US-12624743-B2 - Orientation stabilizing device

US12624743B2US 12624743 B2US12624743 B2US 12624743B2US-12624743-B2

Abstract

Provided is an orientation-stabilizing device, including: a motor stator having a coil disposed on an outer circumferential surface of a center shaft, the coil being magnetized when electricity flows through it; a motor rotor made of a permanent magnetic material, disposed outside the coil, and configured to rotate in response to the magnetism; a flywheel having a central inner circumferential surface fixed to the motor rotor to rotate together with the motor rotor; a cover installed on the center shaft and configured to surround the flywheel; and a bearing installed between the flywheel and the cover, and configured to allow the flywheel to rotate in an aligned state inside the cover, wherein the motor stator and the motor rotor do not protrude toward a surface of the cover.

Inventors

Jae Ik SHIM
Sung Wook JO
Young Jun Lee

Assignees

SEOROBOTICS CO., LTD.

Dates

Publication Date: 20260512
Application Date: 20230811
Priority Date: 20230116

Claims (3)

1 . An orientation-stabilizing device, comprising: a first stabilizer and a second stabilizer; and a base plate on which the first and second stabilizers are installed, wherein the first stabilizer has coupling parts formed on both sides of an inclined axis of the first stabilizer, a first coupling part of the first stabilizer is connected to a first motor shaft of a first motor, and a second coupling part of the first stabilizer is installed on a first bracket, wherein the second stabilizer has coupling parts formed on both sides of an inclined axis of the second stabilizer, a third coupling part of the second stabilizer is connected to a second motor shaft of a second motor, and a fourth coupling part of the second stabilizer is installed on a second bracket, wherein the inclined axes of the first and second stabilizers are arranged to be orthogonal to each other, and wherein the first stabilizer and/or the second stabilizer comprises: a motor stator having a coil disposed on an outer circumferential surface of a center shaft, the coil being magnetized when electricity flows through it; a motor rotor made of a permanent magnetic material, disposed outside the coil, and configured to rotate in response to the magnetism; a flywheel having a central inner circumferential surface fixed to the motor rotor to rotate together with the motor rotor; a cover installed on the center shaft and configured to surround the flywheel; and a bearing installed between the flywheel and the cover, and configured to allow the flywheel to rotate in an aligned state inside the cover, wherein the motor stator and the motor rotor do not protrude toward a surface of the cover, wherein an outer ring of the bearing is installed on an inner circumferential surface of the flywheel, and an inner ring of the bearing is installed on the cover, and wherein a first key is formed at an end of the center shaft, a second key is formed in a center hole of the cover, and the first key and the second key are assembled so that the motor stator and the cover are fixed together to prevent relative rotation.
2 . The orientation-stabilizing device according to claim 1 , wherein a first clearance groove is formed on a first side surface of the flywheel to prevent the inner ring from interfering with the flywheel, and a second clearance groove is formed on a second side surface of the cover to prevent the outer ring from interfering with the cover.
3 . The orientation-stabilizing device according to claim 1 , wherein a third side surface is formed around the center hole inside the cover, and the third side surface is in close contact with a shaft side surface of the center shaft, thereby fixing the motor stator and the cover so that they do not move in a longitudinal direction of the center shaft.

Description

TECHNICAL FIELD The present invention relates to an orientation-stabilizing device that is installed on an object and corrects the orientation of the object when it is tilted. BACKGROUND ART In general, when an object moves, it can be tilted due to external environmental factors. For example, land-based vehicles or robots moving along a surface may tilt depending on the condition of the ground, and at sea, a vessel may sway due to wind or waves. In any case, the object needs to maintain its initial orientation, minimize tilting, or be restored to its initial orientation if it is tilted. For example, a gyro stabilizer may be mounted on a vessel. In the gyro stabilizer, the axis of an inertial wheel is connected to a motor, and as the motor operates to rotate the inertial wheel, a force is generated in the direction of tilt when the wheel's axis is tilted due to external influences. This force can stabilize the vessel's swaying motion. The gyro stabilizer installed on the vessel, as described above, has a configuration in which the axis of the inertial wheel extends outward from a case, and the motor's driving force is connected to the extended axis of the inertial wheel. That is, the gyro stabilizer installed on the vessel has a very large external size, and in particular, a portion connected to the motor protrudes outward, further increasing the overall external dimensions. In addition, the gyro stabilizer installed on the vessel requires a wide and large space to prevent interference even when the inertial wheel tilts. In another example, if an unmanned robot is used to deliver soup-based food, the robot may tilt due to surface conditions, causing the soup to spill. Therefore, it is necessary to correct the orientation of the unmanned robot to prevent spillage. In another example, a personal mobility device (such as an electric kickboard) may have one front wheel installed at the front of a board and one rear wheel installed at the rear of the board, and either the front wheel or the rear wheel can be driven by the power of a motor. Such a personal mobility device needs to maintain balance on its own without requiring a rider to actively balance, to prevent the rider from losing balance, falling, and getting injured. That is, it may be attempted to place a gyro stabilizer on a personal mobility device to help maintain balance and prevent tipping. However, the conventionally known gyro stabilizers are large in size, making it difficult to install them in an appropriate position on the personal mobility device. Meanwhile, unmanned delivery robots are being developed. An unmanned delivery robot may be additionally equipped with numerous electrical and electronic devices, such as a storage compartment for carrying goods, a battery for power supply, communication equipment, and cameras. To increase the loading capacity of an unmanned delivery robot, it is necessary to increase the battery capacity and adopt higher-specification motors. However, this leads to the problem of requiring a larger overall size of the unmanned delivery robot. In reality, for safety reasons, the external dimensions of the unmanned delivery robot cannot be made infinitely large. That is, since the unmanned delivery robot has limited space available for installing various components, and that space must accommodate a variety of electrical and electronic devices including the aforementioned battery, there is a problem in that conventionally known gyro stabilizers cannot be applied as-is without design modification. RELATED ART DOCUMENTS Patent Documents (Patent Document 1) KR 10-1831157 B1(Patent Document 2) KR 10-2391562 B1 Non-Patent Documents (Patent Document 1) 1. Video posted on YouTube, [Science Principle Experience]@HOME-Bicycle Wheel Gyro-Posted on: May 18, 2020, URL: https://youtu.be/DNnxg-pzCYI(Patent Document 2) 2. Video posted on YouTube, Seakeeper Gyroscopic Stabilizer, Schwartz, Cal Poly Physics, Posted on: Nov. 28, 2016, URL: https://youtu.be/Gaffw84Ijx4?t=22(Patent Document 3) 3. Video posted on YouTube, DW Studio Ltd: SeaKeeper-Gyro Stabilisers (English), Posted on: Nov. 11, 2014, URL: https://youtu.be/gwQbtU6Wa04?t=71 DISCLOSURE Technical Problem Therefore, the present invention has been made in view of the above problems, and it is one object of the present invention to provide an orientation-stabilizing device that minimizes the occupied space within an object by reducing its external size, and that allows for a wider tilting range so that the orientation of the object can be corrected even when the object is significantly tilted. Technical Solution In accordance with an aspect of the present invention, the above and other objects can be accomplished by the provision of an orientation-stabilizing device, including: a motor stator 10 having a coil 13 disposed on an outer circumferential surface of a center shaft 12, the coil 13 being magnetized when electricity flows through it; a motor rotor 16 made of a permanent magn