JP2001029669A - Steering device for model automobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the steering performance of a model automobile by providing the model automobile with plural actuators for every a pair of wheels the steering of the model automobile and enabling the drive and control of the respective actuators by the steering signals by a transmitter. SOLUTION: The actuators of left and right discrete servo devices 3L and 3R are connected to the left and right front wheels 2 (2L and 2R)) of the model automobile as a body to be maneuvered. The respective left and right discrete servo devices 3L and 3R are driven and controlled by the independently transmitted steering signals according to the manipulation of a manipulation lever device at a transmitter. Namely, the model automobile 1 side is provided with the receiver which demodulates the steering signals transmitted from the transmitter and converts the signals to servo signals by each of respective channels. The steering of the left front wheel 2L and the right front wheel 2R is respectively independently or interlockingly controlled by the converted servo signals. The toe-in angles or toe-out angles of a pair of the front wheels relating to the steering of the model automobile are interlockingly controlled when brake manipulation is carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radio control device (hereinafter, abbreviated as a radio control device) for remotely controlling a model vehicle as a steered body by radio, and the displacement amount of a stick-shaped or wheel-shaped operation portion is controlled. Transmits the corresponding steering signal for each channel from the transmitter, receives the transmitted steering signal with the receiver mounted on the model car, converts it into a servo signal for each channel, and responds with this converted servo signal. The present invention relates to a model vehicle steering device for driving an actuating actuator.

[0002]

2. Description of the Related Art In a radio control device for remotely controlling a model car as a steered body by wireless, a resistance value of a variable resistor is variably controlled by a stick-shaped or wheel-shaped operation unit, and a fixed-length frame signal (for each channel) (A base band serial signal), and the steering signal is modulated at a high frequency and transmitted from a transmitter as a radio wave. The receiver mounted on the model car receives and demodulates the radio wave transmitted from the transmitter, and distributes the demodulated signal into data (control pulse signal) for each channel. Then, the movement amount of each servo device of the model car is varied according to the allocated data, and the speed, direction, and the like of the model car are controlled.

FIG. 6 is a diagram showing a connection structure and operating states of left and right front wheels and a servo device for steering in a conventional model vehicle steering system of this type. 2A shows a state in which the left and right front wheels are steered to the left by a predetermined angle, FIG. 2B shows a neutral state, and FIG. 2C shows a state in which the left and right front wheels are steered to the right by a predetermined angle. FIG.

[0004] As shown in FIG.
The left and right front wheels 52L, 52R are commonly connected to one steering servo device 54 via a link mechanism 53. Then, as shown in FIG. 6B, the left and right front wheels 52L, 52R are
The state located parallel to the center axis LL of 1a is set to a neutral state, and the servo device 54 for steering is driven in proportion to the steering signal of the transmitter transmitted when the operator operates the operation unit. . Thereby, FIG. 6A or FIG.
As shown in (b), the left and right front wheels 52L and 52R move in conjunction with the left and right using the attachment position with the link mechanism 53 as a fulcrum, and steering is performed.

[0005] Incidentally, the model car 51 remotely controlled by radio as described above requires operations such as high-speed straight running, cornering on a curve, and braking during deceleration. It changes greatly depending on the quality of model car adjustments such as toe-out adjustment, camber angle adjustment, and damper adjustment.

[0006]

However, in the conventional steering apparatus for a model automobile 51 shown in FIG. 6, the toe-in or toe-out angle, which affects the straight-line performance, is adjusted by mechanical linkage adjustment when the vehicle is stopped after traveling. Had to do. Specifically, the toe-in angle or the toe-out angle is adjusted by changing the position of the action point with respect to the fulcrum of the left and right front wheels 52L, 52R in the link mechanism 53. For this reason, adjustment during traveling was impossible.

Further, as shown in FIG. 6, in the case of a model car 51 in which a steering servo device 54 is offset to the right of the vehicle body 51a, the balance of the vehicle body 51a deteriorates, and a sudden stop by braking is performed. In this case, there is a high possibility that a slight operation error will cause a spin, which directly affects running. To solve this problem, the vehicle body 51
It was necessary to separately attach a balancer to the gap part a, and to balance with the servo device 54 for steering.

In the radio control device, a trim switch for changing the neutral position of the servo device is provided on the transmitter side. In the conventional configuration shown in FIG. 6, the servo device is operated by operating the trim switch. When the neutral position is changed, since the left and right front wheels are controlled in conjunction by one servo device 54, toe-in and toe-out adjustment using the trim switch is impossible. For this reason, toe-in,
As described above, the toe-out adjustment has to be performed by mechanical linkage adjustment in a state where the model car 51 is stopped.

Accordingly, the present invention has been made in view of the above problems, and has as its object to provide a steering apparatus for a model car that can improve the steering performance of the model car.

[0010]

In order to achieve the above object, a first aspect of the present invention provides a transmitter (4) for transmitting a steering signal for each channel in accordance with a displacement amount of an operation unit (6L, 6R). And a receiver (21) mounted on a model car (1) for receiving a steering signal transmitted from the transmitter, converting the signal into a drive signal for each channel, and outputting the drive signal. In the steering apparatus for a model car that remotely controls the model car by driving the corresponding actuator (3) of the model car according to the driving signal, a pair of wheels (2) related to the steering of the model car is provided.
L, 2R), a plurality of actuators (3L, 3R) are provided and connected, and the plurality of actuators are independent or independent of each other by a drive signal corresponding to a steering signal transmitted by operating an operation unit of the transmitter. It is characterized by being driven in conjunction with it.

According to a second aspect of the present invention, in the steering apparatus for a model car according to the first aspect, when a brake operation is performed on the model car (1), a pair of wheels (2L, 2R) related to the steering of the model car are operated. The toe-in angle (θ1) or the toe-out angle (θ2) is controlled in conjunction with each other.

According to a third aspect of the present invention, in the steering apparatus for a model car according to the first or second aspect, the transmitter (4) includes a pair of wheels (2L, 2R) related to steering of the model car (1). Means (display 17, setting key 18) for setting the toe-in angle (θ1) or toe-out angle (θ2) and the steering angles (θ3, θ4) of each wheel are provided.

According to a fourth aspect of the present invention, in the steering apparatus for a model car according to any one of the first to third aspects, the plurality of actuators (3L, 3R) are connected to a body (1) of the model car.
It is characterized in that it is arranged so as to be concentrated at a substantially central portion of a).

[0014]

FIG. 1 is a diagram showing a connection structure and an operating state between left and right front wheels and a servo device for steering according to a steering apparatus for a model car according to the present invention, and FIG. 2 employs the configuration of FIG. FIG. 3 is a diagram showing an example of a pulse train pattern completed in frame units in the transmitter of FIG. 2, and FIG. 4 is a block diagram of each channel from a series of pulse train signals demodulated in the receiver of FIG. FIG. 3 is a diagram illustrating an outline of a decoder that separates and outputs a control signal.

In this embodiment, as shown in FIGS. 1 (a) to 1 (c), left and right front wheels 2 (2L, 2R) of a model car 1 as a steered body are provided with separate left and right steering servo devices. It is connected to 3L and 3R actuators.
The transmitter 4 shown in FIG. 2 independently generates steering signals for driving the two steering servo devices 3L and 3R in accordance with the operation of the operation lever (operation unit) 6 of the operation lever device 5. And outgoing. Then, on the receiver 21 side, the steering signal transmitted from the transmitter 4 is demodulated and converted into a servo signal for each channel, and the steering of the left front wheel 2L and the right front wheel 2R is performed by the converted servo signal. Each can be controlled independently or in conjunction. The operation lever 6 of the operation lever device 5 includes:
The shape is not limited to the stick shape, and may be a wheel shape.

As shown in FIG. 2, the radio control device 11 comprises:
The vehicle has a transmitter 4 that modulates a high-frequency steering signal for remotely controlling the model car 1 as a steered body by radio and transmits the signal as radio waves. The transmitter 4 is schematically configured including an input unit 12, an encoder 13 as a signal conversion unit, a high-frequency unit 14, and an antenna 15.

As shown in FIG. 2, the input means 12 includes an operating lever device 5 which varies the resistance value of the variable resistor according to the operation amount (displacement) of the operating lever 6 and outputs a signal for each channel. It is provided on the main body 4a.

In the example of FIG. 2, when the left operating lever 6L is operated in the direction of arrow A (left-right direction), a signal for driving the actuator of the servo device 3L for steering the left front wheel 2L of the model car 1 is obtained. And a signal for driving the actuator of the servo device 3R for steering the right front wheel 2R of the model car 1 are separately generated and output. When the right operation lever 6R is operated in the direction of arrow B (up and down direction), a signal for driving an actuator of a throttle servo device 3S described later is generated and output.

The input means 12 serves as adjusting means for adjusting the servo output of the actuator of the corresponding servo device 3 by varying the resistance value of the variable resistor with respect to the neutral position when the operating lever 6 is not operated. The trim switch 16 (16a, 16b) is provided. Also,
As shown in FIG. 2, a display 17 is provided on the device main body 4 a of the transmitter 4, and a plurality of setting screens are displayed on the display screen of the display 17, and a plurality of setting screens are displayed. By operating the setting key 18, various settings such as setting of the operation amount of the servo output and setting of mixing a signal for determining the toe-in angle (θ1) or toe-out angle (θ2) of the steering operation with the brake signal during the throttle operation can be performed. Has become.

For example, while a setting screen for setting the operation amount of the servo output is displayed by key operation, a channel to be set (for example, steering of the left front wheel 2L: CH
2) is selected by key operation, and the rate of the operation amount is set by key operation. Thereby, the operation amount of the servo output of each of the servo devices 3L and 3R for steering, that is,
The maximum deflection angle of each of the left and right front wheels 2L, 2R can be variably set independently.

In FIG. 2, when the right operating lever 6R is operated in the downward direction of the arrow to mix the brake operation and the steering operation, the steering operation is performed while the mixing setting screen is displayed by key operation. The setting of the mixing rate (corresponding to the swing angle of the front left and right wheels 2L, 2R) for each of the servo devices 3L, 3R and the "valid" and "invalid" of the mixing operation are set by key operations. Thus, the toe-in angle (θ1) or toe-out angle (θ2) of the left and right front wheels 2L, 2R can be adjusted according to the strength of braking proportional to the operation amount of the operation lever 6R.

The encoder 13 converts various control signals input from the input means 12 into, for example, a pulse width, and converts the plurality of control signals into a pulse train that is completed at a predetermined frame period, and outputs the train. The pulse train of one frame unit completed at a predetermined frame period is always supplied to the high frequency unit 14 during the operation, and is, for example, amplitude modulated (AM).
Alternatively, the antenna 15 may be used as a frequency modulated (FM) radio wave.
Sent from more.

In the example shown in FIG. 2, the servo device 3 includes the servo devices 3L and 3R for steering the left front wheel 2L and the right front wheel 2R and a servo device 3S for the throttle. Servo device 3L for steering,
The 3Rs are arranged on the central axis (LL in FIG. 1) of the vehicle body 1a of the model car 1 so as to balance the weight of the vehicle body 1a. The actuator of the servo device 3L is connected to the left front wheel 2L via the link mechanism 25, and the actuator of the servo device 3R is connected to the link mechanism 2L.
6 is connected to the right front wheel 2R.

FIG. 3 shows an example of a pulse train pattern completed in frame units as described above. In the example of FIG. 3, the speed control, the direction rotation control,
The other control signals are converted into pulse signals CH1, CH2, CH3,... As channels 1, 2, 3,.

The model car 1 as a steered body is provided with a receiver 21 and a servo device 3. As shown in FIG. 2, the receiver 21 includes an antenna 22, a high-frequency circuit 2
3. It is schematically configured with a decoder 24 as a signal conversion means. The high-frequency circuit 23 receives the control signal transmitted from the transmitter 4 from the antenna 22 and demodulates the signal, and inputs the demodulated received signal to the decoder 24.

The decoder 24 converts the received signal demodulated by the high frequency circuit 23 into a control signal (servo signal) for each channel.
And the control signal of each separated channel is supplied to the corresponding actuator of the servo device 3.

From the decoder 15, the servo signal of CH1 is input to the throttle servo device 3S.
The servo signal of CH2 is input to the servo device 3L for steering the front left wheel 2L, and the servo signal of CH3 is input to the servo device 3R for steering the front right wheel 2R.

FIG. 4A shows an outline of a decoder 24 for separating and outputting a control signal of each channel from a series of pulse train signals (PPM) demodulated by the high-frequency circuit 23, and FIG. Shows a waveform diagram of the decoder 24.

As shown in FIG. 4A, the decoder 24
Is a reset circuit 27 that generates a detection output in response to a synchronization signal, and a plurality of stages of D flip-flop circuits (hereinafter, abbreviated as DFFs) 28 that constitute a shift register (28A, 28A)
B, 28C). Note that, in the example of FIG. 4, only a configuration for outputting servo signals for three channels CH1 to CH3 is shown.

In this decoder 24, the demodulated pulse train signal PPM is supplied to each DF constituting a shift register.
The clock signal is input to the reset circuit 27 while being input as clock signals of F28A, 28B, and 28C.

The reset circuit 27 has a pulse train signal PPM
When a low-level period of a predetermined time (for example, about 5 msec) is detected, a reset signal whose output becomes high is generated, and the signal is supplied to the D input terminal of the first stage DFF 28A. Then, subsequent pulses are sequentially transferred to the subsequent DFFs 28B and 28C.

As a result, as shown in the waveform diagram of FIG. 4B, the control pulse signals CH1, CH2, C corresponding to the pulse intervals of the pulse train signal PPM whose pulse positions are modulated.
H3 ... is a DFF that forms a shift register as a servo signal
The data is output from each of the stages 28A, 28B and 28C. The servo signal is a pulse signal proportional to the operation amount of the operation lever 6 (6L, 6R) of the transmitter 3 for each of the channels 1, 2, 3,.

The control pulse signal of each channel detected by the decoder 24 is supplied as a servo signal to the actuator of the corresponding servo device 3 of the model car 2 to control its driving. That is, CH
1 is supplied to the actuator of the throttle servo device 3S, the control pulse signal of CH2 is supplied to the actuator of the servo device 3L for steering the front left wheel 2L, and the control pulse signal of CH3 is supplied to the actuator of the front right wheel 2R. It is supplied to the actuator of the steering servo device 3R.

More specifically, when controlling the speed, a control pulse signal (the servo signal of CH1 in FIG. 3) having a pulse width corresponding to the amount of operation of the operation lever 6L in the vertical direction is applied to the throttle servo device 3S. Supplied to the actuator. When driving the left and right front wheels 2L and 2R,
A control pulse signal (the servo signal of CH2 in FIG. 3) having a pulse width corresponding to the operation amount of the operation lever 6L in the left-right direction is supplied to the actuator of the servo device 3L for steering the left front wheel 2L, and the left-right direction of the operation lever 6R is supplied. The control pulse signal (the servo signal of CH3 in FIG. 3) having a pulse width corresponding to the operation amount of the steering wheel 3R is a servo device 3R for steering the right front wheel 2R.
And the actuators of the servo devices 3L and 3R are controlled independently or in conjunction with each other.

FIG. 5 is a diagram showing a configuration of a transmitter having a mixing function that can be used in place of the transmitter of the radio control device 11 of FIG.

The transmitter 44 shown in FIG.
And a variable resistor 31 (31a, 3a) connected to the ground potential.
1b, 31c). This variable resistor 31
It is provided corresponding to the number of channels. Variable resistor 31a
Outputs a control signal of a throttle channel, the variable resistor 31b outputs a control signal of a steering channel of the left front wheel 2L, and the variable resistor 31c outputs a control signal of a steering channel of the right front wheel 2R. The output voltages of these variable resistors 31a, 31b, 31c are displaced in accordance with the operation amounts of the operation levers 6L, 6R.

The output signals of the respective variable resistors 31a, 31b, 31c are individually input to buffer amplifiers 32, 33, 34 and amplified with a predetermined gain. Buffer amplifier 32
Is output to a multiplexer 36 via an adder 35.
Is input to The output signals of the buffer amplifiers 33 and 34 are input to the multiplexer 36 and individually input to the adder 35 via the variable gain amplifiers 37 and 38. The output signal of the multiplexer 36 is
3, after the pulse position modulation (PPM) or the pulse code modulation (PCM), the high-frequency section 14 performs AM modulation or FM
The signal is modulated and transmitted from the antenna 15.

In the radio control device 11 employing the transmitter 44 having the above configuration, when mixing between channels is not performed, output signals from the variable gain amplifiers 37 and 38 are cut off. Thereby, the servo device 3 of each channel
S, 3L, 3R are variable resistors 31a, 31b, 31c.
Is independently controlled in accordance with the operation amount of.

On the other hand, when mixing is performed from the throttle to the steering, the variable gain amplifiers 37 and 3 are used.
Set the gain of 8 to the desired value. As a result, the output signals of the variable resistors 31b and 31c are
34, input to the adder 35 via the variable gain amplifiers 37 and 38, and are added to the output signals of the buffer amplifiers 33 and 34. This enables mixing in which the throttle operation and the steering operation are linked. That is, when the operation lever 6R on the right side of the operation lever device 5 is operated in the downward direction of the arrow, a braking operation is applied to the model car, and at the same time, as shown in FIG. The left and right front wheels 2L and 2R are driven at the angle (θ1) or the toe-out angle (θ2).

As described above, in the present embodiment, the left and right front wheels 2L, 2R of the model car 1 are steered by the left and right separate servo devices 3L, 3R. Thereby, model car 1
After actually driving the vehicle, the toe-in angle (θ1) and the toe-out angle (θ1) when the left and right front wheels 2L and 2R are driven in a C-shape or an inverted C-shape as shown in FIG. θ
2) Angle adjustment, left and right front wheels 2 shown in FIGS. 1 (a) and 1 (c)
The adjustment of the individual steering angles (θ3, θ4) of L and 2R can be easily performed by setting on the transmitter 4 side without using the conventional mechanical linkage adjustment of the vehicle body. For this reason, the labor required for the adjustment work can be reduced as compared with the related art.

Further, by mixing the steering signal of the steering operation for determining the toe-in angle or the toe-out angle during the braking operation, a larger toe-in angle or toe-out angle can be provided during the braking operation, and the straight running characteristic at the time of sudden stop. (Straight running stability) can be greatly improved.

Further, the steering angle (θ) of the left and right front wheels 2L, 2R
3, θ4) can be adjusted independently.
As shown in (c), the left and right front wheels 2L and 2R can be operated to set the steering angle, and the cornering performance can be easily adjusted to the chassis characteristics of the model car 1.

In addition, the servo device for steering 3
L and 3R are arranged on the central axis (LL in FIG. 1) of the vehicle body 1a of the model car 1 so that the weight can be balanced. Low stability, and stable running can be realized.

Incidentally, in the above-described embodiment,
It is necessary to use different channels to adjust toe-in and toe-out.However, considering the brake operation, it is sufficient that each servo device operates in a certain state at the time of brake operation, and the steering uses two servo devices. It is also possible to operate with one channel. Specifically, it can be realized using a mixer circuit that operates as described below.

First, in the normal operation, the same channel signal is supplied to two servo devices and they are operated in conjunction.
When it is determined that the brake is operated based on an operation signal to the engine control servo device (motor controller) based on the operation position of the operation unit, the two steering servo devices are operated in opposite directions. This can be realized by using a circuit so that a pair of tires rotates at a predetermined angle.

In the above-described embodiment, an example is described in which two servo devices 3L and 3R each having one actuator and independently driven are used. The present invention is also applicable to a configuration including one servo device having one actuator.

Further, the configuration of the above-described embodiment is adopted in a model car driven by an electric drive or an engine, and
The present invention can be applied not only to the left and right front wheels but also to the front and rear wheels of a four-wheel model vehicle driven by a belt or a direct shaft, in addition to the left and right front wheels of the wheel model vehicle.

[0048]

As is apparent from the above description, according to the steering apparatus for a model car of the present invention, a pair of wheels related to the steering of the model car are steered by separate actuators. It is possible to easily adjust the toe-in and toe-out angles and the steering angle of each wheel related to the steering without depending on the mechanical linkage adjustment of the vehicle body. As a result, it is possible to reduce the labor required for the adjustment work as compared with the related art.

By mixing the steering signal of the steering operation for determining the toe-in angle or the toe-out angle at the time of the braking operation, a larger toe-in angle or toe-out angle can be provided at the time of the braking operation. Stability) can be greatly improved.

Since the steering angles of the wheels related to the steering can be adjusted independently, the cornering performance can be easily adjusted to the chassis characteristics of the model car.

Since the steering actuator is disposed at the approximate center of the body of the model car so as to balance the weight, the possibility of causing a spin due to a slight operation error is low and the steering actuator is stable. You can drive.

[Brief description of the drawings]

1 (a) to 1 (c) are diagrams showing a connection structure and an operating state between left and right front wheels and a servo device for steering according to a steering device for a model car according to the present invention.

FIG. 2 is a schematic block diagram of a radio control device employing the configuration of FIG. 1;

FIG. 3 is a diagram showing an outline of a decoder that separates and outputs a control signal of each channel from a series of pulse train signals demodulated in the receiver of FIG. 2;

4 is a diagram showing an outline of a decoder that separates and outputs a control signal of each channel from a series of pulse train signals demodulated in the receiver of FIG. 2;

FIG. 5 is a diagram showing a configuration of a transmitter having a mixing function that can be used instead of the transmitter of the radio control device of FIG. 2;

6 (a) to 6 (c) are diagrams showing a connection structure and a driving state between left and right front wheels of a conventional model car and a servo device for steering.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Model car, 1a ... Body, 2L ... Left front wheel, 2R ... Right front wheel, 3L ... Left front wheel steering servo device (actuator), 3R ... Right front wheel steering servo device (actuator), 4 ... Transmitter, 6 ( 6L, 6R) ...
Operation lever, 21: Receiver, θ1: Toe-in angle, θ2:
Toe-out angle, θ3, θ4 ... steering angle.

Claims (4)

[Claims] 1. A transmitter for transmitting a steering signal for each channel corresponding to a displacement amount of an operation unit, and a steering signal transmitted from the transmitter is received, converted to a drive signal for each channel, and output. With a receiver mounted on a model car,
A steering apparatus for a model car that remotely drives the model car by driving a corresponding actuator of the model car by the driving signal output from the receiver, wherein a plurality of wheels are provided for each of a pair of wheels related to the steering of the model car. An actuator is provided and connected, and the plurality of actuators are driven independently or in conjunction with each other by a drive signal corresponding to a steering signal transmitted by operating an operation unit of the transmitter. Steering gear. 2. The model vehicle according to claim 1, wherein when the model vehicle is braked, a toe-in angle or a toe-out angle of a pair of wheels related to steering of the model vehicle is controlled in conjunction with each other. Steering gear. 3. The apparatus according to claim 1, wherein the transmitter includes means for setting a toe-in angle or a toe-out angle of a pair of wheels related to steering of the model car, and a steering angle of each wheel. 2. The steering apparatus for a model car according to 2. 4. The steering apparatus for a model car according to claim 1, wherein the plurality of actuators are arranged at a substantially central portion of a body of the model car.