JPH0482584A - Toy floated by remote control - Google Patents

Abstract

PURPOSE:To stabilize a machine body and smooth the horizontal movement thereof by providing at least three rotors to incline outside air currents generated by the rotors. CONSTITUTION:When at least three, for example, motors are used, a main spherical body 10 receives a remote control receiver, battery or the like therein. Three motor struts 11 are fixed to the body 10 in intervals of equal center angle to have respectively motor rotors 12 fixed to the front ends. The rotational direction of each rotor is leftward for example. The mounting angle of the motor to the strut is set to an angle enlarged as air current from each motor goes downward to give left rotational couple. Thus, if the body is inclined in floating by any reason, the position is restored to its original one, while right rotational reaction torque given to the whole is canceled. Also, when the output of the motor rotor located in an opposite position to a desired advance direction is increased, the machine body is inclined to the desire advance direction and moved horizontally in the desired advance direction.

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention can move up, down, horizontally, etc. without using complicated mechanisms such as an a-tar angle control device or a gyro unlike a helicopter. This is a remotely controlled floating toy that has the same motor skills as those using the above-mentioned mechanism.

(Prior art) Remotely controlled toys that are capable of floating motion, including stopping in the air, include 1-20-tar radio-controlled helicopters that have almost the same mechanism and movement capabilities as real machines, and four motors. There is the ``Gyro Saucer'' (product name: released by Keyence Corporation), which has a rotor and a rotor, and enables three-dimensional movement by adjusting the output of each.

Conventional radio-controlled helicopters have control mechanisms such as linkage systems and swash systems that are close to or equivalent to those of real helicopters, which inevitably increases weight and cost.

In addition, the "gyro saucer" requires two small precision gyro sensors for aircraft control.
As expected, an increase in weight and cost could not be avoided.

(Objectives to be Solved by the Present Invention 11) The present invention aims to reduce the weight and cost of the aircraft by eliminating the complicated aircraft control device of conventional remote-controlled floating toys, while providing the same or similar maneuverability. It is something that

(Example) Although the mechanism of the present invention differs slightly depending on the number of motors used, examples will be explained first using an example using four motors, and then an example using three motors.

An example in which four motors are used will be described according to FIGS. 1 to 4.

FIG. 1 is a perspective view of the present embodiment (an embodiment in which four motors of the present invention are used is hereinafter referred to as "the present embodiment"). The direction of the white arrow is the forward direction.

The spindle-shaped part of rlJ is the main body of this embodiment, and the remote control receiving unit, battery, etc. are housed inside (the remote control receiving unit, battery, and wiring are omitted. For remote control,
Possible options include radio control, sonic control, and wired control.

Further, the shape of the main body is not limited to the spindle shape. ).

The main body and the central motor column ``2'' are connected by a connecting pin ``3'', and ``2'' is movable in a seesaw manner with respect to the main body. A left motor column "4" and a right motor column "5" are attached to both ends of "2" via a connecting bin "3" so that they can move in a seesaw manner with respect to the column "2". do.

At both ends of pillars ``4'' and ``5'' are motor rotors ``
6'', ``7'', ``8'', ``9'' (To avoid complication of explanation, the motor and rotor are referred to as ``9'' below.
It is called "motor rotor". In the figure, only the rotating surface of the rotor is shown by a broken line.
Each motor/rotor shall be attached to the support at an angle such that the extension of the rotation axis of each motor/rotor forms the ridgeline of a square pyramid. In addition, the motor rotor r6J "8" is clockwise, and the motor rotor "8" is clockwise.
7" and "9" are given pitches that provide buoyancy when rotated counterclockwise, respectively.

For the convenience of future explanations, the "left seesaw" is the entire motor rotor attached to pillar "4" and both ends of it.
, the entire motor rotor attached to the pillar "5" at both ends thereof will be referred to as the "right seesaw", and the pillar "2" connecting them together will be referred to as the "center seesaw".

Now, if each motor rotor rotates with the same output, all the seesaw structures remain parallel to the horizontal plane and are balanced, and if the buoyant force due to the rotation of the motor rotor exceeds the weight of this example, this example will float. Start the leap.

FIG. 2 is a conceptual diagram in the form of a side view for explaining how each seesaw structure of this embodiment restores its balance when it loses its balance for some reason during levitation. . This concept is common to the three seesaw structures: right, left, and center.

The relationship between motor and rotor A-B is as shown in Figure 1.
” and r7J correspond to the relationship between r8J and “9”.

In Figure 2-1, the outputs a and b of the motor rotor A and B are equal, so the buoyant force a'・b' and the left and right force a''・
b'' is equally balanced and shows a stable floating state (arrows in the figure represent vectors).

FIG. 2-11 explains how to restore each seesaw structure when it is tilted during levitation for some reason.

If the seesaw structure tilts to the left in the drawing while the outputs a and b of motor rotors A and B are equal, the output a of motor rotor A will become the buoyant force a or become close to a', and the eight motor rotors will Buoyancy increases. On the other hand, since the output of the motor rotor B deviates to the right in the drawing, the buoyant force b' on the motor rotor B side due to the output decreases. Since the force b# in the right direction in the drawing increases, it is drifted to the left in the drawing, but the buoyancy of the eight motors and rotors exceeds the buoyancy of the eight motors and rotors, so the posture of the seesaw structure returns to the horizontal state. .

Even when tilted in the opposite direction, the posture is restored using the same principle.

Figure 3 is a conceptual diagram in the form of a side view to explain the movement of each seesaw structure when horizontally moving this embodiment. Figure 3-■, which shows the floating state, is for explaining the method of moving each seesaw structure to the left in the drawing. now,
If the output of the motor/rotor B is increased, the seesaw structure will tilt to the left in the drawing, but this inclination will stop when the buoyant force b' due to the output becomes equal to the buoyant force a' due to the motor/rotor A. At this time, the force b'' of the motor rotor 8 in the right direction in the drawing becomes larger than the force a# of the motor rotor AI in the left direction in the drawing (the force a'' is 0
Or close to O. ) Therefore, this seesaw structure moves to the left in the drawing while tilting to the left in the drawing.

When moving to the drawing cloth, increase the output of motor rotor A.

FIG. 4 is a conceptual diagram in the form of a plan view for explaining what kind of movement this embodiment performs by combining the forces in the lateral direction of each seesaw structure shown in FIG. 3. Figure 4-■ is a legend for the figures following ■. The arrows marked ① indicate the rotation direction of each rotor, and the white arrows after ◯ indicate the direction of movement of this example. In addition, the shaded area after ■ indicates the motor rotor that increases the output (the main body is omitted in each figure. Also, after ■, the part number and rotation direction of each rotor are omitted. be.).

FIG. 4-II explains a method for moving this embodiment forward and backward. By increasing the output of "7" and "8", the left and right seesaws tilt forward, and "7"
, a large amount of backward force is generated at the bottom of "8", and this embodiment moves forward. "6", if you increase the output of r9J, it will move backwards.

FIG. 4-I [I illustrates a method for causing the present embodiment to skid left and right. By increasing the output of "6" and "7", the seesaw in the center tilts to the right and "6"
”, a large force to the left is generated at the bottom of “7”, and this example skids to the right. If you increase the output of "8" and "9", it will skid to the left.

FIG. 4-rV explains the method for turning this embodiment. By increasing the output of "7", the left seesaw tilts forward, creating more rearward force at the bottom of "7", and the reaction torque of rotor rotation of "7" also increases compared to other parts. Therefore, in this example, it moves forward (turns right) while rotating to the right. If the output of "8" is increased, it turns to the left. If the output of "6" is increased, it moves backward and turns to the left.
If the output is increased, the vehicle will reverse and turn left.

FIG. 4-V explains how to rotate this embodiment. If you increase the output of "7" and "9", the left seesaw will tilt forward and the right seesaw will tilt backwards, and more backward force will be generated at the bottom of "7" and forward force at the bottom of "9". Since a clockwise rotation couple is generated and the reaction torque of the rotor rotations "7" and "9" also increases, the present embodiment rotates clockwise. If you increase the output of "6" and "8", it will rotate to the left.

By further fine-tuning the motor output as described above, this embodiment can freely fly three-dimensionally in the air.

Next, an example in which three motors are used (hereinafter referred to as the present example) will be described with reference to FIGS. 5 to 10.

FIG. 5 is a perspective view of this embodiment, and FIG. 6 is a two-sided view of this embodiment (the top is a plan view, the bottom is a side view). The spherical part numbered "10" is the main body of this embodiment. The remote control receiver, battery, etc. shall be housed inside (the remote control receiver, battery, and wiring are omitted.

In addition, the shape of the main body is not limited to a spherical shape. 13 motor supports r11" are fixed to the main body at equal central angles, and a motor rotor "12" is fixed to the tip of the main body (only the rotating surface of the rotor is indicated by the broken line). (The rotation direction of each rotor is assumed to be left.)

FIG. 7 is a plan view for explaining the angle at which each motor is attached to each support. - The dotted line indicates the rotation axis of the motor and its extension, which indicates the direction of the airflow generated by the rotation of each rotor. ). Further, the solid arrow indicates the rotation direction of the rotor. The angle at which the motor is attached to the support column is set at an angle that allows the airflow from each rotor to spread downward and to provide a counterclockwise rotation couple in this embodiment. The reason why the angle is set so that the airflow becomes wider as it goes downward is to restore the attitude of this embodiment when it tilts for some reason during levitation, as explained in FIGS. 8 and 9. The purpose of this is to move the rotor in the horizontal direction, and the reason why the angle is set to give a couple of counterclockwise rotations is that each rotor is rotating counterclockwise, which cancels out the reaction torque of clockwise rotation that is applied to the entire embodiment. It's for a reason.

This embodiment, in which the motors are installed at appropriate angles, begins to levitate when the output of each motor is increased equally.

Referring to FIG. 8, a method for restoring the posture of this embodiment when it is tilted during levitation will be described. The principle is the same as in the case of 4 motors, and the vertical vector of the airflow generated by the motor rotor located in the direction in which the aircraft is tilted is the vertical vector of the airflow generated by the motor rotor located in the opposite direction. The posture is restored by becoming larger than the vector in the direction. Figure I shows a state in which the balance is maintained, and Figure ■ shows a state where the body is tilted to the left, and the vertical vector due to the airflow of the left rotor is larger than the vertical vector due to the airflow of the right rotor, causing the posture to be restored. The starting state, Figure ■ represents the opposite state of Figure ■,
However, in the figure, the two motor rotors overlap on the right side, and the left and right vector diagrams are not on the same plane, so it cannot be confirmed by the length of the arrow.

A method for moving the present embodiment in the horizontal direction will be explained according to FIG. This is also basically the same as the case with 4 motors,
By increasing the output of the motor/rotor that is positioned in the opposite direction to the direction you want the aircraft to travel, you can tilt the aircraft in the direction you want it to travel and increase the vector of airflow in the direction opposite to the direction you want it to travel. This allows horizontal movement in the desired direction. Figure 1 shows a balanced state,
Figure ■ increases the output of the right rotor, matches its vertical vector magnitude with the vertical vector magnitude due to the airflow of the left rotor, and also increases the rightward force at the bottom of the right rotor. The state in which the present embodiment is moved to the left by generating a large vector, Figure ■ represents the opposite state of the diagram.
As mentioned in the explanation following FIG. 8, it cannot be confirmed by the length of the arrows in the figure.

FIG. 10 is for explaining how increasing the output of the motor/rotor causes horizontal movement in the direction of . If the output of the motor/rotor in each shaded area is increased, it will move horizontally in the direction of the white arrow.

Slightly reduce the output of each motor/rotor! ! By adjusting the position, this embodiment can freely move three-dimensionally in the air by a combination of vertical movement and 360° horizontal movement.

However, unlike the case of four motors, in this embodiment, the rotary movement of the aircraft body is not performed.

This embodiment can be implemented even if the number of motors is increased to four or more.

In both the 4-motor and 3-motor examples, the angle of the airflow by the rotor was set depending on the angle of the motor installation, but it was on the underside of the rotor! A similar effect can be obtained by attaching an I-flow plate.

(Effects of the Invention) As shown in the embodiments, the present invention is a floating toy constructed without using a complicated mechanism, and therefore, unlike conventional toys, it can be provided at a low cost.

You can also enjoy a different driving sensation than conventional ones.

[Brief explanation of the drawing]

1 to 4 are for explaining an embodiment using four motors of the present invention. FIG. 1 is a perspective view for explaining the structure of this embodiment.
Figure 2 is a conceptual diagram to explain how to restore the balance when this embodiment loses its balance during levitation.0 Figure 3 is a conceptual diagram to explain how this embodiment moves in the horizontal direction. be. FIG. 4 is a conceptual diagram for explaining the relationship between the output adjustment of each motor/rotor in this embodiment and the movement in the horizontal direction of this embodiment. The numbers in the figure indicate the following errors. 1...Main body 2...Central motor column 3...Connection bin (the bin that connects the right motor column is not shown in the figure) 4--Left motor column 5...Right motor column 6 .7
．． 8.9 Motor and rotor Figures 5 to 10 are for explaining an embodiment using three motors of the present invention. FIG. 5 is a perspective view for explaining the structure of this embodiment. Figure 6 is a two-sided view for explaining the structure of this embodiment, with the top being a plan view and the bottom being a side view. Figure 7 is a plane view for explaining how to install the motor in this embodiment. Figure 0
FIG. 8 is a conceptual diagram illustrating how to restore the balance when the present embodiment loses its balance during levitation, and the relationship between the output adjustment of the rotor and the horizontal movement of the present embodiment. The numbers in the figure indicate the following. 10... Main body 11... Motor support 12... Motor and rotor

Claims (1)

[Claims] This is a remotely controlled floating toy that has three or more rotors and can ascend, descend, and move horizontally by adjusting the output of each rotor.By tilting the airflow of the rotors outward, it stabilizes the aircraft and smoothes horizontal movement. something that has been transformed into something.