WO2024023981A1 - Dispositif de décalage de centre de gravité et procédé de décalage de centre de gravité - Google Patents

Dispositif de décalage de centre de gravité et procédé de décalage de centre de gravité Download PDF

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Publication number
WO2024023981A1
WO2024023981A1 PCT/JP2022/028989 JP2022028989W WO2024023981A1 WO 2024023981 A1 WO2024023981 A1 WO 2024023981A1 JP 2022028989 W JP2022028989 W JP 2022028989W WO 2024023981 A1 WO2024023981 A1 WO 2024023981A1
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WO
WIPO (PCT)
Prior art keywords
center
gravity
electromagnets
electromagnet
magnet
Prior art date
Application number
PCT/JP2022/028989
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English (en)
Japanese (ja)
Inventor
誉宗 巻口
正典 横山
和可菜 大城
隆二 山本
Original Assignee
日本電信電話株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 日本電信電話株式会社 filed Critical 日本電信電話株式会社
Priority to PCT/JP2022/028989 priority Critical patent/WO2024023981A1/fr
Publication of WO2024023981A1 publication Critical patent/WO2024023981A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors

Definitions

  • One aspect of the present invention relates to a center of gravity moving device and a center of gravity moving method.
  • Non-Patent Document 1 proposes a mechanism in which the center of gravity is changed by moving a weight within a device held by a user.
  • Non-Patent Document 1 uses a rotary actuator such as a servo motor or a stepping motor. As a result, the operating noise of the motor and gears is generated, a force sense moment is generated due to rotation, making it difficult to provide accurate force feedback based only on the movement of the center of gravity, and the center of gravity is There are issues such as the difficulty of instantaneous switching.
  • the present invention was made in view of the above circumstances, and its purpose is to provide a center of gravity moving device and a center of gravity moving method capable of changing the center of gravity within the device without using a rotary actuator. There is a particular thing.
  • a center of gravity moving device includes a guide, a plurality of electromagnets, and a control section.
  • a magnet is placed at the base of the guide.
  • Each of the plurality of electromagnets is provided with a weight and is movable along a guide.
  • the control unit controls the polarities of the plurality of electromagnets according to the center of gravity position to be set, and changes the positions of the plurality of electromagnets.
  • a center of gravity moving device and a center of gravity moving method that make it possible to change the center of gravity within the device by using repulsion of a magnet and a plurality of electromagnets without using a rotary actuator. can be provided.
  • FIG. 1 is a schematic diagram showing an example of the configuration of a center of gravity moving device according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the principle of the center of gravity moving device.
  • FIG. 3 is a schematic diagram showing an example of the configuration of a movement restriction mechanism included in the center of gravity moving device according to an embodiment.
  • FIG. 4A is a schematic diagram showing center of gravity pattern 1, center of gravity pattern 2, and center of gravity pattern 3 among eight center of gravity patterns provided by the center of gravity moving device according to an embodiment.
  • FIG. 4B is a schematic diagram showing center of gravity pattern 4, center of gravity pattern 5, and center of gravity pattern 6 among eight center of gravity patterns provided by the center of gravity moving device according to one embodiment.
  • FIG. 4C is a schematic diagram showing center of gravity pattern 7 and center of gravity pattern 8 out of eight center of gravity patterns provided by the center of gravity moving device according to one embodiment.
  • FIG. 5 is a block diagram illustrating an example of the configuration of a control unit included in the center of gravity moving device according to an embodiment.
  • FIG. 6 is a flowchart illustrating an example of the operation of the control unit included in the center of gravity moving device according to one embodiment.
  • the center of gravity moving device will be described as a rod-shaped device held by a user.
  • FIG. 2 is a schematic diagram showing the principle of the center of gravity moving device.
  • the center of gravity moving device uses a method of controlling the position of the weight using magnetic force as a method of changing the center of gravity that does not require a rotary actuator. That is, as shown in FIG. 2, the center of gravity moving device has a configuration in which a cylindrical case 12 is placed over a grip part 11 that serves as a user's handle, and the joint between the grip part 11 and the cylindrical case 12 is A magnet 13 is arranged on the upper part of the grip part 11.
  • a guide 14 is further provided inside the cylindrical case 12 so as to extend upward from the magnet 13, and an electromagnet 15 with a weight attached thereto is shown by a white two-way arrow in FIG. It is installed so as to be movable in the vertical direction along this guide 14.
  • the electromagnet 15 by applying current to the electromagnet 15 in a direction in which the magnetic poles of the electromagnet 15 repel the magnet 13 of the gripping part 11, the electromagnet 15, that is, the weight, can be moved upward with respect to the gripping part 11. Can be done.
  • the distance between the electromagnet 15 and the grip part 11 at the time of repulsion is D
  • Possible methods for increasing the magnetic force include strengthening the magnetic force of the magnet 13 of the gripping part 11, increasing the winding density of the coil of the electromagnet 15, and increasing the current of the electromagnet 15.
  • FIG. 1 is a schematic diagram showing an example of the configuration of a center of gravity moving device 1 according to an embodiment of the present invention.
  • the center of gravity moving device 1 according to the present embodiment includes a plurality of electromagnets to which weights are attached, for example, first to third electromagnets 15-1 to 15-3, which are three electromagnets with weights. Be prepared.
  • the center of gravity moving device 1 according to the present embodiment includes a control section 16 and a movement restriction mechanism including a locking mechanism 17 and a detection section 18.
  • the first to third electromagnets 15-1 to 15-3 are each connected to a control section 16, and the polarity of each is controlled by this control section 16.
  • the control unit 16 can switch the polarity of each of the first to third electromagnets 15-1 to 15-3 by switching the direction of the current flowing to each of the first to third electromagnets 15-1 to 15-3. can.
  • the control unit 16 arranges the first to third electromagnets 15-1 to 15-3 in order to realize the arrangement of the first to third electromagnets 15-1 to 15-3 that can reproduce the center of gravity position to be set by the center of gravity moving device 1. -3 Controls the direction and strength of the current flowing to each. That is, the control unit 16 sets the current value (size) for each electromagnet in advance so that the distance between the magnets is the distance D when the electromagnets repel each other, and during control, turns the current on/off (energization).
  • the control unit 16 also controls the maximum movement of the third electromagnet 15-3, which is the weighted electromagnet that is farthest from the gripping unit 11, that is, the magnet 13, in accordance with the center of gravity position to be set by the center of gravity moving device 1. Calculate distance L.
  • the lock mechanism 17 of the movement restriction mechanism is connected to the third electromagnet 15-3, which is the weighted electromagnet that is the farthest from the magnet 13 among the first to third electromagnets 15-1 to 15-3, and the control unit 16. Ru.
  • the locking mechanism 17 restricts the movement of the third electromagnet 15-3 under the control of the control unit 16 so that the distance between the magnet 13 and the third electromagnet 15-3 does not exceed the maximum movement distance L.
  • the detection unit 18 of the movement restriction mechanism detects the distance of the third electromagnet 15-3 from the magnet 13, and inputs the detected distance to the control unit 16.
  • the control unit 16 controls the locking mechanism 17 to prevent the third electromagnet 15-3 from moving any further. -3 to lock in position.
  • FIG. 3 is a schematic diagram showing an example of the configuration of the movement restriction mechanism.
  • the locking mechanism of the movement restriction mechanism includes a wire 171, a winding mechanism 172, and a locking member 173. Further, the detection unit 18 of the movement restriction mechanism includes a potentiometer 181.
  • One end of the wire 171 is connected to the third electromagnet 15-3, which is the weighted electromagnet that is farthest from the magnet 13, and the other end is wound up by the winding mechanism 172.
  • the winding mechanism 172 is, for example, a pulley with a built-in spiral spring, and applies tension to the wire 171 in the winding direction.
  • the third electromagnet 15-3 moves against the tension by the winding mechanism 172 when the polarity of moving away from the magnet 13 is set under the control of the control unit 16. Further, when the power from the control unit 16 is removed, the third electromagnet 15-3 is moved in the direction of the magnet 13 as the wire 171 is wound up by the tension of the winding mechanism 172.
  • the potentiometer 181 acquires the rotation speed and/or rotation angle of the winding mechanism 172 and inputs the acquired rotation speed and/or rotation angle to the control unit 16. This rotation speed and/or rotation angle represents the distance of the third electromagnet 15-3 from the magnet 13.
  • the locking member 173 locks or unlocks the winding mechanism 172 under the control of the control unit 16. That is, the lock member 173 can fix the position of the third electromagnet 15-3 or make the third electromagnet 15-3 movable under control from the control unit 16. For example, the control unit 16 fixes the position of the third electromagnet 15-3 when the distance of the third electromagnet 15-3 from the magnet 13 reaches the maximum moving distance L, based on the output from the potentiometer 181. Control as follows.
  • FIGS. 4A to 4C are schematic diagrams showing eight center-of-gravity patterns in the case of three electromagnets, provided by the center-of-gravity moving device 1 according to an embodiment.
  • FIG. 4A shows the center of gravity pattern 1 to center of gravity pattern 3
  • FIG. 4B shows the center of gravity pattern 4 to center of gravity pattern 6
  • FIG. 4C shows the center of gravity pattern 7 and the center of gravity pattern 8.
  • FIG. 5 is a block diagram showing an example of the configuration of the control unit 16 included in the center of gravity moving device 1 according to an embodiment.
  • the control unit 16 is composed of a computer such as a one-chip microcomputer, and includes a processor 161 such as a CPU (Central Processing Unit).
  • the processor 161 may be multi-core/multi-threaded and can execute multiple processes in parallel.
  • the control unit 16 has a program memory 162, a data memory 163, a communication interface 164, an input/output interface 165, and an actuator driver 166 connected to the processor 161 via a bus.
  • the program memory 162 uses, for example, a nonvolatile memory such as a ROM (Read Only Memory) as a storage medium.
  • the program memory 162 stores programs necessary for the processor 161 to execute various processes.
  • the program includes a center of gravity movement program according to one embodiment.
  • the data memory 163 is a storage that uses a combination of a non-volatile memory such as an SSD (Solid State Drive) that can be written to and read at any time, and a volatile memory such as a RAM (Random Access Memory) as a storage medium. be.
  • the data memory 163 is used to store data acquired and created in the process of performing various processes.
  • a pattern table 1631 and a parameter table 162 are stored in nonvolatile memory in the data memory 163.
  • the pattern table 1631 is a table in which the relationship between the center of gravity position to be set and the center of gravity pattern to be used is described.
  • the parameter table 1632 is a table in which parameters used in each center-of-gravity pattern are described. The parameters include current on/off, current direction, current magnitude, maximum travel distance L, etc.
  • the volatile memory in the data memory 163 stores the currently set center of gravity pattern and the value of the maximum movement distance L.
  • the communication interface 164 is a wired or wireless communication unit for receiving the setting of the desired center of gravity position from an external device.
  • the input/output interface 165 is an interface with the first to third electromagnets 15-1 to 15-3 and the potentiometer 181.
  • the processor 161 can realize the above-described center of gravity patterns 1 to 8 by controlling the energization of each of the first to third electromagnets 15-1 to 15-3 via this input/output interface 165. Further, the processor 161 can obtain the rotation speed and/or rotation angle of the winding mechanism 172 from the potentiometer 181 via this input/output interface 165.
  • the actuator driver 166 drives the lock actuator 1731.
  • the lock actuator 1731 is an actuator for locking the lock member 173.
  • the processor 161 can control the driving of the lock actuator 1731 using the actuator driver 166.
  • FIG. 6 is a flowchart illustrating an example of the operation of the control unit included in the center of gravity moving device 1 according to one embodiment.
  • the processor 161 of the control unit 16 can perform the processing shown in this flowchart by executing a center-of-gravity movement program stored in advance in the program memory 162, for example, in response to an on operation of a power switch (not shown).
  • the operation shown in this flowchart can be performed using an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (field-programmable gate array), or a GPU.
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Signal Processor
  • FPGA field-programmable gate array
  • GPU Graphics Processing Unit
  • the processor 161 determines whether or not the center of gravity position to be changed has been received from an external device via the communication interface 164 (step S160). Here, if it is determined that the center of gravity position is not received, the processor 161 repeats the process of step S160. At this time, the process of step S160 may be repeated after a certain period of time. That is, reception determination of the center of gravity position may be performed at regular intervals.
  • the processor 161 reads the parameters of the center of gravity pattern corresponding to the received center of gravity position from the data memory 163 (step S161). That is, the processor 161 acquires the barycenter pattern corresponding to the received barycenter position from the pattern table 1631 of the data memory 163, and further reads the parameters of the obtained barycenter pattern from the parameter table 1632 of the data memory 163.
  • the parameters include current on/off, current direction, current magnitude, maximum moving distance L, and the like.
  • the processor 161 determines whether it is necessary to change the polarity of each of the first to third electromagnets 15-1 to 15-3 (step S162).
  • the processor 161 can make this determination by comparing the parameters of the read center of gravity pattern with the parameters of the center of gravity pattern stored in the data memory 163, which correspond to the currently set center of gravity position. If it is determined that no change is necessary, the processor 161 moves to the process of step S160 described above.
  • step S162 If it is determined in step S162 that a change is necessary, the processor 161 controls the lock actuator 1731 to release the lock of the lock mechanism 17, that is, the fixation of the third electromagnet 15-3 by the lock member 173 (step S163). ).
  • the processor 161 controls the polarity of each of the first to third electromagnets 15-1 to 15-3 according to the parameters of the center of gravity pattern read in step S161 (step S164). That is, the processor 161 controls the on/off and direction (+/-) of the current flowing to each of the first to third electromagnets 15-1 to 15-3. As a result, the first to third electromagnets 15-1 to 15-3 start moving along the guide 14.
  • the processor 161 detects the distance of the third electromagnet 15-3 from the magnet 13 based on the output of the potentiometer 181 (step S165). Then, the processor 161 determines whether the detected distance matches the maximum movement distance L in the parameters of the center of gravity pattern read in step S161 (step S166). If it is determined that they do not match, the processor 161 moves to the process of step S165 described above. In this way, the processor 161 waits until the detected distance of the third electromagnet 15-3 from the magnet 13 reaches the maximum moving distance L.
  • step S166 If it is determined that the distance detected in step S166 matches the maximum movement distance L, the processor 161 controls the lock actuator 1731 to lock the lock mechanism 17, that is, the lock member 173 causes the third electromagnet 15-3 to The position of is fixed (step S167).
  • the processor 161 stores the barycenter pattern parameters read in step S161 above in the data memory 163 as the barycenter pattern parameters corresponding to the currently set barycenter position (step S168).
  • the processor 161 determines whether or not to end (step S169). For example, the processor 161 determines that the process has ended when a power switch (not shown) is turned off. If it is determined that the process has not ended yet, the processor 161 moves to the process of step S160 described above. Further, if it is determined that the process is to be terminated, the processor 161 terminates the processing shown in this flowchart.
  • the gravity center moving device 1 includes a guide 14 in which a magnet 13 is disposed at the base, and a plurality of electromagnets each provided with a weight and movable along the guide 14. and a control unit 16 that controls the polarity of the plurality of electromagnets according to the center of gravity position to be set and changes the position of the plurality of electromagnets. .
  • control unit 16 controls the magnitude of the current that controls the polarity of the electromagnets 15-1 to 15-3 depending on the direction of the current when an electromagnet adjacent to the magnet 13, for example, electromagnet 15-1, repels the magnet 13.
  • the energization/de-energization of current to each of the plurality of electromagnets and the direction of the current are controlled.
  • the control unit 16 is a storage unit that stores parameters including energization/de-energization of current to each of the plurality of electromagnets and the direction of the current for each center of gravity pattern that can be reproduced by the plurality of electromagnets with respect to the center of gravity position. It includes a data memory 163, reads parameters of a center of gravity pattern corresponding to a center of gravity position to be set from a storage section, and controls a plurality of electromagnets based on the read parameters.
  • the center of gravity moving device 1 is configured to move the third electromagnet 15-3, which is the electromagnet farthest from the magnet 13 among the plurality of electromagnets, to limit the maximum movement distance L from the magnet 13. Equipped with a restriction mechanism.
  • the parameters for each center-of-gravity pattern stored in the storage unit further include a maximum movement distance L
  • the movement restriction mechanism includes a detection unit that detects the distance from the magnet 13 of the electromagnet that is farthest from the magnet 13. 18 and a locking mechanism 17 that prohibits movement of the farthest electromagnet
  • the control unit 16 is configured to set the distance detected by the detection unit 18 to the maximum value included in the parameters of the center of gravity pattern corresponding to the center of gravity position to be set.
  • the locking mechanism 17 fixes the position of the farthest electromagnet.
  • center-of-gravity moving device 1 is a rod-shaped device held by a user in the embodiment, it may have another shape.
  • step S167 and the processing in step S168 may be performed in the reverse order or may be performed simultaneously. In this way, the order of some steps may be changed, or some steps may be performed simultaneously. Furthermore, the processing contents of some steps may be modified.
  • a processing program (software means) that can be executed by a computer, such as a magnetic disk (floppy (registered trademark) disk, hard disk, etc.), an optical disk (CD-ROM, It can also be stored in a recording medium such as a DVD, MO, etc.) or a semiconductor memory (ROM, RAM, flash memory, etc.), or transmitted and distributed via a communication medium.
  • a processing program software means
  • a computer such as a magnetic disk (floppy (registered trademark) disk, hard disk, etc.), an optical disk (CD-ROM, It can also be stored in a recording medium such as a DVD, MO, etc.) or a semiconductor memory (ROM, RAM, flash memory, etc.), or transmitted and distributed via a communication medium.
  • the programs stored on the medium side also include a setting program for configuring software means (including not only execution programs but also tables and data structures) in the computer to be executed by the computer.
  • the computer that realizes this device reads a program recorded on a recording medium, and if necessary, constructs software means using a setting program, and executes the above-described processing by controlling the operation of the software means.
  • the recording medium referred to in this specification includes not only storage media for distribution but also storage media such as magnetic disks and semiconductor memories provided inside computers or devices connected via a network.
  • the present invention is not limited to the above-described embodiments as they are, but can be embodied by modifying the constituent elements at the implementation stage without departing from the spirit of the invention.
  • various inventions can be formed by appropriately combining the plurality of components disclosed in the above embodiments. For example, some components may be deleted from all the components shown in the embodiments. Furthermore, components from different embodiments may be combined as appropriate.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

Un dispositif de décalage de centre de gravité selon un mode de réalisation de la présente invention comprend un guide, une pluralité d'électroaimants et une unité de commande. Le guide comporte un aimant disposé au niveau de sa base. Chaque électroaimant de la pluralité d'électroaimants est pondéré et peut se déplacer le long du guide. L'unité de commande modifie les positions de la pluralité d'électroaimants par commande des polarités de la pluralité d'électroaimants en fonction de la position du centre de gravité à atteindre, ce qui permet de modifier la position de chaque électroaimant de la pluralité d'électroaimants.
PCT/JP2022/028989 2022-07-27 2022-07-27 Dispositif de décalage de centre de gravité et procédé de décalage de centre de gravité WO2024023981A1 (fr)

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PCT/JP2022/028989 WO2024023981A1 (fr) 2022-07-27 2022-07-27 Dispositif de décalage de centre de gravité et procédé de décalage de centre de gravité

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PCT/JP2022/028989 WO2024023981A1 (fr) 2022-07-27 2022-07-27 Dispositif de décalage de centre de gravité et procédé de décalage de centre de gravité

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54127962A (en) * 1978-03-29 1979-10-04 Yazaki Ind Chem Co Ltd Restriction type locking apparatus in injection molding machine
JPS6219391A (ja) * 1985-07-16 1987-01-28 株式会社トーキン 電磁式ピツチ開閉機構
JP2005296173A (ja) * 2004-04-08 2005-10-27 National Institute Of Advanced Industrial & Technology 重量移動式自立杖
JP2006043432A (ja) * 2004-06-29 2006-02-16 Nippon Cable Syst Inc 管路内の進行装置
US20160175702A1 (en) * 2014-12-22 2016-06-23 Sony Computer Entertainment Inc. Peripheral Devices having Dynamic Weight Distribution to Convey Sense of Weight in HMD Environments
US9908619B1 (en) * 2014-09-25 2018-03-06 Amazon Technologies, Inc. Ballast control mechanisms for aerial vehicles

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54127962A (en) * 1978-03-29 1979-10-04 Yazaki Ind Chem Co Ltd Restriction type locking apparatus in injection molding machine
JPS6219391A (ja) * 1985-07-16 1987-01-28 株式会社トーキン 電磁式ピツチ開閉機構
JP2005296173A (ja) * 2004-04-08 2005-10-27 National Institute Of Advanced Industrial & Technology 重量移動式自立杖
JP2006043432A (ja) * 2004-06-29 2006-02-16 Nippon Cable Syst Inc 管路内の進行装置
US9908619B1 (en) * 2014-09-25 2018-03-06 Amazon Technologies, Inc. Ballast control mechanisms for aerial vehicles
US20160175702A1 (en) * 2014-12-22 2016-06-23 Sony Computer Entertainment Inc. Peripheral Devices having Dynamic Weight Distribution to Convey Sense of Weight in HMD Environments

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