KR20230083260A - Dummy and its transfer robot - Google Patents

Abstract

The present invention was conceived as an attempt to make test preparation more concise and to provide a dummy with a high recycling rate and a transportation means thereof. More specifically, the present invention relates to a vehicle driving safety test dummy, which minimizes damage to the dummy due to collision with a vehicle and minimizes an installation process of separate test equipment for testing, and a transportation means thereof. According to an aspect of the present invention, a driving safety test dummy includes a plurality of modules which can be coupled to each other. Each of the plurality of modules is provided with a housing constituting the outer shape and coupling portions which enable mutual coupling with other modules. Each of the coupling portions is magnetic, thereby being coupled to another coupling portion having magnetism of a different polarity through magnetic force.

Description

Dummy and its transfer robot {DUMMY AND ITS TRANSFER ROBOT}

The present invention relates to a pedestrian dummy for testing used in a driving safety test of a vehicle and a transfer robot thereof.

Various technologies for vehicle driving safety are disclosed. ADAS (Advanced Driver Assistance System) is the most representative technology, and it is a safety device that helps the driver to cope with the judgment by warning the driver of the risk of an accident by detecting a dangerous situation with a sensor provided in the vehicle.

ADAS includes Forward Collision Warning (FCW), Advanced Emergency Braking (AEB), Lane Keeping Assist (LKA), and Lane Departure Assist (LDW). Warning System), Blind-spot Collision-avoidance Assist (BCA), Safety Exit Assist (SEA), and Smart Cruise Control (SCC). ADAS can be understood as a collection of the above functions or other functions not introduced here designed to help the driver drive safely.

The production of the vehicle includes the process of testing the above ADAS. In particular, the test process for functions to prevent collisions with the outside of the vehicle, such as forward collision warning, automatic emergency braking, rear-side collision avoidance assistance, and safe exit assistance among ADAS, assumes a situation where a pedestrian appears outside the vehicle in motion. .

The test method is as follows. First, the vehicle is driven with the ADAS of the vehicle turned on. A dummy acting as a pedestrian appears in front of the running vehicle. The appearance of the dummy may be based on a method of moving the dummy so as to pass through the driving route of the vehicle other than a method of preparing the dummy in advance in the driving route of the vehicle.

1 shows a test aspect using a conventional dummy 10.

2 shows a conventional dummy 10.

Referring to FIGS. 1 and 2 , a rail 20 is provided along the moving path of the dummy 10 on the road where the test is performed. The dummy 10 may be loaded and fixed to the transfer member 40 movable along the rail 20 and transferred along the path of the rail 20 . Rails 20 capable of providing power are provided on both sides or one side of the road, and the conveying member 40 is connected to the drive device 30 through a belt, etc. by the power provided by the drive device 30. It is possible to move along the path of the rail 20 .

With the above configuration, the dummy 10 can appear in front of the driving vehicle, and the ADAS provided in the driving vehicle performs its function, such as sudden braking of the vehicle at the moment it recognizes the dummy 10 that has appeared. For example, the test of the automatic emergency braking system can be performed by confirming whether the ADAS has succeeded in stopping the vehicle without colliding with the dummy 10 by automatically braking the vehicle after recognizing the dummy 10. will be. The dummy 10 described above can be widely used not only for ADAS tests but also for vehicle driving safety tests.

However, the movement by the rail 20 as above is a process of installing the rail 20 and the driving device 30 on the road and disposing the dummy 10 and the transfer member 40 on the installed rail 20 again. There is a problem that requires a lot of time to prepare for the exam.

Meanwhile, as can be seen from the above description, the dummy 10 for a vehicle driving safety test assumes a collision with a vehicle. In order to efficiently perform repeated tests, it is necessary to recycle the dummy 10 that collided with the vehicle. However, parts of the dummy 10 that are vulnerable to impact, such as the joints of the human body, are highly likely to be damaged by collision with a vehicle, resulting in a low recycling rate in the next test.

On the other hand, the test of the vehicle may need to comply with driving crash regulations (eg, ARTICULATED PEDESTRIAN TARGET SPECIFICATIONS of the European Automobile Manufacturers Association). More specifically, the pedestrian dummy may require the lower body portion to operate in the same manner as the lower body of a walking person (see ARTICULATED PEDESTRIAN TARGET SPECIFICATIONS/2.4 ARTICUATION).

Therefore, as shown in FIG. 2, the existing dummy 10 transfers the power from the driving device 30 for moving the transfer member 40 to the dummy 10 loaded on the transfer member 40, and through this The dummy 10 was able to perform the above-described operation. However, the power transmission structure (legs and feet of a pedestrian in FIG. 2) for transmitting such power has a relatively complex structure and is difficult to maintain. When the vehicle and the dummy 10 collide, the power transmission structure is destroyed and recycled. This often made it even more difficult.

The present invention was conceived in an attempt to simplify the preparation of the test and to provide a dummy and its transportation means with a high recycling rate. It is an invention related to a dummy for vehicle driving safety test that minimizes the installation process of test equipment and its transportation means.

According to one aspect of the present invention for solving the above problems, a plurality of modules that can be coupled to each other are included, and the plurality of modules are provided with a coupling unit that enables mutual coupling with a housing and other modules constituting an external shape, respectively. In addition, a dummy for a driving safety test may be provided in which each of the coupling parts has magnetism so that it can be mutually coupled with other coupling parts having magnetism of a different polarity by magnetic force.

One of the plurality of modules is a first driven module for providing a first coupling part, and any one of the plurality of modules other than the first driven module is a second driven module for providing a second coupling part, and the first Any one of the plurality of modules other than the driven module and the second driven module is a driving module providing a third coupling part and a fourth coupling part, and the driving module includes a first motor capable of providing power; a first processor controlling the first motor; And a power transmission structure provided inside the driving module and capable of transmitting the power provided by the first motor through the third coupling portion and the fourth coupling portion by providing the third coupling portion and the fourth coupling portion. and wherein the first coupling part can be coupled to the third coupling portion and the second coupling portion can be coupled to the fourth coupling portion, so that the first driven module and the second driven module are the driving module It may be provided to enable forward and backward movements by intersecting each other by the power provided.

In addition, the first coupling portion and the third coupling portion may be provided as mutually meshing spur gears, respectively. In addition, the second coupling portion and the fourth coupling portion may be provided with mutually meshing spur gears, respectively.

According to another aspect of the present invention for solving the above problems, the vehicle body capable of fixing and loading the dummy of any one of claims 1 to 3 on the upper surface; A second motor capable of providing power; a second processor capable of controlling the second motor; a moving unit for moving the vehicle body by the power provided by the second motor at a lower portion of the vehicle body; a suspension unit connected to the moving unit and elastically supporting the vehicle body; and a fan driven by power provided by the second motor, wherein the fan sucks in air located on the lower side of the vehicle body and discharges it to the upper side of the vehicle body, thereby improving the ground contact force of the vehicle body. A dummy transfer robot for safety testing may be provided.

A rear surface and both side surfaces of the vehicle body may be inclined downward, and at least three or more fans may be provided on the rear surface and both side surfaces of the vehicle body.

The at least three or more fans may each have an axis in a direction perpendicular to the provided surface.

In addition, the front surface of the vehicle body may be inclined downward.

The present invention has the following effects.

First, when a vehicle collides, the dummy is easily disassembled to absorb the impact caused by the collision, thereby minimizing damage to the dummy to increase the recycling rate.

Second, maintenance and repair costs are reduced by minimizing damage to the power transmission structure when a vehicle collides.

Third, since the test can be performed by loading and fixing the dummy on the transport robot that can move autonomously, there is no need to perform preparation work such as installing rails on the test road for the test, resulting in reduced test preparation time. shortened

The present invention contributes to increasing the efficiency of the vehicle driving safety test through the above effects.

In addition to the above-mentioned effects, the present invention can exert various effects that can be derived by the present specification.

Figure 1 shows a test aspect using a conventional dummy.
Figure 2 shows a conventional dummy.
3 illustrates a dummy according to one aspect of the present invention.
4 illustrates a module according to one aspect of the present invention.
5 illustrates a state in which a module is combined with another module according to an aspect of the present invention.
FIG. 6 illustrates the appearance of a driving module, a first driven module, and a second driven module according to an aspect of the present invention.
7 illustrates a driving scene of a dummy according to an aspect of the present invention.
8 illustrates a driving scene of a dummy according to an aspect of the present invention.
9 is a perspective view of a transfer robot according to an aspect of the present invention.
10 is a cross-sectional side view of a transfer robot according to an aspect of the present invention.
11 is a top cross-sectional view of a transfer robot according to an aspect of the present invention.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, the definition should be made based on the contents throughout this specification.

<Description of the dummy for testing>

3 illustrates a dummy 100 according to one aspect of the present invention.

Referring to FIG. 3 , a test dummy 100 (hereinafter referred to as 'dummy 100') according to an aspect of the present invention may include a plurality of modules M capable of being coupled to each other. Each module M may correspond to each part of the human body. The plurality of modules (M) include a head module (Mh), a body module (Mb), a right arm module (Mra), a left arm module (Mla), a right leg module (Mrl) and a left leg module (Mll). can

Meanwhile, it is sufficient if each module M corresponds to a part of the human body. Therefore, the plurality of modules include a head module (not shown), a body module (not shown), an upper right arm module (not shown), a right forearm module (not shown), and a right hand module (not shown). ), left upper arm module (not shown), left forearm module (not shown), left hand module (not shown), right thigh module (not shown), right thigh module (not shown), a left femoral module (not shown), a left knee module (not shown), a right foot module (not shown), and a left foot module (not shown). It is also possible to be prepared to correspond to each part of the subdivided human body. However, in this specification, for convenience of description, a plurality of modules M implemented in a simpler form introduced previously will be described.

Returning to the description again, each module (M) may provide a housing (M2) and the coupling portion (M1).

4 illustrates a module M according to one aspect of the present invention.

Figure 5 shows a state in which a module (M) is combined with another module (M) according to an aspect of the present invention.

Referring to FIG. 4 , the housing M2 may configure the outer shape of the module M. The module (M) may be provided to have an empty space therein. It is also possible for other components to be disposed inside the housing M2 if necessary. In the case of the module M having an empty space therein, it may contribute to lowering the production cost and facilitating the preparation of the test.

Referring to Figure 5, the coupling portion (M1) is provided in the housing (M2) can function so that the module (M) is mutually coupled with other modules (M). The coupling portion M1 may be provided in an empty space inside the housing M2 so that a portion thereof is exposed and coupled to the coupling portion M1 of another module M. Each coupling portion M1 may be provided so as to be mutually coupled by magnetic force with another coupling portion M1 having a different polarity of magnetism.

For example, as referenced in FIG. 1 , the body module M includes a coupling part M1S including an S-pole magnet at an upper part, an upper left part, a left lower part, an upper upper part, and a right lower part, respectively, and a head Module (Mh), right arm module (Mra), right leg module (Mrl), left arm module (Mla), and left leg module (Mll) each have a coupling part (M1N) containing an N-pole magnet at each end. may contain Therefore, the body module (M) has a head module (Mh) on the upper part, a left arm module (Mla) on the upper left part, a left leg module (Mll) on the left lower part, a right arm module (Mra) on the upper right part, In addition, it may be possible that the right leg module (Mrl) is coupled to the right lower surface by attraction (magnetic force) between the N-S poles. Of course, the polarity of the coupling part M1 of each module M is exemplary.

The dummy 10 composed of each module M coupled in this way is disassembled upon collision with the vehicle, dispersing and absorbing the impact force. Therefore, it is possible to prevent the impact amount from being concentrated only on the module M directly colliding with the vehicle, and as a result, it is possible to minimize the occurrence of a situation in which recycling is impossible due to damage to a specific module M. In addition, by minimizing the application of a mechanical coupling structure for coupling each module (M), even if each module (M) is disassembled by impact, damage to the coupling structure can be minimized.

Meanwhile, as referenced in FIG. 5 , each coupling part M1 may be provided to form unevennesses B and G corresponding to each other between the coupled modules M, respectively. The irregularities B and G formed respectively may match and fit between the coupling portions M1 of the modules M that are coupled to each other. More specifically, the bumps (B, G) mean a protrusion (B) and / or a groove (G), and the protrusion (B) formed on the coupling part (M1) of one module (M) is another module coupled therewith. It can be inserted into the groove (G) formed in the coupling part (M1) of (M). In this way, it is possible to exhibit the function of fixing the guidance and the coupling position so that each module M coupled to each other can be coupled at the correct position.

6 shows the appearance of a driving module 30M, a first driven module 10M, and a second driven module 20M according to an aspect of the present invention.

Any one of the plurality of modules M is the driving module 30M, and any two of the plurality of modules M excluding the driving module 30M are the first driven module 10M and the second driven module 20M. can

Meanwhile, the driving module 30M may be a body module Mb. The first driven module 10M may be a right leg module Mrl, and the second driven module 20M may be a left leg module Mll. It is explained under this premise below.

The driving module 30M may have the shape of a pelvis, but may have two coupling parts M1 provided at the hip joint. One coupling part M1 may be the third coupling part 30M1a, and one of the other coupling parts M1 may be the fourth coupling part 30M1b (as will be described later, the third coupling part 30M1a is the first coupling part 30M1a). The first coupling portion 10M1 provided in the driven module 10M and the fourth coupling portion 30M1b may be coupled with the second coupling portion 20M1 provided in the second driven module 20M). According to the lower part of the body module Mb, the shape of the pelvis is provided, and two coupling parts 30M1a and 30M1b are provided at the two hip joints, respectively, so that the first driven module 10M and the second driven module 20M will be described later. ) is provided so that it can be combined.

The driving module 30M may further include a first motor 30M10, a first processor 30M20, and a power transmission structure 30M30. The first motor 30M10 and the first processor 30M20 may be provided inside the housing 30M2.

The first motor 30M10 may provide power. Power provided by the first motor 30M10 may be provided to the power transmission structure 30M30.

The first processor 30M20 may control the first motor 30M10. The first processor 30M20 may control the first motor 30M10 to provide appropriate power to the power transmission structure 30M30. At this time, proper power is transmitted to the power transmission structure 30M30 so that the first driven module 10M and the second driven module 20M connected to the power transmission structure 30M30 move in the same way as the lower body of the pedestrian Power can mean

The power transmission structure 30M30 may be provided inside the driving module 30M to transmit power provided by the first motor 30M10. More specifically, the power transmission structure (30M30) provides a third coupling portion (30M1a) and a fourth coupling portion (30M1b) to transfer the power provided by the first motor (30M10) to the third coupling portion (30M1a) and the fourth coupling portion (30M1a) and the fourth coupling portion (30M1a). It may be provided to be transmitted to the first driven module 10M and the second driven module 20M through the coupler 30M1b.

Meanwhile, any two of the plurality of modules M excluding the driving module 30M may be the first driven module 10M and the second driven module 20M, respectively. The first driven module 10M has a first coupling portion 10M1 that can be coupled to the third coupling portion 30M1a, and the second driven module 20M has a first coupling portion 10M1 that can be coupled to the fourth coupling portion 30M1b. Two coupling parts 20M1 may be provided. Through this, the first driven module 10M and the second driven module 20M may be coupled to the driving module 30M, respectively. Accordingly, the first driven module 10M and the second driven module 20M may receive power from the power transmission structure 30M30 and implement the same movement as the lower body of a pedestrian.

7 shows a driving scene of the dummy 100 according to one aspect of the present invention.

8 shows a driving scene of the dummy 100 according to an aspect of the present invention.

In each drawing, (a) shows a state in which the first driven module 10M and the second driven module 20M are located side by side, and (b) shows the first driven module 10M moving forward and the second driven module ( 20M) shows a retracted state (the pedestrian's right leg advances), and (c) shows a state in which the second driven module 20M advances and the first driven module 10M retracts (the pedestrian's left leg shows the preceding aspect).

Hereinafter, the power transmission structure 30M30 will be described with reference to FIGS. 6 to 8 .

The power transmission structure 30M30 includes a camshaft 30M31, a first cylinder 30m32, a first piston 30M33, a first arm 30M34, a first shaft 30M35, a second cylinder 30M36, and a second cylinder 30M36. A piston 30M37, a second arm 30M38 and a second shaft 30M39 may be included.

In order to receive power from the power transmission structure 30M30, the first driven module 10M and the second driven module 20M have their coupling parts (the first coupling portion 10M1 and the second coupling portion 20M1) gears. In a preferred embodiment, the first coupling portion 10M1 and the second coupling portion 20M1 are provided as spur gears to prevent damage when separated from the drive module 30M due to impact. A spur gear has a disk shape, but has teeth on the front (or rear) side rather than the side, so power can be transmitted by meshing the front (or rear) with another spur gear. The gears are also the same.

The camshaft 30M31 may have one end connected to the first motor 30M10 and a cam 30M31a provided at the other end. When the first motor 30M10 receives power under the control of the first processor 30M20, the camshaft 30M31 may rotate. When the camshaft 30M31 rotates, the cam 30M31a rotates and can selectively push the first piston 30M33 and the second piston 30M37. At this time, the first piston 30M33 is pushed to the left (state (b)), and the second piston 30M37 is pushed to the right (state (c)).

Meanwhile, in a preferred embodiment, the cam 30M31a may be provided so that the elevation on the circular coordinate system θ, r is drawn in the shape of r=a*θ (a is a constant). In this case, since the cam 30M31a rotates at a constant angular speed, the first piston 30M33 or the second piston 30M37 is pushed out and returned at a constant speed, and the first arm 30M34 and the second arm 30M38 Since they move while maintaining the 1st piston (30M33) and the 2nd piston (30M37) within 90 degrees (80 to 110 degrees), the rotational angular velocity of the 1st arm (30M34) and 2nd arm (30M38) is also the cam (30M31a). ) to maintain a nearly constant angular velocity. Therefore, in a preferred embodiment, the first arm 30M34, the second arm 30M38, the first shaft 30M35, and the second shaft 30M39 also repeat angular motion at a substantially constant speed. Therefore, the first driven module 10M and the second driven module 20M can also behave in a more natural way as pedestrians.

The first cylinder 30m32 may be provided with a hollow inside so that the first piston 30M33 may be inserted into the hollow to perform a piston movement. The first cylinder 30m32 may be provided by being fixed to the housing 30M2 of the driving module 30M or formed by the housing 30M2 of the driving module 30M. That is, since a hollow is formed inside the housing 30M2 of the driving module 30M, it may be provided to perform the role of the first cylinder 30m32.

The first piston 30M33 is provided in a hollow formed in the first cylinder 30m32, and may be pushed to the left or returned by rotation of the cam 30M31a.

One side of the first arm 30M34 is extended to receive force from the first piston 30M33, and the other end may be provided to form a drive bevel gear 30M34a. The first arm 30M34 may be provided to rotate about the axis of rotation of the drive bevel gear 30M34a provided at the other end. Accordingly, the first arm 30M34 may rotate counterclockwise around the axis of rotation of the drive bevel gear 30M34a provided at the other end by the force received from the first piston 30M33. The first arm 30M34 may be seated or fixed to the housing 30M2 of the driving module 30M in such a rotatable state.

Meanwhile, when the first arm 30M34 is seated or fixed to the housing 30M2, an elastic member (not shown) such as a spring may be provided between the housing 30M2 and the first arm 30M34. The elastic member (not shown) is supported by the housing 30M2 and can always provide clockwise torque to the first arm 30M34. According to this, when the first arm 30M34 receives force from the cam 30M31a and is pushed to the left, the first arm 30M34 is driven by an elastic member (not shown) by the force provided by the first piston 30M33. Although it can rotate counterclockwise while overcoming the clockwise torque, when the cam 30M31a rotates again, it rotates clockwise based on the clockwise torque generated by the elastic member (not shown) and the first piston It can function to push (30M33) to the right.

A driven bevel gear 30M35a may be provided at one end of the first shaft 30M35. Therefore, when the driving bevel gear 30M35a provided at the other end of the first arm 30M34 rotates, the driven bevel gear 30M35a provided at one end of the first shaft 30M35 may rotate in engagement therewith.

Meanwhile, a gear 30M35b may be provided at the other end of the first shaft 30M35. The gear 30M35b may function to rotate the first driven module 10M by engaging the first coupling part 10M1 of the first driven module 10M and rotating the first shaft 30M35. Eventually, when the first arm 30M34 rotates counterclockwise, the first driven module 10M moves forward as in (b), and when the first arm 30M34 rotates clockwise, the first driven module 10M moves forward. (10M) retreats like the state (c).

Meanwhile, the gear 30M35b provided at the other end of the first shaft 30M35 may be provided as a coupling part M1 of the driving module 30M. That is, the other end of the first shaft 30M35 may be provided with a third coupling part 30M1a in the form of a gear. The gear 30M35b providing the third coupling portion 30M1a is coupled with the first coupling portion 10M1 by exhibiting magnetism opposite to that of the first coupling portion 10M1 provided in the first driven module 10M. It can be arranged to maintain the state.

Meanwhile, in a preferred embodiment, the gear 30M35b providing the third coupling part 30M1a may be a spur gear. In this case, the third coupling portion 30M1a may also be provided with a spur gear meshed with the first coupling portion 10M1. According to this, the third coupling part 30M1a and the first coupling part 10M1 maintain a coupled state by magnetic force and transmit the torque of the first shaft 30M35 to the first driven module 10M, while resisting external impact. Separation is facilitated by this, and it is possible to provide a coupling structure capable of minimizing damage to the connection structure during separation.

The second cylinder 30M36 may be provided with a hollow inside so that the second piston 30M37 is inserted into the hollow to perform a piston movement. The second cylinder 30M36 may be provided by being fixed to the housing 30M2 of the driving module 30M or formed by the housing 30M2 of the driving module 30M. That is, since a hollow is formed inside the housing 30M2 of the driving module 30M, it may be provided to perform the role of the second cylinder 30M36.

The second piston 30M37 is provided in a hollow formed in the second cylinder 30M36, and may be pushed to the right or returned by rotation of the cam 30M31a.

One side of the second arm 30M38 is extended to receive force from the second piston 30M37, and the other end may be provided to form a drive bevel gear 30M38a. The second arm 30M38 may be provided to rotate about the axis of rotation of the drive bevel gear 30M38a provided at the other end. Accordingly, the second arm 30M38 may rotate clockwise around the axis of rotation of the drive bevel gear 30M38a provided at the other end by the force received from the second piston 30M37. The second arm 30M38 may be seated or fixed to the housing 30M2 of the driving module 30M in such a rotatable state.

Meanwhile, when the second arm 30M38 is seated or fixed to the housing 30M2, an elastic member (not shown) such as a spring may be provided between the housing 30M2 and the second arm 30M38. The elastic member (not shown) is supported by the housing 30M2 and can always provide counterclockwise torque to the second arm 30M38. According to this, when the second arm 30M38 receives force from the cam 30M31a and is pushed to the right, the second arm 30M38 is driven by an elastic member (not shown) by the force provided by the second piston 30M37. Although it can rotate clockwise while overcoming counterclockwise torque, when the cam 30M31a rotates again, it rotates counterclockwise based on the counterclockwise torque generated by the elastic member (not shown) and controls It can function to push the 2nd piston (30M37) to the left.

A driven bevel gear 30M39a may be provided at one end of the second shaft 30M39. Therefore, when the drive bevel gear 30M38a provided at the other end of the second arm 30M38 rotates, the driven bevel gear 30M39a provided at one end of the second shaft 30M39 may rotate in engagement therewith.

Meanwhile, a gear 30M39b may be provided at the other end of the second shaft 30M39. The prepared gear 30M39b may function to rotate the second driven module 20M by engaging the second coupling part 20M1 of the second driven module 20M and rotating the second shaft 30M39. Eventually, when the second arm 30M38 rotates clockwise, the second driven module 20M moves forward as shown in (c), and when the second arm 30M38 rotates counterclockwise, the second driven module 20M moves forward. (20M) retreats as in (b).

Meanwhile, the gear 30M39b provided at the other end of the second shaft 30M39 may be provided as a coupling part M1 of the driving module 30M. That is, the other end of the second shaft 30M39 may be provided with a fourth coupling part 30M1b in the form of a gear. The gear 30M39b provided with the fourth coupling portion 30M1b exhibits a magnetism opposite to that of the second coupling portion 20M1 provided in the second driven module 20M, thereby forming a strong relationship with the second coupling portion 20M1. It may be provided to maintain a coupled state.

Meanwhile, in a preferred embodiment, the gear 30M39b providing the fourth coupling part 30M1b may be a spur gear. In this case, the fourth coupling portion 30M1b may also be provided with a spur gear engaged with the second coupling portion 20M1. According to this, the fourth coupling portion 30M1b and the second coupling portion 20M1 maintain a coupled state by magnetic force and transmit the torque of the second shaft 30M39 to the second driven module 20M while resisting external impact. Separation is facilitated by this, and it is possible to provide a coupling structure capable of minimizing damage to the connection structure during separation.

According to the description so far, the cam 30M31a is rotated by the first motor 30M10, and the first piston 30M33 and the second piston 30M37 alternately move the piston in the left and right directions. In other words, when the first piston 30M33 moves to the left, the second piston 30M37 also moves to the left, and when the first piston 30M33 moves to the right, the second piston 30M37 also moves to the right. can make you exercise. According to the foregoing, in the state (b), the first piston 30M33 moves to the left to rotate the first arm 30M34 counterclockwise, and accordingly, the first shaft 30M35 rotates the first driven module 10M. advance by rotating At the same time, when the second piston 30M37 also moves to the left, the second arm 30M38 rotates clockwise, and accordingly, the second shaft 30M39 rotates the second driven module 20M to retreat. In the state (c), both the first piston 30M33 and the second piston 30M37 move to the right, the first driven module 10M moves backward, and the second driven module 20M moves forward. As a result, the first motor 30M10 continuously rotates in one direction so that the first driven module 10M and the second driven module 20M cross each other and repeat forward and backward movements. And this means that the right leg module (Mrl) and the left leg module (Mll) can behave in the same way as the walking lower body of a pedestrian.

Since the power transmission structure 30M30 is located inside the housing 30M2 of the drive module 30M, it is less likely to be damaged by a vehicle impact. Of course, the power transmission structure 30M30 implemented in a different way and capable of transmitting the power of the first motor 30M10 to the first driven module 10M and the second driven module 20M inside the housing 30M2 is the present invention. should not be construed as excluding it from the scope of its rights.

According to one aspect of the present invention according to the above description, it is possible to provide a dummy 100 in which the lower body behaves like the lower body of a pedestrian.

Finally, since the dummy 100 according to the present invention is easy to assemble and disassemble, and has a low risk of damage due to collision, maintenance and repair costs can be reduced. In addition, since the pedestrian-like behavior of the dummy 100 can be implemented by an independent motor (a second motor 210 to be described later and an independent first motor 30M10), power is transmitted from the outside of the dummy 100. There is no need to install a separate device such as the rail 20 for the test, and thus the time required for preparation for the test is also reduced.

<Description of transfer robot>

The driving safety test dummy 100 described above is transported by the driving safety test dummy transfer robot 200 (hereinafter referred to as 'transfer robot 200'). Of course, the transfer robot 200 can transfer not only the above-described dummy 100 but also a general adult dummy. For example, it is possible to transport a pile in the shape of a person riding a bicycle.

9 is a perspective view of a transfer robot 200 according to an aspect of the present invention.

10 is a cross-sectional side view of the transfer robot 200 viewed from the A-A direction as shown in FIG.

FIG. 11 is a plan sectional view of the transfer robot 200 viewed from the B-B direction as shown in FIG. 10 .

See FIGS. 9 to 11 below.

The transfer robot 200 may include a body 230, a second motor 210, a second processor 220, a moving unit 240, a suspension unit 250, a communication unit 260, and a fan 270. there is.

The vehicle body 230 may be provided to fix and stack the dummy 100 on the upper surface. The vehicle body 230 may have various coupling structures to fix the dummy 100 to the upper surface of the vehicle. Of course, since the upper surface of the car body 230 is magnetic and the coupling part M1 of the dummy 100 with the car body 230 is also magnetic, it is possible to couple the two by magnetic force. In this case, the coupling structure of both 100 and 200 will be more free from damage due to collision. In order for the dummy 100 to be fixed and loaded on the upper surface of the transfer robot 200, a stand S extending downward from any module M included in the dummy 100 is provided, and the It is also possible to form a coupling portion (not shown) with the vehicle body 230 at one end (not shown) of the extension. Since those skilled in the art can easily employ various methods for implementing such a coupling structure, a detailed description thereof will be omitted.

The vehicle body 230 may be provided to form an empty space therein.

The rear surface and both side surfaces of the vehicle body 230 may be inclined downward. In addition, the vehicle body 230 is formed with a suction hole H opened to the lower side. A fan 270 to be described later may be provided on the inclined surface. At this time, the provided fan 270 may be provided to be rotatable with an axis in a direction perpendicular to the rear and both sides of the vehicle body 230 , respectively. Accordingly, in this case, the fan 270 may function to lower the height of the vehicle body 230 by sucking air from the lower side of the vehicle body 230 and discharging it to the outside. More specifically, air inside the vehicle body 230 is sucked in and released to the rear and upper sides of the vehicle and to the upper left and right sides of the vehicle, so that when the air pressure in the lower side of the vehicle body 230 or inside the vehicle body 230 is lowered, the air pressure inside the vehicle body 230 is lowered through the suction hole H. (230) Air from the lower side is supplied to the intake hole (H), and the air pressure at the lower side of the vehicle body (230) is lowered. Finally, since the vehicle body 230 receives force in a downward direction due to the air pressure difference, the height of the vehicle body 230 is lowered. Of course, at this time, the suspension unit 250 to be described below functions.

The front surface of the vehicle body 230 may be inclined downward. In this case, the coefficient of resistance to the wind of the vehicle is lowered, contributing to the improvement of the energy efficiency of the transfer robot 200.

In addition, when the transfer robot 200 moves, the air pressure in front of the vehicle body 230 increases, and thus the front portion of the vehicle receives downward pressure. In this case, since the grip force of the drive wheels increases, the transfer robot 200 can travel more stably and efficiently (FIGS. 10 and 11, the first moving shaft 241 is on the rear side and the second moving shaft 242 is on the front side). It is expressed as being located at , but it is possible that the positions of both are reversed).

The second motor 210 may be provided to provide power. The second processor 220 may be provided to control the second motor 210 . The communication unit 260 may be provided to receive a signal from the outside. When the communication unit 260 receives a signal from the outside, the second processor 220 may process the signal and control the second motor 210 according to the signal. Of course, it is also possible for the second processor 220 to control the second motor 210 according to a command input in advance in a state where the communication unit 260 is not provided to provide power to the transfer robot 200 according to the command input in advance. Anything is possible.

The moving unit 240 may be provided under the vehicle body 230 to move the vehicle body 230 by power provided by the second motor 210 . Accordingly, the moving unit 240 may include a first moving shaft 241 receiving power from the second motor 210 and wheels 241W connected to both ends of the first moving shaft 241 .

Meanwhile, the moving unit 240 may include a second moving shaft 242 controlled by the second processor 220 . The second moving shaft 242 may also have wheels 242W. This wheel can rotate around the second moving shaft 242 as an axis. The second processor 220 may determine the moving direction of the transfer robot 200 by controlling the angle of the second moving shaft 242 according to a signal received through the communication unit 260 or a command input in advance.

The suspension unit 250 may be connected to the moving unit 240 to elastically support the vehicle body 230 . More specifically, the suspension unit 250 may be provided with both ends connected to the first moving shaft 241 and the second moving shaft 242 and the vehicle body 230 , respectively. Of course, the suspension unit 250 can function to alleviate transmission of impact applied from the floor to the vehicle body 230 when the transfer robot 200 is driven. Also, as described above, when force is applied downward to the vehicle body 230 by the fan 270, the height of the vehicle body 230 may be lowered.

The fan 270 may be driven by power provided by the second motor 210 . The fan 270 may function to improve the contact force of the vehicle body 230 with the ground by sucking air located on the lower side of the vehicle body 230 and discharging it toward the upper side of the vehicle body 230 . At least three or more fans 270 may be provided on the rear surface and both sides of the vehicle body 230, one by one. Each fan 270 may have an axis in a direction perpendicular to the surface provided respectively. Therefore, when the rear surface and each side of the vehicle body 230 are inclined downward, each fan 270 sucks air located on the lower side of the vehicle body 230 and blows it toward the upper side of the vehicle body 230 .

A more detailed explanation is as follows. When the fan 270 operates, the air inside the vehicle body 230 is continuously discharged to the outside of the vehicle body 230, so that the inside of the vehicle body 230 and the inside of the vehicle body 230 are connected through the intake hole H. The lower air pressure becomes lower than the air pressure outside the vehicle body 230 . Accordingly, the vehicle body 230 is laid down by the function of the suspension unit 250 . Therefore, air resistance during movement is lowered, and as a result, energy efficiency of the transport vehicle is improved.

Since the driven fan 270 also requires energy, a person skilled in the art will be able to select the number and specific location of the fan 270 for optimal energy efficiency of the transportation vehicle through simple experiments.

In addition, since the fan 270 located at the rear of the vehicle body 230 discharges air to the upper and rear sides of the vehicle, the air discharged to the rear serves as a propellant, contributing to further increasing the energy efficiency of the vehicle.

Finally, the transfer robot 200 has high energy efficiency, so cost reduction is possible through a motor with a lower specification, and since the body 230 is lowered, more stable driving is possible.

So far, the present invention has been looked at mainly with its preferred embodiments. Those skilled in the art to which the present invention pertains will be able to understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the scope of the present invention should be construed to include various embodiments within the scope equivalent to those described in the claims without being limited to the above-described embodiments.

10 : Dummy
20: rail
30: driving device
40: transfer member
100: dummy for testing
M: module
M1: connection part
M2: Housing
10M: 1st driven module
10M1: first coupling part
20M: 2nd driven module
10M1: 2nd coupling part
30M: drive module
30M1a: 3rd coupling part
30M1b: 4th coupling part
30M2: Housing
30M10: 1st motor
30M20: 1st processor
30M30: power transmission structure
30M31 : Camshaft
30M31a : Cam
30M32: 1st cylinder
30M33: 1st piston
30M34: 1st arm
30M34a: driving bevel gear
30M35: 1st shaft
30M35a : driven bevel gear
30M35b : gear
30M36: 2nd cylinder
30M37: 2nd piston
30M38 : 2nd arm
30M38a : drive bevel gear
30M39: 2nd shaft
30M39a : driven bevel gear
30M39b : Gear
200: transfer robot
210: second motor
220: second processor
230: body
240: moving unit
241: first moving shaft
242: second moving shaft
250: suspension part
260: communication department
270: fan

Claims (7)

Including; a plurality of modules that can be coupled to each other;
Each of the plurality of modules is provided with a coupling part enabling mutual coupling with a housing and other modules constituting an external shape,
Each of the coupling parts is provided to be mutually coupled by magnetic force with other coupling parts having magnetism of a different polarity by being magnetic
Dummy for driving safety test. According to claim 1
One of the plurality of modules is a first driven module providing a first coupling part,
Any one of the plurality of modules other than the first driven module is a second driven module providing a second coupling part,
Any one of the plurality of modules other than the first driven module and the second driven module is a driving module providing a third coupling portion and a fourth coupling portion;
The drive module
A first motor capable of providing power;
a first processor controlling the first motor; and
A power transmission structure provided inside the driving module and capable of transmitting power provided by the first motor through the third coupling portion and the fourth coupling portion by providing the third coupling portion and the fourth coupling portion; includes do
The first coupling part may be coupled to the third coupling portion and the second coupling portion may be coupled to the fourth coupling portion, so that the first driven module and the second driven module are provided by the driving module. Possible to move forward and backward by intersecting each other by power
Dummy for driving safety test. According to claim 2
The first coupling part and the third coupling part are provided with mutually meshing spur gears,
The second coupling portion and the fourth coupling portion are respectively provided as spur gears meshing with each other
Dummy for driving safety test. A vehicle body capable of fixing and loading the dummy of any one of claims 1 to 3 on the upper surface;
A second motor capable of providing power;
a second processor capable of controlling the second motor;
a moving unit for moving the vehicle body by the power provided by the second motor at a lower portion of the vehicle body;
a suspension unit connected to the moving unit and elastically supporting the vehicle body; and
A fan driven by the power provided by the second motor; includes,
The fan improves the ground contact force of the vehicle body by sucking in air located on the lower side of the vehicle body and discharging it to the upper side of the vehicle body.
Dummy transfer robot for driving safety test. According to claim 4
The rear and both side surfaces of the vehicle body are formed to be inclined downward, respectively.
The fan is at least three, and at least one is provided on the rear and both sides of the vehicle body.
Dummy transfer robot for driving safety test. According to claim 5
The at least three or more fans each have an axis in a direction perpendicular to the provided surface.
Dummy transfer robot for driving safety test. According to claim 4
The front of the vehicle body is inclined downward
Dummy transfer robot for driving safety test.

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