Feeding device for tubular parts

Abstract

The present application relates to a tubular part feeder, comprising a first driver (32) and a first wheel set (31) driven by the first driver (32), and a second wheel set (41) driven by a second driver (42), wherein the tubular part (2) is clamped between the first wheel set (31) and the second wheel set (41) and can be driven to move under the frictional action of the first wheel set (31) and the second wheel set (41), the first wheel set (31) having a plurality of first drive wheels whose moving directions are parallel to one another and form an acute angle with the extension direction of the clamped portion of the tubular part (2), and the second wheel set (41) having a plurality of second drive wheels whose moving directions are parallel to one another. Compared with the prior art, the technical solution of the present application includes simple structure, low cost, and original principle, is applicable to both rigid and flexible tubular components, and ensures excellent reliability.

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE This application relates to the field of medical devices, and more particularly to delivery devices for tubular components. [Background technology]

[0002] Many medical procedures, particularly minimally invasive procedures such as endoscopy, cardiac catheterization, and single-port surgery, typically require the insertion of tubular components into a patient's body so that a physician can examine a pathological condition or manipulate tissue for treatment.

[0003] The tubular part that enters the human body can be rigid or flexible. The human body intervention process can be operated by human hands or mechanical devices. In the human hand operation, the physician needs to hold the proximal handle of the tubular part with one hand and the distal insertion tube of the tubular part with the other hand to feed it into the human body. Such operation is likely to tire the physician and makes it difficult for the physician to leave for other activities. Thus, the intervention operation in the prior art usually requires the cooperation of many people to complete a task such as tissue sampling.

[0004] In mechanical operation, pushing or rotating the tubular part from its proximal end, which is suitable for rigid devices, is not applicable to flexible devices because it easily leads to buckling and kinking of the flexible hose. The prior art also proposes some other solutions, such as feeding the tubular part step by step, mimicking the surgeon's hand, but the complex mechanisms make it bulky and expensive. Worse, the resulting intermittent movements are not intuitive for remote manual operation and may interfere with automatic control, making them unsuitable for surgical robots. Summary of the Invention

[0005] In order to solve or at least partially solve the above-mentioned technical problems, the present application provides a feeding device for tubular parts, the feeding device comprises a first driver and a first wheel set driven by the first driver, and a second wheel set driven by a second driver, the tubular parts are clamped between the first wheel set and the second wheel set and can be driven to move under the frictional action of the first wheel set and the second wheel set, the first wheel set has a plurality of first driving wheels, the travel directions of the first driving wheels are parallel to each other and form an angle with the extension direction of the clamped part of the tubular parts, the angle being an acute angle, the second wheel set has a plurality of second driving wheels, the travel direction of the second driving wheels is coincident with the travel direction of the first wheel set. Preferably, in the above feeding device for tubular parts, first drive wheels in the first wheel set rotate synchronously at the same first speed and second drive wheels in the second wheel set rotate synchronously at the same second speed, the first speed being equal to the second speed, the axial direction of the first drive wheels coincides with the axial direction of the second drive wheels, and the rotation direction of the first drive wheels is the same as or opposite to the rotation direction of the second drive wheels.

[0006] By configuring the first wheel set and the second wheel set to form the same angle with the extending direction of the clamped part of the tubular part, and making the angle an acute angle, as long as the rotation directions of the first wheel set and the second wheel set are controlled separately, the forward movement, backward movement, clockwise rotation and counterclockwise rotation of the tubular part can be easily achieved, thereby meeting the needs of the medical robot to insert the tubular part into the human body. The technical solution of the present application includes simple structure, low cost, and ingenious principle, is applicable to both rigid and flexible tubular parts, and ensures good reliability. [Brief description of the drawings]

[0007] In order to better describe the embodiments of the present application, the relevant drawings are briefly introduced below. The drawings described below are only used to illustrate some embodiments of the present application, and it can be understood that those skilled in the art can obtain many other technical features and connection relationships not mentioned in this specification based on these drawings. [Figure 1] FIG. 1 is a schematic perspective view of a feeding device for tubular parts; [Diagram 2] FIG. 2 is a schematic perspective view of the internal structure of a feeding device for tubular parts; [Diagram 3] FIG. 2 is a schematic top view of a feeding device for a tubular part as the wheel set drives the tubular part to move along its axis. [Figure 4] FIG. 2 is a schematic side view of a feeding device for a tubular part as the wheel set drives the tubular part to move along its axis. [Diagram 5] FIG. 2 is a schematic top view of a feeding device for tubular parts as the wheel set drives and rotates the tubular parts. [Figure 6] FIG. 2 is a schematic side view of a feeding device for tubular parts as the wheel set drives and rotates the tubular parts. [Figure 7] FIG. 2 is a schematic perspective view of a feeding device for tubular parts when the wheel set drives and moves the tubular parts; [Figure 8] FIG. 1 is a schematic diagram of a feeding device for tubular parts when a motor is directly connected to each drive wheel. [Figure 9] FIG. 13 is a schematic diagram of a first transmission mechanism of a feeding device for tubular parts when using a helical gear for transmission. [Figure 10] FIG. 13 is a schematic diagram of a first transmission mechanism of a feeding device for tubular parts when using a bevel gear for transmission. [Figure 11] FIG. 2 is a schematic perspective view of a limit mechanism and a guide bar of a feeding device for tubular parts. [Figure 12] FIG. 2 is a schematic diagram of the arrangement of a sensing module of a feeding device for tubular parts. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] The present application will now be described in detail with reference to the drawings.

[0009] The present application provides a feeding device for tubular parts. With reference to Figures 1-12, the feeding device comprises a first driver 32 and a first wheel set 31 driven by the first driver 32, and a second driver 42 and a second wheel set 41 driven by the second driver 42. Both the first driver 32 and the second driver 42 may be motors or motor sets which may be directly connected to the respective wheel sets or may be drivingly connected to the respective wheel sets via other structures.

[0010] 2 and 7, the tubular part 2 can be clamped between a first wheel set 31 and a second wheel set 41 and driven to move under the frictional action of the first wheel set 31 and the second wheel set 41. The first wheel set 31 has a plurality of first drive wheels. The travel directions of the first drive wheels are parallel to each other and form an angle with the extension direction of the clamped part of the tubular part 2, and the angle is an acute angle. The number of the first drive wheels may be at least one, and usually, two to six are preferred. The tubular part may be a rigid tube or a flexible hose. When a rigid tube part is adopted, the longitudinal direction of the tubular part is stable, and when a flexible hose is adopted, the longitudinal direction of the tubular part will inevitably bend under the influence of its own weight or an external force. Therefore, the present application defines "the extension direction of the clamped part of the tubular part". Since the clamped part of the tubular part tends to maintain a straight shape under the influence of the clamping force, its extension direction is a straight line direction collinear with the part.

[0011] Referring to FIG. 3, 1st Wheel Set 31 forms an angle θ with the extension direction of the clamped portion of the tubular part 2. Obviously, if the angle θ is an acute angle, there must be another obtuse angle between the first driving wheel and the tubular part 2, which complements said angle θ. For ease of explanation, only the acute angle θ will be described as the angle between them. In one embodiment, the angle θ is adjustable.

[0012] 2 and 4, the second wheel set 41 has a plurality of second drive wheels whose travel directions are parallel to each other. Preferably, the axial direction of the first drive wheels coincides with the axial direction of the second drive wheels, such that the rotation direction of the first drive wheels is the same as or opposite to the rotation direction of the second drive wheels. Here, "axial direction" refers to the direction of the axis about which each drive wheel rotates, which is perpendicular to the travel direction of the drive wheels. Thus, the movement of the tubular part 2 can be realized by controlling the movement of each drive wheel in the first and second wheel sets 41.

[0013] Specifically, when one of the first drive wheel in the first wheel set 31 and the second drive wheel in the second wheel set 41 rotates counterclockwise and the other rotates clockwise in the direction of the arrows shown in Figure 4, the resultant forces acting on the tubular part 2 in the tangential direction are cancelled out and the resultant forces acting in the axial direction are superimposed, so that the tubular part 2 moves along its axis under the cooperative action of the first wheel set 31 and the second wheel set 41. The forward and backward movement of the tubular part 2 can be controlled by changing the rotational direction of the first drive wheel and the second drive wheel, respectively.

[0014] 5 and 6, when both the first driving wheel in the first wheel set 31 and the second driving wheel in the second wheel set 41 rotate counterclockwise or clockwise in the direction of the arrows shown in Fig. 6, the resultant forces acting on the tubular part 2 in its axial direction are cancelled out and the resultant forces acting in its tangential direction are superimposed, so that the tubular part 2 rotates in its circumferential direction under the cooperative action of the first wheel set 31 and the second wheel set 41. The rotation direction of the tubular part 2 can be controlled by changing the rotation direction of the first driving wheel and the second driving wheel, respectively.

[0015] Obviously, as long as the above-mentioned angle θ is within the range of an acute angle, the movement of the tubular part 2 can be easily controlled. When the angle θ is relatively small, it is easier for the wheel set to drive the tubular part 2 to move linearly in the axial direction, and when the angle θ is relatively large, it is easier for the wheel set to drive the tubular part 2 to rotate in its circumferential direction. Therefore, the angle θ can be selected and set according to actual needs. By setting the angle θ within the range of 15° to 75°, the force acting on the tubular part 2 in both directions can be made more gentle. Since the axial movement of the tubular part 2 is more weighted when the tubular part 2 is inserted into the human body, the angle θ can be set within the range of 30° to 45°.

[0016] In summary, in one embodiment of the present application, the first wheel set 31 and the second wheel set 41 are configured to form the same acute angle with the extending direction of the clamped portion of the tubular part 2. Thus, as long as the rotation directions of the first wheel set 31 and the second wheel set 41 are controlled separately, the forward movement, backward movement, clockwise rotation and counterclockwise rotation of the tubular part 2 can be easily achieved, thereby meeting the needs of the medical robot to insert the tubular part 2 into the human body. The technical solution of the present application includes simple structure, low cost, and ingenious principle, is applicable to both rigid and flexible tubular parts, and ensures good reliability.

[0017] Furthermore, the supply device for tubular parts may further include limit mechanisms 6 arranged in pairs on both sides of the tubular part 2 so as to restrict the tubular part 2 between the first wheel set 31 and the second wheel set 41. The limit mechanisms 6 can prevent the tubular part 2 from unclamping from the first wheel set 31 and the second wheel set 41, and can improve the stability of its movement.

[0018] The limit mechanism 6 may be implemented by a number of means. For example, the limit mechanism 6 may comprise several pairs of guide wheels spaced apart in the extension direction of the clamped portion of the tubular part 2, as shown in Figs. 2 and 7. The limit mechanism 6 may also comprise several pairs of rolling balls protruding toward the clamped portion of the tubular part 2, or several pairs of smooth surfaces protruding toward the clamped portion of the tubular part 2. Among them, the rolling ball configuration has uniform friction in all directions and can well support the axial and rotational movements of the tubular part 2. When the aforementioned limit mechanism 6 is applied, the friction between the tubular part 2 and the limit mechanism 6 may be minimized to facilitate the movement of the tubular part 2.

[0019] Many of the aforementioned components of the feeding device can be mounted in a housing 1 or bracket to provide a relatively fixed position. Referring to FIG. 2, a feeding device for tubular parts may include a housing 1. Referring further to FIG. 11, the housing 1 may include a support platform 11 with a limit mechanism 6 on one side disposed between a first wheel set 31 and a second wheel set 41, and a movable platform 12 with a limit mechanism 6 on the other side disposed. The movable platform 12 can move relative to the support platform 11 to a position opposite the support platform 11, so that the limit mechanism 6 limits the tubular part 2 between the first wheel set 31 and the second wheel set 41. The relative movement of the movable platform 12 can be realized via a rotating shaft or a slide rail. The cooperation between the support platform 11 and the movable platform 12 can facilitate the placement and removal of the tubular part 2.

[0020] The feeding device for tubular parts may comprise a first bracket (13) on which the first wheel set 31 is mounted, and a second bracket 14 on which the second wheel set 41 is mounted. Both the first bracket 13 and the second bracket 14 may be part of the housing 1. The feeding device for tubular parts may further comprise a guide bar 71. Both the first bracket 13 and the second bracket 14 are disposed on the guide bar 71. The second bracket 14 can be moved along the guide bar 71 in a direction toward or away from the first wheel set 31 so as to clamp the tubular part 2 between the first wheel set 31 and the second wheel set 41.

[0021] There are many possible arrangements for the guide bar 71. For example, the guide bar 71 may be a slide rail. The first bracket 13 is fixed on the guide rail, and the second bracket 14 is slidable on the guide rail. A lock may be provided on the second bracket 14 to fix the relative position of the second bracket 14 on the guide bar 71. Furthermore, the guide bar 71 may be provided with a spring, which facilitates the second bracket 14 to move in a direction towards the first bracket 13 under the action of the spring. The pressure of the first wheel set 31 and the second wheel set 41 against the tubular part 2 can be adjusted by adjusting or replacing the spring.

[0022] Referring to FIG. 11, the guide bar 71 may be a lead screw. In this case, the feeding device may include a third driving motor 73 and a transmission belt 72. The guide bar 71 is connected to the third driving motor 73 via the transmission belt 72. The third driving motor 73 drives and rotates the guide bar 71 via the transmission belt 72, so that the second bracket 14 moves along the guide bar 71 in a direction toward the first bracket 13 or in a direction away from the first bracket 13. When the third driving motor 73 is configured to drive and move the second bracket 14, the second bracket 14 can be automatically controlled without the need for manual operation. The lead screw itself can prevent the second bracket 14 from sliding uncontrolled. By controlling the rotation parameters of the third driving motor 73, the positions of the second bracket 14 that give optimal pressure to tubular parts 2 of various diameters can be memorized, which is very convenient.

[0023] In practical use, the tubular part 2 can be placed on the support platform 11, and the second bracket 14 can be moved along the guide bar 71 to a position where the first wheel set 31 and the second wheel set 41 apply an appropriate pressure to the tubular part 2. Then, the movable platform 12 is moved to a position opposite to the support platform 11 to restrict the position of the tubular part 2. Compared with the prior art feeding device for tubular parts, the feeding device provided in the present application can adjust the pressure of the first wheel set 31 and the second wheel set 41 against the tubular part 2 whenever necessary, and can take in and out the tubular part 2 whenever necessary, which is very convenient.

[0024] Each of the wheel sets may include multiple drive wheels. Referring to Figures 2 and 7, these drive wheels may be arranged at appropriate intervals to better prevent the tubular part 2 from bending. Optionally, the first drive wheels may be arranged at equal intervals in the extending direction of the clamped part of the tubular part 2, thereby improving the driving stability of the wheel set. The arrangement of the second wheel set 41 may be the same as that of the first wheel set 31. Hereinafter, unless otherwise specified, the limitations of the first wheel set 31 can also be applied to the second wheel set 41, so the specific structure of the second wheel set 41 will not be further described.

[0025] The number of the first and second drive wheels may be the same or different. If the number is different, additional calculation, adjustment and configuration of the rotation speeds of the two sets of drive wheels will be required to ensure that the resultant forces in opposite directions acting on the tubular part 2 can still cancel each other out when they rotate in the same direction, which leads to an increase in the complexity of the system. In the present application, the first and second drive wheels are the same in number and arranged in one-to-one correspondence. Each first drive wheel of the first wheel set 31 rotates synchronously at the same first speed, and each second drive wheel of the second wheel set 41 rotates synchronously at the same second speed, and the first speed is equal to the first speed. The rotation direction of the first drive wheels is the same or opposite to the rotation direction of the second drive wheels. Such a configuration not only reduces the complexity of the system, but also ensures that the forces acting on the tubular part 2 in two directions are balanced, thereby preventing twisting and improving the reliability of the system.

[0026] FIG. 8 shows a design in which the wheel set is directly connected to the shaft of the motor. This design has a simple structure. However, the output of different motors may be different and require prior adjustment. After a period of use, the difference may become even larger, making maintenance even more troublesome. To avoid this drawback, the first driver 32 may include a first driving motor 321 and a first transmission mechanism 322 connected to the first driving motor 321. Each first driving wheel is drivingly connected to the first driving motor 321 through the first transmission mechanism 322 so as to be driven by the first driving motor 321. Thus, the first transmission mechanism 322 allows the output of one single motor to act on different driving wheels, improving the consistency of the driving wheels.

[0027] 9 and 10, the first transmission mechanism 322 may include a main transmission rod 3221 connected to the first driving motor 321, the main transmission rod 3221 having a plurality of first transmission wheels 3223 mounted thereon, and a plurality of sub transmission rods 3222 connected coaxially with the first driving wheels, the sub transmission rod 3222 having a second driving wheel 3224 mounted thereon. The first transmission wheel 3223 is drivingly connected to the second transmission wheel 3224 in one-to-one correspondence. In the embodiment shown in FIG. 8, the first transmission wheel 3223 and the second transmission wheel 3224 are both helical gears and directly mesh with each other. In this case, only two helical gears are needed to realize the linkage between the main transmission rod 3221 and the sub transmission rod 3222 and convert the force transmission direction. This design has a very simple structure and very high stability with a small space occupation. In the embodiment shown in FIG. 9, both the first transmission wheel 3223 and the second transmission wheel 3224 are bevel gears, and mesh with another bevel gear perpendicular to them. By adopting bevel gears instead of helical gears, gear loss is reduced and the service life is extended. In addition, for the first transmission mechanism 322 provided with the secondary transmission rod 3222, the secondary transmission rod 3222 may further include a first part and a second part detachably connected to each other, the first part being connected to the second transmission wheel 3224, and the second part being connected to the first driving wheel.

[0028] Of course, the first transmission mechanism 322 may be arranged in many other ways. For example, the first transmission mechanism 322 may include a gear train structure connected by a transmission rod, and each gear train changes the transmission direction by a bevel gear to drive and move each drive wheel. The first transmission mechanism 322 may employ a combination of spur gears and bevel gears to change the force transmission direction.

[0029] 9, the supply device may further include a bacteriostatic membrane 5 disposed between the first part and the second part, where the second part is detachably connected to the first part through the bacteriostatic membrane 5. This allows the bacteriostatic membrane 5, the tubular part 2, the second part of the secondary transmission rod 3222 and mechanisms such as each driving wheel to be discarded after the supply device for the tubular part has been used for one patient, leaving uncontaminated expensive parts such as the driver and the main transmission rod 3221. Thus, the disposable parts are discarded after use, which ensures that more hygienic conditions are met and at the same time reduces the cost of use of the supply device.

[0030] Also, referring to Figs. 2, 3, 5 and 7, the feeding device for the tubular part may further include a sensing module 8, which is disposed next to the tubular part 2 and can transmit the monitored motion state information (such as the insertion depth, the rotation angle, and the corresponding translation or rotation speed, etc.) of the clamped part of the tubular part 2 to an external host computer. The host computer can be a computer that controls a medical robot. Generally, each mechanism of the medical robot can be controlled by the host computer, so that these mechanisms can cooperate with each other. In the present application, by using the motion state information provided by the sensing module 8, the host computer can obtain the current feeding depth and angle of the tubular part 2, making it more convenient for the doctor to operate.

[0031] The sensing module 8 may include multiple sensors arranged at different positions around the tubular part 2. Specifically, the sensing module 8 may employ optical sensors, such as a laser surface speedometer, a grid ruler displacement sensor, etc. The optical sensors can measure the moving speed, rotation speed, and travel distance of the tubular part 2 in a non-contact manner, so that a wealth of motion state information can be obtained without affecting the movement of the tubular part 2.

[0032] Further, a processing module may be provided in the feeding device for tubular parts. The processing module communicates with the sensing module 8, the first driver 32 and the second driver 42, respectively. The sensing module 8 can send monitored motion state information of the clamped part of the tubular part 2 to the processing module, and the processing module can generate and send a driving compensation signal to the first driver 32 and / or the second driver 42 according to the motion state information. The processing module can receive the motion state information and provide a signal feedback to the first driver 32 or the second driver 42 in a timely manner. The signal feedback plays an important role. For example, in a scenario where the tubular part 2 only needs to advance along the axial direction, if the rotation speeds of the first wheel set 31 and the second wheel set 41 are not sufficiently matched, the tubular part 2 may be rotated during advancement, which leads to distortion. In some cases, the friction applied to the clamped tubular part from the first wheel set 31 and the second wheel set 41 may not be the same, which may be due to the skidding of a certain wheel or the different rotation speeds of these two wheel sets. Thereby, the clamped tubular part 2 undergoes a mixed helical motion, rather than a pure translational or rotational motion. To avoid this, the drive compensation signal generated by the processing module can adjust the output of each driver in time, correct and avoid the occurrence of distortion, and ensure the continuity and stability of the feeding process.

[0033] Although the present application has been described in detail with reference to only a limited number of embodiments, it should be understood that the present application is not limited to such disclosed embodiments. Rather, the present application can be modified to incorporate any number of variations, alterations, substitutions, or equivalent arrangements not heretofore described, but which are commensurate with the spirit and scope of the present application. Moreover, while various embodiments of the present application have been described, it should be understood that each aspect of the present application may include only some of the described embodiments. Thus, the present application is not limited by the foregoing description, but only by the appended claims. [Explanation of symbols]

[0034] 1 housing, 11 Support platform, 12 movable platforms, 13 First bracket, 14 Second bracket, 2 tubular parts, 31 First wheel set, 32 1st driver, 321 First drive motor, 322 First transmission mechanism, 3221 Main transmission rod, 3222 Secondary transmission rod, 3223 First transmission wheel, 3224 Second transmission wheel, 41 2nd wheel set, 42 2nd driver, 5 bacteriostatic membrane, 6 Limit mechanism, 71 Guide bar, 72 Transmission belt, 73 3rd drive motor, 8. Sensing Module

Claims

1. 1. A feeding device for tubular parts, comprising: a first driver (32) and a first set of wheels (31) driven by said first driver (32); a second driver (42) and a second set of wheels (41) driven by the second driver (42); the tubular part (2) is clamped between the first wheel set (31) and the second wheel set (41) and can be driven to move under the frictional action of the first wheel set (31) and the second wheel set (41); the first wheel set (31) has a plurality of first drive wheels, the directions of travel of the first drive wheels being parallel to one another and forming an angle with the extension direction of the clamped portion of the tubular part (2), the angle being an acute angle; 13. A feeding device for tubular parts, characterized in that the second wheel set (41) comprises a plurality of second drive wheels whose directions of travel are parallel to one another.

2. A feeding device for tubular parts according to claim 1, characterized in that said angle is in the range of 15° to 75°.

3. 2. The feeding device for tubular parts according to claim 1, characterized in that the first drive wheels are arranged at equal intervals in the extension direction of the clamped part of the tubular part (2).

4. 2. The feeder for tubular parts of claim 1, wherein the number of said first drive wheels is equal to the number of said second drive wheels.

5. first drive wheels in said first wheel set (31) rotate synchronously at the same first speed and second drive wheels in said second wheel set (41) rotate synchronously at the same second speed, said first speed being equal to the second speed; an axial direction of the first drive wheel coincides with an axial direction of the second drive wheel; 2. The feeding device for tubular parts according to claim 1, wherein the direction of rotation of the first drive wheel is the same as or opposite to the direction of rotation of the second drive wheel.

6. 6. The supply device for tubular parts according to claim 5, characterized in that the first driver (32) comprises a first drive motor (321) and a first transmission mechanism (322) connected to the first drive motor (321), and each of the first drive wheels is drivingly connected to the first drive motor (321) via the first transmission mechanism (322) so as to be driven by the first drive motor (321).

7. The first transmission mechanism (322) is A main transmission rod (3221) connected to a first driving motor (321), the main transmission rod (3221) having a plurality of first transmission wheels (3223) mounted thereon; a plurality of auxiliary transmission rods (3222) connected coaxially to each of the first drive wheels, the auxiliary transmission rods (3222) having second transmission wheels (3224) attached thereto; 7. A feeding device for tubular parts according to claim 6, characterized in that the first transmission wheel (3223) is drivingly connected in one-to-one correspondence to the second transmission wheel (3224).

8. The first transmission wheel (3223) and the second transmission wheel (3224) are both bevel gears and mesh with another bevel gear perpendicular to them, or 8. A feeding device for tubular parts according to claim 7, characterized in that the first transmission wheel (3223) and the second transmission wheel (3224) are both helical gears and directly mesh with each other.

9. The secondary transmission rod (3222) has a first portion and a second portion detachably connected to each other, the first portion is connected to the second transmission wheel (3224), and the second portion is connected to the first driving wheel; 8. The feeding device for tubular parts according to claim 7, characterized in that the feeding device further comprises a bacteriostatic membrane (5) arranged between the first part and the second part, the second part being releasably connected to the first part through the bacteriostatic membrane (5).

10. 2. The feeding device for tubular parts according to claim 1, further comprising limit mechanisms (6) arranged in pairs on both sides of the tubular part (2) to restrict the tubular part (2) between the first wheel set (31) and the second wheel set (41).

11. The limit mechanism (6) several pairs of guide wheels arranged at intervals in the extension direction of the clamped portion of the tubular part (2); or Pairs of rolling balls protruding towards the clamped part of the tubular part (2), or 11. A feeding device for tubular parts according to claim 10, characterized in that it comprises several pairs of smooth surfaces projecting towards the clamped part of the tubular part (2).

12. The housing (1) further comprises: The housing (1) comprises: a support platform (11) arranged between the first wheel set (31) and the second wheel set (41), the support platform (11) having a limit mechanism (6) arranged on one side; 11. The feeding device for tubular parts according to claim 10, further comprising a movable platform (12) on which a limit mechanism (6) on the other side is arranged, the movable platform (12) being movable relative to the support platform (11) in a position opposite the support platform (11) so as to limit the tubular part (2) between the first wheel set (31) and the second wheel set (41) by the limit mechanism (6).

13. a first bracket (13) on which the first wheel set (31) is mounted; a second bracket (14) on which the second wheel set (41) is mounted; 2. The feeding device for tubular parts according to claim 1, further comprising a guide bar (71) on which both the first bracket (13) and the second bracket (14) are arranged, the second bracket (14) being movable along the guide bar (71) in a direction towards or away from the first bracket (13) so as to clamp the tubular part (2) between the first set of wheels (31) and the second set of wheels (41).

14. Further comprising a third drive motor (73) and a transmission belt (72); The guide bar (71) is a lead screw connected to the third drive motor (73) via the transmission belt (72); 14. The tubular part supply device according to claim 13, characterized in that the third drive motor (73) drives and rotates the guide bar (71) via the transmission belt (72) so that the second bracket (14) can move along the guide bar (71) in a direction toward or away from the first bracket (13).

15. 2. A feeding device for tubular parts according to claim 1, characterized in that the tubular part (2) is a flexible hose.

16. Further comprising a sensing module (8), The feeding device for tubular parts according to any one of claims 1 to 15, characterized in that the sensing module (8) is arranged next to the tubular part (2) and transmits monitored motion status information of the clamped part of the tubular part (2) to an external host computer.

17. 17. The feeding device for tubular parts of claim 16, wherein the motion state information includes an insertion depth, a rotation angle, a translation speed, or a rotation speed.

18. a processing module in communication with said sensing module (8), said first driver (32) and said second driver (42), the sensing module (8) transmitting monitored motion status information of the clamped portion of the tubular component (2) to the processing module; 17. The feeding device for tubular parts according to claim 16, characterized in that the processing module generates and sends a drive compensation signal depending on the motion state information to the first driver (32) and / or the second driver (42) to avoid helical motion or distortion of the tubular part (2).

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