JPH081447Y2 - Gyro device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a gyro device mounted on a controlled object such as a model airplane or model helicopter operated by radio control and used for controlling the attitude of these.

(Prior Art) Conventionally, various gyro devices have been used as means for detecting a change in posture of an object. In a general gyro device, a flywheel is rotated at a high speed by a motor, and a posture change of a steered body is detected by detecting a rotation amount of the motor.

7 and 8 are a front view and a plan view of a conventional gyro device, in which a part of the case 101 is removed and the inside thereof is shown.

In FIG. 7 and FIG. 8, a circuit board 601 fixed on the case 101 is provided with a Hall element 602 and other electronic parts (not shown). A motor holding portion 603 having a cylindrical cavity is held in the case 101 so as to be rotatable about rotation shafts 605 and 606 fixed to the side surface thereof. The motor 604 is held in the cylindrical cavity of the motor holding portion 603. A pair of flywheels 608 and 608 are provided on rotating shafts 607 and 607 of the motor 604, and rotate at high speed during operation. In addition, on the upper part of the motor holding part 603, the rotary shaft 605
A holding portion 612 is provided in parallel with.

On the other hand, hooks 609 and 609 are fixed to the case 101, and two coil springs 610 and 610 are stretched between the holding portion 612 and the hooks 609 and 609. The coil springs 610 and 610 are springs having the same characteristics, and the force in the direction of contracting the coil springs acts on the coil springs 610 and 610.
The same force acts in the opposite direction from 10 on the motor holding portion 603, and causes the motor holding portion 603 to return to the neutral position. A magnet 611 is fixed to the lower part of the motor holding portion 603 and faces the hall element 602.

In the gyro device configured as described above, when the posture of the steered body changes, the motor 604, that is, the motor holding portion 603 rotates about the rotation shafts 605 and 606, whereby the magnet 611 is moved by the arrow in FIG. Rotate in the direction. Magnet 6
By detecting the amount of rotation of 11 with the Hall element 602, the function of detecting the change in the posture of the steered body is detected.

(Problems to be Solved by the Invention) It is possible to detect the posture change of the steered body by the gyro device.

However, in order to return the motor holding portion to the neutral position, two springs 610 and 610 are arranged in the direction perpendicular to the rotating shafts 605 and 606, and the contracting force of the springs 610 and 610 is used to make the motor holding portion. A force is applied in the opposite direction to the rotating direction of 603. Therefore, it is necessary to make the contraction forces of the springs 610 and 610 identical, and even if the same type of spring is used for the springs 610 and 610, the difference in contraction force due to the variation of the spring constant,
Due to various factors such as a difference in contraction force due to a difference in distance between the hooks 609 and 609 and the holding portion 612, it was difficult to make the contraction force equal to that of the springs 610 and 610. As a method for solving this, a method of adjusting each one in the manufacturing process can be considered, but there is a problem that manufacturing becomes extremely complicated, productivity is poor, and cost is high.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a gyro device having a simple structure and capable of easily returning to a neutral position.

(Means for Solving the Problems) A gyro device according to the present invention includes a motor that is rotatably held about a rotation shaft to rotate a flywheel, a motor holding unit that holds the motor, and the motor. In a gyro device including a rotation shaft for rotatably holding a holding portion and a spring member for returning the motor to a neutral position, the spring member is provided between the motor holding portion and the case. It is characterized in that it is provided so as to extend in parallel with a rotation shaft for rotatably holding the motor holding portion.

(Operation) Since the spring member is arranged in parallel with the rotating shaft for holding the motor holding portion, when the motor holding portion is rotated, the contracting force of the spring member causes the motor holding portion to move. Is given not only a force parallel to the rotation axis but also a force in the right angle direction. Therefore, the force in the perpendicular direction returns to the neutral position.

(Embodiment) FIGS. 1 to 4 are views showing an embodiment of the present invention. 1 is a front view, FIG. 2 is a plan view, FIG. 3 is a left side view, and FIG. 4 is a partial left side showing a cross section of the motor holding portion 109, the motor 118, and the rotating shafts 110 and 111 of FIG. It is a cross-sectional view, and in each of the drawings, a part of the case 101 is removed to show the inside thereof. Moreover, each figure shows the neutral state.

The Hall element 103 is provided on the substrate 102 fixed on the case 101.
Also, other electronic components (not shown) are fixed, so that the Hall element 103 is fixed to the case 101 via the substrate 102. Two hooks 105 and 106 are provided on the upper end of a support frame 104 fixed to the case 101. Support frame
A motor holding portion 109 having a cylindrical cavity is housed inside the 104. Rotating shafts 110 and 11 provided on the motor holding unit 109
1 is rotatably held in the holes 107 and 108 of the support frame 104, and the motor holding portion 109 is rotatably in the support frame 104. A magnet 112 is fixed to the end of the rotation shaft 111 on the rotation center line of the rotation shaft 111. Therefore, even if the rotating shaft 111 rotates, the Hall element 103 and the magnet 112
The relative distance between and does not change. The magnet 112 and the Hall element 103 are located at positions facing each other, and form a pair of detection elements. In the present embodiment, the magnet 112 and the Hall element 103 are relatively inclined by 60 degrees at the neutral position for the reason described later. Further, two hooks 114 and 115 that project through the hole 113 of the support frame 104 are provided on the upper portion of the motor holding portion 109. hook
Coil springs 116 and 117, which are spring members, are stretched between 105 and 114 and between hooks 106 and 115, respectively.
The reference numeral 17 is substantially stretched between the motor holding portion 109 and the case 101. The springs 116 and 117 have such a force that they contract, and act to return the motor holding portion 109 to the neutral position, that is, to return the magnet 112 to the neutral position. A motor 118 is fixed in the cylindrical cavity of the motor holder 109. Flywheels 119 and 120 are attached to both ends of the motor 118.
20 is rotating at a constant speed.

The operation of the gyro device configured as described above will be described below.

In the neutral state, between hooks 105 and 114 and between hooks
Since the springs 116 and 117 stretched between 106 and 115 are contracted by the springs 116 and 117, the hook 114 has a hook 1
The force in the 05 direction acts, and the force in the hook 106 direction acts on the hook 115. When the motor holding portion 109 rotates in either direction, the hooks 114 and 115 also rotate accordingly. At this time, the hook 114 is subjected to the force in the hook 105 direction and the force for returning to the neutral direction, and the hook 115 is subjected to the force in the direction of hook 106 and the force for returning to the neutral direction. Therefore, the motor holding unit 109 is returned to the neutral position. The springs 116 and 117 need not have the same characteristics at all, and various springs can be selected and used according to the setting of the gyro sensitivity.

Next, the operation when detecting a change in the attitude of the steered body will be described.

When the posture of the controlled object equipped with the gyro device changes, the motor holding unit 109 rotates about the rotation shafts 110 and 111 according to the amount of change in the posture, and is attached to the center of the rotation shaft 111. The magnet 112 rotates in the direction of the arrow in FIG.
The hall element 103 detects the rotation amount of the magnet 112. At this time, since the magnet 112 is attached to the center of the rotating shaft 111, the relative distance between the magnet 112 and the hall element 103 does not change. Therefore, as described above, the output signal V _H of the Hall element becomes a function of the relative angle Θ of the magnet 112 in the Hall element 103, and the influence of the change of the magnetic flux density B based on the relative distance is far negligible. Therefore, a wide range of detection is possible with a simple configuration in which the magnet 112 is attached to the center of the rotating shaft 111.

By the way, in this embodiment, the Hall element 103 and the magnet 112 are provided with an inclination of a predetermined angle in the neutral state. This will be described with reference to FIGS. 5 and 6.

In general, the Hall element has nonlinearity due to the magnetic flux of the magnet used, so the output signal V
It is extremely complicated to calculate and control the angle from _H ,
A complicated correction circuit is required. However, even a Hall element has a relatively good linearity. That is, when the Hall element 103 and the magnet 112 are arranged as shown in FIG. 6 and the magnet 112 is rotated about the center point O in the direction parallel to the paper surface, the relative angle between the Hall element 103 and the magnet 112 is changed. The relationship between Θ and the output voltage V _H of the Hall element 103 has the characteristic shown in FIG. Angle Θ is 45 degrees to 75
The linearity is extremely good in the range of degrees, and if this area is used, the angle can be easily calculated from the output signal V _H , and the correction is easy. Since the magnet 112 rotates in either the left or right direction, if the center point of 45 degrees and 75 degrees, 60 degrees, is set to the neutral position, the linearity is good and it can be used in a wide range of areas. Processing such as detection and correction becomes easy.

In this embodiment, the magnet 112 is fixed to the rotating shaft 111 and the Hall element 103 is fixed to the case 101 side.
Fix the Hall element 103 to 111 and magnet 1 to the case 101 side.
It is also possible to have a structure in which 12 is fixed. Further, although the Hall element 103 and the magnet 112 are used as the pair of detection elements, various changes such as a combination of a magnetoresistive element and a magnet can be made.

Furthermore, although an example using two springs 116 and 117 is shown, only one of them may be used, or one of them may be mainly used and the other may be used for adjustment.

(Effects of the Invention) According to the present invention, even if the characteristics of the pair of spring members are different, or even if only one spring member is used, the spring member is rotated from the neutral position by the rotation of the motor holding portion. When it is deviated, it always returns to the neutral position, so it is easier to select the spring member than the conventional gyro device, and the motor holding part can be returned to the neutral position with a simple structure. it can. Besides, the spring member can be selectively used according to the setting of the gyro sensitivity.

[Brief description of drawings]

1 is a front view of the embodiment of the present invention, FIG. 2 is a plan view of the embodiment of the present invention, FIG. 3 is a left side view of the embodiment of the present invention, and FIG. 4 is a view of the embodiment of the present invention. Partial left side sectional view, FIG. 5 is an explanatory view of an embodiment of the present invention, FIG. 6 is an operation explanatory view of an embodiment of the present invention, FIG. 7 is a front view of a conventional gyro device, and FIG. It is a top view of a gyro device. 101: Case, 103: Hall element, 104: Support frame, 109: Motor holding part, 110, 111: Rotating shaft, 112: Magnet, 116, 117:
Spring, 118: Motor, 119, 120: Flywheel

Claims (1)

[Scope of utility model registration request] 1. A motor for rotatably holding a motor for rotating a flywheel, a motor holding section for holding the motor, and a motor holding section for rotatably holding the motor holding section. A gyro device including a rotation shaft and a spring member for returning the motor to a neutral position, wherein the spring member holds the motor holding portion between the motor holding portion and a case so that the motor holding portion is rotatable. A gyro device, wherein the gyro device is provided so as to extend in parallel with a rotation axis of the.