KR20140095340A - Travelling device with function of adjusting center of mass - Google Patents

Travelling device with function of adjusting center of mass Download PDF

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Publication number
KR20140095340A
KR20140095340A KR1020130008208A KR20130008208A KR20140095340A KR 20140095340 A KR20140095340 A KR 20140095340A KR 1020130008208 A KR1020130008208 A KR 1020130008208A KR 20130008208 A KR20130008208 A KR 20130008208A KR 20140095340 A KR20140095340 A KR 20140095340A
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KR
South Korea
Prior art keywords
center
gravity
pressure sensors
moving
mobile device
Prior art date
Application number
KR1020130008208A
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Korean (ko)
Inventor
권선종
Original Assignee
삼성테크윈 주식회사
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Application filed by 삼성테크윈 주식회사 filed Critical 삼성테크윈 주식회사
Priority to KR1020130008208A priority Critical patent/KR20140095340A/en
Publication of KR20140095340A publication Critical patent/KR20140095340A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The moving device having the center-of-gravity adjusting function includes a traveling portion, a plurality of pressure sensors disposed on the upper surface of the traveling portion, a pressing portion that presses the pressure sensors and couples to the upper surface of the traveling portion to flow by the movement of the traveling portion, And a control unit for controlling the center-of-gravity adjusting unit based on the signals of the pressure sensors, which are electrically connected to the pressure sensors and the center-of-gravity adjusting unit.

Description

[0001] The present invention relates to a moving device having a center-of-gravity adjustment function,

Embodiments relate to a mobile device having a center-of-gravity adjustment function, and more particularly, to a mobile device that realizes stable movement by real-time measuring a change in the center of gravity of the mobile device in real time, will be.

A moving device such as an industrial indoor mobile robot or an indoor mobile robot for service may change its center of gravity due to the influence of rotation due to rotation acting on the curve, and when it goes up or down along the sloped surface, .

When the moving speed of the moving device is rapidly increased or decreased, or when the center of gravity of the moving device is suddenly changed due to the movement of the curved line or the movement of the slanted surface, an accident that the moving device overturns may occur. Therefore, Be able to respond to changes in the center.

Korean Patent Laid-Open Publication No. 2002-0067474 discloses a technique for controlling the posture of an electric seat of an automobile. However, in this conventional technique, a method of predicting the motion form of the vehicle based on the measured value using the sensing means such as the steering angle sensor, the vehicle speed sensor, the lateral acceleration sensor, and the feedback control is used. There is a disadvantage in that it can not respond quickly and precisely to a real-time change of the center of gravity.

Korean Laid-open Patent Publication No. 2012-0067474 (June 26, 2012)

It is an object of embodiments to provide a mobile device having stable driving performance by adjusting the center of gravity in real time.

Another object of the embodiments is to provide a mobile device capable of adjusting the center of gravity by sensing a change in the center of gravity in real time using a plurality of pressure sensors.

A moving device having a center-of-gravity adjusting function according to an embodiment of the present invention includes a moving part movable with respect to the ground, a plurality of moving parts disposed on the upper surface of the moving part in the circumferential direction, A pressure unit which has pressure sensors for pressurizing the pressure sensors and which is connected to the upper surface of the traveling unit so as to flow by the motion of the traveling unit, And a control unit electrically connected to the pressure sensors and the center-of-gravity adjusting unit and controlling the center-of-gravity adjusting unit based on the signals of the pressure sensors.

The center-of-gravity adjusting section may include a rotation plate rotatably disposed in the travel section, a rotation drive section for rotating the rotation plate, a movement weight movably disposed in the rotation plate, and a movement drive section for generating a drive force for moving the movement weight have.

The center-of-gravity adjusting portion may include a plurality of projecting pins projected from the upper surface of the traveling portion, and a projecting driver for driving the projecting pins.

In the mobile device having the center-of-gravity adjusting function according to the above-described embodiments, by using the output signals of the plurality of pressure sensors, the mobile device senses the change of the center of gravity in real time, The change of the center of gravity of the mobile device can be compensated in real time.

It is possible to stably move the mobile device in response to an acceleration motion, a deceleration motion, a rotational motion, or a change in the center of gravity during a movement of raising or lowering the slope during the movement of the mobile device, The speed of the mobile device may be reduced, the mobile device may be stopped, or a warning may be issued, so that rollover accidents can be prevented, and stability is improved.

1 is a perspective view of a mobile device having a center-of-gravity adjusting function according to an embodiment.
Fig. 2 is an exploded perspective view schematically showing the coupling relationship of the components of the mobile device of Fig. 1;
3 is a perspective view showing an operating state of the mobile device of FIG.
Fig. 4 is a side sectional view schematically showing the operating state of the mobile device of Fig. 1; Fig.
5 is a plan sectional view of a mobile device according to another embodiment.
Fig. 6 is a perspective view schematically showing an operating state in which the mobile device of Fig. 5 is rotated. Fig.
Figure 7 is a perspective view schematically illustrating another operating state in which the mobile device of Figure 5 is rotated.
Fig. 8 is a perspective view schematically showing an operating state in which the moving device of Fig. 5 ascends an inclined plane; Fig.
Fig. 9 is a perspective view schematically showing an operating state in which the moving device of Fig. 5 descends the slope; Fig.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a configuration and operation of a mobile device having a center-of-gravity adjusting function according to embodiments will be described in detail with reference to the accompanying drawings. The expression " and / or " used in the description refers to one of the elements or a combination of elements.

FIG. 1 is a perspective view of a mobile device having a center-of-gravity adjusting function according to an embodiment of the present invention, and FIG. 2 is an exploded perspective view schematically showing a coupling relationship of components of the mobile device of FIG.

1 and 2, the moving device having the center-of-gravity adjusting function according to the embodiment includes a traveling section 10, a plurality of pressure sensors 11a to 11h provided in the traveling section 10, A center of gravity adjusting section 30 for operating the center of gravity by an electric signal and a center of gravity adjusting section 30 for adjusting the center of gravity of the moving section 10, And a control unit (70) for controlling the control unit.

The running section 10 includes a main body 17 and two wheels 15 rotatably coupled to both sides of the main body 17. [ The running section 10 can move with respect to the ground as the wheel 15 rotates. The embodiment is not limited by the structure and formation of the main body 17 of the running section 10 and the position and number of the wheels 15. [ For example, the number of wheels 15 can be changed to various numbers such as three or four.

A control unit 70 is disposed in the main body 17 of the traveling unit 10 and a traveling motor 18 for driving the wheels 15 is provided. The control unit 70 controls the gravity center adjusting unit 30 based on signals from the pressure sensors 11a to 11h and is electrically connected to the pressure sensors 11a to 11h and the gravity center adjusting unit 30 do.

A plurality of pressure sensors 11a to 11h are disposed on the upper surface 19 of the traveling unit 10 so as to be spaced apart from each other in the circumferential direction. The pressure sensors 11a to 11h function to generate an electric signal by a pressure externally applied and can be implemented as a sensor (QCM sensor) using, for example, a quartz crystal microbalance (QCM) principle have.

The QCM sensor has a structure using a piezo-electric device that vibrates with shear waves sensitive to changes in a small stress. A piezoelectric body vibrating in the transverse direction at a resonant frequency varies in accordance with the stress acting on the resonance frequency of the piezoelectric body because the transverse vibration changes according to the stress externally applied. The change in resonant frequency increases in proportion to the theoretically acting stress.

The pressure sensors 11a to 11h implemented using the QCM sensor operating on the same principle as described above generate a signal that changes according to the pressure to be pressurized. Therefore, by using the signals of the pressure sensors 11a to 11h, the change of the center of gravity due to the movement of the mobile device can be measured in real time.

The pushing portion 20 is engaged with the upper surface 19 of the traveling portion 10. The pressing portion 20 has a plurality of pressing surfaces 21 protruding in the circumferential direction at positions corresponding to the pressure sensors 11a to 11h so as to press the pressure sensors 11a to 11h.

A supporting groove 16 is provided on the upper surface 19 of the traveling portion 10 and a supporting shaft 26 protruding from the lower surface of the pressing portion 20 is inserted into the supporting groove 16, To the driving portion (10).

FIG. 3 is a perspective view showing an operating state of the mobile device of FIG. 1, and FIG. 4 is a side sectional view schematically showing an operating state of the mobile device of FIG.

A change in the center of gravity of the moving device may occur while the moving part 10 moves relative to the ground. Since the pressing part 20 is coupled to the moving part 10 so as to be able to move with respect to the moving part 10, The pressing portion 20 can flow in a range of a predetermined angle? Relative to the running portion 10 by the change of the center of gravity of the apparatus.

3 shows a state in which the pressing portion 20 is tilted in one direction with respect to the running portion 10 due to a rotational force acting on the moving device as the moving device performs rotational motion. The pressing portion 20 can flow so as to incline in one direction with respect to the running portion 10 in the entire range of 360 degrees.

The support shaft 26 of the pressing portion 20 is provided with a plurality of rotations (not shown) spaced along the outer circumferential surface of the support shaft 26 for the flow motion of the push portion 20 with respect to the running portion 10, And a sphere 26a is provided. The rotary tool 26a may be rotatably coupled to the support shaft 26, for example.

A groove 16a for receiving the rotation hole 26a is formed on the inner wall surface of the support groove 16 of the upper surface 19 of the travel portion 10. [ The diameter of the support groove 16 is formed to be larger than the diameter of the support shaft 26 so that the support groove 16 allows the support shaft 16 to move in the support groove 16 while allowing the support shaft 26 to flow in the support groove 16 Can support.

The center-of-gravity adjusting unit 30 includes a plurality of projecting pins 31 protruded from the upper surface 19 of the traveling unit 10 and a projecting driver 32 for driving the projecting pins 31. The height at which the projecting pin 31 protrudes from the upper surface 19 of the traveling portion 10 can be adjusted by applying an electric signal to the projecting driving portion 32. The protrusion pin 31 and the protrusion driving unit 32 may be implemented using, for example, a solenoid, an electric motor, and a gear assembly.

The center-of-gravity adjusting unit 30 can perform the function of adjusting the center of gravity of the entire moving apparatus by inclining the pressing unit 20 with respect to the moving unit 10. [

4, for example, when the pressing portion 20 is inclined to the left in FIG. 4 with respect to the running portion 10 and is in the attitude 20 'shown by a dotted line, the pressure sensors 11a- 11h are pressed by the pressing surface 21 with the strongest force. Therefore, the signal from the left pressure sensor 11a will be the largest, and the signal from the right pressure sensor 11e will be smaller.

Since the center of gravity of the mobile device is tilted to the left in FIG. 4, the control unit 70 shown in FIG. 1 controls the center-of-gravity adjusting unit 30 so that the left-side projecting pin 31 of FIG. To the posture of the pressing portion 20 shown by the solid line in Fig. 4, so that the center of gravity of the moving device can be balanced. In this way, the operation of adjusting the center of gravity can be called the operation of compensating for the change of the center of gravity.

2, when the posture of the pressing portion 20 is changed, the height of each of the projecting pins 31 is set in consideration of the direction in which the pressing portion 20 is desired to be tilted, Can be appropriately adjusted.

5 is a plan sectional view of a mobile device according to another embodiment.

In the mobile device according to the embodiment shown in Fig. 5, the configuration of the center-of-gravity adjusting section 130 provided in the traveling section 10 has been modified from the above-described embodiment.

The center-of-gravity adjusting unit 130 installed in the travel unit 10 includes a rotation plate 131 rotatably arranged in the travel unit 117, a rotation drive unit 132 for rotating the rotation plate 131, A moving weight 135 which is movably arranged in the inner space 131 and a movement driving unit 133 which generates a driving force for moving the moving weight 135.

The rotation plate 131 has a gear surface 131a continuously arranged along the circumferential direction. The rotation plate 131 can be rotated by the rotation driving unit 132 engaged with the gear surface 131a. The rotation driving unit 132 can be rotated by a driving means such as a motor, for example.

The rotary plate 131 is provided with a linear groove 137 for guiding the movement of the moving weight 135. The moving weight 135 can move along the linear groove 137 in the inside of the rotating plate 131. The movement driving unit 133 can rotate the driving screw 134 disposed at the center of the linear groove 137 along the extending direction of the linear groove 137. The moving weight 135 has a gear surface 135a engaging with the driving screw 134. [ Therefore, the moving weight 135 can be moved along the linear groove 137 as the moving driving part 133 is operated to rotate the driving screw 134.

Fig. 6 is a perspective view schematically showing an operating state in which the mobile device of Fig. 5 is rotated. Fig.

The mobile device includes a traveling portion 110 which is movable with respect to the ground by a wheel 115 and a pressing portion 120 which is movably coupled to the traveling portion 110. [ The detailed configuration of the traveling unit 110 and the pressing unit 120 is the same as the configuration of the mobile device of the embodiment shown in Figs. 1 to 4, and thus a detailed description thereof will be omitted.

As shown in Fig. 6, when the mobile device rotates toward the left in Fig. 6, there is an effect that the entire center of gravity of the mobile device moves to the right due to the influence of the rotational force of the mobile device in the right direction. In order to compensate for the center-of-gravity movement effect, the center-of-gravity adjusting unit 130 of FIG. 5 operates to allow the moving weight 135 to move by a distance of X1 from the center of the travel unit 110 to the left. By moving the moving weight 135, the center of gravity of the moving apparatus is adjusted to the left, thereby compensating for the center of gravity.

Figure 7 is a perspective view schematically illustrating another operating state in which the mobile device of Figure 5 is rotated.

As shown in FIG. 7, when the mobile device rotates in the right direction in FIG. 7, the effect of the movement of the mobile device in the left direction affects the movement of the entire center of gravity of the mobile device to the left. In this case, the moving weight 135 can be moved by a distance of X2 in the right direction in FIG. 7 in order to compensate for the change in the center of gravity.

Fig. 8 is a perspective view schematically showing an operating state in which the moving device of Fig. 5 ascends an inclined plane; Fig.

As shown in FIG. 8, when the mobile device moves up the slope, the center of gravity of the mobile device can move in a direction opposite to the direction (arrow direction) in which the mobile device moves due to the action of the mobile device in the inclined direction. In this case, the moving weight 135 can be moved to the left direction (the moving direction of the moving apparatus) by the distance Y1 in FIG. 8, so that the center of gravity of the moving apparatus can be adjusted to the left direction again.

Fig. 9 is a perspective view schematically showing an operating state in which the moving device of Fig. 5 descends the slope; Fig.

9, when the mobile device moves down the slope, the center of gravity of the mobile device can move in the direction (arrow direction) in which the mobile device moves due to the action of the mobile device in the direction in which the slope is inclined. In this case, the moving weight 135 can be adjusted to the left direction by shifting the center of gravity of the moving apparatus by the distance of Y2 in the rightward direction (the direction opposite to the moving direction of the moving apparatus) in Fig.

During the adjustment of the center of gravity of the mobile device described with reference to FIGS. 6 to 9, the linear groove 137 of the rotation plate 131 of the center-of-gravity adjusting part 130 shown in FIG. 5 moves the moving weight 135 The operation of rotating the rotary plate 131 so as to face the desired direction can be performed at the same time.

Before the adjustment of the center of gravity of the mobile device described with reference to Figs. 6 to 9, as in the embodiment shown in Figs. 1 to 4, the pushing portion 120 is moved with respect to the moving portion 110, Since the output signal of the pressure sensors is changed by inclining the output unit 120 with respect to the traveling unit 110, it is possible to detect in real time the change of the entire center of gravity of the mobile device from the change of the output signal of the pressure sensors.

The moving device having the center-of-gravity adjusting function having the above-described structure uses the output signals of a plurality of pressure sensors that change due to the flow motion of the pressing portion coupled to the traveling portion, Can be detected in real time. Also, based on the signals of the pressure sensors, the center-of-gravity adjuster can compensate for changes in the center of gravity in real time.

Therefore, it is possible to cope with a change in the center of gravity during the acceleration movement, the deceleration movement, the rotation movement, and the inclination of the movement of the mobile device in real time, thereby enabling stable travel of the mobile device. In addition, when the change of the center of gravity exceeds the controllable range from the output signal of the pressure sensors, the speed of the mobile device may be reduced, the mobile device may be stopped, or a warning may be issued.

The construction and effect of the above-described embodiments are merely illustrative, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible. Accordingly, the true scope of protection of the invention should be determined by the appended claims.

10, 117: running part 31: projecting pin
15: wheel 32:
16a: groove 70:
16: support groove 110:
17: main body 115: wheel
18: running motor 131a: gear face
19: upper surface 131:
20, 120: pressing portion 132: rotation driving portion
21: pressing surface 133:
11a to 11h: pressure sensor 134: driving screw
26: Support shaft 135a: Gear face
26a: rotation hole 135: moving weight
30, 130: center of gravity adjuster 137: straight groove

Claims (3)

A traveling section movable relative to the ground;
A plurality of pressure sensors spaced apart from each other in a circumferential direction on an upper surface of the travel portion, the plurality of pressure sensors generating a signal varying with a pressure to be pushed;
A pressing portion having a pressing surface for pressing the pressure sensors, the pressing portion being coupled to the upper surface of the running portion to flow by the movement of the running portion;
A center of gravity adjusting unit for adjusting the center of gravity by operating with an electric signal applied thereto; And
And a control unit electrically connected to the pressure sensors and the center-of-gravity adjusting unit and controlling the gravity center adjusting unit based on a signal of the pressure sensors. The method according to claim 1,
The center of gravity adjusting portion includes a rotating plate rotatably disposed in the traveling portion, a rotation driving portion rotating the rotating plate, a moving weight movably disposed in the rotating plate, and a moving portion for generating a driving force for moving the moving weight And a driving unit. The method according to claim 1,
Wherein the center-of-gravity adjusting portion includes a plurality of projecting pins projected from the upper surface of the traveling portion, and a projecting driver for driving the projecting pins.
KR1020130008208A 2013-01-24 2013-01-24 Travelling device with function of adjusting center of mass KR20140095340A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10093364B2 (en) 2015-08-21 2018-10-09 Hyundai Motor Company Balancing apparatus of vehicle and control method thereof
CN109571547A (en) * 2018-11-26 2019-04-05 墨宝股份有限公司 A kind of overturning-preventing intelligent robot
CN112757314A (en) * 2020-12-28 2021-05-07 河南大学 Deep layer mine hole surveys two rounds of robots based on 5G communication technology
CN114030002A (en) * 2021-12-10 2022-02-11 国网福建省电力有限公司宁德供电公司 Dynamic gravity center adjusting mechanism of GIS inspection robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10093364B2 (en) 2015-08-21 2018-10-09 Hyundai Motor Company Balancing apparatus of vehicle and control method thereof
CN109571547A (en) * 2018-11-26 2019-04-05 墨宝股份有限公司 A kind of overturning-preventing intelligent robot
CN112757314A (en) * 2020-12-28 2021-05-07 河南大学 Deep layer mine hole surveys two rounds of robots based on 5G communication technology
CN114030002A (en) * 2021-12-10 2022-02-11 国网福建省电力有限公司宁德供电公司 Dynamic gravity center adjusting mechanism of GIS inspection robot
CN114030002B (en) * 2021-12-10 2023-09-22 国网福建省电力有限公司宁德供电公司 Dynamic gravity center adjusting mechanism of GIS inspection robot

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