JPH06289041A - Angular velocity sensor - Google Patents

Abstract

PURPOSE:To provide a light and small angular velocity sensor for detecting angular velocity of two axis directions and enabling non-linear pulse outputting. CONSTITUTION:A detection pattern 3 is formed around a rotation part 2 capable of rotating together with the rotation axis 1 and inclining against a rotation axis 1. By detecting this with a detection sensor 5, angular velocity of the rotation axis 1 can be detected. And by properly setting the detection pattern 3, desired non-linear pulse output can be obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an angular velocity sensor for detecting angular velocity in two axial directions.

[0002]

2. Description of the Related Art A rate gyro exists as a sensor for detecting an angular velocity. However, the rate gyro is mainly only for detecting the angular velocity in the uniaxial direction, and in order to detect the angular velocity in the biaxial direction, it is necessary to dispose two rate gyros in orthogonal directions.

For this reason, the circuit becomes complicated and the weight becomes large, so that there is a limitation in applying it to a flying toy or the like.

A tuned dry gyro exists as a sensor for detecting the angular velocity in the biaxial directions.

This is to detect a tilting angle by providing a rotor that can tilt freely with respect to a rotating shaft and detecting a change in capacitance.

However, this is also large and difficult to use for a flying toy or the like.

In the rate gyro, a magnetic sensor and a magnet are often used, and there is a problem in that accuracy is deteriorated due to variation in magnetization of the magnet.

In either case, only a DC linear output can be obtained, and a desired nonlinear output or pulse output cannot be obtained.

[0009]

SUMMARY OF THE INVENTION In view of the above problems, the present invention makes it possible to obtain a desired non-linear output in a pulsed state, and to reduce the weight and size, and the angular velocity that enables accurate detection. It is intended to provide a sensor.

[0010]

In order to achieve the above object, the present invention provides a rotary shaft that is rotationally driven by a motor or the like,
A rotating part that is tiltably supported by the rotating shaft and rotates integrally with the rotating shaft; and a damper that urges the rotating part in a direction to hold a rotating surface of the rotating part in a direction perpendicular to the rotating shaft. A detection pattern provided on the periphery of the rotating portion, and a detection sensor which is arranged in the vicinity of the detecting pattern and which outputs a signal in accordance with an inclination of the rotating surface of the rotating portion and the rotating shaft,
The angular velocity sensor is composed of the following.

[0011]

The present invention is configured as described above, and when the rotating shaft is moving at a certain angular velocity, the inertia of the rotating portion tries to maintain the surface of rotation, but the urging force of the damper causes
The plane of rotation gradually changes in the direction orthogonal to the axis of rotation.

During rotation of the rotating portion, the detection sensor detects a detection pattern provided on the periphery of the rotating portion and outputs a pulse.

Here, when the rotating portion has an inclination with respect to the rotation axis, the position of the detection pattern of the detection sensor changes, and the pulse width of the pulse signal of the output signal changes.

If the detection pattern is set appropriately, the inclination of the rotating part and the rotating shaft can be detected.

The output signal of this detection sensor can be used as it is as a drive signal for motor control.

[0016]

The details of the present invention will be described based on the illustrated embodiments.

FIG. 1 is an illustration of an embodiment of the angular velocity sensor according to the present invention.

Reference numeral 1 is a rotary shaft driven by a motor or the like.

Reference numeral 2 is a rotary portion which is attached to the rotary shaft 1 by a universal joint (not shown) or the like, is supported so as to be tiltable with respect to the rotary shaft 1, and rotates integrally with the rotary shaft 1.

The rotating part 2 is urged by the dampers 4 and 4 so that its rotating surface is orthogonal to the rotating shaft 1.

Further, a detection pattern 3 is provided on the periphery of the rotating portion 2, and here, the sawtooth pattern is colored in black and white.

Detection sensors 5 and 5 are provided in the vicinity of this detection pattern.

The detection sensor 5 used here is a reflection type photoelectric sensor, that is, a photoreflector, which detects a white portion of the detection pattern 3 according to the rotating surface of the rotating portion 2 and outputs a pulse signal. It is a thing.

When the rotary shaft 1 is in a stationary state, as shown in FIG.
The central position of the detection pattern 3 is set so as to pass through the detection position of the detection sensor 5 as in the periods a and c in (A), and the output signal of the detection sensor 5 at this time is as shown in FIG.
It becomes like a and c of (B).

When the rotating shaft 1 moves at an angular velocity, the rotating portion 2 has an inclination with respect to the rotating shaft 1. For example, the detecting sensor 5 has the center of the detecting pattern 3 as shown by b in FIG. 2 (A). A position different from the position will be detected.

As a result, the pulse width of the output signal of the detection sensor 5 changes as shown by b in FIG. 2 (B).

Therefore, the pulse width of the detection sensor 5 can detect the tilt angle of the rotating portion 2 with respect to the rotary shaft 1, and from this, the angular velocity of the rotary shaft 1 can be detected.

By arranging at least two such detection sensors 5 in the direction orthogonal to the rotation axis 1, it becomes possible to detect the angular velocity in the two axial directions orthogonal to the rotation axis 1.

In this embodiment, since the detection pattern 3 has a saw-tooth shape, the detection sensor 5 can be moved in accordance with the inclination of the rotating portion 2.
Although it is possible to obtain a linear output in which the width of the output pulse is increased or decreased, it is also possible to obtain a non-linear output signal by using the detection pattern as shown in FIG. 3, for example.

[Other Embodiments] 1. In the above-described embodiment, the photo reflector is used as the detection sensor 5. However, if the rotating portion 2 is formed of a resin molded product, a metal processed product, or the like, the detection pattern is detected by a photo interrupter. It can also be configured to do so.

2. It is also possible to omit the damper 4 and restore the rotating surface by the inertia of the rotating portion 2.

[Application Example] Since such an angular velocity sensor is lightweight and small, and the drive control of the motor can be performed by using this sensor output, it is considered effective when used in a model helicopter or the like. To be

FIG. 4 is a circuit diagram showing an example of a motor-driven helicopter toy using the angular velocity sensor of the present invention.

Reference numeral 11 denotes a so-called transmitter, which is used to increase / decrease the output of the main rotor of the helicopter to increase / decrease the control, and to increase / decrease the output of the tail rotor to control the rotation direction, for the main rotor. Rotating the main rotor of the main rotor by rotating the main rotor, tilting the edge back and forth,
The control signal of four channels for the control of the backward movement, the tilting of the rotation of the main rotor similarly and the control of the left-right direction are transmitted.

Reference numeral 12 is a receiver for receiving the signal from the transmitter 11. The signal received by the receiver 12 is converted into a motor drive control signal by the decoder 13.

Although not shown here, the rotating portion is supported by the rotating shaft of the main rotor so as to be tiltable, and is located in the front, rear, left and right of the rotating portion when viewed from the rotating shaft, and the detection sensors 51,
52, 53 and 54 are provided.

Amplifiers 61, 62, 63 and 64 are provided corresponding to the respective detection sensors 51, 52, 53 and 54, and the detection sensors 51, 52, 53 and 5 amplified here are provided.
The output signal of No. 4 is input to the pulse calculator 16.

Here, for the convenience of installation, when the detection sensors are arranged only at two positions in the direction orthogonal to the rotation axis,
It suffices to arrange the detection sensors 51 and 52 at the same location, arrange the detection sensors 51 and 52 in the direction orthogonal thereto, and use the amplifiers 62 and 64 as inverting amplifiers.

The pulse calculator 16 mixes the target control signal from the transmitter 11 and the control signals from the detection sensors 51, 52, 53 and 54, which are input via the decoder 13, and outputs a control signal to the motor driver 17. Enter.

Based on this, the main motor 18 for the main rotor is driven.

Control of the machine body to the front, rear, left and right is disclosed in Japanese Patent Laid-Open No. 3-2.
As disclosed in Japanese Patent No. 18787, it can be realized by causing periodic rotation unevenness in the main motor 18 that drives the main rotor and tilting the rotation surface of the main rotor.

Here, the angular velocity of the rotating shaft of the main rotor is detected by the angular velocity sensor of the present invention, and the output signal is fed back to enable stable control. .

In this application example, since the angular velocity sensor of the present invention is used, the helicopter toy can be stably controlled, and the weight and size can be reduced.

【The invention's effect】

The angular velocity sensor according to the present invention is constructed as described above, and it is possible to detect the angular velocity in a lightweight, compact and stable manner, and not only the linear output but also the non-linear output,
Since a pulse output can be obtained, a desired signal output can be obtained, and in particular, it can be easily applied to a model helicopter or the like under wireless control.

[Brief description of drawings]

FIG. 1 is a perspective view of an essential part of an embodiment of the present invention.

FIG. 2 is an explanatory diagram of a detection pattern and an output signal according to the present invention.

FIG. 3 is an explanatory diagram of a detection pattern of another embodiment of the present invention.

FIG. 4 is a circuit diagram when the angular velocity sensor of the present invention is applied to a helicopter toy.

[Explanation of symbols]

 1: Rotating shaft 2: Rotating part 3: Detection pattern 4: Damper 5: Detection sensor

Claims (1)

[Claims] 1. A rotary shaft rotatably driven by a motor or the like, a rotary unit that is tiltably supported by the rotary shaft and rotates integrally with the rotary shaft, and a rotary surface of the rotary unit is the rotary shaft. A damper for urging the rotating portion in a vertical holding direction, a detection pattern provided on the periphery of the rotating portion, and a detection pattern arranged in the vicinity of the detection pattern for adjusting the rotation surface of the rotating portion and the inclination of the rotation axis. An angular velocity sensor including a detection sensor that outputs a signal in response to the detection sensor.