JP2005192621A - Electromagnetic driving device and steering device of radio control car - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To slide a driving shaft member by an optional operation amount in both left and right directions. <P>SOLUTION: An electromagnetic driving device is provided with the driving shaft member 3 slid in both directions to drive parts 7 and 8 to be driven, a magnet body 4 magnetized so as to turn main surfaces 4a and 4b facing each other to different magnetic poles and fixed at the almost center part of the driving shaft member 3, a first electromagnetic coil body 5 and a second electromagnetic coil body 6 arranged facing each other across the magnet body 4, and a control part 9 for controlling the supply amount of a driving current to be supplied to the electromagnetic coil bodies 5 and 6. By controlling the driving current to the respective electromagnetic coil bodies 5 and 6, repulsion with the magnet body 4 is varied and the operating position of the driving shaft member 3 is controlled. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an electromagnetic drive device that slides a drive shaft member in the axial direction by a repulsive force generated between a magnet and an electromagnetic coil by energization, and a radio control car (hereinafter referred to as a radio control car) using this electromagnetic drive device as a steering drive mechanism. Abbreviated as car).

  The electromagnetic drive device includes an electromagnetic coil body, a magnet body, and a drive rod, and drives a driven part by sliding a drive shaft member by a magnetic attractive force or a repulsive force generated between the electromagnetic coil body and the magnet body. . The electromagnetic drive device has features such as high responsiveness, low noise property, and simple controllability, and is adopted as various drive mechanisms by being simply configured with few constituent members.

  As shown in FIG. 6, in the conventional electromagnetic drive device 100, a drive shaft member 102 is slidably supported in a case 101 with both end portions 102a and 102b passing through opposite side surfaces 101a and 101b. In the electromagnetic drive device 100, a cylindrical magnet body 103 is fixed to one side of the drive shaft member 102 so that both end surfaces in the axial direction become different magnetic poles. In the electromagnetic drive device 100, an electromagnetic coil 104 body that is opposed to the magnet 103 body by passing the drive shaft member 102 through the coil hole is fixed to the case 101. In the electromagnetic drive device 100, a coiled spring 105 is provided on the drive shaft member 102 located between the magnet body 103 and the electromagnetic coil body 104. The electromagnetic driving device 100 is provided with a driven portion 106 whose details are omitted at one end portion 102 a of the driving shaft member 102.

  In the electromagnetic driving device 100, as shown in FIG. 6A, when the electromagnetic coil body 104 is not energized, the magnet body 103 is pressed toward the side surface 101a of the case 101 by the elastic force of the spring 105, thereby driving shaft. One end 102a of the member 102 is projected from the side surface 101a. In the electromagnetic drive device 100, the driven part 106 provided in the one end part 102a of the drive shaft member 102 is held in the first state.

  In the electromagnetic drive device 100, when a drive current is supplied to the electromagnetic coil body 104 via a control unit (not shown), the polarity of the facing surface of the magnet body 103 is opposite to the facing surface of the electromagnetic coil body 104 facing the magnet body 103. A magnetic field with a different polarity is generated. In the electromagnetic drive device 100, a magnetic attraction force is generated between the electromagnetic coil body 104 and the magnet body 103, and the magnet body 103 is electromagnetically resisted against the elastic force of the spring 105 as shown in FIG. It is attracted toward the coil body 104 side. In the electromagnetic drive device 100, the drive shaft member 102 thereby slides in the case 101 toward the side surface 101b to drive the driven portion 106 to the second state.

  In the electromagnetic drive device 100, when the drive current to the electromagnetic coil body 104 is cut off, the magnet body 103 returns to the initial position by the elastic force of the spring 105. In the electromagnetic drive device 100, the driven shaft member 102 slides toward the side surface 101a in the case 101 along with the return operation of the magnet body 103, thereby driving the driven portion 106 back to the first state. .

  The other conventional electromagnetic drive device 110 shown in FIG. 7 has the same basic configuration as the electromagnetic drive device 100 described above, and a drive shaft member 112 is slidably supported by a case 111. A magnet body 113 is fixed to 112, and an electromagnetic coil body 114 facing the magnet body 113 by penetrating the drive shaft member 112 is fixed to the case 111. In the electromagnetic driving device 110, a spring 115 is provided between the case side surface 111a and the magnet body 113. The electromagnetic drive device 110 is provided with a driven portion 116 whose details are omitted at one end portion 112 a of the drive shaft member 112.

  7A, when the electromagnetic coil body 114 is not energized, the electromagnetic driving apparatus 110 is pressed against the side surface 111a of the case 111 by the elastic force of the spring 115, and the electromagnetic coil body 114 is It is abutted to the side. In this initial state, the electromagnetic driving device 110 holds the driven portion 116 provided at the one end 112a in the first state by causing the other end 112b of the driving shaft member 112 to protrude from the side surface 111a.

  In the electromagnetic drive device 110, the drive current is supplied to the electromagnetic coil body 114 via a control unit (not shown), whereby the polarity of the facing surface of the magnet body 113 is opposite to the facing surface of the electromagnetic coil body 114 to the magnet body 113. Produces a magnetic field of the same polarity. In the electromagnetic driving device 110, a magnetic repulsive force is generated between the electromagnetic coil body 114 and the magnet body 113, and the magnet body 113 resists the elastic force of the spring 105 as shown in FIG. Separated from the body 114. In the electromagnetic drive device 110, the drive shaft member 112 thereby slides in the case 111 toward the side surface 111a to drive the driven portion 116 to the second state.

  In the electromagnetic drive device 110, when the drive current to the electromagnetic coil body 114 is cut off, the magnet body 113 returns to the initial position by the elastic force of the spring 115. In the electromagnetic drive device 110, the drive shaft member 112 slides in the case 111 toward the side surface 111 b along with the return operation of the magnet body 113, thereby driving the driven portion 116 to return to the first state. .

  The electromagnetic drive device 100 or the electromagnetic drive device 110 described above is used, for example, in the radio controlled car 120 shown in FIG. The radio controlled car 120 receives the accelerator control signal and the steering control signal transmitted from the antenna 124 by the user operating the accelerator stick 122 and the steering stick 123 provided in the controller 121, and performs a predetermined traveling operation. Done.

  In the radio controlled car 120, a control board 126, a motor 127, or a battery (not shown) is mounted on a chassis 125. In the radio controlled car 120, the rotation of the motor 127 is transmitted to the axles 129 of the rear wheels 128a and 128b via a gear mechanism. The radio controlled car 120 is provided with a microcomputer 130 on a control board 126 and a control circuit, a power supply circuit, or a reception circuit that receives a control signal transmitted from the controller 121, although not shown.

  The radio controlled car 120 is provided with front wheels 132a and 132b via steering mechanisms 131a and 131b, respectively, although details are omitted with respect to the chassis 125. In the radio controlled car 120, for example, the pair of electromagnetic driving devices 100a and 100b and the electromagnetic driving devices 110a and 110b described above are mounted on the chassis 125, respectively, and predetermined traveling is performed by driving the steering mechanisms 131a and 131b. In the radio controlled car 120, the electromagnetic drive devices 100a and 100b and the electromagnetic drive devices 110a and 110b are configured symmetrically, and the steering mechanisms 131a and 131b are provided at one end portions 102a and 112a of the drive shaft members 102 and 112, respectively. The driven parts 106 and 116 are configured.

  In the radio controlled car 120, the front wheels 132a and 132b are in a straight traveling state as shown in FIG. 8 by holding the electromagnetic driving devices 100a and 100b and the electromagnetic driving devices 110a and 110b in the first state in the normal state. When the radio controlled car 120 receives the steering control signal transmitted from the controller 121, the electromagnetic driving devices 100a and 100b or the electromagnetic driving devices 110a and 110b are driven to tilt the front wheels 132a and 132b to the left and right.

When a steering control signal of, for example, a right turn is transmitted from the initial state by the steering operation of the controller 121, the radio controlled car 120 is supplied with a drive current to the electromagnetic coil bodies 104 of the electromagnetic drive devices 100a and 100b, and the respective drive shaft members. As the 102 slides, the front wheels 132a and 132b are tilted to the right and the vehicle turns right. In addition, when the left turn steering control signal is transmitted, for example, by the steering operation of the controller 121 from the initial state, the radio controlled car 120 is supplied with a drive current to the electromagnetic coil bodies 114 of the electromagnetic drive devices 110a and 110b. As the shaft member 112 slides, the front wheels 132a and 132b are tilted to the left, and the vehicle turns left.
In addition, the electromagnetic drive devices 100 and 110 can be used for a speed control mechanism of a radio controlled car in addition to the steering mechanism (see, for example, Patent Document 1).
Japanese Patent Application Laid-Open No. 60-171067

  By the way, as described above, the electromagnetic drive device 100 or the electromagnetic drive device 110 supplies the drive current to or cuts off the respective electromagnetic coil bodies 104 and 114, so that the drive shaft members 102 and 112 slide and are driven. The units 106 and 116 are switched and driven between the first state and the second state. In the electromagnetic drive device 100 and the electromagnetic drive device 110, since the return operation to the initial position is performed quickly by the elastic force of the springs 105 and 115 when the drive current is interrupted, the responsiveness is good. It is not necessary to supply the holding current in the operating state or the driving current during the return operation, so that the control system can be easily configured and the power consumption can be reduced.

  However, in the electromagnetic driving device 100 and the electromagnetic driving device 110, the driven parts 106 and 116 can be switched and driven only between the first state and the second state, for example, the first state and the second state. It was not possible to switch at any position with the state. Therefore, the electromagnetic drive device 100 or the electromagnetic drive device 110 is applied only when the use range switches between two positions.

  In addition, the conventional radio controlled car 120 uses the electromagnetic drive device 100 and the electromagnetic drive device 110 as drive sources of the steering drive mechanisms 131a and 131b, so that the two front wheels 132a and 132b are in a straight forward, left turn, and right turn state. It becomes possible to operate. The radio controlled car 120 includes the electromagnetic drive device 100 and the electromagnetic drive device 110, thereby simplifying the structure and reducing power consumption.

  However, in the radio controlled car 120, the two front wheels 132a and 132b are tilted left and right at a predetermined angle by the electromagnetic driving device 100 and the electromagnetic driving device 110, so that the right and left traveling is changed. The radio controlled car 120, for example, performs a curve run by repeating a digital course change by performing a quick and delicate switching operation of the steering stick 123. Therefore, the radio controlled car 120 has a problem that it is extremely difficult to control the vehicle during curve driving.

  In the radio controlled car 120, the initial positions of the drive shaft members 102 and 112 are set by the elastic force of the springs 105 and 115 of the electromagnetic drive device 100 and the electromagnetic drive device 110, whereby the front wheels 132a and 132b are held in the straight traveling state. The The radio controlled car 120 has a problem in that it is difficult to position the drive shaft members 102 and 112 at the initial positions with high accuracy due to variations in the elastic characteristics of the springs 105 and 115, and the straight travel characteristics are deteriorated.

  Accordingly, an object of the present invention is to provide an electromagnetic drive device that enables a drive shaft member to slide with an arbitrary amount of movement in both left and right directions. Another object of the present invention is to provide a steering device for a radio control car that can simplify the structure and change the direction of the radio control car at any rotation angle with respect to both the left and right directions.

  The electromagnetic drive device according to the present invention that achieves the above-described object includes a drive shaft member, a magnet body, a first electromagnetic coil body, a second electromagnetic coil body, and a control unit. In the electromagnetic drive device, the drive shaft member is supported so as to be slidable in both directions with respect to the axial direction, and driven portions are provided at both ends thereof. The electromagnetic drive device has a magnet body formed in a cylindrical shape or a disk shape, and is magnetized so that both ends in the axial direction become different magnetic poles, and is fixed to a substantially central portion in the axial direction with respect to the drive shaft member. It becomes. In the electromagnetic drive device, a first electromagnetic coil body and a second electromagnetic coil body are arranged to face each other with a magnet body interposed therebetween, and a drive shaft member is passed through each. In the electromagnetic driving device, the control unit controls the supply amount of the driving current supplied to the first electromagnetic coil body and the second electromagnetic coil body.

  In the electromagnetic drive device according to the present invention configured as described above, by supplying a predetermined amount of drive current to the first electromagnetic coil body or the second electromagnetic coil body based on a command from the control unit, An electromagnetic field having a predetermined polarity is generated in the first electromagnetic coil body or the second electromagnetic coil body. In the electromagnetic drive device, a repulsive force is generated between the first electromagnetic coil body or the second electromagnetic coil body and the opposing magnet body to generate an axial thrust on the drive shaft member, thereby The driven part is driven through a drive shaft member that slides in the direction.

  Moreover, the electromagnetic drive device concerning this invention is located between a magnet body and a 1st electromagnetic coil body, the 1st elastic body which makes the elastic force of an axial direction act on a 1st electromagnetic coil body, and A second elastic body is provided that is disposed between the magnet body and the second electromagnetic coil body and applies an elastic force in the axial direction to the second electromagnetic coil body. In the electromagnetic drive device, the first elastic body and the second elastic body have elastic characteristics in which substantially the same elastic force is applied to the magnet body in the axial direction.

  In the electromagnetic drive device according to the present invention configured as described above, the magnet body is pivoted when no energization is generated between the magnet body and the first electromagnetic coil body or the second electromagnetic coil body. The drive shaft member is supported by being balanced at a substantially central position in the direction. Therefore, in the electromagnetic drive device, the drive shaft member is held at the center position even in a non-energized state.

  Further, the steering device for a radio control car according to the present invention that achieves the above-described object is supported so as to be slidable in both the left and right directions with respect to the width direction of the chassis, and both ends swing the left and right wheels with respect to the chassis. A tie rod member connected to a movably supporting steering mechanism, and a magnet body that is magnetized so that both ends in the axial direction have different magnetic poles and fixed to a substantially central portion in the axial direction with respect to the tie rod member; The first electromagnetic coil body and the second electromagnetic coil body that are arranged to face each other with the magnet interposed therebetween and through which the tie rod member penetrates, and the steering control that is wirelessly output from the radio controller based on the operation of the steering operation unit A signal is received by the receiving unit, the first electromagnetic coil body, and the second electromagnetic coil body. And a control unit for controlling the supply amount of the dynamic current.

  According to the steering apparatus of the radio control car according to the present invention configured as described above, when the steering control signal input unit is operated by the radio controller and the steering control signal is wirelessly output from the radio controller, the reception is performed. The steering control signal is received at the unit. According to the steering apparatus of the radio control car, a predetermined control operation is performed in the control unit by outputting a reception signal based on the steering control signal received from the reception unit to the control unit. According to the steering device for a radio control car, a predetermined amount of drive current is supplied to the first electromagnetic coil body and the second electromagnetic coil body based on a command from the control unit. Alternatively, an electromagnetic field having a predetermined polarity is generated in the second electromagnetic coil body. According to the steering apparatus of the radio control car, a repulsive force is generated between the first electromagnetic coil body or the second electromagnetic coil body and the opposing magnet body, and the thrust of the sliding motion is generated on the tie rod member. According to the steering apparatus of the radio control car, the tie rod member operates the steering mechanism so that the predetermined steering operation of the wheel is performed.

  In addition, the radio control car steering apparatus according to the present invention is disposed between the magnet body and the first electromagnetic coil body so that an axial elastic force acts on the first electromagnetic coil body. A first elastic body and a second elastic body that is disposed between the magnet body and the second electromagnetic coil body and applies an elastic force in the axial direction to the second electromagnetic coil body are provided. In the radio control car steering apparatus according to the present invention, the first elastic body and the second elastic body have elastic characteristics in which substantially the same elastic force is applied to the magnet body in the axial direction.

  According to the radio control car steering apparatus according to the present invention configured as described above, the steering operation portion of the radio controller is in the neutral position, and the first electromagnetic coil body and the second electromagnetic coil body are in a non-energized state. In some cases, the radio control car travels straight by holding the wheels in a neutral position.

  According to the electromagnetic drive device according to the present invention configured as described above, the repulsive force between the magnetic body and the magnet body can be varied by controlling the drive current to the first electromagnetic coil body or the second electromagnetic coil body by the control unit. By doing so, it is possible to appropriately control the amount of sliding motion in the axial direction of the drive shaft member. Therefore, according to the electromagnetic drive device, the drive shaft member can perform precise drive by continuously changing the driven part.

  Further, according to the electromagnetic drive device, it is not necessary to supply a holding current to the first electromagnetic coil body or the second electromagnetic coil body or supply a return current for returning to the initial position. Therefore, in the electromagnetic drive device, power consumption can be reduced, control can be simplified, or responsiveness can be improved.

  According to the steering device for a radio control car according to the present invention configured as described above, according to the steering device for a radio control car, the first electromagnetic coil body and the second electromagnetic coil body are connected to each other based on the steering control signal. By controlling the drive current amount and adjusting the slide amount of the tie rod member, a steering operation for changing the wheel to an appropriate angle becomes possible. According to the steering device of the radio control car, the tie rod member can perform precise driving by continuously changing the steering mechanism.

  Further, according to the steering apparatus for the radio control car, a holding current is supplied to the first electromagnetic coil body or the second electromagnetic coil body or the wheel is returned to the initial position so that the wheel is held at the neutral position. Therefore, it is possible to reduce the power consumption and to simplify the steering operation control. Further, according to the steering device of the radio control car, the return operation to the neutral position of the wheel is also quickly performed, so that a quick response is made and the maneuverability can be improved.

  Hereinafter, an electromagnetic drive device 1 shown as an embodiment of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the electromagnetic drive device 1 includes a case 2, a drive shaft member 3, a magnet body 4, a first electromagnetic coil body 5, and a second electromagnetic coil body 6. In the electromagnetic drive device 1, a first driven portion 7 is provided on the one end 3 a side of the drive shaft member 3, and a second driven portion 8 is provided on the other end 3 b side of the drive shaft member 3. In the electromagnetic drive device 1, a drive current is supplied from the control unit 9 to the first electromagnetic coil body 5 or the second electromagnetic coil body 6.

  Although the details of the case 2 are omitted, the case 2 has an overall substantially cylindrical shape formed by combining half-cylindrical case halves, and the bearing portions 10a and 10b are integrated with the longitudinal side surfaces 2a and 2b so that their axes coincide with each other. Formed. Although not shown, the case 2 is integrally formed with a plurality of attachment pieces, and is attached to the apparatus main body via these attachment pieces. The case 2 supports the drive shaft member 3 so as to be slidable in the axial direction by projecting the end portions 3a and 3b from the bearing portions 10a and 10b to the outside.

  A magnet body 4 is fixed to the drive shaft member 3 at a substantially central portion in the axial direction. The magnet body 4 has a cylindrical shape or a disk shape, and is magnetized so that the first main surface 4a and the second main surface 4b have different magnetic poles. The magnet body 4 may be fitted to, for example, a cylindrical bush or the like and firmly fixed to the drive shaft member 3 via this bush. The magnet body 4 only needs to be fixed in the axial direction, and may be fixed by a retaining ring or the like in which the shaft hole portions on both side surfaces are fitted into the drive shaft member 3.

  Although the details are omitted, the first electromagnetic coil body 5 is formed by winding a coil bobbin having a shaft hole through which the drive shaft member 3 passes. The first electromagnetic coil body 5 is positioned between the one side surface 2 a and the magnet body 4, and is fixed to the first mounting portion 11 a formed in the case 2 to fix the position in the axial direction. The first electromagnetic coil body 5 is concentric with the magnet body 4 by passing through the drive shaft member 3 and faces the first main surface 4a with a predetermined facing interval.

  In the first electromagnetic coil body 5, both ends of the coil wire are connected to the control unit 9, and when a current is supplied to the coil, the coil is magnetized to generate a magnetic field parallel to the drive shaft member 3. The first electromagnetic coil body 5 is supplied from the control unit 9 with a holding current when not driven and with a reverse driving current when driving. When the first electromagnetic coil body 5 is supplied with the holding current and the drive current, the direction of the magnetic field is reversed.

  The first electromagnetic coil body 5 generates a magnetic field having the same polarity as the first main surface 4a on the side surface facing the first main surface 4a of the magnet body 4 by supplying a holding current. Thus, the first electromagnetic coil body 5 is configured such that a repulsive force is generated between the first electromagnetic coil body 5 and the magnet body 4 when not driven. Further, the first electromagnetic coil body 5 generates a magnetic field having a polarity different from that of the first main surface 4a on the side surface facing the first main surface 4a of the magnet body 4 by supplying a driving current. Accordingly, the first electromagnetic coil body 5 is configured such that a magnetic attractive force is generated between the first electromagnetic coil body 5 and the magnet body 4 during driving.

  The second electromagnetic coil body 6 is also configured in the same manner as the first electromagnetic coil body 5 described above, and is formed by winding a coil bobbin having a shaft hole through which the drive shaft member 3 passes. The second electromagnetic coil body 6 is also fixed between the other side surface 2b and the magnet body 4 by being attached to a second attachment portion 11b formed in the case 2 in the axial direction. The second electromagnetic coil body 6 is also concentric with the magnet body 4 by passing through the drive shaft member 3 and is opposed to the second main surface 4b with a predetermined facing distance. The second electromagnetic coil body 6 uses the same member as the first electromagnetic coil body 5.

  The second electromagnetic coil body 6 also has both ends of the coil wire connected to the control unit 9, and when a current is supplied to the coil, the coil is magnetized to generate a magnetic field parallel to the drive shaft member 3. The second electromagnetic coil body 5 is also supplied with a holding current from the control unit 9 during non-driving and a reverse driving current during driving. In the second electromagnetic coil body 6, the magnetic field direction is reversed when a holding current and a drive current are supplied.

  The second electromagnetic coil body 6 generates a magnetic field having the same polarity as that of the second main surface 4b on the side surface facing the second main surface 4b of the magnet body 4 by supplying a holding current. Accordingly, the second electromagnetic coil body 6 is configured such that a repulsive force is generated between the second electromagnetic coil body 6 and the magnet body 4 when not driven. In addition, the second electromagnetic coil body 6 generates a magnetic field having a polarity different from that of the second main surface 4b on the side surface facing the second main surface 4b of the magnet body 4 by supplying a drive current. Thus, the second electromagnetic coil body 6 is configured such that a magnetic attractive force is generated between the second electromagnetic coil body 6 and the magnet body 4 during driving.

  In the electromagnetic drive device 1 configured as described above, in the neutral state shown in FIG. 2 (A), the controller 9 has the same current value for the first electromagnetic coil body 5 and the second electromagnetic coil body 6. Holding currents Iha and Ihb are respectively supplied. In the electromagnetic drive device 1, the first repulsive force Fa and the first repulsive force Fa generated between the first electromagnetic coil body 5 and the second electromagnetic coil body 6 from both sides of the magnet body 4 by supplying the holding currents Iha and Ihb. Two repulsive forces Fb are acting.

  In the electromagnetic drive device 1, the first repulsive force Fa and the first repulsive force Fa acting on the magnet body 4 from both sides at a position where the distance between the magnet body 4 is equal to the first electromagnetic coil body 5 and the second electromagnetic coil body 6. 2 repulsive force Fb balances. In the electromagnetic drive device 1, the magnet body 4 is held at a substantially central portion in the axial direction in the neutral state, and the first driven portion 7 and the second driven portion 8 are brought into a non-operating state via the drive shaft member 3. Retained.

  In the electromagnetic drive device 1, the drive shaft member 3 is slid rightward in the case 2 as shown in FIG. 2B, thereby driving the first driven portion 7 via the drive shaft member 3. To do. In the electromagnetic drive device 1, for example, the supply of the holding current Ihb from the control unit 9 to the second electromagnetic coil body 6 is cut, and the control unit 9 supplies a larger current than the holding current Iha to the first electromagnetic coil body 5. A value of drive current Ika is supplied.

  In the electromagnetic drive device 1, a first repulsive force Fka larger than the neutral repulsive force Fa described above is generated between the first electromagnetic coil body 5 and the magnet body 4, and the second electromagnetic coil body 6. The second repulsive force Fb between the magnet body 4 is eliminated. In the electromagnetic drive device 1, the large first repulsive force Fka is applied to move the magnet body 4 in the direction away from the first electromagnetic coil body 5.

  In the electromagnetic drive device 1, the drive shaft member 3 slides rightward in the case 2 integrally with the magnet body 4, so that the first driven portion 7 provided on the end 3 a of the drive shaft member 3 is moved. Drive. In the electromagnetic drive device 1, the holding current Iha is supplied from the control unit 9 to the first electromagnetic coil body 5 and the holding current Ihb is supplied to the second electromagnetic coil body 6. The magnet body 4 returns to a substantially central position in the axial direction where the first repulsive force Fa and the second repulsive force Fb acting from both sides are balanced.

  By the way, in the electromagnetic drive device 1, by controlling the drive currents Ika and Ikb supplied from the control unit 9 to the first electromagnetic coil body 5 and the second electromagnetic coil body 6, as shown in FIG. The drive shaft member 3 is moved to the intermediate position to drive the first driven part 7 in the second state. In the electromagnetic drive device 1, a large drive current Ika is supplied from the control unit 9 to the first electromagnetic coil body 5, and the drive current Ika is supplied from the control unit 9 to the second electromagnetic coil body 6. A small drive current Ikb is supplied. Note that the electromagnetic driving device 1 may be in a state in which the holding current Ihb is continuously supplied to the second electromagnetic coil body 6 instead of the driving current Ikb.

  In the electromagnetic drive device 1, a first repulsive force Fka larger than the neutral first repulsive force Fa is generated between the first electromagnetic coil body 5 and the magnet body 4, and the second electromagnetic coil body 6 and the magnet body 4. The second repulsive force Fkb is also generated between the two. In the electromagnetic drive device 1, the first repulsive force Fka on the first electromagnetic coil body 5 side is larger than the second repulsive force Fkb on the second electromagnetic coil body 6 side, so that the magnet body 4 moves toward the second electromagnetic coil body 6 side. And moved. In the electromagnetic drive device 1, the second repulsive force Fkb increases as the magnet body 4 approaches the second electromagnetic coil body 6 and the first repulsive force Fka generated between the first electromagnetic coil body 5 decreases.

  In the electromagnetic drive device 1, the magnet body 4 is held at the position by balancing the first repulsive force Fka and the second repulsive force Fkb acting on the magnet body 4 from both sides by moving the magnet body 4 to a certain position. To do. In the electromagnetic drive device 1, the drive shaft member 3 slides rightward in the case 2 integrally with the magnet body 4, so that the first driven portion 7 provided on the end 3 a of the drive shaft member 3 is moved. Drive in the second state. In the electromagnetic drive device 1, the holding current Iha is supplied from the control unit 9 to the first electromagnetic coil body 5 and the holding current Ihb is supplied to the second electromagnetic coil body 6. The magnet body 4 returns to a substantially central position in the axial direction where the first repulsive force Fa and the second repulsive force Fb acting from both sides are balanced.

  In the electromagnetic drive device 1, the first electromagnetic coil body 5 is controlled by controlling the drive currents Ika and Ikb supplied to the first electromagnetic coil body 5 and the second electromagnetic coil body 6 by the control unit 9 as described above. The first repulsive force Fka and the second repulsive force Fkb generated between the second electromagnetic coil body 6 and the opposing magnet body 4 are appropriately varied. Therefore, in the electromagnetic drive device 1, the sliding movement amount in the axial direction of the drive shaft member 3 is appropriately adjusted, and the first driven portion 7 and the second driven portion 8 can be variously changed. .

  The electromagnetic drive device 1 can slide the drive shaft member 3 described above in multiple stages in the right direction as well as in the left direction in the same manner. The electromagnetic drive device 1 supplies drive currents Ika and Ikb to the first electromagnetic coil body 5 and the second electromagnetic coil body 6 from the control unit 9 in reverse, thereby driving the drive shaft member 3 via the magnet body 4. The slide operation is performed.

  The electromagnetic drive device 20 shown as the second embodiment in FIG. 3 has the same basic configuration as the electromagnetic drive device 1 described above, and is different from the first electromagnetic coil body 5 and the second electromagnetic coil body 6, respectively. The configuration is characterized in that the magnet body 4 is held at the initial position without the need to supply the holding currents Iha and Ihb. In the electromagnetic drive device 20, the first coil spring 21 is provided between the first electromagnetic coil body 5 and the magnet body 4 for this purpose, and the second electromagnetic coil body 6 and the magnet body 4 are provided with the second coil spring 21. A coil spring 22 is provided. Since the electromagnetic drive device 20 has the same configuration as that of the electromagnetic drive device 1, the corresponding parts are denoted by the same reference numerals and the description thereof is omitted.

  The electromagnetic drive device 20 has a first coil spring 21 and a second coil spring 22 positioned between the first electromagnetic coil body 5 and the magnet body 4 and mounted on the drive shaft member 3 in a slightly compressed state. Become. The first coil spring 21 applies the elastic force to the side surface 5a of the first electromagnetic coil body 5 and the first main surface 4a of the magnet body 4, thereby causing the magnet body 4 to move toward the second electromagnetic coil body 6 side. Energize to. Similarly, the second coil spring 22 applies an elastic force to the side surface 6a of the second electromagnetic coil body 6 and the second main surface 4b of the magnet body 4, thereby causing the magnet body 4 to move to the first electromagnetic coil. Energize toward the body 5 side.

  In the electromagnetic drive device 20, the first coil spring 21 and the second coil spring 22 have the same elastic characteristics, so that the first main surface 4 a and the second main surface on both sides of the magnet body 4 are provided. The same elastic force is applied to 4b. Therefore, in the electromagnetic drive device 20, the magnet body 4 is an axis that balances the elastic forces of the first coil spring 21 and the second coil spring 22 that act on the first main surface 4a and the second main surface 4b. It is held at a substantially central position in the direction.

  In the electromagnetic drive device 20, similarly to the electromagnetic drive device 1 described above, the drive currents Ika and Ikb are supplied from the control unit 9 to the first electromagnetic coil body 5 or the second electromagnetic coil body 6, thereby magnets. The drive shaft member 3 is slid left and right with respect to the axial direction via the body 4. Further, in the electromagnetic drive device 20, the drive shaft member 3 can be slid to an arbitrary position in the axial direction by appropriately adjusting the amounts of the drive currents Ika and Ikb.

  In the electromagnetic driving device 20, for example, a driving current Ika is supplied to the first electromagnetic coil body 5 and a driving current Ikb smaller than the driving current Ika is supplied to the second electromagnetic coil body 5. In the electromagnetic drive device 20, a first repulsive force Fka is generated between the first electromagnetic coil body 5 and the magnet body 4, and a second repulsive force Fkb is generated between the second electromagnetic coil body 6 and the magnet body 4. . The first repulsive force Fka causes an acting force larger than the second repulsive force Fkb to act on the magnet body 4 based on the difference between the drive current Ika and the drive current Ikb.

  In the electromagnetic drive device 20, the first repulsive force Fka with the first electromagnetic coil body 5 and the elastic force of the first coil spring 21 make the magnet body 4 have the second repulsive force Fkb and the elastic force of the second coil spring 22. Against the second electromagnetic coil body 5 side. In the electromagnetic drive device 20, the drive shaft member 3 slides to the right in the case 2 integrally with the magnet body 4, so that the first driven portion 7 provided at the end 3 a of the drive shaft member 3 is moved. Drive.

  In the electromagnetic drive device 20, the first repulsive force Fka larger than the elastic force of the first coil spring 21 and the second coil spring 22 with respect to the first electromagnetic coil body 5 and the second electromagnetic coil body 6 and Drive currents Ika and Ikb for generating the second repulsive force Fkb are supplied. Further, in the electromagnetic driving device 20, not only the driving currents Ika and Ikb having different sizes are supplied to the first electromagnetic coil body 5 and the second electromagnetic coil body 6, but also only one of them is driven. A current may be supplied.

  The electromagnetic drive device 1 or the electromagnetic drive device 20 described above is used as a steering device of the radio controlled car 30 shown in FIGS. 4 and 5, for example. The radio controlled car 30 also receives the accelerator control signal and the steering control signal transmitted from the antenna 34 by the user operating the accelerator stick 32 and the steering stick 33 provided in the controller 31 to perform a predetermined traveling operation. Done.

  The controller 31 is provided with the above-described accelerator stick 32, steering stick 33, or antenna 34 in a casing 35, and a power switch 36. The controller 31 includes a control board in which a battery, a control signal transmission circuit, a control circuit, and the like are provided inside the housing 35. Although omitted in detail, the controller 31 controls the speed of the radio controlled car 30 by tilting the accelerator stick 32 in the vertical direction as shown by the arrow in FIG.

  The controller 31 performs the steering operation of the radio controlled car 30 by tilting the steering stick 33 left and right as indicated by the arrows in the figure. The controller 31 can appropriately adjust the steering angle of the radio controlled car 30 by appropriately adjusting the tilt angle of the steering stick 33 as will be described in detail later, thereby improving the maneuverability.

  The radio controlled car 30 has the same basic configuration as that of the conventional radio controlled car 120 described above, and a chassis 37 is mounted with a control board 38, a motor 39, or a battery (not shown) constituting a drive control system. The radio controlled car 30 includes a microcomputer 40 mounted on a control board 38 and a receiving circuit unit or a memory that receives a control signal transmitted from a control circuit, a power supply circuit, or a controller 31 (not shown). . When the control signal transmitted from the controller 31 is received by the receiving circuit unit, the radio controlled car 30 outputs a predetermined control signal from the microcomputer 40 to each unit based on the output from the receiving circuit unit, so that the radio traveling can be performed. Done.

  In the radio controlled car 30, rear wheels 42 a and 42 b are attached to an axle 41 that is rotatably supported at a rear position of the chassis 37. In the radio controlled car 30, the rotation of the motor 39 is transmitted to the drive gear 44 fixed to the axle 41 via the gear mechanism 43. The radio controlled car 30 controls the rotational speed and rotational direction of the motor 39 based on the accelerator control signal transmitted when the accelerator stick 32 of the controller 31 is operated, and is transmitted to the rear wheels 42a and 42b. To move forward or backward.

  The radio controlled car 30 is provided with a pair of left and right steering mechanisms 45a and 45b whose details are omitted in front of the chassis 37, and front wheels 46a and 46b are rotatably supported by the steering mechanisms 45a and 45b, respectively. The radio controlled car 30 constitutes a steering drive mechanism by using the electromagnetic drive device 1 described above in connection with the steering mechanisms 45a and 45b.

  The electromagnetic drive device 1 is positioned between the steering mechanisms 45a and 45b, and the case 2 is attached to the chassis 37 in a lateral direction. The first driven part 7 and the second driven part 8 described above are the steering mechanism. The drive shaft member 3 constitutes a tie rod member 47 that connects the steering mechanisms 45a and 45b. Further, in the electromagnetic drive device 1, the control unit 9 constitutes a microcomputer 40 mounted on the control board 38, and the first electromagnetic coil body 5 and the first electromagnetic coil body 5 and the 2 The drive current supplied to the electromagnetic coil body 6 is controlled.

  In the radio controlled car 30, when the tie rod member 47 slides in the direction of arrow a in FIG. 4, the steering mechanisms 45a and 45b tilt the front wheels 46a and 46b toward the right side. In the radio controlled car 30, when the tie rod member 47 slides in the direction of the arrow b in FIG. 4, each steering mechanism 45a, 45b tilts the front wheels 46a, 46b toward the left side.

  In the radio controlled car 30, when the user turns on the power switch and the power switch 36 of the controller 31 is turned on, the first electromagnetic coil body 5 and the second electromagnetic coil body 6 are connected from the power supply unit. Are supplied with holding currents Iha and Ihb, respectively. In the radio controlled car 30, the tie rod member 47 is held in the neutral position as shown in FIG. 4, whereby the front wheels 46a, 46b are held in a straight traveling state.

  In the radio controlled car 30, the receiving unit receives an accelerator control signal transmitted when the user tilts the accelerator stick 32 of the controller 31 from an upright position to an appropriate angle. In the radio controlled car 30, a control signal is output from the microcomputer 40 to the power supply unit based on the accelerator control signal, a predetermined value of drive current is supplied to the motor 39, and the rear wheels 42a and 42b are driven to perform a running operation. Done. In the radio controlled car 30, since the front wheels 46a and 46b are held in the straight traveling state by the electromagnetic drive device 1 as described above, straight traveling is performed.

  In the radio controlled car 30, the receiving unit receives a steering control signal transmitted when the user tilts the steering stick 33 of the controller 31 from an upright state to an appropriate angle. In the radio controlled car 30, a control signal is output from the microcomputer 40 to the power supply unit based on the steering control signal, and a predetermined value of drive current is generated in the first electromagnetic coil body 5 and the second electromagnetic coil body 6 of the electromagnetic drive device 1. To be supplied.

  In the radio controlled car 30, for example, as shown in FIG. 5, the steering control signal of the right turn instruction from the controller 31 transmitted when the user tilts the steering stick 33 to the right is received. In addition, the radio controlled car 30 receives a steering amount control instruction signal transmitted from the controller 31 in accordance with the tilt angle of the steering stick 33.

  In the radio controlled car 30, a control signal is output from the microcomputer 40 to the power supply unit based on the steering control signal instructed to turn right, and the drive current Ika to the first electromagnetic coil body 5 and the second electromagnetic coil body 6, respectively. Ikb is supplied. In the radio controlled car 30, the first electromagnetic coil body 5, the magnet body 4 and the first electromagnetic coil body 5 are supplied to the first electromagnetic coil body 5 by supplying a driving current Ika larger than the driving current Ikb supplied to the second electromagnetic coil body 6. The first repulsive force Fka generated during this time becomes larger than the second repulsive force Fkb generated between the second electromagnetic coil body 6 and the magnet body 4, and the tie rod member 45 slides toward the left steering mechanism 45b.

  In the radio controlled car 30, a control signal is output from the microcomputer 40 to the power supply unit based on the steering control signal instructing the amount of bending, and the drive current Ika supplied to the first electromagnetic coil body 5 and the second electromagnetic coil body 6. , Ikb is controlled. In the radio controlled car 30, the sliding movement amount of the tie rod member 47 is appropriately adjusted according to the magnitudes of the drive currents Ika and Ikb.

  In the radio controlled car 30, the steering mechanism 45 a, 45 b tilts the front wheels 46 a, 46 b toward the right side by the above-described sliding operation of the tie rod member 47, so that the vehicle turns right. In the radio controlled car 30, the steering angle of the steering mechanisms 45a and 45b is also adjusted by making the slide operation amount of the tie rod member 47 adjustable as described above. In the radio controlled car 30, the front wheels 46a and 46b are tilted at an optimum angle so that reliable traveling is performed.

  Note that, in the radio controlled car 30, the straight traveling is performed by returning the steering stick 33 to the upright state. In the radio controlled car 30, the steering stick 33 is tilted to the left, whereby the front wheels 46a and 46b are tilted at an optimum angle and left-turning is performed.

  In the radio controlled car 30, since the steering drive mechanism is configured using the electromagnetic drive device 1 having a simple structure, the structure can be simplified and reduced in weight. In the radio controlled car 30, since the responsiveness of the electromagnetic drive device 1 is good, the maneuverability is improved. In the radio controlled car 30, it becomes possible to adjust the inclination angle of a wheel suitably according to the inclination angle of the steering stick 33, and it becomes possible to perform a smooth driving | operation.

  In the radio controlled car 30, the electromagnetic drive device 1 is used to configure the steering drive mechanism. However, it is needless to say that the electromagnetic drive device 20 described above as the second embodiment may be used. is there. In the radio controlled car using the electromagnetic drive device 20, the tie rod member 47 is held in the neutral position by the first coil spring 21 and the second coil spring 22, so that the first electromagnetic coil body 5 and the second electromagnetic coil can be used during straight traveling. It is not necessary to supply a holding current to the body 6, and low power consumption can be achieved.

  In the radio controlled car, when returning to straight traveling after performing the left and right steering operations, it is not necessary to supply a return current for performing a return operation to the first electromagnetic coil body and the second electromagnetic coil body. In the radio controlled car, the return operation to the neutral position of the front wheels 46a and 46b is also quickly performed, and the maneuverability is improved.

It is a principal part longitudinal cross-sectional view of the electromagnetic drive device shown as embodiment of this invention. It is operation | movement explanatory drawing of an electromagnetic drive device, the figure (A) is a neutral state, the figure (B) is the state in which the drive shaft member was slid largely, the figure (C) is the drive shaft member slid to the middle position. Indicates the operated state. It is a principal part longitudinal cross-sectional view of the electromagnetic drive device shown as 2nd Embodiment. It is a structure explanatory view of a radio controlled car using an electromagnetic drive. It is structure explanatory drawing at the time of the right turn operation | movement of a radio controlled car. It is a principal part longitudinal cross-sectional view of the conventional electromagnetic drive device, The figure (A) shows a neutral state, The figure (B) shows the state by which the drive shaft member was slid. It is a principal part longitudinal cross-sectional view of the other conventional electromagnetic drive device, The figure (A) shows a neutral state and the figure (B) shows the state by which the drive shaft member was slid. It is structure explanatory drawing of the conventional radio controlled car using the conventional electromagnetic drive device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Electromagnetic drive device 2 Case 3 Drive shaft member 4 Magnet body 5 1st electromagnetic coil body 6 2nd electromagnetic coil body 7 1st driven part 8 2nd driven part 9 Control part 10 Bearing part 11 Mounting part 20 Electromagnetic drive apparatus 21 First coil spring 22 Second coil spring 30 Radio controlled car 31 Controller 32 Accelerator stick 33 Steering stick 37 Chassis 38 Control board 39 Motor 40 Microcomputer 45 Steering mechanism 46 Front wheel 47 Tie rod member

Claims (4)

A drive shaft member that is slidably supported in both directions with respect to the axial direction and that drives the driven parts provided at both ends;
A magnet body that is magnetized so that both ends in the axial direction have different magnetic poles, and fixed to a substantially central portion in the axial direction with respect to the drive shaft member;
A first electromagnetic coil body and a second electromagnetic coil body which are arranged to face each other with the magnet body interposed therebetween, and through which the drive shaft member passes,
A controller for controlling the amount of drive current supplied to the first electromagnetic coil body and the second electromagnetic coil body;
Controlling a sliding force in the axial direction of the drive shaft member by varying a repulsive force between the opposing magnet bodies by controlling a drive current to the first electromagnetic coil body and the second electromagnetic coil body. An electromagnetic drive device characterized by. A first elastic body that is disposed between the magnet body and the first electromagnetic coil body, and that exerts an elastic force in an axial direction on the first electromagnetic coil body;
A second elastic body that is disposed between the magnet body and the second electromagnetic coil body and that exerts an elastic force in the axial direction on the second electromagnetic coil body;
The first elastic body and the second elastic body have an elastic characteristic that causes substantially the same elastic force to act on the magnet body in the axial direction. The electromagnetic drive device according to claim 1, wherein the drive shaft member is supported by being balanced at a substantially central position. A tie rod member that is slidably supported in both the left and right directions with respect to the width direction of the chassis, and that is connected to a steering mechanism that both ends swingably support the left and right wheels with respect to the chassis,
A magnet body that is magnetized so that both ends in the axial direction have different magnetic poles, and fixed to a substantially central portion in the axial direction with respect to the tie rod member;
A first electromagnetic coil body and a second electromagnetic coil body which are arranged to face each other with the magnet interposed therebetween, and through which the tie rod member penetrates,
A receiving unit that receives a steering control signal wirelessly output from the radio controller based on an operation of the steering operation unit;
A control unit for controlling the amount of drive current supplied to each of the first electromagnetic coil body and the second electromagnetic coil body;
The control unit drives the first electromagnetic coil body and the second electromagnetic coil body by a predetermined amount by outputting a reception signal based on the steering control signal received from the reception unit to the control unit. A steering operation is performed in which the repulsive force between the magnets facing each other is adjusted by supplying an electric current, and the sliding operation amount in the axial direction of the tie rod member is controlled to appropriately change the wheel angle. Steering device for radio control car. A first elastic body that is disposed between the magnet body and the first electromagnetic coil body, and that exerts an elastic force in an axial direction on the first electromagnetic coil body;
A second elastic body that is disposed between the magnet body and the second electromagnetic coil body and that exerts an elastic force in the axial direction on the second electromagnetic coil body;
The first elastic body and the second elastic body have an elastic characteristic in which substantially the same elastic force is applied to the magnet body in the axial direction, and the steering operation portion of the radio controller is in a neutral position. 4. The radio control car according to claim 3, wherein the wheel is held in a neutral position via the tie rod member when the magnet body is balanced at a substantially central position in the axial direction in a state. Steering device.

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