Efficient gravity control device installed within building

Abstract

The present invention relates to an efficient gravity control device which is installed using a vertical space in a building as a falling space, and which is used for achieving a zero-gravity, microgravity, low-gravity or pseudo-gravity state of an internal module mounted in a moving external module. An effective gravity control device according to an embodiment of the present invention comprises: a dual module including an external module and an internal module; an actuator provided in a space in an upper side of the falling space for controlling and monitoring a change in gravity applied to the dual module, and moving the external module according to a control signal so that the external module has the at least one physical quantity; and the sliding frame is arranged in the lower side space of the falling space and provides a path for the dual module to move in and out of the falling space.

Description

Technical Field

[0001] The present invention relates to an effective gravity control device installed in a building, and more particularly, to a gravity control device installed by using a vertical space in a building as a falling space. Background Art

[0002] Generally speaking, zero gravity or microgravity is a state in which the earth's gravity is offset and the effective gravity is close to zero. It refers to the weightless state such as in satellites or spacecraft orbiting the earth, or inside a free-fall elevator.

[0003] One way to create a near-weightless state on Earth is to make an object do free fall. However, since objects on Earth are subject to external forces such as air resistance in addition to gravity when they fall, it is difficult to ensure that the effective gravity acting on the object is close to zero.

[0004] At present, some experimental devices that can understand and experience the phenomenon of gravity changes have been proposed, but most of them are complex and expensive equipment, making it difficult for people to easily understand gravity changes, weightlessness or microgravity and conduct related experiments. Summary of the invention

[0005] Technical issues to be solved

[0006] The effective gravity control device of the present invention aims to provide a device and system that can utilize the space in a building to cause gravity changes such as zero gravity, microgravity or pseudo gravity.

[0007] In addition, the effective gravity control device of the present invention is intended to provide a structure that utilizes the vertical space in a building and does not interfere with the operation of the elevator when the vertical space is used as the elevator moving space.

[0008] The effective gravity control device of the present invention aims to provide a dual-module device and a control method thereof that can cause effective gravity changes such as zero gravity, microgravity, low gravity or pseudo gravity.

[0009] In addition, the effective gravity control device of the present invention aims to provide a device and a control method, which is a dual-module form consisting of an external module and an internal module, so that the internal module located in the external module can stably maintain the gravity change state without being affected by external forces such as air resistance.

[0010] In addition, the effective gravity control device of the present invention is intended to provide a specific control method for effectively controlling the movement of the dual modules based on data obtained from different sensor parts.

[0011] Technical methods to solve problems

[0012] An effective gravity control device of an embodiment of the present invention for solving the above-mentioned problem realizes a zero gravity, microgravity, low gravity or pseudo gravity state of an internal module carried in a moving external module in a falling space formed by a space parallel to the vertical space in a building or a space formed by a common vertical space, and comprises: a dual module, wherein the dual module comprises: an external module, a movement space of the internal module is formed inside the external module, and at least one physical quantity related to the movement of the external module is controlled; and an internal module, which moves independently of the external module in the movement space by an external force transmitted by the external module; an actuator, which is arranged in a space on the upper side of the falling space to control and monitor the gravity change applied to the dual module, and moves the external module according to a control signal so that the external module has the at least one physical quantity; and a sliding frame, which is arranged in the lower space of the falling space to provide a path for the dual module to move in and out of the falling space.

[0013] In addition, the effective gravity control device of an embodiment of the present invention further includes: a shock absorbing body installed at the bottom of the falling space, which is used to absorb the impact applied to the building by the double modules.

[0014] In addition, the effective gravity control device of an embodiment of the present invention also includes: a position sensor, which is used to detect the position of the internal module in the motion space; and a control unit, which generates the control signal for controlling at least one physical quantity related to the movement of the external module based on the position of the internal module detected by the position sensor.

[0015] Effects of the Invention

[0016] The effective gravity control device including dual modules and the control method thereof of the present invention can utilize the space in a building to cause gravity changes such as zero gravity, microgravity or pseudo gravity. Specifically, the control unit for controlling and monitoring gravity changes, the module unit for transporting objects and applying the changed gravity to the objects, and the experimental unit for conducting experiments on the objects transported to the module unit are integrally installed in the building, and an integrated control device and system can be provided.

[0017] In addition, the effective gravity control device and control method of the present invention, which include dual modules, provide a structure that utilizes the vertical space within a building and does not interfere with the operation of the elevator when the vertical space is used as the elevator movement space. Therefore, the gravity control device and system of the present invention can be applied even in buildings that have been put into use.

[0018] The effective gravity control device and control method comprising dual modules of the present invention can control the relative position of the internal module by controlling the movement of the external module even in an environment where the external module is decelerated due to air resistance, thereby stably maintaining the weightlessness or low gravity state of the internal module accommodated in the external module for as long as possible.

[0019] In addition, according to the effective gravity control device of the present invention, the inner module containing the object is doubly protected by the outer module, and the double module structure can block the air resistance around the module or various external noises transmitted by the rope, realizing a more stable gravity change experiment.

[0020] In addition, according to the gravity variation device of the present invention, the stability of the experiment in the invisible area is greatly improved by different sensor devices, and the experimental accuracy and precision of the device of the present invention can be greatly improved by applying a feedback control method based on sensor data. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The overall structure of the effective gravity control device of the present invention is shown.

[0022] Figure 2 A schematic block diagram of an effective gravity control device of the present invention is shown.

[0023] Figure 3 The double module structure included in the effective gravity control device of the present invention is shown.

[0024] Figure 4 Another embodiment of a dual module of the active gravity control device of the present invention is shown.

[0025] Figure 5 Figure shows the internal module structure in a dual module.

[0026] Figure 6 A cross section of a dual module of the active gravity control device of the present invention is shown.

[0027] Figure 7 A graph showing the change in relative speed of the inner module and the outer module over time when the effective gravity control device of the present invention achieves zero gravity or microgravity.

[0028] Figure 8 A graph showing the change in relative speed of the inner module and the outer module over time when the effective gravity control device of the present invention achieves zero gravity or microgravity.

[0029] Fig. 9 The figure shows the motion states of the internal module and the external module observed from the outside when the effective gravity control device of the present invention realizes zero gravity or microgravity.

[0030] Fig.10 A graph showing the relative speed of the inner module and the outer module as a function of time when the effective gravity control device of the present invention achieves low gravity is shown.

[0031] Fig.11 A schematic diagram showing a first embodiment of the effective gravity control device of the present invention installed in a building.

[0032] Fig.12 2 is a diagram showing that the effective gravity control device according to the first embodiment is installed in the control unit.

[0033] Fig.13 2 is a diagram showing that the effective gravity control device according to the first embodiment is installed in the experimental part and the shock absorbing part.

[0034] Fig.14 A schematic diagram showing a second embodiment of the active gravity control device of the present invention installed in a building.

[0035] Fig.15 2 is a diagram showing that the effective gravity control device according to the first embodiment is installed in the control unit.

[0036] Fig.16 2 is a diagram showing that the effective gravity control device according to the first embodiment is installed in the experimental part and the shock absorbing part.

[0037] Fig.17 A schematic diagram showing a third embodiment of the active gravity control device of the present invention installed in a building.

[0038] Fig.18 2 is a diagram showing that an effective gravity control device according to a third embodiment is installed in a control unit.

[0039] Fig.19 2 is a diagram showing that an effective gravity control device according to a third embodiment is installed in a test section and a shock absorbing section.

[0040] Fig. 20 A drawing showing the motor of the active gravity control device of the present invention.

[0041] Fig.21 The pulley in the active gravity control device of the present invention is shown.

[0042] Fig. 22 The slide frame in the effective gravity control device of the present invention is shown. DETAILED DESCRIPTION

[0043] Below, the embodiments will be described in detail with reference to the accompanying drawings to clarify the advantages and features of the present invention and the implementation methods thereof. The present invention can have multiple implementations and is not limited to the embodiments disclosed below. The embodiments of the present invention are only used to ensure the complete disclosure of the present invention and fully inform those skilled in the art of the scope of the present invention. The scope of the present invention is limited only by the claims.

[0044] The terms "first" or "second" may be used to describe different components, but each component is not limited to the above terms. These terms are only used to distinguish one component from other components. For example, within the technical concept of the present invention, the first component may also be named as the second component.

[0045] In the following embodiments, terms such as “including” or “having” are used to express the existence of features or constituent elements recorded in the specification, and do not exclude the possibility of the existence or additional addition of one or more other features or constituent elements.

[0046] For the convenience of explanation, the size of the components in the drawings is appropriately enlarged or reduced. For example, for the convenience of explanation, the size and shape of each component shown in the drawings are arbitrarily shown, and therefore the present invention is not limited to the illustrated content.

[0047] Throughout the specification, the same reference numerals denote the same constituent elements.

[0048] The different features of the various embodiments of the present invention may be combined or coupled in part or in whole, and as those skilled in the art will fully appreciate, different technologies may be interconnected or driven, and may be independent of or associated with each other when implementing the various embodiments.

[0049] The effective gravity control device 1000 and the control method thereof of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] Figure 1 The overall structure of the effective gravity control device 1000 of the present invention is shown. Figure 2 A schematic block diagram of an effective gravity control device 1000 of the present invention is shown.

[0051] Reference Figure 1 The effective gravity control device 1000 of the present invention is a device that realizes gravity change by using the dual module 100. Specifically, the effective gravity control device 1000 of the present invention is a device that realizes zero gravity, microgravity, low gravity or pseudo gravity state of the internal module 120 carried in the moving external module 110. In the following, "gravity change" means to cover the meaning of zero gravity, microgravity, low gravity or pseudo gravity state.

[0052] The effective gravity control device 1000 of the present invention comprises a dual module 100, a control unit 200, an actuator 300 and a support body 400. Figure 2 As shown, the effective gravity control device 1000 of the present invention may further include a user input / output portion and a power supply portion.

[0053] The dual module 100 is a module for realizing gravity change. Figure 3 and Figure 4 The dual module 100 structure is described in detail.

[0054] Figure 3 The effective gravity control device 1000 of the present invention includes a dual module 100 structure. Figure 4 Another embodiment of a dual module 100' of an effective gravity control device 1000 of the present invention is shown. Figure 5 FIG. 1 shows the structure of the internal module 120 in the dual module 100. Figure 6 A cross section of a dual module 100 of an active gravity control device 1000 of the present invention is shown.

[0055] Reference Figure 3 The dual module 100 includes an external module 110 and an internal module 120 mounted inside the external module 110 .

[0056] The outer module 110 has a space inside for the inner module 120 to move. The movement of the outer module 110 is controlled by the actuator 300. At least one physical quantity related to the movement of the outer module 110 is controlled by the actuator 300. Here, the physical quantity related to the movement of the outer module 110 may be the position or movement speed of the outer module 110. Figures 7 to 10 A specific control method of controlling the external module 110 by the actuator 300 will be described.

[0057] The actuator 300 of the effective gravity control device 1000 of the present invention may include a motor 310 and a rope 320 connected to the external module 110 to move the external module 110. Hereinafter, description will be made based on the motor 310 and the rope 320 as the actuator 300.

[0058] The external module 110 includes a support member 111 .

[0059] The support member 111 defines a movement space of the inner module 120 inside the outer module 110 and supports the outer module 110 to maintain its shape.

[0060] The support member 111 is a bar-shaped member arranged along the length direction of the external module 110. The support member 111 is a bar-shaped member connecting the external module 110 up and down.

[0061] Here, the load of the lower portion of the external module 110 may be greater than the load of the upper portion of the external module 110. When the external module 110 falls in the falling space 500, the air resistance applied to the external module 110 may cause the external module 110 to flip upside down or rotate, or other unexpected movements. In order to prevent these problems, preferably, the load of the lower portion of the external module 110 is greater than the load of the upper portion of the external module 110, and preferably, the support member 111 bears the load of the lower portion of the external module 110 and is connected to the upper portion.

[0062] At least one side of the external module 110 includes a connector 112 connected to the rope 320 .

[0063] The external module 110 receives an external force from the actuator 300 through the connection member 112. The connection member 112 may be installed at the center of the upper end of the external module 110. The connection member 112 may be formed in a ring shape for the rope 320 to be connected.

[0064] The connector 112 may include a bearing inside. The connector 112 may include a bearing member for preventing the rotation or winding of the rope 320 from being transmitted to the external module 110 or preventing the rotation of the external module 110 from being transmitted to the rope 320. In other words, the connector 112 may include a bearing or other component to prevent the inappropriate movement of the rope 320 or the external module 110 from affecting each other.

[0065] The external module 110 may include a shock absorbing member 113 .

[0066] The shock absorber 113 is disposed at at least one end of the inner side of the outer module 110 and absorbs the vibration caused by the movement of the inner module 120. Specifically, when the inner module 120 performs a lifting movement in the movement space of the outer module 110, the inner module 120 will impact the outer module 110, and the shock absorber 113 is a component used to alleviate the impact.

[0067] The shock absorbing member 113 can also be used to connect multiple supporting members 111 and can be formed into a ring shape. For example, when the inner cover member 123 to be described later touches the ring-shaped shock absorbing member 113, the impact of the inner module 120 on the outer module 110 can be reduced. The shock absorbing member 113 or the inner cover member 123 is preferably made of elastic material.

[0068] At the same time, Figure 3 In the embodiment, the shock absorbing member 113 is installed only on the lower side of the external module 110 , but the implementation of the shock absorbing member 113 is not limited thereto, and the shock absorbing member 113 may also be installed on the upper side of the external module 110 .

[0069] The external module 110 may include an external cover 114 .

[0070] The external cover 114 is disposed at at least one end of the outer side of the external module 110 to reduce the air resistance caused by the movement of the external module 110. Specifically, the external cover 114 is formed at both ends of the external module 110 to minimize the air resistance acting on the external module 110 when the external module 110 is lifted. The connector 112 may be formed at the end of the external cover 114.

[0071] Meanwhile, when the external module 110 falls in the falling space 500, in order to prevent the external module 110 from unexpectedly moving upside down or rotating, the external cover 114 at the lower end of the external module 110 may contain a loaded object. For example, the loaded object may be a structure such as a battery loaded into the dual module 100.

[0072] The external module 110 may include a position sensor 131 that detects a position of the internal module 120 .

[0073] The position sensor 131 is provided at at least one inner side end of the outer module 110 to detect the position of the inner module 120 in the motion space. Here, the position sensor 131 may be a LiDAR sensor that measures the position coordinates of a reflector (i.e., the inner module 120) by emitting laser pulses and measuring the time required for them to be reflected back. Figure 3 In the embodiment, the position sensor 131 is installed on the upper side of the external module 110 , but the implementation of the position sensor 131 is not limited thereto, and the position sensor 131 may also be installed on the lower side of the external module 110 .

[0074] Figure 4 A dual module 100 ′ according to another embodiment is shown. The dual module 100 ′ includes an external module 110 ′ and an internal module 120 mounted inside the external module 110 .

[0075] Compared with the above-mentioned external module 110 , the external module 110 ′ may further include a wing member 115 .

[0076] When the external module 110 falls in the falling space 500 , the wing member 115 can prevent the external module 110 from making unexpected movements such as turning upside down or rotating.

[0077] A wing member 115 may be formed on each side of the external module 110, or more than three wing members 115 may be formed, and a preset angle range may be formed between each wing member 115. In addition, the wing member 115 may also have a Figure 4 The curved shape shown, or may be formed into other wing shapes.

[0078] The dual module 100 includes an inner module 120 installed inside an outer module 110 .

[0079] The internal module 120 is a module that moves independently of the external module 110 in a movement space of the external module 110 by an external force transmitted from the external module 110 .

[0080] The internal module 120 is provided with an internal space for transporting objects. Here, the objects may be objects for conducting experiments based on gravity changes, and the objects may be various. For example, the internal module 120 may accommodate cell-level objects, and may also accommodate objects such as animals or humans.

[0081] The inner module 120 includes a plurality of protrusions 121 extending toward the inner wall of the outer module 110 .

[0082] like Figure 6 As shown, the protruding member 121 and the supporting member 111 of the external module 110 together restrict the internal module 120, so that the rotation of the internal module 120 in the motion space of the external module 110 does not exceed the threshold. Even if the internal module 120 rotates in the motion space, the protruding member 121 cannot exceed the position of the supporting member 111, so the rotation of the internal module 120 can be restricted from exceeding a predetermined angle.

[0083] The internal module 120 includes a roller 122 disposed at the end of each protrusion 121 .

[0084] The roller 122 can reduce the friction caused by the contact between the external module 110 and the internal module 120. The roller 122 extends from the internal module 120 and touches the inner wall of the external module 110. When the internal module 120 touches the external module 110 during movement, the roller 122 can minimize unnecessary external forces such as friction acting on the internal module 120. Preferably, the internal module 120 moves smoothly along the inner wall of the external module 110.

[0085] The present invention takes the roller 122 as an example, but other means besides the roller 122 can be applied as long as the friction between the internal module 120 and the external module 110 can be reduced. Figure 5 and Figure 6 The roller bearing member shown has one-dimensional linear motion, or it may be a ball bearing member having multi-angle rotational motion.

[0086] The support body 400 is a device for providing a falling space 500 for the movement of the dual module 100. The support body 400 may be installed on the ground or a building to form the falling space 500 for the movement of the dual module 100.

[0087] like Figure 1 As shown, the support body 400 may be a facility extending upward and downward from a reference plane. Figure 1The example in which the support body 400 extends underground based on the ground to form a vertical space for the movement of the dual module 100 and extends above ground to leave an installation space for the effective gravity control device 1000 is shown. Different from this, the falling space 500 for the movement of the dual module 100 of the present invention can be a space parallel to the vertical space of the building or a space sharing the vertical space. Figures 11 to 22 Such embodiments are described in detail.

[0088] Various sensor parts 510 for monitoring the movement of the dual module 100 may be arranged in the falling space 500 .

[0089] The sensor part 510 may include a position sensor 511 that detects the movement or position of the dual module 100, especially the external module 110. In addition, the sensor part 510 may include a camera 512 that acquires a monitoring image of the movement or position of the external module 110. The sensor part 510 installed in the drop space 500 may include the position sensor 131 and the camera 512, as well as various sensors such as an infrared sensor and a temperature sensor.

[0090] The following will refer to Figures 7 to 10 The effective gravity control device 1000 of the present invention is described in detail to achieve the control method of gravity change. Figures 1 to 6 .

[0091] Figure 7 as well as Figure 8 FIG. 1 is a graph showing the change in relative speed of the internal module 120 and the external module 110 over time when the effective gravity control device 1000 of the present invention achieves zero gravity or microgravity. Fig. 9 The figure shows the motion states of the internal module 120 and the external module 110 observed from the outside when the effective gravity control device 1000 of the present invention realizes zero gravity or microgravity.

[0092] The control part 200 generates a control signal for the actuator 300 to control the movement of the external module 110. The control part 200 generates a control signal for controlling at least one physical quantity related to the movement of the external module 110.

[0093] The control unit 200 receives data about the external module 110 and the internal module 120 from the sensor unit 130 and 510, and generates a control signal for controlling the movement of the external module 110 based on the received data. The control unit 200 receives position-related data of the external module 110 and the internal module 120 from the position sensors 131 and 511 and the camera 512, and generates a control signal for controlling the movement of the external module 110 based on the received position data of the external module 110 and the internal module 120.

[0094] Meanwhile, in addition to the position sensor 131, the control unit 200 may also receive status data of the dual module 100 through the sensor unit 130 mounted on the dual module 100 and the sensor unit 510 installed in the drop space 500. For example, when the control unit 200 determines through the sensor units 130 and 510 that an event such as device overheating, abnormal movement or impact has occurred, the control unit 200 may also generate a control signal such as emergency braking.

[0095] The actuator 300 moves the external module 110 according to a control signal received from the control part 200 so that the external module 110 has at least one physical quantity. The actuator 300 may include a motor 310, a motor driver controlling the motor, and a rope 320 connected to the motor 310.

[0096] Meanwhile, when describing the effective gravity control device 1000 of the present invention, the actuator 300 is described as a motor 310 and a rope 320, but the embodiments of the present invention are not limited thereto, and the actuator 300 may adopt a pneumatic actuator, a hydraulic actuator, a track structure, a magnetic levitation method, or the like.

[0097] The physical quantity related to the movement of the external module 110 may be the speed of the external module 110 , the position of the external module 110 , the relative position of the external module 110 and the internal module 120 , or the relative speed of the external module 110 and the internal module 120 . Figure 7 , Figure 8 and Fig.10 The motion state of the dual module 100 of the present invention is explained from the perspective of controlling the relative speed of the external module 110 and the internal module 120. Fig. 9 The motion state of the dual module 100 of the present invention is explained from the perspective of controlling the relative positions of the external module 110 and the internal module 120 .

[0098] In the present invention, if Fig. 9 As shown, the control unit 200 generates a control signal for controlling the gravity of the dual module 100 as it rises from the bottom, starting from the bottom of the falling space 500 formed by the support body 400. The control unit 200 applies tension to the rope 320 connected to the upper side of the external module 110 so that the external module 110 and the internal module 120 rise vertically from the bottom as the starting point.

[0099] Reference Figure 7 and Figure 8, the control unit 200 can generate control signals to accelerate the dual module 100 (corresponding to the first interval), cause gravity changes (corresponding to the second interval), and brake (corresponding to the third interval). Specifically, the control unit 200 generates a first control signal in the first interval for accelerating the dual module 100. The control unit 200 generates a second control signal in the second interval in which gravity changes (such as zero gravity (Zero-g) or microgravity (microgravity)) act on the internal module 120 of the dual module 100. In addition, the control unit 200 generates a third control signal in the third interval in which the dual module 100 is braked.

[0100] Next, a method for controlling the motion of the external module 110 and the internal module 120 in the first section will be described.

[0101] The control unit 200 generates a first control signal for controlling the actuator 300 in the first section so that the external force is applied to the internal module 120 via the external module 110 .

[0102] The first control signal is a control signal for pulling the rope 320 connected to the external module 110 using the force or torque of the motor. In the first section as the acceleration section, the external module 110 and the internal module 120 are integrally moved upward from the bottom by the first control signal.

[0103] In the first interval, if Figure 7 and Figure 8 As shown, the speed of the external module 110 (shown in solid line) and the speed of the internal module 120 (shown in dotted line) are the same and both are accelerating. In the first interval, the external module 110 and the internal module 120 are moved upward by the actuator 300 until a preset speed (V0) is reached. In the first interval, the relative speed of the internal module 120 and the external module 110 may be less than a first threshold speed, wherein the first threshold speed may substantially correspond to zero. In other words, the relative speed of the internal module 120 and the external module 110 in the first interval may be 0.

[0104] In the first interval, if Fig. 9 As shown, the external module 110 and the internal module 120 make an upward movement from the bottom (not shown) until reaching the "R" point. At this time, the internal module 120 remains in a state of being located on the lower side of the external module 110, and the internal module 120 makes an upward movement together with the external module 110 through the external force applied by the external module 110. In the first interval, the relative position of the internal module 120 and the external module 110 may be less than the first critical position, wherein the first critical position may substantially correspond to 0. In other words, the relative position of the internal module 120 and the external module 110 in the first interval may be 0.

[0105] Next, a motion control method of the external module 110 and the internal module 120 in the second section will be described.

[0106] First, the second control signal in the second section is a combination of various control signals that cause a change in the effective gravity of the internal module 120 mounted in the external module 110 .

[0107] The second interval as an effective gravity control interval may include a 2-1 interval in which the internal module 120 is detached from the external module 110, a 2-2 interval in which the speed or position of the external module 110 is corrected based on the position data of the internal module 120, and a 2-3 interval in which the external module 110 follows the speed or position of the internal module 120.

[0108] First, a motion control method of the external module 110 and the internal module 120 in the 2-1 section will be described.

[0109] The control unit 200 generates a 2-1 control signal to separate the internal module 120 from the external module 110. The control unit 200 generates a signal to make the internal module 120 move independently of the external module 110 from the 2-1 interval, where the 2-1 interval is the time when the internal module 120 enters the 2nd interval from the 1st interval.

[0110] The 2-1st control signal is a motor control signal for detaching the internal module 120 from the external module 110. The 2-1st control signal may be a signal for releasing the external force applied to the internal module 120 via the external module 110 at the moment when the dual module 100 reaches a preset speed or at the moment when the dual module 100 reaches a preset position. In other words, the 2-1st control signal is a signal for temporarily releasing the force or torque provided by the motor 310 to the rope 320 connected to the external module 110 at the moment when the dual module 100 reaches a preset speed or at the moment when the dual module 100 reaches a preset position.

[0111] In the 2-1 interval, if Figure 7 and Figure 8 As shown, the speed of the external module 110 (shown in solid line) and the speed of the internal module 120 (shown in dotted line) gradually become different. Due to external forces such as air resistance applied to the external module 110, the external module 110 decelerates faster than the internal module 120. The difference between the speed of the external module 110 and the speed of the internal module 120 gradually increases. The movement of the 2-1 interval is maintained until the relative speed of the internal module 120 and the external module 110 reaches a preset second critical speed. The movement of the 2-1 interval is maintained until the speed difference between the internal module 120 and the external module 110 reaches a preset second critical speed. Here, the second critical speed may correspond to the difference value between the dotted line and the solid line at the boundary of the 2-1 interval and the 2-2 interval.

[0112] exist Fig. 9 In FIG. 1 , the point of entering the 2-1 interval is shown as point “R”. At this time, the internal module 120 located at the lower side of the external module 110 moves upward independently of the external module 110. Once entering the 2nd interval after the 1st interval, the internal module 120 begins to separate from the external module 110.

[0113] In the 2-1 interval, the inner module 120 moves vertically upward in the outer module 110 due to the inertia of the external force transmitted from the outer module 110. The 2-1 interval corresponds to Fig. 9 The interval in which the external module 110 rises from point "R" to point "0". In the 2-1 interval, the positions of the external module 110 and the internal module 120 gradually differ. Due to external forces such as air resistance applied to the external module 110, the rising speed of the external module 110 decelerates faster than the rising speed of the internal module 120. The position difference between the external module 110 and the internal module 120 gradually increases. The movement in the 2-1 interval is maintained until the relative position of the internal module 120 and the external module 110 reaches a preset second critical position. Here, the second critical position can be the distance from the bottom of the external module 110 to the bottom of the internal module 120, or it can be the distance from the upper part of the external module 110 to the upper part of the internal module 120.

[0114] In the 2-1 interval, the external module 110 performs a deceleration motion relative to the ground. At this time, the force applied to the external module 110 may be the sum of gravity and air resistance. The internal module 120 may perform an ideal parabolic motion relative to the ground. Ideal parabolic motion refers to parabolic motion in a vacuum or motion close thereto. At this time, preferably, the force applied to the internal module 120 is gravity. Preferably, the slope of the velocity diagram (shown as a dotted line) of the internal module 120 has a slope corresponding to the acceleration of gravity. However, the present invention does not exclude the situation where a slight air resistance is applied to the internal module 120.

[0115] Next, a motion control method of the external module 110 and the internal module 120 in the 2-2 section will be described.

[0116] The control unit 200 generates a 2-2 control signal for correcting the speed or position of the external module 110. The control unit 200 generates a signal for correcting the position of the external module 110 based on the position data of the internal module 120 in the 2-2 section after the 2-1 section.

[0117] The 2-2 control signal is a motor control signal for causing the external module 110 to catch up with the movement of the internal module 120. The 2-2 control signal may be a signal for greatly applying the tension of the rope 320 to the external module 110. In other words, the 2-2 control signal may be a signal for temporarily applying a large force or torque to the rope 320 connected to the external module 110 when the speed difference between the internal module 120 and the external module 110 reaches a preset second critical speed, or when the position difference between the internal module 120 and the external module 110 reaches a preset second critical position.

[0118] In the 2-2 interval, such as Figure 7 and Figure 8 As shown, the difference between the speed of the external module 110 (shown in solid line) and the speed of the internal module 120 (shown in dotted line) gradually decreases. In order to compensate for the external force such as air resistance applied to the external module 110, when tension is applied to the external module 110 instantaneously, the speed of the external module 110 is temporarily accelerated. At this time, the difference between the speed of the external module 110 and the speed of the internal module 120 gradually becomes smaller. The movement of the 2-2 interval is maintained until the relative speed of the internal module 120 and the external module 110 reaches 0 (zero) or the relative speed of the internal module 120 and the external module 110 reaches a preset third critical speed. Here, the third critical speed may correspond to the difference value between the dotted line and the solid line at the boundary between the 2-2 interval and the 2-3 interval.

[0119] In the 2-2 interval, the outer module 110 moves upward more significantly than the inner module 120. In other words, in the 2-2 interval, the outer module 110 moves to catch up with the inner module 120. The 2-2 interval corresponds to Fig. 9 The interval in which the external module 110 rises from point "0" to point "H". The tension applied to the external module 110 by the rope 320 will be maintained in the 2-2 interval. In the 2-2 interval, the position difference between the external module 110 and the internal module 120 gradually decreases. Since the tension overcomes the air resistance applied to the external module 110, the rising speed of the external module 110 accelerates faster than the rising speed of the internal module 120. The movement in the 2-2 interval is maintained until the relative position of the internal module 120 and the external module 110 reaches a preset third critical position. Here, the third critical position can be the distance from the bottom of the external module 110 to the bottom of the internal module 120, or it can be the distance from the upper part of the external module 110 to the upper part of the internal module 120.

[0120] Next, a motion control method of the external module 110 and the internal module 120 in the 2nd to 3rd interval will be described.

[0121] The control unit 200 generates the 2nd-3rd control signal for causing the external module 110 to follow the speed or position of the internal module 120. The control unit 200 generates the feedback control signal for causing the external module 110 to follow the position of the internal module 120 based on the position data of the internal module 120 in the 2nd-3rd interval after the 2nd-2 interval.

[0122] The 2nd-3rd control signal is a motor control signal that causes the external module 110 to follow the movement of the internal module 120. The 2nd-3rd control signal may be a signal that controls the tension applied to the external module 110 by the rope 320 based on the position or speed feedback of the internal module 120. In other words, the 2nd-3rd control signal may be a feedback control signal that causes the external module 110 to follow the position of the internal module 120 when the speed difference between the internal module 120 and the external module 110 reaches a preset third critical speed, or when the position difference between the internal module 120 and the external module 110 reaches a preset third critical position.

[0123] In the 2nd-3rd interval, if Figure 7 and Figure 8 As shown, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) are substantially the same. When the applied tension can compensate for the external force such as air resistance applied to the external module 110, the speed of the external module 110 can have a speed similar to that of the internal module 120 maintaining an ideal parabolic motion state.

[0124] Here, the fact that the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) are substantially the same means that the relative speed of the internal module 120 and the external module 110 is substantially 0 (zero). Figure 7 In contrast, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) being substantially the same may refer to a state in which the speed of the external module 110 can continue to follow the speed of the internal module 120 even if there is a slight difference in the relative speeds of the internal module 120 and the external module 110. In other words, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) being substantially the same includes Figure 7 The state of interval 2-3 shown and Figure 8 The status of the 2nd-3rd interval is shown.

[0125] The movement in the 2nd to 3rd interval is maintained until the inner module 120 and the outer module 110 are substantially in contact. The movement in the 2nd to 3rd interval is maintained until the inner cover 123 of the inner module 120 approaches the shock absorbing member 113 of the outer module 110 to a preset distance.

[0126] The 2nd-3rd interval corresponds to Fig. 9 The interval in which the external module 110 rises from point "H" to point "HH" and then falls. The 2nd-3rd interval is an interval in which the tension applied by the rope 320 to the external module 110 is maintained for a certain interval and then released. Preferably, in the 2nd-3rd interval, the difference between the position of the external module 110 and the position of the internal module 120 is maintained within a preset distance range.

[0127] In the 2nd to 3rd interval, the movement of the external module 110 following the internal module 120 is equivalent to a movement based at least in part on an ideal parabolic motion with the ground as a reference. The internal module 120 performs an ideal parabolic motion of falling due to gravity, while the movement of the external module 110 is achieved through feedback control of the control unit 200 and the actuator 300.

[0128] Therefore, the advantage of doing so is that the flight time (i.e., pure falling time) of the internal module can be extended by the control method of the control unit 200 in the second interval. By the control method of the control unit 200 in the second interval, even in an environment where the external module 110 is decelerated due to air resistance, the ideal parabolic motion state of the internal module 120 in the external module 110 can be stably maintained for as long as possible by controlling the relative positions of the internal module 120 and the external module 110.

[0129] Next, a method for controlling the motion of the external module 110 and the internal module 120 in the third section will be described.

[0130] The control unit 200 generates a third control signal for braking the external module 110 and the internal module 120 in the third interval. The third control signal is a control signal for pulling the rope 320 connected to the external module 110 using the force or torque of the motor. Through the third control signal, the external module 110 and the internal module 120 that are accelerating perform a deceleration motion as a whole.

[0131] In the third interval, if Figure 7 and Figure 8 As shown, the speed of the external module 110 (shown by a solid line) and the speed of the internal module 120 (shown by a dotted line) are the same and both are decelerating. In the third interval, the external module 110 and the internal module 120 stop moving through the actuator 300. At this time, since the external module 110 and the internal module 120 are in substantial contact, the relative speed of the internal module 120 and the external module 110 in the third interval can be 0.

[0132] Reference Fig. 9 , the third interval may be the point where the external module 110 and the internal module 120 meet again ( Fig. 9 The moving state (not shown) follows the final state (shown).

[0133] Fig.10FIG. 1 is a graph showing the relative speed of the inner module 120 and the outer module 110 changing with time when the effective gravity control device 1000 of the present invention achieves hypogravity or low gravity.

[0134] When the low gravity state is achieved in the internal module 120, the external module 110 and the internal module 120 move in a substantially attached state. The internal module 120 remains seated on the lower side of the external module 110, and the internal module 120 moves up and down together with the external module 110 under the external force applied by the external module 110.

[0135] Reference Fig.10 , the control unit 200 can generate control signals for accelerating the dual module 100 (corresponding to the first interval), causing gravity changes (corresponding to the second interval), and braking (corresponding to the third interval). Specifically, the control unit 200 generates a first control signal in the first interval for accelerating the dual module 100. The control unit 200 generates a second control signal in the second interval for applying low gravity to the internal module 120 of the dual module 100. In addition, the control unit 200 generates a third control signal in the third interval for braking the dual module 100.

[0136] Here, the first section of acceleration and the third section of braking are the same as those for achieving microgravity. Figures 7 to 9 However, in the second interval where the gravity change is caused, low gravity is achieved. Fig.10 The motion characteristics described do not include the 2-1 interval in which the internal module 120 is separated from the external module 110 and the 2-2 interval in which the speed or position of the external module 110 is corrected based on the position data of the internal module 120. Fig.10 The movement is characterized by only including the 2nd-3rd interval in which the gravity change is guided, which is similar to the 2nd-3rd interval in which the outer module 110 follows the inner module 120.

[0137] In most of the intervals where low gravity is achieved in the internal module 120, the relative speed of the internal module 120 and the external module 110 may be less than the first critical speed, wherein the first critical speed may substantially correspond to 0. In other words, in most of the intervals where the internal module 120 achieves low gravity, the relative speed of the internal module 120 and the external module 110 may be 0. In addition, in most of the intervals where the internal module 120 achieves low gravity, the relative position of the internal module 120 and the external module 110 may be less than the first critical position, wherein the first critical position may substantially correspond to 0. In other words, in most of the intervals where low gravity is achieved in the internal module 120, the relative position of the internal module 120 and the external module 110 may be 0.

[0138] In this case, the control part 200 may generate a signal to control the speed or position of the external module 110. The 2nd-3rd control signal to realize low gravity is a motor control signal to control the speed or position of the external module 110 to have a preset speed or position.

[0139] When achieving microgravity, the 2nd-3rd control signal is a feedback control signal for controlling the speed or position of the external module 110 based on the speed or position data of the internal module 120, and when achieving low gravity, the 2nd-3rd control signal is a motor control signal for controlling the speed or position of the external module 110 to have a preset speed or position. This is the difference between the two.

[0140] Next, we will refer to Figures 11 to 22 The various embodiments of the effective gravity control device 2000 of the present invention installed in a building will be described in detail. Figures 1 to 10 Provide explanation.

[0141] The effective gravity control device 2000 of the present invention can be installed in the falling space 500', which is a space parallel to the vertical space in the building or a space formed by sharing the vertical space. Here, the vertical space can be the moving space of the elevator or the long vacant space in the building.

[0142] The effective gravity control device 2000 of the present invention includes a dual module 100, a control unit 200, an actuator 300 and a support body 400. Since the dual module 100, the control unit 200, the actuator 300 and the support body 400 are similar to the above reference Figures 1 to 10 The descriptions are essentially the same, so duplicate descriptions are omitted and only the different parts are described in detail.

[0143] The effective gravity control device 2000 of the present invention is arranged across a control section 10 formed on the upper side of a building, a test section 20 formed on the lower side of the building, and a shock absorbing section 30 formed on the bottom of the building.

[0144] The control part 10 refers to a space formed on the upper side of the falling space 500' of the building to control and monitor the change of gravity applied to the dual module. The experimental part 20 refers to a space formed on the lower side of the falling space 500' of the building to conduct experiments on the objects carried on the dual module. The shock absorbing part 30 refers to a space formed at the bottom of the falling space 500' of the building to absorb the impact applied to the building by the dual module. Figures 11 to 19 The control part 10, the experimental part 20 and the shock absorbing part 30 shown in the figure are intended to schematically show the installation position of each structure of the effective gravity control device 2000 of the present invention, and the present invention is not limited to the contents shown.

[0145] The effective gravity control device of the present invention can be divided into first to third embodiments according to whether the vertical space for elevator movement is used as the falling space 500', the installation method of the control unit 10, or the method of moving the dual module 100 into / out of the falling space 500'. The first to third embodiments will be described below.

[0146] (1) First embodiment: Use the vertical space that is not used as the elevator moving space as the falling space to install an effective gravity control device (parallel to the elevator)

[0147] Fig.11 A schematic diagram showing a first embodiment of the effective gravity control device of the present invention installed in a building, Fig.12 is a figure showing that the effective gravity control device according to the first embodiment is installed in the control unit, Fig.13 2 is a diagram showing that the effective gravity control device according to the first embodiment is installed in the experimental part and the shock absorbing part.

[0148] According to the first embodiment, the effective gravity control device 2000 of the present invention utilizes an independent vertical space parallel to the vertical space for the elevator to operate. For example, preferably, there is a separate vertical space on one side where the elevator operates, and the elevator is removed or not installed in the falling space 500' to which the effective gravity control device 2000 of the present invention is applied.

[0149] The control part 10 is formed at the upper side of the falling space 500 ′ of the building. The effective gravity control device 2000 according to the first embodiment includes the control part 200 and the actuator 300 located in the space of the upper control part 10 .

[0150] The control unit 200 generates a control signal for the actuator 300 to control the movement of the external module 110. The control unit 200 generates a control signal for controlling at least one physical quantity related to the movement of the external module 110. The actuator 300 of the effective gravity control device 2000 of the present invention may include a motor 310, a rope 320, and a pulley 330 connected to the external module 110 to move the external module 110. The structures of the control unit 200 and the actuator 300 are the same as those described above with reference to FIG. Figures 1 to 10 The control unit 200 and the actuator 300 of the described effective gravity control device 1000 are the same.

[0151] The experimental section 20 is formed at the lower side of the falling space 500' of the building. The experimental section 20 with the effective gravity control device 2000 at the lower side includes a sliding frame 600 that provides a path for the dual module 100 to move into or out of the falling space 500'. According to the first embodiment, the sliding frame 600 can move necessary devices into or out of the falling space 500' through an opening formed through one side wall of the building.

[0152] By using the sliding frame 600, the user can move into the drop space 500', replace the dual module 100 vertically moving in the drop space 500', or move an object mounted on the dual module 100 in / out of the module.

[0153] The shock absorbing part 30 is formed at the bottom of the falling space 500' of the building. The effective gravity control device 2000 includes a shock absorbing body 31 that absorbs the impact applied from the double module 100 to the building at the shock absorbing part 30. The shock absorbing body 31 may be installed at the bottom of the falling space 500'.

[0154] (2) Embodiment 2: An effective gravity control device is provided by using the elevator running space as the falling space.

[0155] Fig.14 A schematic diagram showing a second embodiment of the effective gravity control device of the present invention installed in a building, Fig.15 is a figure showing that the effective gravity control device according to the first embodiment is installed in the control unit, Fig.16 2 is a diagram showing that the effective gravity control device according to the first embodiment is installed in the experimental part and the shock absorbing part.

[0156] According to the second embodiment, the effective gravity control device 2000 of the present invention utilizes the vertical space in which the elevator moves as the falling space 500'. The second embodiment can show a structure of an effective gravity control device 2000 that utilizes the vertical space in which the elevator moves but does not interfere with the operation of the elevator. At this time, during the operation of the effective gravity control device 2000 of the present invention, the elevator module is preferably arranged at the uppermost side of the vertical space of the building.

[0157] The control unit 10 is formed on the upper side of the falling space 500' of the building. At this time, the control unit 10 is preferably formed on the upper side of the falling space 500' of the building and formed on the lower side of the space where the elevator in a non-operating state stops. In addition, in the second embodiment, as shown in the figure, it is preferred to form an opening through one side wall of the building so that the space where the control unit 10 and the experimental unit 20 are formed is connected to the vertical space for the elevator to move.

[0158] The effective gravity control device 2000 according to the second embodiment includes a control portion 200 and an actuator 300 located in a space of an upper regulating portion 10 .

[0159] The control unit 200 generates a control signal for the actuator 300 to control the movement of the external module 110. The control unit 200 generates a control signal for controlling at least one physical quantity related to the movement of the external module 110. The actuator 300 of the effective gravity control device 2000 of the present invention may include a motor 310, a rope 320, and a pulley 330 connected to the external module 110 to move the external module 110. The structures of the control unit 200 and the actuator 300 are the same as those described above with reference to FIG. Figures 1 to 10 The control unit 200 and the actuator 300 of the described effective gravity control device 1000 are the same.

[0160] In addition, the effective gravity control device 2000 according to the second embodiment includes a sliding frame 600 in the upper control portion 10 space, which provides a path for the dual module 100 to move into or out of the falling space 500 ′.

[0161] The experimental section 20 is formed at the lower side of the falling space 500' of the building. The experimental section 20 with the effective gravity control device 2000 at the lower side includes a sliding frame 600 that provides a path for the dual module 100 to move into or out of the falling space 500'. According to the first embodiment, the sliding frame 600 can move necessary devices into or out of the falling space 500' through an opening formed through one side wall of the building.

[0162] By using the sliding frame 600, the user can move into the drop space 500', replace the dual module 100 vertically moving in the drop space 500', or move an object mounted on the dual module 100 in / out of the module.

[0163] The shock absorbing part 30 is formed at the bottom of the falling space 500' of the building. The effective gravity control device 2000 includes a shock absorbing body 31 which absorbs the impact applied to the building by the double module 100 in the space of the shock absorbing part 30. The shock absorbing body 31 may be installed at the bottom of the falling space 500'.

[0164] (3) Third Embodiment: A modified embodiment of an effective gravity control device installed using the space where the elevator moves as the falling space

[0165] Fig.17 A schematic diagram showing a third embodiment of the effective gravity control device of the present invention installed in a building, Fig.18 is a drawing showing that the effective gravity control device according to the third embodiment is installed in the control unit, Fig.19 2 is a diagram showing that an effective gravity control device according to a third embodiment is installed in a test section and a shock absorbing section.

[0166] According to the third embodiment, the effective gravity control device 2000 of the present invention utilizes the vertical space of the elevator as the falling space 500'. The structure of the effective gravity control device 2000 presented in the second embodiment is to utilize the vertical space of the elevator without interfering with the operation of the elevator. Like the second embodiment, the third embodiment also utilizes the vertical space of the elevator without interfering with the operation of the elevator. However, unlike the above-mentioned second embodiment, the third embodiment uses the required device of the elevator door moving in / out system already formed in the building, so it is not necessary to form a separate opening in the wall of the building to install the gravity change system of the present invention.

[0167] The control unit 10 is formed on the upper side of the falling space 500' of the building. At this time, the control unit 10 is preferably formed on the upper side of the falling space 500' of the building and formed on the lower side of the space where the elevator in the non-operating state stops.

[0168] The effective gravity control device 2000 according to the third embodiment includes a control part 200 and an actuator 300 located in the space of the control part 10 on the upper side.

[0169] The control unit 200 generates a control signal for the actuator 300 to control the movement of the external module 110. The control unit 200 generates a control signal for controlling at least one physical quantity related to the movement of the external module 110. The actuator 300 of the effective gravity control device 2000 of the present invention may include a motor 310, a rope 320, and a pulley 330 connected to the external module 110 to move the external module 110. The structures of the control unit 200 and the actuator 300 are the same as those described above with reference to FIG. Figures 1 to 10 The control unit 200 and the actuator 300 of the described effective gravity control device 1000 are the same.

[0170] In addition, the effective gravity control device 2000 according to the third embodiment includes a sliding frame 600 in the upper control portion 10 space, which provides a path for the dual module 100 to move into or out of the falling space 500 ′.

[0171] The experimental section 20 is formed at the lower side of the falling space 500' of the building. The experimental section 20 with the effective gravity control device 2000 at the lower side includes a sliding frame 600 that provides a path for the dual module 100 to move into or out of the falling space 500'. According to the first embodiment, the sliding frame 600 can move necessary devices into or out of the falling space 500' through an opening formed through one side wall of the building.

[0172] By using the sliding frame 600, the user can move into the drop space 500', replace the dual module 100 vertically moving in the drop space 500', or move an object mounted on the dual module 100 in / out of the module.

[0173] The shock absorbing part 30 is formed at the bottom of the falling space 500' of the building. The effective gravity control device 2000 includes a shock absorbing body 31 which absorbs the impact applied to the building by the double module 100 in the space of the shock absorbing part 30. The shock absorbing body 31 may be installed at the bottom of the falling space 500'.

[0174] Fig. 20 FIG. 2 shows a diagram of the motor 310 of the effective gravity control device 2000 of the present invention, Fig.21 The pulley 330 in the effective gravity control device of the present invention is shown. Fig. 22 A sliding frame 600 is shown in the active gravity control device of the present invention.

[0175] The motor 310 of the effective gravity control device 2000 corresponds to the reference Figures 1 to 10 The motor structure of the effective gravity control device 1000 is shown in FIG. The pulley 330 structure of the effective gravity control device 2000 may have Fig.21 The deformed structure shown can be a structure installed on a tower or a structure installed on a sliding frame.

[0176] The sliding frame 600 of the active gravity control device 2000 is configured to provide a path so that the necessary equipment can be moved into or out of the drop space 500' through an opening formed through a side wall of the building or an elevator door. Fig. 22 As shown, the sliding frame 600 may include a rail member for providing a path and a plate member as a required space for fixing necessary equipment such as the dual module 100 .

[0177] The embodiments of the present invention are described above with reference to the accompanying drawings, but those skilled in the art will appreciate that the present invention can be implemented in other specific forms without changing the technical concept and essential features of the present invention. Therefore, all aspects of the above embodiments should be understood as illustrative rather than restrictive.

Claims

1. An effective gravity control device, which uses the vertical space in a building as a falling space to achieve zero gravity, microgravity, low gravity or pseudo gravity state of an internal module carried in a moving external module, characterized in that: include: A dual module, the dual module comprising: an external module, a movement space of the internal module is formed inside the external module, and at least one physical quantity related to the movement of the external module is controlled; and an internal module, which moves independently of the external module in the movement space through an external force transmitted by the external module; an actuator provided in a space in an upper side of the falling space to control and monitor a change in gravity applied to the dual module, and to move the external module according to a control signal so that the external module has the at least one physical quantity; and A sliding frame is arranged in the lower space of the falling space, and provides a path for the double module to move in and out of the falling space.

2. The effective gravity control device according to claim 1, characterized in that: Also includes: A shock absorbing body is installed at the bottom of the falling space to absorb the impact applied to the building by the double modules.

3. The effective gravity control device according to claim 1, characterized in that: Also includes: a position sensor that detects the position of the internal module in the motion space; and A control unit generates the control signal for controlling at least one physical quantity related to the movement of the external module based on the position of the internal module detected by the position sensor.

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