Apparatus for moving a member
Disclosed is a moving device. A moving device for moving a tubular member according to an aspect of the present disclosure may include a housing through which the tubular member passes, a first roller and a second roller arranged to face both sides of the tubular member inside the housing and having outer circumferential surfaces that presses the tubular member, an actuator that provides a driving force for rotating the first roller, a sensor that measures a movement amount of the tubular member, and a controller that controls the actuator on the basis of the movement amount of the tubular member, wherein, when the first roller rotates, the tubular member between the first roller and the second roller moves by a frictional force.
1 . A moving device for moving a tubular member, the moving device comprising:
a housing having a hole through which the tubular member passes;
a first roller and a second roller arranged to face both sides of the tubular member inside the housing and having outer circumferential surfaces configured to press the tubular member;
an actuator configured to provide a driving force for rotating the first roller;
a sensor configured to measure a movement amount of the tubular member;
a controller configured to control the actuator on the basis of the movement amount of the tubular member; and
a roller operation unit comprising:
an operation member movably coupled to the housing and having one side coupled to a rotary shaft of the second roller, and
a driving member configured to move the operation member, wherein the operation member is moved by the driving member to cause the second roller to move between a first position adjacent to the first roller and a second position farther from the first roller than the first position; and
a shutter member positioned adjacent to the hole and coupled to the operation member, the shutter member being configured to open or close at least a portion of the hole,
wherein, when the first roller rotates at the first position of the second roller, the tubular member between the first roller and the second roller moves by a frictional force.
2 . The moving device of claim 1 , wherein the sensor includes a first sensor configured to detect a position of the first roller, and
the controller is configured to measure the movement amount of the tubular member using the position of the first roller.
3 . The moving device of claim 2 , wherein the actuator includes a motor,
the first sensor is a first encoder provided in a rotary shaft of the motor, and
the controller is configured to measure the movement amount of the tubular member using a position of the rotary shaft, which is detected by the first encoder.
4 . The moving device of claim 1 , wherein the sensor includes a second sensor configured to detect a position of the second roller, and
the controller is configured to measure the movement amount of the tubular member using the position of the second roller.
5 . The moving device of claim 4 , wherein a magnetic body rotating together with the second roller is provided on one side of the second roller,
the sensor includes a second encoder positioned adjacent to the magnetic body to detect a position of the magnetic body, and
the controller is configured to measure the movement amount of the tubular member using the position of the magnetic body.
6 . The moving device of claim 1 , wherein the sensor includes:
a first sensor configured to detect a position of the first roller; and
a second sensor configured to detect a position of the second roller,
the controller controls the actuator on the basis of a first movement amount of the tubular member, which is measured using the position of the first roller, and a second movement amount of the tubular member, which is measured using the position of the second roller.
7 . The moving device of claim 1 , wherein the housing includes:
a first housing in which the first roller and the second roller are embedded; and
a second housing in which the actuator is embedded, and
the first housing and the second housing are detachably coupled to each other.
8 . The moving device of claim 7 , wherein the controller and the sensor are provided in the second housing.
9 . The moving device of claim 1 , wherein the first roller is provided as a plurality of first rollers, and
the plurality of first rollers are arranged in a longitudinal direction of the tubular member.
10 . The moving device of claim 9 , wherein the plurality of first rollers include a first upper roller and a first lower roller,
a belt having an outer portion in contact with an outer circumference of the tubular member is provided on the outer circumferential surface of the first upper roller and the first lower roller, and
when the first roller rotates, the tubular member between the belt and the second roller is moved by the frictional force.
11 . The moving device of claim 1 , wherein the driving member includes a button member that is pressed into the housing, and
as the button member is pressed, the operation member moves.
12 . The moving device of claim 1 , wherein the housing is provided with a guide member configured to guide movement of the tubular member.
13 . The moving device of claim 1 , wherein the shutter member has one side coupled to the operation member to be movable integrally with the operation member,
the shutter member opens the hole of the housing in a state in which the operation member moves the second roller to the first position, and
the shutter member closes the at least a portion of the hole of the housing in a state in which the operation member moves the second roller to the second position.
14 . The moving device of claim 1 , wherein a first gear configured to receive the driving force from the actuator to rotate integrally with the first roller is provided on one side of the first roller, and
a second gear that rotates integrally with the second roller and is engaged with the first gear is provided on one side of the second roller.
15 . The moving device of claim 1 , further comprising:
a power transmission member configured to transmit the driving force provided from the actuator to the second roller,
wherein the power transmission member includes at least two gear members.
16 . The moving device of claim 1 , wherein grooves corresponding to an outer circumference of the tubular member are formed in the outer circumferential surfaces of the first roller and the second roller.
17 . The moving device of claim 1 , wherein the second roller is provided as a plurality of second rollers, and
the plurality of second rollers are arranged in a longitudinal direction of the tubular member.