: CONTROL DEVICE FOR A ROTATING CYLINDER USING MULTIPLE CHAMFRONT WHEELS

Abstract

The present invention provides a control device for a rotating cylinder that can align horizontally or precisely control a target angle using six obliquely cut wheels, and simultaneously adjust the height and position of a rotation axis. Abbreviated figure: 1

Description

Title of the invention: CONTROL DEVICE FOR A ROTATING CYLINDER USING MULTIPLE CHAFFERED WHEELS FIELD OF INVENTION

[0001] The invention relates to a control device for a rotating cylinder which can align a horizontal or precisely control a target angle using six obliquely cut (chamfered) wheels, and at the same time adjust a height and position of an axis of rotation. DESCRIPTION OF PREVIOUS ART

[0002] Accurate parallelism alignment and horizontality maintenance in manufacturing equipment for advanced and industrial applications can be key factors in product quality and yield. Conventional parallelism alignment, where balls at four corners (or at a three-point support) can be pushed upwards and a height can be repeatedly adjusted by measuring and setting the height, can be time-consuming. Furthermore, while parallelism alignment may be straightforward with a two-axis goniometer, this can be a disadvantage because the goniometer cannot be used for aligning heavy-duty machines or equipment, whereas it can be used for relatively lightweight equipment.

[0003] Patent document 1 discloses a robotic mechanism with two degrees of freedom for implementing the movement of an invertebrate such as a snake by independently rotating two rotating plates. In parallel, patent document 1 discloses that it may be possible to implement a movement similar to that of a snake using a tilt control or a conical motion with a robotic mechanism formed of two rotating plates, but does not present a specific method for shifting the central coordinates or changing the height of the rotating plates.

[0004] (Patent Document 1) US 2015-0047452 Al PRESENTATION OF THE INVENTION

[0005] The present invention aims to solve the problems described above and is to provide a control device for a rotating cylinder that can align horizontally or precisely control a target angle using six cut wheels obliquely (chamfered), and at the same time, adjust a height and position of a rotation axis.

[0006] In order to achieve the objective, the present invention can provide the following control device for a rotating cylinder.

[0007] In one embodiment, the present invention comprises a control device for a rotating cylinder comprising a first rotating unit having a first wheel and a second wheel, of which inclined surfaces having an angle of deflection on the base of each of the base surfaces are arranged to come into contact with each other; a second rotating unit connected to the first rotating unit and comprising a third wheel and a fourth wheel, of which inclined surfaces having an angle of deflection on the base of each of the base surfaces are arranged to come into contact with each other; and a third rotating unit comprising a fifth wheel and a sixth wheel, of which inclined surfaces having an angle of deflection on the base of each of the base surfaces are arranged to come into contact with each other, in which the first to sixth wheels are arranged in sequence in one direction;a drive unit independently driving the first through sixth wheels; a memory storing a command performing an operation; and a processor connected to the memory and the drive unit to execute the command, wherein the operation rotates at least one of the first through sixth wheels to command the drive unit so that an angle of inclination of the rotating cylinder, an angle of inclination of the base surface of the sixth wheel relative to the base surface of the first wheel, or a position of the base surface of the sixth wheel relative to the base surface of the first wheel is adjusted to a predefined target value.

[0008] In one embodiment, in the rotating cylinder, the first to sixth wheels can be arranged sequentially in a direction, wherein the second and third wheels can be arranged so that their base surfaces are adjacent and parallel to each other, and the fourth and fifth wheels can be arranged so that their base surfaces are adjacent and parallel to each other, and wherein the first and second wheels can have the same first center of rotation and can be arranged to be rotating relative to each other, the third and fourth wheels can have the same second center of rotation and can be arranged to be rotating relative to each other, and the fifth and sixth wheels can have the same third center of rotation and can be arranged to be rotating relative to each other.

[0009] In one embodiment, the operation can control the drive unit to correct the tilt angle of the rotating cylinder, and, while maintaining the adjusted tilt angle of the rotating cylinder, can rotate a plurality of wheels among the first to sixth wheels to correct a coordinate among an X coordinate, a Y coordinate or a Z coordinate of a second reference point of the rotating cylinder at which the axes of rotation of the fifth and sixth wheels intersect.

[0010] In one embodiment, in a process of correcting a coordinate among the X coordinate, the Y coordinate or the Z coordinate of the second reference point, the operation may involve the rotation of at least one of the first to sixth wheels, to correct again a modified coordinate by modifying one of the remaining coordinates by returning it to an initial position.

[0011] In one embodiment, after performing a mathematical calculation to correct one coordinate from the X coordinate, the Y coordinate or the Z coordinate of the second reference point, the operation may include performing a mathematical calculation to correct a first remaining coordinate from among these, and then performing a mathematical calculation to correct a second remaining coordinate from among these. Brief description of the drawings

[0012] The aspects, features, advantages and other aspects of the present invention will be more clearly understood upon reading the following detailed description, taken together with the accompanying drawings, in which:

[0013] [Fig-1] [Fig.2] Figs.1 and 2 are plan views of a rotating cylinder formed of two wheels, when viewed from a second direction.

[0014] [Fig.3] The [Fig.3] is a schematic perspective view of a rotating cylinder formed of two wheels.

[0015] [Fig.4A] [Fig.4B] Fig.4A and 4B are views illustrating changes in the angle of inclination of the rotating cylinder, as a function of a rotation of the wheels on the [Fig.3].

[0016] [Fig.5A] [Fig.5B] Fig.5A and 5B are schematic plan views illustrating changes in an orthogonal coordinate system, as a function of a rotation of a first wheel or a second wheel, when viewed in a first direction.

[0017] [Fig.6] The [Fig.6] is a schematic plan view of a control device for a rotating cylinder according to an embodiment of the present invention.

[0018] [Fig.7] The [Fig.7] is a functional diagram of a computer device which can implement, in whole or in part, a control device for a rotating cylinder according to an embodiment of the present invention.

[0019] [Fig.8A] [Fig.8B] [Fig.9A] [Fig.9B] Figs.8A, 8B, 9A and 9B schematically illustrate usage state diagrams of a control device for a rotating cylinder according to an embodiment of the present invention.

[0020] [Fig. 10] The [Fig. 10] is a schematic plan view of a control device for a rotating cylinder according to another embodiment of the present invention.

[0021] [Fig. 11] [Fig. 12] Figs. 11 and 12 schematically illustrate state-of-use diagrams of a control device for a rotating cylinder according to another embodiment of the present invention. DETAILED DESCRIPTION

[0022] Specific embodiments of the present invention will be described below with reference to the accompanying drawings. However, the idea of ​​the present invention is not limited to the embodiments presented, and a person skilled in the art who understands the idea of ​​the present invention may readily propose other retrograde inventions or other embodiments included within the scope of the idea of ​​the present invention by adding, modifying, or deleting other components within the scope of the same idea, but this may also be included within the scope of the idea of ​​the present invention.

[0023] Furthermore, throughout the description, the term "connected" to another component means not only a case in which these components are "directly connected" to each other, but also a case in which these components are "indirectly connected" to each other with another component interposed between them. In addition, "including" or "comprising" a component means that other components may be included instead of excluding other components, unless specifically stated otherwise.

[0024] Furthermore, components having the same function within the framework of the same idea illustrated on the drawings of each embodiment can be described using the same reference numbers.

[0025] A control device for a rotating cylinder according to an embodiment of the present invention and a method for controlling flatness using it can control the flatness of a rotating cylinder formed of three wheels. Before explaining the control device and the method for controlling a rotating cylinder according to an embodiment of the present invention, a method for controlling a rotating cylinder formed of two wheels will first be explained with reference to [Fig. 1] to [Fig. 5]. In addition, a method for controlling a rotating cylinder described with reference to [Fig. 1] to [Fig. 5] can be supported by a description of KR 10-2024-0054461 filed by the applicant of the present invention.

[0026] Figs. 1 and 2 are views illustrating a rotating cylinder formed of two wheels.

[0027] More specifically, [Fig. 1] and [Fig. 2] are plan views of a rotating cylinder 100 formed of two wheels, when viewed from a second direction, and more particularly, are plan views of a rotating cylinder 100 in which an angle The deflection angle of a first wheel 110 and the deflection angle of a second wheel 120 are equal when viewed from the second direction.

[0028] In the description of the present invention, the rotating cylinder 100 may designate a rotating cylinder cut obliquely and comprising two rotating wheels. Furthermore, in the description of the present invention, a first direction 11 may designate a height direction in the drawings and a direction in which the first wheel 110 and the second wheel 120 are stacked, and a second direction 12 and a third direction 13 may designate directions perpendicular to the first direction 11, and directions parallel to a horizontal plane, and the second direction 12 and the third direction 13 may be directions perpendicular to each other.

[0029] The rotating cylinder 100 may include a first wheel 110 and a second wheel 120, each having an inclined surface (111 and 121) formed at a deflection angle (w) with respect to the horizontal plane. In this case, the first wheel 110 and the second wheel 120 may be arranged so that their respective inclined surfaces 111 and 121 are in contact with each other and may have a shape in which inclined surfaces of a cylinder are arranged so as to face each other. The inclined surface 111 of the first wheel 110 may form a first deflection angle w1 with a first base surface 110a of the first wheel 110, and the inclined surface 121 of the second wheel 120 may form a second deflection angle w2 with a second base surface 120a of the second wheel 120.In this case, the first wheel 110 and the second wheel 120 can rotate independently, and a center of rotation of the first wheel 110 and a center of rotation of the second wheel 120 can be provided to be identical. For example, the first wheel 110 and the second wheel 120 can have axes of rotation 110c and 120c, perpendicular to their respective base surfaces 110a and 120a, and a first axis of rotation 110c of the first wheel 110 and a second axis of rotation 120c of the second wheel 120 can be provided to face the same center of rotation. In this case, a rotation angle can be defined on the basis of a phase of the first wheel 110 in this description, for example, a rotation angle of the first wheel 110 can be 0°, and a rotation angle of the second wheel 120 can be an angle whose rotation is based on the first wheel 110, for example, 180°.

[0030] As illustrated in [Fig. 1] and 2, the first deflection angle wl and the second deflection angle w2 can be equal to each other. In this case, when the rotating cylinder 100 is in equilibrium, the first base surface 110a and the second base surface 120a can be parallel to each other, and can be aligned to be parallel to the horizontal plane, thus allowing horizontal alignment.

[0031] As illustrated in [Fig. 1], the rotating cylinder 100 can be arranged so that, when viewed from the second direction, an end portion of the first wheel 110 is located on one side of the third direction, and an end portion of the second wheel 120 is located on the other side in the third direction. In the description of the present invention, a reference position of the first wheel 110 can be set so that an end portion is located on one side of the third direction, and in this case, a phase of the first wheel 110 can be set to 0°. Conversely, a reference position of the second wheel 120 can be set so that an end portion located opposite an end portion of the first wheel 110 is located on the other side of the third direction, and in this case, a phase of the second wheel 120 can be set to 180°.For example, when a phase difference between the first wheel 110 and the second wheel 120 is 180°, the rotating cylinder 100 can be aligned horizontally, and as illustrated in [Fig.2], when the phase difference between the first wheel 110 and the second wheel 120 is 0°, the rotating cylinder 100 can have an angle of inclination, equal to a sum of the first deflection angle wl and the second deflection angle w2.

[0032] For example, the rotating cylinder 100 formed of two wheels having the deflection angle w can align a flatness by using a value of modification of the angle of inclination of the first base surface 110a to be modified, as a function of a rotation of the first wheel 110 and the rotation of the second wheel 120, and can be applied equally to the cases where the first deflection angle wl and the second deflection angle w2 are identical and different.

[0033] Fig. 3 and Figs. 4A and 4B are views illustrating changes in the angle of inclination of a rotating cylinder 100 according to the rotation of one of the two wheels, as described in Figs. 1 and 2. More specifically, Fig. 3 is a schematic perspective view of a rotating cylinder formed of two wheels, and Figs. 4A and 4B illustrate changes in the angle of inclination of the rotating cylinder, as a function of a rotation of the wheels on Fig. 3.

[0034] A method for controlling a rotating cylinder may include a first wheel 110 and a second wheel 120, in which an inclined surface (111 and 121) is formed at a deflection angle (wl and w2) on the basis of a base surface (110a and 120a), and may control a rotating cylinder 100 arranged so that the inclined surface 111 of the first wheel 110 and the inclined surface 121 of the second wheel 120 are in contact, and more specifically, may change an angle of inclination of the rotating cylinder 100, as a function of a rotation of the first wheel 110 and the rotation of the second wheel 120.

[0035] In this case, the rotating cylinder 100 can define a virtual orthogonal coordinate system, and in the description of the present invention, a modification The angle of inclination can denote a change in an orthogonal coordinate system. More specifically, the virtual orthogonal coordinate system can be set on the base surface 110a of the first wheel 110 or on the first base plate 131, and change values ​​of an X-axis inclination angle and a Y-axis inclination angle of the rotating cylinder 100 can mean change values ​​of an X-axis and a Y-axis of the virtual orthogonal coordinate system in the first direction 11.

[0036] In this case, the method for controlling a rotating cylinder can rotate the first wheel 110 and the second wheel 120 by a first angle of rotation g and a second angle of rotation , respectively, to effect a modification so as to obtain a tilt angle about the X-axis and a tilt angle about the Y-axis of the rotating cylinder 100 to be targeted, and can be applied even when the direction of rotation of the first wheel 110 and the direction of rotation of the second wheel 120 are different from each other. The following description can be based on the assumption that the direction of rotation of the first wheel 110 and the direction of rotation of the second wheel 120 are identical.

[0037] Fig. 4A is a schematic perspective view illustrating a state in which a second wheel 120 rotates 10° clockwise in a rotating cylinder 100 according to an embodiment of the present invention, and Fig. 4B is a schematic perspective view illustrating a state in which a first wheel 110 rotates 10° clockwise in a rotating cylinder 100 according to an embodiment of the present invention.

[0038] As illustrated in [Fig. 4A], when the second wheel 120 rotates 10° clockwise, the X-axis tilt angle and the Y-axis tilt angle of the rotating cylinder 100 can have a tilt angle (-) with respect to the third direction 13. As illustrated in [Fig. 4B], when the first wheel 110 rotates 10° clockwise, the X-axis and Y-axis tilt angles of the rotating cylinder 100 can have a tilt angle (+) with respect to the third direction 13.

[0039] For example, when the first wheel 110 or the second wheel 120 rotates clockwise, the inclination angles of the X-axis and Y-axis of the rotating cylinder 100 can change to (-) or (+) with respect to the third direction 13. In the rotating cylinder 100 according to an embodiment of the present invention, when the first wheel 110 and the second wheel 120 rotate in the same direction at the same angle, the inclination angles of the X-axis and Y-axis of the rotating cylinder 100 can be identical to an initial state. For example, in a horizontally aligned state as illustrated in [Fig. 3], when the first wheel 110 and the second wheel 120 rotate in If rotated clockwise at the same angle, the rotating cylinder can return to the horizontally aligned state.

[0040] In this case, the method for controlling a rotary cylinder can apply a relationship between a change value Cl of the X-axis tilt angle of the rotary cylinder 100 and a change value C2 of the Y-axis tilt angle of the rotary cylinder 100 to a trigonometric function. More specifically, given that the X-axis and Y-axis have a 90° difference, the change value Cl of the X-axis tilt angle can apply a cosine function to the deflection angle w1 of the first wheel 110, and the change value C2 of the Y-axis tilt angle can apply a sine function to the deflection angle w2 of the second wheel 120.

[0041] Figures 5A and 5B are schematic plan views illustrating changes in an orthogonal coordinate system as a function of a rotation of a first wheel 110 or a second wheel 120, when viewed in a first direction. More specifically, Figure 5A is a schematic plan view illustrating the shift in coordinates when the first wheel 110 rotates clockwise about q, and Figure 5B is a schematic plan view illustrating the shift in coordinates when the second wheel 120 rotates clockwise about g. In this case, the first wheel 110 and the second wheel 120 can be explained on the basis of the assumption that they have a phase difference of 180°.

[0042] When the first wheel 110 rotates counterclockwise by g, the tilt angle of the X-axis after rotation can be expressed by θcos, and the tilt angle of the Y-axis after rotation can be expressed by θcos. When the first wheel 110 rotates counterclockwise by q, g can have a value between 90° and 180° based on a phase of the first wheel 110, so cos can have a value (+). In fact, when the first wheel 110 rotates clockwise by @, the change values ​​of the tilt angles of the X-axis and Y-axis of the rotating cylinder must have a value (+), so the change value of the tilt angle of the X-axis can be expressed by θ(+cos θ).

[0043] Similarly, as illustrated in FIG. 5B, in a state in which the first wheel 110 is fixed, when the second wheel 120 rotates clockwise around g, the X axis and the Y axis can also rotate counterclockwise around g.

[0044] In this case, a change value Cl of the X-axis tilt angle of the rotating cylinder 100 can be calculated as a sum of the change values ​​of the X-axis tilt angles of each of the first wheel 110 and the second wheel 120, and a modification value C2 of the Y-axis tilt angle of the rotating cylinder 100 can be calculated as a sum of the modification values ​​of the Y-axis tilt angles of each of the first wheel 110 and the second wheel 120. For example, the modification value Cl of the X-axis tilt angle of the rotating cylinder 100 can be col- cos0i+co2- cos02, and the modification value C2 of the Y-axis tilt angle of the rotating cylinder can be -F ô>3 • »0,.

[0045] Therefore, a first angle of rotation and a second angle of rotation according to the value of modification Cl of the angle of inclination of axis X and of the value of modification C2 of the angle of inclination of axis Y of the rotating cylinder can be calculated by the following mathematical formulas a and b.

[0046] Mathematical formula a

[0047] Cl=col-cos0i+co2-cos02

[0048] Mathematical formula b C2 ~ «A - 4- ^2 '

[0049] In this case, y,, is a first angle of rotation, g, is a second angle of rotation, is a deflection angle of the first wheel, w2 is a deflection angle of the second wheel, ci is a value of modification of an angle of inclination of axis X and C2 is a value of modification of an angle of inclination of axis Y.

[0050] In this case, when the deflection angles wl and w2 are equal to each other, the first rotation angle g and the second rotation angle may have one solution, and when the deflection angles wl and w2 are different from each other, the first rotation angle g.* and the second rotation angle may have two pairs of solutions.

[0051] The mathematical formulas a and b above can be applied when a positive direction of the X-axis, 0°, is defined as a reference axis for one phase of the first wheel 110, as in [Fig. 5A], and when the second wheel 120 has a phase difference of 180° with respect to the first wheel 110, as in [Fig. 5B]. Conversely, when the positive direction of the X-axis, 0°, is defined as the reference axis for one phase of the second wheel 120, and the first wheel 110 has a phase difference of 180° with respect to the second wheel 120, the first rotation angle 01 and the second rotation angle 02 can be calculated using the following mathematical formulas a-1 and b-1.

[0052] Mathematical formula a-1

[0053] Cl=col-cos0i+co2-cos02

[0054] Mathematical formula b-1

[0055] C2=col-sin0i+co2-sin02

[0056] In this case, 0i is a first angle of rotation, 02 is a second angle of rotation, col is a deflection angle of the first wheel, co2 is a deflection angle of the second wheel, Cl is a value of modification of an angle of inclination of axis X, C2 is a value of modification of an angle of inclination of axis Y. This is only a change of sign depending on the setting of the reference position.

[0057] Using mathematical formulas a and b, a range of the change value Cl of the X-axis tilt angle and a range of the change value C2 of the Y-axis tilt angle of the rotating cylinder can be calculated from the first deflection angle wl and the second deflection angle w2. More precisely, when mathematical formulas a and b can be squared and added, Ci2 C22 can be expressed by the mathematical formula c below.

[0058] Mathematical formula c €X2 A €22 — 4 t 2&*W2 '

[0059] In this case, A is a first angle of rotation, g is a second angle of rotation, is a deflection angle of the first wheel, w2 is a deflection angle of the second wheel, ci is a value of modification of an angle of inclination of axis X and C2 is a value of modification of an angle of inclination of axis Y.

[0060] In this case, given that a value can be determined from -1 to +1, A range of the change value Cl of the X-axis tilt angle and a range of the change value C2 of the Y-axis tilt angle of the rotating cylinder can be calculated by the mathematical formula d below.

[0061] Mathematical formula (d)

[0062] In this case, y-1 is a deflection angle of the first wheel, is a deflection angle of the second wheel, ci is a value of modification of an angle of inclination of axis X and o is a value of modification of an angle of inclination of axis Y.

[0063] For example, when the first deflection angle wl of the first wheel 110 is 5°, the second deflection angle w2 of the second wheel 120 is 10°, and a target change value of the Y-axis tilt angle of the rotating cylinder 100 is 0°, a range of a target change value of the X-axis tilt angle of the rotating cylinder 100 can be from 5° to 15°.

[0064] For example, the method for controlling a rotating cylinder formed of two wheels can align a horizontal position or can perform a control so as to obtain a target angle of inclination by rotating at least one of the first wheel 110 or of the second wheel 120, but as described above, a range of a change in the angle of inclination can be limited to a value calculated by the mathematical formula c, depending on the deflection angle wl and w2. Furthermore, the rotating cylinder 100 formed by two wheels may have a drawback in that a height, which can be a distance in the first direction 11 from the ground to a coordinate center of the first wheel 110, cannot be adjusted.

[0065] The present invention recognizes the problems, and proposes a control device for a rotating cylinder that can align a horizontal or precisely control a target angle using six obliquely cut (chamfered) wheels, and at the same time adjust a height and position of a rotation axis, and a method of flatness control using it.

[0066] Fig. 6 is a schematic plan view of a control device 1 for a rotating cylinder according to an embodiment of the present invention.

[0067] A control device 1 for a rotary cylinder according to an embodiment of the present invention may comprise a rotary cylinder 200 having a first rotary unit 201 and a second rotary unit 202. The first rotary unit 201 may comprise a first wheel 210 and a second wheel 220, having deflection angles w1 and w2, and the second rotary unit 202 may comprise a third wheel 230 and a fourth wheel 240, having deflection angles w3 and w4. In addition, the control device 1 for a rotary cylinder according to an embodiment of the present invention may comprise a drive unit 300 for independently driving the first through fourth wheels 210, 220, 230, and 240, a base unit 400, and a support unit 500.

[0068] The first to fourth wheels 210, 220, 230 and 240 can be arranged in sequence from a ground. In this case, the first wheel 210 can be formed so that a first base surface 210a and a first inclined surface 211 forming a first deflection angle w1 on the base of the first base surface 210a are opposite each other, and the second wheel 220 can be formed so that a second base surface 220a and a second inclined surface 221 forming a second deflection angle w2 on the base of the second base surface 220a are opposite each other, and the first wheel 210 and the second wheel 220 can be arranged so that the first and second inclined surfaces 211 and 221 are in contact with each other.Similarly, the third wheel 230 can be formed so that a third base surface 230a and a third inclined surface 231 forming a third deflection angle w3 on the base of the third base surface 230a are opposite each other, and the fourth wheel 240 can be formed so that a fourth base surface 240a and a fourth inclined surface 241 forming a fourth deflection angle w4 on the fourth base surface 240a are opposite. one to the other, and the third wheel 230 and the fourth wheel 240 can be arranged so that the third and fourth inclined surfaces 231 and 241 are in contact with each other.

[0069] The first rotating unit 201 and the second rotating unit 202 can be provided to be connected to each other. More specifically, the second wheel 220 and the third wheel 230 can be provided so that the second and third base surfaces 220a and 230a are in contact with each other, and the first wheel 210 and the second wheel 220 can be arranged to be arranged in rotation with respect to each other, with the same first center of rotation RC1 on the first and second inclined surfaces 211 and 221, and the third wheel 230 and the fourth wheel 240 can be arranged to be arranged in rotation, with the same second center of rotation RC2 on the third and fourth inclined surfaces 231 and 241.In the description of the present invention, being arranged in contact with each other can not only refer to a case in which surfaces are in direct contact with each other, but can also refer to a case in which surfaces are not in direct contact but connected to each other or in contact with each other through other elements.

[0070] The drive unit 300 can independently drive the first through fourth wheels 210, 220, 230, and 240, respectively. The base unit 400 can include a first base plate 410 fixedly installed on the base surface 210a of the first wheel 210 to be connected to the first wheel 210, a second base plate 420 fixedly installed on the base surface 220a of the second wheel 220 to be connected to the second wheel 220, a third base plate 430 fixedly installed on the base surface 230a of the third wheel 230 to be connected to the third wheel 230, and a fourth base plate 440 fixedly installed on the base surface 240a of the fourth wheel 240 to be connected to the fourth wheel 240.In this case, the second wheel 220 and the third wheel 230 can be arranged so that the base surfaces 220a and 230a are in contact with each other, which can be achieved by the second base plate 420 and the third base plate 430 being in contact with each other. The first to fourth base plates 410, 420, 430 and 440 can be fixed so as not to rotate, and the angles of inclination of the first to fourth base plates 410, 420, 430 and 440 can be changed, depending on the rotation of the first to fourth wheels 210, 220, 230 and 240.

[0071] More specifically, the drive unit 300 may include a first driving gear 310 disposed on a surface of the first base plate 410 and a first drive motor 311 connected to the first driving gear 310, a second driving gear 320 disposed on a surface of the second base plate 420 and a second drive motor 321 connected to the second driving gear 320, a third driving gear 330 disposed on a surface of the third base plate 430 and a third drive motor 331 connected to the third driving gear 330, and a fourth driving gear 340 disposed on a surface of the fourth base plate 440 and a fourth drive motor 341 connected to the fourth driving gear 340. The first to fourth drive motors 311, 321, 331 and 341 can be provided to be driven independently, thus allowing the first to fourth wheels 210, 220, 230 and 240 to rotate independently. For example, the first through fourth drive motors 311, 321, 331 and 341 may have a driving gear (not shown) installed inside intended to rotate while engaging with the first through fourth driving gears 310, 320, 330 and 340, respectively.

[0072] In addition, the drive unit 300 may include a first drive shaft 312 disposed in the first wheel 210 and connected to the first driving gear 310 to rotate the first wheel 210, a second drive shaft 322 disposed in the second wheel 220 and connected to the second driving gear 320 to rotate the second wheel 220, a third drive shaft 332 disposed in the third wheel 230 and connected to the third driving gear 330 to rotate the third wheel 230, and a fourth drive shaft 342 disposed in the fourth wheel 240 and connected to the fourth driving gear 340 to rotate the fourth wheel 240.

[0073] In addition, the drive unit 300 may include first and second connecting members 312a and 322a connecting the first drive shaft 312 and the second drive shaft 322, and third and fourth connecting members 332a and 342a connecting the third drive shaft 332 and the fourth drive shaft 342. The first through fourth connecting members 312a, 322a, 332a, and 342a may be rotationally connected to the first through fourth drive shafts 312, 322, 332, and 342. For example, even when the first and second drive shafts 312 and 322 are connected by the first and second connecting members 312a and 322a, rotational power from the first drive shaft 312 may not be transmitted to the second drive shaft 322, and the First to fourth drive shafts 312, 322, 332, and 342 can be connected in order to connect base plates 410, 420, 430, and 440.If necessary, the drive shafts may not be connected, and a separate connecting shaft from the base plates 410, 420, 430, and 440 may be provided. In this case, the first to fourth connecting members 312a, 322a, 332a, and 342a may be universal joints, as illustrated in the drawings, but, unlike this, may be formed of a flexible material, or helical joints or similar may be used, without limitation, as long as the connection is . maintained even when a position or angle of a rotation axis is modified, depending on a rotation of each of the 210, 220, 230 and 240 wheels, and similar.

[0074] The support member 500 can be disposed at a point where the first and second drive shafts 312 and 322 meet or at a point where the third and fourth drive shafts 332 and 342 meet, and can comprise a first support member 510 installed on the first wheel 210, a second support member 520 installed on the second wheel 220, a third support member 530 installed on the third wheel 230 and a fourth support member 540 installed on the fourth wheel 240.The first to fourth support members 510, 520, 530 and 540 can support the first to fourth wheels 210, 220, 230 and 240 so that they rotate without slipping, and the first and second support members 510 and 520 can have a hemispherical cut centered on a surface in which the first wheel 210 and the second wheel 220 are in contact with each other, and the third and fourth support members 530 and 540 can have a hemispherical cut centered on a surface in which the third wheel 230 and the fourth wheel 240 are in contact with each other.

[0075] A control device 1 for a rotating cylinder according to an embodiment of the present invention can be controlled by a computer device 600 illustrated in [Fig. 7]. As illustrated in [Fig. 7], the computer device 600 can include at least one processor 601, a computer-readable storage medium 602, and a communication bus 603. In this case, the control device 1 for a rotating cylinder according to an embodiment of the present invention can include a memory storing instructions for performing operations, and the processor 601 controlling the drive unit 300 to rotate at least one of the first through fourth wheels 210, 220, 230, and 240 by executing the instructions to adjust a tilt angle to a predefined target value.

[0076] The processor 601 can cause the computing device 600 to operate according to the embodiment mentioned above. For example, the processor 601 can execute one or more programs stored in the computer-readable storage medium 602. The one or more programs may include one or more computer-executable instructions which, when executed by the processor 601, can be configured to cause the computing device 600 to perform operations according to the embodiments.

[0077] The computer-readable storage medium 602 can be configured to store computer-executable instructions, such as program code, program data, and / or other appropriate forms of information. A program 602a stored on the computer-readable storage medium 602 can include a set of instructions executable by the processor 601. In a mode of In implementation, the computer-readable storage medium 602 may be memory (volatile memory, such as RAM, non-volatile memory, or an appropriate combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or any other form of storage medium that can be accessed by the computing device 600 and is capable of storing desired information, or an appropriate combination thereof.

[0078] The communication bus 603 can interconnect various other components of the computer device 600, including the processor 601 and the computer-readable storage medium 602.

[0079] The computer device 600 may also include one or more input / output interfaces 605 providing interfaces for one or more input / output devices 604, and one or more network communication interfaces 606. The input / output interfaces 605 and the network communication interfaces 606 may be coupled to the communication bus 603.

[0080] The input / output devices 604 can be connected to other components of the computing device 600 via the input / output interfaces 605. Examples of the input / output devices 604 may include input devices such as pointing devices (such as a mouse or touchpad), keyboards, touch input devices (such as a touchpad or touchscreen), voice or sound input devices, various types of sensing devices, and / or photographic devices, and / or output devices such as display devices, printers, speakers, and / or network cards. The input / output device examples 604 may be included in the computing device 600 as a constituent component of the computing device 600, or may be connected to the computing device 600 as a separate device distinct from the computing device 600.

[0081] Thus, a control device 1 for a rotating cylinder according to an embodiment of the present invention can adjust the tilt angle of the rotating cylinder 200 by rotating the first through fourth wheels 210, 220, 230, and 240, and, in this case, the tilt angle of the rotating cylinder 200 can refer to the tilt angle of the fourth base plate 440 located in its highest part. Since a control device 1 for a rotating cylinder according to an embodiment of the present invention can control the tilt angle through surface contact of the rotating cylinder 200, the tilt angle control of a material with a high load can be more precise than tilt angle control through point contact. Furthermore, a control device 1 for a rotating cylinder according to an embodiment of the present invention can rotate an object by an angle placed on the fourth base plate 440 as desired, and can thus be applied to robotic arms, artificial joints or similar.

[0082] Furthermore, in a process of controlling the tilt angle by the processor 601, a control device 1 for a rotating cylinder according to an embodiment of the present invention can set the virtual X-axis and the virtual Y-axis as an orthogonal coordinate system on the base surface 220a of the second wheel 220 located in an upper part of the first rotating unit 201 and the base surface 240a of the fourth wheel 240 located in an upper part of the second rotating unit 202, can input values ​​for modifying the tilt angles of the X-axis and Y-axis of at least one of the preset first rotating unit 201 or the preset second rotating unit 202 to calculate rotation angles of the first to fourth wheels 210, 220, 230 and 240 according to the following mathematical formulas 1 and 2, and can rotate at least one of the first to fourth wheels 210, 220, 230 and 240 depending on the calculated rotation angles,to control the tilt angle of the rotating cylinder 200. As described above, the tilt angle of the rotating cylinder 200 can refer to the tilt angle of the fourth wheel 240 located in its highest part.

[0083] Mathematical formula 1 Cx1 - tül-cosO, + 0)2-cosQ2, Cx2 - û)3-cos93 + œ4-cos04

[0084] Mathematical formula 2

[0085] In this case, 6, 5, and 6 are the counterclockwise rotation angles of the first to fourth wheels, respectively; 6, 5, and 6 are the deflection angles of the first to fourth wheels, respectively; crs is a change in the X-axis tilt angle of the first rotating unit; 1 is a change in the Y-axis tilt angle of the first rotating unit; Cy is a change in the X-axis tilt angle of the second rotating unit; and 2 is a change in the Y-axis tilt angle of the second rotating unit. In this case, mathematical formulas 1 and 2 can be explained by mathematical formulas a and b described above.

[0086] Figures 8A, 8B, 9A, and 9B schematically illustrate operating state diagrams of a control device 1 for a rotating cylinder according to an embodiment of the present invention. More specifically, Figure 8A is a conceptual diagram illustrating a first state in which a horizontal axis of the rotating cylinder 200 is aligned, and Figure 8B is a conceptual diagram illustrating a second state after coordinate correction of the first reference point on Figure 8A. Furthermore, [Fig.9A] is a conceptual diagram illustrating [Fig.8A] viewed in the first direction 11, and [Fig.9B] is a conceptual diagram illustrating [Fig.8B] viewed in the first direction 11. Below, a control device 1 for a rotating cylinder according to an embodiment of the present invention will be described with reference to [Fig.8A], 8B, 9A and 9B, and [Fig.6] and 7 will be described together.

[0087] A control device 1 for a rotating cylinder according to an embodiment of the present invention can correct the coordinates of a first reference point while maintaining an inclination angle of a rotating cylinder 200 adjusted in a process of controlling an inclination angle by a processor 601. In the description of the present invention, the first reference point can designate a point where a third axis of rotation 230c and a fourth axis of rotation 240c intersect.

[0088] A control device 1 for a rotating cylinder according to an embodiment of the present invention can correct the coordinates Tl of the first reference point of the rotating cylinder 200 in which the rotation axes 230c and 240c of the third and fourth wheels intersect while maintaining the tilt angle of the rotating cylinder 200 adjusted by the processor 601. In the description of the present invention, rotation axes 210c, 220c, 230c and 240c of the first to fourth wheels can designate a line, from and perpendicular to a surface of the base plate 410, 420, 430 and 440 of each of the wheels to the centers of rotation RC1 and RC2 of each of the wheels.For example, a third rotation axis 230c, which may be a rotation axis of a third wheel 230, may designate a line going from a third base surface 230a to a second center of rotation RC2, and a fourth rotation axis 240c, which may be a rotation axis of a fourth wheel 240, may designate a line going from a fourth base surface 240a to the second center of rotation RC2. In this case, a length of a first rotation axis 210c and a length of a second rotation axis 220c may be identical, and in the mathematical formula described below, a rotation axis length H1 of a first rotating unit 201 may designate either the length of the first rotation axis 210c or the length of the second rotation axis 220c.Similarly, a third axis of rotation length 230c and a fourth axis of rotation length 240c can be identical, and in the mathematical formula described below, an axis of rotation length H2 of a second rotating unit 202 can denote either a third axis of rotation length 230c or a fourth axis of rotation length 240c.

[0089] With reference to [Fig. 8A] and [Fig. 9A], the tilt angle of the rotating cylinder 200 may be in a state in which the tilt angles of the X-axis and Y-axis are 0° and are horizontally aligned, but an X coordinate of the first reference point T1 may be at a position of -10.4 mm relative to an origin. In this case, the The processor 601 can rotate at least one of the first four wheels 210, 220, 230, and 240 so that the X coordinate of the first reference point Tl reaches the origin. Therefore, as illustrated in [Fig. 8B] and [Fig. 9B], the tilt angle of the rotating cylinder 200 can be in a state where the tilt angles of the X and Y axes are 0° and are horizontally aligned, and at the same time, an X and a Y coordinate of the first reference point Tl can be located at an origin. For example, in the process of controlling the tilt angle of the rotating cylinder 200, when the coordinate of the first reference point Tl deviates from a predefined target coordinate, the processor 601 can correct the coordinate of the first reference point Tl by rotating at least one of the first to fourth wheels 210, 220, 230 and 240 while maintaining an adjusted tilt angle.

[0090] Furthermore, although not shown in the drawing, the processor 601 can calculate the angle of rotation of each of the wheels 210, 220, 230, and 240 to correct an X, Y, or Z coordinate of the first reference point Tl while maintaining the adjusted tilt angle. In this case, in a state where a horizontal line is aligned, the Z coordinate of the first reference point Tl can designate a value excluding the length of the rotation axis 240c of the fourth wheel 240 located in its highest part, from a height H, so that the height H described in the table below designates a value of +30 mm from the Z coordinate of the first reference point Tl.

[0091] More specifically, in a process of correcting the coordinates of the first reference point Tl, when the X coordinate of the first reference point Tl moves by AX as a predefined value, the processor 601 can calculate modified X-axis tilt angles of the first rotating unit 201 and the second rotating unit 202 according to the following mathematical formula 3, can input a tilt angle modification value, a difference in values ​​between the calculated X-axis tilt angles of the first rotating unit 201 and the second rotating unit 202 and the actual X-axis tilt angles of the first rotating unit 201 and the second rotating unit 202, into mathematical formula 1, to calculate rotation angles of the first to fourth wheels 210, 220, 230 and 240 and can rotate at least one of the first to fourth wheels 210, 220,230 and 240 depending on the rotation angles calculated to correct the X coordinate of the reference point Tl: ,

[0092] Mathematical formula 3

[0093] In this case, ets are the X-axis tilt angles of the first and second rotating units after correction, and are the current X-axis tilt angles of the first and second rotating units, H1 is a rotation axis length of the first rotating unit and H2 is a rotation axis length of the second rotating unit.

[0094] For example, when the rotating cylinder 200 is formed of four wheels 210, 220, 230 and 240 whose axis of rotation lengths are 30 mm, a first state in which a horizontality is aligned can be expressed in accordance with Table 1 below. [Tables 1] Rotation angle (°) X-axis tilt angle (°) Y-axis tilt angle (°) X coordinate (mm) Y coordinate (mm) Height (mm) Total - 0 0 -10.4 0 119.088 2nd rotary unit -10 0 4th wheel 60 -5 8.66 0 0 30 3rd wheel 300 -5 -8.66 -5.2 0 29.5442 1st rotary unit 10 0 2nd wheel 120 5 8.66 -5.2 0 29.5442 1st wheel 240 5 -8.66 0 0 30

[0095] In this case, when it is desired to move the X coordinate of the first reference point Tl by 1 mm, the processor 601 can calculate the rotation angles of the first to fourth wheels 210, 220, 230 and 240 according to the mathematical formula 3 above, and this can be organized and expressed in accordance with Table 2 below. [Tables2] Rotation angle (°) X-axis tilt angle (°) Y-axis tilt angle (°) X coordinate (mm) Y coordinate (mm) Height (mm) Total - 0 0 -9.4 0 119.25 6 2nd rotary unit -9.04 0 4th wheel 63.15 -4.52 8.92 0 0 30 3rd wheel 296.85 -4.52 -8.92 -4.7 0 29.628 1st rotary unit 9.04 0 2nd wheel 116.85 4.52 8.92 -4.7 0 29.628 1st wheel 243.15 4.52 -8.92 0 0 30

[0096] As illustrated in Table 3 above, a control device 1 for a rotating cylinder according to an embodiment of the present invention can confirm that the length of the height H, i.e. the Z coordinate of the first reference point Tl, is modified when the X coordinate is moved while maintaining the Y coordinate.

[0097] Similarly, in the process of correcting the coordinates of the first reference point Tl by the processor 601, when the Y coordinate of the first reference point Tl is changed from AY to a predefined value, the Y-axis tilt angles of the first rotating unit 201 and the second rotating unit 202 can be calculated according to mathematical formula 4, and the change in tilt angle, which can be the difference in values ​​between the calculated Y-axis tilt angles of the first rotating unit 201 and the second rotating unit 202 and the actual Y-axis tilt angles of the first rotating unit 201 and the second rotating unit 202, can be entered into mathematical formula 2 to calculate the rotation angles of the first to fourth wheels 210, 220, 230 and 240, and at least one of the first to fourth wheels 210, 220,230 and 240 can rotate according to the angle of rotation calculated to correct the Y coordinate of the reference point Tl: ,

[0098] Mathematical formula 4 .....................I'

[0099] In this case, and are the angles of inclination of the Y axis of the first and second rotating units after correction, and are the actual angles of inclination of the Y axis of the first and second rotating units, H1 is a rotation axis length of the first rotating unit and H2 is a rotation axis length of the second rotating unit.

[0100] For example, in the state of Table 2, when it is desired to move the Y coordinate of the first reference point Tl by -1 mm, the processor 601 can calculate the rotation angles of the first to fourth wheels 210, 220, 230 and 240 according to the mathematical formula 4, and this can be arranged and expressed in accordance with Table 3 below. [Tables 3] Rotation angle (°) X-axis tilt angle (°) Y-axis tilt angle (°) X coordinate (mm) Y coordinate (mm) Height (mm) Total - 0 0 -9.4 -1 119.24 8 2nd rotary unit -10 0.95 4th wheel 69.0285 -3.58 9.34 0 0 30 3rd wheel 303.043 -5.45 -8.38 -4.7 -0.5 29.623 9 1st rotary unit 9.03 -0.95 2nd wheel 123.043 5.45 8.38 -4.7 -0.5 29.623 9 1st wheel 249.028 3.58 -9.34 0 0 30

[0101] As illustrated in Table 3 above, a control device 1 for a rotating cylinder according to an embodiment of the present invention can confirm that the length of the height H, i.e. the Z coordinate of the first reference point Tl, is modified when the Y coordinate is moved while maintaining the X coordinate.

[0102] Similarly, in the process of correcting the coordinates of the first reference point Tl by the processor 601, when the Z coordinate of the first reference point Tl is changed from AZ as a predefined value, the X-axis inclination angles of the first rotating unit 201 and the second rotating unit 202 can to be calculated according to the following mathematical formula 5, and the change in tilt angle, which can be the difference in values ​​between the calculated X-axis tilt angles of the first rotating unit 201 and the second rotating unit 202 and the actual X-axis tilt angles of the first rotating unit 201 and the second rotating unit 202, can be entered into mathematical formula 1 to calculate the rotation angles of the first to fourth wheels 210, 220, 230 and 240, and at least one of the first to fourth wheels 210, 220, 230 and 240 can rotate according to the calculated rotation angle to correct the Z coordinate of the reference point:

[0103] Mathematical formula 5 $41 ™

[0104] In this case, and are the X-axis tilt angles of the first and second rotating units after correction, and are the current X-axis tilt angles of the first and second rotating units, H1 is a rotation axis length of the first rotating unit and H2 is a rotation axis length of the second rotating unit.

[0105] For example, in the state of Table 3, when it is desired to move the Z coordinate of the first reference point Tl by -1 mm, the processor 601 can calculate the rotation angles of the first to fourth wheels 210, 220, 230 and 240 according to the mathematical formula 5, and this can be arranged and expressed in accordance with Table 4 below. [Tables 4] Rotation angle (°) X-axis tilt angle (°) Y-axis tilt angle (°) X coordinate (mm) Y coordinate (mm) Height (mm) Total - 0 0 -14.36 -1 118.24 8 2nd rotary unit -13.85 -0.95 4th wheel 42.10 -7.42 6.70 0 0 30 3rd wheel 310.00 -6.43 -7.65 -7.18 -0.5 29.124 1st rotary unit 13.85 0.95 2nd wheel 130.01 6.43 7.65 -7.18 -0.5 29.124 1st wheel 222.11 7.42 -6.70 0 0 30

[0106] As illustrated in Table 3 above, a control device 1 for a rotating cylinder according to an embodiment of the present invention can confirm that the X coordinate of the first reference point Tl is modified when the Z coordinate is moved while maintaining the Y coordinate.

[0107] For example, according to a control device 1 for a rotating cylinder according to an embodiment of the present invention, the tilt angle of the rotating cylinder 200 can be maintained while simultaneously correcting the X, Y, and Z coordinates of the first reference point Tl to achieve any desired value. As described above, when moving any one of the X, Y, or Z coordinates of the first reference point Tl, it is possible that any two of the remaining coordinates will be changed, which can be problematic. For example, as described above, when moving the Y coordinate while maintaining the X coordinate of the reference point Tl, the Z coordinate may be changed.

[0108] In the above, the change of coordinates as a function of the rotations of the wheels of the rotating cylinder can be explained by the mathematical formulas described above, but in addition to the mathematical formulas described above, it is also possible to calculate it by another method, for example, the Euler coordinate transformation.

[0109] For example, the change in coordinates as a function of the rotation of each of the wheels can be calculated from the change across rows and columns of rotation of the X-axis, rotation of the Y-axis and rotation of the Z-axis in three dimensions, and in doing so, it is also possible to calculate a rotation value of each wheel to modify a target reference point in order to move it to a target position.

[0110] Figures 10 to 12 illustrate a control device 2 for a rotating cylinder according to another embodiment of the present invention. More specifically, Figure 10 is a schematic plan view of a control device 2 for a rotating cylinder according to another embodiment of the present invention, and Figures 11 and 12 are state-of-use diagrams of a control device 2 for a rotating cylinder according to another embodiment of the present invention. A control device 2 for a rotating cylinder according to another embodiment of the present invention will be described below with reference to Figures 10 to 12. The same reference numbers may be used for components common to the control device 1 for a rotating cylinder according to an embodiment of the present invention, and differences will be primarily described.

[0111] A control device 2 for a rotating cylinder according to another embodiment of the present invention may further comprise a rotating cylinder 200 having a first rotating unit 201, a second rotating unit 202 and a third rotating unit 203 connected to the second rotating unit 202, and may comprise a drive unit 300, a base unit 400 and a support unit 500. The third rotating unit 203 may comprise a fifth wheel 250 and a sixth wheel 260 arranged so that inclined surfaces 251 and 261 forming deflection angles w5 and w6 on the basis of base surfaces 250a and 260a, respectively, are in contact with each other.In this case, the fifth wheel 250 and the sixth wheel 260 can be arranged sequentially from a ground, in the same way as the first to fourth wheels 210, 220, 230 and 240, and the base surface 250a of the fifth wheel 250 can be arranged to be in contact with a base surface 240a of a fourth wheel 240. In addition, the fifth wheel 250 and the sixth wheel 260 can be arranged in rotation with the same third center of rotation RC3, and the drive unit 300 can independently drive the first to sixth wheels 210, 220, 230, 240, 250 and 260.

[0112] The base unit 400 may include a fifth base plate 450 fixedly installed on the base surface 250a of the fifth wheel 250 to be connected to the fifth wheel 250, and a sixth base plate 460 fixedly installed on the base surface 260a of the sixth wheel 260 to be connected to the sixth wheel 260. In this case, the fifth and sixth wheels 250 and 260 may be arranged so that the base surfaces 250a and 260a are in contact with each other, and more specifically, the fifth base plate 450 and the sixth base plate 460 may be arranged to be in contact with each other. In this case, the first through sixth base plates 410, 420, 430, 440, 450, and 460 may be installed from fixed way so as not to rotate, and the angles of inclination of the first to sixth base plates 410, 420, 430, 440, 450 and 460 can be modified, depending on a rotation of the first to sixth wheels 210, 220, 230, 240, 250 and 260.

[0113] The drive unit 300 may further include a fifth driving gear 350 disposed on a surface of the fifth base plate 450, a fifth drive motor 351 connected to the fifth driving gear 350, a sixth driving gear 360 connected to the sixth base plate 460, and a sixth drive motor 361 connected to the sixth driving gear 360. The fifth and sixth drive motors 351 and 361 may be provided to be driven independently, and thus the fifth and sixth wheels 250 and 260 may also rotate independently. For example, the fifth and sixth drive motors 351 and 361 may have driving gears (not shown) installed inside them for rotating by meshing with the fifth and sixth driving gears 350 and 360, respectively.

[0114] In addition, the drive unit 300 may further comprise a fifth drive shaft 352 disposed inside the fifth wheel 250 and connected to the fifth driving gear 350 to rotate the fifth wheel 250, and a sixth drive shaft 362 disposed inside the sixth wheel 260 and connected to the sixth driving gear 360 to rotate the sixth wheel 260. Furthermore, the drive unit 300 may further comprise fifth and sixth connecting members 352a and 362a connecting the fifth drive shaft 352 and the sixth drive shaft 362, and the fifth and sixth connecting members 352a and 362a may be universal joints, as illustrated in the drawings, but, unlike this, may be formed of a flexible material, or helical joints or the like. The fifth to sixth connecting members 352a and 362a can be rotationally connected to the fifth to sixth drive shafts 352 and 362.For example, even when the fifth and sixth drive shafts 352 and 362 are connected by the fifth and sixth linking members 352a and 362a, rotational power from the fifth drive shaft 352 may not be transmitted to the sixth drive shaft 362, and the fifth and sixth drive shafts 352 and 362 may be connected for the purpose of connecting the base plates 450 and 460. If necessary, the drive shafts may not be connected, and a separate linking shaft for the base plates 450 and 460 may be provided.

[0115] The support member 500 can be disposed at a point where the fifth drive shaft 352 and the sixth drive shaft 362 meet, and can further comprise a fifth support member 550 installed on the fifth wheel 250 and a sixth support member 560 installed on the sixth wheel 260. The fifth support member 550 and the sixth support member 560 can support the fifth wheel 250 and sixth wheel 260 so that they rotate without slipping, and the fifth and sixth support members 550 and 560 may have a hemispherical cutout centered on a surface in which the fifth wheel 250 and sixth wheel 260 are in contact with each other.

[0116] Furthermore, a control device 2 of a rotating cylinder according to another embodiment of the present invention can be controlled by a computer device 600 (see FIG. 8), as illustrated in FIG. 8. The computer device 600 (see FIG. 8) may include at least one processor 601 (see FIG. 8), a computer-readable storage medium 602 (see FIG. 8), and a communication bus 603 (see FIG. 8). In this case, the control device 2 of a rotating cylinder according to another embodiment of the present invention may include a memory for storing instructions, and the processor 601 may control the drive unit 300 to rotate at least one of the first through sixth wheels 210, 220, 230, 240, 250, and 260 by executing instructions to adjust a tilt angle to a predefined target value.

[0117] In this case, in a process for controlling the tilt angle of the rotating cylinder 200, the processor 601 can set the virtual X-axis and virtual Y-axis as an orthogonal coordinate system on the base surface 220a of the second wheel 220 located in an upper part of the first rotating unit 201, the base surface 240a of the fourth wheel 240 located in an upper part of the second rotating unit 202, and the base surface 260a of the sixth wheel 260 located in an upper part of the third rotating unit 203, can input a modification value in the tilt angles of the X-axis and Y-axis of at least one of the first to third rotating units 201, 202 and 203 preset to calculate rotation angles of the first to sixth wheels 210, 220, 230, 240, 250 and 260 according to the following mathematical formulas 6 and 7, and can rotate at least one of the first to sixth wheels 210, 220, 230, 240,250 and 260 depending on the calculated rotation angles, to control the tilt angle: ,

[0118] Mathematical formula 6 Cx1 = œl-cosOj + ûté-cosOg, Cx2 = û}3-cos93 + û)4'COS©4, Cx3 - ùj5-cos05 + cù6-cos06

[0119] Mathematical formula 7 ™ wl ■ 4 , ™ «y 3 - 4» 4

[0120] Where, g, g, ¢, @4, g. and g, are rotation angles (counterclockwise) of the first to sixth wheels, respectively, ws and s are deflection angles of the first through sixth wheels, respectively, is a change in the X-axis tilt angle of the first rotating unit, c is a change in the Y-axis tilt angle of the first rotating unit, is a change in the X-axis tilt angle of the second rotating unit, is a change in the Y-axis tilt angle of the second rotating unit, crs is a change in the X-axis tilt angle of the third rotating unit, and is a change in the Y-axis tilt angle of the third rotating unit. Mathematical formulas 6 and 7 can be explained by mathematical formulas a and b described above.

[0121] Furthermore, the control device 2 of a rotating cylinder according to another embodiment of the present invention can correct a coordinate T2 of the second reference point of the rotating cylinder 200 in which the rotation axes 230c and 240c of the fifth and sixth wheels intersect while maintaining the tilt angle of the rotating cylinder 200 adjusted by the processor 601. In this case, the second reference point T2 can be identical to a third center of rotation RC3.

[0122] In the description of the present invention, rotation axes 250c and 260c of the fifth and sixth wheels may designate a line, from and perpendicular to the base surface 250a and 260a of each wheel to the third center of rotation RC3. For example, a fifth rotation axis 250c, which may be a rotation axis of the fifth wheel 250, may designate a line going from the fifth base surface 250a to the third center of rotation RC3, and a sixth rotation axis 260c, which may be a rotation axis of the sixth wheel 260, may designate a line going from the sixth base surface 260a to the third center of rotation RC3.In this case, a length of the fifth axis of rotation 250c and a length of the sixth axis of rotation 260c can be identical, and in the mathematical formula described below, a length of axis of rotation H3 of the third rotating unit 203 can denote either the length of the fifth axis of rotation 250c, or the length of the sixth axis of rotation 260c.

[0123] For example, the control device 2 of a rotary cylinder according to another embodiment of the present invention, similar to the control device 1 of a rotary cylinder according to an embodiment of the present invention, in the process of controlling the tilt angle of the rotary cylinder 200, when the coordinate of the second reference point T2 deviates from a predefined target coordinate, the processor 601 can maintain the adjusted tilt angle, and, at the same time, can rotate at least one of the first to sixth wheels 210, 220, 230, 240, 250 and 260 to correct one of the X coordinate, Y coordinate or Z coordinate of the second reference point T2. In this case, the Z coordinate of the second point Reference value T2 can designate a value excluding the length H3 of the axis of rotation 260c of the sixth wheel 260 located in a highest part, from a height H of the entire rotating cylinder 200, as illustrated in [Fig.1 1].

[0124] The correction of the coordinates of the second reference point T2 can be carried out by first correcting the X or Y coordinate excluding the Z coordinate, then correcting the Z coordinate, and finally correcting the remaining coordinate. Since calculating a correction for the X or Y coordinate can be relatively easy compared to the Z coordinate, it may be advantageous to correct the X and Y coordinates first and then correct the Z coordinate. Furthermore, even when a correction of all the coordinates is complete, the X or Z coordinate may be modified again due to the correction of the Y coordinate, so the process of correcting the X and Z coordinates and then correcting the Y coordinate can be repeated, and this correction cycle can be carried out repeatedly until it falls within a certain error range.

[0125] Figure 11 illustrates a third state by way of example in which the rotating cylinder 200 is horizontally aligned. In this case, the rotation axis length H1 of the first rotating unit 201 can be 30 mm, the rotation axis length H2 of the second rotating unit 202 can be 50 mm, and the rotation axis length H3 of the third rotating unit 203 can be 30 mm. In the third state, the rotation angles of each of the wheels 210, 220, 230, 240, 250, and 260, and the height of the entire rotating cylinder 200, can be expressed in accordance with Table 5 below. [Tables 5] Rotation angle (°) X-axis tilt angle (°) Y-axis tilt angle (°) X coordinate (mm) Y coordinate (mm) Height (mm) Total - 0 0 0 0 217.56 9 3rd rotary unit 10 0 6th wheel 120 5 8.66 0 0 30 5th wheel 240 5 -8.66 5.21 0 29.544 2 2nd rotary unit -20 0 4th wheel 60 -10 17.32 8.68 0 49.240 4 3rd wheel 300 -10 -17.32 -8.68 0 49.240 4 1st rotary unit 10 0 2nd wheel 120 5 8.66 -5.21 0 29.544 2 first wheel 240 5 -8.66 0 0 30

[0126] Although not shown in the drawings, the processor 601 can rotate at least one of the first to sixth wheels 210, 220, 230, 240, 250 and 260 to correct the X coordinate of the second reference point T2 by +3 mm, and this can be arranged and expressed in accordance with Table 6 below. [Tableauxô] Rotation angle (°) X-axis tilt angle (°) Y-axis tilt angle (°) X coordinate (mm) Y coordinate (mm) Height (mm) Total - 0 0 3 0 217.54 3rd rotary unit 11.092 0 6th wheel 123.686 5.546 8.321 0 0 30 5th wheel 236.314 5.546 -8.321 5.772 0 29.439 5 2nd rotary unit -20.004 0 4th wheel 69.994 -10.002 17.319 9.620 0 49.065 8 3rd wheel 300.006 -10.002 -17.319 -7.745 0 49.396 5th rotary unit 8.911 0 2nd wheel 116.458 4.455 8.953 -4.647 0 29.637 9th wheel 243.542 4.455 -8.953 0 0 30

[0127] As described in Table 6, according to the control device 2 of a rotating cylinder according to another embodiment of the present invention, when one of the X, Y, or Z coordinates of the second reference point T2 moves, the remaining coordinates can be changed. Therefore, the control device 2 of a rotating cylinder according to another embodiment of the present invention can rotate at least one of the first through sixth wheels 210, 220, 230, 240, 250, and 260 to correct the changed coordinate back to its initial position when the value of one of the remaining coordinates can be changed, in a process of correcting one of the X, Y, or Z coordinates of the second reference point T2.Therefore, the control device 2 of a rotating cylinder according to another embodiment of the present invention can move only one of the X coordinate, the Y coordinate or the Z coordinate of the second reference point T2 and keep the rest fixed.

[0128] More specifically, in a process of correcting the coordinates of the second reference point T2, when the X coordinate of the second reference point T2 moves by AX as a predefined value, the processor 601 can calculate the X-axis tilt angles of the first to third rotating units 201, 202 and 203 according to the following mathematical formulas 8 to 11, can repeatedly perform the calculation until the calculated X-axis tilt angles of the first to third rotating units 201, 202 and 203 satisfy the following mathematical formula 11, can input a tilt angle modification value, a difference in values ​​between the finally calculated X-axis tilt angles of the first to third rotating units 201, 202 and 203 and the current X-axis tilt angles of the first to third rotating units 201, 202 and 203,in the following mathematical formula 6 to calculate the rotation angles of the first to sixth wheels 210, 220, 230, 240, 250 and 260, and can rotate at least one of the first to sixth wheels 210, 220, 230, 240, 250 and 260 according to the rotation angles calculated to correct the X coordinate of the second reference point T2: ,

[0129] Mathematical formula 8

[0130] Mathematical formula 9

[0131] Mathematical formula 10 441 + ■h 44 a “ 0

[0132] Mathematical formula 11 K / A 4' / / 2) ' F ( / O 4' ™ AX| <T

[0133] In this case, and , are angles of inclination about the X-axis of the first to third rotating units after correction, and . are angles of current X axis inclination of the first to third rotating units, H1, H2 and H3 are rotation axis lengths of the first to third rotating units, and T is a predefined threshold value.

[0134] In this case, the height H of the rotating cylinder 200 can represent twice the sum of the axis lengths H1, H2, and H3 of the first through third rotating units 203. As illustrated in [Figs. 11] and 12, when the axis lengths H1, H2, and H3 of the first through third rotating units 203 are inclined and the entire rotating cylinder 200 is horizontally aligned, the height H of the rotating cylinder 200 can be expressed as a sum of products of the length of axis of rotation H3 of the third rotating unit 203 located in a highest part, of the axis of rotation H1 of the first rotating unit 201 located in a lowest part and of the remaining axis of rotation lengths (H1+H2, H2+H3) located in a central part and the angles of inclination of each of the rotating units 201, 202 and 203.

[0135] For example, the control device 2 of a rotary cylinder according to another embodiment of the present invention can perform a numerical analysis method consisting of making a correction up to a threshold value range (T) predefined by mathematical formula 11 for a further correction of the other Z value that is modified while correcting the X coordinate. Consequently, the control device 2 of a rotary cylinder according to another embodiment of the present invention can make a correction such that the Z coordinate value or the height of the rotary cylinder 200 is equal to the initial alignment state described in Table 5, and can calculate rotation angles of the first to sixth wheels 210, 220, 230, 240, 250 and 260, as illustrated in the following Table 7, according to mathematical formulas 8 to 11. [Tables?] Rotation angle (°) X-axis tilt angle (°) Y-axis tilt angle (°) X coordinate (mm) Y coordinate (mm) Height (mm) Total - 0 0 3 0 217.56 9 3rd rotary unit 11.032 0 6th wheel 123.476 5.516 8.341 0 0 30 5th wheel 236.524 5.516 -8.341 5.741 0 29.445 6 2nd rotary unit -19.882 0 4th wheel 60.195 -9.941 17.354 9.568 0 49.076 1 3rd wheel 299.805 -9,941 -17,354 -7,693 0 49,404 7th rotary unit 8,850 0 2nd wheel 116,264 4,425 8,968 -4,616 0 29,642 8th wheel 243,736 4,425 -8,968 0 0 30

[0136] Similarly, in a process of correcting the coordinates of the second reference point T2, when the Z coordinate of the second reference point moves from AZ as a predefined value, the processor 601 can calculate the X-axis tilt angles of the first to third rotating units 201, 202, and 203 according to mathematical formulas 12 to 15, and perform the calculation repeatedly until the calculated X-axis tilt angles of the first to third rotating units 201, 202, and 203 satisfy mathematical formula 15, can input the finally calculated X-axis tilt angles of the first to third rotating units 201, 202, and 203 into mathematical formula 6 to calculate rotation angles of the first to sixth wheels 210, 220, 230, 240, 250, and 260, and can rotate at least one of the first to sixth wheels 210, 220, 230, 240,250 and 260 depending on the rotation angles calculated to correct the Z coordinate of the second reference point T2: ,

[0137]

[0138]

[0139]

[0140]

[0141]

[0142]

[0143]

[0144] Mathematical formula 12 Mathematical formula 13 Mathematical formula 14 ^41 + Ws 4- - 0 Mathematical formula 15 -F H2) ' case^ + H3) ' <T In this case, and are the X-axis inclination angles of the first to third rotating units after correction, and are angles of current X axis inclination of the first to third rotating units, H1, H2 and H3 are rotation axis lengths of the first to third rotating units, and T is a predefined threshold value. Furthermore, in the process of correcting the coordinates of the second reference point T2, when the Y coordinate of the second reference point T2 moves from AY as a predefined value, the 601 processor can calculate a generated height change AZ according to mathematical formulas 16 and 17, can calculate the X-axis tilt angles of the first to third rotating units 201, 202, and 203 according to mathematical formulas 12 to 15, and perform the calculation repeatedly until the calculated X-axis tilt angles of the first to third rotating units 201, 202, and 203 satisfy mathematical formula 15, can input the finally calculated X-axis tilt angles of the first to third rotating units 201, 202, and 203 into mathematical formula 6 to calculate the rotation angles of the first to sixth wheels 210, 220, 230, 240, 250 and 260, and can rotate at least one of the first to sixth wheels 210, 220, 230, 240,250 and 260 depending on the angle of rotation calculated to correct the Y coordinate of the second reference point: , Mathematical formula 16 s _ ... Wt 1 -------------£----------'-------- I ™ 1 -------------7'------------- ; Mathematical formula 17 « (Hl 4 HS) - ) 'F (HS r HS) - ™ (Ht * HSJ ' 'cassai) r HS) ' {a>s^ -

[0145] In this case, and <4- are the angles of inclination of the Y-axis of the first and third rotating units after correction, and are angles are the current X-axis tilt angles of the first to third rotating units, and are the current Y-axis tilt angles of the first and third rotating units, H1, H2 and H3 are the rotation axis lengths of the first to third rotating units, and T is a predefined threshold value.

[0146] For example, since the control device 2 of a rotating cylinder according to another embodiment of the present invention may further comprise the third rotating unit 203 to have a higher degree of freedom than the control device 1 for a rotating cylinder according to an embodiment of the present invention, so that the coordinates of the second reference point T2 are corrected while maintaining the adjusted tilt angle, and since only one of the X, Y or Z coordinates of the second reference point T2 can move and the rest can be held fixed, a precise correction of the coordinates of the second reference point T2 is possible.

[0147] In a manner similar to the previous embodiment, the calculation formula for calculating the change in the coordinates of the second reference point T2 according to the rotation of each of the wheels can also be calculated using a calculation formula based on the Euler coordinate transformation, instead of the calculation formula described above.

[0148] Fig. 12 shows an example of implementing an operation of a goniometer using a control device 2 of a rotating cylinder according to another embodiment of the present invention, and illustrates a fourth state in which a second reference point T2 rotates by 5°.

[0149] A goniometer can be a device for precisely adjusting the angle of an object rotating about a fixed axis, and can rotate with a radius of rotation (R) about a fixed center. In this case, as illustrated in [Fig. 11], when a reference point of the goniometer is set to a second reference point T2, so that the rotating cylinder 200 implements the fourth state in which the goniometer rotates by 5°, the coordinates of the second reference point T2 must be corrected to a position that can rotate by 5°, as illustrated in [Fig. 12]. For example, when the radius of rotation (R) is 100 mm, the X coordinate of the second reference point T2 must be corrected to approximately +8.72 mm and the Z-axis coordinate must be corrected to approximately +0.38 mm based on the coordinates shown in [Fig. 11].To this end, the control device 2 of a rotating cylinder according to another embodiment of the present invention can correct the X coordinate and the Z coordinate of the second reference point T2 in order to . to change them to any desired value by rotating at least one of the first to sixth wheels 210, 220, 230, 240, 250 and 260.

[0150] Although the first reference point T1 and the second reference point T2 are defined and described arbitrarily in the description of the present invention, it is evident that the same can be applied to any coordinate located inside the rotating cylinder 200. Therefore, according to the control device 2 of a rotating cylinder according to another embodiment of the present invention, any coordinate that may occur during a horizontal alignment or a target tilt angle control can be controlled without affecting the tilt angle or other coordinates of the rotating cylinder. For example, the control device 2 of a rotating cylinder according to another embodiment of the present invention can precisely control a tilt angle, a height, and any other coordinate of the rotating cylinder.

[0151] The present invention can align a horizontal or precisely control a target angle, and at the same time, can correct a height of a rotating cylinder, by means of a control device for the rotating cylinder, as mentioned above.

[0152] In one embodiment, the present invention can precisely correct the coordinates and height of an axis of rotation of each wheel which moves according to the rotation of six wheels.

[0153] Although examples of embodiments have been illustrated and described above, it will be apparent to a person skilled in the art that modifications and variations could be made without departing from the scope of the present invention as defined by the attached claims.

Claims

Demands

1. A control device for a rotating cylinder comprising: a first rotating unit having a first wheel and a second wheel, the inclined surfaces of which having an angle of deflection on the base of each of the base surfaces are arranged to come into contact with each other; a second rotating unit connected to the first rotating unit and having a third wheel and a fourth wheel, the inclined surfaces of which having an angle of deflection on the base of each of the base surfaces are arranged to come into contact with each other; and a third rotating unit having a fifth wheel and a sixth wheel, the inclined surfaces of which having an angle of deflection on the base of each of the base surfaces are arranged to come into contact with each other, wherein the first to sixth wheels are arranged in sequence in one direction;a drive unit independently driving the first to sixth wheels; a memory storing a command performing an operation; and a processor connected to the memory and the drive unit to execute the command, wherein the operation rotates at least one wheel among the first to sixth wheels to command the drive unit so that an angle of inclination of the rotating cylinder, an angle of inclination of the base surface of the sixth wheel relative to the base surface of the first wheel, or a position of the base surface of the sixth wheel relative to the base surface of the first wheel is adjusted to a predefined target value.

2. A control device according to claim 1, wherein, in the rotating cylinder, the first through sixth wheels are arranged sequentially in one direction, wherein the second and third wheels are arranged so that their base surfaces are adjacent and parallel to each other, and the fourth and fifth wheels are arranged so that their base surfaces are adjacent and parallel to each other, and in which the first and second wheels have the same first center of rotation and are arranged to rotate relative to each other, the third and fourth wheels have the same second center of rotation and are arranged to rotate relative to each other, and the fifth and sixth wheels have the same third center of rotation and are arranged to rotate relative to each other.

3. Control device according to claim 2, wherein the operation commands the drive unit to correct the tilt angle of the rotating cylinder, and, while maintaining the adjusted tilt angle of the rotating cylinder, rotates a plurality of wheels among the first to sixth wheels to correct a coordinate among an X coordinate, a Y coordinate or a Z coordinate of a second reference point of the rotating cylinder at which the axes of rotation of the fifth and sixth wheels intersect.

4. Control device according to claim 3, wherein, in a process of correcting a coordinate among the X coordinate, the Y coordinate or the Z coordinate of the second reference point, the operation comprises the rotation of at least one of the first to sixth wheels, to correct again a modified coordinate by modifying one of the remaining coordinates by returning it to an initial position.

5. Control device according to claim 3, wherein, after performing a mathematical calculation to correct one coordinate from among the X coordinate, the Y coordinate or the Z coordinate of the second reference point, the operation includes performing a mathematical calculation to correct a first remaining coordinate from among these, and then performing a mathematical calculation to correct a second remaining coordinate from among these.

6. Control device according to claim 5, wherein the operation comprises the repeated performance of a correction of the X coordinate, the Y coordinate or the Z coordinate of the second reference point until the remaining first and second coordinates lie within a certain range from a target coordinate by correcting a coordinate between them.

7. Control device according to claim 4, wherein, in a process of controlling the tilt angle of the rotating cylinder, the operation comprises: the setting of a virtual X-axis and a virtual Y-axis as orthogonal coordinate systems on the base surface of the second wheel located in an upper part of the first rotating unit, the base surface of the fourth wheel located in an upper part of the second rotating unit, and the base surface of the sixth wheel located in an upper part of the third rotating unit, The input of X-axis and Y-axis tilt angle modification values ​​for at least one of the first to third predefined rotating units to calculate rotation angles for the first to sixth wheels according to the following mathematical formulas 1 and 2, and the rotation of at least one of the first to sixth wheels according to the calculated rotation angles, to control the tilt angle: Mathematical Formula 1 Cx1 = oiFcosOj + œ2-cos92 . Cx2 = ü)3'COS03 + W4-COS04, Cx3 - cû5-cos95 + Q}6'cos06 Mathematical formula 2 ™ saS ' 4* where, £ g, gg and gf are rotation angles of the first to sixth wheels in a counterclockwise direction, respectively, , 5^,, m., 4¾ and are deflection angles of the first to sixth wheels, respectively, cvl is a value of change of angle of tilt of the X axis of the first rotating unit, ct is a value of change of angle of tilt of the Y axis of the first rotating unit, is a value of change of angle of tilt of the X axis of the second rotating unit, is a value of change of angle of tilt of the Y axis of the second rotating unit, is a value of change of angle of tilt of the X axis of the third rotating unit and £ is a value of change of angle of tilt of the Y axis of the third rotating unit.

8. A control device according to claim 7, wherein, in a process of correcting the coordinates of the second reference point, when the X coordinate of the second reference point moves by AX as a predefined value, the operation comprises: calculating the X-axis tilt angles of the first to third rotating units according to the following mathematical formulas 3 to 6, and repeatedly performing the calculation until the calculated X-axis tilt angles of the first to third rotating units satisfy the following mathematical formula 6; entering a tilt angle modification value, a difference in values ​​between the finally calculated X-axis tilt angles of the first to third rotating units and the actual X-axis tilt angles of the first to third rotating units, into the following mathematical formula 1, to calculate the rotation angles of the first to sixth wheels,and the rotation of at least one of the first to sixth wheels according to the rotation angles calculated to correct the X coordinate of the second reference point: Mathematical Formula 3 Mathematical Formula 4 su., — | —*— I Mathematical Formula 5 * ^2 * ^3 = G' + <3 = 0 Mathematical Formula 6 F 70) -f (70 4-70} -■ <T où, et sont des angles d’inclinaison d’axe X des première à troisième unités rotatives après correction, et sont des angles d’inclinaison d’axe X actuels des première à troisième unités rotatives, Hl, H2 et H3 sont des longueurs d’axe de rotation des première à troisième unités rotatives, et T est une valeur seuil prédéfinie.,

9. A control device according to claim 7, wherein, in a process of correcting the coordinates of the second reference point, when the Z coordinate of the second reference point moves from AZ as a predefined value, the operation comprises: calculating the X-axis tilt angles of the first to third rotating units according to the following mathematical formulas 7 to 10, and repeatedly performing the calculation until the calculated X-axis tilt angles of the first to third rotating units satisfy the following mathematical formula 10, and entering the finally calculated X-axis tilt angles of the first to third rotating units into the following mathematical formula 1 to calculate the rotation angles of the first to sixth wheels,and the rotation of at least one of the first to sixth wheels according to the rotation angles calculated to correct the Z coordinate of the second reference point: Mathematical Formula 7 Mathematical Formula 8 1 AAAAAAAAA s -- ' 1 / Mathematical Formula 9 ■ A t "A.?: ~ i 4 44“ ~~ ,:A”> 4 Mathematical Formula 10 K.SI t S2) ' 4 (4? 2 4 SS) ' A , <t où,         et sont des angles d’inclinaison d’axe x première à troisième unités rotatives après correction, actuels rotatives, hl, h2 et h3 longueurs de rotation t est une valeur seuil prédéfinie.

10. A control device according to claim 9, wherein, in the process of correcting the coordinates of the second reference point,

11. When the Y coordinate of the second reference point moves by AY as a predefined value, the operation involves: the calculation of a height modification AZ generated by mathematical formulas 11 and 12, the calculation of the X-axis tilt angles of the first to third rotating units according to mathematical formulas 11 to 12, and the repeated execution of the calculation until the calculated X-axis tilt angles of the first to third rotating units satisfy mathematical formula 12, the input of the finally calculated X-axis tilt angles of the first to third rotating units into mathematical formula 1 to calculate the rotation angles of the first to sixth wheels, and the rotation of at least one of the first to sixth wheels according to the calculated rotation angles to correct the Y coordinate of the second reference point: Mathematical formula 16 Mathematical formula 17 AK ~ A #3) - A (#2 -:- HS)- • £054*.^ where, and iA are the Y-axis inclination angles of the first and third rotating units after correction, and are are the current X-axis tilt angles of the first to third rotating units, and are the current Y-axis tilt angles of the first and third rotating units, H1, H2 and H3 are the rotation axis lengths of the first to third rotating units, and T is a predefined threshold value. Control device according to claim 1, wherein the first rotating unit comprises a first base plate disposed outside the base surface of the first wheel, and a second base plate disposed outside the base surface of the second wheel, the second rotating unit comprises a third base plate disposed outside the base surface of the third wheel, and a fourth base plate disposed outside the base surface of the fourth wheel, and the third rotating unit includes a fifth base plate disposed outside the base surface of the fifth wheel, and a sixth base plate disposed outside the base surface of the sixth wheel.

12. A control device according to claim 11, wherein the first to sixth base plates are fixed with respect to a direction of rotation, and the drive unit comprises a first drive motor disposed on the first base plate, a second drive motor disposed on the second base plate, a third drive motor disposed on the third base plate, a fourth drive motor disposed on the fourth base plate, a fifth drive motor disposed on the fifth base plate and a sixth drive motor disposed on the sixth base plate, such that the first to sixth wheels rotate with respect to the first to sixth base plates.

13. Control device according to claim 12, wherein the drive unit comprises a first drive shaft connected to the first drive motor to rotate the first wheel, a second drive shaft connected to the second drive motor to rotate the second wheel, a third drive shaft connected to the third drive motor to rotate the third wheel, a fourth drive shaft connected to the fourth drive motor to rotate the fourth wheel, a fifth drive shaft connected to the fifth drive motor to rotate the fifth wheel and a sixth drive shaft connected to the sixth drive motor to rotate the sixth wheel.

14. Control device according to claim 13, wherein the first rotating unit, the second rotating unit and the third rotating unit are in surface contact with each other, and the operation comprises the rotation of a plurality of wheels among the first to sixth wheels, to adjust a position of the sixth base plate relative to the first base plate, without adjusting an angle of inclination of the sixth base plate relative to the first base plate.

15. Control device according to claim 13, wherein the operation comprises the rotation of at least one wheel among the first to sixth wheels, to adjust an angle of inclination of the sixth base plate relative to the first base plate, without adjusting a position of the sixth base plate relative to the first base plate.< / t>

Images