A control device for a rotating cylinder using six diagonally cut wheels.

Abstract

The present invention provides a control device for a rotating cylinder that can precisely control horizontal alignment or a target angle, while simultaneously adjusting the height and the position of the rotation axis. [Solution] A rotating cylinder 200 comprising a first rotating unit 201 consisting of a first wheel 210 and a second wheel 220 arranged such that their inclined surfaces, which form an angle with respect to each base surface, are in contact with each other; a second rotating unit 202 connected to the first rotating unit 210 and consisting of a third wheel 230 and a fourth wheel 240 arranged such that their inclined surfaces, which form an angle with respect to each base surface, are in contact with each other; and a third rotating unit 203 including a fifth wheel 250 and a sixth wheel 260; a drive unit for independently driving each of the first to sixth wheels; and a processor that controls the drive unit to rotate at least one of the first to sixth wheels to adjust the inclination of the rotating cylinder to a predetermined target value.

Description

[Technical Field]

[0001] The present invention relates to a control device for a rotating cylinder that can precisely control horizontal alignment or a target angle using six diagonally cut wheels, while simultaneously adjusting the height and the position of the axis of rotation. [Background technology]

[0002] Precise parallel alignment and horizontal maintenance of advanced and industrial manufacturing equipment are crucial elements for product quality and yield. Conventional parallel alignment methods involve repeatedly lifting and measuring balls at the four corners (or three-point support) to adjust the height, which is time-consuming. While two-axis goniometers facilitate parallel alignment, they are suitable for relatively light equipment and cannot be used for aligning heavy machinery or equipment.

[0003] The robot mechanism disclosed in Patent Document 1 presents a robot mechanism with two degrees of freedom for realizing the movement of an invertebrate such as a snake by independently rotating two rotating plates. On the other hand, while Patent Document 1 makes it possible to realize snake-like motion using tilt adjustment or conical motion with a robot mechanism consisting of two rotating plates, it does not present specific methods for moving the central coordinates of the rotating plates or changing their height. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] US 2015-0047452 A1 [Overview of the Initiative] [Problems that the invention aims to solve]

[0005] The present invention aims to solve the above-mentioned problems and provides a control device for a rotating cylinder that can precisely control horizontal alignment or a target angle using six diagonally cut wheels, while simultaneously adjusting the height and the position of the rotation axis. [Means for solving the problem]

[0006] To achieve the above objectives, the present invention can provide the following control device for a rotating cylinder.

[0007] In one embodiment, the present invention includes a first rotating unit comprising a first wheel and a second wheel, each having inclined surfaces that form an angle with respect to each base surface and are in contact with each other; a second rotating unit connected to the first rotating unit and comprising a third wheel and a fourth wheel, each having inclined surfaces that form an angle with respect to each base surface and are in contact with each other; and a third rotating unit connected to the second rotating unit on the opposite side of the first rotating unit and including a fifth wheel and a sixth wheel, each having inclined surfaces that form an angle with respect to each base surface and are in contact with each other; wherein the first to sixth wheels are, A control device for a rotating cylinder is provided, comprising: a rotating cylinder arranged sequentially along one direction; a drive unit for independently driving each of the first to sixth wheels; a memory for storing instruction words for performing operations; and a processor connected to the memory and the drive unit to perform the instruction words, wherein the operation includes rotating at least one of the first to sixth wheels and controlling the drive unit to adjust the inclination of the rotating cylinder, which is the inclination of the base surface of the sixth wheel relative to the base surface of the first wheel, or the position of the base surface of the sixth wheel relative to the base surface of the first wheel, to a previously set target value.

[0008] In one embodiment, the rotating cylinder, the first wheel to the sixth wheel are arranged in order along one direction, the second wheel and the third wheel are provided such that their base surfaces are adjacent to each other and parallel, the fourth wheel and the fifth wheel are provided such that their base surfaces are adjacent to each other and parallel, the first wheel and the second wheel have the same first rotation center and are arranged rotatably with respect to each other, the third wheel and the fourth wheel have the same second rotation center and are arranged rotatably with respect to each other, and the fifth and sixth wheels may have the same third rotation center and be arranged rotatably with respect to each other.

[0009] In one embodiment, the operation controls the drive unit to correct the inclination of the rotating cylinder, and rotates a plurality of the first wheel to the sixth wheel so as to correct any one of the X coordinate, Y coordinate or Z coordinate of the second reference point of the rotating cylinder where the rotation axes of the fifth wheel and the sixth wheel intersect while maintaining the adjusted inclination of the rotating cylinder.

[0010] In one embodiment, the operation may include rotating at least one of the first wheel to the sixth wheel so as to re-correct the changed coordinate to the initial position when any one value of the remaining coordinates is changed in the process of correcting any one of the X coordinate, Y coordinate or Z coordinate of the second reference point.

Advantages of the Invention

[0011] The present invention can precisely control the horizontal alignment or the target angle through the control device of the rotating cylinder as described above, and at the same time, it is possible to correct the height of the rotating cylinder.

[0012] In one embodiment of the present invention, it is possible to precisely correct the coordinates and height of the rotation axis of each wheel that moves according to the rotation of six wheels.

Brief Description of the Drawings

[0013] [Figure 1]This is a plan view of a rotating cylinder composed of two wheels, seen from a second direction. [Figure 2] This is a plan view of a rotating cylinder composed of two wheels, seen from a second direction. [Figure 3] This is a schematic perspective view of a rotating cylinder composed of two wheels. [Figure 4a] Figure 3 is a diagram showing the change in the tilt of the rotating cylinder as the wheel rotates. [Figure 4b] Figure 3 is a diagram showing the change in the tilt of the rotating cylinder as the wheel rotates. [Figure 5a] This is a schematic plan view from the first direction described above, in order to illustrate the change in the Cartesian coordinate system due to the rotation of either the first or second wheel. [Figure 5b] This is a schematic plan view from the first direction described above, in order to illustrate the change in the Cartesian coordinate system due to the rotation of either the first or second wheel. [Figure 6] This is a schematic plan view of a control device for a rotating cylinder according to one embodiment of the present invention. [Figure 7] This is a block diagram of a computing device that can implement, in whole or in part, a control device for a rotating cylinder according to one embodiment of the present invention. [Figure 8a] This diagram schematically shows the usage state of a control device for a rotating cylinder according to one embodiment of the present invention. [Figure 8b] This diagram schematically shows the usage state of a control device for a rotating cylinder according to one embodiment of the present invention. [Figure 9a] This diagram schematically shows the usage state of a control device for a rotating cylinder according to one embodiment of the present invention. [Figure 9b] This diagram schematically shows the usage state of a control device for a rotating cylinder according to one embodiment of the present invention. [Figure 10] This is a schematic plan view of a control device for a rotating cylinder according to another embodiment of the present invention. [Figure 11] This diagram schematically shows the usage state of a control device for a rotating cylinder according to another embodiment of the present invention. [Figure 12]This diagram schematically shows the usage state of a control device for a rotating cylinder according to another embodiment of the present invention. [Modes for carrying out the invention]

[0014] Specific embodiments of the present invention will be described below with reference to the attached drawings. However, the concept of the present invention is not limited to the embodiments presented, and a person skilled in the art who understands the concept of the present invention can easily propose other regressive inventions or other embodiments that fall within the scope of the present invention by adding, changing, or deleting other components within the same scope of the concept, and these also fall within the scope of the present invention.

[0015] In the specification as a whole, when a certain component is described as being "linked" to another component, this includes not only cases where these components are "directly linked," but also cases where they are "indirectly linked" through other components. Furthermore, when a component is described as "including," unless otherwise stated, this does not mean that other components are excluded, but rather that other components may be included.

[0016] Furthermore, components with the same function within the same conceptual scope shown in the drawings of each embodiment will be described using the same reference numerals.

[0017] A control device for a rotating cylinder and a method for controlling flatness using the same, according to one embodiment of the present invention, can control the flatness of a rotating cylinder composed of three wheels. However, before describing the control device and control method for a rotating cylinder according to one embodiment of the present invention, a method for controlling a rotating cylinder composed of two wheels will be described first with reference to Figures 1 to 5. The method for controlling a rotating cylinder described with reference to Figures 1 to 5 is supported by the specification KR10-2024-0054461 filed by the present applicant.

[0018] Figures 1 and 2 are diagrams illustrating a rotating cylinder composed of two wheels.

[0019] More specifically, Figures 1 and 2 are plan views of a rotating cylinder 100, composed of two wheels, as seen from a second direction. More specifically, they are plan views of the rotating cylinder 100 as seen from a second direction when the angles of the first wheel 110 and the second wheel 120 are the same.

[0020] On the other hand, in the specification of the present invention, the rotating cylinder 100 can be cut diagonally and represent a rotating cylinder containing two rotating wheels. Furthermore, in the specification of the present invention, the first direction 11 is the height direction in the drawing, but can also represent the direction in which the first wheel 110 and the second wheel 120 are stacked, the second direction 12 and the third direction 13 are perpendicular to the first direction 11, but can also represent directions aligned with the horizontal plane, and the second direction 12 and the third direction 13 can be perpendicular to each other.

[0021] The rotating cylinder 100 includes a first wheel 110 and a second wheel 120, each having inclined surfaces 111 and 121 formed thereon that form an angle (w) relative 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, or they may have a shape in which the surfaces of diagonally cut cylinders are butted against each other. The inclined surface 111 of the first wheel 110 can form a first angle (w1) with the first base surface 110a of the first wheel 110, and the inclined surface 121 of the second wheel 120 can form a second angle (w2) with the 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 the centers of rotation of the first wheel 110 and the second wheel 120 may be similarly provided. That is, the first wheel 110 and the second wheel 120 have axes of rotation perpendicular to their respective base surfaces 110a and 120a, and the first axis of rotation of the first wheel 110 and the second axis of rotation of the second wheel 120 can be arranged to point toward the same center of rotation. In this specification, the rotation angle can be defined with respect to the phase of the first wheel 110, for example, the rotation angle of the first wheel 110 may be 0°, and the rotation angle of the second wheel 120 may be the angle rotated with respect to the first wheel 110, for example, 180°.

[0022] As shown in Figures 1 and 2, the first angle (w1) and the second angle (w2) may be the same. In this case, when the rotating cylinder 100 is in equilibrium, the first base surface 110a and the second base surface 120a are parallel to each other, and horizontal alignment is possible by aligning them with the horizontal plane.

[0023] As shown in Figure 1, the rotating cylinder 100 can be configured such that, when viewed from the second direction, one end of the first wheel 110 is located on one side of the third direction 13, and one end of the second wheel 120 is located on the other side of the third direction 13. In the specification of the present invention, the reference position of the first wheel 110 can be set such that one end is located on one side of the third direction 13, and in this case, the phase of the first wheel 110 can be set to 0°. Conversely, the reference position of the second wheel 120 can be set such that one end, which is positioned opposite one end of the first wheel 110, is located on the other side of the third direction 13, and in this case, the phase of the second wheel 120 can be set to 180°. In other words, when the phase difference between the first wheel 110 and the second wheel 120 is 180°, the rotating cylinder 100 can be horizontally aligned, and as shown in Figure 2, when the phase difference between the first wheel 110 and the second wheel 120 is 0°, the rotating cylinder 100 has an inclination angle equal to the sum of the first deviation angle (w1) and the second deviation angle (w2).

[0024] In other words, a rotating cylinder 100 composed of two wheels having an angle of deviation (w) can have its flatness aligned using the rotation of the first wheel 110 and the second wheel 120 and the corresponding change in the inclination of the first base surface 110a, and this can be applied equally when the first angle of deviation (w1) and the second angle of deviation (w2) are the same and when they are different.

[0025] Figures 3 and 4a and 4b are diagrams illustrating the change in the tilt of the rotating cylinder 100 due to the rotation of either of the two wheels, as explained in Figures 1 and 2. More specifically, Figure 3 is a schematic perspective view of a rotating cylinder composed of two wheels, and Figures 4a and 4b show the change in the tilt of the rotating cylinder due to the rotation of the wheels in Figure 3.

[0026] The method for controlling the rotating cylinder includes a first wheel 110 and a second wheel 120, each having inclined surfaces 111 and 121 that form an angle (w1 and w2) relative to their respective base surfaces 110a and 120a. The method allows for the control of a rotating cylinder 100, which is 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. More specifically, the method allows for the inclination of the rotating cylinder 100 to be changed in accordance with the rotation of the first wheel 110 and the second wheel 120.

[0027] Here, the rotating cylinder 100 can be configured with a virtual Cartesian coordinate system, and in the specification of the present invention, the change in inclination can mean a change in the Cartesian coordinate system. More specifically, the virtual Cartesian coordinate system can be configured on the base surface 110a of the first wheel 110 or on the first base plate, and the change in the X and Y axis inclination of the rotating cylinder 100 can mean the change in the first direction 11 of the X and Y axes of the virtual Cartesian coordinate system.

[0028] Here, the control method for the rotating cylinder can be changed by rotating the first wheel 110 and the second wheel 120 by the amounts of the first rotation angle (θ1) and the second rotation angle (θ2), respectively, to achieve the target X-axis tilt and Y-axis tilt of the rotating cylinder 100, and this method can be applied even if the rotation directions of the first wheel 110 and the second wheel 120 are different. In the following explanation, we will assume that the rotation directions of the first wheel 110 and the second wheel 120 are the same.

[0029] Figure 4a is a schematic perspective view showing the second wheel 120 rotated 10° clockwise in the rotating cylinder 100 according to one embodiment of the present invention, and Figure 4b is a schematic perspective view showing the first wheel 110 rotated 10° clockwise in the rotating cylinder 100 according to one embodiment of the present invention.

[0030] As shown in Figure 4a, when the second wheel 120 rotates 10° clockwise, the X and Y axis inclinations of the rotating cylinder 100 can have a (-) inclination with respect to the third direction 13. On the other hand, as shown in Figure 4b, when the first wheel 110 rotates 10° clockwise, the X and Y axis inclinations of the rotating cylinder 100 can have a (+) inclination with respect to the third direction 13.

[0031] In other words, the rotation cylinder 100 can change the X and Y axis inclination of the rotation cylinder 100 to (-) or (+) with respect to the third direction 13 when either the first wheel 110 or the second wheel 120 rotates in the clockwise direction. On the other hand, in one embodiment of the present invention, when the first wheel 110 and the second wheel 120 rotate in the same direction by the same angle, the X and Y axis inclination of the rotation cylinder 100 may be the same as the initial state. For example, as shown in Figure 3, when the rotation cylinder 100 is in a horizontally aligned state, when the first wheel 110 and the second wheel 120 rotate by the same angle in the clockwise direction, it can return to a horizontally aligned state.

[0032] In this case, the control method for the rotating cylinder can be applied to trigonometric functions by relating the change in the X-axis tilt (C1) of the rotating cylinder 100 and the change in the Y-axis tilt (C2) of the rotating cylinder 100. More specifically, since the X-axis and Y-axis have a 90° difference, the change in the X-axis tilt (C1) can be expressed using a cosine function applied to the deflection angle (w1) of the first wheel 110, and the change in the Y-axis tilt (C2) can be expressed using a sine function applied to the deflection angle (w2) of the second wheel 120.

[0033] Figures 5a and 5b are schematic plan views from the first direction to illustrate the change in the Cartesian coordinate system due to the rotation of either the first wheel 110 or the second wheel 120. More specifically, Figure 5a is a schematic plan view showing the coordinate shift when the first wheel 110 rotates clockwise by θ1, and Figure 5b is a schematic plan view showing the coordinate shift when the second wheel 120 rotates clockwise by θ2. In this case, the first wheel 110 and the second wheel 120 are explained on the premise that they have a phase difference of 180°.

[0034] When the first wheel 110 rotates counterclockwise by θ1, the tilt of the X axis after rotation can be expressed as w1cosθ1, and the tilt of the Y axis after rotation can be expressed as w1sinθ1. However, when the first wheel 110 rotates counterclockwise by θ1, θ1 has a value of 90° to 180° with respect to the phase of the first wheel 110, so cosθ1 has a (+) value. In practice, when the first wheel 110 rotates clockwise by θ1, the change in the tilt of the X and Y axes of the rotating cylinder must have a (+) value, so the change in the tilt of the X axis can be expressed as w1(+cosθ1).

[0035] Similarly, as shown in Figure 5b, if the first wheel 110 is fixed and the second wheel 120 is rotated clockwise by θ2, the X and Y axes can also be rotated counterclockwise by θ2.

[0036] In this case, the change in the X-axis tilt of the rotating cylinder 100 (C1) can be calculated as the sum of the changes in the X-axis tilt of the first wheel 110 and the second wheel 120, and the change in the Y-axis tilt of the rotating cylinder 100 (C2) can be calculated as the sum of the changes in the Y-axis tilt of the first wheel 110 and the second wheel 120. For example, the change in the X-axis tilt of the rotating cylinder 100 (C1) can be w1·cosθ1+w2·cosθ2, and the change in the Y-axis tilt of the rotating cylinder 100 (C2) can be w1·sinθ1+w2·sinθ2.

[0037] Therefore, the first rotation angle (θ1) and the second rotation angle (θ2) corresponding to the change in the X-axis tilt (C1) and the Y-axis tilt (C2) of the rotating cylinder can be calculated using the following mathematical formulas (a) and (b).

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[0038] In this case, if the arguments (w1, w2) are the same, the first rotation angle (θ1) and the second rotation angle (θ2) may have only one solution, and if the arguments (w1, w2) are different, the first rotation angle (θ1) and the second rotation angle (θ2) may have two sets of solutions.

[0039] The above mathematical formulas (a) and (b) can be applied when 0°, which is the positive direction of the X-axis, is defined as the reference axis for the phase of the first wheel 110, as shown in Figure 5a, and the second wheel 120 has a phase difference of 180° from the first wheel 110, as shown in Figure 5b. Conversely, when 0°, which is the positive direction of the X-axis, is defined as the reference axis for the phase of the second wheel 120, and the first wheel 110 has a phase difference of 180° from the second wheel 120, the first rotation angle (θ1) and each of the second rotations (θ2) can be calculated by the following mathematical formulas (a-1) and (b-1).

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[0040] On the other hand, using the above mathematical formulas (a) and (b), the range of the change in the X-axis tilt (C1) and the change in the Y-axis tilt (C2) of the rotating cylinder can be calculated using the first angle (w1) and the second angle (w2). More specifically, when mathematical formulas (a) and (b) are squared and added together, C1 2 +C2 2 This can be expressed by the following mathematical formula (c).

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[0041] In this case, since the value of cos(θ1-θ2) is determined to be between -1 and +1, the range of the change in the X-axis tilt (C1) and the change in the Y-axis tilt (C2) of the rotating cylinder can be calculated using the following mathematical formula (d).

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[0042] For example, if the first angle (w1) of the first wheel 110 is 5°, the second angle (w2) of the second wheel 120 is 10°, and the change in the Y-axis tilt of the target rotating cylinder 100 is 0°, then the range of the change in the X-axis tilt of the target rotating cylinder 100 may be 5° to 15°.

[0043] In other words, the control method for a rotating cylinder composed of two wheels allows for horizontal alignment or a target tilt by the rotation of at least one of the first wheel 110 or the second wheel 120. However, as described above, the range of the tilt change can be limited to a value calculated by mathematical formula (c) according to the angle of deviation (w1, w2). Furthermore, the rotating cylinder 100 composed of two wheels has the disadvantage that it cannot adjust the height, which is the distance in the first direction 11 from the ground to the coordinate center of the first wheel 110.

[0044] Recognizing the above-mentioned problems, the present invention aims to provide a control device for a rotating cylinder that can precisely control horizontal alignment or a target angle using six diagonally cut wheels, and simultaneously adjust the height and the position of the rotation axis, as well as a method for controlling flatness using the same.

[0045] Figure 6 is a schematic plan view of a rotating cylinder control device 1 according to one embodiment of the present invention.

[0046] A control device 1 for a rotating cylinder according to one embodiment of the present invention includes a rotating cylinder 200 including a first rotating unit 201 and a second rotating unit 202. The first rotating unit 201 includes a first wheel and a second wheel 210, 220 having angles (w1, w2), and the second rotating unit 202 includes a third wheel and a fourth wheel 230, 240 having angles (w3, w4). The control device 1 for a rotating cylinder according to one embodiment of the present invention includes a drive unit, a base unit, and a support unit for independently driving the first to fourth wheels 210, 220, 230, 240.

[0047] The first to fourth wheels 210, 220, 230, and 240 described above may be arranged in order from the ground. In this case, the first wheel 210 is formed with a first base surface 210a and a first inclined surface 211 that forms a first angle (w1) relative to the first base surface 210a facing each other, and the second wheel 220 is formed with a second base surface 220a and a second inclined surface 221 that forms a second angle (w2) relative to the second base surface 220a facing each other, and the first wheel 210 and the second wheel 220 can be arranged so that their first and second inclined surfaces 211 and 221 are in contact with each other. Similarly, the third wheel 230 is formed with a third base surface 230a and a third inclined surface 231 that forms a third angle (w3) relative to the third base surface 230a facing each other, and the fourth wheel 240 is formed with a fourth base surface 240a and a fourth inclined surface 241 that forms a fourth angle (w4) relative to the fourth base surface 240a facing each other, and the third wheel 230 and the fourth wheel 240 can be arranged so that their third and fourth inclined surfaces 231 and 241 are in contact with each other.

[0048] The first rotating unit 201 and the second rotating unit 202 described above can be provided connected to each other. More specifically, the second wheel 220 and the third wheel 230 can be provided so that their second and third base surfaces 220a and 230a are in contact with each other, the first wheel 210 and the second wheel 220 have the same first center of rotation RC1 on their first and second inclined surfaces 211 and 221 and are rotatably arranged relative to each other, and the third wheel 230 and the fourth wheel 240 have the same second center of rotation RC2 on their third and fourth inclined surfaces 231 and 241 and are rotatably arranged. On the other hand, the meaning of being provided so as to be in contact with each other in the specification of the present invention does not only mean that surfaces are in direct contact with each other, but also that they are not in direct contact but are connected or in contact with each other through other elements.

[0049] The above drive unit can drive the first to fourth wheels 210, 220, 230, and 240 independently. The above base unit includes a first base plate 410 fixed to the base surface 210a side of the first wheel 210 so as to be connected to the first wheel 210, a second base plate 420 fixed to the base surface 220a side of the second wheel 220 so as to be connected to the second wheel 220, a third base plate 430 fixed to the base surface 230a side of the third wheel 230 so as to be connected to the third wheel 230, and a fourth base plate 440 fixed to the base surface 240a side of the fourth wheel 240 so as to be connected to the fourth wheel 240. In this configuration, the second wheel 220 and the third wheel 230 may be arranged so that their base surfaces 220a and 230a are in contact with each other, but this may also mean that the second base plate 420 and the third base plate 430 are in contact with each other. The first to fourth base plates 410, 420, 430, and 440 may be fixed in place so as not to rotate, and the inclination of the first to fourth base plates 410, 420, 430, and 440 can change in accordance with the rotation of the first to fourth wheels 210, 220, 230, and 240.

[0050] More specifically, the drive unit includes a first drive gear 310 provided on one surface of the first base plate 410 and a first drive motor 311 connected to the first drive gear 310, a second drive gear 320 provided on one surface of the second base plate 420 and a second drive motor 321 connected to the second drive gear 320, a third drive gear 330 provided on one surface of the third base plate 430 and a third drive motor 331 connected to the third drive gear 330, a fourth drive gear 340 provided on one surface of the fourth base plate 440 and a fourth drive motor 341 connected to the fourth drive gear 340. The first to fourth drive motors 311, 321, 331, and 341 can each be provided to be driven independently, thereby allowing the first to fourth wheels 210, 220, 230, and 240 to rotate independently. For example, the first to fourth drive motors 311, 321, 331, and 341 may each be provided with internal drive gears (not shown) that can rotatably mesh with the first to fourth drive gears 310, 320, 330, and 340, respectively.

[0051] Furthermore, the drive unit includes a first drive shaft 312 located inside the first wheel 210 and connected to the first drive gear 310 to rotate the first wheel 210; a second drive shaft 322 located inside the second wheel 220 and connected to the second drive gear 320 to rotate the second wheel 220; a third drive shaft 332 located inside the third wheel 230 and connected to the third drive gear 330 to rotate the third wheel 230; and a fourth drive shaft 342 located inside the fourth wheel 240 and connected to the fourth drive gear 340 to rotate the fourth wheel 240.

[0052] Furthermore, the drive unit includes first and second connecting members 312a and 322a that connect the first drive shaft 312 and the second drive shaft 322, and third and fourth connecting members 332a and 342a that connect the third drive shaft 332 and the fourth drive shaft 342. The first to fourth connecting members 312a, 322a, 332a, and 342a are rotatably connected to the first to fourth drive shafts 312, 322, 332, and 342. In other words, even though the first and second drive shafts 312 and 322 are connected by the first and second connecting members 312a and 322a, the rotational force of the first drive shaft 312 is not transmitted to the second drive shaft 322, and the connection of the first to fourth drive shafts 312, 322, 332, and 342 is for the purpose of connecting the base plates 410, 420, 430, and 440. If necessary, the drive shaft may not be connected, and separate connecting shafts for 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 shown in the figure, or they may be made of flexible material or helical joints, etc., as long as the connection can be maintained even if the position or angle of the rotating shaft is changed by the rotation of each wheel 210, 220, 230, and 240.

[0053] The support portion described above can be provided at the point where the first and second drive shafts 312 and 322 meet or at the point where the third and fourth drive shafts 332 and 342 meet, and includes a first support member 510 provided on the first wheel 210, a second support member 520 provided on the second wheel 220, a third support member 530 provided on the third wheel 230, and a fourth support member 540 provided on the fourth wheel 240. The first to fourth support members 510, 520, 530, and 540 described above can support the first to fourth wheels 210, 220, 230, and 240 so that they can rotate without sliding. The first and second support members 510 and 520 may have a hemispherical shape cut around the surface where the first wheel 210 and the second wheel 220 make contact. The third and fourth support members 530 and 540 may have a hemispherical shape cut around the surface where the third wheel 230 and the fourth wheel 240 make contact.

[0054] On the other hand, the rotating cylinder control device 1 according to one embodiment of the present invention described above can be controlled by a computing device 600 shown in Figure 7. As shown in Figure 7, the computing device 600 includes at least one processor 601, a computer-readable storage medium 602, and a communication bus 603. In this case, the rotating cylinder control device 1 according to one embodiment of the present invention includes a memory for storing instruction words for performing operations, and a processor 601 that controls the drive unit to rotate at least one of the first to fourth wheels 210, 220, 230, and 240 to adjust the inclination to a pre-set target value by executing the instruction words.

[0055] The processor 601 described above can operate the computing device 600 according to the exemplary embodiment described 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 instruction words, and when these computer-executable instruction words are executed by the processor 601, the computing device 600 can be configured to operate according to the exemplary embodiment.

[0056] The computer-readable storage medium 602 is configured to store computer-executable instructions or program code, program data, and / or other suitable forms of information. The program 602a stored in the computer-readable storage medium 602 includes a set of instructions that can be executed by the processor 601. In one embodiment, the computer-readable storage medium 602 may be memory (volatile memory such as random-access memory, non-volatile memory, or a suitable combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other forms of storage media that can be accessed by the computing device 600 and can store desired information, or a suitable combination thereof.

[0057] The communication bus 603, including the processor 601 and the computer-readable storage medium 602, interconnects various other components of the computing device 600.

[0058] The computing device 600 may also include one or more input / output interfaces 605 and one or more network communication interfaces 606 that provide interfaces for one or more input / output devices 604. The input / output interfaces 605 and network communication interfaces 606 are connected to a communication bus 603.

[0059] The input / output device 604 can be connected to other components of the computing device 600 via the input / output interface 605. An exemplary input / output device 604 may include input devices such as a pointing device (such as a mouse or trackpad), a keyboard, a touch input device (such as a touchpad or touchscreen), an audio or sound input device, various types of sensor devices and / or imaging devices, and / or output devices such as a display device, a printer, a speaker and / or a network card. The exemplary input / output device 604 may be included internally within the computing device 600 as one component of the computing device 600, or it may be connected to the computing device 600 as a separate device distinct from the computing device 600.

[0060] As a result, the rotating cylinder control device 1 according to one embodiment of the present invention can adjust the inclination of the rotating cylinder 200 by the rotation of the first to fourth wheels 210, 220, 230, and 240, where the inclination of the rotating cylinder 200 can refer to the inclination of the fourth base plate 440 located at the top. Since the rotating cylinder control device 1 according to one embodiment of the present invention controls the inclination by surface contact of the rotating cylinder 200, it is possible to control the inclination of heavy loads more precisely than with point contact control. Furthermore, the rotating cylinder control device 1 according to one embodiment of the present invention can rotate the angle of an object placed on the upper part of the fourth base plate 440 to a desired degree, and can be applied to robot arms, artificial joints, etc.

[0061] Furthermore, in the process in which the processor 601 controls the tilt, it sets virtual X and Y axes, which are Cartesian coordinates, on the base surface 220a of the second wheel 220 located on the upper part of the first rotating unit 201 and the base surface 240a of the fourth wheel 240 located on the upper part of the second rotating unit 202, inputs the change values ​​of the X and Y axis tilts of at least one of the first rotating unit 201 or the second rotating unit 202, calculates the rotation angles of the first to fourth wheels 210, 220, 230, and 240 using the following mathematical formulas (1) and (2), and rotates at least one of the first to fourth wheels 210, 220, 230, and 240 by the calculated rotation angle to control the tilt of the rotating cylinder 200. As described above, the inclination of the rotating cylinder 200 can refer to the inclination of the fourth wheel 240 located at the top.

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[0062] Figures 8a, 8b and 9a, 9b schematically show the operating state of the rotating cylinder control device 1 according to one embodiment of the present invention. More specifically, Figure 8a is a conceptual diagram showing the first state in which the rotating cylinder 200 is horizontally aligned, and Figure 8b is a conceptual diagram showing the second state after the coordinates of the first reference point have been corrected in Figure 8a. Furthermore, Figure 9a is a conceptual diagram of Figure 8a viewed from the third direction 13, and Figure 9b is a conceptual diagram of Figure 8b viewed from the third direction 13. In the following, the rotating cylinder control device 1 according to one embodiment of the present invention will be described with reference to Figures 8a, 8b and 9a, 9b, with reference to Figures 6 and 7 as well.

[0063] A rotating cylinder control device 1 according to one embodiment of the present invention can maintain the tilt of the rotating cylinder 200, which has been adjusted in the process by which the processor 601 controls the tilt, while simultaneously correcting the coordinates of the first reference point. In the specification of the present invention, the first reference point can mean the point where the third rotation axis 230c and the fourth rotation axis 240c intersect.

[0064] The control device 1 for a rotating cylinder according to one embodiment of the present invention can correct the coordinates of the first reference point T1 of the rotating cylinder 200 where the rotation axes 230c and 240c of the third and fourth wheels intersect, while maintaining the tilt of the rotating cylinder 200 adjusted by the processor 601. In the specification of the present invention, the rotation axes 210c, 220c, 230c, and 240c of the first to fourth wheels can mean lines extending perpendicularly from one surface of the base plates 410, 420, 430, and 440 of each wheel to the rotation centers RC1 and RC2 of each wheel. For example, the third rotation axis 230c, which is the rotation axis of the third wheel 230, can mean the line from the third base surface 230a to the second rotation center RC2, and the fourth rotation axis 240c, which is the rotation axis of the fourth wheel 240, can mean the line from the fourth base surface 240a to the second rotation center RC2. In this case, the lengths of the first rotation axis 210c and the second rotation axis 220c may be the same, and in the mathematical formula described later, the length H1 of the rotation axis of the first rotation unit 201 can mean either the length of the first rotation axis 210c or the second rotation axis 220c. Similarly, the lengths of the third rotation axis 230c and the fourth rotation axis 240c may be the same, and in the mathematical formula described later, the length H2 of the rotation axis of the second rotation unit 202 can mean either the length of the third rotation axis 230c or the fourth rotation axis 240c.

[0065] Referring to Figures 8a and 9a, the tilt of the rotating cylinder 200 is such that the X and Y axis tilts are 0° and it is horizontally aligned, while the X coordinate of the first reference point T1 is located at -10.4 mm from the origin. At this time, the processor 601 can rotate at least one of the first to fourth wheels 210, 220, 230, and 240 so that the X coordinate of the first reference point T1 reaches the origin. As a result, as shown in Figures 8b and 9b, the tilt of the rotating cylinder 200 is such that the X and Y axis tilts are 0° and it is horizontally aligned, and at the same time, the X and Y coordinates of the first reference point T1 can be located at the origin. In other words, in the process of controlling the tilt of the rotating cylinder 200, if the coordinates of the first reference point T1 deviate from the previously set target coordinates, the processor 601 can maintain the adjusted tilt and at the same time rotate at least one of the first to fourth wheels 210, 220, 230, and 240 to correct the coordinates of the first reference point T1.

[0066] Furthermore, although not shown in the drawings, the processor 601 can maintain the adjusted tilt and simultaneously calculate the rotation angles of each wheel 210, 220, 230, and 240 to correct the X, Y, or Z coordinates of the first reference point T1. In this case, the Z coordinate of the first reference point T1 in a horizontally aligned state can mean the value obtained by subtracting the length of the rotation axis 240c of the fourth wheel 240, which is located at the top at height H. Therefore, the height H listed in the table below means a value of +30 mm in the Z coordinate of the first reference point T1.

[0067] More specifically, in the process of correcting the coordinates of the first reference point T1, when the X coordinate of the first reference point T1 is moved by ΔX, which is a preset value, the X-axis inclination of the changed first rotation unit 201 and second rotation unit 202 is calculated by the following mathematical formula (3). The change value of the inclination, which is the difference value between the calculated X-axis inclination of the first rotation unit 201 and second rotation unit 202 and the current X-axis inclination of the first rotation unit 201 and second rotation unit 202, is input into the following mathematical formula (1) to calculate the rotation angles of the first wheel to fourth wheels 210, 220, 230, 240. At least one of the first wheel to fourth wheels 210, 220, 230, 240 is rotated by the calculated rotation angle, so that the X coordinate of the first reference point T1 can be corrected.

Equation

[0069]

Table 1

[0070] At this time, when trying to move the X coordinate of the first reference point T1 by 1 mm, the processor 601 can calculate the rotation angles of the first wheel to fourth wheels 210, 220, 230, 240 by the above mathematical formula (3), and can be summarized and shown as follows in Table 2.

[0071] It should be noted that some of the tags like , , ,

[0068] , , , , ,

[0070] , ,

[0071] , seem to be incomplete in the original text. If there is more context for these, a more accurate translation could be provided. Also, the "

数

Equation

[0072] However, in the control device 1 for a rotating cylinder according to one embodiment of the present invention, as shown in Table 2 above, when the X coordinate is moved while maintaining the Y coordinate, it is possible to confirm that the length of the height H, i.e., the Z coordinate of the first reference point T1, changes.

[0073] Similarly, in the process of correcting the coordinates of the first reference point T1, if the Y coordinate of the first reference point T1 is changed by a previously set value of △Y, the Y-axis tilt of the first rotation unit 201 and the second rotation unit 202 is calculated using mathematical formula (4), and the change in tilt, which is the difference between the calculated Y-axis tilt of the first rotation unit 201 and the second rotation unit 202 and the current Y-axis tilt of the first rotation unit 201 and the second rotation unit 202, is input to 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 is rotated by the calculated rotation angle to correct the Y coordinate of the first reference point T1.

number

[0074] For example, if we want to move the Y coordinate of the first reference point T1 by -1 mm in the state shown in Table 2 above, the processor 601 can calculate the rotation angles of the first to fourth wheels 210, 220, 230, and 240 using the mathematical formula (4) above, and these can be summarized as shown in Table 3 below.

[0075] [Table 3]

[0076] However, as shown in Table 3 above, the control device 1 for a rotating cylinder according to one embodiment of the present invention can be used to confirm that when the Y coordinate is moved while the X coordinate is maintained, the length of the height H, i.e., the Z coordinate of the first reference point T1, changes.

[0077] Similarly, in the process of correcting the coordinates of the first reference point T1, if the Z coordinate of the first reference point T1 is changed by a previously set value of △Z, the X-axis tilt of the first rotation unit 201 and the second rotation unit 202 is calculated using the following mathematical formula (5). The change in tilt, which is the difference between the calculated X-axis tilt of the first rotation unit 201 and the second rotation unit 202 and the current X-axis tilt of the first rotation unit 201 and the second rotation unit 202, is input into the mathematical formula (1) to calculate the rotation angles of the first to fourth wheels 210, 220, 230, and 240. At least one of the first to fourth wheels 210, 220, 230, and 240 is rotated by the calculated rotation angle to correct the Z coordinate of the first reference point.

number

[0078] For example, if we want to move the Z coordinate of the first reference point T1 by -1 mm in the state shown in Table 3 above, the processor 601 can calculate the rotation angles of the first to fourth wheels 210, 220, 230, and 240 using the mathematical formula (5) above, and these can be summarized as shown in Table 4 below.

[0079] [Table 4]

[0080] However, in the control device 1 for a rotating cylinder according to one embodiment of the present invention, as shown in Table 4 above, it can be confirmed that the X coordinate of the first reference point T1 changes when the Z coordinate is moved while maintaining the Y coordinate.

[0081] In other words, according to the control device 1 for a rotating cylinder according to one embodiment of the present invention, the tilt of the rotating cylinder 200 can be maintained while simultaneously correcting the X, Y, and Z coordinates of the first reference point T1 to any desired value. However, as described above, when one of the X, Y, or Z coordinates of the first reference point T1 is moved, there is a problem that one of the remaining two coordinates will change. For example, as described above, if the Y coordinate is moved while the X coordinate of the reference point T1 is maintained, the Z coordinate may change.

[0082] The above explanation describes the coordinate changes associated with the rotation of a rotating cylinder's wheel using the aforementioned mathematical formula. However, it is also possible to calculate this using other methods, such as Euler coordinate transformation.

[0083] In other words, since the changes occur via matrices of 3D X-axis rotation, Y-axis rotation, and Z-axis rotation, it is possible to calculate the change in coordinates associated with the rotation of each wheel, and thereby it is also possible to calculate the rotation value of each wheel required to change the target reference point to the target position.

[0084] Figures 10 to 12 show a rotating cylinder control device 2 according to another embodiment of the present invention. More specifically, Figure 10 is a schematic plan view of the rotating cylinder control device 2 according to another embodiment of the present invention, and Figures 11 and 12 are diagrams showing the rotating cylinder control device 2 according to another embodiment of the present invention in use. The rotating cylinder control device 2 according to another embodiment of the present invention will be described below with reference to Figures 10 to 12, but components common to the rotating cylinder control device 1 according to one embodiment of the present invention can be described using the same reference numerals, and the differences will be explained in detail.

[0085] A control device 2 for a rotating cylinder according to another embodiment of the present invention further includes the rotating cylinder 200 comprising the first rotating unit 201, the second rotating unit 202, and a third rotating unit 203 connected to the second rotating unit 202, and includes the drive unit, the base unit, and the support unit. The third rotating unit 203 includes a fifth wheel 250 and a sixth wheel 260 arranged such that inclined surfaces 251 and 261 that form an angle (w5, w6) with respect to their respective base surfaces 250a and 260a are in contact with each other. In this case, the fifth wheel 250 and the sixth wheel 260 can be arranged in order from the ground, similar to the first to fourth wheels 210, 220, 230, and 240, and the base surface 250a of the fifth wheel 250 may be provided to be in contact with the base surface 240a of the fourth wheel 240. Furthermore, the fifth wheel 250 and the sixth wheel 260 have the same third rotation center RC3 and can be rotatably arranged, and the drive unit can drive the first to sixth wheels 210, 220, 230, 240, 250, and 260 independently.

[0086] The base portion includes a fifth base plate 450 fixed to the base surface 250a side of the fifth wheel 250 so as to be connected to the fifth wheel 250, and a sixth base plate 460 fixed to the base surface 260a side of the sixth wheel 260 so as to be connected to the sixth wheel 260. In this case, the fifth wheel and the sixth wheels 250 and 260 can be provided so as to have their base surfaces 250a and 260a in contact with each other, but more specifically, the fifth base plate 450 and the sixth base plate 460 may be provided so as to have their base surfaces 250a and 260 in contact with each other. In this case, the first to sixth base plates 410, 420, 430, 440, 450, and 460 may be fixed in place so as not to rotate, and the inclination of the first to sixth base plates 410, 420, 430, 440, 450, and 460 can change in accordance with the rotation of the first to sixth wheels 210, 220, 230, 240, 250, and 260.

[0087] The above-described drive unit further includes a fifth drive gear 350 provided on one surface of the fifth base plate 450, a fifth drive motor 351 connected to the fifth drive gear 350, a sixth drive gear 360 connected to the sixth base plate 460, and a sixth drive motor 361 connected to the sixth drive gear 360. The fifth and sixth drive motors 351 and 361 may be provided to be driven independently, thereby allowing the fifth and sixth wheels 250 and 260 to rotate independently. For example, the fifth and sixth drive motors 351 and 361 may each be provided with an internal drive gear (not shown) that can rotatably mesh with the fifth and sixth drive gears 350 and 360, respectively.

[0088] Furthermore, the drive unit further includes a fifth drive shaft 352 provided inside the fifth wheel 250 and connected to the fifth drive gear 350 to rotate the fifth wheel 250, and a sixth drive shaft 362 provided inside the sixth wheel 260 and connected to the sixth drive gear 360 to rotate the sixth wheel 260. Furthermore, the drive unit further includes fifth and sixth connecting members 352a, 362a connecting the fifth drive shaft 352 and the sixth drive shaft 362, and the fifth and sixth connecting members 352a, 362a may be universal joints as shown in the figure, or they may be made of a flexible material or be helical joints, etc. The fifth and sixth connecting members 352a, 362a are rotatably connected to the fifth and sixth drive shafts 352, 362. In other words, even though the fifth and sixth drive shafts 352 and 362 are connected by the fifth and sixth connecting members 352a and 362a, the rotational force of the fifth drive shaft 352 is not transmitted to the sixth drive shaft 362. The connection of the fifth and sixth drive shafts 352 and 362 is for the purpose of connecting the base plates 450 and 460. If necessary, the drive shafts may not be connected, and separate connecting shafts for the base plates 450 and 460 may be provided.

[0089] The support portion described above can be provided at the point where the fifth drive shaft 352 and the sixth drive shaft 362 come into contact, and further includes a fifth support member 550 provided on the fifth wheel 250 and a sixth support member 560 provided on the sixth wheel 260. The fifth support member 550 and the sixth support member 560 can support the fifth wheel 250 and the sixth wheel 260 so as to be rotatable without sliding, and the fifth and sixth support members 550 and 560 can have a hemispherical shape cut around the surface where the fifth wheel 250 and the sixth wheel 260 come into contact.

[0090] Furthermore, a rotating cylinder control device 2 according to another embodiment of the present invention can be controlled by a computing device 600 (see Figure 7) shown in Figure 7. The computing device 600 (see Figure 7) includes at least one of the processors 601 (see Figure 7), a computer-readable storage medium 602 (see Figure 7), and a communication bus 603 (see Figure 7). In this case, the rotating cylinder control device 2 according to another embodiment of the present invention includes a memory for storing instruction words and a processor 601 that controls the drive unit to rotate at least one of the first to sixth wheels 210, 220, 230, 240, 250, and 260 by executing the instruction words, thereby adjusting the inclination of the rotating cylinder 200 to a previously set target value.

[0091] At this time, in the process of controlling the tilt of the rotating cylinder 200, the processor 601 sets virtual X and Y axes, which are Cartesian coordinates, on the base surface 220a of the second wheel 220 located on the upper part of the first rotating unit 201, the base surface 240a of the fourth wheel 240 located on the upper part of the second rotating unit 202, and the base surface 260a of the sixth wheel 260 located on the upper part of the third rotating unit 203, and the previously set first rotating unit By inputting the change values ​​of the X-axis and Y-axis tilt of at least one of the Knit-3 rotation units 201, 202, and 203, the rotation angles of the 1st to 6th wheels 210, 220, 230, 240, 250, and 260 are calculated using the following mathematical formulas (6) and (7). The tilt can then be controlled by rotating at least one of the 1st to 6th wheels 210, 220, 230, 240, 250, and 260 by the calculated rotation angle.

number

number

[0092] Furthermore, the control device 2 for a rotating cylinder according to another embodiment of the present invention can correct the coordinates of the second reference point T2 of the rotating cylinder 200 where the rotation axes 250c and 260c of the fifth and sixth wheels intersect, while maintaining the tilt of the rotating cylinder 200 adjusted by the processor 601. In this case, the second reference point T2 can be the same as the third rotation center RC3.

[0093] In the specification of the present invention, the rotation axes 250c and 260c of the fifth and sixth wheels can mean lines perpendicular to the base surfaces 250a and 260a of each wheel from the third rotation center RC3. For example, the fifth rotation axis 250c, which is the rotation axis of the fifth wheel 250, can mean the line from the fifth base surface 250a to the third rotation center RC3, and the sixth rotation axis 260c, which is the rotation axis of the sixth wheel 260, can mean the line from the sixth base surface 260a to the third rotation center RC3. In this case, the lengths of the fifth rotation axis 250c and the sixth rotation axis 260c may be the same, and in the mathematical formula described later, the length H3 of the rotation axis of the third rotation unit 203 can mean either the length of the fifth rotation axis 250c or the sixth rotation axis 260c.

[0094] In other words, the rotating cylinder control device 2 according to another embodiment of the present invention, similar to the rotating cylinder control device 1 according to one embodiment of the present invention, can maintain the adjusted tilt and, at the same time, correct the X, Y, or Z coordinate of the second reference point T2 if the coordinate of the second reference point T2 deviates from the previously set target coordinate during the process in which the processor 601 controls the tilt of the rotating cylinder 200, by rotating at least one of the first to sixth wheels 210, 220, 230, 240, 250, and 260. In this case, the Z coordinate of the second reference point T2 can mean the value obtained by subtracting the length H3 of the rotation axis 260c of the sixth wheel 260, which is located at the top of the overall height H of the rotating cylinder 200, as shown in Figure 11.

[0095] The coordinate correction of the second reference point T2 can be performed by first correcting the X and Y coordinates (excluding the Z coordinate), then correcting the Z coordinate, and finally correcting the remaining coordinates. Since the calculation of the correction for the X and Y coordinates is relatively easy compared to the Z coordinate, it is advantageous to correct the X and Y coordinates first, and then the Z coordinate. Furthermore, even after all coordinate corrections are completed, the correction of the Y coordinate may change the X and Z coordinates again, so the method of correcting the X and Z coordinates and then the Y coordinate may be repeated, and this correction cycle can be repeated until the error falls within a certain range.

[0096] Figure 11 shows the third state as an example, with the rotating cylinders 200 aligned horizontally. In this state, the length H1 of the rotation axis of the first rotating unit 201 can be 30 mm, the length H2 of the rotation axis of the second rotating unit 202 can be 50 mm, and the length H3 of the rotation axis of the third rotating unit 203 can be 30 mm. The rotation angles of each wheel 210, 220, 230, 240, 250, and 260 in the third state and the height of the entire rotating cylinder 200 can be shown in Table 5 below.

[0097] [Table 5]

[0098] Although not shown in the diagram, 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, which can be summarized as shown in Table 6 below.

[0099] [Table 6]

[0100] As described in Table 6 above, according to the control device 2 for a rotating cylinder of another embodiment of the present invention, when one of the X, Y, or Z coordinates of the second reference point T2 is moved, the remaining coordinates may change. Therefore, the control device 2 for a rotating cylinder of another embodiment of the present invention can rotate at least one of the first to sixth wheels 210, 220, 230, 240, 250, and 260 so as to readjust the changed coordinate to its initial position if the value of one of the remaining coordinates is changed during the process of correcting one of the X, Y, or Z coordinates of the second reference point T2. This allows the control device 2 for a rotating cylinder of another embodiment of the present invention to move only one of the X, Y, or Z coordinates of the second reference point T2 while keeping the rest fixed.

[0101] More specifically, in the process of correcting the coordinates of the second reference point T2, the processor 601 moves the X coordinate of the second reference point T2 by a previously set value of △X, and calculates the X-axis inclination of the first to third rotation units 201, 202, and 203 using mathematical formulas (8) to (11). The calculation is repeated until the calculated X-axis inclination of the first to third rotation units 201, 202, and 203 satisfies mathematical formula (11), and finally the calculated X-axis inclination of the first to third rotation units 201, 202, and 203 By inputting the change in slope, which is the difference between the X-axis tilt of units 201, 202, and 203 and the current X-axis tilt of the first to third rotating units 201, 202, and 203, into the above mathematical formula (6), the rotation angles of the first to sixth wheels 210, 220, 230, 240, 250, and 260 can be calculated, and at least one of the first to sixth wheels 210, 220, 230, 240, 250, and 260 can be rotated by the calculated rotation angle to correct the X coordinate of the second reference point T2.

number

number

number

number

[0102] Here, the height H of the rotating cylinder 200 is equal to twice the sum of the lengths H1, H2, and H3 of the rotation axes of the first to third rotating units 203. However, as shown in Figures 11 and 12, when the entire rotating cylinder 200 is horizontally aligned with the rotation axis lengths H1, H2, and H3 of the first to third rotating units 201, 202, and 203 tilted, the height H of the rotating cylinder 200 can be expressed as the sum of the length H3 of the rotation axis of the third rotating unit 203 located at the top, the length H1 of the rotation axis of the first rotating unit 201 located at the bottom, and the lengths H1+H2, H2+H3 of the remaining rotation axes located in the center, plus the inclination of each of the rotating units 201, 202, and 203.

[0103] In other words, the control device 2 for a rotating cylinder according to another embodiment of the present invention corrects the X coordinate, but can perform a numerical analysis method to correct up to a pre-set threshold (T) range by the above mathematical formula (11) in order to recorrect other changing Z values. As a result, the control device 2 for a rotating cylinder according to another embodiment of the present invention can correct the Z coordinate value or the height of the rotating cylinder 200 so that it is the same as the initial alignment state described in Table 5 above, and can calculate the rotation angles of the first to sixth wheels 210, 220, 230, 240, 250, and 260 as shown in Table 7 below by the above mathematical formulas (8) to (11).

[0104] [Table 7]

[0105] Similarly, in the process of correcting the coordinates of the second reference point T2, the processor 601 moves the Z coordinate of the second reference point T2 by a previously set value of △Z, and calculates the X-axis inclination of the first to third rotation units 201, 202, and 203 using mathematical formulas (12) to (15). The calculation is repeated until the calculated X-axis inclination of the first to third rotation units 201, 202, and 203 satisfies mathematical formula (15). The X-axis inclinations of the first to third rotation units 201, 202, and 203, which were finally calculated, are input into the above mathematical formula (6) to calculate the rotation angles of the first to sixth wheels 210, 220, 230, 240, 250, and 260. By rotating at least one of the first to sixth wheels 210, 220, 230, 240, 250, and 260 by the calculated rotation angle, the Z-coordinate of the second reference point T2 can be corrected.

number

number

number

number

[0106] Furthermore, in the process of correcting the coordinates of the second reference point T2, the processor 601 calculates the resulting height change △Z using mathematical formulas (16) and (17) when the Y coordinate of the second reference point T2 is moved by a previously set value of △Y, and calculates the X-axis tilt of the first to third rotation units 201, 202, and 203 using mathematical formulas (12) to (15). However, if the calculated X-axis tilt of the first to third rotation units 201, 202, and 203 satisfies mathematical formula (15)... The calculation is repeated until the result can be obtained, and the X-axis tilt of the first to third rotating units 201, 202, and 203, which has been finally calculated, is input into the above mathematical formula (6) to calculate the rotation angles of the first to sixth wheels 210, 220, 230, 240, 250, and 260. By rotating at least one of the first to sixth wheels 210, 220, 230, 240, 250, and 260 by the calculated rotation angle, the Y-coordinate of the second reference point can be corrected.

number

number

[0107] In other words, the control device 2 for a rotating cylinder according to another embodiment of the present invention further includes the third rotation unit 203, and thus has one more degree of freedom than the control device 1 for a rotating cylinder according to one embodiment of the present invention. This allows for correction of the coordinates of the second reference point T2 while maintaining the adjusted inclination, and allows for precise correction of the coordinates of the second reference point T2 by moving only one of the X, Y, or Z coordinates of the second reference point T2 while keeping the rest fixed.

[0108] Similar to previous embodiments, the formula for calculating the coordinate change of the second reference point T2 due to the rotation of each wheel can also be calculated using a formula based on Euler coordinate transformation, rather than the formula described above.

[0109] Figure 12 shows how a goniometer is operated using a rotating cylinder control device 2 according to another embodiment of the present invention, and shows the fourth state in which the second reference point T2 has rotated by 5°.

[0110] A goniometer is a device for precisely adjusting the angle of an object rotating around a fixed axis, and can rotate with a radius of rotation R relative to a fixed center. In this case, as shown in Figure 11, if the reference point of the goniometer is set to the second reference point T2, in order for the rotating cylinder 200 to achieve the fourth state in which the goniometer has rotated by 5°, the coordinates of the second reference point T2 must be corrected to a position equivalent to the 5° rotation, as shown in Figure 12. For example, if the radius of rotation R is 100 mm, the second reference point T2 must be corrected to approximately +8.72 mm for the X coordinate and approximately +0.38 mm for the Z coordinate relative to the coordinates shown in Figure 11. For this purpose, the control device 2 for a rotating cylinder according to another embodiment of the present invention can rotate at least one of the first to sixth wheels 210, 220, 230, 240, 250, and 260 to correct the X and Z coordinates of the second reference point T2 to any desired value.

[0111] In the specification of this invention, the first reference point T1 and the second reference point T2 were described by setting them arbitrarily, but the same can be applied to any coordinates located inside the rotating cylinder 200. Therefore, according to the rotating cylinder control device 2 of another embodiment of the present invention, any coordinates that may occur during horizontal alignment or target tilt control can be controlled without affecting the tilt or other coordinates of the rotating cylinder. In other words, the rotating cylinder control device 2 of another embodiment of the present invention enables precise control of the tilt, height and arbitrary coordinates of the rotating cylinder.

[0112] Although the present invention has been described above primarily in terms of examples, the present invention is not limited to the examples described above and can be modified and implemented by a person of ordinary skill without any change in the technical idea of ​​the present invention as claimed in the claims. [Explanation of Symbols]

[0113] 1. Control device for a rotating cylinder 11, 12, 13 1st to 3rd direction 100 Rotating Cylinder 110, 120 First and second wheels 200 Rotating Cylinder 201, 202, 203 1st to 3rd Rotation Units 210, 220, 230, 240, 250, 260 1st to 6th wheels 310, 320, 330, 340, 350, 360 1st to 6th drive gears 311, 321, 331, 341, 351, 361: 1st to 6th drive motors 312a, 322a, 332a, 342a, 352a, 362a First to sixth connecting members 410, 420, 430, 440, 450, 460 1st to 6th base plates 510, 520, 530, 540, 550, 560 First to sixth support members RC1, RC2, RC3: 1st to 3rd rotation centers T1, T2: First and second reference points

Claims

1. A rotating cylinder comprising: a first rotating unit consisting of a first wheel and a second wheel, each having inclined surfaces that form an angle with respect to each base surface and are in contact with each other; a second rotating unit connected to the first rotating unit and consisting of a third wheel and a fourth wheel, each having inclined surfaces that form an angle with respect to each base surface and are in contact with each other; and a third rotating unit connected to the second rotating unit on the opposite side of the first rotating unit and including a fifth wheel and a sixth wheel, each having inclined surfaces that form an angle with respect to each base surface and are in contact with each other; wherein the first to sixth wheels are arranged sequentially along one direction; A drive unit that drives each of the first to sixth wheels independently; Memory for storing command words that perform actions; and The memory and the drive unit are connected to a processor that executes the instruction words, A control device for a rotating cylinder, comprising: controlling the drive unit to rotate at least one of the first to sixth wheels to adjust the inclination of the rotating cylinder, which is the inclination of the base surface of the sixth wheel relative to the base surface of the first wheel, or the position of the base surface of the sixth wheel relative to the base surface of the first wheel, to a previously set target value;

2. The aforementioned rotating cylinder is The first to sixth wheels are arranged sequentially along one direction, the second and third wheels are provided with their base surfaces adjacent and parallel to each other, and the fourth and fifth wheels are provided with their base surfaces adjacent and parallel to each other. The control device for a rotating cylinder according to claim 1, wherein the first wheel and the second wheel have the same first center of rotation and are rotatably arranged relative to each other, the third wheel and the fourth wheel have the same second center of rotation and are rotatably arranged relative to each other, and the fifth and sixth wheels have the same third center of rotation and are rotatably arranged relative to each other.

3. The aforementioned operation is, The drive unit is controlled to correct the tilt of the rotating cylinder. A control device for a rotating cylinder according to claim 2, wherein, while maintaining the adjusted inclination of the rotating cylinder, a plurality of the first to sixth wheels are rotated to correct one of the X, Y, or Z coordinates of a second reference point of the rotating cylinder where the rotation axes of the fifth and sixth wheels intersect.

4. The aforementioned operation is, The control device for a rotating cylinder according to claim 3, further comprising, in the process of correcting one of the X, Y, or Z coordinates of the second reference point, if the value of one of the remaining coordinates is changed, rotating at least one of the first to sixth wheels to readjust the changed coordinate to its initial position.

5. The aforementioned operation is, The control device for a rotating cylinder according to claim 3, comprising performing a calculation to correct one of the X, Y, or Z coordinates of the second reference point, then performing a calculation to correct the other one, and then performing a calculation to correct the remaining one.

6. The aforementioned operation is, The control device for a rotating cylinder according to claim 5, wherein the correction of the X, Y, or Z coordinates of the second reference point is repeated until the other two coordinates fall within a certain range from the target coordinates by any one of the corrections.

7. The aforementioned operation is, In the process of controlling the tilt of the rotating cylinder, A virtual X and Y axis, which are Cartesian coordinates, are set on the base surface of the second wheel located on the upper part of the first rotating unit, the base surface of the fourth wheel located on the upper part of the second rotating unit, and the base surface of the sixth wheel located on the upper part of the third rotating unit. The change values ​​of the X-axis and Y-axis tilt of at least one of the previously set first to third rotation units are input, and the rotation angles of the first to sixth wheels are calculated using the following mathematical formulas (1) and (2). A control device for a rotating cylinder according to claim 4, comprising controlling the tilt by rotating at least one of the first to sixth wheels by the calculated rotation angle. 【Number 1】 [Math 2] Here, θ １ , θ ２ , θ ３ , θ ４ , θ ５ , θ ６ : The counterclockwise rotation angles of the first to sixth wheels, w1, w2, w3, w4, w5, w6: The deflection angles of the first to sixth wheels, C Ｘ１ : The change value of the X-axis inclination of the first rotation unit, C Ｙ１ : The change value of the Y-axis inclination of the first rotation unit, C Ｘ２ : The change value of the X-axis inclination of the second rotation unit, C Ｙ２ : The change value of the Y-axis inclination of the second rotation unit, C Ｘ３ : The change value of the X-axis inclination of the third rotation unit, C Ｙ３ : Means the change value of the Y-axis inclination of the third rotation unit.

8. The aforementioned operation is, In the process of correcting the coordinates of the second reference point, When moving the X-coordinate of the second reference point by a predetermined value of △X, The X-axis tilt of the first to third rotating units is calculated using mathematical formulas (3) to (6), and this calculation is repeated until the calculated X-axis tilt of the first to third rotating units satisfies mathematical formula (6). The X-axis inclination of the first to third rotating units, which has been finally calculated, and the change in inclination, which is the difference between the current X-axis inclination of the first to third rotating units, are input into the mathematical formula (1) to calculate the rotation angles of the first to sixth wheels. The control device for a rotating cylinder according to claim 7, comprising rotating at least one of the first to sixth wheels by the calculated rotation angle to correct the X coordinate of the second reference point. [Math 3] [Math 4] [Math 5] [Math 6] Here, φ' Ｘ１ , φ' Ｘ２ , φ' Ｘ３ : Corrected X-axis tilt of the 1st to 3rd rotation units, φ Ｘ１ , φ Ｘ２ , φ Ｘ３ : The current X-axis tilt of the 1st to 3rd rotation units, H1, H2, H3: The length of the rotation axis of the 1st to 3rd rotation units, T: Represents a previously set threshold.

9. The aforementioned operation is, In the process of correcting the coordinates of the second reference point, When moving the Z coordinate of the second reference point by a predetermined value of △Z, The X-axis tilt of the first to third rotating units is calculated using mathematical formulas (7) to (10), and this calculation is repeated until the calculated X-axis tilt of the first to third rotating units satisfies mathematical formula (10). The X-axis inclinations of the first to third rotation units, which were finally calculated, are input into the mathematical formula (1) to calculate the rotation angles of the first to sixth wheels. The control device for a rotating cylinder according to claim 7, comprising rotating at least one of the first to sixth wheels by the calculated rotation angle to correct the Z coordinate of the second reference point. [Number 7] [Number 8] [Number 9] [Number 10] Here, φ' Ｘ１ , φ' Ｘ２ , φ' Ｘ３ : Corrected X-axis tilt of the 1st to 3rd rotation units, φ Ｘ１ , φ Ｘ２ , φ Ｘ３ : The current X-axis tilt of the 1st to 3rd rotation units, H1, H2, H3: The length of the rotation axis of the 1st to 3rd rotation units, T: Represents a previously set threshold.

10. The aforementioned operation is, In the process of correcting the coordinates of the second reference point, When the Y coordinate of the second reference point is moved by a previously set value of △Y, the resulting height change △Z is calculated using mathematical formulas (11) and (12). The X-axis tilt of the first to third rotating units is calculated using the mathematical formulas (7) to (10), and this calculation is repeated until the calculated X-axis tilt of the first to third rotating units satisfies the mathematical formula (10). The X-axis inclinations of the first to third rotation units, which were finally calculated, are input into the mathematical formula (1) to calculate the rotation angles of the first to sixth wheels. The control device for a rotating cylinder according to claim 9, comprising rotating at least one of the first to sixth wheels by the calculated rotation angle to correct the Y coordinate of the second reference point. [Math 11] [Math 12] Here, φ' Ｙ１ , φ' Ｙ３ : Corrected Y-axis tilt of the first and third rotation units, φ Ｘ１ , φ Ｘ２ , φ Ｘ３ : Current X-axis tilt of the 1st to 3rd rotation units, φ Ｙ１ , φ Ｙ３ : The current Y-axis tilt of the first and third rotation units, H1, H2, H3: The length of the rotation axis of the first to third rotation units, and T: A previously set threshold.

11. The first rotating unit includes a first base plate positioned outside the base surface with respect to the first wheel, and a second base plate positioned outside the base surface with respect to the second wheel. The second rotating unit includes a third base plate positioned outside the base surface with respect to the third wheel, and a fourth base plate positioned outside the base surface with respect to the fourth wheel. The control device for a rotating cylinder according to claim 1, wherein the third rotating unit includes a fifth base plate positioned outside the base surface of the fifth wheel and a sixth base plate positioned outside the base surface of the sixth wheel.

12. The first to sixth base plates are fixed in the direction of rotation, A control device for a rotating cylinder according to claim 11, wherein the drive unit includes a first drive motor provided on the first base plate, a second drive motor provided on the second base plate, a third drive motor provided on the third base plate, a fourth drive motor provided on the fourth base plate, a fifth drive motor provided on the fifth base plate, and a sixth drive motor provided on the sixth base plate, so that the first to sixth wheels rotate relative to the first to sixth base plates.

13. The control device for a rotating cylinder according to claim 12, wherein the drive unit includes a first drive shaft connected to the first drive motor for rotating the first wheel, a second drive shaft connected to the second drive motor for rotating the second wheel, a third drive shaft connected to the third drive motor for rotating the third wheel, a fourth drive shaft connected to the fourth drive motor for rotating the fourth wheel, a fifth drive shaft connected to the fifth drive motor for rotating the fifth wheel, and a sixth drive shaft connected to the sixth drive motor for rotating the sixth wheel.

14. The first rotating unit, the second rotating unit, and the third rotating unit are in surface contact with each other. The control device for a rotating cylinder according to claim 13, wherein the operation includes rotating a plurality of the first to sixth wheels to adjust the position of the sixth base plate relative to the first base plate without adjusting the inclination angle of the sixth base plate relative to the first base plate.

15. The control device for a rotating cylinder according to claim 13, wherein the operation includes rotating one or more of the first to sixth wheels to adjust the inclination angle of the sixth base plate relative to the first base plate without adjusting the position of the sixth base plate relative to the first base plate.

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