gripping members are rotatable about a central axis in an extension direction of the linear member in a state where the pair of first gripping members are released from pressure by the pair of second gripping members.

4. The first drive module is a gripper that actuates the pair of second gripping members to press or depressurize the pair of first gripping members; and an actuator that provides a driving force for moving the gripper in the extension direction of the linear member; The gripper is a pair of pressure members respectively coupled to the pair of second grip members; and 2. The linear member moving device according to claim 1, wherein the pair of second gripping members includes a gripper actuator that provides a driving force to the pair of pressure members for compressing or decompressing the pair of first gripping members.

5. The first drive module is a pair of pressure members coupled to the pair of second grip members; a drive motor for providing a driving force for actuating the pair of pressure members; and a pair of link units that operably connect the driving motor and the pair of pressure members and move the pair of pressure members along a first locus that moves in one direction of the extension direction of the linear member and a second locus that moves in the other direction of the extension direction of the linear member, moving away from and then approaching the linear member; 2. The linear member moving device according to claim 1, wherein the linear member is gripped when the pair of pressure members move along the first trajectory, and the linear member is released from grip when the pair of pressure members move along the second trajectory.

6. Each of the link units is a drive link having one end that receives a driving force from the drive motor and rotates about a third direction that is perpendicular to both a first direction that is an extension direction of the linear member and a second direction that is a direction in which the pair of second gripping members move toward and away from each other; a connecting link having one end pivotally connected to the other end of the drive link and the other end connected to each of the pressure members; and an auxiliary link having one end pivotally connected to one side of the body and the other end pivotally connected to a central region of the connecting link; 6. The linear member moving device according to claim 5, wherein the drive links of the link units rotate in opposite directions upon receiving the drive force of the drive motor.

7. The first drive module a pair of link drive gears axially coupled to one end of the drive link of each link unit so as to rotate together; The pair of link drive gears mesh with each other and rotate in opposite directions to each other, 7. The linear member moving apparatus of claim 6, wherein one of said pair of link drive gears is operatively connected to said drive motor to provide a driving force.

8. The second drive module is a rotating member disposed at a distance from the pair of first gripping members in the extension direction of the linear member and supported by the main body so as to rotate about a central axis in the extension direction of the linear member; a motor operatively connected to the rotating member to rotate the rotating member; 2. The linear member moving device according to claim 1, further comprising at least one connecting member for connecting the rotating member and the pair of first gripping members to each other, the connecting member being provided for each of the first gripping members.

9. The connecting member has a bar shape extending in the extension direction of the linear member, The linear member moving device according to claim 8 , wherein each of the first gripping members has a connecting member through-hole through which the connecting member passes.

10. The linear member moving device according to claim 9 , wherein the connecting member guides each of the first gripping members when the first gripping members move in the extension direction of the linear member.

11. The connecting member through-hole extends in a direction in which the pair of first grip members move toward or away from each other, 10. The linear member moving device according to claim 9, wherein the connecting member guides the pair of first gripping members when the pair of first gripping members perform a gripping or ungrip operation.

12. Each of the pair of first gripping members is At least a part of one surface facing the linear member is flat, and at least a part of another surface located on the opposite side of the one surface is curved, The linear member moving device according to claim 1 , wherein an elastic body is disposed between the pair of first gripping members to provide an elastic force in a direction in which the pair of first gripping members move away from each other.

13. Each of the pair of second gripping members is a second grip member body disposed spaced apart from the linear member in a direction perpendicular to the extension direction of the linear member; and 2. The linear member moving device according to claim 1, further comprising at least one rolling member coupled to the second gripping member body so as to contact and roll with the pair of first gripping members when the pair of first gripping members rotate while gripping the linear member.

14. 2. The linear member moving device according to claim 1, further comprising a pushing unit that pushes and moves the pair of first gripping members in the movement direction of the second gripping members when the pair of second gripping members move in the extension direction of the linear member while completely releasing pressure on the pair of first gripping members.

15. The push portion is The linear member moving device according to claim 14 , wherein the first driving module is configured to move the pair of second gripping members in the extension direction of the linear member by a driving force that moves the pair of second gripping members in the extension direction of the linear member.

16. The linear member moving device according to claim 15 , wherein the push portion is supported by a portion of the first driving module that moves together with the pair of second grip members in the extension direction of the linear member.

17. The push portion is The linear member moving device according to claim 14 , further comprising a pair of push members arranged spaced apart in the extension direction of the linear member with the pair of first grip members sandwiched therebetween.

18. Each of the push members is a rotary plate having a linear member through-hole through which the linear member passes, the rotary plate being disposed opposite one of the pair of first gripping members on both sides in the extension direction of the linear member; and The linear member moving device according to claim 17 , further comprising a push member body that supports the rotary plate rotatably around the linear member through hole.

19. 18. The linear member moving device according to claim 17, further comprising force sensors interposed between the pair of push members and both sides of the pair of first gripping members in the extension direction of the linear member.

20. A linear member moving system including a pair of linear member moving devices according to claim 1, the pair of linear member moving devices includes a first linear member moving device and a second linear member moving device; When the first driving module of the first linear member moving device provides a driving force for moving the linear member in one direction of extension while the pair of second gripping members of the first linear member moving device press the pair of first gripping members of the first linear member moving device, A linear member moving system, wherein the first drive module of the second linear member moving device provides a driving force for moving the pair of second grip members of the second linear member moving device in another direction of the extension direction of the linear member while the pair of first grip members of the second linear member moving device are released from pressure.

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