Mobile Device

Abstract

To provide a movement device capable of accurately controlling the movement amount of a tubular member.SOLUTION: A movement device 1 is a movement device for moving a tubular member 2 and includes: a housing 10 through which the tubular member passes; a first roller 20 and a second roller 30 arranged to face both sides of the tubular member inside the housing to have an outer peripheral surface that can compress the tubular member; an actuator 50 for providing a driving force for rotating the first roller; a sensor 82 for measuring a measurement amount of the tubular member; and a control part 70 for controlling the actuator on the basis of the movement amount of the tubular member. When the first roller is rotated, the tubular member between the first roller and the second roller is configured so as to move by friction force.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] An endoscope is an instrument designed to insert a machine inside the body to observe long-term lesions that cannot be directly observed without surgery or autopsy. Recently, various types of surgical instruments have been devised to operate on the inside of organs without cutting the patient's body.

[0003] The portion of such endoscopic instruments that is inserted into the human body is generally made of a tubular member in consideration of the structural characteristics of the body and minimizing the surgical site, etc. For example, devices have been developed that perform surgery by attaching surgical instruments to an endoscope and inserting them into the patient's body.

[0004] Additionally, tubular members are also widely used in endoscopic instruments for checking the internal structure of structures or inspecting the inside of piping, due to the ease and efficiency of insertion and extraction.

[0005] When such a tubular member is manually inserted, it takes a considerable amount of time to insert and remove the tubular member during work or treatment, and considering the characteristics of the work environment in which repeated insertion and removal work must be performed, it places a considerable physical burden on the user. In addition, since the user moves the tubular member directly, it is difficult to accurately measure and control the amount of movement of the tubular member.

[0006] Therefore, there has been a strong demand for the development of a moving device that can automatically move a tubular member while accurately controlling the amount of movement of the tubular member. Summary of the Invention [Problem to be solved by the invention]

[0007] SUMMARY OF THE PRESENT DISCLOSURE The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a moving device capable of automatically moving a tubular member.

[0008] Another object of the present invention is to provide a moving device which can accurately control the amount of movement of the tubular member.

[0009] It is yet another object of the present invention to provide a moving device in which the actuating unit and the drive unit and actuating control unit can be separated.

[0010] Another object of the present invention is to provide a moving device that can be easily converted from an automatic mode in which a tubular member can be inserted or extracted automatically to a manual mode in which a user directly inserts or extracts a tubular member, or vice versa.

[0011] 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]

[0012] According to one aspect of the present invention, there is provided a moving device for moving a tubular member, the moving device including: a housing through which the tubular member passes; a first roller and a second roller arranged opposite each side of the tubular member inside the housing and having outer peripheral surfaces capable of applying pressure to the tubular member; an actuator for providing a driving force to rotate the first roller; a sensor for measuring an amount of movement of the tubular member; and a control unit for controlling the actuator based on the amount of movement of the tubular member, the moving device being configured such that when the first roller rotates, the tubular member between the first roller and the second roller is moved by frictional force.

[0013] In this case, the sensor may include a first sensor that senses a position of the first roller, and the control unit may be configured to measure the amount of movement of the tubular member using the position of the first roller.

[0014] In this case, the actuator may be a motor, the first sensor may be a first encoder provided on a rotating shaft of the motor, and the control unit may be configured to measure the amount of movement of the tubular member using the position of the rotating shaft sensed by the first encoder.

[0015] In this case, the sensor may include a second sensor that senses a position of the second roller, and the control unit may be configured to measure the amount of movement of the tubular member using the position of the second roller.

[0016] In this case, a magnetic body rotating together with the second roller may be provided on one side of the second roller, the sensor may include a second encoder positioned adjacent to the magnetic body so as to sense the position of the magnetic body, and the control unit may be configured to measure the amount of movement of the tubular member using the position of the magnetic body.

[0017] In this case, the sensor may include a first sensor for sensing the position of the first roller; and a second sensor for sensing the position of the second roller, and the control unit may be configured to control the actuator based on a first movement amount of the tubular member measured using the position of the first roller and a second movement amount of the tubular member measured using the position of the second roller.

[0018] In this case, the housing may include a first housing in which the first roller and the second roller are housed; and a second housing in which the actuator is housed, and the first housing and the second housing may be detachably coupled to each other.

[0019] In this case, the control unit and the sensor may be provided in the second housing.

[0020] In this case, the housing may further include a roller operating unit that can move the second roller toward the first roller, and the tubular member may be configured to move by the frictional force when the first roller rotates at a first position where the second roller is adjacent to the first roller.

[0021] In this case, the roller operating unit may include an operating member that is movably disposed relative to the housing, one side of which is connected to the rotation shaft of the second roller; and a driving member for moving the operating member, and may be configured such that as the operating member is moved by the driving member, the second roller can move from a second position farther from the first roller than the first position to the first position.

[0022] In this case, the housing may have a hole through which the tubular member passes, and the roller operating part may include a shutter member located adjacent to the hole for opening and closing the hole of the housing.

[0023] In this case, one side of the shutter member is connected to the actuating member so as to be movable integrally with the actuating member, and the shutter member may be configured to open the hole of the housing when the actuating member moves the second roller to the first position, and the shutter member may be configured to close at least a portion of the hole of the housing when the actuating member moves the second roller to the second position.

[0024] In this case, the number of the first rollers may be multiple, and the multiple first rollers may be arranged along the length direction of the tubular member.

[0025] In this case, the plurality of first rollers may include a first upper roller and a first lower roller, and a belt may be provided on the outer circumferential surfaces of the first upper roller and the first lower roller, the outer portions of which contact the outer circumferential portion of the tubular member, and the tubular member between the belt and the second roller may be moved by frictional force when the first roller rotates.

[0026] In this case, the number of the second rollers may be multiple, and the multiple second rollers may be arranged along the length direction of the tubular member. Effect of the Invention

[0027] With the above-described configuration, the moving device of an embodiment of the present invention has first and second rollers having outer peripheral surfaces capable of applying pressure to the tubular member, which are arranged opposite each other on both sides of the tubular member, and the first roller to which a driving force is transmitted from an actuator rotates, causing the tubular member to move due to frictional force, thereby enabling the tubular member to be moved automatically.

[0028] In addition, in the moving device according to an embodiment of the present invention, the sensor and control unit measure the amount of movement of the tubular member, and the control unit controls the actuator based on the amount of movement of the tubular member, so that the amount of movement of the tubular member can be accurately controlled.

[0029] In addition, the moving device according to an embodiment of the present invention allows the actuation unit and the drive unit to be separated by detachably connecting a first housing that accommodates the actuation unit and a second housing that accommodates the drive unit and the actuation control unit.

[0030] In addition, the moving device according to an embodiment of the present invention can easily switch from an automatic mode in which the tubular member can be automatically inserted or extracted to a manual mode in which the user directly inserts or extracts the tubular member, or vice versa, by the roller actuator moving the second roller to a first position adjacent to the first roller, or moving the second roller to a second position farther from the first roller than the first position.

[0031] It should be understood that the effects of the present invention are not limited to the effects described above, but 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 description of the drawings]

[0032] [Figure 1]1 is a perspective view of a moving device according to a first embodiment of the present invention, seen from different angles. For the purpose of explaining the invention, the first and second housings are shown by dotted lines, and the configuration seen through the first and second housings is shown by solid lines. Also, guide members are not shown. [Diagram 2] 1 is a perspective view of a moving device according to a first embodiment of the present invention, seen from different angles. For the purpose of explaining the invention, the first and second housings are shown by dotted lines, and the configuration seen through the first and second housings is shown by solid lines. Also, guide members are not shown. [Diagram 3] 1 is a plan view of a moving device according to a first embodiment of the present invention. For the purpose of explaining the invention, first and second housings are shown by dotted lines, and structures seen through the first and second housings are shown by solid lines. Also, guide members are not shown. [Figure 4] 1A to 1C are exploded perspective views of a first and second roller, a first and second sensor, an actuator, and a control unit of a movement device according to a first embodiment of the present invention, as viewed from different angles. [Diagram 5] 1A to 1C are exploded perspective views of a first and second roller, a first and second sensor, an actuator, and a control unit of a movement device according to a first embodiment of the present invention, as viewed from different angles. [Figure 6] 1 is a cross-sectional view of a moving device according to a first embodiment of the present invention. [Figure 7] 1 is a perspective view of a moving device according to a second embodiment of the present invention, in which, for purposes of illustrating the invention, first and second housings are shown by dotted lines, and structures seen through the first and second housings are shown by solid lines. [Figure 8] FIG. 11 is an exploded perspective view of a second roller and a roller operating portion of a moving device according to a second embodiment of the present invention. [Figure 9] 13 is a view illustrating an operation of a roller operating unit of a moving device according to a second embodiment of the present invention. [Figure 10] 13 is a view illustrating an operation of a roller operating unit of a moving device according to a second embodiment of the present invention. [Figure 11]10 is a perspective view of a moving device according to a third embodiment of the present invention, in which, for the purposes of illustrating the invention, first and second housings are shown by dotted lines, and structures seen through the first and second housings are shown by solid lines. [Figure 12] 10 is a perspective view of a moving device according to a fourth embodiment of the present invention, in which, for the purposes of illustrating the invention, first and second housings are shown by dotted lines, and structures seen through the first and second housings are shown by solid lines. [Figure 13] 13 is a diagram illustrating a modified example of the first and second rollers of the moving device according to the embodiment of the present invention. [Figure 14] 13 is a diagram illustrating a modified example of the first and second rollers of the moving device according to the embodiment of the present invention. [Figure 15] 13 is a diagram illustrating a modified example of the first and second rollers of the moving device according to the embodiment of the present invention. [Figure 16] 13 is a diagram illustrating a modified example of the first and second rollers of the moving device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] Hereinafter, the 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 are omitted in the drawings, and the same reference numerals are used throughout the specification to refer to the same or similar components.

[0034] The words and terms used in this specification and the claims should not be interpreted in a limited manner based on their ordinary or dictionary meaning, but should be interpreted in a meaning and concept that corresponds to 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 / her invention.

[0035] In this specification, terms such as "comprise" or "have" are intended to describe the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but 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.

[0036] A certain component being "in front," "in back," "above," or "below" another component means not only that it is immediately adjacent to the other component and is disposed "in front," "in back," "above," or "below," unless there are special circumstances, but also includes the case where another component is disposed between them. Furthermore, a certain component being "connected" to another component means not only that they are directly connected to each other, but also that they are indirectly connected to each other, unless there are special circumstances.

[0037] The moving device according to one embodiment of the present invention is an invention relating to a moving device for moving a tubular member, in which the outer circumferential surfaces of first and second rollers capable of pressing both sides of the outer circumferential portion of the tubular member press both sides of the outer circumferential portion of the tubular member, respectively, and the first roller is provided with a driving force by an actuator, thereby moving the tubular member by frictional force between the outer circumferential portion of the tubular member and the outer circumferential surfaces of the first and second rollers. In this case, the moving device according to one embodiment of the present invention can accurately control the amount of movement of the tubular member by a sensor and a control unit measuring the amount of movement of the tubular member, and the control unit controlling the actuator based on the measured amount of movement.

[0038] Meanwhile, the tubular member may mean a long member having a diameter of, for example, several mm to several cm. The diameter of the tubular member that can be moved by the moving device may be selected in various ways depending on the size of the components of the moving device. In one embodiment, the tubular member may be a part of an endoscope or a part of a surgical tool or device used together with an endoscope. However, the moving device for moving the tubular member according to one embodiment of the present invention is not limited to a moving device for moving a part of an endoscopic device or a part of an endoscopic instrument.

[0039] 1 and 2 are perspective views of a moving device according to a first embodiment of the present invention, seen from different angles. For the purpose of explaining the invention, the first and second housings are shown by dotted lines, and the configuration seen through the first and second housings is shown by solid lines. Also, the guide member is not shown. FIG. 3 is a plan view of a moving device according to a first embodiment of the present invention. For the purpose of explaining the invention, the first and second housings are shown by dotted lines, and the configuration seen through the first and second housings is shown by solid lines. Also, the guide member is not shown. FIG. 4 and FIG. 5 are exploded perspective views of the first and second rollers, the first and second sensors, the actuators, and the control unit of the moving device according to the first embodiment of the present invention, seen from different angles. FIG. 6 is a cross-sectional view of the moving device according to the first embodiment of the present invention.

[0040] In the following description of the drawings, each direction is defined based on the coordinate axes shown in FIG. 1. More specifically, the positive direction of the z-axis is defined as the upper side, and the negative direction of the z-axis is defined as the lower side. The positive direction of the y-axis is defined as the rear side, and the negative direction of the y-axis is defined as the front side. The positive direction of the x-axis is defined as the left side, and the negative direction of the x-axis is defined as the right side.

[0041] 1 to 3, the moving device 1 according to the first embodiment of the present invention can include a first housing 10, first and second rollers 20, 30, a second housing 40, an actuator 50, a control unit 70, and sensors 80, 82. In this case, the first and second rollers 20, 30 are referred to as an operating unit that moves the tubular member 2, the actuator 50 is referred to as a driving unit that provides a driving force for moving the tubular member 2, and the control unit 70 and the sensors 80, 82 are referred to as an operation control unit that measures and controls the amount of movement of the tubular member 2.

[0042] In the drawings, only the components necessary for understanding the present invention are shown, and other components are omitted. Although not shown in the drawings, the first and second housings 10 and 40 may additionally include other components for installing the above-mentioned components.

[0043] 1 and 2, in the first embodiment of the present invention, the first housing 10 is a box-shaped structure that houses and protects the operating parts (i.e., the first and second rollers 20 and 30). At this time, the first housing 10 may be made of various materials such as metal or thermosetting resin.

[0044] An inlet 11 communicating with the internal space of the first housing 10 is formed on one surface, for example, the upper surface, of the first housing 10, and an outlet 13 connecting to the outside of the internal space of the first housing 10 is formed on the opposite surface, i.e., the lower surface. At this time, the inlet 11 and the outlet 13 are arranged coaxially so as to correspond to each other.

[0045] The tubular member 2 can be inserted into or discharged from the first housing 10 through the inlet 11 and outlet 13 of the first housing 10. For this reason, the diameters of the inlet 11 and outlet 13 are formed to be larger than the diameter of the tubular member 2. At this time, it is preferable that the diameters of the inlet 11 and outlet 13 are large enough to accommodate guide members 12 and 14 (shown in FIG. 6) described below.

[0046] Referring to FIG. 6, in the first embodiment of the present invention, a first guide member 12 and a second guide member 14 may be provided at an inlet 11 and an outlet 13 of a first housing 10, respectively.

[0047] The first guide member 12 is fixedly installed at the entrance 11 of the first housing 10. At this time, a first guide hole having a bellows shape whose diameter increases from the inside to the outside of the first housing 10 is formed at the center of the first guide member 12. As a result, the tubular member 2 can be easily inserted from the outside to the inside of the first housing 10 through the first guide hole.

[0048] The second guide member 14 is fixedly installed at the outlet 13 of the first housing 10. At this time, a second guide hole having a bellows shape with a diameter increasing from the outside to the inside of the second housing 40 is formed at the center of the second guide member 14. As a result, the tubular member 2 inserted inside the first housing 10 can be easily discharged to the outside of the first housing 10 through the second guide hole.

[0049] In addition, the guide members 12, 14 guide the movement of the tubular member 2 inside the first housing 10, thereby guiding the tubular member 2 into the space between the first and second rollers 20, 30, and preventing the tubular member 2 from twisting inside the first housing 10.

[0050] 3 to 5, first and second rotating shaft members 22, 32 are disposed inside the first housing 10 along first and second axes C1, C2 that are parallel to each other. The first and second axes C1, C2 may refer to axes extending in the front-rear direction of the first housing 10.

[0051] According to the first embodiment of the present invention, one end of the first rotating shaft member 22 is installed on the inner wall of the first housing 10, and the other end extends rearward through the rear wall of the first housing 10 so as to be directly or indirectly connected to an actuator 50 located outside the first housing 10. A power transmission member 54 capable of receiving a driving force generated by the actuator 50 is provided on the other end of the first rotating shaft member 22. In this embodiment, the power transmission member 54 provided on the other end of the first rotating shaft member 22 is made of a spur gear.

[0052] Both ends of the second rotating shaft member 32 are installed on the inner wall of the first housing 10. At this time, a magnetic material groove 37 in which a magnetic material 38 having magnetic properties can be installed is formed at one end of the second rotating shaft member 32, which is the rear end with reference to FIG. 4. The magnetic material 38 is inserted and fixed in the magnetic material groove 37, and can rotate integrally with the second rotating shaft member 32. The function of the magnetic material 38 will be described later together with the second sensor 82.

[0053] In this embodiment, in order to allow the first and second rotating shaft members 22, 32 to rotate smoothly, a first bearing member 25 is provided at one end of the first rotating shaft member 22, and a second bearing member 26 is provided between a part of the first rotating shaft member 22 that penetrates the first housing 10 and the rear wall of the first housing 10. Similarly, third and fourth bearing members 35, 36 are provided at both ends of the second rotating shaft member 32. In this case, the first to fourth bearing members 25, 26, 35, 36 may be made of ball bearings.

[0054] The first and second disc-shaped rollers 20, 30 are disposed facing each other on both sides of the tubular member 2 passing through the first housing 10. The first and second rollers 20, 30 are positioned side by side at an appropriate distance so that the tubular member 2 passes between them, but the first and second rollers 20, 30 can apply pressure to the outer periphery of the tubular member 2.

[0055] At this time, the first roller 20 is installed on the first rotating shaft member 22 so as to rotate integrally with the first rotating shaft member 22, and the second roller 30 is installed on the second rotating shaft member 32 so as to rotate integrally with the second rotating shaft member 32.

[0056] When the first roller 20 and the first rotating shaft member 22 are provided with a driving force from the outside and rotate in one direction, applying pressure to the outer periphery of the tubular member 2, the tubular member 2 moves due to the frictional force generated between the outer periphery of the first roller 20 and the tubular member 2.

[0057] At this time, the second roller 30 presses the opposite side of the tubular member 2 to provide a normal force so that a sufficient frictional force is applied to the tubular member 2. Meanwhile, the second roller 30 also rotates in one direction due to the frictional force generated between the tubular member 2 and the second roller 30.

[0058] In this way, the moving device 1 according to the first embodiment of the present invention can move the tubular member 2 by utilizing the frictional force between the rollers 20 , 30 and the tubular member 2 .

[0059] 3, grooves corresponding to the outer periphery of the tubular member 2 are formed on the outer periphery 21, 31 of the first roller 20 and the second roller 30. This can further increase the contact area between the outer periphery 21, 31 of the first and second rollers 20, 30 and the tubular member 2, and thus a larger frictional force can be applied to the tubular member 2.

[0060] In this embodiment, the grooves formed on the outer peripheral surfaces 21, 31 of the first and second rollers 20, 30 are formed in a semicircular shape according to the cross-sectional shape of the tubular member 2, but are not limited thereto and may be formed in an elliptical shape, etc. according to the shape of the tubular member 2.

[0061] Furthermore, in order to increase the frictional force between the first and second rollers 20, 30 and the tubular member 2, friction members 21, 31 may be provided on the outer circumferential surfaces of the first and second rollers 20, 30. At this time, a plurality of friction members 21, 31 may be provided.

[0062] In addition, the outer surfaces of the friction members 21 and 31 may be formed with grooves (not shown) having a shape similar to that formed on the outer circumferential surface of a vehicle tire in order to increase the frictional force or coefficient of friction.

[0063] In this embodiment, the friction members 21, 31 are made of a plurality of elastic rubber rings, but the shape and material of the friction members 21, 31 are not particularly limited as long as they can improve the friction force or friction coefficient between the first and second rollers 20, 30 and the tubular member 2.

[0064] 1 and 2, a second housing 40 is detachably coupled to one side of the first housing 10, that is, to the rear of the first housing 10 with reference to Fig. 1. The second housing 40 is a box-shaped structure having an internal space, and serves to accommodate and protect a driving unit (i.e., actuator 50) and an operation control unit (i.e., control unit 70 and sensors 80, 82) in the internal space.

[0065] At this time, the separable connection structure between the first and second housings 10 and 40 may be various connection structures such as a bolt and nut connection structure, a sliding type connection structure, or a hook and loop connection structure.

[0066] In this way, in the moving device 1 according to the first embodiment of the present invention, the operating unit, driving unit, and operation control unit are separately arranged in the first and second housings 10, 40, respectively, and the first and second housings 10, 40 are detachably connected, so that only the first housing 10 can be separately washed, thereby preventing damage to the driving unit and operation control unit that may occur during the cleaning process of the operating unit.

[0067] Furthermore, the moving device 1 according to the first embodiment of the present invention can be easily used by replacing or repairing worn, damaged or defective parts among the operating unit, driving unit and operation control unit.

[0068] The actuator 50 is a device that provides a driving force for rotating the first rotating shaft member 22 and the first roller 20, and is fixedly installed inside the second housing 40. In this embodiment, the actuator 50 is an electric motor equipped with a motor rotating shaft 52. Although not shown, a battery or the like for providing energy to the actuator 50 may be provided inside the second housing 40.

[0069] 3 to 5, a power transmission member 54 is provided between the actuator 50 and the first rotating shaft member 22. The power transmission member 54 is made up of a plurality of gears that transmit the driving force generated by the actuator 50 to the first rotating shaft member 22 and adjust the rotational speed ratio, rotational direction, and torque ratio of the motor rotating shaft 52 and the first rotating shaft member 22.

[0070] At this time, the power transmission member 54 may include at least two gears. At this time, the at least two gears include a gear provided at one end of the motor rotating shaft 52 and a gear provided at the other end of the first rotating shaft member 22.

[0071] In this embodiment, the power transmission member 54 comprises a plurality of spur gears, however, the power transmission member 54 could include a variety of gears known in the art, such as including a worm wheel and worm shaft to reduce backlash.

[0072] A control unit 70 capable of controlling the actuator 50 is provided on one side of the actuator 50. In this case, the control unit 70 may be composed of a processing device such as a printed circuit board (PCB), a microprocessor, a general-purpose processor, a central processing unit (CPU), a digital signal processor (DSP), or a combination of such configurations.

[0073] The control unit 70 is electrically connected to the first and second sensors 82 described below to receive information, measures the amount of movement of the tubular member 2 based on the received information, and can control the actuator 50 using this.

[0074] Meanwhile, although not shown, an operation unit may be provided on one side of the first housing 10 or the second housing 40 so that a user can control the movement amount of the actuator 50 and the tubular member 2. The operation unit is formed to be physically or electrically connected to the control unit 70 so as to be able to transmit and receive signals. In this case, the operation unit may be composed of a plurality of buttons or a display capable of generating signals in a touch-type manner.

[0075] 1 to 5, the first sensor 80 is a sensor provided to measure the position of the first roller 20, for example, the rotation angle and direction, and may be provided on one side of the actuator 50 or the first roller 20. In this embodiment, the first sensor 80 is a first encoder provided on the motor rotating shaft 52.

[0076] The first sensor 80 measures the rotation angle and direction of the motor shaft 52. The first sensor 80 measures the rotation angle and direction of the motor shaft 52, and by taking into account the gear ratio and change in rotation direction by the power transmission member 54, the rotation angle and direction of the first roller 20 can be indirectly measured.

[0077] The second sensor 82 is a sensor provided to measure the position of the second roller 30, for example, the rotation angle and direction, and may be provided on one side of the second roller 30. In this embodiment, the second sensor 82 is a second encoder disposed on one side of the second rotating shaft member 32, that is, behind the second rotating shaft member 32 with reference to FIG. 4. In this case, the second sensor 82 may be installed on a wall surface of the second housing 40 or mounted within a side wall of the second housing 40.

[0078] The second sensor 82 utilizes magnetic properties to measure the rotation angle and direction of the magnetic body 38 fixed to the end of the second rotating shaft member 32. By the second sensor 82 measuring the rotation angle and direction of the magnetic body 38, the rotation angle and direction of the second roller 30 can be indirectly measured.

[0079] In this embodiment, the sensors 80, 82 measure the rotation angle and direction of the first and second rollers 20, 30 to indirectly measure the amount of movement of the tubular member 2, or in other embodiments, the sensors may be provided adjacent to the tubular member 2 to directly measure the amount of movement of the tubular member 2. Also, the sensors may be provided in the first housing 10 as long as it is possible to prevent problems of contamination and damage to the tubular member 2 and foreign matter adsorbed to the tubular member 2.

[0080] Meanwhile, the second sensor 82 may be configured to sense the rotation angle and direction of the second roller 30 by being provided directly on the second rotating shaft member 32 of the second roller 30, or on a shaft connected to the second rotating shaft member 32 by a gear, or the like.

[0081] Of course, the second sensor is not particularly limited as long as it can directly or indirectly sense the position of the second roller 30, and all known sensors and structures for directly or indirectly sensing the position of the second roller 30 can be applied to the second sensor 82.

[0082] Hereinafter, a process in which the sensors 80, 82 and the control unit 70 according to the first embodiment of the present invention measure the amount of movement of the tubular member 2 and control the actuator 50 will be described in more detail.

[0083] 5 and 6, the rotation angle and direction of the first roller 20 is indirectly measured by a first sensor 80 measuring the rotation angle and direction of the motor shaft 52. The rotation angle and direction of the second roller 30 is indirectly measured by a second sensor 82 measuring the rotation angle and direction of the magnetic body 38.

[0084] More specifically, the amount of movement of the tubular member 2 can be indirectly measured by measuring the distance traveled by a point on the outer circumferential surface of the first roller 20 due to the rotation of the first roller 20. That is, the length of an arc L1 calculated by multiplying the rotation angle θ1 of the first roller 20 by the radius R1 of the first roller 20 is the amount of movement of the tubular member 2 moved by the first roller 20. Hereinafter, the amount of movement of the tubular member 2 measured in the above manner will be referred to as a first measured movement amount.

[0085] According to the first embodiment of the present invention, the first sensor 80 measures the rotation direction and angle of the first roller 20, and the first sensor 80 or the control unit 70 receiving information from the first sensor 80 calculates the first measured movement amount of the tubular member 2, thereby enabling the movement amount d of the tubular member 2 to be accurately controlled.

[0086] For example, the control unit 70 can accurately control the movement amount d of the tubular member 2 by controlling the actuator 50 to rotate the first roller 20 so that the first measured movement amount is identical to the target movement amount of the tubular member 2.

[0087] Meanwhile, slip may occur between the outer circumferential surface of the first roller 20 and the outer circumferential portion of the tubular member 2. Slip means that a kinetic frictional force acts between the outer circumferential surface of the first roller 20 and the outer circumferential portion of the tubular member 2, causing relative motion between the outer circumferential surface of the first roller 20 and the tubular member 2. When slip occurs, a difference occurs between the actual movement amount d of the tubular member 2 and the first measured movement amount.

[0088] To complement this, the control unit 70 calculates the amount of movement of the tubular member using the rotation angle and direction of the second roller 30, and controls the actuator 50 using both the amount of movement of the tubular member calculated through the second roller 30 and the first measured amount of movement, thereby enabling more accurate control of the amount of movement d of the tubular member 2.

[0089] Since the second roller 30 is a driven roller that rotates due to the frictional force generated between the outer surface of the second roller 30 and the outer periphery of the tubular member 2, no slip occurs between the outer surface of the second roller 30 and the outer periphery of the tubular member 2, or less slip occurs between the outer surface of the second roller 30 and the outer periphery of the tubular member 2 than between the outer surface of the first roller 20 and the outer periphery of the tubular member 2.

[0090] In other words, by estimating the amount of slip occurring in the tubular member 2 by using the second roller 30, which does not or only slightly slips, and using this to control the actuator 50, the movement amount d of the tubular member 2 can be controlled more accurately.

[0091] More specifically, the amount of movement of the tubular member 2 can be indirectly measured by measuring the distance traveled by a point on the outer circumferential surface of the second roller 30 due to the rotation of the second roller 30. That is, the length of an arc L2 calculated by multiplying the rotation angle θ2 of the second roller 30 by the radius R2 of the second roller 30 is the amount of movement of the tubular member 2. Hereinafter, the amount of movement of the tubular member 2 measured in the above manner will be referred to as the second measured amount of movement.

[0092] At this time, the control unit 70 can control the actuator 50 using both the first measured movement amount and the second measured movement amount. For example, the control unit 70 can primarily control the actuator 50 to rotate the first roller 20 so that the first measured movement amount becomes equal to the target movement amount of the tubular member 2, and then secondarily control the actuator 50 to rotate the first roller 20 so that the second measured movement amount becomes equal to the target movement amount of the tubular member 2, thereby moving the tubular member 2.

[0093] Through this control method, the amount of slippage occurring between the tubular member 2 and the rollers 20, 30 can be estimated and reflected in the control of the actuator, thereby making it possible to more accurately control the amount of movement of the tubular member 2.

[0094] Of course, the control unit 70 may be configured to primarily control the actuator 50 to rotate the first roller 20 so that the first measured movement amount becomes identical to the target movement amount of the tubular member 2, and then secondarily control the actuator 50 to rotate the first roller 20 so that the average value of the first measured movement amount and the second measured movement amount becomes identical to the target movement amount of the tubular member 2.

[0095] In this way, in the movement device 1 according to the first embodiment of the present invention, the control unit 70 uses both the first measured movement amount and the second measured movement amount to control the movement amount of the tubular member 2, thereby more accurately controlling the actual movement amount of the tubular member 2. Of course, in other embodiments, the control unit 70 may be configured to control the actuator 50 using only the second measured movement amount measured by the second sensor 82.

[0096] The moving device according to the second embodiment of the present invention will be described below. The moving device according to the second embodiment of the present invention may be configured in the same manner as the moving device according to the first embodiment of the present invention, except for the roller operating unit and the first housing, so detailed description thereof will be omitted, and the first housing and the roller operating unit according to the second embodiment of the present invention will be described in detail.

[0097] Fig. 7 is a perspective view of a moving device according to a second embodiment of the present invention. For the purpose of explaining the invention, the first and second housings are shown by dotted lines, and the configuration seen through the first and second housings is shown by solid lines. Fig. 8 is an exploded perspective view of a second roller and a roller operating unit of the moving device according to the second embodiment of the present invention. Figs. 9 and 10 are diagrams for explaining the operation of the roller operating unit of the moving device according to the second embodiment of the present invention.

[0098] 7, a first housing 110 of a moving device 101 according to a second embodiment of the present invention is provided with guide holes 115 into which both ends of a second rotating shaft member 132 are inserted. Thus, the second rotating shaft member 132 and the second roller 130 can move left and right along the guide holes 115.

[0099] 7 and 8, the moving device 101 according to the second embodiment further includes a roller operating unit 160. The roller operating unit 160 is movably provided within the first housing 110 and includes an operating member 164 coupled with the second rotating shaft member 132, a driving member for moving the operating member 164, and a shutter member 137 for opening and closing the entrance 111 or the exit 113 of the first housing 110.

[0100] In this embodiment, the driving member includes a button member 161 that can be pressed inside the first housing 110. The button member 161 is composed of a head portion 162 that can be pressed, and a body portion 163 that extends from the head portion 162 to the inside of the first housing 110 and penetrates a side wall of the first housing 110. The body portion 163 slides through a through hole in the first housing 110 and can be inserted into the inside of the first housing 110 or pulled out to the outside.

[0101] 8, an operating member 164 is formed on one side of the body part 163. A pair of coupling parts 165a and 165b are provided on one side of the operating member 164, which protrude while covering both sides of the second roller 130. Coupling holes 166a and 166b are formed in the coupling parts 165a and 165b in the axial direction of the second rotating shaft member 132.

[0102] One end of the second rotating shaft member 132 and the third bearing member 135 are installed in the connecting hole 166a of the front connecting part 165a, and the other end of the second rotating shaft member 132 and the fourth bearing member 136 are installed in the connecting hole 166b of the rear connecting part 165b. As a result, the second rotating shaft member 132 and the second roller 130 can rotate relative to the roller operating part 160 while also moving linearly together with the roller operating part 160.

[0103] Referring to FIG. 9, as the button member 161 is pressed against the inside of the first housing 110, the actuating member 164, the second rotating shaft member 132 and the second roller 130 move to the right, so that the second roller 130 is positioned at the first position adjacent to the first roller 120.

[0104] With the second roller 130 located at the first position, both sides of the tubular member 2 are pressed by the first and second rollers 120, 130, generating a normal force. As a result, when the first roller 120 rotates due to frictional force, the tubular member 2 moves while being inserted into or ejected from the first housing 110.

[0105] That is, the driving force of the actuator 150 is transmitted through the first rotating shaft member 122 and the first roller 120 to move the tubular member 2. Hereinafter, the state in which the tubular member 2 can be automatically moved by the actuator 150 is referred to as an automatic mode.

[0106] Referring to FIG. 10, as the button member 161 is pulled outward from the first housing 110, the actuating member 164 and the second rotating shaft member 132, which moves linearly integrally with the actuating member 164, and the second roller 130 move to the left, so that the second roller 130 is positioned at a second position farther from the first roller 120 than at the first position.

[0107] When the second roller 130 is positioned in the second position, the left side of the tubular member 2 is not pressed by the second roller 130, so that a normal force that generates a frictional force between the first roller 120 and the tubular member 2 cannot act on the tubular member 2.

[0108] As a result, even if the first roller 120 rotates, the driving force of the actuator 150 cannot move the tubular member 2. In other words, the user can manually move the tubular member 2. Hereinafter, the state in which the user can manually move the tubular member 2 is referred to as the manual mode.

[0109] As described above in detail, the moving device 101 according to the second embodiment of the present invention can easily switch from an automatic mode in which the tubular member 2 can be automatically inserted or extracted to a manual mode in which the user directly inserts or extracts the tubular member 2, or vice versa, by the roller actuator 160 moving the second roller 130 to a first position adjacent to the first roller 120, or moving the second roller 130 to a second position farther from the first roller 120 than the first position.

[0110] Meanwhile, in this embodiment, the driving member for moving the operating member 164 is composed of the button member 161 that is moved by an external force, but the driving member may include a gear and a motor to automatically move the operating member 164.

[0111] 7 and 8, the shutter member 167 of the moving device 1 according to the second embodiment of the present invention is a member for opening and closing the outlet 113 of the first housing 110, and is formed on one side of the operating member 164, extending downward from the lower side with reference to Fig. 8, and then extending toward the outlet 113. It is preferable that the shutter member 167 covers a substantial portion of the lower surface of the inner wall of the first housing 110 so as to open and close the outlet 113. At this time, a shutter hole 168 is formed in the shutter member 167.

[0112] 9, the shutter hole 168 of the shutter member 167 and the outlet 113 are located at corresponding positions so that the shutter hole 168 and the outlet 113 can communicate with each other when the button member 161 is pressed against the inside of the first housing 110. At this time, it is preferable that the shutter hole 168 has a diameter slightly larger than that of the tubular member 2 so that the tubular member 2 can easily pass through. In this case, the tubular member 2 can be inserted into the first housing 110 or ejected to the outside through the shutter hole 168 and the outlet 113.

[0113] 10, when the button member 161 is pulled out to the outside of the first housing 110, the shutter hole 168 of the shutter member 167 moves slightly to the left. As a result, the shutter member 167 closes while covering at least a portion of the outlet 113.

[0114] As the shutter member 167 moves to the left while the tubular member 2 passes through the shutter hole 168, the inner peripheral surface of the shutter hole 168 presses the tubular member 2 to the left. If the tubular member 2 has some flexibility, the part 3 of the tubular member 2 located at the shutter hole 168 will bend slightly.

[0115] In this manner, as the shutter member 167 pushes the tubular member 2 to one side, the tubular member 2 passing through the first housing 110 can be further separated from the first roller 120, so that the outer circumferential surface of the first roller 120 and the outer circumferential portion of the tubular member 2 no longer come into contact with each other. Therefore, the driving force of the actuator cannot be transmitted to the tubular member 2 through the first roller 120, so that the transition from the automatic mode to the manual mode can be made more complete.

[0116] Hereinafter, a moving device according to a third embodiment of the present invention will be described. The moving device according to the third embodiment of the present invention may be configured in the same manner as the moving device according to the first embodiment of the present invention except for the first and second gears, so detailed description thereof will be omitted, and the first and second gears according to the third embodiment of the present invention will be described in detail.

[0117] 11 is a perspective view of a moving device according to a third embodiment of the present invention. For the purpose of explaining the invention, the first and second housings are shown in dotted lines, and the structure seen through the first and second housings is shown in solid lines.

[0118] 11, the moving device 201 according to the third embodiment of the present invention may further include first and second gears 224, 234 that mesh with each other. In this case, the first gear 224 is fixed to the first rotating shaft member 222 and the second gear 234 is fixed to the second rotating shaft member 232 so that the first gear 224 can rotate integrally with the first rotating shaft member 222 and the second gear 234 can rotate integrally with the second rotating shaft member 232.

[0119] As a result, a portion of the driving force generated by the actuator 250 and transmitted to the first rotating shaft member 222 is used to rotate the first roller 220, and the remainder is used to rotate the second rotating shaft member 232 and the second roller 230 via the first gear 224 and the second gear 234.

[0120] At this time, the gear ratio between the first gear 224 and the second gear 234 and the radius of the first roller 220 and the radius of the second roller 230 can be appropriately adjusted so that the first measurement movement amount and the second measurement movement amount are the same.

[0121] In this way, the moving device 201 of the third embodiment of the present invention can move both sides of the tubular member 2 together by distributing the driving force of the actuator 250 to the first roller 220 and the second roller 230 using the first and second gears 224, 234, thereby effectively suppressing slippage that occurs between the first and second rollers 220, 230 and the tubular member 2.

[0122] The moving device according to the fourth embodiment of the present invention will be described below. Since the moving device according to the fourth embodiment of the present invention can be configured in the same manner as the moving device according to the third embodiment of the present invention except for the roller operating unit, detailed description thereof will be omitted, and the roller operating unit according to the fourth embodiment of the present invention will be described in detail.

[0123] 12 is a perspective view of a moving device according to a fourth embodiment of the present invention. For the purpose of explaining the invention, the first and second housings are shown by dotted lines, and the structure seen through the first and second housings is shown by solid lines.

[0124] 12, the moving device 301 according to the fourth embodiment of the present invention may further include a roller operating unit 360. In this case, the roller operating unit 360 may be configured in the same manner as the roller operating unit of the moving device according to the second embodiment of the present invention.

[0125] That is, in the moving device 301 according to the fourth embodiment of the present invention, the first housing 310 is provided with guide holes 315 into which both ends of the second rotating shaft member 332 are inserted. As a result, the second rotating shaft member 332 and the second roller 330 can move left and right along the guide holes 315.

[0126] The roller operating part 360 may be composed of a button member 361, an operating member 364, and a shutter member 367. As one side of the button member 361 is pressed, the button member 361 and the operating member 364 are moved inside the first housing 310, and the second rotating shaft member 332 and the second roller 330 are moved from the second position to the first position. When the second roller 330 is located at the first position, both sides of the tubular member 2 are pressed by the first and second rollers 320, 330, so that the tubular member 2 moves due to the frictional force generated by the rotation of the first roller 320 (automatic mode).

[0127] With the second roller 330 in the second position, the tubular member 2 is no longer pressed by the second roller 330, and no normal force is generated in the tubular member 2, so the driving force of the actuator 350 is not transmitted to the tubular member 2 through the first roller 320 (manual mode). In this case, the user can manually adjust the movement of the tubular member 2.

[0128] As described above, the moving device 301 according to the fourth embodiment of the present invention can easily switch from an automatic mode in which the tubular member 2 can be automatically inserted or extracted to a manual mode in which the user directly inserts or extracts the tubular member 2, or vice versa, since the roller actuator 360 can move the second roller 330 to the first position and the second position.

[0129] In addition, since the moving device 301 according to the fourth embodiment of the present invention is provided with the first and second gears 324, 334 on the first and second rotating shaft members 322, 332, slippage occurring between the first and second rollers 320, 330 and the tubular member 2 can be effectively suppressed.

[0130] In the following, modifications to the first and second rollers of the moving device according to an embodiment of the present invention will be described.

[0131] 13 to 16 are diagrams for explaining modified examples of the first and second rollers of the moving device according to the embodiment of the present invention.

[0132] 13, in a modified example of the present invention, the first rollers 420a, 420b may include a first upper roller 420a and a first lower roller 420b, which are arranged side by side along the length direction on one side of the tubular member 2. In this case, a belt 427 is provided on the outer circumferential surface of the first upper roller 420a and the outer circumferential surface of the first lower roller 420b.

[0133] A second roller 430 is disposed opposite the other side of the tubular member 2 to press the tubular member 2 against the belt 427. Of course, the second roller 430 is provided with the roller operating unit described above to switch between the manual mode and the automatic mode, and the pressure with which the second roller 430 presses the other side of the tubular member 2 can be adjusted.

[0134] When the first upper roller 420 a and the first lower roller 420 b are synchronized and rotate at the same tangential speed, the tubular member 2 moves due to the frictional force generated between the belt 427 and the tubular member 2 .

[0135] At this time, synchronization of the first upper roller 420a and the first lower roller 420b can be electronically controlled and achieved by a power transmission member consisting of multiple motors coupled to the first upper roller 420a and the first lower roller 420b, respectively, or multiple gears coupled to a single motor.

[0136] In this way, according to the first and second rollers 420a, 420b, 430 of the modified example of the present invention, the contact area over which the frictional force can be transmitted to the tubular member 2 by the belt 427 is increased, so that the frictional force (or ground contact force) acting on the tubular member 2 can be increased, and the tubular member 2 can be moved more stably and efficiently.

[0137] Referring to FIG. 14, in another variant of the present invention, the first rollers 520a, 520c may include a first upper roller 520a and a first lower roller 520c, and the first upper rotating shaft member 522a is provided with a first upper gear 524a, and the first lower rotating shaft member 522c is provided with a first lower gear 524c.

[0138] The first upper roller 520a and the first lower roller 520c are arranged in line along the length direction on one side of the tubular member 2, and the second roller 530 is arranged opposite to it on the other side of the tubular member 2 to press the tubular member 2 against the first rollers 520a and 520c. Of course, the second roller 530 is provided with the roller operating unit described above to perform switching between manual mode and automatic mode, and the pressure with which the second roller 530 presses the other side of the tubular member 2 can be adjusted.

[0139] At this time, a third rotating shaft member 522b that is rotated by a driving force transmitted from an actuator and a third gear 524b provided on the third rotating shaft member 522b may be disposed between the first upper roller 520a and the first lower roller 520c. One side of the third gear 524b is meshed with the first upper gear 524a, and the other side is meshed with the first lower gear 524b.

[0140] When the third rotating shaft member 522b is rotated in one direction by the actuator, the first rollers 520a, 520c rotate in the same direction and at the same speed in synchronization with each other by transmitting power through the gears 524a, 524b, 524c. Accordingly, the tubular member 2 moves due to the frictional force generated between the first rollers 520a, 520c and the tubular member 2. At this time, the synchronization of the first upper roller 520a and the first lower roller 520c can be achieved by a power transmission member consisting of a plurality of gears coupled to the actuator.

[0141] In this way, the first and second rollers according to another modified example of the present invention can stably and efficiently move the tubular member 2 by increasing the number of first rollers 520a, 520c in contact with the tubular member 2 and thereby increasing the frictional force (or ground contact force) acting on the tubular member 2, and can precisely measure the amount of movement of the tubular member 2 by utilizing the second roller 530.

[0142] Of course, the frictional force (or grounding force) acting on the tubular member 2 can be further increased by adding the first and second rollers 520a, 520c, 530 through modification of the structure of the actuator or power transmission member.

[0143] Referring to FIG. 15, according to yet another modification of the present invention, the second rollers 630a, 630b may include a second upper roller 630a and a second lower roller 630b arranged side by side along the length direction of the tubular member 2.

[0144] At this time, a first gear 624 is provided on the first rotating shaft member 622, and a second gear 634a is provided on the second upper roller rotating shaft member 632a. The first gear 624 and the second gear 634a are engaged with each other.

[0145] As a result, a portion of the driving force generated by the actuator and transmitted to the first rotating shaft member 622 is used to rotate the first roller 620, and the remainder is used to rotate the second upper roller rotating shaft member 632a and the second upper roller 630a via the first gear 624 and the second gear 634a.

[0146] In this way, the moving device according to yet another modified example of the present invention is able to move both sides of the tubular member 2 together by distributing the driving force of the actuator to the first roller 620 and the second upper roller 630a using the first and second gears 624, 634a, thereby effectively suppressing slippage that occurs between the tubular member 2 and the first and second upper rollers 620, 630a.

[0147] In addition, since the second lower roller 630b below the second upper roller 630a assists the second upper roller 630a to press the tubular member 2 toward the first roller 620, the frictional force (or ground contact force) acting on the tubular member 2 can be increased, and the tubular member 2 can be moved more stably and efficiently.

[0148] Of course, the second rollers 630a, 630b are provided with the roller operating unit described above to enable switching between manual mode and automatic mode, and the pressure with which the second rollers 630a, 630b press the other side of the tubular member 2 can be adjusted.

[0149] 16, in yet another variation of the present invention discussed above in detail with reference to FIG 15, the positions of the second rollers 730a, 730b may be changed. In this variation, the second upper roller 730a is positioned slightly above the first roller 630, and the second lower roller 730b is positioned below the first roller 630.

[0150] In this manner, by adjusting the positions of the first and second rollers 620, 730a, 730b, the first and second rollers 620, 730a, 730b can apply pressure to both sides of the tubular member 2 more stably, thereby allowing the tubular member 2 to be moved more stably and efficiently.

[0151] Of course, the first gear 624 of the first roller 620 and the second gear 734a of the second upper roller 730a may be slightly modified to position the second upper roller 730a at a higher position.

[0152] As described above in detail, the moving device according to the embodiment of the present invention can automatically move the tubular member by utilizing the frictional force between the tubular member and the first roller, which rotates by the driving force generated by the actuator.

[0153] In addition, the moving device according to an embodiment of the present invention includes a sensor for measuring the amount of movement of the tubular member and a control unit for controlling the actuator, and the control unit controls the actuator using the amount of movement of the tubular member measured by the sensor, thereby enabling accurate control of the amount of movement of the tubular member.

[0154] Meanwhile, although the shape of the first and second housings has been described as being rectangular, it should be made clear that the shape of each component may be formed with a curved surface in consideration of the relationship with peripheral devices, or bent in the form of a handle for ease of use, and may be otherwise modified or altered in various ways within the scope that does not detract from the technical concept of the present invention.

[0155] Although an embodiment of the present invention has been described, the concept of the present invention is not limited to the embodiment 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 same concept, which may also be considered to fall within the concept of the present invention. [Explanation of symbols]

[0156] 101, 201, 301: Mobile device 2: Tubular member 10, 110, 210, 310: 1st housing 20, 120, 220, 320: 1st roller 30, 130, 230, 330: 2nd roller 40, 140, 240, 340: Second housing 50, 150, 250, 350: Actuator 160, 360: Roller operating part 70, 170, 270, 370: Control unit 80, 180, 280, 380: First sensor 82, 182, 282, 382: Second sensor

Claims

1. A moving device for moving a tubular member, comprising: a housing through which the tubular member passes; a first roller and a second roller disposed opposite each other on both sides of the tubular member inside the housing and having outer circumferential surfaces capable of applying pressure to the tubular member; an actuator for providing a driving force to rotate the first roller; a sensor for measuring the amount of movement of the tubular member; a control unit that controls the actuator based on the amount of movement of the tubular member; and a roller operating portion provided in the housing so as to be able to move the second roller in a direction toward the first roller; the tubular member between the first roller and the second roller is moved by a frictional force when the first roller rotates at a first position where the second roller is adjacent to the first roller; The housing has a hole through which the tubular member passes, the roller actuator includes a shutter member located adjacent to the hole and configured to open the hole of the housing and to close a portion of the hole; The shutter member has a shutter hole through which the tubular member passes, an actuating member that is movably provided with respect to the housing and has one side coupled to a rotation shaft of the second roller; The shutter member is connected to the actuating member at one side so as to be movable together with the actuating member, The shutter member is configured to open the hole of the housing when the actuating member moves the second roller to the first position, When the operating member moves the second roller to a second position, an inner circumferential surface of the shutter hole presses the tubular member to separate the tubular member from the first roller, The moving device, wherein the shutter member is configured to close a portion of the hole in the housing when the actuating member moves the second roller to the second position.

2. the sensor includes a first sensor that senses a position of the first roller; The movement device of claim 1 , wherein the control unit is configured to use a position of the first roller to measure the amount of movement of the tubular member.

3. The actuator comprises a motor; the first sensor is a first encoder provided on a rotating shaft of the motor, The movement device according to claim 2 , wherein the control unit is configured to measure the amount of movement of the tubular member by using the position of the rotation shaft sensed by the first encoder.

4. the sensor includes a second sensor that senses a position of the second roller; The movement device of claim 1 , wherein the control unit is configured to measure the amount of movement of the tubular member using a position of the second roller.

5. a magnetic body that rotates together with the second roller is provided on one side of the second roller, the sensor includes a second encoder positioned adjacent to the magnetic body so as to sense the position of the magnetic body; The movement device according to claim 4 , wherein the control unit is configured to measure the amount of movement of the tubular member by utilizing a position of the magnetic body.

6. the sensors include a first sensor for sensing a position of the first roller; and a second sensor for sensing a position of the second roller; 2. The movement device of claim 1, wherein the control unit is configured to control the actuator based on a first amount of movement of the tubular member measured using a position of the first roller and a second amount of movement of the tubular member measured using a position of the second roller.

7. The housing a first housing in which the first roller and the second roller are housed; and a second housing in which the actuator is housed; The transfer device of claim 1 , wherein the first housing and the second housing are releasably coupled.

8. The mobility device of claim 7 , wherein the control and the sensor are disposed in the second housing.

9. the roller operating portion includes a drive member for moving the operating member, 2. The movement device of claim 1, configured such that the second roller can move from the second position, farther from the first roller than the first position, to the first position as the actuating member is moved by the drive member.

10. The first roller is a plurality of rollers, The transfer device of claim 1 , wherein the first plurality of rollers are disposed along a length of the tubular member.

11. the plurality of first rollers includes a first upper roller and a first lower roller; a belt having an outer portion in contact with the outer periphery of the tubular member on the outer periphery of the first upper roller and the first lower roller; The transfer device of claim 10 , wherein the tubular member between the belt and the second roller is configured to be moved by frictional force when the first roller rotates.

12. The second roller is a plurality of rollers, The transfer device of claim 1 , wherein the plurality of second rollers are disposed along a length of the tubular member.

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