Flexible wire conveying apparatus and flexible wire conveying system comprising same

Abstract

Disclosed is a flexible wire conveying apparatus, comprising a conveying mechanism. The conveying mechanism comprises: a clamping and conveying component, which is provided with a wire passage for a flexible wire to pass through; and a compression limiting component, which comprises a pressing component. The pressing component presses a part of the clamping and conveying component from one side of the wire passage, thereby generating a friction fit between the clamping and conveying component and the flexible wire. As the clamping and conveying component moves, the flexible wire is conveyed along a straight line under the action of the friction fit. The flexible wire conveying apparatus achieves continuous linear conveying of the flexible wire by means of a simple structure, can be easily mounted, and is convenient to operate.

Description

Flexible wire conveying device and flexible wire conveying system comprising the same TECHNICAL FIELD

[0001] The present application relates to a flexible wire conveying device for conveying a flexible wire, and to a flexible wire conveying system comprising the same. The flexible wire conveying device and system are used for conveying a flexible wire, such as can be used in the medical field for conveying an endoscope soft scope tube or the like, or can be used in other fields for conveying a flexible wire. BACKGROUND

[0002] Conveying of flexible wires plays an important role in many industries and application scenarios, such as conveying of cable wires, conveying of optical fiber wires, conveying of robot cables, and the like. There are also many application scenarios of flexible wire conveying in medical devices, for example, cardiovascular guide wires, which are very thin and flexible metal or composite wires, play a guiding role in cardiovascular intervention treatment, and help doctors guide other instruments (such as catheters, stents, etc.) to reach the target lesion position in the patient's vascular system through the conveying of cardiovascular guide wires.

[0003] Conveying of flexible wires also has applications in the field of flexible endoscopes. Endoscopes can enter the human body through natural orifices of the human body, small incisions formed by surgery, etc., and doctors can see the situation in the internal cavity of the human body through the endoscope, for the purpose of checking the situation in the human body, helping doctors perform surgery, etc. The insertion tube of a flexible endoscope is flexible (or soft), which can reach the target position through the curved passage in the human body. The traditional endoscope insertion tube is manually inserted into the natural cavity of the human body by the doctor, and while pushing the endoscope insertion tube forward into the human body, the doctor can also rotate the endoscope tube, so that the endoscope can pass through the tortuous passage and reach the desired position.

[0004] In order to facilitate the doctor to remotely control the insertion of the endoscope insertion tube, endoscope conveying robots have begun to be popularized in endoscopic surgery. The existing endoscope robots mainly hold the endoscope insertion tube at one end by a robot arm, and then convey the endoscope insertion tube into the human body by moving the robot arm forward and backward.

[0005] The existing endoscope conveying robots exhibit some problems in the process of use. For example, the existing endoscope conveying robots mainly adopt an intermittent conveying form, and in the conveying process, the phenomenon of excessive bending and deformation of the endoscope insertion tube is prone to occur, and such excessive bending and deformation will hinder the insertion, and even cause the failure of the endoscope insertion.

[0006] In view of this phenomenon, the prior art proposes a mechanism for continuously feeding an endoscope insertion tube, which includes a plurality of pairs of rollers between which the endoscope insertion tube is pressed and which continuously feed the endoscope insertion tube by rotation of the rollers. In the operation, the endoscope insertion tube needs to be clamped between the pairs of rollers in advance, and the rollers need to be able to always apply a pressing force to the endoscope insertion tube to ensure continuous feeding of the endoscope insertion tube. This puts high operation requirements on the medical staff using the endoscope insertion tube feeding mechanism.

[0007] Therefore, in the field, there is a need for a flexible wire feeding device and system with improved structure, which can be used to feed an endoscope insertion tube and ensure continuous feeding thereof. In addition, it is also desirable that the flexible wire feeding device can be easily installed and operated. SUMMARY

[0008] The present application is made to solve the problems existing in the prior art described above. The purpose of the present application is to provide a novel flexible wire feeding device and system, which can be used to feed a flexible wire such as an endoscope insertion tube and ensure continuous feeding of the flexible wire. Further, the flexible wire feeding device can also be easily installed and operated.

[0009] The present application proposes a flexible wire feeding device. The flexible wire device includes a feeding mechanism. The feeding mechanism includes a clamping and feeding component, in which a wire passage is provided for the flexible wire to pass through; and a compression limiting component, which includes a pressing component, the pressing component pressing a part of the clamping and feeding component from one side of the wire passage, so as to generate a friction fit between the clamping and feeding component and the flexible wire, and under the action of the friction fit, the flexible wire is fed in a straight line along with the movement of the clamping and feeding component. Optionally, the flexible wire device can also include a housing for accommodating the feeding mechanism, in other words, the housing can play a protective role for the feeding mechanism.

[0010] The flexible wire feeding device of the structure can realize continuous pressing of the flexible wire such as an endoscope insertion tube by pressing of the pressing component on the clamping and feeding component, and ensure the friction between the clamping and feeding component and the flexible wire, so that through the movement such as rotation of the clamping and feeding component, continuous straight-line feeding of the flexible wire can be realized with a simple structure. Moreover, the flexible wire feeding device can be easily installed and operated.

[0011] An optional structure of the clamping and feeding component includes a first feeding member and a second feeding member, there is a gap between the first feeding member and the second feeding member, the gap forms at least part of the wire passage, the flexible wire is accommodated in the gap, and the pressing component is pressed on one of the first feeding member and the second feeding member.

[0012] In an alternative embodiment, the first conveying member is a first chuck, and the second conveying member is a second chuck, and the first chuck and the second chuck are fixedly connected to each other, so that a gap is formed between the first chuck and the second chuck.

[0013] The flexible wire can be clamped between the first chuck and the second chuck, and as the first chuck and the second chuck rotate, the flexible wire is continuously conveyed linearly.

[0014] Optionally, the first chuck comprises a hub portion and a plurality of fingers extending radially outward from the hub portion, and in the installed state, the pressing component presses on at least one of the fingers on the side of the first chuck facing away from the second chuck, so that the pressed finger deforms towards the second chuck. The gap size between the deformed finger and the second chuck is reduced, so that the flexible wire therein is squeezed, ensuring the friction force acting on the flexible wire, thereby achieving the conveying of the flexible wire.

[0015] In order to increase the friction force of the clamping conveying component acting on the flexible wire, the clamping conveying component is preferably further provided with at least one of a first friction enhancer and a second friction enhancer, wherein the first friction enhancer is provided on the surface of the side of the first chuck facing the second chuck, and the second friction enhancer is provided on the surface of the side of the second chuck facing the first chuck; wherein at least one of the first friction enhancer and the second friction enhancer has at least one of the following characteristics: made of silica gel material, and formed with at least one of a textured portion and a concave-convex portion.

[0016] In an alternative structure, the top of the housing is formed with an opening, and the opening is formed with a notched portion on two sides arranged opposite in the running direction of the flexible wire, and in the installed state, the notched portion is aligned with the gap, so that the flexible wire can enter and exit the wire passage via the notched portion.

[0017] Further, a compression limiting component is installed on the housing and closes the opening, and when the compression limiting component is installed on the housing to close the opening, the pressing component presses on the side of the fingers of the first chuck facing away from the second chuck. With the provision of such a compression limiting component, it is convenient to position the flexible wire between the first chuck and the second chuck, and then it is easy to exert a compression force on the positioned flexible wire. Specifically, when positioning the flexible wire, the compression limiting component is not installed on the housing, the opening of the housing is open, and the fingers of the first chuck are not pressed, the gap between the first chuck and the second chuck is large, and it is easy to put the flexible wire into the gap, and when the compression limiting component is installed on the housing, its pressing component is in contact with the fingers of the first chuck, pressing the fingers to deform, so that the gap size at the corresponding part of the pressed fingers is reduced, and thus the flexible wire is compressed.

[0018] In one specific embodiment, the pressing member is in the form of a pressing plate, and the pressing member is made to have a thickness smaller at both sides than at the middle portion. In this way, the pressure can be gradually applied to the fingers during the process of the fingers coming into contact with the pressing member to be pressed as the clamping and conveying member rotates, so that the fingers can be smoothly guided to the position of being pressed and deformed.

[0019] Optionally, a slope or an arc is formed between the two sides and the middle portion of the pressing member. The shape of the slope or the arc can more smoothly guide the fingers to the position of being compressed by the pressing member.

[0020] Optionally, the compression limiting member and the housing are connected together through a snap structure.

[0021] In another specific embodiment, the clamping and conveying member comprises: a first transmission wheel and a second transmission wheel arranged along the advancing direction of the flexible wire; and a flexible belt arranged around the first transmission wheel and the second transmission wheel; wherein the flexible belt comprises a first belt portion and a second belt portion arranged opposite to each other along a direction perpendicular to the advancing direction of the flexible wire, wherein the first belt portion forms a first conveying member, the second belt portion forms a second conveying member, and a gap is formed between the first belt portion and the second belt portion.

[0022] Optionally, a plurality of fingers are formed on the first belt portion, and the pressing member presses a part of the plurality of fingers on the side of the first belt portion opposite to the second belt portion, so that the corresponding fingers are deformed towards the second belt portion.

[0023] Among them, the flexible belt is formed in one of the following shapes: circular, oval, triangular, quadrilateral. In addition, the flexible belt can also be formed in other achievable shapes as needed.

[0024] In a more specific embodiment, the clamping and conveying member comprises a rotating mechanism and a plurality of rollers, the rollers are installed on the compression limiting member, and the rotating mechanism is arranged opposite to the plurality of rollers to clamp the flexible wire between the rotating mechanism and the rollers.

[0025] Further, the structure of the rotating mechanism can be one of the following structures:

[0026] The rotating mechanism comprises: a first transmission wheel and a second transmission wheel arranged along the advancing direction of the flexible wire; and a flexible belt arranged around the first transmission wheel and the second transmission wheel, and a plurality of flexible teeth are formed on the flexible belt; or

[0027] The rotating mechanism comprises a rotating wheel, and a plurality of flexible teeth are formed on the outer surface of the rotating wheel.

[0028] And for the compression limiting member, its structure can be one of the following structures:

[0029] The compression limiting component comprises a fixed plate, and a plurality of rollers are mounted on the fixed plate; or

[0030] The compression limiting component comprises a fixed plate and a pressing plate, and a plurality of rollers are mounted on the pressing plate, wherein a biasing mechanism is arranged between the pressing plate and the fixed plate, and the biasing mechanism biases the pressing plate towards the rotating mechanism.

[0031] Optionally, the flexible wire conveying device further comprises at least one of a first sensor and a second sensor, wherein the first sensor is used to sense whether the flexible wire slips in the conveying mechanism, and the second sensor is used to sense the pressure applied on the flexible wire. The first sensor may, for example, be an optical sensor, a Hall sensor, etc., which judges whether the flexible wire slips by detecting the movement of the flexible wire. The second sensor is, for example, a pressure sensor. By means of the first and second sensors, the operator can know whether the flexible wire is conveyed normally along a straight line.

[0032] Optionally, the pressing component is driven by a motor to change the pressure applied on the clamping conveying component.

[0033] Optionally, the width of the wire passage is variable. For example, the width of the wire passage can be changed by changing the distance between the first conveying member and the second conveying member, changing the distance between the first belt portion and the second belt portion of the flexible belt, etc. Thus, the flexible wire conveying device can be suitable for flexible wires of different thicknesses.

[0034] The present application also relates to a flexible wire conveying system, which comprises the flexible wire conveying device as described above.

[0035] Further, the flexible wire conveying device further comprises a rotating frame, the flexible wire conveying device is mounted on the rotating frame, and the rotating frame is arranged to be rotatable around the longitudinal axis of the flexible wire, so as to drive the flexible wire conveying device to rotate around the longitudinal axis of the flexible wire.

[0036] In a specific structure, the rotating frame comprises:

[0037] a rotating outer frame assembly; and

[0038] a rotating inner frame assembly, which is rotatably connected to the inner side of the rotating outer frame assembly around the longitudinal axis, and a conveying device mounting seat is fixedly mounted on the rotating inner frame assembly, and the flexible wire conveying device is fixedly connected to the conveying device mounting seat. BRIEF DESCRIPTION OF DRAWINGS

[0039] The preferred embodiments of the present application are shown in the drawings, and the specific embodiments of the present application can be more clearly understood from the structures shown in the drawings, wherein:

[0040] Fig. 1 shows a perspective view of an exemplary structure of a flexible wire feeding system of a first embodiment of the present application.

[0041] Fig. 2 shows a perspective view of the flexible wire feeding system of Fig. 1 from another angle.

[0042] Fig. 3 shows a perspective view of the flexible wire feeding device of the first embodiment.

[0043] Fig. 4 shows an exploded perspective view of the flexible wire feeding device of Fig. 3, with the retaining cap removed from the housing, exposing the clamping feeding member housed in the housing.

[0044] Fig. 5 shows a perspective view of the clamping feeding member of Fig. 4.

[0045] Fig. 6 shows a perspective view of a first chuck of the clamping feeding member of Fig. 5.

[0046] Fig. 7 shows a perspective view of a second chuck of the clamping feeding member of Fig. 5.

[0047] Fig. 8 shows another perspective view of the flexible wire feeding device of the first embodiment, with the retaining cap removed and an endoscope insertion tube clamped on the clamping feeding member.

[0048] Fig. 9a shows a bottom perspective view of the retaining cap of the flexible wire feeding device of the first embodiment.

[0049] Fig. 9b shows a front view of the retaining cap of Fig. 9a.

[0050] Fig. 9c shows another perspective view of the retaining cap of Fig. 9a, with the endoscope insertion tube schematically shown in cooperation with the retaining cap.

[0051] Fig. 10 shows a cross-sectional view of the retaining cap of Fig. 9a.

[0052] Fig. 11 shows a cross-sectional view of the flexible wire feeding device, with the structure for clamping the endoscope insertion tube schematically shown.

[0053] Fig. 12a shows a perspective view of the flexible wire feeding device, with the structure for cooperation with the feeding device mount visible on the flexible wire feeding device.

[0054] Fig. 12b shows a cross-sectional view of the assembled flexible wire feeding device.

[0055] Fig. 13 shows a perspective view of the feeding device mount, with the structure for cooperation with the flexible wire feeding device visible on the feeding device mount.

[0056] Fig. 14 shows a cross-sectional view of the feeding device mount and the flexible wire feeding device mounted together.

[0057] Figure 15 shows a schematic perspective view of a flexible wire delivery device of a second embodiment of the present application.

[0058] Figures 16a and 16b show perspective views of the gripping and delivery mechanism in the flexible wire delivery device of the second embodiment, from different angles respectively.

[0059] Figure 17 shows a cross-sectional view of the gripping and delivery mechanism of the flexible wire delivery device of Figure 15.

[0060] Figure 18 shows a schematic perspective view of a flexible wire delivery device of a third embodiment of the present application.

[0061] Figure 19a shows a longitudinal cross-sectional view of the gripping and delivery mechanism of the flexible wire delivery device of Figure 18.

[0062] Figure 19b shows a transverse cross-sectional view of the gripping and delivery mechanism of the flexible wire delivery device of Figure 18.

[0063] Figures 20a and 20b show perspective views of the gripping and delivery mechanism in the flexible wire delivery device of the third embodiment, from different angles respectively.

[0064] Figure 21 shows a schematic perspective view of a flexible wire delivery device of a fourth embodiment of the present application.

[0065] Figure 22a shows a longitudinal cross-sectional view of the gripping and delivery mechanism of the flexible wire delivery device of Figure 21.

[0066] Figure 22b shows a transverse cross-sectional view of the gripping and delivery mechanism of the flexible wire delivery device of Figure 21.

[0067] Figure 23 shows a perspective view of the gripping and delivery mechanism in the flexible wire delivery device of the fourth embodiment.

[0068] Figure 24 shows a flexible wire delivery device of a fifth embodiment of the present application, specifically a perspective view of the gripping and delivery mechanism of the flexible wire delivery device.

[0069] (Symbol explanation) 10 flexible wire conveying system; 20 endoscope insertion tube; 30 rotating frame; 31 rotating outer frame assembly; 32 rotating inner frame assembly; 40 conveying device mounting seat; 41 motor; 50 breathing assembly; 100 flexible wire conveying device; 111 housing; 112 limiting cover; 113 clamping conveying part; 114 bayonet part; 115 top wall; 116 side wall; 117 buckle groove; 120 first chuck; 121 hub part; 122 finger; 123 first friction enhancer; 124 center hole; 125 mounting protrusion; 126 first screw hole; 130 second chuck; 131 cylindrical part; 132 second friction enhancer; 133 partition rib; 134 mounting hole; 135 second screw hole; 141 pressing piece; 142 buckle; 143 buckle button; 144 first spring; 145 limiting rib; 151 conveying seat clamping groove; 152 conveying disc buckle; 153 conveying seat spring column; 154 limiting shaft; 155 limiting hole; 156 motor connecting shaft; 157 conveying disc rotating shaft; 158 second spring; 161 limiting shaft button; 162 third spring; 200 flexible wire conveying device; 201 conveying seat; 210 housing; 211 pressing plate; 212 protruding part; 220 flexible belt; 221 first belt part; 222 second belt part; 223 finger; 231 first transmission wheel; 232 second transmission wheel; 300 flexible wire conveying device; 301 conveying seat; 310 pressing plate; 311 roller; 320 flexible belt; 321 flexible tooth; 322 flexible belt groove; 331 first transmission wheel; 332 second transmission wheel; 400 flexible wire conveying device; 401 conveying seat; 411 fixed plate; 412 pressing plate; 413 roller; 414 biasing spring; 420 flexible belt; 421 flexible tooth; 431 first transmission wheel; 432 second transmission wheel; 500 flexible wire conveying device; 511 fixed plate; 512 pressing plate; 530 rotating wheel; 531 flexible tooth. DETAILED DESCRIPTION

[0070] In order to facilitate the understanding of the present application, the specific embodiments of the flexible wire conveying device and its system of the present application will be described in detail below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments shown in the drawings should not be construed as limiting the scope of the present application. Those skilled in the art can make various obvious modifications, variations, equivalent replacements to the present application on the basis of the embodiments shown in the drawings, and the technical features described in the following different embodiments can be combined with each other arbitrarily without contradiction, which all fall within the scope of the present application.

[0071] In the following disclosure, the terms used to express the orientation such as "top", "upper", "lower" are based on the orientation of the flexible wire conveying device in the actual use state, which is also the orientation shown in the drawings.

[0072] <First Embodiment>

[0073] Figs. 1 to 14 show an exemplary structure of a flexible wire conveying system 10 according to a first embodiment of the present application. Fig. 1 shows a perspective view of the flexible wire conveying system 10, and Fig. 2 shows a perspective view of the flexible wire conveying system 10 from another angle.

[0074] The flexible wire conveying system 10 includes a flexible wire conveying device 100 through which a flexible wire such as an endoscope insertion tube 20 can be continuously and linearly conveyed into a human body. The structure of the flexible wire conveying device 100 will be described in detail below. It should be understood that the endoscope insertion tube is merely an example of the flexible wire in the present application, and the flexible wire can also be other cables or tubes such as a cable wire, an optical fiber wire, a medical guide wire, and the like.

[0075] The flexible wire conveying system 10 further includes a rotating frame 30 including a rotating outer frame assembly 31 and a rotating inner frame assembly 32 that are rotatably connected to each other. The rotating inner frame assembly 32 is installed on the inner side of the rotating outer frame assembly 31, and a conveying device mount 40 is provided on the rotating inner frame assembly 32. The flexible wire conveying device 100 is fixedly connected to the conveying device mount 40. A driving member such as a motor is provided in the conveying device mount 40, and the driving member is connected to a conveying member for conveying the wire in the flexible wire conveying device 100 so as to be able to drive the conveying member and achieve linear conveying of the flexible wire.

[0076] In addition, the flexible wire conveying device 100 is fixedly connected to the rotating inner frame assembly 32 via the conveying device mount 40, so that the flexible wire conveying device 100 is rotated together by rotating the conveying device mount 40, thereby achieving rotation of the endoscope insertion tube 20. The rotating inner frame assembly 32 rotates about a rotation axis X, which is coaxial with the longitudinal axis of the endoscope insertion tube 20 conveyed through the flexible wire conveying device 100, as shown in the figure.

[0077] The flexible wire conveying system 10 further includes a breathing assembly 50 installed on the rotating outer frame assembly 31, specifically connected to the outer side of the rotating outer frame assembly 31. The endoscope insertion tube 20 conveyed through the flexible wire conveying device 100 passes through the breathing assembly 50 and then enters the human body. The breathing assembly 50 is included, for example, in the flexible wire conveying system 10 for an endoscope. In this case, the endoscope insertion tube 20 enters the oral cavity of the human body, and during this process, the user can hold the catheter at the distal end of the breathing assembly 50 in the mouth to breathe.

[0078] Fig. 3 shows a perspective view of the flexible wire conveying device 100 of the flexible wire conveying system 10, which is in the form of a rotary chuck mechanism. The flexible wire conveying device 100 includes a housing 111 and a limit cap 112 mounted on the top of the housing 111. A chuck conveying member 113 is rotatably mounted in the housing 111, as shown in Fig. 4.

[0079] In the preferred structure shown in the drawings, the housing 111 is formed by two half-housings that are fitted to each other, so that it is easy to install the chuck conveying member 113 and the like therein, or to disassemble the flexible wire conveying device 100. Of course, the housing 111 can also be integrally formed in one piece, which is also within the scope of the present application.

[0080] Fig. 5 shows a perspective view of the chuck conveying member 113 provided in the housing 111 of the flexible wire conveying device 100, which includes a first chuck 120 and a second chuck 130 that are fixed together with an overlap, with a gap between the first chuck 120 and the second chuck 130. An endoscope insertion tube 20 conveyed by the flexible wire conveying device 100 can be accommodated in the gap.

[0081] The preferred detailed structure of the first chuck 120 and the second chuck 130 will be described below with reference to Figs. 6 and 7.

[0082] Fig. 6 shows a perspective view of the first chuck 120, in which the side of the first chuck 120 facing the second chuck 130 is shown. The first chuck 120 has a hub portion 121 and a plurality of fingers 122 extending radially outward from the hub portion 121, so as to have a radial shape. The fingers 122 have one end connected to the hub portion 121 and the other end as a free end, so that the fingers 122 are formed in a cantilever form. Thus, when a force is applied to the fingers 122, for example, a pressing force is applied at or near the free end of the fingers 122, the fingers 122 can be elastically deformed. At least a portion of the fingers 122 in the first chuck 120 is made of an elastically deformable material, such as an elastic plastic such as a thermoplastic elastomer (TPE), a thermoplastic polyurethane (TPU), a thermoplastic polyolefin (TPO), an elastic metal such as steel, and the like.

[0083] The first chuck 120 and the second chuck 130 cooperate with each other to apply pressure to the endoscope insertion tube 20, so that the linear conveyance of the endoscope insertion tube 20 can be achieved with a simple structure by the frictional force with the endoscope insertion tube 20.

[0084] Optionally, to increase the friction between the endoscope insertion tube 20 and the first clamp 120, a first friction enhancing member 123 is provided on the surface of the finger 122 facing the second clamp 130, the first friction enhancing member 123 covering at least a portion of the finger 122. Optionally, the portion of the finger 122 near the free end thereof is covered with the first friction enhancing member 123, and this portion of the finger 122 is also the portion that will contact the endoscope insertion tube 20 during the process of linearly transporting the endoscope insertion tube 20.

[0085] FIG. 7 shows a perspective view of the second clamp 130, and the side of the second clamp 130 facing the first clamp 120 is shown. A cylindrical portion 131 is formed at the center hub of the second clamp 130, and the cylindrical portion 131 can accommodate a rotating shaft mechanism for clamping the transporting member 113, the specific structure of which will be described below. Correspondingly, referring to FIG. 6, a central hole 124 is formed at the hub 121 of the first clamp 120. When the first clamp 120 and the second clamp 130 are fixedly installed together, the cylindrical portion 131 can extend into and pass through the central hole 124.

[0086] Optionally, in addition to or instead of the first friction enhancing member 123, a second friction enhancing member 132 is provided on the surface of the second clamp 130 facing the first clamp 120, to increase the friction against the endoscope insertion tube 20. Optionally, the second friction enhancing member 132 is provided on the outer periphery of the second clamp 130, and the position thereof corresponds to the first friction enhancing member 123 on the finger 122 of the first clamp 120. In this way, when the endoscope insertion tube 20 is being transported, the finger 122 and the second friction enhancing member 132 can contact the endoscope insertion tube 20 from both sides of the endoscope insertion tube 20, thereby increasing the friction at the positions where the first clamp 120 and the second clamp 130 contact the endoscope insertion tube 20.

[0087] Optionally, the first friction enhancing member 123 and the second friction enhancing member 132 can be made of, for example, a silicone material, which helps to increase the friction between the first clamp 120 and the second clamp 130 and the endoscope insertion tube 20. At the same time, silicone is a relatively soft material, and the use of silicone can avoid or at least significantly reduce damage to the endoscope insertion tube 20 when the first clamp 120 and the second clamp 130 contact the endoscope insertion tube 20.

[0088] Optionally, the first friction enhancing member 123 and the second friction enhancing member 132 can also include structures or patterns that can increase the friction, such as including textured portions, concave-convex portions, and the like.

[0089] Optionally, a plurality of partition ribs 133 are formed on the second chuck 130, and the partition ribs 133 are optionally formed on the inner side of the second friction-enhancing member 132. Also, when the first chuck 120 and the second chuck 130 are assembled together, the partition ribs 133 enter the gaps between the adjacent two fingers 122 on the first chuck 120. By providing the partition ribs 133, the adjacent two fingers 122 can be prevented from colliding with each other during the conveying of the endoscope insertion tube 20.

[0090] In addition, the partition ribs 133 also function to support the endoscope insertion tube 20 during the conveying of the endoscope insertion tube 20. In other words, during the conveying, the endoscope insertion tube 20 is supported on the side of the partition ribs 133 facing the radial outer side of the second chuck 130, and is conveyed forward under the action of the clamping force on both sides. In other words, the partition ribs 133 also function to support the endoscope insertion tube 20.

[0091] The fixed connection between the first chuck 120 and the second chuck 130 can be achieved in various ways. For example, in the exemplary structure shown in Figs. 6 and 7, the fixed connection is achieved by the mating structure between the mounting protrusion 125 on the first chuck 120 and the mounting hole 134 on the second chuck 130. As an additional or alternative solution, the fixed connection can also be achieved by a screw that is screwed into the first screw hole 126 on the first chuck 120 and the second screw hole 135 on the second chuck 130. In addition to the structure shown in the figures, the first chuck 120 and the second chuck 130 can also be fixedly connected together by other known structures. For example, a snap-fit structure, a threaded connection structure, etc.

[0092] Referring to Fig. 8, the assembled housing 111 and the clamping and conveying member 113 are shown. The top of the housing 111 includes an opening, and the two sides of the opening are respectively provided with a bayonet portion 114, which is formed, for example, by opening a notch portion on the edge of the opening on the top of the housing 111. The bayonet portion 114 is aligned with the gap between the first chuck 120 and the second chuck 130 of the clamping and conveying member 113 in the conveying direction of the endoscope insertion tube 20, thereby forming a wire passage for conveying the endoscope insertion tube 20.

[0093] A limiting cover 112 is mounted on the top of the housing 111 to close the opening on the top of the housing 111. Figs. 9a-10 show the specific structure of the limiting cover 112.

[0094] As shown in Fig. 9a, the position-limiting cover 112 includes a top wall 115 and two side walls 116 on both sides of the top wall 115. A presser 141 extending downward is provided inside the top wall 115, which is specifically in the form of a press plate extending substantially parallel to the side walls 116. When the position-limiting cover 112 is installed on the housing 111, the presser 141 can be in contact with the fingers 122 of the first chuck 120, specifically with the side surface of the fingers 122 facing away from the second chuck 130, and exerts a pressing force on the fingers 122 in the direction toward the second chuck 130.

[0095] Optionally, the presser 141 is made with a thickness smaller at both sides than in the middle portion, and a slope or arc surface or the like is formed between the both sides and the middle portion, as can be seen from Fig. 11. Such a structure can help to smoothly guide the fingers 122 of the first chuck 120 onto the thicker middle portion of the presser 141. Specifically, during the rotation of the clamping and conveying member 113, the fingers 122 of the first chuck 120 first contact the thinner sides of the presser 141, and are then guided onto the thicker middle portion under the action of the slope or arc surface between the sides and the middle portion, thereby pressing the fingers 122 to deform toward the endoscope insertion tube 20, and the gradually deformed fingers 122 cooperate with the second chuck 130 to gradually press the endoscope insertion tube 20. When the endoscope insertion tube 20 is pressed, it is conveyed forward under the action of the pressing force. With the rotation of the first chuck 120 and the second chuck 130, the previously pressed and deformed fingers 122 will gradually come out of contact with the presser 141 and recover their original shape, thereby relaxing the pressing on the corresponding portion of the endoscope insertion tube 20. At the same time, the subsequent fingers 122 will enter the position cooperating with the presser 141, thereby pressing the subsequent portion of the endoscope insertion tube 20.

[0096] Optionally, the flexible wire conveying device 100 can be provided with two sensors: a first sensor for sensing whether the flexible wire slips when being conveyed between the first chuck 120 and the second chuck 130; and a second sensor for sensing the pressure applied on the endoscope insertion tube 20. The first sensor and the second sensor can be installed on the housing 111 near the conveyed endoscope insertion tube 20, for example. The first sensor can be an optical sensor, a Hall effect sensor, etc., and the second sensor can be a pressure sensor, for example.

[0097] By means of the first sensor, the operator can monitor the delivery state of the endoscope insertion tube 20, and if it is found that the endoscope insertion tube 20 slips during delivery, the pressing force applied to the endoscope insertion tube 20 can be adjusted. For example, the distance between the first chuck 120 and the second chuck 130 can be adjusted by means of a motor, a hydraulic cylinder, a pneumatic cylinder or the like, so as to adjust the width of the wire passage for the endoscope insertion tube 20. The second sensor allows the pressure applied to the endoscope insertion tube 20 to be detected, and when it is detected that the pressure is lower than a predetermined threshold, the pressure can be adjusted, for example, by adjusting the distance between the first chuck 120 and the second chuck 130.

[0098] In the case of using a motor to change the distance between the first chuck 120 and the second chuck 130, the pressure applied to the endoscope insertion tube 20 can also be judged according to the current of the motor.

[0099] At least one of the first sensor and the second sensor can be provided, or both the first sensor and the second sensor can be provided, and the two are combined, to control the pressing force applied to the endoscope insertion tube 20, so as to ensure the continuous straight delivery of the endoscope insertion tube 20. Specifically, the slipping of the endoscope insertion tube 20 can be sensed by the first sensor, and the pressure applied to the endoscope insertion tube 20 can be sensed by the second sensor, and the two signals are combined to finally judge whether the pressure applied to the endoscope insertion tube 20 needs to be adjusted. During the adjustment of the pressure, when the second sensor detects that the pressure applied to the endoscope insertion tube 20 reaches above a predetermined threshold, and the first sensor detects that the endoscope insertion tube 20 no longer slips, it indicates that the adjustment of the pressure is in place.

[0100] The limit cap 112 can be mounted to the housing 111 in various ways. For example, in the exemplary structure shown in FIG. 9b, a catch 142 is provided on the limit cap 112, which can cooperate with a catch groove 117 on the top of the housing 111. In addition to the catch 142, a catch operating mechanism is also provided in the limit cap 112. As shown in FIG. 10, a hole is formed in each side wall 116, in which a catch button 143 is provided. The catch button 143 can be integrally formed with the catch 142, or the catch button 143 and the catch 142 are separately formed and connected together. The catch button 143 is provided with a first spring 144, which is arranged to bias the catch button 143 outwardly of the limit cap 112. When the limit cap 112 is placed on the top of the housing 111, the top edge of the housing 111 comes into contact with the catch 142, pressing the catch 142 so that it deforms inwardly of the limit cap 112. As the catch 142 travels downwardly and reaches the position of the catch groove 117, the force acting on the catch 142 disappears, and the catch 142 returns to its original shape and cooperates with the catch groove 117. Moreover, the biasing action of the first spring 144 on the catch button 143 causes the catch 142 connected with the catch button 143 to also be biased to the position of cooperation with the catch groove 117. In this way, the cooperation between the catch 142 and the catch groove 117 fixes the limit cap 112 in place.

[0101] When it is necessary to remove the limit cap 112 from the housing 111, the catch button 143 can be pressed to move inwardly of the limit cap 112 against the spring force of the first spring 144, and the catch 142 connected with the catch button 143 also moves inwardly of the limit cap 112, disengaging from the cooperation with the catch groove 117. In this way, the operator can easily remove the limit cap 112 from the housing 111.

[0102] Returning to FIG. 9a, it can be seen that a limit rib 145 is also formed on the inner side surface of the top wall 115. When the limit cap 112 is mounted to the housing 111, the limit rib 145 is aligned with the gap between the first chuck 120 and the second chuck 130, thereby defining the top of the wire passage for the delivery of the endoscope insertion tube 20. In this way, the limit rib 145 cooperates with the first chuck 120 and the second chuck 130 to retain the endoscope insertion tube 20 in the wire passage, ensuring the continuous delivery of the endoscope insertion tube 20.

[0103] The connection structure between the flexible wire conveying device 100 and the conveying device mounting base 40 will be described below in connection with Figs. 12a-14. As can be seen from Fig. 12a, a plurality of conveying disc buckles 152 are provided on the side of the flexible wire conveying device 100 facing the conveying device mounting base 40, and a corresponding number of conveying base buckle slots 151 are formed on the corresponding side of the conveying device mounting base 40. When the flexible wire conveying device 100 is mounted on the conveying device mounting base 40, the conveying disc buckles 152 are fitted into the conveying base buckle slots 151, and then the flexible wire conveying device 100 is rotated relative to the conveying device mounting base 40, so that the conveying disc buckles 152 are buckled into the conveying base buckle slots 151, thereby achieving the fixation of the flexible wire conveying device 100 on the conveying device mounting base 40.

[0104] A plurality of conveying base spring posts 153 are also provided on the conveying device mounting base 40, and when the flexible wire conveying device 100 is mounted on the conveying device mounting base 40, the conveying base spring posts 153 exert an outwardly lifting force on the flexible wire conveying device 100, further improving the reliability of the fixed fit between the conveying base buckle slots 151 and the conveying disc buckles 152.

[0105] A conveying disc rotating shaft 157 is also provided on the flexible wire conveying device 100. The structure of the conveying disc rotating shaft 157 is more clearly shown in the cross-sectional view of Fig. 12b. One end of the conveying disc rotating shaft 157 is accommodated in the cylindrical portion 131 of the second chuck 130, and the other end extends out of the housing 111. Optionally, a second spring 158 is provided on the end accommodated in the cylindrical portion 131, which biases the conveying disc rotating shaft 157 towards the position extending out of the housing 111.

[0106] A motor connecting shaft 156 is correspondingly provided on the conveying device mounting base 40, which is connected to the output shaft of the motor 41 (see Fig. 14), as shown in Figs. 13 and 14. A receiving hole is formed in the center of the motor connecting shaft 156, into which the conveying disc rotating shaft 157 of the flexible wire conveying device 100 is inserted. When the flexible wire conveying device 100 is mounted on the conveying device mounting base 40, the conveying disc rotating shaft 157 is inserted into the motor connecting shaft 156. In this way, when the motor 41 is operated, it drives the motor connecting shaft 156 to rotate, which in turn drives the conveying disc rotating shaft 157 to rotate, and the rotation of the conveying disc rotating shaft 157 drives the clamping conveying member 113 to rotate.

[0107] Optionally, the conveying disc rotating shaft 157 has a non-circular cross section, such as a triangular cross section as shown in the figure. Correspondingly, the hole in the motor connecting shaft 156 has a cross section shape matching that of the conveying disc rotating shaft 157, such as a triangular cross section. In addition to the triangular cross section shown in the figure, the conveying disc rotating shaft 157 and the hole in the motor connecting shaft 156 can also have other non-circular shapes, such as rectangular, polygonal, etc. In this way, the motor connecting shaft 156 can effectively transmit the torque from the motor to the conveying disc rotating shaft 157, thereby driving the clamping conveying component 113 to rotate.

[0108] The conveying device mounting seat 40 is also provided with a limiting shaft 154, and the conveying seat spring column 153 is connected with or integrally formed with a limiting shaft button 161. The limiting shaft button 161 is provided with a third spring 162, which biases the limiting shaft button 161 and the limiting shaft 154 outward from the conveying device mounting seat 40.

[0109] Correspondingly, the flexible wire conveying device 100 is provided with a limiting hole 155. During the installation of the flexible wire conveying device 100 on the conveying device mounting seat 40, when the flexible wire conveying device 100 is rotated relative to the conveying device mounting seat 40 to the position where the conveying disc buckle 152 is fitted into the conveying seat clamping groove 151, the limiting shaft 154 will be extended and fitted into the limiting hole 155 under the action of the third spring 162. In this way, after installation, the rotation of the flexible wire conveying device 100 relative to the conveying device mounting seat 40 can be prevented, thereby preventing the flexible wire conveying device 100 from being accidentally detached from the conveying device mounting seat 40.

[0110] When it is necessary to detach the flexible wire conveying device 100 from the conveying device mounting seat 40, the operator can push the limiting shaft button 161 against the elastic force of the third spring 162, so that the limiting shaft 154 is detached from the limiting hole 155. At this time, the operator can rotate the flexible wire conveying device 100 in the direction opposite to the direction of installing the flexible wire conveying device 100, to the position where the conveying disc buckle 152 is detached from the conveying seat clamping groove 151, so that the flexible wire conveying device 100 can be removed from the conveying device mounting seat 40.

[0111] <Second Embodiment>

[0112] Figs. 15-17 show the structure of the flexible wire conveying device 200 of the second embodiment of the present application. Where there is no contrary description or conflict, the specific structures described above with respect to the first embodiment also apply to the second embodiment. For the same or similar structures as the first embodiment, no detailed description will be given. The following will mainly describe the structures of the second embodiment that are different from the first embodiment.

[0113] As shown in Fig. 15, the flexible wire feeding device 200 includes a feeding stand 201 on which a housing 210 is supported, and a clamping feeding mechanism for feeding the endoscope insertion tube 20 is provided in the housing 210, including a flexible belt 220 and the like.

[0114] Figs. 16a and 16b show the detailed structure of the feeding mechanism housed in the housing 210. The feeding mechanism includes two transmission wheels, i.e., a first transmission wheel 231 and a second transmission wheel 232, on which a racetrack-shaped flexible belt 220 is wound. At least one of the first transmission wheel 231 and the second transmission wheel 232 is rotatable by a motor, which in turn rotates the flexible belt 220. The motor can be housed in the feeding stand 201, for example.

[0115] In addition to the first transmission wheel 231 and the second transmission wheel 232, more transmission wheels, such as a third transmission wheel, a fourth transmission wheel, and the like, can be provided. Thus, the flexible belt 220 can be formed into various shapes, such as a circle, a racetrack, a triangle, a quadrangle, and the like, as needed. The relative positions of these transmission wheels can also be adjusted to adjust the tension on the flexible belt 220.

[0116] For example, three transmission wheels can be included, so that the flexible belt 220 is formed into a triangle. The first transmission wheel 231 and the second transmission wheel 232 can be held stationary, and the position of the third transmission wheel can be changed, for example, moved in the up-down direction, to change the tension on the flexible belt 220.

[0117] The flexible belt 220 includes a first belt portion 221 and a second belt portion 222, with a gap between the first belt portion 221 and the second belt portion 222 in which the endoscope insertion tube 20 can be clamped. Notch portions are provided on both ends of the housing 210 in the feeding direction of the endoscope insertion tube 20, which are aligned with the gap between the first belt portion 221 and the second belt portion 222, to form a wire passage.

[0118] The width of the gap between the first belt portion 221 and the second belt portion 222 can also be changed, for example, by driving one of the first belt portion 221 and the second belt portion 222 by a motor to move it closer to or farther from the other, to adjust the pressure applied to the endoscope insertion tube 20.

[0119] The flexible belt 220 is rotated by rotation of the first and second transmission wheels 231 and 232, and the first and second belt portions 221 and 222 of the flexible belt 220 sandwich the endoscope insertion tube 20 and advance it in a straight line. The second belt portion 222 is formed with a plurality of fingers 223 formed of an elastically deformable material that can be deformed toward the endoscope insertion tube 20 in the gap, thereby applying a pressing force to the endoscope insertion tube 20 and increasing the frictional force between the first and second belt portions 221 and 222 and the endoscope insertion tube 20.

[0120] Returning to Fig. 15, the pressing plate 211 on the housing 210 on the side near the second belt portion 222 is formed with a protrusion 212 that protrudes toward the flexible belt 220. The fingers 223 of the second belt portion 222 that move to a position in contact with the protrusion 212 are deformed toward the endoscope insertion tube 20 by the action of the protrusion 212.

[0121] As shown in Fig. 17, as the flexible belt 220 is rotated, the fingers 223 in the first belt portion 221 of the flexible belt 220 come into contact with the protrusion 212 in turn and are deformed toward the second belt portion 222 by the action of the protrusion 212, thereby clamping the endoscope insertion tube 20 between the first and second belt portions 221 and 222.

[0122] Alternatively, as can be seen more clearly in Fig. 17, the protrusion 212 is formed with a slope or arc on both sides, thereby facilitating guiding of the fingers 223 to a position in contact with the protrusion 212.

[0123] In operation, the physician first places the endoscope insertion tube 20 in the wire passage formed by the gap between the first and second belt portions 221 and 222 of the flexible belt 220, and then mounts the pressing plate 211 near the first belt portion 221 to the housing 210. The protrusion 212 on the pressing plate 211 presses the fingers 223 on the first belt portion 221, causing the fingers 223 to deform, thereby narrowing the portion of the wire passage corresponding to the protrusion 212 and clamping the endoscope insertion tube 20. Rotation of the flexible belt 220 by driving rotation of at least one of the first and second transmission wheels 231 and 232 continuously straight-line feeds the endoscope insertion tube 20.

[0124] <Third Embodiment>

[0125] Figures 18 to 20 show the structure of the flexible wire conveying device 300 of the third embodiment of the present application. In the following, the specific structures described above with respect to the first and second embodiments also apply to the third embodiment, unless described to the contrary or in conflict. The structures identical or similar to those of the first and second embodiments will not be described in detail. The following will mainly describe the structures of the third embodiment different from those of the first and second embodiments.

[0126] The flexible wire conveying device 300 of the third embodiment includes a conveying seat 301 on which a clamping conveying mechanism is supported.

[0127] As shown in Figures 19a and 19b, the clamping conveying mechanism includes two transmission wheels, i.e., a first transmission wheel 331 and a second transmission wheel 332, on which a racetrack-shaped flexible belt 320 is wound. Above the flexible belt 320, a pressing plate 310 is provided, the lower portion of which is provided with a plurality of rollers 311. There is a gap between the rollers 311 and the flexible belt 320, in which the endoscope insertion tube 20 to be conveyed is accommodated. In this case, the size of the gap between the rollers 311 and the flexible belt 320 is slightly smaller than the size of the endoscope insertion tube 20, which makes the endoscope insertion tube 20 located between the rollers 311 and the flexible belt 320 slightly squeezed.

[0128] Optionally, as shown in Figures 20a and 20b, a flexible belt groove 322 is formed in the middle portion of the flexible teeth 321 for accommodating the endoscope insertion tube 20. The flexible belt groove 322 helps to keep the endoscope insertion tube 20 on the flexible belt 320 so as to prevent the endoscope insertion tube 20 from sliding out of the flexible belt 320 to the side under the pressure of the rollers 311 and the flexible belt 320.

[0129] When the doctor operates the flexible wire conveying device 300 to convey the endoscope insertion tube 20, first, the endoscope insertion tube 20 is placed on the flexible belt 320, in particular, in the flexible belt groove 322 of the flexible belt 320. Then, the pressing plate 310 is covered on the flexible belt 320 to clamp the endoscope insertion tube 20 between the rollers 311 and the flexible belt 320. Next, at least one of the first transmission wheel 331 and the second transmission wheel 332 is driven to rotate, thereby driving the flexible belt 320 to rotate. In this way, the endoscope insertion tube 20 can be continuously and linearly conveyed under the action of the friction between the flexible belt 320. Here, the width of the flexible belt groove 322 can also be set to be variable.

[0130] <Fourth Embodiment>

[0131] Figures 21 to 23 show the structure of the flexible wire conveying device 400 of the fourth embodiment of the present application. Where there is no contrary description or conflict, the specific structures described above with respect to the first to third embodiments also apply to the fourth embodiment. The same or similar structures as the first to third embodiments will not be described in detail. The structures of the fourth embodiment that are different from the first to third embodiments will be described below.

[0132] The flexible wire conveying device 400 of the fourth embodiment includes a conveying seat 401 on which a clamping conveying structure is supported.

[0133] Similar to the third embodiment, the clamping conveying mechanism also includes a first transmission wheel 431 and a second transmission wheel 432 on which a racetrack-shaped flexible belt 420 is wound. A plurality of rollers 413 are provided above the flexible belt 420. The endoscope insertion tube 20 is clamped between the rollers 413 and the flexible belt 420 and can be continuously linearly conveyed under the action of friction as the flexible belt 420 rotates.

[0134] Unlike the third embodiment, the fourth embodiment further includes a fixed plate 411 and a pressing plate 412, the rollers 413 are installed at the bottom of the pressing plate 412, and a biasing structure is provided between the fixed plate 411 and the pressing plate 412, which optionally includes a plurality of biasing springs 414. Through such a structure, the gap size between the rollers 413 and the flexible belt 420 can be adjusted according to the size of the endoscope insertion tube 20. Thus, the flexible wire conveying device 300 of the fourth embodiment can be suitable for endoscope insertion tubes 20 of various sizes.

[0135] In addition, a motor can be used to replace the biasing mechanism to change the distance between the fixed plate 411 and the pressing plate 412, thereby allowing the gap size between the rollers 413 and the flexible belt 420 to be adjusted.

[0136] <5th Embodiment>

[0137] Figure 24 shows the structure of the flexible wire conveying device 500 of the fifth embodiment of the present application. Where there is no contrary description or conflict, the specific structures described above with respect to the first to fourth embodiments also apply to the fifth embodiment. The same or similar structures as the first to fourth embodiments will not be described in detail. The structures of the fifth embodiment that are different from the first to fourth embodiments will be described below.

[0138] Similarly to the fourth embodiment, the flexible wire conveying device 500 includes a fixed plate 511 and a pressing plate 512, and the bottom of the pressing plate 512 is provided with a plurality of rollers (not shown in the figure). The flexible wire conveying device 500 further includes a rotating wheel 530, and a plurality of flexible teeth 531 are provided on the rotating wheel 530. The endoscope insertion tube 20 can be accommodated between the flexible teeth 531 of the rotating wheel 530 and the rollers of the pressing plate 512. A biasing structure is provided between the fixed plate 511 and the pressing plate 512, which biases the pressing plate 512 towards the rotating wheel 530, so as to clamp the endoscope insertion tube 20 between the rollers and the flexible teeth 531.

[0139] By driving the rotating wheel 530 to rotate, the endoscope insertion tube 20 is continuously and linearly conveyed under the action of the friction with the flexible teeth 531.

[0140] The above describes several embodiments of the flexible wire conveying system 10 of the present application, which are exemplary and do not mean to limit the scope of the present application. Various obvious modifications and combinations can be made by those skilled in the art on the basis of the embodiments, which are also within the scope of the present application.

Claims

1. A flexible wire delivery device comprising a delivery mechanism, characterized by, The conveying mechanism includes: a clamping conveying component provided with a wire passage for the flexible wire to pass through; and a compression limiting component including a pressing component that presses a portion of the clamping conveying component from one side of the wire passage, thereby generating a friction fit between the clamping conveying component and the flexible wire, and linearly conveying the flexible wire under the action of the friction fit along with the movement of the clamping conveying component.

2. The flexible wire delivery device of claim 1, wherein, The clamping conveying component includes a first conveying member and a second conveying member, a gap exists between the first conveying member and the second conveying member, the gap forms at least a part of the wire passage, the flexible wire is accommodated in the gap, and the pressing component is pressed on one of the first conveying member and the second conveying member.

3. The flexible wire delivery device of claim 2, wherein, The first conveying member is a first chuck, the second conveying member is a second chuck, and the first chuck and the second chuck are fixedly connected together, so that the gap is formed between the first chuck and the second chuck.

4. The flexible wire delivery device of claim 3, wherein, The first chuck includes a hub portion and a plurality of fingers extending radially outward from the hub portion, and the pressing component can be pressed on at least one of the fingers on a side of the first chuck away from the second chuck, so that the pressed finger is deformed toward the second chuck.

5. The flexible wire delivery device of claim 3 or 4, wherein, The clamping conveying component is further provided with at least one of a first friction enhancer and a second friction enhancer, wherein the first friction enhancer is arranged on a surface of a side of the first chuck facing the second chuck, and the second friction enhancer is arranged on a surface of a side of the second chuck facing the first chuck. At least one of the first friction enhancer and the second friction enhancer has at least one of the following characteristics: made of silica gel material, and formed with at least one of a textured portion and a concave-convex portion.

6. The flexible wire delivery device of claim 4, wherein, The flexible wire device further includes a housing, the conveying mechanism is accommodated in the housing, a top of the housing is formed with an opening, notches are formed on two sides of the opening arranged opposite in a running direction of the flexible wire, the notches are aligned with the gap, and the flexible wire can enter and exit the wire passage via the notches.

7. The flexible wire delivery device of claim 6, wherein, The compression limiting component is mounted on the housing and closes the opening, and when the compression limiting component is mounted to the housing to close the opening, the pressing component is pressed on a side of the finger of the first chuck away from the second chuck.

8. The flexible wire delivery device of claim 7, wherein, The pressing component is in the form of a pressing plate, and the pressing component is made to have a thickness smaller than that of an intermediate portion on both sides.

9. The flexible wire delivery device of claim 8, wherein, A slope or an arc surface is formed between the two sides and the intermediate portion of the pressing component.

10. The flexible wire delivery device of claim 6, wherein, The compression limiting component and the housing are connected together through a snap structure.

11. The flexible wire delivery device of claim 2, wherein, The clamping conveying component at least includes: a first transmission wheel and a second transmission wheel arranged along an advancing direction of the flexible wire; and a flexible belt arranged around the first transmission wheel and the second transmission wheel. The flexible belt includes a first belt portion and a second belt portion arranged oppositely along a direction perpendicular to the advancing direction of the flexible wire, wherein the first belt portion forms the first conveying member, the second belt portion forms the second conveying member, and the gap is formed between the first belt portion and the second belt portion.

12. The flexible wire delivery device of claim 11, wherein, A plurality of fingers are formed on the first belt portion, and the pressing member presses a part of the plurality of fingers on a side of the first belt portion opposite to the second belt portion, so that the corresponding finger is deformed towards the second belt portion.

13. The flexible wire delivery device of claim 1, wherein, The clamping conveying member includes a rotating mechanism and a plurality of rollers mounted on the compression limiting member, and the rotating mechanism is arranged opposite to the plurality of rollers to clamp the flexible wire between the rotating mechanism and the rollers.

14. The flexible wire delivery device of claim 13, wherein, The rotating mechanism has one of the following structures: The rotating mechanism at least includes a first transmission wheel and a second transmission wheel arranged along the advancing direction of the flexible wire, and a flexible belt provided around the first transmission wheel and the second transmission wheel, and a plurality of flexible teeth are formed on the flexible belt; or The rotating mechanism includes a rotating wheel, and a plurality of flexible teeth are formed on the outer surface of the rotating wheel.

15. The flexible wire delivery device of claim 11 or 14, wherein, The flexible belt has one of the following shapes: a circle, an ellipse, a triangle, and a quadrilateral.

16. The flexible wire delivery device of claim 13, wherein, The compression limiting member has one of the following structures: The compression limiting member includes a fixed plate, and the plurality of rollers are mounted on the fixed plate; or The compression limiting member includes a fixed plate and a pressing plate, and the plurality of rollers are mounted on the pressing plate, wherein a biasing mechanism is arranged between the pressing plate and the fixed plate, and the biasing mechanism biases the pressing plate towards the rotating mechanism.

17. The flexible wire delivery device of claim 1, wherein, The flexible wire conveying device further includes at least one of a first sensor and a second sensor, wherein the first sensor is used to sense whether the flexible wire slips in the conveying mechanism, and the second sensor is used to sense the pressure applied on the flexible wire.

18. The flexible wire delivery device of claim 1, wherein, The pressing member can be driven by a motor to change the pressure applied on the clamping conveying member.

19. The flexible wire delivery device of claim 1, wherein, The width of the wire passage is variable.

20. A flexible wire delivery system characterized by, The flexible wire conveying system includes the flexible wire conveying device according to any one of claims 1 to 19.

21. The flexible wire delivery system of claim 20, wherein, The flexible wire conveying device further includes a rotating frame, and the flexible wire conveying device is mounted on the rotating frame, and the rotating frame is arranged to be rotatable around the longitudinal axis of the flexible wire, so as to drive the flexible wire conveying device to rotate around the longitudinal axis of the flexible wire.

22. The flexible wire delivery system of claim 21, wherein, The rotating frame includes: a rotating outer frame assembly; and a rotating inner frame assembly rotatably connected to the inner side of the rotating outer frame assembly around the longitudinal axis, and a conveying device mounting seat is fixedly mounted on the rotating inner frame assembly, and the flexible wire conveying device is fixedly connected to the conveying device mounting seat.

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