JP2505480Y2 - 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 on the motor holding portion 603 in the opposite direction from 10 to cause 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, which causes the magnet 611 to move in the direction of 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.

By the way, the output voltage V _H of the Hall element is K, the sensitivity of the Hall element is I, the control current of the Hall element is I _C , the magnetic flux density is B,
If the relative angle between the Hall element and the magnet is Θ, V _H = K
・ The relational expression of I _C・ B ・ cos Θ holds. In the gyro device, since the distance between the magnet 611 and the Hall element 602 changes as the magnet 611 rotates, the magnetic flux density B itself changes rapidly with the rotation. Therefore, the output voltage
Since V _H is not a function of only the relative angle Θ, there is a problem that the range of the detected angle becomes narrow due to the fluctuation of the magnetic flux density B. As a method for solving this, a method of correcting the circuit is conceivable, but there is a problem that the circuit configuration becomes complicated and expensive, and it cannot be applied to a gyro device that requires downsizing and cost reduction.

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 highly accurate detection.

(Means for Solving the Problems) A gyro device according to the present invention includes a motor that is rotatably held about a rotation shaft and that rotates a flywheel, and the motor rotates about the rotation shaft. In a gyro device having a pair of detection elements inside a case for detecting movement, the pair of detection elements comprises a Hall element or a magnetoresistive element and a magnet, and one detection element is a rotary shaft of the rotary shaft. It is fixed on the center line of movement and at the end of the rotating shaft, the other detecting element is fixed to the case, and when the motor is in the neutral position with respect to the rotating shaft, It is characterized in that the other detection element is relatively inclined by a predetermined angle in consideration of detection characteristics.

(Operation) With the rotation of the rotation shaft, one detection element of the pair of detection elements rotates together with the rotation shaft, and the rotation angle is detected by the other detection element.

(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.
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 themselves, the hook 114
Force acts on the hook 105 in the direction of
The force in the 106 direction is working. When the motor holding portion 109 rotates in either direction, the hooks 114 and 115 also rotate accordingly. At this time, the force acting on the hook 114 and the force restoring the neutral direction are exerted on the hook 114.
A force acting on the hook 106 and a force returning to the neutral direction act on the hook 5. 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 on which the gyro device is mounted changes, the motor holding portion 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 amount of rotation 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 due to the change of the relative distance can be ignored. Therefore, a wide range of detection is possible with a simple configuration in which the magnet 112 is mounted on the rotation center line of the rotation shaft 111 and at the end of the rotation 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 Hall element output signal V _H
It is extremely complicated to calculate and control the angle from, and a complicated correction circuit is required. However, even a Hall element has a region having relatively good linearity. That is, the sixth
As shown in the figure, the Hall element 103 and the magnet 112 are arranged, and when the magnet 112 is rotated about the center point O in the direction parallel to the paper surface, the relative angle Θ between the Hall element 103 and the magnet 112 and the Hall element The relationship with the output voltage V _{H of} 103 has the characteristic shown in FIG. When the angle Θ is in the range of 45 ° to 75 °, the linearity is extremely good, and if this region 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 has been shown,
Either one of them may be used, or one may be mainly used and the other may be used for adjustment.

(Effect of the Invention) According to the present invention, the relative distance between one detection element and the other detection element of the pair of detection elements including the Hall element or the magnetoresistive element and the magnet, even if the rotation shaft rotates. Does not change. Therefore, the influence of the change in the relative distance on the detection result can be ignored. Further, since one detection element is disposed at the end of the rotation shaft, it is easy to set the optimum position when determining the relative positions of one detection element and the other detection element in the rotation direction. Can be installed. Furthermore, one detection element and the other detection element,
In consideration of the detection characteristics, they are arranged relatively inclined by a predetermined angle. Therefore, it is possible to provide a gyro device that has a simple configuration and can detect a wide range with good linearity.

[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 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. 8 is a conventional gyro. It is a top view of an apparatus. 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)

(57) [Scope of utility model registration request] 1. A motor that is rotatably held about a rotation shaft and that rotates a flywheel, and a pair of detections for detecting that the motor rotates about the rotation shaft. In a gyro device having an element inside a case, the pair of detection elements includes a Hall element or a magnetoresistive element and a magnet, and one detection element is on a rotation center line of the rotation shaft and at an end of the rotation shaft. And the other detection element is fixed to the case, and the one detection element and the other detection element consider the detection characteristics when the motor is in the neutral position with respect to the rotation shaft. A gyro device characterized by being relatively inclined by a predetermined angle.