TUBULAR MEMBER MOVING APPARATUS

Provided is a tubular member moving apparatus. A tubular member moving apparatus is configured to move a tubular member and includes a first housing through which the tubular member passes, a driving roller unit including a driving roller provided in the first housing and disposed at one side of the tubular member, a driven roller unit including a first driven roller disposed at the other side of the tubular member, a first actuator configured to provide driving power for rotating the driving roller, and a second housing separably coupled to the first housing and configured to accommodate the first actuator therein.

CROSS REFERENCE TO RELATED APPLICATION

The present application claims priority to Korean Patent Application No. 10-2021-0068997, filed May 28, 2021 and Korean Patent Application No. 10-2022-0034302, filed Mar. 18, 2022, the entire contents of which are incorporated herein by reference.

BACKGROUND

Field

The present disclosure relates to a tubular member moving apparatus, and more particularly, to a tubular member moving apparatus capable of moving a tubular member.

Description of the Related Art

An endoscope refers to a device implemented to be inserted into a body and used to check a lesion in an organ that cannot be directly observed without performing a surgical procedure or autopsy. Recently, various types of surgical instruments have been devised to perform a procedure on the interior of the organ without incising a patient's body.

A part of an endoscopic device, which is inserted into the human body, is generally provided in the form of a tubular member to conform to structural features of the body and minimize an area of a surgical site. For example, there has been developed an apparatus for inserting the endoscope attached with surgical instruments into the patient's body and performing a surgical procedure.

In addition, the tubular member is widely used for apparatuses for checking and inspecting interiors of structures or pipes to ensure convenience and efficiency in inserting and extracting the tubular member.

In the industrial and medical sites, the tubular member is repeatedly inserted and extracted during a working process. To this end, significant amounts of time and labor are required. There has been developed a moving apparatus configured to automatically insert or extract the tubular member in order to reduce the amounts of time and labor required to insert and extract the tubular member.

The moving apparatus includes a structure in which a driving roller configured to rotate by receiving driving power from a motor and a driven roller configured to freely rotate are disposed to adjoin two opposite portions of the tubular member. The tubular member is moved by a frictional force generated between the driving roller and the tubular member.

The disclosure of this section is to provide background information relating to the present disclosure. Applicant does not admit that any information contained in this section constitutes prior art.

SUMMARY

In an example of a moving apparatus, an area in which the tubular member and the driving roller are in contact with each other is not sufficient, the driving power generated by the motor cannot be efficiently transmitted to the tubular member.

In addition, in the moving apparatus, the entire moving apparatus needs to be cleaned or replaced when the interior of the moving apparatus is contaminated by the tubular member, the electronic components such as the motor are damaged during the cleaning process, and reusable components are discarded, which wastes resources.

The present disclosure aims to provide a tubular member moving apparatus capable of automatically inserting or extracting a tubular member.

The present disclosure also aims to provide a tubular member moving apparatus capable of easily switching a mode from an automatic mode in which a tubular member is automatically inserted or extracted to a manual mode in which the tubular member is manually inserted or extracted or vice versa.

The present disclosure also aims to provide a tubular member moving apparatus capable of efficiently moving a tubular member by increasing a contact area between a driving roller and a tubular member.

The present disclosure also aims to provide a tubular member moving apparatus capable of separating and cleaning only a component contaminated by a tubular member.

An aspect of the present disclosure provides a tubular member moving apparatus, which is configured to move a tubular member, the tubular member moving apparatus including: a first housing through which the tubular member passes; a driving roller unit including a driving roller provided in the first housing and disposed at one side of the tubular member; a driven roller unit including a first driven roller disposed at the other side of the tubular member; a first actuator configured to provide driving power for rotating the driving roller; and a second housing separably coupled to the first housing and configured to accommodate the first actuator therein.

In this case, the tubular member moving apparatus may further include a roller operating unit configured to move the first driven roller to a first position from a second position farther from the driving roller than the first position adjacent to the driving roller.

In this case, the roller operating unit may include a second actuator configured to move the first driven roller from the second position to the first position, and the second actuator may be positioned in the second housing.

In this case, the second actuator may be a linear actuator, and the linear actuator may be connected to the first driven roller by means of a plurality of connection members.

In this case, the roller operating unit may include: a first link disposed in the first housing and having one side coupled to the first housing so as to be pivotally rotatable about a first axis; a second link coupled to the first link and the first driven roller; and a button member connected to the first link and installed in the first housing.

In this case, an elastic member may be provided on the button member and provide an elastic force so that the button member protrudes to the outside of the first housing and the first driven roller is spaced apart from the driving roller by an interval larger than a diameter of the tubular member in a state in which no external force is applied.

In this case, the roller operating unit may include an elastic member configured to elastically press the first driven roller in a direction from the second position to the first position.

In this case, the driven roller unit may include a second driven roller disposed to be spaced apart from the first driven roller in a longitudinal direction of the tubular member, and the driving roller may be positioned between the first and second driven rollers in the longitudinal direction of the tubular member.

In this case, the tubular member may be moved while being bent and having a predetermined curvature along an outer peripheral surface of the driving roller in the first housing.

In this case, a diameter of each of the first and second driven rollers may be smaller than a diameter of the driving roller.

In this case, a guide member may be provided in the first housing and guide the tubular member.

In this case, the tubular member may be disposed outside the second housing while penetrating the first housing.

In this case, the second housing may include an operating button configured to operate the first actuator.

According to the tubular member moving apparatus according to the embodiment of the present disclosure, the driving roller unit, which rotates by receiving driving power from the actuator, applies the frictional force in the movement direction of the tubular member, which makes it possible to automatically insert or extract the tubular member.

In addition, according to the tubular member moving apparatus according to the embodiment of the present disclosure, the roller operating unit may allow the driven roller to be positioned adjacent to the driving roller or allow the driven roller to be spaced apart from the driving roller, which makes it possible to easily switch the mode from the automatic mode to the manual mode or vice versa.

In addition, according to the tubular member moving apparatus according to the embodiment of the present disclosure, the driving roller and the actuator are disposed adjacent to each other, and the driven roller and the roller operating unit are disposed adjacent to each other. Therefore, the internal components are compactly disposed, a width of the tubular member moving apparatus in the forward/rearward direction is small, the tubular member moving apparatus is light in weight, and the tubular member moving apparatus is excellent in power transmission efficiency.

In addition, according to the tubular member moving apparatus according to the embodiment of the present disclosure, the second housing configured to accommodate the actuator is disposed to be opposite to the roller operating unit with respect to the tubular member, which makes it possible to improve convenience and efficiency for the user's manipulation.

In addition, according to the tubular member moving apparatus according to the embodiment of the present disclosure, the roller operating unit includes the elastic member configured to elastically press the driven roller toward the driving roller. Therefore, the driven roller may apply a predetermined force and press the tubular member regardless of a diameter of the tubular member.

In addition, according to the tubular member moving apparatus according to the embodiment of the present disclosure, the plurality of driven rollers presses the tubular member toward the driving roller, such that the tubular member surrounds the outer peripheral surface of the driving roller while being bent, which makes it possible to increase the contact area between the driving roller and the tubular member.

The effects of the present disclosure are not limited to the above-mentioned effects, and other effects, which are not mentioned above, may be clearly understood by those skilled in the art from the present specification and the accompanying drawings.

DETAILED DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the technical field to which the present disclosure pertains may easily carry out the embodiment. The present disclosure may be implemented in various different ways, and is not limited to the embodiments described herein. In the drawings, a part irrelevant to the description will be omitted to clearly describe the present disclosure, and the same or similar constituent elements will be designated by the same reference numerals throughout the specification.

Terms or words used in the specification and the claims should not be interpreted as being limited to a general or dictionary meaning and should be interpreted as a meaning and a concept which conform to the technical spirit of the present disclosure based on a principle that an inventor can appropriately define a concept of a term in order to describe his/her own invention.

In the present application, it will be appreciated that terms “including” and “having” are intended to designate the existence of characteristics, numbers, steps, operations, constituent elements, and components described in the specification or a combination thereof, and do not exclude a possibility of the existence or addition of one or more other characteristics, numbers, steps, operations, constituent elements, and components, or a combination thereof in advance.

Unless otherwise specified, a case in which one constituent element is disposed at “a front side,” “a rear side,” “an upper side,” or “a lower side” of another constituent element includes not only a case in which one constituent element is disposed at “the front side,” “the rear side,” “the upper side,” or “the lower side” of another constituent element while directly adjoining another constituent element, but also a case in which a further constituent element is disposed between one constituent element and another constituent element. In addition, unless otherwise specified, a case in which one constituent element is “connected to” another constituent element includes not only a case in which one constituent element and another constituent element are directly connected to each other, but also a case in which one constituent element and another constituent element are indirectly connected to each other.

A tubular member moving apparatus according to an embodiment of the present disclosure is a tubular member moving apparatus, in which a driven roller unit including a driven roller may bring a tubular member into close contact with the driving roller, thereby moving the tubular member by using a frictional force generated between the tubular member and the driving roller.

In this case, the tubular member moving apparatus according to the embodiment of the present disclosure may include a roller operating unit capable of moving the driven roller toward or away from the driving roller, and the roller operating unit may bring the tubular member into close contact with the driving roller or separate the tubular member from the driving roller. Therefore, an automatic mode may be easily switched to a manual mode or vice versa, and a contact area between the tubular member and the driving roller may increase.

Meanwhile, for example, the tubular member may be a member elongated and having a diameter of several millimeters (mm) to several centimeters (cm). A diameter of the tubular member, which may be moved by the tubular member moving apparatus, may be variously selected depending on sizes of components of the tubular member moving apparatus.

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

Hereinafter, a tubular member moving apparatus according to a first embodiment of the present disclosure will be described.

FIG.1is a perspective view of a tubular member moving apparatus according to a first embodiment of the present disclosure.FIG.2is a front view of the tubular member moving apparatus according to the first embodiment of the present disclosure.FIG.3is a rear view of the tubular member moving apparatus according to the first embodiment of the present disclosure.FIG.4is a view illustrating a roller, a tubular member, and a guide member of the tubular member moving apparatus according to the first embodiment of the present disclosure, in which (a) is a perspective view, and (b) is a top plan view.

In this case, inFIGS.1to3, the components projected through first and second housings are indicated by dotted lines.

Referring toFIGS.1and2, a tubular member moving apparatus1according to a first embodiment of the present disclosure may include a housing10, a driving roller unit20, a driven roller unit30, a first actuator40, a second actuator42, a power transmitting member50, and a roller operating unit60.

The housing10includes a first housing11and a second housing17. The first housing11accommodates and protects the driving roller unit20, the driven roller unit30, and guide members12and14. In this case, the driving roller unit20includes a driving roller21. The driven roller unit30includes a driven roller31.

The first housing11has a box-shaped structure having a sufficient size so that the driving roller21, the driven roller31, and the guide members12and14may be installed in the first housing11.

Referring toFIGS.1and2, the driving roller21is positioned at a central portion of the first housing11, and the driven roller31and the driving roller21are positioned at an appropriate distance so that the guide members12and14may be positioned between the two rollers21and31. The appropriate distance will be described below.

Referring toFIG.4, the driving roller21and the driven roller31are each provided in the form of a circular plate-shaped member having a predetermined thickness. Grooves21aand31acorresponding to an outer peripheral portion of the tubular member2are respectively formed in an outer peripheral surface of the driving roller21and an outer peripheral surface of the driven roller31.

In the present embodiment, the grooves21aand31aof the driving and driven rollers21and31each have a semi-circular shape corresponding to a shape of the tubular member2. Further, the grooves21aand31aof the driving and driven rollers21and31each have an elliptical shape or the like corresponding to a cross-sectional shape of the tubular member2.

Referring to (b) ofFIG.4, when the roller grooves21aand31aare formed to correspond to the outer peripheral portion of the tubular member2, the most parts of the outer peripheral portion of the tubular member2adjoin the outer peripheral surfaces of the rollers21and31, such that the contact area between the tubular member2and the outer peripheral surfaces of the rollers21and31may increase.

In addition, friction members configured as rubber pads or the like may be installed on the outer peripheral surfaces of the rollers21and31, such that frictional coefficients between the tubular member2and the outer peripheral surfaces of the rollers21and31may increase.

Referring toFIG.1, roller shafts22and32are rotatably installed at centers of the rollers21and31, respectively.

The roller shafts22and32may each be a member having a rod shape, extending to a predetermined length, and made of metal or plastic having a predetermined strength. The driving roller shaft22is installed at a center of the first housing11and fixed in an x-axis direction. The driven roller shaft32and the driving roller shaft22are installed in parallel with each other at a predetermined distance in a y-axis direction.

Two opposite ends of each of the roller shafts22and32are rotatably installed on an inner wall of the first housing11. To this end, bearing members may be provided between the first housings11and the roller shafts22and32.

Referring toFIG.1, a gear is installed on the driving roller shaft22, disposed at a predetermined distance from the driving roller21in the x-axis direction, and rotates the driving roller21by receiving a rotational force.

A third connection member66is installed on the driven roller shaft32and disposed at a predetermined distance from the driven roller31in a direction opposite to the x-axis direction. The third connection member66transmits a force that may move the driven roller shaft32in the y-axis direction. In this case, a bearing member is provided between the third connection member66and the driven roller shaft32, such that the third coupling member66and the driven roller shaft32may rotate relative to each other. The third connection member66will be described below.

Referring toFIG.4, the guide members12and14may include the first guide member12and the second guide member14.

In the present embodiment, the guide members12and14are positioned between the driving roller21and the driven roller31. The first guide member12and the second guide member14may be spaced apart from each other so that the tubular member2may come into direct contact with the outer peripheral surfaces of the driving and driven rollers21and31.

As another embodiment, the first guide member12and the second guide member14may be integrated, and through-holes may be formed in only portions of the outer peripheral surfaces of the guide members12and14that come into contact with the tubular member2and the rollers21and31.

Referring toFIGS.3and4, an inlet13and an outlet15through which the tubular member2penetrates the housing are formed in upper and lower surfaces of the first housing11. The guide members12and14connect the outlet15and the inlet13of the first housing11so that the tubular member2may penetrate the first housing11.

According to the present embodiment, the guide members12and14are formed in a straight shape and connect the inlet13and the outlet15. However, in another embodiment, the guide members12and14may be formed in a curved shape depending on the flexibility of the tubular member2, the positions of the inlet13and the outlet15, and the arrangement of the internal components of the first housing11.

In addition, in still another embodiment, the guide members12and14may protrude to the outside of the first housing11so that the tubular member2may be guided to the inside of the first housing11by the guide members12and14.

Meanwhile, the second housing17has a box-shaped structure having a sufficiently large size so as to accommodate and protect the first actuator40and the second actuator42therein.

Referring toFIG.1, the second housing17may be installed at a right lower side of the first housing11. However, a relative position between the first housing11and the second housing17may be appropriately set in accordance with the convenience for the user who uses an endoscopic device or in accordance with the arrangement of the components of the tubular member moving apparatus1.

For example, as illustrated inFIG.2, the second housing17may be installed at a right lower side or a left lower side of the inlet13of the first housing11in consideration of a surgical or medical environment of a practitioner who uses an endoscope for a human body.

As illustrated inFIG.1, the first actuator40is disposed at a left side of the inside of the second housing17, and the second actuator42is disposed at a rear side of the first actuator40.

The first actuator40generates driving power for rotating the driving roller21. The second actuator42generates driving power for linearly moving the driven roller31in the y-axis direction. In the present embodiment, the first actuator40is a rotary motor. The second actuator42is a linear motor capable of linearly moving a particular member.

The power transmitting member50is positioned between the first actuator40and the driving roller21and transmits driving power. The roller operating unit60is positioned between the second actuator42and the driven roller21and transmits driving power.

In this case, a rotary shaft is provided at one side of the first actuator40and rotated by the first actuator40, and the rotary shaft is disposed in parallel with The roller shafts22and32in the x-axis direction.

Referring toFIGS.1and2, in the present embodiment, the first actuator40transmits driving power to the driving roller shaft22through the power transmitting member50installed in the first housing11.

In this case, the power transmitting member50includes first to third gears52,54, and56. The first to third gears52,54, and56may each be configured as a spur gear. The first gear52is provided on the rotary shaft of the first actuator40, and the third gear56is provided on the driving roller shaft22. The second gear54is connected to the first and third gears52and56.

A ratio between a rotational speed of the first actuator40and a rotational speed of the driving roller21, a rotation direction, and a torque ratio may be adjusted depending on the number of teeth of the first to third gears52,54, and56.

However, the first to third gears52,54, and56of the power transmitting member50are not limited to the spur gear. For example, the first and third gears52and56may each be configured as a worm wheel, and the second gear54may be configured as a worm shaft. In this case, backlash may decrease, and a movement amount of the tubular member2may be accurately controlled.

In this case, referring toFIG.1, rectangular openings18are formed in surfaces of the first and second housings11and17that face each other. The interior of the first housing11and the interior of the second housing17communicate with each other through the openings18. One side of the first gear52installed on the first actuator40is connected to the second gear54through the openings18.

Meanwhile, referring toFIG.3, the roller operating unit60is provided. The roller operating unit60serves to transmit driving power, which is generated by the second actuator42, to the driven roller31. The roller operating unit60includes first, second, and third connection members62,64, and66. In this case, the roller operating unit60may be made of a material such as metal having predetermined rigidity.

The first connection member62extends in a z-axis direction from one side of the second actuator42to the inside of the first housing11. The second connection member64extends in the x-axis direction in the second housing11. In this case, one end of the first connection member62and one end of the second connection member64are coupled to each other.

As described above, the third connection member66is coupled to the driven roller shaft32so as to be rotatable relative to the driven roller shaft32. The other end of the second connection member64is coupled to the third connection member66.

However, the coupling structures between the first to third connection members62,64, and66are not particularly limited as long as the driving power of the second actuator42may be transmitted to the driven roller31. For example, a sliding coupling method using a guide groove and a guide protrusion may be applied. In addition, the roller operating unit60may be integrally formed.

Referring toFIGS.1and3, when the second actuator42linearly moves the roller operating unit60, the driven roller central shaft32coupled to the third connection member66of the roller operating unit60is linearly moved, and therefore, the driven roller31is linearly moved.

In embodiments, a separate guide unit may be provided on the inner wall of the first housing11and guide the movement of the driven roller31in the y-axis direction.

In this case, guide holes19are formed in the surfaces of the first and second housings11and17that face each other. The guide holes19allow the first connection member62penetrating the sidewalls of the first and second housings11and17to smoothly move.

Meanwhile, in the present embodiment, a distance between the first actuator40and the driving roller21may be shorter than a distance between the second actuator42and the driven roller31. Therefore, it is possible to simplify the sizes and internal design of the components and improve power transmission efficiency of the power transmitting member50. In addition, the internal components may be compactly disposed, which may provide the tubular member moving apparatus1that has a small width in a forward/rearward direction and is light in weight.

In this case, the distance between the first actuator40and the driving roller21may be as short as possible in order to effectively transmit driving power to the driving roller21. In contrast, because the roller operating unit60just needs to perform the operation of linearly moving the driven roller31, the disadvantages such as deterioration in power transmission efficiency and the simplification of design are small even though the distance between the second actuator42and the driven roller31comparatively increases.

Therefore, in the present embodiment, the distance between the first actuator40and the driving roller21may be shorter than the distance between the second actuator42and the driven roller31.

However, the arrangement of the rollers21and31and the actuators40and42are provided and may be appropriately changed to conform to a working environment in which the tubular member moving apparatus1is used, properties of components constituting the power transmitting member50and the roller operating unit60, and manufacturing processes.

Hereinafter, the automatic mode and the manual mode of the tubular member moving apparatus according to the first embodiment of the present disclosure will be described.

FIG.5is a view illustrating the second actuator and the roller according to the manual mode and the automatic mode of the tubular member moving apparatus according to the first embodiment of the present disclosure, in which (a) is a view illustrating a state of the automatic mode, and (b) is a view illustrating a state of the manual mode.

In the present embodiment, the position of the driving roller21is fixed, and the driving roller21does not move in the first housing11. However, the driven roller31may be moved in the horizontal direction by the second actuator42.

In this case, a distance between the driving roller central shaft22and the driven roller central shaft32is L1 in the automatic mode, and a distance between the driving roller central shaft22and the driven roller central shaft32is L2 in the manual mode. Therefore, the second actuator42may move the driven roller31by a distance of ‘L2−L1’.

Referring to (a) ofFIG.5, since a distance between the driving roller21and the driven roller31is short in the automatic mode, the outer peripheral surface of the driven roller31may support the tubular member2that receives a force while adjoining the outer peripheral surface of the driving roller21.

Therefore, the outer peripheral surface of the driving roller21may generate a vertical drag force in the horizontal direction against the tubular member2. Therefore, the tubular member2is moved along the outer peripheral surface of the driving roller21in the upward direction based onFIG.5by the frictional force between the driving roller21and the tubular member2. Hereinafter, the position of the driven roller31in the automatic mode is referred to as a ‘first position’.

When the driving roller21rotates clockwise, the tubular member2is inserted and moved in the direction toward the outlet. When the driving roller21rotates counterclockwise, the tubular member2is extracted in the direction toward the inlet. Therefore, according to the present disclosure, the tubular member2may be automatically moved.

In this case, the distance between the driving roller21and the driven roller31may of course be appropriately adjusted so that the tubular member2may be moved by the frictional force. When the distance between the rollers21and31is too short, the tubular member2is trapped between the rollers21and31, and the tubular member2cannot be moved. When the distance between the rollers21and31is long, the vertical drag force is not generated, and the movement of the tubular member2by the frictional force is not implemented.

Meanwhile, referring to (b) ofFIG.5, in the manual mode, the driven roller31may be moved by ‘L2−L1’ in the direction away from the driving roller21. Therefore, because a space is formed between the tubular member2and the driven roller31, a vertical drag force cannot be generated. Therefore, the outer peripheral surfaces of the rollers21and31cannot press the tubular member2.

Therefore, because the frictional force cannot be generated between the rollers21and31and the tubular member2, the movement of the tubular member2by the driving power of the first actuator40cannot be implemented. Hereinafter, the position of the driven roller31in the manual mode is referred to as a ‘second position’. In this case, the user may adjust the movement of the tubular member2with his/her hand.

As described above, according to the tubular member moving apparatus1according to the present embodiment, the user may automatically move the tubular member2by a targeted length in the automatic mode, thereby mitigating physical burden. In addition, thereafter, the user may switch the mode of the tubular member moving apparatus1to the manual mode and precisely and directly move the tubular member2, thereby precisely adjusting the movement amount of the tubular member2.

Meanwhile, referring back toFIG.1, the tubular member moving apparatus1according to the first embodiment of the present disclosure may include a control unit70. The control unit70may adjust and switch the mode to the automatic mode and the manual mode by moving the driven roller31to the first position or the second position by controlling the second actuator42. The control unit70may automatically move the tubular member2by rotating the driving roller21by controlling the first actuator40.

The control unit70may be installed between the first actuator40and the second actuator42in the second housing17. The control unit70may be electrically connected to the actuators40and42through an electric communication wire or in a wireless communication manner. Alternatively, the control unit70may be separately provided outside the first housing11or the second housing17.

Referring toFIG.1, a manipulation unit80is provided at one side of the control unit70. In this case, the manipulation unit80may include a mode switching button.

Referring toFIG.4, when the user pushes the mode switching button in the state in which the driven roller31is positioned at the first position in the automatic mode, the first actuator40may operate and move the driven roller31to the second position, thereby switching the mode of the tubular member moving apparatus1to the manual mode.

On the contrary, when the user pushes the mode switching button in the state in which the driven roller31is positioned at the second position in the manual mode, the first actuator40may operate and move the driven roller31to the first position, thereby switching the mode of the tubular member moving apparatus1to the automatic mode.

In addition, the manipulation unit80may include up and down buttons. When the user selects the up button between the up and down buttons, the first actuator40may operate and rotate the driving roller21clockwise, thereby moving the tubular member2from the inlet13to the outlet15.

On the contrary, when the user selects the down button, the first actuator40may operate and rotate the driving roller21counterclockwise, thereby moving the tubular member2from the outlet15to the inlet13.

In addition, when the up and down buttons are selected by the user's manipulation, the control unit70may move the driven roller31to the first position by controlling the second actuator42, rotate the driving roller21by a preset number of times by controlling the first actuator40, and then move the driven roller31to the second position by controlling the second actuator42. Therefore, the tubular member moving apparatus1according to the present embodiment may accurately move the tubular member2by a preset movement amount.

In the present embodiment, the manipulation unit80may be configured as a button member protruding to the outside of the control unit70. The manipulation unit80may include a display screen installed on an outer surface of the control unit70, and the user's selection may be implemented by touching the display screen.

FIG.6is a view illustrating a state in which the first housing and the second housing of the tubular member moving apparatus according to the first embodiment of the present disclosure are separated.FIG.7is a view illustrating a state in which the connection member of the tubular member moving apparatus according to the first embodiment of the present disclosure is manually moved. In this case, the components projected through the first and second housings are indicated by dotted lines.

Referring toFIG.6, in the present embodiment, the first housing11and the second housing17may be separably coupled. In this case, various fastening methods such as a coupling method using a bolt and a nut and a coupling method using a sliding structure may be used as the method of separably coupling the housings.

In this case, when the first housing11and the second housing17are separated, the first gear52positioned in the first housing11and the second gear54positioned in the second housing17may be separated.

In addition, when the first housing11and the second housing17are separated, the first connection member62and the second actuator42may be separated. However, when the first housing11and the second housing17are separated, the first connection member62and the second connection member64may be separated.

Referring toFIG.7, when the second connection member64is separated from the second actuator42, the user may move the third connection member66and the driven roller31by manually moving the second connection member64.

One end of the second connection member64may protrude to the outside of the first housing11or an additional component for the user's manipulation may be coupled so that the user may manually move the second connection member64as described above.

When the user may manually move the second connection member64as described above, the user may manually switch the mode of the tubular member moving apparatus1to the manual mode or the automatic mode without the second actuator42.

FIG.8is a view for explaining a modified example of the tubular member moving apparatus according to the first embodiment of the present disclosure. In this case, a cross-section of the second housing is illustrated so that the interior of the second housing is visible.

Referring toFIG.8, in the modified example of the first embodiment of the present disclosure, a first actuator40′ installed in the second housing17has a rotary shaft configured to penetrate an opening18b′ of the second housing17, and a sealing member58′ is installed between the rotary shaft and the opening.

First and second gears52′ and54′ may be coupled to the rotary shaft of the first actuator40′ and transmit power. In addition, a sealing member may also be installed between the guide groove19band the first connection member62coupled to the second actuator42.

In embodiments, the sealing member may be made of a publicly-known material such as rubber. Therefore, the second housing17in which the first actuator40and the second actuator42are installed may be isolated from the outside, thereby preventing contamination.

Referring back toFIG.6, according to the tubular member moving apparatus1according to the first embodiment of the present disclosure, the first housing11configured to accommodate the driving roller21and the driven roller31for moving the tubular member2and the second housing17configured to accommodate the first actuator40and the second actuator42are separably coupled. That is, the operating part and the driving part may be separably provided.

Therefore, according to the present embodiment, the first housing11may be separated and then cleaned, thereby preventing damage to the actuators40and42and the control unit70that may be caused during the cleaning process.

For example, in the case in which the tubular member2is a part of the endoscope for a human body, the tubular member2contaminated by tumor, blood, or the like may contaminate the rollers21and31and the like. Therefore, the rollers21and31need to be cleaned so that the tubular member moving apparatus1may be used for surgical or medical procedures for other patients.

In this case, according to the tubular member moving apparatus1according to the present embodiment, the user may separate and clean the first housing11, thereby preventing damage to the actuators40and42and the control unit70that may be caused during the cleaning process.

In addition, according to the tubular member moving apparatus1according to the first embodiment of the present disclosure, the user may easily separate and couple the first housing11and the second housing17in a situation in which the first housing11and the second housing17need to be separated such as a situation in which the first housing11and the second housing17need to be repaired, replaced, or inspected.

Hereinafter, a tubular member moving apparatus according to a second embodiment of the present disclosure will be described.

FIG.9is a perspective view of a tubular member moving apparatus according to a second embodiment of the present disclosure.FIG.10is an exploded perspective view of the tubular member moving apparatus according to the second embodiment of the present disclosure.FIG.11is an exploded perspective view of the tubular member moving apparatus according to the second embodiment of the present disclosure.FIG.12is a perspective view of a first housing and components accommodated in the first housing of the tubular member moving apparatus according to the second embodiment of the present disclosure when viewed at another angle.

In this case, inFIG.11, the first and second housing are indicated by dotted lines, and the components projected through the first and second housing are indicated by solid lines.

In the following description with reference to the drawings, the directions are defined and described on the basis of coordinate axes illustrated inFIG.9. More specifically, a positive z-axis direction is defined as an upward direction, and a negative z-axis direction is defined as a downward direction. A positive y-axis direction is defined and described as a rearward direction, and a negative y-axis direction is defined and described as a forward direction. A positive x-axis direction is defined as a rightward direction, and a negative x-axis direction is defined as a leftward direction.

Referring toFIGS.9to12, the moving apparatus according to the second embodiment of the present disclosure may include a housing110, a driving roller unit120, a driven roller unit130, an actuator140, a power transmitting member150, a roller operating unit160, a control unit170, a manipulation unit180, and an energy storage means190.

Hereinafter, driving parts mean components configured to provide and transmit driving power for moving the tubular member2and components related to the above-mentioned components, and operating parts mean components configured to move the tubular member2by receiving driving power from the driving part and components related to the above-mentioned components.

That is, the driving parts include the actuator140, the control unit170, the manipulation unit180, and the energy storage means190, and the operating parts include the driving roller unit120, the driven roller unit130, and the roller operating unit160.

The housing110includes a first housing111and a second housing117separably coupled to each other. The first housing111accommodates the operating parts therein, and the second housing117accommodates the driving parts therein.

Meanwhile, the driving roller unit120includes a driving roller121. The driven roller unit130includes a driven roller131.

Referring toFIGS.9and10, the second housing117is disposed at the left side of the first housing111. The first housing111includes a horizontal portion having a rectangular parallelepiped shape and extending in a horizontal direction, and a vertical portion having a rectangular parallelepiped shape and extending downward from a right portion of the horizontal portion.

The tubular member2may penetrate a left portion of the horizontal portion of the first housing111. In this case, the tubular member2may be arranged in the upward/downward direction and spaced apart from the vertical portion of the first housing111at a predetermined distance.

Referring toFIG.11, an internal space of the horizontal portion of the first housing111and an internal space of the vertical portion of the first housing111communicate with each other. The horizontal portion accommodates the driving roller121and the driven roller131, and the right portion of the horizontal portion and the vertical portion accommodate the roller operating unit160.

In this case, the driving roller121rotates in place, and the driven roller131and the roller operating unit160linearly move in the leftward/rightward direction. That is, the components accommodated in the first housing111do not move in the forward/rearward direction.

Therefore, a thickness of the first housing111in the forward/rearward direction may be smaller than a width of the first housing111in the leftward/rightward direction. Therefore, in the present embodiment, the first housing111may be compactly manufactured to be small in size, thereby improving spatial utilization and reducing weight and manufacturing costs.

In addition, a width of the horizontal portion of the first housing111is sufficient to accommodate the driving roller121and the driven roller131, and a length of the vertical portion is sufficient to accommodate a lower portion of the roller operating unit160.

Referring toFIG.11, an outlet115and an inlet113, into or from which the tubular member2is inserted or extracted, respectively formed in upper and lower surfaces of the first housing111. In this case, the inlet113and the outlet115may be formed in parallel with each other in the longitudinal direction of the tubular member2so that the tubular member2passes straight through the inlet113and the outlet115.

Meanwhile, guide members112and114are respectively provided in the inlet113and the outlet115. The guide members112and114are each provided in the form of a cylindrical member having a hole formed at a center thereof. A groove is formed in a circumferential direction in an outer peripheral surface of each of the guide members112and114.

The guide members112and114are installed in the first housing111as rim portions of the inlet113and the outlet115are inserted into the grooves of the guide members112and114, respectively. One end of each of the guide members112and114has a hemispherical shape.

In this case, the guide members112and114are disposed so that the hemispherical ends thereof are directed toward the interior of the first housing111. The guide members112and114serve to guide the movement of the tubular member2passing through the first housing111.

Referring toFIG.10, coupling holes118are formed in surfaces of the first and second housings111and117that face each other. That is, a second coupling hole118ais formed in the first housing111, and a second coupling hole118bis formed in the second housing117and corresponds to the first coupling hole118a.

The interiors of the first and second housings111and117may communicate with each other through the coupling holes118. One side of a second gear154accommodated in the first housing111may protrude to the outside of the first housing111through the first coupling hole118a. The second gear154will be described below.

Referring toFIGS.10and12together, a pair of guide holes116is symmetrically formed in the front and rear surfaces of the first housing111and extends in the leftward/rightward direction. Two opposite ends of a driven roller shaft132to be described below are inserted into the guide holes116.

Referring back toFIGS.9to12, the second housing117of the tubular member moving apparatus101according to the second embodiment of the present disclosure may accommodate and protect the actuator140, the control unit170, and the energy storage means190therein. The second housing117has a box-shaped structure having a rectangular parallelepiped shape, and the manipulation unit180to be described below is provided at a left side of the second housing117.

The actuator140is installed in the second housing117and provides driving power for rotating the driving roller121. For example, the actuator140may be an electric motor.

A driving shaft142may be coupled to a rear portion of the actuator140, and the driving shaft142is connected to the driving roller21by the power transmitting member150. In this case, the power transmitting member150includes a first gear152and the second gear154.

The first gear152is coupled to the driving shaft142. The first gear152may be positioned to correspond to the second coupling hole118band coupled to the second gear154to be described below through the second coupling hole118b.

The energy storage means190supplies electrical energy for operating the actuator140. In this case, the energy storage means190may be connected to a terminal provided in the second housing117. Therefore, the energy storage means190may be charged by being supplied with electrical energy from an external power source connected to the terminal.

The control unit170refers to a processor capable of controlling an operation, a rotation direction, a rotational speed, and the like of the actuator140. For example, the control unit170may be configured as a printed circuit board (PCB) or a micro-control unit (MCU).

The actuator140is electrically connected to the control unit170and the energy storage means190. The control unit170transmits an electrical signal for controlling the actuator140, and the energy storage means190provides energy for operating the actuator140.

Meanwhile, a left surface of the first housing111and a right surface of the second housing117are coupled to each other while being in surface contact with each other. In this case, relative positions of the first housing111and the second housing117are adjusted, and the first housing111and the second housing117are coupled, such that the first coupling hole118aand the second coupling hole118bare connected and correspond to each other to define the single communication hole118.

In this case, as described above, the first housing111and the second housing117are separably coupled. For example, a guide protrusion may be formed on the first housing111, a guide groove may be formed in the second housing117, such that the first housing111may be coupled to the second housing117in a sliding manner. In addition, the first housing111and the second housing117may be detachably coupled by a nut and a bolt.

Therefore, according to the tubular member moving apparatus101according to the second embodiment of the present disclosure, the operating parts and the driving parts are accommodated in the first housing111and the second housing117, and the first housing111and the second housing117are separably coupled, such that the operating parts and the driving parts may be separated.

Therefore, according to the tubular member moving apparatus101according to the second embodiment of the present disclosure, only the first housing111and the operating parts, which are contaminated by the tubular member2, may be separated and cleaned or repaired. Therefore, it is possible to prevent damage to the driving part that may be caused during the process of cleaning or repairing the operating part.

In addition, according to the tubular member moving apparatus101according to the second embodiment of the present disclosure, the first housing111and the operating parts may be manufactured as disposable parts or replaceably manufactured and used, and the driving parts may be used multiple times while being accommodated and protected in the second housing117.

FIG.13is a top plan view of the driving roller, the driven roller, the rotary shaft of the driving roller, the rotary shaft of the driven roller, the first gear, and the tubular member of the tubular member moving apparatus according to the second embodiment of the present disclosure.

Referring toFIGS.11and13, the driven roller shaft132and a driving roller shaft122are arranged in parallel in the forward/rearward direction in the first housing111of the tubular member moving apparatus101according to the second embodiment of the present disclosure. The driving roller shaft122is disposed at a left side in the first housing111, and the driven roller shaft132is disposed at a right side of the driving roller shaft122.

In this case, the driving roller shaft122and the driven roller shaft132are rotatably installed on the front and rear surfaces of the first housing111. To this end, bearing members may be provided on the front and rear surfaces of the first housing111.

In addition, as described above, the two opposite ends of the driven roller shaft132are coupled to the guide holes116of the first housing111. Therefore, the driven roller shaft132may move along the guide holes116.

The driven roller131is coupled to the driven roller shaft132so as to rotate together with the driven roller shaft132. In addition, the driving roller121is coupled to the driving roller shaft122so as to rotate together with the driving roller shaft122, and the second gear154is coaxially arranged at a rear side of the driving roller121. In this case, the second gear154is positioned to correspond to the first coupling hole118aso that the second gear154may be coupled to the first gear152through the first coupling hole118aof the first housing111.

The roller operating unit160may be provided in the first housing111and move the driven roller131. In this case, the roller operating unit160is disposed to be more adjacent to the driven roller131than the driving roller121, and the second housing117and the actuator140accommodated in the second housing117are disposed to be more adjacent to the driving roller121than the driven roller131. That is, the roller operating unit160is disposed at a right side of the driven roller131, and the second housing117and the actuator140are disposed at a left side of the driving roller121.

Therefore, according to the tubular member moving apparatus101according to the second embodiment of the present disclosure, the driving roller121and the actuator140for providing driving power to the driving roller121are disposed to be adjacent to each other, and the driven roller131and the roller operating unit160for moving the driven roller131are disposed to be adjacent to each other. Therefore, it is possible to minimize a loss of driving power that may be caused during the power transmission process.

In addition, according to the tubular member moving apparatus101according to the second embodiment of the present disclosure, spatial efficiency in the first housing111may be improved, and the components may be compactly disposed, such that the tubular member moving apparatus101may be manufactured to be small in size.

Referring toFIGS.10and11, one side of the first gear152is coupled to one side of the second gear154while penetrating the communication holes118. The first and second gears152and154transmit driving power, which is provided by the actuator140, to the driving roller shaft122. The driving roller shaft122, which receives driving power, may rotate the driving roller121.

In this case, the power transmitting member150may perform a function of transmitting driving power of the actuator140to the driving roller121and a function of adjusting a rotational speed, a rotation direction, and the like of the driving roller shaft122. To perform the functions, a plurality of other gears may be additionally disposed between the first gear152and the second gear154.

The tubular member2is inserted into the first housing111through the inlet113of the first housing111, passes through a portion between the driving roller121and the driven roller131, and then is extracted to the outside of the first housing111through the outlet115of the first housing111.

Referring toFIG.13, the tubular member2may pass through the portion between the outer peripheral surface of the driving roller121and the outer peripheral surface of the driven roller131. In this case, grooves121aand131aare respectively formed in the outer peripheral surface of the driving roller121and the outer peripheral surface of the driven roller131and each have a semi-circular cross-section corresponding to the outer peripheral surface of the tubular member2.

A left outer peripheral surface of the tubular member2adjoins an inner peripheral surface of the groove121aof the driving roller121, and a right outer peripheral surface of the tubular member2adjoins an inner peripheral surface of the groove131aof the driven roller131.

Therefore, according to the tubular member moving apparatus101according to the second embodiment of the present disclosure, contact areas between the outer peripheral portion of the tubular member2and the outer peripheral surfaces of the driving and driven rollers121and131may increase, such that the frictional force for moving the tubular member2may increase.

FIGS.14and15are views for explaining operating processes of the tubular member moving apparatus according to the second embodiment of the present disclosure, in whichFIG.14is a view illustrating a state (automatic mode) in which the driven roller is positioned at the first position, andFIG.15is a view illustrating a state (manual mode) in which the driven roller is positioned at the second position. In this case, a cross-section of the first housing is illustrated so that the interior of the first housing is visible.

Referring toFIGS.11,14, and15, in the present embodiment, the roller operating unit160is disposed at the right side of the driven roller131and accommodated in the vertical portion and the right portion of the horizontal portion of the first housing111.

The roller operating unit160includes first to third links162,164, and166, first to third pins161,163, and165, a button member168, and an elastic member169.

The first link162is provided in the form of a rod-shaped member extending in the upward/downward direction parallel to an extension direction of the tubular member2passing through the first housing111. An upper end of the first link162is coupled to the first housing111by means of the first pin161and configured to be pivotally rotatable about a first axis C1.

The third link166is coupled to a lower end of the first link162by means of the third pin165. More specifically, a guide hole is provided at the lower end of the first link162and formed in an extension direction (upward/downward direction based onFIG.14) of the first link162. The lower end of the first link162is coupled to the third link166by means of the third pin165inserted into the guide hole of the first link162.

Therefore, the first link162and the third link166may relatively rotate about a third axis C3by means of the third pin165. Meanwhile, the third link166is provided in the form of a rod-shaped member extending in the leftward/rightward direction.

Therefore, when the third link166is horizontally moved in the leftward/rightward direction, the first link162may be rotated about the first axis C1by being pressed by the third link166and the third pin165.

Meanwhile, the first pin161and the first axis C1are spaced apart upward from a reference surface including the driving roller shaft122and the driven roller shaft132. The third pin165and the third axis C3are spaced apart downward from the reference surface.

The second link164is in the form of a rod-shaped member extending in the leftward/rightward direction. A right end of the second link164is coupled to the first link162by means of the second pin163and configured to be relatively rotatable about a second axis C2.

The left end of the second link164is coupled to the driven roller shaft132so as to be rotatable relative to the driven roller shaft132. In this case, the second pin163and the second axis C2are positioned between the first pin161and the third pin165.

The cylindrical button member168is provided at a right end of the third link166. The button member168is slidably coupled to the sidewall of the first housing111, and one end of the button member168protrudes to the outside of the first housing111.

The elastic member169is disposed at a left end of the third link166. In this case, the elastic member may be configured as a coil spring. One side of the elastic member169is coupled to the left end of the third link166, and the other side of the elastic member169is supported on the inner wall of the first housing111.

In this case, an elastic member groove119is formed in the inner wall of the first housing111, and the other side of the elastic member169may be installed in the elastic member groove119. The elastic member groove119is formed to have a depth in the horizontal direction. Therefore, the force applied by the elastic member169to elastically press the third link166may be applied in the horizontal direction by the elastic member groove119.

Referring toFIG.14, as the button member168is pressed toward the inside of the first housing111, the third link166is moved to the left side. As the third link166moves to the left side, the lower end of the first link162moves to the left side, and the first link162rotates clockwise about the first pin161.

As the first link162rotates clockwise, the first link162pushes, to the left side, the second link164and the driven roller shaft132and the driven roller131connected to the second link164.

Therefore, the driven roller131is positioned at the first position at which the driven roller131is in surface contact with the outer peripheral surface of the tubular member2and adjacent to the tubular member2and the driven roller131to a degree to which a frictional force is generated between the tubular member2and the driven roller131. That is, two opposite portions of the outer peripheral portion of the tubular member2may be supported and pressed by the driving roller121and the driven roller131. That is, the mode of the tubular member moving apparatus is switched to the automatic mode.

When the driving roller121, which receives driving power from the actuator140, rotates counterclockwise, the driven roller131rotates clockwise. Therefore, the tubular member2may move upward. When the driving roller121is rotated clockwise by the actuator140, the process reverse to the above-mentioned process is performed, such that the tubular member2may move downward.

Meanwhile, a catching structure configured to fix the position of the button member168may be provided on the inner wall of the first housing111so that the state in which the mode is switched from the manual mode to the automatic mode may be maintained.

Therefore, when the user presses the button member168once by a predetermined depth in the state in which the button member168protrudes to the outside of the first housing111in the manual mode, the mode of the tubular member moving apparatus is switched to the automatic mode, and the position of the button member168is fixed by the catching structure. Therefore, the user may maintain the state of the manual mode of the tubular member moving apparatus without consistently applying the external force to the button member168.

Referring toFIG.15, in a normal state in which the external force is not applied to the button member168any further, the third link166is moved to the right side by the elastic restoring force of the elastic member169. That is, the mode of the tubular member moving apparatus is switched from the automatic mode to the manual mode.

As the third link166moves to the right side, the lower end of the first link162moves to the right side, and the first link162rotates clockwise about the first pin161.

As the first link162rotates clockwise, the second link164and the driven roller shaft132and the driven roller131connected to the second link164move to the right side. That is, the driven roller131moves to the second position at which the driven roller131is farther from the driving roller121than at the first position.

Therefore, the outer peripheral portion of the tubular member2is not pressed and supported by the driven roller131any further, such that the tubular member2cannot move upward even though the driving roller121rotates. In this case, the user may insert or extract the tubular member2by applying a force directly to the tubular member2.

As described above, according to the tubular member moving apparatus101according to the second embodiment of the present disclosure, the button member and the roller operating unit160may allow the mode to be easily switched from the automatic mode in which the tubular member2may be automatically inserted or extracted to the manual mode in which the user may directly insert and extract the tubular member2or vice versa.

In addition, according to the tubular member moving apparatus101according to the second embodiment of the present disclosure, the roller operating unit160is configured as the simple link structure including the plurality of links and the plurality of pins. Therefore, it is possible to improve spatial efficiency, manufacture the tubular member moving apparatus101having a small size, and reducing manufacturing costs.

Meanwhile, the second pin163and the second axis C2is positioned to be more adjacent to the upper end of the first link162than the lower end of the first link162. Therefore, about the first axis C1, a rotation radius of the second pin163is smaller than a rotation radius of the third pin165. That is, when the first link162rotates about the first axis C1, a movement distance of the second pin163in the horizontal direction is shorter than a movement distance of the third pin165in the horizontal direction.

That is, when the user presses the button member168, a distance by which the button member168and the third link166move is shorter than a distance by which the driven roller131moves. Therefore, the user may finely adjust the movement distance of the driven roller131by using the button member168.

In addition, since the second pin163and the second axis C2are disposed to be more adjacent to the upper end of the first link162than the lower end of the first link162, the force applied by the first link162to push the second link164to the left side may further increase as the third link166pushes the first link162to the left side in consideration of the equilibrium between the moment of force and the forces applied to the first link162by the first to third pins51,53, and55.

Therefore, the second link164may apply higher force to press the driven roller shaft132and the driven roller131to the left side, and thus the driven roller131may apply higher force to press the tubular member2. Therefore, the frictional forces between the tubular member2and the rollers121and131may increase.

Meanwhile, referring back toFIGS.9and14, the manipulation unit180is provided at the left side of the second housing117. The manipulation unit180may serve to transmit a signal to the control unit170to enable the control unit170to perform the function of generating a command signal for operating the actuator140.

In this case, the manipulation unit180may be provided on a surface directed toward the outside based on the tubular member2passing through the first housing111. That is, the button member168is provided at the right side of the first housing111, and the manipulation unit180is positioned at the left side of the second housing117.

Since the button member168and the manipulation unit180are disposed to be directed toward the outside, the user may manipulate the button member168and the manipulation unit180without interference with the tubular member2. Therefore, the tubular member moving apparatus101according to the second embodiment of the present disclosure may improve convenience and efficiency related to the user's manipulation.

Hereinafter, a modified example of the tubular member moving apparatus according to the second embodiment of the present disclosure will be described. In this case, since the components in the present modified example, except for the button member, the elastic member, and the elastic member groove, may be identical to the components of the above-mentioned tubular member moving apparatus according to the second embodiment of the present disclosure, a detailed description thereof will be omitted.

FIG.16is a view illustrating a modified example of the tubular member moving apparatus according to the second embodiment of the present disclosure. In this case, a cross-section of the first housing is illustrated so that the interior of the first housing is visible. In this case, like reference numerals shown in the above-mentioned drawings indicate like members for performing like functions.

According to the present modified example, in the state in which no external force is applied to the tubular member moving apparatus, the elastic member presses the first link so that the driven roller moves toward the driving roller. To this end, predetermined deformation may be applied in advance to the elastic member.

Referring toFIG.16, in the present modified example, an elastic member169′ is provided as a compressive spring and positioned at a side opposite to the driven roller131based on the first link152(at the right side based onFIG.16). A button member168′ is positioned to face the elastic member169′ (at the left side based onFIG.16). In this case, the button member168′ is slidably coupled to the sidewall of the first housing111.

One side of the elastic member169′ is supported by the inner wall of the first housing111, and the other side of the elastic member169′ is connected to the third link166. In this case, the elastic member169′ is installed to be deformed in advance to some extent and configured to apply a predetermined elastic force to the outside so that the elastic member169′ is restored to an original shape.

Therefore, the elastic member169′ applies the elastic force in the leftward direction to the third link166so that the first link162rotates clockwise based onFIG.16. Therefore, in the state in which no external force is applied to the tubular member moving apparatus, the driven roller131elastically press the tubular member2toward the driving roller121.

As described above, according to the present modified example, the driven roller131may apply a predetermined force to press the tubular member2at normal times. Therefore, the tubular member2may move between the first driven roller131and the driving roller121regardless of a diameter of the tubular member2.

In this case, an elastic member groove119′ is formed in the inner wall of the first housing111, and the elastic member169′ is accommodated in the elastic member groove119′. The elastic member groove119′ is formed to have a depth in the horizontal direction. Therefore, the force applied by the elastic member169′ to elastically press the third link166may be applied in the horizontal direction by the elastic member groove119′.

Meanwhile, the user may switch the mode of the tubular member moving apparatus from the automatic mode to the manual mode by rotating the first link162clockwise by pressing the button member168′ toward the inside of the first housing111.

In this case, a catching structure configured to fix the position of the button member168′ may be provided on the inner wall of the first housing111so that the state in which the mode is switched from the automatic mode to the manual mode may be maintained.

Therefore, when the user presses the button member168′ once by a predetermined depth in the state in which the button member168′ protrudes to the outside of the first housing111in the automatic mode, the mode of the tubular member moving apparatus is switched to the manual mode, and the position of the button member168′ is fixed by the catching structure. Therefore, the user may maintain the state of the manual mode of the tubular member moving apparatus without consistently applying the external force to the button member168′.

Hereinafter, a tubular member moving apparatus according to a third embodiment of the present disclosure will be described. Because in the present embodiment, the second housing and the actuator, the power transmitting member, the control unit, and the manipulation unit provided in the second housing may be identical to those in the above-mentioned first or second embodiment of the present disclosure, a detailed description thereof will be omitted.

FIGS.17and18are views for explaining a tubular member moving apparatus according to a third embodiment of the present disclosure. In this case, inFIG.17, the driving roller unit and the driven roller unit projected through the first housing are indicated by dotted lines. InFIG.18, a cross-section of the first housing is illustrated so that the interior of the first housing is visible.

Referring toFIGS.17and18, a driven roller unit230of a tubular member moving apparatus201according to a third embodiment of the present disclosure includes first and second driven rollers231and236.

More specifically, the first driven roller231is disposed at one side of the tubular member2, and the second driven roller236is spaced apart from the first driven roller231in the longitudinal direction of the tubular member2. In this case, a driving roller221is disposed at the other side opposite to one side of the tubular member2and positioned between the first and second driven rollers231and236.

In this case, referring to an enlarged view ofFIG.17, guide holes216are formed in the horizontal direction in a sidewall of a first housing211. The sliding members235are provided in the guide holes216and configured to be slidable in the guide holes216.

Elastic members218are provided in the guide holes216and elastically press (or elastically support) the first driven rollers231toward the driving roller221. More specifically, one side of the elastic member218is supported by an inner wall of the guide hole216, and the other side of the elastic member218is coupled to the sliding member235. In this case, an elastic member installation portion217is provided on the inner wall of the guide hole216, and the elastic member218may be installed on the elastic member installation portion217.

A first driven roller shaft232is rotatably coupled to the sliding member235. To this end, a bearing member234is provided between the sliding member235and the first driven roller shaft232. The bearing member234may be configured as a ball bearing.

According to the present embodiment, the elastic member218may move the first driven roller231to the first position from the second position farther from the driving roller221than the first position until a reaction force, which acts against the elastic force of the elastic member218, becomes equal in magnitude to the elastic force. Thereafter, the elastic member218elastically press (or elastically support) the first driven roller231toward the driving roller221.

Therefore, according to the tubular member moving apparatus201according to the present embodiment, the first driven roller231may apply a predetermined force and press the tubular member2toward the driving roller221at normal times. In addition, the first driven roller231may stably press or support the tubular member2toward the driving roller221regardless of a diameter of the tubular member2.

In addition, since the first and second driven rollers231and236press two opposite portions of the tubular member2based on the longitudinal direction against the driving roller221, the tubular member2is bent while having a predetermined curvature along the outer peripheral surface of the driving roller221. That is, the most parts of the tubular member2adjoin the outer peripheral surface of the driving roller221.

As described above, according to the tubular member moving apparatus201according to the present embodiment, the contact area (or friction area) between the tubular member2and the driving roller221may increase, the tubular member2may more efficiently move.

Hereinafter, a modified example of the tubular member moving apparatus according to the third embodiment of the present disclosure will be described.

FIG.19is a view for explaining the modified example of the tubular member moving apparatus according to the third embodiment of the present disclosure. In this case, a cross-section of the first housing is illustrated so that the interior of the first housing is visible. In this case, like reference numerals shown in the above-mentioned drawings indicate like members for performing like functions.

Referring toFIG.19, the tubular member moving apparatus according to the present modified example further includes a roller operating unit260provided in the first housing211and configured to move the first and second driven rollers231and236to the first position from the second position farther from the driving roller221than the first position.

The roller operating unit260includes a body261slidably coupled to the sidewall of the first housing211. One side of the body261is positioned outside the first housing211, and the other side of the body261is positioned inside the first housing211.

In this case, a manipulation member262is provided at one side of the body261to implement convenience for the user's manipulation. A connection member263is provided at the other side of the body261and branches off from the body261in the longitudinal direction of the tubular member2.

The connection member263extends in the longitudinal direction of the tubular member2so that two opposite ends of the connection member263are positioned to correspond to the first and second driven rollers231and236, respectively. A pair of coupling members264aand264bis respectively formed at the two opposite ends of the connection member263and extends toward the first and second driven rollers231and236. The first and second driven rollers231and236are rotatably coupled to the coupling members264.

Therefore, according to the tubular member moving apparatus according to the present modified example, the user may manipulate the roller manipulation unit260and move the driven roller unit230to the first position from the second position farther from the driving roller221than the first position. Therefore, the user may switch the mode of the tubular member moving apparatus from the automatic mode to the manual mode or vice versa.

Referring to an enlarged view ofFIG.19, guide holes265aare provided in the coupling members264aand formed in the movement direction of the roller operating unit260(the horizontal direction based onFIG.19). A sliding member235′ is coupled inside the guide hole265aand configured to be slidable along the guide hole265a.

The first driven roller shaft232is rotatably coupled to the sliding member235′. To this end, a bearing member234′ is provided between the first driven roller shaft232and the sliding member235′. The bearing member234′ may be configured as a ball bearing.

Meanwhile, an elastic member268ais provided in the guide hole265aand elastically presses (or elastically supports) the first driven roller231toward the driving roller221. An elastic member installation portion266ais formed on an inner wall of the guide hole265a, and the elastic member268amay be installed on the elastic member installation portion266a.

According to the present modified example, the elastic member268may move the driven roller unit230to the first position from the second position farther from the driving roller221than the first position until a reaction force, which acts against the elastic force, becomes equal in magnitude to the elastic force. Thereafter, the elastic member268elastically presses (or elastically supports) the driven roller unit230against the driving roller221.

Therefore, according to the tubular member moving apparatus according to the present modified example, the driven roller unit230may apply a predetermined force to press the tubular member2toward the driving roller221at normal times and stably press and support the tubular member2toward the driving roller221regardless of a diameter of the tubular member2.

In addition, since the first and second driven rollers231and236press two opposite portions of the tubular member2based on the longitudinal direction against the driving roller221, the tubular member2is bent while having a predetermined curvature along the outer peripheral surface of the driving roller221. That is, the most parts of the tubular member2adjoin the outer peripheral surface of the driving roller221.

Therefore, according to the tubular member moving apparatus according to the present modified example, the contact area between the tubular member2and the driving roller221may increase, such that the tubular member2may more efficiently move.

In addition, according to the present modified example, even though an interval between the driven roller unit230and the driving roller221becomes excessively small as the roller operating unit260is pressed toward the interior of the first housing211, the first and second driven rollers231and236are somewhat spaced apart from the driving roller221by the reaction force applied to the driven roller unit230by the tubular member2, such that the interval between the driven roller unit230and the driving roller221may be adjusted somewhat.

Therefore, the tubular member moving apparatus according to the present modified example may prevent the tubular member2from being excessively pressed and damaged by the roller operating unit260.

While embodiments of the present disclosure have been described above, the spirit of the present disclosure is not limited to the exemplary embodiments presented in the present specification, those skilled in the art, who understand the spirit of the present disclosure, may easily propose other embodiments by adding, changing, deleting constituent elements within the same spirit and scope of the present disclosure, and it can be said that the embodiments are also within the spirit and scope of the present disclosure.

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