KR20230136528A - Apparatus for moving a tubular member - Google Patents

Abstract

A tubular member moving device is provided. A tubular member moving device according to one aspect of the present invention is a tubular member moving device for moving a tubular member, comprising: a housing through which the tubular member passes; a driving roller unit including a first driving roller disposed on one side of the tubular member within the housing; a driving gear provided on the same axis as the first driving roller and rotating together; a driven roller unit including a first driven roller disposed on the other side opposite to the one side of the tubular member; a driven gear provided coaxially with the first driven roller, rotating together with the first driven roller, and coupled to the driving gear; an actuator that provides driving force to rotate the driving roller unit; And it may include a power transmission member that transmits the driving force generated by the actuator to the driving roller unit.

Description

Apparatus for moving a tubular member}

The present invention relates to a tubular member moving device, and more specifically, to a tubular member moving device capable of moving a tubular member.

An endoscope is a device designed to insert a machine into the body and observe lesions in organs that cannot be directly observed without surgery or autopsy. Recently, various types of surgical instruments have been designed to perform internal procedures on organs without incising the patient's body.

In these endoscopic devices, the part inserted into the human body is generally made of a tubular member in order to minimize the structural characteristics of the body and the surgical area. For example, devices that perform surgery by attaching surgical instruments to an endoscope and inserting them into the patient's body have been developed.

In addition, in endoscopic instruments for checking the internal structure of a structure or inspecting the inside of a pipe, tubular members are widely used for convenience and efficiency of insertion and extraction.

Tubular members used in industrial and medical fields undergo repeated insertion and extraction during the work process, and it takes considerable time and labor to perform this. In order to save the time and labor required for such work, moving devices that can automatically insert or extract tubular members have been developed.

A conventional moving device includes a structure in which a driving roller that rotates by receiving driving force from a motor and a freely rotating driven roller are disposed in contact with both sides of a tubular member, and the friction force generated between the driving roller and the tubular member is used to form the tubular member. Move the member.

At this time, slip may occur between the driving roller and the tubular member. Slip means that a kinetic friction force acts between the outer peripheral surface of the driving roller and the outer peripheral part of the tubular member, resulting in relative motion.

When slip occurs, only a portion of the driving force generated by the actuator is used to move the tubular member, so the tubular member cannot be moved efficiently. Additionally, when slip occurs, it is difficult to accurately measure the amount of movement of the tubular member, making it impossible to accurately control the movement of the tubular member.

Therefore, there has been an urgent need for the development of a tubular member moving device that can minimize slip between the driving roller and the tubular member.

The present invention was conceived in consideration of the above points, and the purpose of the present invention is to provide a tubular member moving device that can automatically insert or extract a tubular member.

Another object of the present invention is to provide a tubular member moving device that can easily switch between an automatic mode for automatically inserting or withdrawing a tubular member and a manual mode for manually inserting or withdrawing a tubular member, or vice versa.

Another object of the present invention is to provide a tubular member moving device that can minimize slip between a drive roller and a tubular member.

Another object of the present invention is to provide a tubular member moving device that can efficiently move a tubular member.

Another object of the present invention is to provide a tubular member moving device that can move various types of tubular members having different diameters.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

According to one aspect of the present invention, there is provided a tubular member moving device for moving a tubular member, comprising: a housing through which the tubular member passes; a driving roller unit including a first driving roller disposed on one side of the tubular member within the housing; a driving gear provided on the same axis as the first driving roller and rotating together; a driven roller unit including a first driven roller disposed on the other side opposite to the one side of the tubular member; a driven gear provided coaxially with the first driven roller, rotating together with the first driven roller, and coupled to the driving gear; an actuator that provides driving force to rotate the driving roller unit; A tubular member moving device is provided, including a power transmission member that transmits the driving force generated by the actuator to the driving roller unit.

At this time, it further includes a roller operating part provided in the housing to move the first driven roller from a second position farther from the driving roller to the first position than from a first position adjacent to the driving roller, and 1 When the driven roller is located in the first position, the driving gear and the driven gear may be coupled.

At this time, the housing is provided with an inlet and an outlet through which the tubular member can enter and exit, and the inlet and the outlet are positioned to be staggered when viewed in the moving direction of the tubular member, so that the tubular member is inclined inside the housing. can be placed.

At this time, a guide member is provided at the inlet of the housing to guide the tubular member in the inclined direction, and as the first driven roller moves to the first position, the tubular member moves to the outer peripheral surface of the first driving roller. It can be formed to surround a part and make an interview.

At this time, the driven roller unit may include a second driven roller spaced apart from the first driven roller in the longitudinal direction of the tubular member.

At this time, the second driven roller may be disposed on the other side of the tubular member, and the first driving roller may be positioned between the first driven roller and the second driven roller in the longitudinal direction of the tubular member.

At this time, the driven roller unit may include a third driven roller disposed opposite to the second driven roller with the tubular member as the center.

At this time, the driving roller unit may include a second driving roller spaced apart from the first driving roller in the longitudinal direction of the tubular member.

At this time, the power transmission member includes a first gear provided on the same axis to rotate together with the second driving roller; and a second gear coupled to the driving gear and the first gear and rotating by the driving force generated by the actuator.

At this time, the driven roller unit may include a second driven roller disposed opposite to the second driving roller with the tubular member as the center.

At this time, a roller provided in the housing to move the first driven roller and the second driven roller from a second position farther from the driving roller part to the first position than a first position adjacent to the driving roller part. It may further include an operating unit, and when the first driven roller and the second driven roller are positioned in the first position, the driving gear and the driven gear may be coupled.

According to another aspect of the invention, a housing through which a tubular member passes; a driving roller provided inside the housing to contact one side of the tubular member; a driving gear provided on one side of the driving roller to rotate together with the driving roller; a first driven roller and a second driven roller arranged on a circumferential side of the driving roller in a circumferential direction of the driving roller so as to contact the other side of the tubular member; a first driven gear provided on one side of the first driven roller so as to rotate together with the first driven roller and coupled to the driving gear; It includes an actuator that provides a driving force to rotate the driving roller, and the first driven roller is movable in a circumferential direction of the driving roller so as to be closer to or away from the second driven roller. A tubular member moving device is provided.

At this time, it may further include a second driven gear provided on one side of the second driven roller so as to rotate together with the second driven roller and coupled to the driving gear.

At this time, a guide groove extending in the circumferential direction of the driving roller is formed in the housing, and one side of the driven shaft member penetratingly coupled to the first driven roller can be movably inserted into the guide groove.

At this time, the driving roller may have a larger diameter than the first driven roller and the second driven roller.

At this time, it may further include an elastic member that elastically supports the first driven roller so that the first driven roller and the second driven roller can be spaced apart from each other.

At this time, the elastic member includes a spring portion provided inside the housing; And it may include a first extension part extending outward from the spring part so as to elastically support the first driven shaft member penetratingly coupled to the first driven roller.

At this time, the inner wall of the housing is provided with a support protrusion, and the elastic member may include a second extension portion extending outward from the spring portion so as to be supported by the support protrusion.

At this time, the second driven roller may be configured to be movable in the circumferential direction of the driving roller so as to be closer to or farther away from the first driven roller.

At this time, it may further include an elastic member that elastically supports at least one of the first driven roller and the second driven roller so that the first driven roller and the second driven roller can be spaced apart from each other.

At this time, the elastic member includes a spring portion provided inside the housing; a first extension portion extending outward from the spring portion to elastically support the first driven shaft member penetratingly coupled to the first driven roller; And it may include a second extension part extending outward from the spring part so as to elastically support the second driven shaft member penetratingly coupled to the second driven roller.

At this time, it further includes a third driven roller spaced apart from the circumferential side of the second driven roller so as to contact the one side of the tubular member, and the tubular member is positioned between the driving roller and the third driven roller. The third driven roller may be arranged to be spaced apart from the driving roller in the circumferential direction of the second driven roller so as to be curvedly arranged along the circumference of the second driven roller.

At this time, a second driven gear provided on one side of the second driven roller so as to rotate together with the second driven roller and coupled to the driving gear; And it may further include a third driven gear provided on one side of the third driven roller so as to rotate together with the third driven roller, and coupled to the second driven gear.

At this time, the third driven roller may be configured to move in the circumferential direction of the second driven roller so as to be closer to or farther away from the driving roller.

At this time, it may further include an elastic member that elastically supports the third driven roller so that the third driven roller and the driving roller can be spaced apart from each other.

The tubular member moving device according to an embodiment of the present invention has driving rollers and driven rollers disposed on both sides of the tubular member, and can apply friction to the tubular member as the driving roller rotates by the actuator, thereby moving the tubular member. It can be moved automatically.

In addition, the tubular member moving device according to an embodiment of the present invention includes a driving gear that rotates together with the driving roller and a driven gear that is coupled to the driving gear but rotates together with the driven roller, so as to generate frictional force on both sides of the tubular member. Since it can be applied, the slip phenomenon that occurs between the driving roller and the tubular member can be minimized.

In addition, the tubular member moving device according to an embodiment of the present invention is provided with a driven roller capable of moving the driven roller in the housing, so that the driven roller can be spaced apart from the driving roller or moved toward the driving roller, so that the driven roller can be moved from the automatic mode to the driven roller. Switching between modes and vice versa is easy.

In addition, in the tubular member moving device according to an embodiment of the present invention, a first driven roller and a second driven roller are disposed on the circumferential side of the driving roller, so that the tubular member moves between the first driven roller and the second driven roller. It may be arranged curvedly to surround the outer periphery of. Accordingly, the friction area between the drive roller and the tubular member can be increased, so the tubular member can be moved more efficiently.

In addition, the tubular member moving device according to an embodiment of the present invention is configured so that at least one of the first driven roller and the second driven roller can move in the circumferential direction of the driving roller, so that the first driven roller and the second driven roller They can get closer to each other or move away from each other. Accordingly, since the distance between the first driven roller and the second driven roller can be controlled according to the diameter of the tubular member, various types of tubular members having different diameters can be moved.

In addition, in the tubular member moving device according to an embodiment of the present invention, the elastic member elastically supports the first driven roller and the second driven roller to move away from each other, so the vertical force applied to the tubular member can be increased. Accordingly, the friction area and friction force between the drive roller and the tubular member can be increased, so the tubular member can be moved more efficiently.

The effects of the present invention are not limited to the effects described above, and effects not mentioned can be clearly understood by those skilled in the art from this specification and the attached drawings.

Figures 1 and 2 are perspective views of a tubular member moving device according to an embodiment of the present invention viewed from different angles. At this time, for the purpose of explaining the invention, a part of the housing is shown in cross section so that the inside can be seen.
Figure 3 is a cross-sectional view of the tubular member moving device shown in Figure 1.
Figure 4 is an exploded perspective view of the driven roller part and the roller operating part of the tubular member moving device shown in Figures 1 to 3.
Figures 5 and 6 are diagrams for explaining the operation of the tubular member moving device shown in Figure 1. At this time, for the purpose of explaining the invention, the first housing is shown in cross section so that the inside can be seen.
7 to 13 are views for explaining tubular member moving devices according to another embodiment of the present invention. At this time, for the purpose of explaining the invention, the first housing is shown in cross section so that the inside can be seen.
Figure 14 is a front view of the tubular member moving device according to the seventh embodiment of the present invention. At this time, the housing was shown in cross section so that the inside could be seen.
Figure 15 is a rear view of the tubular member moving device according to the seventh embodiment of the present invention. At this time, the driving roller, driven roller, and elastic member are indicated by dotted lines.
Figures 16 and 17 are diagrams for explaining the process by which the tubular member moving device according to the seventh embodiment of the present invention operates to move the tubular member.
Figure 18 is a front view of the tubular member moving device according to the eighth embodiment of the present invention. At this time, the housing was shown in cross section so that the inside could be seen.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. The present invention may be implemented in many 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 have been omitted in the drawings, and identical or similar components are given the same reference numerals throughout the specification.

The words and terms used in this specification and claims are not to be construed as limited in their usual or dictionary meanings, but according to the principle that the inventor can define terms and concepts in order to explain his or her invention in the best way. It must be interpreted with meaning and concepts consistent with technical ideas.

In this specification, terms such as “comprise” or “have” are intended to describe the existence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to describe the presence of one or more other features. It should be understood that it does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

A component being “in front,” “rear,” “above,” or “below” another component means that it is in direct contact with the other component, unless there are special circumstances. This includes not only those placed at the “bottom” but also cases where another component is placed in the middle. In addition, the fact that a component is "connected" to another component includes not only being directly connected to each other, but also indirectly connected to each other, unless there are special circumstances.

A tubular member moving device according to an embodiment of the present invention is a device for manually or automatically moving a tubular member, wherein a drive gear that rotates with a drive roller is coupled with a driven roller that can rotate with the driven roller to rotate the tubular member. Therefore, the slip that occurs between the tubular member and the roller can be minimized.

Accordingly, the tubular member moving device according to an embodiment of the present invention can effectively use the driving force generated by the actuator to move the tubular member, and can more accurately control the movement amount of the tubular member.

At this time, the tubular member moving device according to an embodiment of the present invention includes a roller operating unit capable of moving the driven roller to the side of the driving roller or the opposite side, and can couple or disengage the driving gear and the driven gear. Therefore, it is easy to switch from automatic mode to manual mode or vice versa.

Meanwhile, a tubular member may refer to a member that extends long and has a diameter of, for example, several millimeters to several centimeters. The diameter of the tubular member that the tubular member moving device can move may be selected in various ways depending on the size of the components of the tubular member moving device.

In one embodiment, the tubular member may be part of an endoscope or a surgical tool or device used with the endoscope. However, the tubular member moving device for moving a tubular member according to an embodiment of the present invention is not limited to moving a part of an endoscopic device or a part of an endoscopic instrument.

Figures 1 and 2 are perspective views of a tubular member moving device according to an embodiment of the present invention viewed from different angles. At this time, for the purpose of explaining the invention, a part of the housing is shown in cross section so that the inside can be seen. Figure 3 is a cross-sectional view of the tubular member moving device shown in Figure 1. Figure 4 is an exploded perspective view of the driven roller part and the roller operating part of the tubular member moving device shown in Figures 1 to 3. Figures 5 and 6 are diagrams for explaining the operation of the tubular member moving device shown in Figure 1. At this time, for the purpose of explaining the invention, the first housing is shown in cross section so that the inside can be seen.

Referring to Figures 1 to 3, the tubular member moving device 1 according to an embodiment of the present invention includes a housing 10, a driving roller part 20, a driving gear 23, a driven roller part 30, It may include a driven gear 33, an actuator 40, a power transmission member 50, a roller operation unit 60, a sensor unit 70, and a control unit 80.

The driving roller part 20, the driven roller part 30, and the roller operating part 60 that can be in direct contact with the tubular member 2 are called operating parts, and although they do not directly contact the tubular member 2, they have electrical properties. The actuator 40, sensor unit 70, and control unit 80 that generate driving force or control the movement of the tubular member 2 using are called the driving unit. The power transmission member 50 may belong to either the operating unit or the driving unit, or a portion of the power transmission member 50 may belong to the operating unit and the remainder may belong to the driving unit.

The housing 10 is a box-shaped structure that accommodates and protects other components inside, and may be provided with an opening (not shown) or a door (not shown) on one side that can communicate with the outside.

The housing 10 consists of a first housing 11 and a second housing 17 that are detachably coupled to each other. The coupling structure between the first housing 11 and the second housing 17 can be combined in a separable manner, such as a coupling structure using bolts and nuts, a coupling structure using a sliding method, or a coupling structure using hooks and rings. All known structures can be applied.

At this time, the shape of the first and second housings 11 and 17 is shown as having a rectangular parallelepiped shape, but their shape is curved in consideration of the relationship with surrounding devices, or curved in the shape of a handle for convenience of use. It can be formed, etc., variously modified or modified within the scope of not impairing the technical idea of the present invention.

The first housing 11 accommodates the operating unit and is protected from the outside, and the second housing 17 accommodates the driving unit and is protected from the outside.

As a result, the tubular member moving device 1 according to an embodiment of the present invention can clean the operating part by separating only the first housing 11, thereby preventing damage to the driving part that may occur during the cleaning process of the operating part. there is. In addition, the tubular member moving device 1 according to an embodiment of the present invention can be used by easily replacing or repairing worn, damaged or defective components among the operating and driving parts.

Referring to Figure 1, the tubular member 2 passes through the first housing 11. To this end, an inlet 13 and an outlet 15 through which the tubular member 2 can enter and exit are formed on one side and the other side of the first housing 11, for example, the upper and lower surfaces with reference to FIG. 1.

At this time, guide members 12 and 14 are provided at the inlet 13 and outlet 15 to guide the entry and exit of the tubular member 2. More specifically, the inlet 13 of the first housing 11 is provided with a first guide member 12 having a through hole through which the tubular member 2 passes.

The through hole of the first guide member 12 has a fallopian tube shape whose diameter becomes wider from the inside to the outside of the first housing 11. As a result, the first guide member 12 can guide the tubular member 2 to enter the inside of the first housing 11 through the inlet 13.

Likewise, the outlet 15 of the first housing 11 is provided with a second guide member 14 having a through hole through which the tubular member 2 passes. The through hole of the second guide member 14 has a fallopian tube shape whose diameter becomes wider from the outside to the inside of the first housing 11. As a result, the second guide member 14 can guide the tubular member 2 to go out of the first housing 11 through the outlet 15.

Meanwhile, referring again to FIGS. 1 and 2, a driving roller portion 20 and a driven roller portion 30 are disposed on both sides of the tubular member 2 passing through the first housing 11. The driving roller unit 20 includes a first driving roller 21 disposed on one side of the tubular member 2, on the right side with reference to FIG. 1, and the driven roller unit 30 is located on the right side of the tubular member 2. The other side includes a first driven roller 31 disposed on the left side with reference to FIG. 1.

The first driven roller (31) presses the tubular member (2) toward the first driving roller (21). As a result, a normal force is generated between the tubular member 2 and the first driving roller 21. At this time, when the first driving roller 21 rotates by receiving a driving force from the actuator 40, which will be described later, frictional force is generated between the outer peripheral part of the tubular member 2 and the outer peripheral surface of the first driving roller 21, and the frictional force moves the tubular member (2).

In this way, the tubular member moving device 1 according to an embodiment of the present invention can automatically move the tubular member 2.

Meanwhile, a slip phenomenon may occur between the first driving roller 21 and the tubular member 2. Slip means that a kinetic friction force acts between the outer peripheral surface of the first drive roller 21 and the outer peripheral part of the tubular member 2, thereby generating relative motion. When slip occurs, the driving force generated from the actuator 40 is lost.

To prevent this, some of the driving force generated by the actuator 40 may be used to rotate the first driven roller 31.

More specifically, the first driving roller shaft 22 is coupled to the center of the first driving roller 21. At this time, the first driving roller shaft 22 is provided with a driving gear 21. Accordingly, the first driving roller 21 and the driving gear 23 rotate together.

One end of the first driving roller shaft 22 is rotatably coupled to the first housing 11. For this purpose, a bearing member 24 is provided at one end of the first driving roller shaft 22. For example, the bearing member 24 may be made of a ball bearing. The other end of the first driving roller shaft 22 is coupled to a power transmission member 50, which will be described later, in order to receive driving force from the actuator 40.

A first driven roller shaft 32 parallel to the first driving roller shaft 22 is coupled to the center of the first driven roller 31. Additionally, the first driven roller shaft 32 is provided with a driven gear 33. Accordingly, the first driven roller 31 and driven gear 33 rotate together.

Both ends of the first driven roller shaft 32 are rotatably coupled to the inner wall of the first housing 11. For this purpose, bearing members 34 are provided at both ends of the first driven roller shaft 32. For example, the bearing member 34 may be made of a ball bearing.

At this time, the driven gear 33 may be combined with the driving gear 23. Accordingly, when the driven gear 33 and the driving gear 23 are combined, when the first driving roller shaft 22 rotates, the driving gear 23 rotates together, and the driven gear coupled with the driving gear 23 Gear 33 also rotates. As a result, the first driven roller shaft 32 and the first driven roller 31 can rotate in the opposite direction to the first driving roller 21.

In this way, the driving force transmitted from the actuator 40 to the first driving roller shaft is distributed to the first driving roller 21 and the first driven roller 31 by the driving gear 23 and the driven gear 33, and It can be rotated.

Accordingly, the first driving roller 21 and the first driven roller 31 can rotate and apply frictional force to both sides of the tubular member 2 in the moving direction. Therefore, the tubular member moving device 1 according to an embodiment of the present invention can move the tubular member 2 while minimizing the slip phenomenon.

Referring to Figures 2 and 3, in one area of the surfaces of the first and second housings 11 and 17 facing each other, there is a connection that communicates the inside of the first housing 11 and the inside of the second housing 17. A hole 18 is formed. The other end of the first driving roller shaft 22 is formed to penetrate the connection hole 18 and extend into the inside of the second housing 17.

An actuator 40 is provided inside the second housing 17 to generate a driving force to rotate the first driving roller 21 and the first driven roller 31. For example, actuator 40 may be an electric motor. In this case, the second housing 17 may be additionally provided with an energy supply means (not shown), for example, a battery, for supplying energy to the actuator 40.

The actuator 40 is provided with a drive shaft 42. A power transmission member 50 is provided between the drive shaft 42 and the first drive roller shaft 22 to connect them and transmit power.

The power transmission member 50 may be composed of a plurality of gear members. The power transmission member 50 has the function of transmitting the driving force generated by the actuator 40 to the first driving roller shaft 22, as well as the rotation speed ratio and rotation between the driving shaft 42 and the first driving roller shaft 22. It can perform the function of controlling direction and torque ratio.

Meanwhile, a sensor unit 70 and a control unit 80 are provided inside the second housing 17 to measure and control the movement amount of the tubular member 2.

The sensor unit 70 is provided on the drive shaft 42 of the actuator 40. For example, the sensor unit 70 may be comprised of an encoder for measuring the rotation angle and direction of the drive shaft 42.

The sensor unit 70 measures the rotation direction and rotation angle of the drive shaft 42, thereby measuring the first drive roller shaft 22, the first drive roller 21, the first driven roller shaft 32, and the first driven roller. The rotation direction and angle of (31) can be measured indirectly.

The control unit 80 may receive information sensed by the sensor unit 70 and calculate the movement amount of the tubular member 2 based on this. In addition, the control unit 80 may control the movement amount of the tubular member 2 by controlling the operation of the actuator 40 based on information regarding the calculated movement amount of the tubular member 2. For this purpose, the control unit 80 is electrically connected to the sensor unit 70 and the actuator 40.

At this time, the control unit 80 is an electric circuit board (PCB) with printed electric circuits, a microcontrol unit (MCU), a microprocessor, a general-purpose processor, a central processing unit (CPU), a digital signal processor (DSP), or other such components. It may consist of processing devices such as a combination of these.

Meanwhile, although not shown, a manipulation unit may be provided on one side of the first housing 11 or the second housing 17 so that the user can control the movement amount of the actuator 40 and the tubular member 2.

The manipulation unit is formed to be physically or electrically connected to the control unit 80 to transmit and receive signals. At this time, the operating unit may be composed of a plurality of buttons or a display capable of generating a signal by touch.

Hereinafter, the process by which the control unit 80 controls the sensor unit 70 and the tubular member 2 based on the movement amount will be described.

Referring to Figures 1 and 2, first, the control unit 80 calculates the movement amount of the tubular member 2 based on the information received from the sensor unit 70. At this time, the information received from the sensor unit 70 includes the rotation angle and direction of rotation of the first driving roller 21. The control unit 80 defines the arc length calculated by multiplying the rotation angle of the first drive roller 21 by the radius as the measured movement amount.

Thereafter, the control unit 80 controls the operation of the actuator 40 to rotate the first drive roller 21 so that the measured movement amount is equal to the target movement amount of the tubular member 2. Through the above process, the tubular member moving device 1 according to an embodiment of the present invention can control the movement amount of the tubular member 2.

At this time, according to this embodiment, the first driving roller 21 and the first driven roller 31 rotate together by the driving gear 23 and the driven gear 33 and move the tubular member 2 to generate slip. Since this is minimized, the movement amount of the tubular member 2 can be more accurately measured and controlled.

In addition, according to this embodiment, since the first driven roller 31 and the first driving roller 21 rotate in conjunction with each other, an additional sensor is provided to measure the rotation direction and rotation angle of the first driven roller 31. There is no need to. Accordingly, manufacturing costs can be reduced.

Meanwhile, referring to FIGS. 1, 3, and 4, the first housing 11 of the tubular member moving device 1 according to an embodiment of the present invention includes a roller operation for moving the first driven roller 31. A unit 60 is provided.

The roller operating unit 60 includes a body 62 that is slidably coupled to the side of the first housing 11, for example, the left side of the first housing 11 with reference to FIG. 1. One side of the body 62 is located inside the first housing 11, and the other side is located outside the first housing 11.

A button member 64 is provided on the other side of the body 62 for the user's convenience of operation. One side of the body 62 is formed to branch in a direction parallel to the first driven roller shaft 32. The other branched side of the body 62 is provided with a pair of coupling members 66a and 66b that extend respectively toward both sides of the first driven roller 31.

In the coupling members 66a and 66b, coupling holes 67a and 67b are formed in a direction parallel to the first driven roller shaft 32, respectively. The first driven roller shaft 32 is rotatably coupled to the coupling hole 67, and the first driven roller 31 and the driven gear 33 are positioned between the pair of coupling members 66a and 66b. For this purpose, a bearing member 34 is provided in the coupling hole 67. For example, the bearing member 34 may be made of a ball bearing.

Accordingly, when the roller operating unit 60 moves inside or outside the first housing 11, the first driven roller 31 and the driven gear 33 move together with the roller operating unit 60.

For this purpose, the first housing 11 is provided with guide holes 16 (shown in FIG. 3) into which both ends of the first driven roller shaft 32 are inserted. The guide hole 16 is formed on the inner wall of the first housing 11 in the direction of movement of the roller operating unit 60.

Referring to Figure 5 together, the first driven roller 31 is in contact with the outer periphery of the tubular member 2 and is positioned to press the tubular member 2 toward the first driving roller 21, and the driven gear 33 is It is positioned to be coupled with the driving gear (23). The position of the first driven roller 31 and driven gear 33 is referred to as the first position.

When the first driven roller 31 and the driven gear 33 are located in the first position, the driven gear 33 is coupled to the driving gear 23, so that the driving force is transmitted to the first driven roller shaft 32 and the first driven roller shaft 32. The driven roller (31) can be rotated. Additionally, the first driven roller 31 can press the tubular member 2 toward the first driving gear 23 to generate a normal force between the two components.

Accordingly, when the first driving roller 21 rotates, the tubular member 2 is moved by the first driving roller 21 and the first driven roller 31. This state is called automatic mode.

Referring to FIG. 6, the first driven roller 31 is located somewhat spaced apart from the tubular member 2 and the first driving roller 21 so that the tubular member 2 cannot be pressed, and the driven gear 33 is It is positioned somewhat spaced apart so that it cannot engage with the drive gear 23. The positions of the first driven roller 31 and driven gear 33 are referred to as the second position.

When the first driven roller 31 and driven gear 33 are located in the second position, the driven gear 33 cannot receive driving force from the driving gear 23, so the first driven roller shaft 32 and the driven gear 33 cannot receive driving force from the driving gear 23. 1 The driven roller (31) does not rotate. Additionally, since the first driven roller 31 cannot press the tubular member 2 toward the first driving roller 21, no normal force is generated between the two components.

Accordingly, even if the first driving roller 21 rotates, the tubular member 2 cannot move. In this case, the user can move the tubular member 2 by directly pushing it into the first housing 11 or pulling it outward. This state is called manual mode.

In this way, the tubular member moving device 1 according to an embodiment of the present invention allows the user to move the roller operation unit 60 by manipulating the button member 64, thereby switching from automatic mode to manual mode or vice versa. The conversion can be easily accomplished.

Below, tubular member moving devices according to other embodiments of the present invention will be described.

7 to 13 are views for explaining tubular member moving devices according to another embodiment of the present invention. At this time, for the purpose of explaining the invention, the first housing is shown in cross section so that the inside can be seen. Here, the same reference numerals as in the previously shown drawings indicate the same members performing the same functions.

Referring to Figure 7, the driven roller unit 130 of the tubular member moving device according to another embodiment of the present invention includes a first driven roller 131 and a first driven roller (131) disposed opposite to the first driving roller 21. 131) and a second driven roller 136 arranged to be spaced apart in the longitudinal direction of the tubular member 2.

A second driven roller shaft 137 rotatably coupled to the first housing 111 is provided at the center of the second driven roller 136. The second driven roller 136 is located on one side of the first driving roller 21 and the first driven roller 131 and supports one side of the tubular member 2.

According to this embodiment, the striking point of the tubular member 2 is supported by the second driven roller 136, so that the tubular member 2 can move stably and prevent twisting or bending of the tubular member 2. You can.

Referring to FIG. 8, the driven roller unit 230 of the tubular member moving device according to another embodiment of the present invention further includes a third driven roller 238 in addition to the first and second driven rollers 231 and 236. At this time, the first and second driven rollers 231 and 236 may be configured the same as the first and second driven rollers 131 and 136 shown in FIG. 7 .

The third driven roller 238 is opposed to the second driven roller 236 and the tubular member 2 and supports the other side of the tubular member 2. A third driven roller shaft 239 rotatably coupled to the first housing 111 is provided at the center of the third driven roller 238.

According to this embodiment, both sides of different parts of the tubular member 2 are supported by the second and third driven rollers 236 and 238, so that the tubular member 2 is moved stably and twisting or bending is prevented. may increase.

Referring to Figure 9, the first housing 311 of the tubular member moving device according to another embodiment of the present invention has an inlet 313 and an outlet 315 (or When viewed in the vertical direction of FIG. 9), they are positioned staggered from each other.

At this time, the tubular member 2 is disposed within the first housing 311 at a slight inclination to the direction of movement. A first guide member 312 is provided at the inlet 313 of the first housing 311 to guide the tubular member 2 obliquely.

A through hole through which the tubular member 2 passes is formed in the first guide member 312. At this time, the inner peripheral surface of the through hole is made of a curved surface inclined in the inclined direction. As a result, the first guide member 312 can guide the tubular member 2 obliquely.

Meanwhile, in this embodiment, the driven roller unit 330 includes first and second driven rollers 331 and 336.

With the first driven roller 331 located in the second position, the first and second driven rollers 331 and 336 are arranged side by side in the inclined direction of the tubular member 2, one side of the tubular member 2, For example, with reference to Figure 9, the left side of the tubular member 2 is supported at an angle.

The first driving roller 21 is located between the first driven roller 331 and the second driven roller 336 in the inclined direction of the tubular member 2. At this time, the first driving roller 21 is positioned so that the outer peripheral surface of the first driving roller 21 does not contact the other side of the tubular member 2, for example, the right side of the tubular member 2 with reference to FIG. 9. It is arranged somewhat spaced apart from the tubular member (2).

Referring to FIG. 10, the first driven roller 331 and the driven gear 333 are moved to the first position by the roller operating unit 60. Accordingly, the first driven roller 331 presses the tubular member 2 toward the first driving roller 21, and the driven gear 333 is coupled with the driving gear 23.

The tubular member 2 is pressed by the first driven roller 331 and comes into close contact with the outer peripheral surface of the first driving gear 21 and is bent. Since one side of the tubular member 2 is pressed by the first driven roller 331, it is bent in a direction opposite to the curvature direction of the first driving roller 21.

At this time, since the second driven roller 336 supports the other part of the tubular member 2, the tubular member 2 cannot bend in the direction opposite to the curvature direction of the first driving roller 21, and the first driving roller 21 It wraps around the outer circumference of (21). Additionally, as the second driven roller 336 supports the tubular member 2, the contact area between the first driven roller 331 and the tubular member 2 also increases.

In this way, according to this embodiment, the area where the tubular member 2 is in contact with the first driving roller 21 and the first driven roller 331 is increased, so friction can be generated in a larger area, and the tubular member 2 The member 2 can be moved efficiently.

Referring to FIG. 11, in a modified example of this embodiment, the through hole of the first guide member 313' may be formed in a direction parallel to the inclined direction of the tubular member 2.

According to this modification, while preventing the tubular member 2 from being excessively deformed at the inlet 312' side of the first housing 311, the first driven roller 331 and the first driving roller 21 The contact area of the tubular member 2 can be increased.

Referring to FIG. 12, in the tubular member moving device according to another embodiment of the present invention, the driving roller unit 420 includes a first driving roller 421 and a second driving roller 427.

The second driving roller 427 is arranged to be spaced apart from the first driving roller 421 in the longitudinal direction of the tubular member 2, and the first driven roller 31 is disposed apart from the first driving roller 421 in the longitudinal direction of the tubular member 2. It is located between (421) and the second driving roller (427).

When the first driven roller 31 moves toward the driving roller part 420 and pressurizes the tubular member 2 by the roller operating unit 60, the tubular member 2 moves toward the first and second driving rollers 421 and 427. It bends between them and wraps around their outer circumference.

In this way, according to this embodiment, the contact area between the tubular member 2 and the first and second drive rollers 421 and 427 can be increased, so the tubular member 2 can be moved more effectively.

Meanwhile, in this embodiment, the power transmission member 450 includes a first gear 455 and a second drive roller 427 provided on the first drive roller shaft 422 to rotate together with the first drive roller 421. It includes a second gear 456 provided on the second driving roller shaft 428 to rotate together.

At this time, a central axis 454 rotated by an actuator is disposed between the first and second driving rollers 421 and 427, and a third gear is circumscribed and coupled to the first and second gears 455 and 456 on the central axis 454. A gear 457 is provided.

Accordingly, according to this embodiment, the first and second driving rollers 421 and 427 can be rotated in the same direction using one actuator.

Referring to FIG. 13, in another tubular member moving device according to this embodiment, the driving roller unit 520 includes a first driving roller 521 and a first driving roller 521 disposed on one side of the tubular member 2. ) and a second driving roller 527 that is spaced apart from the tubular member 2 in the longitudinal direction.

The driven roller unit 530 includes first and second driven rollers 531 and 536 disposed opposite to the first and second driving rollers 521 and 527, respectively.

In this way, according to this embodiment, the driving roller unit 520 and the driven roller unit 530 press and support both sides of the tubular member 2 at many points, so that the tubular member 2 can be moved stably. It can prevent excessive twisting or bending.

In addition, according to this embodiment, the contact area between the tubular member 2 and the driving roller unit 520 and the driven roller unit 530 is increased, so the tubular member 2 can be moved efficiently.

Meanwhile, in this embodiment, the roller operating unit 560 for moving the driven roller unit 530 includes a body 562 that is slidably coupled to the first housing 511.

One side of the body 562 located inside the first housing 511 is branched and extended in the longitudinal direction of the tubular member 2. On one branched side of the body 562, a first coupling member 568 extends toward the side of the first driven roller 531 and a second coupling member extends toward the side of the second driven roller 537. (566) is provided.

At this time, the first and second coupling members 566 and 568 may be configured identically to the pair of coupling members 66a and 66b shown in FIG. 5 . Accordingly, the roller operating unit 560 can move the first and second driven rollers 531 and 536 together to the first position or the second position.

Meanwhile, referring to FIG. 13, in this embodiment, the power transmission member 550 includes a first gear 555 provided on the second driving roller shaft 528 to rotate together with the second driving roller 527. .

At this time, a central axis 556 rotated by an actuator is located between the first driving roller 521 and the second driving roller 527, and the driving gear 523 and the first gear 555 are located on the central axis 556. ) is provided with a second gear 554 that is externally coupled to the gear.

Accordingly, according to this embodiment, the first and second driving rollers 521 and 527 can be rotated with one actuator using the driving gear 523.

As previously observed, the tubular member moving device according to an embodiment of the present invention can automatically move the tubular member by rotating the driving roller using an actuator.

At this time, the tubular member moving device according to an embodiment of the present invention uses a driving gear that rotates together with the driving roller and a driven gear that is coupled to the driving gear but rotates together with the driven roller, and moves the tubular member on both sides of the tubular member in the direction of movement. By applying friction force together, the slip phenomenon can be minimized.

In addition, the tubular member moving device according to an embodiment of the present invention is equipped with a roller operating part capable of moving the driven roller in the housing, and can move the driven roller toward the driving roller or separate it from the automatic mode to the manual mode. Conversion of or vice versa can be easily accomplished.

Hereinafter, the tubular member moving device according to the seventh embodiment of the present invention will be described with different drawings.

Figure 14 is a front view of the tubular member moving device according to the seventh embodiment of the present invention. At this time, the housing was shown in cross section so that the inside could be seen. Figure 15 is a rear view of the tubular member moving device according to the seventh embodiment of the present invention. At this time, the driving roller, driven roller, and elastic member are indicated by dotted lines. Figures 16 and 17 are diagrams for explaining the process by which the tubular member moving device according to the seventh embodiment of the present invention operates to move the tubular member.

Referring to Figure 14, the tubular member moving device 601 according to the seventh embodiment of the present invention includes a housing 611, a driving roller part 620, a driving gear 623, a driven roller part 630, and a driven gear. (633,638), an elastic member 690, and an actuator may be included.

According to this embodiment, the housing 611 may be provided as a case-shaped member that can accommodate other components inside, which will be described later. At this time, the tubular member 2 may pass through the housing 611. Also, a driving roller unit 620 and a driven roller unit 630 may be disposed on both sides of the tubular member 2 inside the housing 611.

At this time, the driving roller unit 620 may be made of a roller that rotates by directly receiving the driving force from the actuator, and the driven roller unit 630 is responsible for the rotation of the driving roller unit 620 or the movement of the tubular member 2. It may be made up of rollers that rotate indirectly.

That is, when the driving roller unit 620 rotates by the actuator, the tubular member 2 is transported in the tangential direction of the driving roller unit 620 due to the friction between the driving roller unit 620 and the tubular member 2. It can be. In addition, in the above process, the driven roller unit 630 can support the opposite side of the tubular member 2 and provide a reaction force against the normal force to generate friction force.

First, the housing 611 according to this embodiment will be described in detail. The housing 611 according to this embodiment may be provided with a first guide member 612 and a second guide member 614 to allow the tubular member 2 to pass. The first guide member 612 may be located on the upper surface of the housing 611, and the second guide member 614 may be located on the lower surface of the housing 611 to face the first guide member 612.

According to this embodiment, the first guide member 612 may be formed with an inlet 613 that can communicate with the inside and outside of the housing 611, and the second guide member 614 may be formed with an inlet 613 and The outlet 615 may be formed in a parallel direction. The tubular member 2 will be able to enter and exit the interior of the housing 611 through the inlet 613 and the outlet 615.

At this time, the above-described first guide member 612 and second guide member 614 may be configured in the same way as the guide member of the tubular member moving device according to another embodiment described above, and detailed description thereof will be omitted. do.

Referring to FIG. 14, in this embodiment, a driving roller unit 620 may be provided inside the housing 611. The driving roller unit 620 may include a driving roller 621. At this time, the driving roller 621 may be rotatably disposed inside the housing 611. Additionally, a drive shaft member 622 may be coupled through the center of the drive roller 621. Of course, the driving roller 621 and the driving shaft member 622 may be provided integrally.

Although not shown, the drive shaft member 622 according to this embodiment may be operatively connected to the actuator in a predetermined manner. Accordingly, the driving force generated by the actuator may be transmitted to the driving shaft member 622 to rotate the driving roller 621.

At this time, according to this embodiment, a driving gear 623 may be provided at the rear of the driving roller 621. This drive gear 623 may be coupled to the drive shaft member 622 so that it can rotate together with the drive roller 621.

Meanwhile, referring to FIGS. 14 and 15, a driven roller unit 630 may be provided on the peripheral side of the driving roller 621 of the tubular member moving device 601 according to this embodiment. At this time, the driven roller unit 630 may include a first driven roller 631 and a second driven roller 636. In this embodiment, the first driven roller 631 and the second driven roller 636 may be spaced apart in the vertical direction along the circumference of the driving roller 621.

Hereinafter, the driven roller disposed on the upper side close to the inlet 613 of the housing 611 will be referred to as the first driven roller 631, and the driven roller disposed on the lower side close to the outlet 615 of the housing 611. The roller is called the second driven roller (636). At this time, the driving roller 621 may have a larger diameter than the first driven roller 631 and the second driven roller 636.

Accordingly, the tubular member 2 entering the inlet 613 of the housing 611 is between the outer periphery of the driving roller 621 and the outer periphery of the first driven roller 631 and between the outer periphery of the driving roller 621 and the second driven roller. After passing between the outer periphery of the roller 636, it can exit through the exit 615.

In addition, the tubular member 2 may be bent to surround the outer periphery of the driving roller 621 between the first driven roller 631 and the second driven roller 636 (as shown in FIG. 17), and has a tubular shape. The contact area between the member 2 and the driving roller 621 can be increased. That is, the tubular member 2 can contact the driving roller 621 over a larger area. Accordingly, the tubular member moving device according to this embodiment can move the tubular member 2 more efficiently.

Referring again to FIG. 14, in this embodiment, the first driven shaft member 632 may be coupled through the center of the first driven roller 631, and the second type may be coupled to the center of the second driven roller 636. The coaxial member 637 may be coupled through penetration. Of course, both configurations may be provided together.

At this time, according to this embodiment, a first driven gear 633 may be provided behind the first driven roller 631. And, the first driven gear 633 may be coupled to the first driven shaft member 632 so that it can rotate together with the first driven roller 631.

Likewise, a second driven gear 638 may be provided at the rear of the second driven roller 636, and the second driven gear 638 can rotate together with the second driven roller 636. It can be coupled to the coaxial member 637.

At this time, as shown in FIG. 14, in this embodiment, the first driven gear 633 and the second driven gear 638 may be externally coupled to the driving gear 623. Through this, the driving force generated by the actuator is transmitted to the first driven roller 631 and the second driven roller 636 through the driving gear 623, the first driven gear 633, and the second driven gear 638. You can.

That is, the first driven roller 631 and the second driven roller 636 rotate with the driving roller 621 by the actuator and can move the tubular member 2. Accordingly, the tubular member moving device 601 according to this embodiment can minimize slip between the tubular member 2 and the roller.

Meanwhile, referring to FIGS. 14 and 15, the first driven roller 631 and the second driven roller 636 of the tubular member moving device 601 according to this embodiment are moved along the circumferential direction of the driving roller 621. It can be configured to be movable.

More specifically, as shown, the first driven roller 631 and the second driven roller 636 according to this embodiment have a circular orbit centered on the drive shaft member 622 and having a first radius R1. It can be configured to be movable. Of course, the first driven roller 631 and the second driven roller 636 can move along a circular orbit and rotate around the first driven shaft member 632 and the second driven shaft member 637, respectively. there is.

To this end, the housing 611 of the tubular member moving device 601 according to this embodiment includes a first guide groove 616 in the shape of an arc extending in the circumferential direction of the driving roller 621, as shown in FIG. 15, and A second guide groove 617 may be formed. That is, in this embodiment, the first guide groove 616 and the second guide groove 617 may extend along an arc centered on the drive shaft member 622.

And, according to this embodiment, the first guide groove 616 and the second guide groove 617 may be formed symmetrically on the front and rear side walls of the housing 611. Of course, the first guide groove 616 and the second guide groove 617 may be provided in the form of holes.

Both ends of the first driven shaft member 632 may be inserted into the first guide groove 616 to be movable along the extension direction of the first guide groove 616. Likewise, the end of the second driven shaft member 637 may be movably inserted into the second guide groove 617 along the extension direction of the second guide groove 617. Accordingly, the first driven roller 631 and the second driven roller 636 can be moved along a circular orbit centered on the drive shaft member 622.

Meanwhile, although not shown, the tubular member moving device 601 may be provided with a separate operating member for moving the first driven roller 631 and the second driven roller 636. This operating member may be configured to generate or transmit a driving force to enable the first driven roller 631 and the second driven roller 636 to move along a circular orbit.

As an example, the driving force for moving the first driven roller 631 may be a manipulation force input by the user. In this case, the operating member may be a rod-shaped member with one side rotatably coupled to the first driven shaft member 632 and the other side protruding to the outside of the housing 611. The user may be able to move the first driven roller 631 by holding and manipulating the operating member.

Meanwhile, in this embodiment, the first driven roller 631 and the second driven roller 636 are configured to move along a circular orbit centered on the drive shaft member 622. In this way, when the driven rollers 631 and 636 move along a circular trajectory, the distance between the driven rollers 631 and 636 and the driving roller 621 is maintained constant, so the combination of the driven gears 633 and 638 and the driving gear 623 is stable. can be maintained.

However, the movement trajectories of the first driven roller 631 and the second driven roller 636 are not limited to the above-described circular trajectory, and may be formed as a curve with changing curvature, such as an elliptical trajectory. Additionally, if necessary, the first driven roller 631 and the second driven roller 636 may be configured to move along different trajectories.

Referring again to FIGS. 14 and 15 , an elastic member 690 may be provided inside the housing 611 of the tubular member moving device 601 according to this embodiment. The elastic member 690 is configured to elastically bias the first driven roller 631 and the second driven roller 636 in a direction away from each other.

To this end, the elastic member 690 may be configured to elastically support the first driven roller 631 and the second driven roller 636. More specifically, the elastic member 690 provides elastic force to the first driven roller 631 in a counterclockwise direction with respect to FIG. 14 and provides elastic force to the second driven roller 636 in a clockwise direction with respect to FIG. 14. It can be configured to provide.

To this end, the elastic member 690 according to this embodiment may be made of a torsion spring including a spring portion 692, a first extension portion 694, and a second extension portion 696. At this time, the spring portion 692 may be formed in the shape of a coil spring in which a metal wire is wound in a spiral direction.

And, in this embodiment, the drive shaft member 622 and the spring portion 692 may be coaxially arranged. For example, the drive shaft member 622 may be configured to pass through the center of the spring portion 692. At this time, since the elastic member 690 does not need to be rotated by the drive shaft member 622, the inner peripheral portion of the spring portion 692 is preferably spaced somewhat apart from the outer peripheral portion of the drive shaft member 622.

Referring to FIG. 15, in this embodiment, a first extension part 694 extending outward from the spring part 692 may be provided on one side of the spring part 692. At this time, the first extension 694 may extend obliquely upward along the radial direction of the circular orbit. Also, the side of the first extension 694 may be in contact with the side of the first driven shaft member 632.

Accordingly, the first extension portion 694 can elastically support the first driven shaft member 632 and the first driven roller 631, and the first driven roller 631 rotates in a semi-circular direction based on FIG. 14. It can be elastically biased clockwise.

Likewise, in this embodiment, a second extension part 696 extending outward from the spring part 692 may be provided on the other side of the spring part 692. At this time, the second extension portion 696 may extend obliquely downward along the radial direction of the circular orbit. Additionally, the side of the second extension 696 may be in contact with the side of the second driven shaft member 632.

Accordingly, the second extension portion 696 can elastically support the second driven shaft member 637 and the second driven roller 636, and the second driven roller 636 is visible based on FIG. 14. Can be elastically biased in one direction.

In this way, the first extension part 694 and the second extension part 696 according to the present embodiment can be elastically opened, and the first driven roller 631 and the second driven roller 636 have directions moving away from each other. Elastic force can be applied. The effects of this embodiment will be described later with reference to FIGS. 16 and 17.

Hereinafter, the drawings will be changed to explain the process by which the tubular member moving device according to the seventh embodiment of the present invention moves the tubular member and the effects of the moving device.

As shown in FIG. 16, the tubular member 2 can enter the housing 611 through the inlet 613 of the tubular member moving device 601. At this time, when viewed in the moving direction of the tubular member 2, the driving roller 622 and the first driven roller 631 are positioned so that the tubular member 2 can enter between the driving roller 621 and the first driven roller 631. The space can be opened.

To this end, the first driven roller 631 and the second driven roller 636 may be close to each other. In other words, the first extension part 694 and the second extension part are formed so that the angle formed by the first driven roller 631, the driving roller 621, and the second driven roller 636 is the first angle θ1. (694) can be retracted.

Accordingly, when viewed in the direction of movement of the tubular member 2, the end of the tubular member 2 can enter the open gap between the driving roller 621 and the first driven roller 631. And, the tubular member 2 that enters between the driving roller 621 and the first driven roller 631 passes between the driving roller 621 and the second driven roller 636 and then reaches the outlet 615 of the housing 611. can be moved towards.

At this time, according to this embodiment, the distance between the first driven roller 631 and the second driven roller 636 is controlled to suit the diameter d of the tubular member 2, so that the tubular member 2 is driven. It can be modified to surround the outer periphery of the roller 621. For example, as the tubular member 2 has a smaller diameter d, the distance between the first driven roller 631 and the second driven roller 636 is controlled to be further apart, thereby reducing the size of the tubular member 2. One side can be modified to surround the outer periphery of the driving roller 621.

In other words, by controlling the angle formed by the first driven roller 631, the driving roller 621, and the second driven roller 636 according to the diameter d of the tubular member 2, the tubular member 2 It can be modified to surround the outer periphery of the driving roller 621. For example, the smaller the tubular member 2 has a diameter d, the larger the angle formed by the first driven roller 631, the driving roller 621, and the second driven roller 636 is controlled to increase the tubular shape. One side of the member 2 can be modified to surround the outer periphery of the driving roller 721.

To this end, the distance between the first driven roller 631 and the second driven roller 636 can be controlled to be farther away from each other. In other words, the first extension part 694 and the second extension part are formed so that the angle formed by the first driven roller 631, the driving roller 621, and the second driven roller 636 is the second angle θ2. (694) can happen. At this time, the second angle θ2 may be greater than the first angle θ1.

Through this, when viewed in the moving direction of the tubular member 2, the outer peripheral portion of the first driven roller 631 can press the front end toward the driving roller 621, and the outer peripheral portion of the second driven roller 636 can be pressed against the tubular member. The rear end of (2) can be pressed toward the driving roller 621. Accordingly, the tubular member 2 may be arranged to be curved between the first driven roller 631 and the second driven roller 636 to surround the outer periphery of the driving roller 621.

In this way, according to the tubular member moving device 601 according to the present embodiment, the tubular member 2 can be deformed to surround the outer periphery of the driving roller 621 no matter what size the diameter d is. Accordingly, the tubular member moving device 601 according to this embodiment can move various types of tubular members 2 having different sizes of diameter d.

At this time, referring again to FIG. 17, the first extension portion 694 of the elastic member 690 applies elastic force to the first driven roller 631 in a counterclockwise direction, so the first driven roller 631 is a tubular member. (2) can be pressed toward the driving roller 621. Likewise, the second extension portion 696 applies elastic force clockwise to the second driven roller 636, so the second driven roller 636 can press the tubular member 2 toward the driving roller 621. . Accordingly, the normal force between the drive roller 621 and the tubular member 2 can be increased, so the tubular member 2 can be moved more efficiently.

Hereinafter, the tubular member moving device according to the eighth embodiment of the present invention will be described with different drawings.

Figure 18 is a front view of the tubular member moving device according to the eighth embodiment of the present invention. At this time, the housing was shown in cross section so that the inside could be seen.

Referring to Figure 18, the tubular member moving device 701 according to the eighth embodiment of the present invention includes a housing 711, a driving roller part 720, a driven roller part 730, an elastic member 790, and an actuator. It can be included. The housing 711 according to this embodiment may be provided with a first guide member 714 having an inlet 713 and a second guide member 715 having an outlet 715.

At this time, the housing 711, the first guide member 712, the second guide member 714, the driving roller unit 720, and the actuator according to the present embodiment are the same as those of the tubular member moving device according to the seventh embodiment described above. Since the housing, the first guide member, the second guide member, and the driving roller unit may be configured in the same manner, detailed description thereof will be omitted.

The driven roller unit 730 according to this embodiment may include a first driven roller 731, a second driven roller 734, and a third driven roller 737. At this time, the first driven roller 731 and the second driven roller 734 may be arranged to be spaced apart along the circumference of the drive roller 721 in the vertical direction.

Hereinafter, the driven roller disposed on the upper side of the driving roller 721 close to the inlet 713 of the housing 711 is referred to as the first driven roller 731, and the driven roller disposed close to the outlet 715 of the housing 711 is referred to as the first driven roller 731. The driven roller disposed below the driving roller 721 is called the second driven roller 734.

At this time, the first driven roller 731 and the second driven roller 734 may be arranged on the left side of a circular track having a first radius R1 with the drive shaft member 722 as the center. Accordingly, the tubular member can be arranged curved to surround the outer periphery of the driving roller 721 between the first driven roller 731 and the second driven roller 734, so that the contact between the driving roller 721 and the tubular member is maintained. The area can be increased.

Meanwhile, according to this embodiment, a first driven gear 733 may be provided at the rear of the first driven roller 731. In addition, the first driven gear 733 may be coupled to the first driven shaft member 732 coupled through the center of the first driven roller 731 so that it can rotate together with the first driven roller 731. .

Likewise, a second driven gear 736 may be provided behind the second driven roller 734. In addition, the second driven gear 736 may be coupled to the second driven shaft member 735 coupled through the center of the second driven roller 734 so that it can rotate together with the second driven roller 734. .

According to this embodiment, as shown in FIG. 14, the first driven gear 733 and the second driven gear 736 may be externally coupled to the driving gear 723. Through this, the driving force generated by the actuator is transmitted to the first driven roller 731 and the second driven roller 734 through the driving gear 723, the first driven gear 733, and the second driven gear 736. You can.

Accordingly, the driving roller 721, the first driven roller 731, and the second driven roller 734 can rotate together by the actuator to move the tubular member, so the slip between the tubular member and the roller can be minimized. there is.

Meanwhile, referring to FIG. 18, the first driven roller 731 of the tubular member moving device 701 according to this embodiment can rotate around the first driven shaft member 732, and the driving roller 721 It may be configured to be movable along the circumferential direction.

More specifically, as shown, the first driven roller 731 may be configured to move along a circular orbit having a first radius R1 with the drive shaft member 722 as the center. To this end, a configuration similar to the guide grooves 616 and 617 (shown in FIG. 15) of the tubular member moving device according to the seventh embodiment may be formed in the housing 711.

Meanwhile, the second driven roller 734 can rotate around the second driven shaft member 735, and is fixed at a point on a circular orbit having a first radius R1 around the drive shaft member 722. can be located

Accordingly, based on FIG. 18, when the first driven roller 731 moves clockwise around the drive shaft member 722, the first driven roller 731 and the second driven roller 734 may move away from each other. there is. Conversely, when the first driven roller 731 moves counterclockwise around the drive shaft member 722, the first driven roller 731 and the second driven roller 734 may become closer to each other.

Through the above operation, the length and contact area of the section where the tubular member surrounds the outer periphery of the driving roller 721 between the first driven roller 731 and the second driven roller 734 can be controlled, so in this embodiment The tubular member moving device 701 according to can move various types of tubular members having different diameters.

Meanwhile, the elastic member 790 of the tubular member moving device 701 according to the eighth embodiment of the present invention may include a first elastic member 791 and a second elastic member 795.

At this time, in this embodiment, the first elastic member 791 elastically moves the first driven roller 731 so that the first driven roller 731 and the second driven roller 734 can move away from each other. It can be configured to support. In other words, the first elastic member 791 may be configured to provide a clockwise elastic force to the first driven roller 731 with reference to FIG. 18.

To this end, the first elastic member 791 may include a spring part 792, a first extension part 793, and a second extension part 794. At this time, the spring part 792, the first extension part 793, and the second extension part 794 according to the present embodiment are the spring part, the first extension part, and the second extension part of the tubular member moving device according to the seventh embodiment. Since it may be configured the same as the extension part, detailed description thereof will be omitted.

At this time, in this embodiment, the side of the first extension 793 is in contact with the side of the first driven shaft member 732, and the first driven shaft member 732 and the first driven roller 731 are elastically connected. I can support it. That is, the first driven roller 731 may be elastically biased clockwise with respect to FIG. 18. Accordingly, the normal force between the drive roller 721 and the tubular member can be increased, so the tubular member can be moved more efficiently.

Meanwhile, in this embodiment, a first support protrusion 718 may be formed to protrude on the inner wall of the housing 711. And, the second extension part 794 may be supported by the first support protrusion 718. The first elastic member 791 may elastically support the first driven roller 731 using the supporting force of the first support protrusion 718. Of course, the second extension portion 794 may be configured so that its side portion is in contact with the second driven shaft member 735 and supported.

Referring again to FIG. 18, a third driven roller 737 may be spaced apart from the circumferential side of the second driven roller 734 according to this embodiment. At this time, the third driven roller 737 and the driving roller 721 may be spaced apart in the vertical direction along the circumference of the second driven roller 734.

More specifically, the third driven roller 737 and the driving roller 721 may be arranged in the vertical direction on a circular orbit having a second radius R2 with the second driven shaft member 735 as the center. At this time, preferably, the second radius (R2) and the first radius (R1) may have the same size.

Accordingly, the tubular member can be bent to surround the outer periphery of the second driven roller 734 between the driving roller 721 and the third driven roller 737, so that the second driven roller 737 and the tubular member The contact area between them can be increased.

At this time, in this embodiment, a third driven gear 739 may be provided behind the third driven roller 737. In addition, the third driven gear 739 may be coupled to the third driven shaft member 738 penetrated through the center of the third driven roller 737 so that it can rotate together with the third driven roller 737. .

Accordingly, the driving force generated from the actuator can be transmitted to the third driven roller 737 through the driving gear 723, the second driven gear 736, and the third driven gear 739, so that the tubular member and the third driven gear 739 Slip between driven rollers 737 can be minimized.

Meanwhile, referring again to FIG. 18, the third driven roller 737 of the tubular member moving device 701 according to the present embodiment can rotate around the third driven shaft member 738, and the second driven roller It may be configured to be movable along the circumferential direction of (734).

More specifically, as shown, the third driven roller 737 may be configured to move along a circular orbit having a second radius R2 with the second driven shaft member 735 as the center. To this end, a configuration similar to the guide grooves 616 and 617 (shown in FIG. 15) of the tubular member moving device according to the seventh embodiment may be formed in the housing 711.

18, when the third driven roller 737 moves clockwise around the second driven shaft member 735, the third driven roller 737 and the driving roller 721 may move away from each other, When the third driven roller 737 moves counterclockwise, the third driven roller 737 and the driving roller 721 may become closer to each other.

Accordingly, the length and contact area of the section where the tubular member surrounds the outer periphery of the second driven roller 734 between the third driven roller 737 and the driving roller 721 can be controlled, so the tubular member according to this embodiment The member moving device 701 can move various types of tubular members having different diameters.

Meanwhile, referring again to FIG. 18, the second elastic member 795 of the tubular member moving device 701 according to the present embodiment allows the driving roller 721 and the third driven roller 737 to move away from each other. To this end, it may be configured to elastically support the third driven roller 737. In other words, the second elastic member 795 may be configured to provide a counterclockwise elastic force to the third driven roller 737 with reference to FIG. 18.

To this end, in this embodiment, the second elastic member 795 may be made of a torsion spring including a spring portion 796, a first extension portion 797, and a second extension portion 798. At this time, the spring unit 796 may be provided as a coil spring in which a metal wire is wound in a spiral shape. This spring unit 796 may be arranged coaxially with the second driven shaft member 735 within the housing 711, but its position is not particularly limited as long as it can provide elastic force to the third driven roller 737.

According to this embodiment, a first extension part 797 extending outward may be provided on one side of the spring part 796. The first extension part 797 may extend from the spring part 796 in the right direction.

At this time, in this embodiment, the first extension portion 797 may be supported by a second support protrusion 719 whose side portion protrudes from the inner wall of the housing 711. The support force provided by the second support protrusion 719 can be used to elastically support the third driven roller 737. Of course, the first extension 797 may be configured to be in contact with and supported by the drive shaft member 722.

Meanwhile, in this embodiment, a second extension part 798 extending outward may be provided on the other side of the spring part 796. The second extension part 798 may extend obliquely downward from the spring part 796. Accordingly, the second extension part 798 may be spaced counterclockwise from the first extension part 797 with respect to FIG. 18 .

At this time, in this embodiment, the side portion of the second extension portion 797 is in contact with the shaft portion of the third driven shaft member 738 and can elastically support the third driven shaft member 738. That is, the third driven roller 737 may be elastically biased clockwise with respect to FIG. 18. Accordingly, the normal force between the second driven roller 734 and the tubular member can be increased, so the tubular member can be moved more efficiently.

Meanwhile, in Figure 18, the first driven roller 731 and the second driven roller 734 are arranged on a circular track with a first radius R1 centered on the drive shaft member 722, and the drive roller 721 and The third driven roller 737 is configured to be arranged on a circular orbit with a second radius R1 centered on the second driven shaft member 735, but the shape of the circular orbits can be appropriately modified as needed. There will be.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiment presented in the present specification, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , other embodiments can be easily proposed by change, deletion, addition, etc., but this will also be said to be within the scope of the present invention.

1 101 601 701: Tubular member moving device
10: Housing 20 420 520 620 720: Driving roller part
23 423 523 623 723: Drive gear 30 130 230 330 630 730: Driven roller part
33 133 233 333 633 638 733 736 739: Driven gear
40: Actuator 50 450 550: Power transmission member
60 560: roller operating unit 70: sensor unit
80: Control unit 690 790: Elastic member

Claims (25)

A tubular member moving device for moving a tubular member,
a housing through which the tubular member passes;
a driving roller unit including a first driving roller disposed on one side of the tubular member within the housing;
a driving gear provided on the same axis as the first driving roller and rotating together;
a driven roller unit including a first driven roller disposed on the other side opposite to the one side of the tubular member;
a driven gear provided coaxially with the first driven roller, rotating together with the first driven roller, and coupled to the driving gear;
an actuator that provides driving force to rotate the driving roller unit; and
A tubular member moving device comprising a power transmission member that transmits the driving force generated by the actuator to the driving roller unit. According to clause 1,
Further comprising a roller operating unit provided in the housing to move the first driven roller from a second position farther from the first driving roller to the first position than from a first position adjacent to the first driving roller,
When the first driven roller is located in the first position, the driving gear and the driven gear are configured to be coupled. According to clause 2,
The housing is provided with an inlet and an outlet through which the tubular member can enter and exit,
The inlet and the outlet are positioned to be staggered when viewed in the moving direction of the tubular member, and the tubular member is configured to be inclinedly disposed within the housing. According to clause 3,
A guide member is provided at the inlet of the housing to guide the tubular member in the inclined direction,
As the first driven roller moves to the first position, the tubular member is configured to surround a portion of the outer peripheral surface of the first driving roller and make surface contact. According to clause 1,
The driven roller unit includes a second driven roller disposed to be spaced apart from the first driven roller in the longitudinal direction of the tubular member. According to clause 5,
The second driven roller is disposed on the other side of the tubular member,
The first driving roller is located between the first driven roller and the second driven roller in the longitudinal direction of the tubular member. According to clause 5,
The driven roller unit includes a third driven roller disposed opposite to the second driven roller about the tubular member. According to clause 1,
The driving roller unit includes a second driving roller spaced apart from the first driving roller in the longitudinal direction of the tubular member. According to clause 8,
The power transmission member is
a first gear provided coaxially to rotate together with the second driving roller; and
A tubular member moving device comprising a second gear coupled to the driving gear and the first gear and rotating by the driving force generated by the actuator. According to clause 8,
The driven roller unit includes a second driven roller disposed opposite to the second driving roller about the tubular member. According to clause 10,
A roller operating unit provided in the housing to move the first driven roller and the second driven roller from a second position farther from the driving roller unit than a first position adjacent to the driving roller unit to the first position. Contains more,
When the first driven roller and the second driven roller are located in the first position, the driving gear and the driven gear are configured to be coupled. A housing through which a tubular member passes;
a driving roller provided inside the housing to contact one side of the tubular member;
a driving gear provided on one side of the driving roller to rotate together with the driving roller;
a first driven roller and a second driven roller arranged on a circumferential side of the driving roller in a circumferential direction of the driving roller so as to contact the other side of the tubular member;
a first driven gear provided on one side of the first driven roller so as to rotate together with the first driven roller and coupled to the driving gear; and
It includes an actuator that provides driving force to rotate the driving roller,
The tubular member moving device is configured to move the first driven roller in a circumferential direction of the driving roller so as to be closer to or farther away from the second driven roller. According to clause 12,
A tubular member moving device further comprising a second driven gear provided on one side of the second driven roller so as to rotate together with the second driven roller and coupled to the driving gear. According to clause 12,
A guide groove extending in a circumferential direction of the driving roller is formed in the housing,
A tubular member moving device, wherein one side of the driven shaft member penetratingly coupled to the first driven roller is movably inserted into the guide groove. According to clause 12,
The drive roller has a larger diameter than the first driven roller and the second driven roller. According to clause 12,
The tubular member moving device further includes an elastic member that elastically supports the first driven roller so that the first driven roller and the second driven roller can move apart from each other. According to clause 16,
The elastic member is
A spring portion provided inside the housing; and
A tubular member moving device comprising a first extension part extending outward from the spring part so as to elastically support a first driven shaft member penetratingly coupled to the first driven roller. According to clause 17,
The inner wall of the housing is provided with a support protrusion,
The elastic member is
A tubular member moving device comprising a second extension part extending outwardly from the spring part so as to be supported by the support protrusion. According to clause 12,
The tubular member moving device is configured to move the second driven roller in a circumferential direction of the driving roller so as to be closer to or farther away from the first driven roller. According to clause 12,
A tubular member moving device further comprising an elastic member that elastically supports at least one of the first driven roller and the second driven roller so that the first driven roller and the second driven roller can move apart from each other. . According to clause 20,
The elastic member is
A spring portion provided inside the housing;
a first extension portion extending outward from the spring portion to elastically support the first driven shaft member penetratingly coupled to the first driven roller; and
A tubular member moving device comprising a second extension part extending outward from the spring part so as to elastically support a second driven shaft member penetratingly coupled to the second driven roller. According to clause 12,
It further includes a third driven roller spaced apart from the circumferential side of the second driven roller so as to contact the one side of the tubular member,
The third driven roller is separated from the driving roller in the circumferential direction of the second driven roller so that the tubular member can be arranged curvedly along the circumference of the second driven roller between the driving roller and the third driven roller. A device for moving tubular members spaced apart. According to clause 22,
a second driven gear provided on one side of the second driven roller so as to rotate together with the second driven roller and coupled to the driving gear; and
The tubular member moving device further includes a third driven gear provided on one side of the third driven roller so as to rotate together with the third driven roller, and coupled to the second driven gear. According to clause 22,
The third driven roller is configured to be movable in a circumferential direction of the second driven roller so as to be closer to or farther away from the driving roller. According to clause 24,
The tubular member moving device further includes an elastic member that elastically supports the third driven roller so that the third driven roller and the driving roller can move apart from each other.