JP6434283B2 - Radio control transmitter - Google Patents

Description

  The present invention relates to a radio control transmitter, and more particularly to a wheel-type radio control transmitter characterized by setting a resistance to wheel operation.

  Radio transmitters for remote control of conventional model helicopters and airplanes are usually equipped with two stick levers that function as operating units, and levers and switches that function as auxiliary operating units. Has been. As a radio control transmitter for remotely manipulating a model car or boat, a wheel type radio control transmitter having a grip, a trigger stick for power control, and a wheel for rudder control is also used. Such a transmitter is disclosed in Patent Document 1, for example.

  The wheel-type radio control transmitter has an automatic return function that automatically returns to a neutral position by a spring when an operator releases the wheel. Therefore, the operational feeling is determined by the spring when the wheel is rotated.

JP-A-9-271077

  The wheel type radio control transmitter has a problem that the resistance when rotating the wheel is predetermined by a spring, and the resistance cannot be changed.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a wheel-type radio control transmitter capable of easily changing a user's preferred resistance when the wheel rotates.

In order to solve this problem, a transmitter for radio control according to the present invention includes a main body, a wheel that rotates with respect to the main body, and a spring that is coupled to the wheel and biases the wheel back to a central position. And a variable resistor that is connected to the wheel and that outputs a voltage corresponding to a rotation angle when a voltage is applied to one end of the wheel, and a magnetic viscosity that is attached to the rotating shaft of the wheel and whose viscosity changes depending on the current applied to the coil. A magnet brake that changes the rotational resistance by a fluid, an A / D converter that converts an analog value obtained according to the rotational angle from the variable resistor into a digital value, and a digital signal from the A / D converter given, anda control unit for controlling the current supplied to the magnet braking based on the digital signal, the control unit includes a central position of the wheel And a digital signal obtained from the A / D converter is compared with the A / D conversion value held in the memory, and the center of the wheel is compared. Control is performed so that the energization current to the magnet brake is continuously increased in accordance with the rotation angle from the position in the clockwise direction and in the counterclockwise direction.

Here, the magnet brake is enclosed around the rotating disk in the case, a rotating disk connected to the rotating shaft of the wheel in the case, a coil housed in the case, and the case. The magnetorheological fluid may be provided.

Here, the control unit may be set so that the rotational resistance of the wheel does not exceed the urging force of the spring.

Here, the control unit may be set such that a rotational resistance of the wheel exceeds an urging force of the spring.

  According to the present invention having such a feature, the operational feeling of the wheel can be freely selected and set in the radio control transmitter. Therefore, the effect that the user can easily set freely and obtain an arbitrary operation feeling at any angle is obtained.

FIG. 1 is a front view of a radio control transmitter according to an embodiment of the present invention. FIG. 2 is an assembly configuration diagram of the wheel unit according to the embodiment of the present invention. FIG. 3 is a perspective view after assembly of the wheel unit according to the present embodiment. FIG. 4 is a perspective view seen from the back surface of the stick unit according to the present embodiment. FIG. 5 is a block diagram showing a configuration of a wheel unit peripheral circuit in the transmitter according to the present embodiment. FIG. 6 is a perspective view of a magnet brake used in the present embodiment. FIG. 7 is a cross-sectional view of a magnet brake used in this embodiment. FIG. 8 is an assembly configuration diagram of the magnet brake according to the present embodiment. FIG. 9 is a graph showing changes in current corresponding to the operation angle according to the present embodiment.

  Next, a radio control transmitter according to an embodiment of the present invention will be described. FIG. 1 is a front view of a radio control transmitter according to the present embodiment. As shown in the figure, the radio control transmitter 1 has a main body 2 in which main parts such as an electronic circuit section for transmitting a control signal are accommodated, and a grip 3 provided at a lower portion of the main body 2. Yes. A trigger 4 that is rotated by a user holding the grip is disposed on the side of the grip 3. In addition, a wheel 5 for the user to operate the ladder is provided at the top.

  2 is an assembly view of the wheel unit, FIG. 3 is a state where the assembly is finished, and FIG. 4 is a perspective view of the wheel unit as viewed from the back side. As shown in FIG. 2, a shaft 11 and a connecting shaft 12 are attached to the inside of the wheel 5 so as to communicate the front frame 13 and the center frame 14. The connecting shaft 12 is provided with protrusions on the left and right, and rotates the arm 15 between the front frame 13 and the center frame 14 as the wheel 5 rotates. The front frame 13 and the center frame 14 are fixed with a certain interval. A substrate 16 is provided behind the central frame 14, and a variable resistor 17 is attached to the substrate 16. The variable resistor 17 is a variable resistor having a shape through which a shaft passes, and the connecting shaft 12 extends to the rear of the variable resistor 17. A hook 19 is provided on the side of the shaft hole of the central frame 14 via a fastener 18. A spring 20 is engaged with the end of the hook 19 and one end of the arm 15, and the wheel 5 is moved in either the clockwise direction (hereinafter simply referred to as the CW direction) or the counterclockwise direction (hereinafter simply referred to as the CCW direction). Even when rotated in the rotational direction, the spring 20 is extended and returned to the center position. Here, the front frame 13, the center frame 14, and the arm 15, the fastener 18, the hook 19, and the spring 20 held therebetween constitute a center position return mechanism for returning the wheel to the center position.

  In the present embodiment, a rear frame 21 is provided behind the central frame 14. A flat columnar magnet brake 30 is attached to the rear frame 21, and the magnet brake 30 is held by a holder 22 having a circular opening from behind the rear frame 21. As shown in FIG. 2, the rotating shaft of the magnet brake 30 is connected to the connecting shaft 12 by a cylindrical connector 23. The magnet brake 30 is attached to set a feeling of resistance when operated when the wheel 5 is rotated by electrically changing the rotation resistance when the wheel 5 is rotated in the CW direction or the CCW direction.

  Next, a block diagram of the transmitter 10 that feeds back the output from the variable resistor 17 to the magnet brake 30 will be described with reference to FIG. As shown in the figure, a constant voltage of 3 V, for example, is applied to the variable resistor 17 from the voltage source Vcc, and the middle point is an output from the variable resistor 17. At the center position of the stick operation, the variable resistor 17 is also in the middle position, and a voltage of 1.5V is output. The lowest voltage is output when the wheel 5 is rotated to the end in the CCW direction, and the highest voltage is output when the wheel 5 is rotated to the end in the CW direction. The A / D converter 41 converts this into a digital value, and gives, for example, an 11-bit digital output to the CPU 42 at a predetermined timing. The memory 43 holds an A / D conversion value when the wheel 5 is at the center position. The CPU 42 compares the data held in the memory 43 with the A / D conversion value, and controls the current value supplied to the magnet brake 30. The output from the CPU 42 is output to the coil of the magnet brake 30 via the driver 44.

  Here, the CPU 42, the memory 43, and the driver 44 constitute a control unit that controls a current supplied to the magnet brake 30 based on a predetermined A / D conversion value held in the memory 43.

  Next, the magnet brake 30 attached here will be described. The magnet brake 30 is a thin columnar member, as shown in a perspective view in FIG. 6, a cross-sectional view in FIG. 7, and an assembly configuration diagram in FIG. 33 and an annular coil 34 are attached. A thin disc-like protrusion 32a is provided on the inner side of the lower case 32, and a circular recess 32b for holding the rotating shaft 35 is formed in the center thereof. A through hole 32c that penetrates to the back surface is provided in a part of the protrusion 32a of the lower case 32. Next, an annular recess 31 a is formed on the inner surface of the upper case 31. The recess 31a holds the annular coil 34 provided on the upper portion of the disk 33. A slight gap of about 80 μm, for example, is formed between the disk 33 and the upper case 31 and between the disk 33 and the lower case 32, and the magnetorheological fluid 36 is enclosed between them. Yes. Then, as shown in FIG. 8, the rotating shaft 35 is inserted into the recess 32 b of the lower case 32, and is connected to the rotating shaft 35 through the center opening of the disk 33 and protrudes from the upper opening of the upper case 32. At this time, the extra magnetorheological fluid 36 sealed is ejected from the through hole 32c of the lower case 32 and sealed with screws.

  The magnetorheological fluid 36 used here is a liquid in which nano-sized magnetic particles are dispersed in a dispersion medium as disclosed in, for example, JP-A-2012-202429. The magnetic particles are magnetizable metal particles (metal nanoparticles), for example, alloys such as iron, cobalt, nickel, and permalloy, and the average particle diameter is preferably 20 to 500 nm. As the dispersion medium, for example, hydrophobic silicone oil is used. The viscosity of the magnetorheological fluid 36 can be rapidly changed by applying a magnetic field to the magnetorheological fluid 36 or stopping the magnetic field.

  The magnet brake 30 used here has no viscosity because no magnetic field is generated unless the annular coil 34 is energized, and the disk 33 can rotate freely with little resistance. When a current is passed through the annular coil 34, the viscosity of the magnetorheological fluid 36 increases, and the rotational resistance of the disk 33 can be increased rapidly. Therefore, the feel when the wheel 5 is operated in the CW direction or the CCW direction can be arbitrarily changed by connecting the magnet brake 30 to the rotating shafts of the shaft 11 and the connecting shaft 12 and controlling the energization current to the coil. Can do. Moreover, since the wheel 5 is urged | biased toward the center position by the spring 20, the operator does not lose the touch which goes to a center position, feeling the change of rotation resistance.

  Next, an example of the resistance value set corresponding to the wheel angle will be described. As described above, in the operation of the ladder of the car radio control transmitter, the resistance value of the variable resistor 17 and the output voltage change according to the operation angle of the rotating shaft of the wheel, and this voltage is A / D converted. By doing so, a digital signal is obtained from the A / D converter 41. Therefore, the rotation angle can be obtained as a digital signal from the A / D converter 41. If the current value supplied to the annular coil 34 of the magnet brake 30 is changed via the driver 44 in correspondence with the A / D conversion value, a rotational resistance corresponding to the current value is obtained. In the present embodiment, the obtained A / D conversion value is compared with the A / D conversion value held in the memory. While the A / D conversion value of the A / D converter 41 changes from the center position (C) of the wheel to the maximum value in the CCW direction or the maximum value in the CW direction, the energization current to the magnet brake 40 is gradually increased. Control to do. For example, FIG. 9A shows an example in which the current value is increased so that the resistance of the stick increases linearly from the center position (C) of the operation stick toward the maximum values in the CW direction and the CCW direction. FIG. 9B shows the current value exponentially increased from the central position (C) of the wheel toward the maximum value in the CW direction and the CCW direction. In this way, when the wheel 5 is operated from the center to the end in the CW or CCW direction, the resistance value can be continuously increased.

  At this time, it is not always necessary to gradually increase the rotational resistance for each click of the wheel gradually according to the angle. For example, in order to obtain a feel of stepless operation, a constant level of current may always be applied regardless of the wheel operation angle as shown in FIG. In this way, it can always be operated as a constant rotational resistance. The resistance of the stick operation can be changed by changing the current value.

  Alternatively, the current value may be increased every time A / D conversion values at substantially equal intervals are obtained. In this way, a click feeling can be obtained for each equal rotation angle. The interval for setting the click feeling can also be freely selected by setting the strength of the resistance for obtaining the click feeling in the memory 43.

  In the present embodiment, if the rotation resistance is set so as not to exceed the biasing force of the spring 20, the operator can always feel the wheel 5 toward the center position. On the other hand, if it sets so that it may become larger than the urging | biasing force of the spring 20, the wheel 5 can be stopped on the spot.

  9A and 9B, the resistance feeling is increased according to the operation angle of the wheel, but the resistance feeling may be decreased according to the operation angle.

  In the present invention, by using a magnet brake for a wheel-type radio control transmitter, the wheel operation resistance and click feeling can be arbitrarily set, and can be suitably used for a radio control transmitter.

DESCRIPTION OF SYMBOLS 1 Radio control transmitter 5 Wheel 11 Shaft 12 Connection shaft 13 Front frame 14 Center frame 15 Arm 16 Substrate 17 Variable resistor 21 Rear frame 22 Holder 23 Connector 30 Magnet brake 31 Upper case 32 Lower case 33 Disc 34 Coil 35 Rotation Shaft 36 Magnetorheological fluid 41 A / D converter 42 CPU
43 Memory 44 Driver

Claims (4)

The body,
A wheel that rotates relative to the body;
A spring coupled to the wheel and biasing the wheel back to a central position;
Coupled to the wheel, and a variable resistor that outputs a voltage voltage end corresponding to the rotational angle is applied,
A magnet brake that is attached to the rotating shaft of the wheel and that changes the rotational resistance by a magnetorheological fluid whose viscosity changes according to the current supplied to the coil;
An A / D converter that converts an analog value obtained according to a rotation angle from the variable resistor into a digital value;
A control unit that receives a digital signal from the A / D converter and controls an energization current to the magnet brake based on the digital signal;
The controller is
A memory for holding an A / D conversion value corresponding to a central position of the wheel, and comparing a digital signal obtained from the A / D converter with an A / D conversion value held in the memory; A transmitter for radio control that controls the energizing current to the magnet brake to increase continuously with the magnitude of the clockwise and counterclockwise rotation angles from the center position of the wheel . The magnet brake is
Case and
A rotating disk connected to the rotating shaft of the wheel in the case;
A coil housed in the case;
The radio control transmitter according to claim 1, further comprising: a magnetorheological fluid sealed around the rotating disk in the case. The controller is
The radio control transmitter according to claim 1 or 2, wherein a rotational resistance of the wheel is set so as not to exceed an urging force of the spring. The controller is
  The radio control transmitter according to claim 1 or 2, wherein a rotational resistance of the wheel is set to exceed an urging force of the spring.

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