WO2018124547A1

WO2018124547A1 - Sway-yaw motion guide module

Info

Publication number: WO2018124547A1
Application number: PCT/KR2017/014579
Authority: WO
Inventors: Tae Young Ku
Original assignee: CJ 4DPLEX Co Ltd
Current assignee: CJ 4DPLEX Co Ltd
Priority date: 2016-12-29
Filing date: 2017-12-12
Publication date: 2018-07-05
Anticipated expiration: 2019-06-29
Also published as: KR20180077447A; KR102014816B1

Abstract

The present invention relates to a sway-yaw motion guide module and, more particularly, to a guide apparatus capable of selectively performing a swaying motion, that is, a straight-line motion, and a yawing operation, that is, a curvilinear motion, in the driving of a driven unit (e.g., a motion chair). In accordance with an embodiment of the present invention, the guide module guiding the swaying mode and yawing mode of a driven unit includes a guide rail having a straight-line section extended in a specific length and a curved section consecutive to the straight-line section and having recess portions of a specific depth formed on the sides of the guide rail and guide wheels, each wheel moving while coming into contact with at least one side of the guide rail.

Description

SWAY-YAW MOTION GUIDE MODULE

The present invention relates to a sway-yaw motion guide module and, more particularly, to a guide apparatus capable of selectively performing a swaying motion, that is, a straight-line motion, and a yawing operation, that is, a curvilinear motion, in the driving of a driven unit (e.g., a motion chair).

A movie theater is a facility in which media is played back. In a conventional technology, video is simply projected onto a screen so that audiences watch media. Recently, however, in order to add a feeling of reality to video content, various special effects are provided along with the supply of 3D media and the screening of 3D media.

For example, in the case of an explosion scene in an action movie, a back blast effect may be expressed as the wind and provided to audience. In a movie screen, when food appears, smell corresponding to the food may be provided.

A technology for generating such an effect is called 4D in a sense that a technology has been added (+1D) to a 3D image. More specifically, this corresponds to a form in which various special effects, such as liquid spray, scent and excitation, have been added to a digital 2D/3D projection screen, and is called 4D. The 4D technology is implemented using devices disposed in a chair in which an audience is seated or within a theater.

A chair for audience provided for the 4D implementation is called a motion chair. The motion chair implements about 20 special effects, including motion effects according to chair motions (i.e., effects that the motion chair moves front and back, left and right, and up and down), such as mice tickler (i.e., an effect that a leg is ticklish), back tic (i.e., an effect that a device within the motion chair hits a back portion), buttock (i.e., an effect that a device within the motion chair hits a hip), shaker (four types of vibration effects), and a drop, and environmental effects, such as face air, neck air, the wind, smoke and light.

Pitching that the motion chair turns front and back (i.e., longitudinal rolling), rolling that the motion chair turns left and right (i.e., traverse rolling), and heaving that the motion chair moves up and down (i.e., up and down rolling) are chiefly provided as effects related to motions in the motion chair.

Korean Patent No. 10-1485269 "Driving Apparatus of Chair Assembly for 4D Movie" that is prior art document (hereinafter referred to as a "prior art") discloses an invention for preventing vibration or noise attributable to load disturbance generated in a process of converting a rotary motion into a straight-line motion.

The prior art also basically provides pitching, rolling and heaving operations, such as those described above. Most of motion chairs including the prior art merely provide only some basic operations.

The conventional motion chair has a problem in that it does not provide a sufficient motion effect to audiences because it provides only some of motions in the space.

[Prior art document]

[Patent document]

(Patent Document 1) Korean Patent No. 10-1485269 "Driving Apparatus of Chair Assembly for 4D Movie"

Accordingly, an object of the present invention is to provide a motion apparatus capable of providing more various motion effects to audiences who use a movie theater in such a manner that a motion chair is moved by more various degrees of freedom.

In particular, an object of the present invention is to provide a guide module capable of providing a motion chair with a swaying (i.e., left and right rolling) motion, that is, a straight-line motion on the plane, and a yawing (i.e., horizontal rolling) motion, that is, a rotational motion on the plane, in addition to the pitching (i.e., longitudinal rolling), rolling (i.e., traverse rolling) and heaving (i.e., up and down rolling) motions commonly provided by the motion chair.

In accordance with an embodiment of the present invention, a guide module guiding the swaying mode and yawing mode of a driven unit includes a guide rail having a straight-line section extended in a specific length and a curved section consecutive to the straight-line section and having recess portions of a specific depth formed on the sides of the guide rail and guide wheels, each wheel moving while coming into contact with at least one side of the guide rail.

In this case, the straight-line section guides the swaying mode of the driven unit, and the curved section guides the yawing mode of the driven unit.

The guide wheels include a front wheel and a rear wheel coming into contact with the front side and rear side of the guide rail, respectively, and may further include a guide rod connecting the front wheel and the rear wheel.

In accordance with an embodiment, when viewed from a cross section of the guide rail, inclined ends may be formed at the top and bottom of the vertical end of the middle in the recess portions.

Furthermore, the guide wheel may include an upper outer wheel and a lower outer wheel coming into contact with the inclined end at the top of the recess portion and the inclined end at the bottom of the recess portion, respectively.

Moreover, the upper outer wheel may be made of flexible materials.

Alternatively, the inclined end at the top of the recess portion may be made of flexible materials.

In accordance with an embodiment, the curvature radius of at least any one of front curved surface and rear curved surface of the curved section may be regular, and the curvature radius of the other thereof may be irregular.

Accordingly, the present invention has an advantage in that it can provide more various motion effects to audiences who use a movie theater by moving a motion chair with more various degrees of freedom.

Furthermore, the present invention has an advantage in that it can provide a swaying motion, that is, a straight-line motion on the plane, in addition to the pitching, rolling and heaving motions commonly provided by the driven unit (motion chair). Accordingly, the present invention has an advantage in that it can provide a more realistic motion effect to audiences.

Furthermore, the present invention has an advantage in that a motion of the driven unit can be more freely implemented on the space by additionally providing a yawing operation, that is, a rotary motion, in addition to the swaying motion.

In particular, in the present invention, the swaying motion and the yawing operation can be together implemented in response to a motion of the driving means (e.g., when the crank arm moves at a large angle of a predetermined angle or more) within a single device.

As a result, the present invention has an advantage in that it can provide the best motion effect to audiences.

FIG. 1 is a perspective view showing a sway-yaw motion chair according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a guide unit according to an embodiment of the present invention.

FIG. 3 is a diagram showing the state in which the guide unit and the driven unit according to an embodiment of the present invention have been seen from the top.

FIG. 4 is a perspective view showing a guide module according to an embodiment of the present invention.

FIG. 5 is a cross-sectional view showing the guide module according to an embodiment of the present invention.

FIG. 6 is a cross-sectional view showing a guide wheel according to an embodiment of the present invention.

FIG. 7 is a plan view showing a guide rail according to an embodiment of the present invention.

100: driven unit 200: guide unit

220, 230: guide module 221, 231: guide rail

223, 224, 233, 234: guide wheel 235: guide rod

Embodiments of a sway-yaw motion apparatus according to the present invention are provided in order for those skilled in the art to easily understand the technical spirit of the present invention, and the present invention is not restricted by the embodiments. Furthermore, contents described in the accompanying drawings have been diagrammed to easily describe the embodiments of the present invention and may be different from actual implementation forms.

In the following description, an X axis may mean the width direction of a sway-yaw motion apparatus and a guide unit, a Y axis may mean the length direction of the sway-yaw motion apparatus and the guide unit, and a Z axis may mean the height direction of the sway-yaw motion apparatus and the guide unit.

For reference, in the technology that is the background of the invention, pitching may mean a motion that turns front and back around on the Y axis (horizontal axis), rolling may mean a motion that turns left and right around the X axis (front and back axis), and heaving may mean a motion that reciprocates up and down in the Z axis (vertical axis).

Furthermore, in this specification, swaying may mean a motion that rolls left and right in the direction parallel to the Y axis, and a yawing operation may mean a horizontal rolling motion that turns around the Z axis. In particular in this specification, yawing may include a horizontal rolling motion that eccentrically turns around the axis in the direction parallel to the Z axis. This is caused by a shape specific to the guide module of the present invention. For reference, in an embodiment of the present invention, a swaying-yawing complex mode may mean that the motion rolling left and right in the direction parallel to the Y axis and the motion eccentrically turning around the axis parallel to the Z axis are generated together or consecutively.

FIG. 1 is a perspective view showing a sway-yaw motion chair according to an embodiment of the present invention. FIG. 2 is a perspective view showing a guide unit according to an embodiment of the present invention. FIG. 3 is a diagram showing the state in which the guide unit and the driven unit according to an embodiment of the present invention have been seen from the top.

Referring to FIGS. 1 and 2, the sway-yaw motion apparatus according to an embodiment of the present invention may include a guide unit 200 and a driving unit 210 disposed in the guide unit 200. A driven unit 100 may be disposed to neighbor the guide unit 200. The elements of the guide unit 200 and the driving unit 210 are organically combined to implement various motion effects in the driven unit 100. The driven unit 100 is an element that moves with various degrees of freedom by the guide unit 200, and may be disposed on the guide unit 200. As shown in FIG. 1, a sheet for a motion chair may be disposed in the driven unit 100.

The guide unit 200 according to an embodiment of the present invention basically includes a main frame 201 and a plurality of

supports

202, 203 and 204 that play the role of a frame. The driving unit 210 and guide

modules

220 and 230 may be disposed in the guide unit 200 to configure the sway-yaw motion apparatus. The plurality of

supports

202, 203 and 204 are provided to improve the structural strength of the frame 201 and may be made of materials, such as steel. This is only illustrative, and the number and shape of the supports are not limited to the illustrated shape and number. The frame 201 and the plurality of

supports

202, 203 and 204 may be integrated. The driving unit 210 and the

guide modules

220 and 230 may be welded (or brazed) or bolted to the main frame 201so that they withstand vibration generated while the sway-yaw motion apparatus is driven.

In an embodiment of the sway-yaw motion apparatus of the present invention, the driving unit 210 performs a direct motion on the driven unit 100 in the direction parallel to the axis Y, that is, the length direction of the guide unit 200, and may eccentrically rotate (curvilinear motion) the driven unit 100 around the axis parallel to the axis X, that is, the height direction of the driven unit 100. In this case, the direct motion may mean a swaying operation, and the rotary motion may mean a yawing operation. As will be described later, in an embodiment of the present invention, the curvilinear motion may be implemented after a direct motion operation.

In an embodiment of the sway-yaw motion apparatus of the present invention for enabling such an operation, the

guide modules

220 and 230 including

respective guide rails

221 and 231 having specific shapes are provided in the guide unit 200. The

guide modules

220 and 230 are described in detail later.

The driving unit 210 is disposed in the sway-yaw motion apparatus of the present invention. Several embodiments, such as a crank driving method, a cylinder driving method, a linear motor driving method and a screw motor driving method, may be applied to the driving unit 210. FIGS. 1 to 3 illustrate the crank driving method.

Specifically, the driving unit 210 according to a first embodiment may include a crank module 211. The crank module may include a crank shaft 211a, crank

arms

211b and 211c horizontally connected along one side of the guide unit 200 from the end of the crank shaft 211a, and a crank pin 211d vertically extended from the

crank arms

211b and 211c and connected to the driven unit 100.

Furthermore, in accordance with an embodiment, the crank

arms

211b and 211c may include at least two pieces of slices linked thereto. For example, as shown in FIG. 2, the crank

arms

211b and 211c may include the first slice 211b and the second slice 211c. The first slice 211b may have one end connected to the crank shaft 211a and the other end connected to the second slice 211c. The second slice 211c may have one end connected to the first slice 211b and the other end connected to the crank pin 211d.

The crank

arms

211b and 211c according to an embodiment of the present invention may move the driven unit 100 through a change of the angles of the

crank arms

211b and 211c to the width direction of the guide unit 200, and may change the swaying mode and the yawing mode. In this case, a change of the angles of the

crank arms

211b and 211c to the width direction of the guide unit 200 may be understood as a change of the angles of the

crank arms

211b and 211c that vary based on a virtual reference line l of FIG. 3. Furthermore, if the crank

arms

211b and 211c are driven at a large angle of a predetermined angle or more to the width direction of the guide unit 200, both the swaying mode and the yawing mode may be implemented by the driven unit 100.

The following description is given based on the sway-yaw motion guide module, that is, a core technology element according to an embodiment of the present invention, with reference to FIGS. 4 to 6.

FIG. 4 is a perspective view showing the guide module according to an embodiment of the present invention. FIG. 5 is a cross-sectional view showing the guide module according to an embodiment of the present invention.

The

guide module

220, 230 according to an embodiment of the present invention guides the swaying mode and yawing mode of the driven unit 100, and has a straight-line section extended in a specific length and a curved section consecutive to the straight-line section. The

guide modules

220 and 230 may include the

respective guide rails

221 and 231, each one having recess portions of a specific depth formed on the sides thereof, and guide

wheels

223, 224 and 233, 234, each one moving while coming into contact with at least one side of the guide rail.

Referring back to FIGS. 1 to 3, a pair of the

guide modules

220 and 230 according to an embodiment of the present invention may be disposed and may be symmetrically disposed on both sides of the center of the guide unit 200 within the guide unit 200.

One guide module 230 is described below as an embodiment.

The guide rail 231 is disposed in the guide module 230. The guide rail 231 has a "scythe" shape having a long handle when viewed from the top. More specifically, a portion that belongs to the guide rail 231 and that is close to the driving unit 210 has a long length for the swaying mode (straight-line motion) implementation, and a portion that belongs to the guide rail 231 and that is distant from the driving unit 210 has a curved surface for the yawing mode (curvilinear motion) implementation.

The guide module 230 is disposed on one side of the guide unit 200, and may guide the swaying mode and yawing mode of the driven unit 100. In this case, the straight-line section of the guide module 230 guides the swaying mode of the driven unit 100, and the curved section thereof guides the yawing mode of the driven unit. In this case, the curved section may be divided into a front curved surface and a rear curved surface. For reference, the side close to the original point based on the orthogonal coordinate axis of FIG. 1 may be said to be the front, and the side distant from the original point based on the orthogonal coordinate axis of FIG. 1 may be said to be the back.

The guide module 230 according to an embodiment of the present invention may include the guide rail 231 disposed in the internal space of the guide module 230 and the

guide wheels

233 and 234 configured to support the weight of the driven unit 100 and to move while coming into contact with the guide rail. Moreover, the

guide wheels

233 and 234 include a front wheel 234 located on the front side of the guide rail 231 and a rear wheel 233 located on the rear side of the guide rail 231. Furthermore, the guide module 230 may include a guide rod 235 connecting the front wheel and the rear wheel. In this case, the guide rod 235 connects the front wheel 234 and the rear wheel 233.

When the guide rail 231 is viewed from the top, curved portions with which the guide wheels come into contact are formed at the front and back of the guide rail. In this case, the curved portion on one side of the front and the back may be configured to have a regular curvature radius, and the curved portion on the other side of the front and the back may be configured to have an irregular curvature radius. Accordingly, the sway-yaw motion apparatus can perform a natural yawing operation. This is described in detail later.

In an embodiment of the present invention, when the driving unit 210 is driven, the

guide wheels

233 and 234 move along the guide rail 231, thereby enabling the swaying mode (straight-line motion) implementation and the yawing mode (curvilinear motion) implementation. For example, the distance of a motion (movable range) is determined by the driving angles of the

crank arms

211b and 211c of the crank module 211. Accordingly, when the driving angle of the

crank arms

211b and 211c is small, the

guide wheels

233 and 234 move only in the straight-line region of the guide rail 231, so the driven unit 100 moves as a swaying motion. In contrast, when the angle range of the

crank arms

211b and 211c is large, the

first guide wheels

233 and 234 can move up to the curved region of the guide rail 231, so both the swaying and yawing motions can be implemented together.

Referring back to FIG. 4, the guide rail 311 according to an embodiment of the present invention has the recess portions formed on the sides. In this case, the recess portion may mean a portion concaved from the side of the guide rail 311.

When viewed from the cross section of the guide rail 231, inclined ends 231a and 231c may be formed at the top and bottom of the recess portion based on a vertical end 231b in the middle of the recess portion. The inclined end 231a at the top may function to prevent the guide wheel moving while coming into contact with the recess portion from deviating from the recess portion. The inclined end 231b at the bottom may function to support the weight of the driven unit.

FIG. 6 is a cross-sectional view showing the guide wheel according to an embodiment of the present invention.

The guide wheel 233 according to an embodiment of the present invention may include a weight support part configured to support the weight of the driven unit 100, a load support part 233b connected to the guide rod, and a fixing pin 233a brought into contact with the driven unit and fixed thereto. In this case, the weight support part may include an outer wheel and a plurality of bearing members "b" surrounding a guide wheel shaft "a." The outer wheel may be divided into an upper outer wheel 233c and a lower outer wheel 233d.

The driven unit 100 is brought into contact with the fixing pin 233a and fixed thereto. Referring back to FIG. 2, the crank pin 211d come into contact with the bottom on the center side of the driven unit 100 and delivers a driving force. The crank pin 211d is brought into contact with the bottom of the driven unit 100 on the center side and other four points of the driven unit 110 through the fixing pin 233a and fixed thereto, thus being capable of distributing weight and also stably guiding a motion of the driven unit 100.

In accordance with an embodiment of the present invention, the upper outer wheel 233c may come into contact with the inclined end 231a at the top of the recess portion, and the lower outer wheel 233d may come into contact with the inclined end 231c at the bottom of the recess portion.

The outer wheel of the guide wheel 233 moves while rotating along the guide rail 231 and also functions to support the weight of the driven unit 100. The weight of the driven unit 100 is delivered to the guide rail 231 through the guide wheel 233.

For example, when the motion chair pitches, loads of different sizes are applied to the front wheel 234 and the rear wheel 233 on the front and rear sides of the guide rail. An up load is applied to one of the front wheel 234 and the rear wheel 233, and thus the corresponding front wheel is lifted up. Assuming that the up load is applied to the rear wheel 233, a great external force acts on the inclined end 231a at the top of the recess portion of the guide rail 231 that comes into contact with the upper outer wheel 233c of the rear wheel 233. Accordingly, it is necessary to prevent damage to the corresponding portion.

Furthermore, the guide rail according to an embodiment of the present invention has a specific shape configured to implement the swaying mode and the yawing mode. When the

guide wheels

233 and 234 pass from the straight-line section to the curved section for a specific time, the moving distances of the front wheel 234 and the rear wheel 233 are slightly different. Accordingly, it is necessary to compensate for the difference.

Accordingly, in an embodiment the present invention, the upper outer wheel 233c may be made of flexible materials in the inclined end 231a at the top of the recess portion of the guide rail 231. The flexible materials may include elastic materials, such as polyurethane.

That is, if the upper outer wheel 233c is made of materials, such as polyurethane, damage attributable to friction with the recess portion can be prevented and the difference between the moving distances of the front wheel 234 and the rear wheel 233 can be compensated for by the elastic property of the materials.

In accordance with another embodiment of the present invention, in order to display the effects, the upper outer wheel 233c may not be made of flexible materials or the upper outer wheel 233c may be made of flexible materials and the inclined end 231a at the top of the recess portion may be made of flexible materials.

The lower outer wheel 233d functions to come into contact with the inclined end 231b at the bottom of the recess portion while supporting the weight of the driven unit 100. Accordingly, the lower outer wheel 233d may be made of materials having higher strength than that of the upper outer wheel 233c.

A shape of the guide rail an embodiment of the present invention is described in detail below with reference to FIG. 7. FIG. 7 is a plan view showing the guide rail according to an embodiment of the present invention.

As described above, the guide rail 231 may be divided into the straight-line section and the curved section. In one embodiment of the present invention, one of the curvature radii of the front curved surface and rear curved surface of the curved section may be regular, and the other thereof may be irregular.

Specifically, as shown in FIG. 7, the front curved surface may be formed to have a first centrifugal center O₁ and a curvature radius R1. The rear curved surface may be formed to have non-uniform (or complex) curvature radii R2a and R2b having a second centrifugal center (not shown) other than the first centrifugal center O₁. Such an embodiment is only one example. In some embodiments, the rear curved surface may be formed to have a uniform curvature radius based on the first centrifugal center O₁, and the front curved surface may be formed to have non-uniform (or complex) curvature radii including the second centrifugal center. In some embodiments, as shown in FIG. 7, the curved surfaces on both sides of the curved section of the guide rail may be formed to have complex curvature radii.

As described above, the reason why some curved surfaces of the curved section of the guide rail are formed to have non-uniform curvature radii is to enable smooth switching between the swaying mode and the yawing mode. FIG. 7 shows the guide rail 231 having non-uniform (or complex) the curvature radii in the rear curved surface and having a uniform curvature radius in the front curved surface. The front wheel 234 and the rear wheel 233 respectively coming into contact with the rear curved surface and front curved surface of the guide rail 231 are connected with the guide rail 231 interposed therebetween through the medium of the guide rod 235, and move.

If both the curvature radii of the front curved surface and the rear curved surface are regularly designed without separate measures, there is no problem in the swaying mode corresponding to the straight-line motion section. In the yawing mode corresponding to the curvilinear motion section, there is a difference between the moving distances of the front wheel 234 and the rear wheel 233 because the front wheel 234 and the rear wheel pass through the region wider than the valid length of the guide rod 235. In an embodiment of the present invention, such a difference can be compensated for through the fine adjustment of the curvature radii. If the difference is not compensated for, a strong impact is applied to the elements, such as the guide rail 231, the

guide wheels

233 and 234, and the guide rod 235, and switching to the curvilinear motion is not smoothly performed.

In order to achieve the above object, the guide rod 235 according to another embodiment of the present invention may have a varying length to enable the yawing motion of the driven unit even without an irregular curvature radius in any one curved surface of the curved section of the guide rail. Although not shown in the drawings, the length of the guide rod 235 remains constant in the straight-line motion section, but in the curvilinear motion section, the length of the guide rod 235 may be changed to enable smooth switching to the curvilinear motion.

Furthermore, as a supplement method, in addition to the adjustment of the curvature radius, the outer wheels W of the

guide wheels

233 and 234 may be made of high elastic materials, such as urethane, in order to absorb a mode switching impact.

It is to be noted that accurate numerical values and shapes of uniform and irregular (or complex) curvature radii are not limited to those shown in the drawings and those skilled in the art may change the numerical values and shapes in various ways within an equivalent range.

A method of driving the sway-yaw motion apparatus including the guide module according to an embodiment of the present invention is described in brief below.

In the state in which the sway-yaw motion apparatus according to an embodiment of the present invention has been first stopped, the

guide wheels

233 and 234 are located at symmetrical locations from the center of the guide unit 200, but in the swaying mode or the yawing mode other than the first locations, the relative locations of the

guide wheels

233 and 234 may vary out of the symmetrical state from the center of the guide unit 200.

In accordance with an embodiment of the present invention, the crank arms of the crank module 211 operate in accordance with a control mode, including at least one of the swaying mode in which the crank arms are driven within a range of a first set angle -θ1 to + θ1 and thus the driven unit 100 reciprocates in a straight-line manner, the yawing mode in which the crank arms are driven within a range of a second set angle -θ2 to -θ3 or +θ3 to +θ2 and thus the driven unit 100 horizontally rolls, and a complex mode in which the crank arms are driven within a range of a third set angle -θ4 to +θ4 and thus the driven unit 100 perform both the swaying and yawing motions.

For example, when the crank arms move in one cycle circulation period within the range of the first set angle -20 degrees to +20 degrees, the driven unit 100 performs a swaying operation. When the crank arms move within the range of the second set angle -70 degrees to -30 degrees or +30 degrees to +70 degrees in one cycle circulation period, the driven unit 100 performs a yawing operation. Furthermore, when the crank arms move within the range of the third set angle -70 degrees to +70 degrees in one cycle circulation period, the driven unit 100 implements both the swaying operation and the yawing operation. For reference, in this case, the symbols + and - may be determined based on the virtual line "l" (i.e., the width direction of the guide unit) shown in FIG. 3. It is to be noted that the illustrated numerical values are only one example.

The sway-yaw motion guide module according to an embodiment of the present invention has been described above.

More specifically, when it is said that one element is "connected" or "coupled" to the other element, it should be understood that one element may be directly connected or coupled" to the other element, but a third element may exist between the two elements. Furthermore, in the entire specification, when it is described that one member is placed "on or over" the other member, it means that one member may adjoin the other member and a third member may be interposed between the two members. Furthermore, in this case, the term "connect" includes a direct connection or an indirect connection between one member and the other member, and may mean all of physical connection or electrical connections, such as adhesion, attachment, coupling, joining and combination.

Furthermore, the expressions, such as "the first" and "the second", are used to only distinguish between a plurality of elements and do not limit the sequence or other characteristics of the elements.

It should be noted that the use of the term, such "include(s)" and "has (or have)", is intended to denote the presence of characteristics, numbers, steps, operations, elements or part described herein or combinations thereof, but is not intended to exclude the probability of presence or addition of one or more other characteristics, numbers, steps, operations, elements or parts or combinations thereof.

Accordingly, the aforementioned embodiments should be construed as being illustrative from all aspects, but should not be construed as being limitative.

Claims

A guide module guiding a swaying mode and yawing mode of a driven unit, the guide module comprising:

a guide rail having a straight-line section extended in a specific length and a curved section consecutive to the straight-line section and having recess portions of a specific depth formed on sides of the guide rail, and

guide wheels, each wheel moving while coming into contact with at least one side of the guide rail.
The guide module of claim 1, wherein:

the straight-line section guides the swaying mode of the driven unit, and

the curved section guides the yawing mode of the driven unit.
The guide module of claim 1, wherein the guide wheels comprise a front wheel and a rear wheel coming into contact with a front side and rear side of the guide rail, respectively.
The guide module of claim 3, wherein the guide module further comprises a guide rod connecting the front wheel and the rear wheel.
The guide module of claim 1, wherein when viewed from a cross section of the guide rail, inclined ends are formed at a top and bottom of a vertical end of a middle in the recess portions.
The guide module of claim 5, wherein the guide wheel comprises an upper outer wheel and a lower outer wheel coming into contact with the inclined end at the top of the recess portion and the inclined end at the bottom of the recess portion, respectively.
The guide module of claim 6, wherein the upper outer wheel is made of flexible materials.
The guide module of claim 6, wherein the inclined end at the top of the recess portion is made of flexible materials.
The guide module of claim 1, wherein a curvature radius of at least any one of a front curved surface and rear curved surface of the curved section is irregular.