JP3989943B2 - Flapping levitation moving device - Google Patents

Description

  The present invention relates to a rising and moving apparatus that uses flapping flight for movement, and particularly relates to a method of supplying energy from an actuator to a blade part.

  The flapping robot is superior in maneuverability in comparison with conventional fixed wing aircraft and helicopters. Therefore, in recent years, research aimed at the engineering realization of flapping robots has become active.

Ron Fearing et al. At the University of California, Berkeley proposed a small flapping flying robot called the Micromechanical Flying Insect and described its configuration in the paper “Wing Transmission for a Micromechanical Flying Insect”. The manner of flapping of this flapping flight robot is disclosed in the paper “Wing Rotation and the Aerodynamic Basis of Insect Flight” by Dickinson et al. According to this, three principles are utilized: prevention of stall delay, generation of rotational lift, and wake capture.
“Wing Transmission for a Micromechanical Flying Insect”, RS Fearing, KH Chiang, MH Dickinson, DL Pick, M. Sitti, and J. Yan, IEEE Int. Conf. Robotics and Automation, April, 2000. “Wing Rotation and the Aerodynamic Basis of Insect Flight”, Michael H. Dickinson, Fritz-Olaf Lehmann, Sanjay P. Sane, Science, vol. 284, no. 5422, 18 June 1999.

  In flapping flight, in order to reciprocate the wing part (for example, a part like an insect wing) in the front-rear direction, it is necessary to reverse the movement direction of the wing part by 180 °. For this reason, the rising and moving device using this (hereinafter also referred to as “flapping and rising moving device”) is more suitable than the helicopter that can obtain the same flying force. ) Requires a large torque. As a result, the peak of torque required for the actuator and the peak of energy required for the drive energy source that supplies energy to the actuator become large. Therefore, the actuator and the drive energy source are increased in size. Thereby, the weight of the entire rising and moving apparatus increases. Therefore, there is a problem that performance such as mobility required for the rising and moving apparatus is deteriorated. Hereinafter, the above problem will be described in detail.

  FIG. 43 shows a time history of torque required for an actuator to drive a blade part of a conventional flapping levitation moving device and levitation with a rotating blade that generates the same levitation force as that of the flapping levitation moving device. 3 is a graph schematically showing a time history of torque necessary for rotating a rotor blade (hereinafter referred to as a rotor) of a moving device (hereinafter referred to as a helicopter). As shown in FIG. 44, the manner of flapping of the flapping rising and moving apparatus described in this item is a reciprocating motion repeated at a frequency of 25 Hz, and consists of two types of motion. One is a rotational reciprocating motion in the front-rear direction with a constant angular velocity, and the other is a sine wave motion in which the sign of the angular velocity is reversed when the blades are turned back and forth. Also, in the graph of angular velocity in FIG. 44, a line indicating sine wave motion smoothly connects straight lines indicating rotational reciprocation. It is assumed that the rising and moving apparatus of the embodiment described later also flutters as shown in FIGS.

  Further, in actuality, during flapping flight, the blade portion performs a twisting motion with the longitudinal direction of the blade as the rotation axis at each of both ends of the rotational reciprocating motion in the front-rear direction. However, the torque required for the actuator for the torsional motion of the blade is negligibly small compared to the torque required for the reciprocating motion of the blade in the front-rear direction shown in FIG. Therefore, for the sake of simplicity of explanation, the torque required for the actuator for the twisting motion of the blade is not considered in the following explanation.

  Based on the above assumptions, the torque required for the actuator in the flapping flying device will be considered. As shown in FIG. 43, the torque required for the actuator in the flapping rising and moving apparatus is equivalent to the torque required for the rotor blade in the helicopter during most of the reciprocating motion. However, in the flapping rising and moving apparatus, the torque required for the actuator at the timing of changing the operation of the blade from launch to launch or from launch to launch is the same as the torque required for the helicopter rotor blades. It is about twice. In addition, at this timing, the power consumed by the actuator increases rapidly as well as the torque required for the actuator.

  In general, in comparison between two actuators having the same configuration, the mass of the actuator that generates a relatively large torque is larger than the mass of the actuator that generates a relatively small torque. In addition, two driving energy sources having the same configuration, for example, a driving energy source capable of supplying a relatively large power in comparison with two batteries, are compared with a driving energy source that supplies a relatively small power. , Have a larger mass.

  In short, the conventional flapping flying device requires an actuator and a driving energy source having a mass larger than that of the helicopter that generates the same levitation force in order to cope with the torque and power increase in a short time as shown in FIG. To do. As a result, the acceleration generated in the rising and moving apparatus is reduced. Therefore, the mobility of the rising and moving apparatus must be reduced.

  In other words, the conventional rising and moving apparatus requires a very large actuator and driving energy source in order to output a large torque and power required in a short time of turning back the blade portion. As a result, mobility is impaired.

The present invention has been made in view of the above-described problems, and an object thereof is to smooth the temporary torque and power increase required when the blades are turned back, so that the actuator and the drive energy source are provided. The present invention is to provide a flapping flying device that is downsized and has high mobility.

The following flapping floating mobile device of the first to sixth aspect of the present invention includes a blade portion having a front edge attached to the body, together with the reciprocating flapping wing portions in a longitudinal direction, movement in the flapping reciprocating motion And an actuator that twists the blade portion around the front edge during a predetermined period from before to after the reversal of direction. Also, the device, than the torque the specific value required to the actuator for torque or energy required to actuator stores energy from the actuator is smaller than a predetermined value, flapping reciprocation for flapping reciprocation and a energy storage and donor mechanism to energize the actuator is greater.

According to said structure, the time history of the torque requested | required of an actuator for flapping reciprocating motion can be smoothed. Therefore, since the peak of the required torque is reduced, the actuator and the driving energy source can be reduced in weight.

The flapping levitation moving device may have a means for detecting torque or may not have a means for detecting torque. If the flapping levitation moving device does not have a means for detecting torque, the energy storage / donating mechanism is not provided in the flapping levitation moving device , and the energy is preliminarily determined according to the torque required for the actuator. The timing for accumulating energy and the timing for supplying energy are determined. In addition, the energy storage and supply mechanism does not necessarily store energy when the torque is smaller than a predetermined value. When there are a plurality of periods when the torque is smaller than the predetermined value, the plurality of periods Energy may be accumulated in at least one of the periods. In addition, the energy storage and supply mechanism may not necessarily supply energy when the torque is greater than a specific value. If there are multiple periods when the torque is greater than the specific value, the multiple periods Energy may be supplied so as to reduce the torque peak in at least one of the periods.

The flapping and rising movement apparatus according to the first aspect of the present invention is the motion for reversing the motion direction in which the above-mentioned reciprocating motion is performed continuously with the motion having a constant angular velocity and the angular velocity changes. The energy storage and supply mechanism may store the energy of the actuator only in the first half of the movement for reversing the movement direction, and give the energy to the actuator only in the second half of the movement for reversing the movement direction. .

In the first half of the movement for reversing the direction of movement, the inertia force of the blade portion and the fluid around the blade portion acts on the blade portion, so the aforementioned torque is small. On the contrary, in the latter half of the movement for reversing the movement direction, the blade portion needs to move against the inertial force described above, and thus the torque described above is large. Therefore, as described above, the energy of the actuator accumulate only in the first half of the movement for the direction of movement of the inversion, if you give the energy accumulated late only exercise for reversal of direction of movement to the actuator, the most effective In particular, it is possible to smooth the time history of the torque necessary for the flapping motion.

Further, in the flapping rising and moving apparatus of each aspect described above and below, the energy storage / donating mechanism has a chargeable / dischargeable battery, and stores the energy of the actuator as power in the battery, and the power stored in the battery May be used to give energy to the actuator. According to this, accumulation and supply of energy can be performed as necessary.

Further, in the flapping and rising and moving apparatus of each aspect described above and below, the energy storage / donating mechanism may store the energy of the actuator by elastic deformation of the substance and give the actuator energy by the restoring force of the substance. According to this, it is possible to store and supply energy without providing any special control only by providing a material that is elastically deformed in advance at an appropriate position.

In addition, in the flapping and rising and moving apparatus of each aspect described above and below , if the substance is solid, the structure of the energy accumulation / donation mechanism is compared with the case where energy is accumulated and donated using liquid or gas. It can be simplified.

According to this, if the energy storage and supply mechanism stores and supplies kinetic energy by compression and expansion of the gas in a sealed container, the gas is lighter than liquid and solid, so It is possible to reduce the weight of the storage / donating mechanism.

Further, in the flapping and rising and moving apparatus of each aspect described above and below, if the energy storage / donating mechanism stores and supplies kinetic energy by the phase change of gas in a sealed container, Since the amount of energy stored and supplied increases, the energy storage and supply mechanism can be downsized.

In addition, in the flapping rising and moving apparatus according to the second aspect of the present invention, the above-described flapping reciprocating motion is performed continuously with the motion having a constant angular velocity and the motion, and the reversal of the motion direction is changed. The material contacts the actuator only during the period of motion for reversal of the direction of motion. According to this, smoothing of the torque time history described above can be realized without reducing the efficiency of the reciprocating motion.

In addition, in the above-described flapping flying apparatus of each aspect described below, an energy storage / donating mechanism having a simple structure can be realized if the above-described substance is provided in the actuator.

Further, in the flapping rising and moving apparatus according to the third aspect of the present invention, the above-mentioned flapping reciprocating motion is performed continuously with the motion having a constant angular velocity, and the reversal of the motion direction in which the angular velocity changes. The actuator has a structure for elastically deforming the substance in each of the motion periods for reversing the motion direction at both ends of the reciprocating motion. According to this, energy storage and supply can be realized only by the above-described elastically deformable substance, and thus the weight of the energy storage and supply mechanism can be reduced.

Further, in the flapping floating mobile device of each aspect of the above and below which the foregoing materials, as long as it contains the string-like elastic body that slack in the center position of the reciprocating motion of the blade axis, the energy storage and donor mechanism Weight reduction can be achieved.

The fourth aspect of the flapping floating mobile device of the present invention includes a longitudinal reciprocating rotor to the longitudinal direction of the reciprocating motion to the blade portion, and a twisting motion rotor for twisting the blade portion around the front edge portion The energy storage / donating mechanism may store energy of the rotor for back-and-forth reciprocating motion and supply the energy to the rotor for reciprocating back-and-forth motion.

According to this, the peak of torque required for the actuator for flapping reciprocating motion is larger than the torque required for the actuator for twisting motion, so that energy can be stored and delivered efficiently. it can.

The fifth aspect of the flapping floating mobile device of the present invention includes: a vane portion having a front edge attached to the body, together with the reciprocating flapping wing portions in the front-rear direction, front direction of movement of the reversal in the flapping reciprocating And an actuator for twisting the blade portion around the front edge portion in a predetermined period after the operation. Also, the device, a certain value is torque or energy required to actuator in the energy accumulated from the actuator, flapping reciprocate when the torque or energy required to actuator in reciprocating flapping is smaller than a predetermined value and a energy storage and donor mechanism to energize the actuator is greater.

According to the arrangement, the time history of the required torque or energy for driving the actuator becomes possible to smooth. Therefore, the actuator and the drive energy source can be reduced in size.

Note that the flapping and rising and moving apparatus may have means for detecting energy or may not have means for detecting energy. When the flapping flying device does not have a means for detecting energy, depending on the energy required for driving the actuator when the energy storage / donating mechanism is not provided in the flapping flying device. The timing for storing energy and the timing for supplying energy are determined in advance. In addition, the energy storage / donation mechanism does not necessarily store energy when the aforementioned energy is smaller than a predetermined value. If there are multiple periods where the energy is smaller than the predetermined value, the plurality of periods As long as it accumulates energy in at least one of the periods. In addition, the energy storage and supply mechanism does not necessarily have to supply energy to the actuator when the above-mentioned energy is larger than a specific value. As long as the energy is supplied to the actuator so as to reduce the energy peak in at least one of the periods, it is sufficient.

Further, in the flapping rising and moving apparatus according to the fifth aspect of the present invention, the actuator is a rotor that reciprocates the blade portion in the front-rear direction, the first rotor reciprocating with a relatively small amplitude, that it has a second rotor reciprocates at a relatively large amplitude in a direction substantially parallel to the rotor. In this case, the apparatus further includes a control unit that controls the degree of twisting of the blade portion according to the difference between the phase of the first rotor and the phase of the second rotor. the energy accumulated, Ru energized to the first rotor.

According to this, similarly to the above, the peak of energy required for the actuator for flapping reciprocating motion of the blade axis in the front-rear direction is larger than the peak of energy required for the actuator for twisting motion. Therefore, the energy storage / donation mechanism can efficiently store and donate energy.

Further, in the flapping rising and moving apparatus according to the sixth aspect of the present invention, the actuator is a rotor that reciprocates the front edge in the front-rear direction, and is connected to the front edge and reciprocates at a fixed amplitude. a rotor, that has a second rotor reciprocates variable amplitude in a direction substantially parallel to the first rotor. In this case, the control of the flapping floating mobile device the difference between the first rotor phase and the second rotor phase further comprises a control unit for controlling the degree of twist of the blade unit, the energy storage and donor mechanism, the energy of the first rotor to accumulate, Ru energize first rotor.

According to the said structure, the amplitude of the 1st rotor for driving the front edge part which requires a bigger torque is fixed. Therefore, torque smoothing can be easily realized by a method described later. Further, since the phase difference between the first rotor and the second rotor can be set arbitrarily, it is possible to realize the two-degree-of-freedom control of the blade part while achieving the above torque smoothing. That is, it is possible to realize both various controls and smoothing of the torque of the flapping rising and moving apparatus .

Further, in the flapping and floating movement apparatus of each aspect described above, the energy storage / donating mechanism may store kinetic energy generated by the movement of the actuator and supply the kinetic energy to the actuator. According to this, regardless of the manner in which the actuator moves, the energy storage and supply mechanism can store the energy of the actuator and supply it to the actuator. Therefore, it is possible to realize both various controls and energy peak reduction.

Further, in the flapping and rising and moving apparatus of each aspect described above, the actuator includes the rotor, and the predetermined portion of the energy storage / donating mechanism draws an arc-shaped locus around the rotation center axis common to the rotation center axis of the rotor. You may move as follows. According to this, the degree of change in the relative positional relationship between the energy storage / donating mechanism and other parts due to the rotation of the rotor can be minimized.

In the above-described flapping rising and moving apparatus of each aspect, the energy storage / donating mechanism may include a leaf spring, and the fixed end of the leaf spring may be positioned in the vicinity of the rotation center axis of the rotor. According to this, it is possible to easily realize both energy accumulation and supply and movement for drawing a trajectory of an arc.
A flapping rising and moving apparatus according to a seventh aspect of the present invention includes a blade portion having a front edge portion attached to a main body, and reciprocating the blade portion in the front-rear direction, and before reversing the movement direction in the flapping reciprocating motion. The energy is accumulated from the actuator only in the period before the reversal of the movement direction in the fluttering reciprocating motion in the predetermined period, and the actuator that twists the blade part around the front edge in the predetermined period after It has an energy storage and supply mechanism that supplies energy to the actuator only during the period after the reversal of the direction of motion in the flapping reciprocating motion.
A flapping rising and moving apparatus according to an eighth aspect of the present invention includes a blade portion having a front edge portion attached to a main body, and reciprocating the blade portion in the front-rear direction, and before reversing the movement direction in the flapping reciprocating motion. During the specified period after the start, the actuator accumulates energy only when the torque or energy required for the actuator that twists the blade part around the front edge and the reciprocating motion of the flapping is smaller than the predetermined value. And an energy storage and supply mechanism that applies energy to the actuator only when the torque or energy required for the actuator for movement is greater than a specific value.

  A rising and moving apparatus according to an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, a rising and moving apparatus having a symmetrical configuration will be described. Therefore, for simplification of description, the same reference numerals are given to the symmetrical components, and only the left side of them will be described.

(Overall configuration)
First, the overall configuration of the rising and moving apparatus of the present embodiment will be described with reference to FIGS. 1 and 2. Since this item is for explaining the overall configuration, the detailed configuration and operation of each component will be described later.

  As shown in FIG. 1, the rising and moving apparatus 100 includes a main body 101 and a pair of blade portions 110 provided on the main body 101. One of the pair of blade portions 110 is provided on the left side portion of the main body 101, and the other of the pair of blade portions 110 is provided on the right side portion of the main body 101.

  The rising and moving apparatus 100 generates a flow in the surrounding fluid by the flapping motion of the blade portion 110 and receives a reaction from the surrounding fluid. At this time, the rising and moving apparatus 100 receives a reaction exceeding its own weight, which is directed vertically upward, from the surrounding fluid. Thereby, the vertical movement acceleration exceeding the gravitational acceleration is generated in the rising and moving apparatus 100. As a result, the rising and moving apparatus 100 is lifted.

  As shown in FIG. 2, the rising and moving apparatus 100 includes an upper ultrasonic motor 120 and a lower ultrasonic motor 130 as actuators of the present invention. The upper ultrasonic motor 120 and the lower ultrasonic motor 130 are rotatably mounted on the main body 101. The upper ultrasonic motor 120 and the lower ultrasonic motor 130 are connected to a blade driving mechanism 140 that transmits the movements of the upper ultrasonic motor 120 and the lower ultrasonic motor 130 to the blade portion 110. A blade portion 110 is connected to the blade driving mechanism 140. The blade portion 110 is driven by the upper and lower ultrasonic motors 120 and 130 to reciprocate and rotate with the vertical direction as the rotation center axis (hereinafter referred to as “stroke motion”), and the front edge portion of the blade portion 110. A rotational motion (hereinafter referred to as “twisting motion”) is performed. That is, the wing | blade part 110 can perform each of a stroke motion and a twist motion independently.

  Upper and lower ultrasonic motors 120 and 130 are controlled by a control circuit 150. The control circuit 150 is given position information and posture information of the rising and moving apparatus 100 from a position detection sensor 160 fixed to the main body 101.

Further, the rising and moving apparatus 100 has a function of transmitting information on the rising and moving apparatus 100 itself and information on the periphery thereof to the external controller 200 via the communication device 170. In the present embodiment, image information obtained by the image sensor 180 is transmitted to the controller 200. Note that the image information obtained by the image sensor 180 may be directly used by the control circuit 150. For example, the position and speed of the rising and moving apparatus 100 may be recognized by the control circuit 150 by performing image processing on the image information.

  As shown in FIGS. 1 and 2, the communication device 170 has a function of receiving information transmitted from the external controller 200 and providing the information to the control circuit 150. In the present embodiment, the external controller 200 is controlled by the operator 210 and gives a motion command for the rising and moving apparatus 100. On the other hand, the external controller 200 can acquire image information obtained by the image sensor 180 mounted on the rising and moving apparatus 100.

  Note that any method may be used for the controller 200 to present the above-described image information to the operator 210. For example, if the external controller 200 has an image display function, the image itself acquired by the image sensor 180 is visually presented to the operator 210. Further, for convenience of explanation, the external controller 200 is operated by the operator 210, but this is not essential.

  In addition, the control circuit 150, the communication device 170, the image sensor 180, and the like are driven by power supplied from a power source 190 provided in the main body 101. The power source 190 functions as a driving energy source of the present invention, but the driving energy source of the present invention may be other than that using electric power, such as fossil fuel. In this case, an actuator corresponding to the driving energy source such as a two-cycle engine or a Stirling engine is used as the actuator.

(Feather)
The wing | blade part 110 has a shape as was shown by FIGS. 3-7, length is 65 mm, and width is 16 mm. The blade portion 110 has a front edge portion 1102, a blade surface portion 1103, a frame portion 1104, a branch portion 1105, and an actuator joint portion 1106. The wing surface portion 1103 is a portion other than the front edge portion 1102, the frame portion 1104, the branch portion 1105, and the actuator joint portion 1106, and includes the elongated plate-like portions 1107, 1108, and 1109 and an aramid film 1114. Part.

The portions other than the aramid film 1114 of the blade portion 110, that is, the front edge portion 1102, the frame portion 1104, the branch portion 1105, the actuator joint portion 1106, the elongated plate-like portions 1107, 1108, and 1109 are 20 μm thick CFRP (Carbon Fiber Reinforced). Plastic) layer. More specifically, the portions other than the aramid film 1114 of the blade portion 110 are formed by cutting out three portions shown in FIGS. 5 to 7 from the CFRP sheet and laminating the three portions.

  The front edge portion 1102 and the actuator joint portion 1106 have a three-layer structure of a CFRP layer having a thickness of 20 μm. Further, the frame portion 1104, the branch portion 1105, the elongated plate-like portions 1107, 1108, and 1109 have a single layer structure of a CFRP layer. When the positive direction of the X axis shown in FIG. 3 is 0 degree, the direction of the fiber axis of the elongated plate-like portion 1107 is −60 degrees (+120 degrees), and the elongated plate-like portion 1108 and the frame portion 1104 are respectively The direction of the fiber axis is 0 degree (180 degrees), the direction of the fiber axis of the elongated plate-like part 1109 is +60 degrees (+240 degrees), and the direction of the fiber axis of the branch part 1105 is −30 degrees (150 Degree). The leading edge 1102 and the actuator joint 1106 are formed by overlapping three CFRP layers whose fiber axis directions are −60 degrees (+120 degrees), 0 degrees (180 degrees), and +60 degrees (240 degrees). ing.

Since the main deformation of the leading edge portion 1102 is expansion and contraction parallel to the longitudinal direction of the blade portion 110, it is desirable that this direction coincides with the fiber axis of the CFRP layer. In addition, it is considered that force is applied to the actuator joint 1106 in a plurality of directions, and the direction of these forces changes according to the flapping motion. Therefore, it is desirable to form by laminating a large number of CFRP layers having fiber axes in different directions so as to have as uniform rigidity as possible in all directions. The leading edge 1102 and the actuator joint 1106 are more rigid than the other parts. The manufacturing method of the blade | wing part which satisfy | fills these requirements is mentioned later.

  Further, a wing surface portion 1103 is provided so as to be surrounded by the actuator joint portion 1106, the front edge portion 1102, the frame portion 1104, and the branch portion 1105. The wing surface portion 1103 is made of an aramid film 1114 and extends in the depth direction of the paper surface of FIG. The actuator joint 1106 is provided at the base of the blade 110 and is joined to the actuator, and its length is 10 mm.

  As shown in FIGS. 5 to 7, each of the plurality of elongated plate-like portions 1107 has the same width, and the plurality of elongated plate-like portions 1107 are provided in parallel with each other at the same pitch. Each of the plurality of elongated plate-like portions 1108 has the same width, and the plurality of elongated plate-like portions 1108 are provided in parallel with each other at the same pitch. Furthermore, each of the plurality of elongated plate-like portions 1109 has the same width, and the plurality of elongated plate-like portions 1109 are provided in parallel with each other at the same pitch.

  In the present embodiment, for convenience of explanation, the plurality of elongated plate-like portions in the same layer are assumed to be the same pitch and parallel, but for example, when the stiffness distribution is intentionally changed, It is not limited to the above. For example, the blade portion 110 may be used in which the pitch on the root side is smaller than that on the tip side, thereby increasing the rigidity.

<Front edge>
As shown in FIG. 4, the front edge portion 1102 has a groove structure extending along the longitudinal direction of the blade portion 110, that is, an uneven shape called corrugation. Therefore, in the leading edge portion 1102, the rigidity against in-plane bending deformation including the longitudinal direction is higher than the rigidity against bending deformation with the longitudinal direction as the rotation center axis. The uneven shape of the front edge portion 1102 can be easily formed by heating a raw material sheet of a CFRP layer called a prepreg in a state of being in close contact with a mold corresponding to the uneven shape. Further, a large load is applied to the front edge portion 1102. Therefore, the front edge portion 1102 has a structure in which the elongated plate-like portion is not provided, that is, a solid structure with no gap, and therefore has higher rigidity than the wing surface portion 1103. Furthermore, since the load increases cumulatively as the front edge portion 1102 approaches the base, the base is thicker than the tip. The width and height of the front edge 1102 at the root portion is about 2 mm, and the width and height of the front edge 1102 at the tip portion is about 1 mm. However, due to restrictions on the description accuracy of the drawings, in FIGS. 4 to 7, the width of the front edge portion 1102 at the root portion and the width of the front edge portion 1102 at the tip portion are drawn with the same width.

<Feather>
As shown in FIGS. 4 to 7, the wing surface portion 1103 is configured by elongated plate-like portions 1107, 1108 and 1109 of the CFRP layer, and an aramid film 1114. An aramid film 1114 having the same outer shape as the blade portion 110 is sandwiched between elongated plate-like portions of the CFRP layer.

In the present embodiment, the heat resistant temperature of the aramid film 1114 is higher than the molding temperature of the CFRP layer, and in the CFRP layer molding process, the prepreg and the aramid film are brought into contact with each other and subjected to pressure and heat treatment. Thus, the CFRP layer and the aramid film can be adhered by the resin component contained in the prepreg. Therefore, raw materials including the front edge portion 1102, the frame portion 1104, the branch portion 1105, the actuator joint portion 1106, the elongated plate-like portions 1107, 1108, 1109, and the aramid film 1114 formed of the CFRP layer are baked on the above-described mold. By tying, the wing face portion 1103 can be easily manufactured.

  The elongated plate-like portions 1107, 1108, and 1109 of the wing surface portion 1103 are overlapped with each other in a direction in which they extend by 60 degrees. Therefore, when viewed from the direction perpendicular to the surface of the wing surface portion 1103, the elongated plate-like portions 1107, 1108, and 1109 appear to form a regular triangular frame, that is, a truss. Each of the elongated plate-like portions 1107, 1108, and 1109 has an elongated rectangular outline, and two long sides thereof extend parallel to the fiber axis. This is a configuration for making maximum use of the strength characteristics of CFRP, which is a uniaxial anisotropic material, by matching the longitudinal direction of CFRP having high strength with the direction in which the force of each beam of the truss structure is applied. However, if only one of the two long sides extends in parallel to the fiber axis, the strength of the fiber can be effectively used to some extent. If the beam is not rectangular, it is necessary to determine the fiber axis direction optimal for the shape of the beam using a technique such as stress analysis.

  In the present embodiment, it is assumed that the bending rigidity of each of the elongated plate-like portions 1107, 1108, and 1109 is 1/8 that of the front edge portion 1102. In general, the bending stiffness is proportional to the cross-sectional second moment. That is, the bending rigidity is proportional to (width: the length of the short side of the rectangle) × (thickness cubed).

  Here, the thickness of each of the elongated plate-like portions 1107, 1108, and 1109 is constant, and the width of the elongated plate-like portion 1107 is the distance between the central axes of the elongated plate-like portions 1107 (hereinafter referred to as “pitch”). The width of the elongated plate-like portion 1108 is 1 / a times the pitch between the elongated plate-like portions 1108, and the width of the elongated plate-like portion 1109 is the elongated plate-like portion. It is assumed that the pitch is 1 / a times 1109. Under this assumption, if the width of the elongated plate-like portion becomes 1 / a times, the bending rigidity of the wing surface portion 1103 also becomes 1 / a times. Therefore, in the present embodiment, the widths of the elongated plate-like portions 1107, 1108, and 1109 are set to the pitches of the elongated plate-like portions 1107, the elongated plate-like portions 1108, and the elongated plate-like portions 1109, respectively. By making it 1/8 times, the wing surface part 1103 having a bending rigidity of 1/8 times the bending rigidity of the front edge part 1102 is realized. That is, by changing only the width of each of the elongated plate-like portions 1107, 1108, and 1109 without changing the thickness of the wing surface portion 1103, that is, the number of laminated elongated plate-like portions, a desired bending rigidity distribution is obtained. The blade | wing part 110 which has is formed. Since the number of laminated thin plate-like portions is only a natural number and cannot be changed continuously, the bending stiffness distribution of the blade portion becomes discontinuous only by changing the number of laminated thin plate-like portions. End up. However, since the ratio between the width and the pitch of the elongated plate-like portion can be continuously changed, the desired bending stiffness distribution can be obtained by continuously changing the bending stiffness distribution.

  In addition, according to the structure of the blade portion 110 of the present embodiment, the ratio of the width of the elongated plate-like portion 1107 to the pitch between the elongated plate-like portions 1107, the width of the elongated plate-like portion 1108, and the elongated plate-like portions 1108 to each other. The bending rigidity of the wing face portion 1103 can be made anisotropic by making the ratio of the width of the elongated plate-like portion 1109 and the ratio of the width of the elongated plate-like portion 1109 different from each other. Is possible. For example, when manufacturing the blade portion 110 having high rigidity against bending deformation in the plane including the longitudinal direction of the blade portion 110, the width of the elongated plate-like portion 1108 is increased, What is necessary is just to make a pitch small.

On the other hand, when a method of cutting out a part of a laminated structure in which three CFRP layers are laminated so that a truss is formed, three CFRP layers are laminated on three sides of each truss. The mass of the wing surface portion formed by this method is 3 / a times the mass of the laminated structure of three CFRP layers having the same area as the wing surface portion 1103 where the truss is not formed (a is the value described above). In this case, in the in-plane bending deformation mode including the fiber axis of one of the three CFRP layers, the two CFRP layers other than the one CFRP layer have only a rigidity equivalent to that of the resin. Is unnecessary. That is, the above-described blade portion 110 has approximately the same mass as the blade portion with a mass that is about 1/3 that of the blade portion formed by clipping as described in this paragraph. (Specifically, the values of the mass and rigidity of the blade portion are described in the following <feather mass> item.)
<Frame part>
As shown in FIG. 4, the aramid film 1114 constituting the wing surface portion 1103 is stretched between the actuator joint portion 1106, the front edge portion 1102, and the frame portion 1104. Therefore, the end portion of the aramid film 1114 is prevented from being damaged. In the present embodiment, the width of the frame portion 1104 is about 0.5 mm. As shown in FIG. 4, the frame portion 1104 has a shape surrounding the wing surface portion 1103, and therefore the extending direction thereof varies depending on the position. The direction of the fiber axis of the frame portion 1104 coincides with the extending direction thereof.

<Branch>
When the blade part 110 becomes large, the rotation radius of the tip part of the blade part 110 also becomes large. In this case, since the relative speed with respect to the fluid increases, a large fluid force is generated at the tip of the blade portion 110. Even if the fluid force generated at the tip of the blade 110 becomes large, the controllability of the tip of the blade 110 needs to be maintained. Therefore, a branch portion 1105 that is connected to the front edge portion 1102 and extends obliquely from the front edge portion 1102 is provided. The width of the branch 1105 is about 0.9 mm. The branch portion 1105 is formed to extend in the direction of −30 ° when the direction facing the tip side of the blade portion 110 in the X-axis direction is 0 °.

  Depending on the angle between the branch portion 1105 and the X-axis and the rigidity required for the wing surface portion 1103, the branch portion 1105 is provided in a CFRP layer having an elongated plate-like portion different from the aforementioned elongated plate-like portion 1107. It may be. In addition, a wing face portion 1103 having a structure in which a branch portion 1105 formed using a material different from the CFRP layer is sandwiched between the CFRP layers may be used.

<Actuator joint>
The shape of the actuator joint 1106 is actually determined according to the compatibility with the actuator that drives the blade 110. The actuator joint 1106 of the present embodiment is assumed to have the shape shown in FIG. Further, in order to prevent deformation due to the fluid force generated by the flapping motion, the material of the actuator joint 1106 is a CFRP layer having a solid structure that does not have an elongated plate-like portion, that is, has no gap. Further, a groove structure is provided at the front end of the actuator joint 1106. The groove structure of the actuator joint portion 1106 and the groove structure of the front edge portion 1102 are provided so as to be continuous.

<Feather mass>
Assuming that the specific gravity of CFRP is 1.6 g / cm ³ , Table 1 shows the mass of each part of the blade portion 110 described above. As shown in Table 1, the mass of the blade part 110 is about 26.5 mg. The mass of the actuator joint 1106 is about 10.8 mg.

  On the other hand, the mass of the blade portion of the comparative example in which a method of cutting out a laminated structure in which three CFRP layers are laminated so as to form a truss shape is about 48 mg.

(Ultrasonic motor)
Next, the upper ultrasonic motor 120 and the lower ultrasonic motor 130 as the actuator of the present invention will be described with reference to FIGS.

<Overall configuration>
First, the configuration of the upper ultrasonic motor 120 and the lower ultrasonic motor 130 will be described.

  As shown in FIG. 8, the upper ultrasonic motor 120 includes an upper ultrasonic vibrator 121 and an upper rotor 122 driven by the upper ultrasonic vibrator 121. Further, the upper rotor 122 is provided on the rotor shaft 124 via the upper bearing 123 so as to be rotatable only around the axis of the rotor shaft 124. The rotor shaft 124 is fixed to the main body 101. An upper magnetization pattern 125 is written in an arc shape on the upper rotor 122. The upper magnetization pattern 125 is read by the upper magnetic encoder 126. In the upper ultrasonic transducer 121, as shown in FIG. 14A, the support portion 1214 is fixed to the support shaft 127, and the traction portion 1224 is pulled by the traction rubber 129. In addition, power for driving the upper ultrasonic transducer 121 is supplied via the film substrate 128.

  The lower ultrasonic motor 130 has a mirror-symmetric structure with the upper ultrasonic motor 120 in the vertical direction. That is, in the lower ultrasonic motor 130, the lower ultrasonic transducer 131 rotates the lower rotor 132. The lower rotor 132 is provided on the rotor shaft 124 so as to be rotatable only about the axis of the rotor shaft 124 via a lower bearing (not shown). A lower magnetization pattern (not shown) is written on the lower rotor 132 in an arc shape. The lower magnetization pattern is read by the lower magnetic encoder 136.

  Since the upper and lower ultrasonic motors 120 and 130 have exactly the same configuration except that they are provided mirror-symmetrically in the vertical direction, only the detailed structure of the upper ultrasonic motor 120 will be described below. Will be explained.

<Driving principle>
Next, the driving principle of the upper ultrasonic motor 120 will be described with reference to FIGS. 9 to 14B.

  The upper ultrasonic transducer 121 includes a vibration plate 1211, a front surface piezoelectric element 1212, and a rear surface piezoelectric element 1213. The diaphragm 1211 is made of stainless steel having a thickness of 0.2 mm, and includes a rectangular portion having a width of 2 mm and a length of 9 mm, and a support portion 1214 protruding outward from a central portion in the longitudinal direction of the rectangular portion. . The diaphragm 1211 is sandwiched between the front surface piezo 1212 and the back surface piezo 1213. The front surface piezo 1212 and the back surface piezo 1213 are each formed of a piezo sintered body having a strip shape with a width of 2 mm, a length of 8 mm, and a thickness of 0.2 mm and polarized in the thickness direction.

  A front surface electrode 1216 is bonded to the front surface piezoelectric element 1212, and a rear surface electrode 1217 is bonded to the rear surface piezoelectric element 1213. When a voltage is applied to the surface electrode 1216, the upper ultrasonic transducer 121 has three nodes as shown in FIG. 10, that is, a third-order flexural vibration mode is excited. Further, when a voltage is applied to the back electrode 1217, a vertical (stretching) vibration mode as shown in FIG. 11 is excited. In the upper ultrasonic transducer 121 according to the present embodiment, the resonance frequencies of the resonance modes for the two vibrations are both 250 kHz, which coincide with each other. Here, by changing the phase of vibration of these resonance modes by ± 90 °, the vertex of the diaphragm 1211 performs two kinds of elliptical motions shown in FIGS. The two types of elliptical motion are elliptical motion that rotates in the forward direction and elliptical motion that rotates in the reverse direction. A contact portion 1215 made of ceramic is provided at the apex of the diaphragm 1211. The contact portion 1215 rotates the upper rotor 122 around the axis of the rotor shaft 124 by frictional force according to the above-described elliptical motion. At this time, either forward rotation or reverse rotation is selected.

  In FIGS. 12 and 13, the potential applied to the front electrode 1216 is φA, the potential applied to the back electrode 1217 is φB, and φA and φB are multiplied by cos (2πft) and sin (2πft), respectively. The rotation direction of the contact part 1215 in the case where it represents with a function is shown. For convenience of explanation, the potentials applied to the front electrode 1216 and the back electrode 1217 are represented by trigonometric functions. If the phases of these potentials are shifted by ± 90 °, they are represented by rectangular waves or the like. The potential to be applied may be applied to both electrodes. Note that each of the upper rotor 122 and the lower rotor 132 has a fan-shaped outline and performs a reciprocating rotary motion within a range of a predetermined rotation angle. Therefore, in order to reduce the weight, as shown in FIG. 14B, the upper rotor 122 and the lower rotor 132 having a fan-shaped frame structure whose outer shape has a central angle of 120 ° and whose unnecessary portions are deleted are used. Is desirable. If a rotor having a fan-shaped contour is used, it is possible to most effectively reduce the occupation ratio of the rotor that rotates around the central axis (rotational reciprocating motion). Each of the upper rotor 122 and the lower rotor 132 has a frame portion along a fan-shaped outline.

  The numerical values such as the size of each part and the resonance frequency of the diaphragm are only examples, and are not limited to the above values as long as the requirements for flying are satisfied. The requirements for this ascent are stated in the Ascentability section below.

  Further, as shown in FIG. 14B, the upper rotor 122 and the lower rotor 132 may have a hollow structure for weight reduction within a range in which a necessary strength is ensured. That is, each of the upper rotor 122 and the lower rotor 123 may have a structure having a frame extending along a fan-shaped outer periphery having a radius of 120 °.

  Further, the upper rotor 122 and the lower rotor 132 are provided with limiters 12322a, 12322b, and 12322c for limiting the rotation angle θ1 of the upper roller 122 described later to the rotation angle θ2 of the lower rotor 132 within a predetermined range. It may be provided. The limiter 12322b is provided on the inner peripheral surface of the lower rotor 132 having a fan-shaped frame structure, and the limiter 12322a and the limiter 12322c are provided on the inner peripheral surface of the upper rotor 122 having a fan-shaped frame structure. The limiter 12322b is positioned between the limiter 12322a and the limiter 12322c in an arcuate locus. According to this, the movement range of the limiter 12322b is limited by the limiter 12322a and the limiter 12322c. Therefore, the wing twist angle β described later is limited to a value within a certain range. Therefore, in Equation (7), which will be described later, one solution is physically determined. As a result, the operation of the blade portion is stabilized.

  Further, it is desirable that the upper and lower rotors 122 and 132 transmit the driving force of each ultrasonic transducer to the blades without loss. Therefore, it is desirable that the rotational resistance of the rotor is as small as possible. Further, in order to avoid collision between the upper rotor 122 and the lower rotor 132, it is desirable that these rotors have a structure that can rotate only around the central axis. Therefore, in this embodiment, a kind of ball bearing called a pivot is used as a bearing at the contact portion between the rotor and the rotation center shaft. As a result, contact between the rotors is prevented as described above. If the loss is sufficiently smaller than the driving force of the ultrasonic vibrator, a friction type bearing such as a Teflon (registered trademark) bearing may be used.

  At the time of backward turning described later, when the blade portion is in a horizontal state, that is, when β described later reaches 180 °, β after turning back becomes 0 <β <π or π <β Whether it becomes <2π is indefinite. In the former case, the blades are turned over and the angle of attack is negative, lift is not obtained, and the rising and moving apparatus cannot fly. For this reason, the operation | movement of a blade | wing part is restrict | limited so that (beta) may not reach 180 degrees by the above-mentioned two limiters. Furthermore, according to the experiments by the present inventors, a phenomenon in which the blade part turns over is observed even when β does not reach 180 ° strictly by elastically deforming so that the fluid force applied to the blade part pushes up the hinge. Yes. For this reason, it is desirable that the above-mentioned two limiters are provided so that β is a value that is somewhat smaller than 180 ° within a range that does not interfere with flapping flight.

<Preload mechanism>
Next, a mechanism for applying a preload from the contact portion 1215 to the upper rotor 122 will be described with reference to FIG. 14A.

  A preload acts on the upper rotor 122 from the contact portion 1215, and as a reaction, a drag is generated from the contact portion 1215 toward the outer peripheral surface of the upper rotor 122. Therefore, friction is generated between the upper rotor 122 and the contact portion 1215. Therefore, the upper rotor 122 receives a frictional force due to the elliptical motion of the contact portion 1215 and performs a reciprocating rotational motion.

  The traction rubber 129 has an annular shape, and one end thereof is hooked on the traction portion 1224. The other end of the traction rubber 129 is hooked on a traction rubber pin 113 fixed to the main body reinforcing pole 112. Accordingly, tension is generated in the pulling rubber 129 and the pulling portion 1224 is pulled toward the main body reinforcing pole 112, so that the vibration plate 1211 is around the axis of the support shaft 127 that supports the vibration plate 1211 including the pulling portion 1224. Rotating motion. This rotational movement is restricted by the contact portion 1215 coming into contact with the upper rotor 122. Therefore, a preload from the contact portion 1215 toward the upper rotor 122 is generated.

  In addition, it is possible to adjust the magnitude | size of the above-mentioned preload by rotating the above-mentioned main body reinforcement pole 112 around the long axis. Further, since the preload mechanism is provided to obtain a frictional force for driving the upper rotor 122, the above-described preload is obtained, and the flying characteristics of the rising and moving apparatus 100 are not impaired. If there is, it is not limited to the structure shown in FIG. 14A.

<Rotation angle detection>
The upper magnetic encoder 126 shown in FIG. 8 is provided with two detection units for the A phase and the B phase with an interval of 1/4 of the pattern period. With this configuration, the phase of the A phase and the B phase differ depending on the rotation direction of the upper rotor 122, as in the case of a general encoder. If 1/0 is assigned to the function selection of up-count / down-count, the rotation angle θ1 of the upper rotor 122 can be detected. The rotation angle θ1 is calculated in the central processing unit 151.

<Supplement>
The ultrasonic motor shown in FIGS. 8 to 14B is an example of a general actuator, and the actuator of the rising and moving apparatus according to the present invention is not limited to the ultrasonic motor having the above-described structure. For example, an electromagnetic motor or an internal combustion engine may be used as the actuator. Further, any device for detecting the rotation angle may be used as long as it does not inhibit flapping flight. For example, instead of the method using the magnetic encoder described above, a method using an optical encoder may be adopted.

(Wing drive mechanism)
Next, the blade drive mechanism will be described with reference to FIGS.

  As shown in FIG. 15, the blade driving mechanism 140 includes an upper plate 141 fixed to the upper rotor 122 and a lower plate 142 fixed to the lower rotor 132. Further, an intermediate plate 144 is connected to the lower plate 142 via a first aramid hinge 143. Furthermore, the root portion of the blade portion 110 is connected to the upper plate 141 via the second aramid hinge 145. Further, the root portion of the blade portion 110 is also connected to the intermediate plate 144 via the third aramid hinge 146. Therefore, a composite hinge is configured in which the upper plate 141, the blade portion 110, the intermediate plate 144, and the lower plate 142 are connected by an aramid film. This composite hinge is driven by the upper rotor 122 and the lower rotor 132.

  16 to 18 show the shapes of the upper plate 141, the intermediate plate 144, and the lower plate 142. In addition, the part shown by the hatching of FIGS. 16-18 is bent about 90 degrees with respect to the main surface of each plate for the reinforcement of the part of the vicinity of the edge which is not connected to the hinge and rotor of each plate. . Further, in order to avoid interference between the bent portions, both side ends of the bent portions are cut in a direction of 45 ° with respect to the direction in which the bent portions extend.

  Each aramid hinge has a width of 0.1 mm, and its width is very small compared to the length. Therefore, each aramid hinge functions as a link, that is, a butterfly plate (trunk number) that can move only in one pseudo degree of rotation. The extension lines of the aramid hinges 143, 145, and 146 intersect at one point, which is located on the central axis of the shaft 124 and located between the upper bearing 123 and the lower bearing 133. . With this configuration, the reciprocating motion of the blade portion 110 in the front-rear direction is controlled by controlling the rotation angle of the upper ultrasonic motor 120, and the phase of the rotation angle of the upper ultrasonic motor 120 and the phase of the rotation angle of the lower ultrasonic motor 130 are By controlling the difference, the torsional motion of the blade 110 is controlled.

  That is, the actuator includes the upper ultrasonic motor 120 as a back-and-forth reciprocating rotor that reciprocates the front edge portion 1102 as a blade shaft in the front-rear direction (rotation angle α: rotation angle around the Z axis), and movement in the reciprocating motion. And a torsional motion rotor that rotates the front edge portion 1102 around the axis (rotation angle β) in a predetermined period after the reversal of direction.

  The above-described flapping method will be described more specifically with reference to FIGS. 19 and 20. 19 and 20, the Y axis extends along the front-rear direction of the rising and moving apparatus 100. Further, the Z-axis extends along the vertical direction of the rising and moving apparatus 100. Further, the X axis extends along the left-right direction of the rising and moving apparatus 100. The X axis, the Y axis, and the Z axis are orthogonal to each other. In the Y axis, the rear is positive and the front is negative. In the X axis, the upper side is positive and the lower side is negative. Further, in the Z-axis, the side where the left blade portion 110 is located is positive, and the side where the right blade portion 110 is located is negative. Also, as shown in FIG. 20, the rotation angle of the upper ultrasonic motor 120 is θ1, the rotation angle of the lower ultrasonic motor 130 is θ2, and the flapping stroke angle that is the rotation angle of the reciprocating motion in the front-rear direction is α It is assumed that the twist angle that is the rotation angle around the axis of the front edge portion 1102 is β.

  Further, the distances from the intersections of the extension lines of the aramid hinges 143, 145, and 146 to the outer ends of the aramid hinges 143, 145, and 146 are R2, R1, and R3, respectively. Shall. Furthermore, the distance between the end point of the aramid hinge 146 and the end point of the aramid hinge 145 is L1, the distance between the end point of the aramid hinge 146 and the end point of the aramid hinge 143 is L2, and the end point of the aramid hinge 143 and the end point of the aramid hinge 145 It is assumed that the distance between them is L3. A combination (α, β) of angles representing the position of the blade portion 110 with respect to the rotor shaft 124 is expressed as follows using the rotation angles θ1 and θ2 of the upper and lower ultrasonic motors.

  The flapping stroke angle α is the rotation of the blade axis (front edge portion 1102) around the axis of the rotor shaft 124, and therefore is equal to the rotation angle θ1 of the upper ultrasonic motor 120 as shown in the following equation (1).

α = θ1 (1)
Further, since the twist angle (rotation angle β) is a rotation angle around the axis of the blade axis (front edge portion 1102) of the blade portion 110, it is calculated from the cosine value of β expressed by the following equation (2). .

cos (π−β) = − cos (β) = [L1 × L1 + L3 × L3−L2 × L2] / (2 × L1 × L3) (2)
However, with respect to L3, the following equation (3) holds.

L3 = sqrt (R1 × R1 + R2 × R2-2 × R1 × R2 × cos (θ1-θ2)) (3)
Here, sqrt () is the positive square root of the value in ().

  As is clear from FIGS. 19 and 20, β is larger than π and smaller than 2π.

π <β <2π (4)
Therefore, β is determined to be one value.

  From the above equations (1) to (4), the rotation angles θ1 and θ2 for obtaining the desired position (α, β) of the blade portion 110 can be expressed by the following equations (5) and (6). I understand.

θ1 = α (5)
cos (θ1-θ2) = [R1 × R1 + R2 × R2-L3 × L3] / 2 × R1 × R2 (6)
However, with respect to L3, the following equation (7) is established.

L3 = L1 × cos (β−π) ± sqrt (L2 × L2−L1 × L1 × sin2 (β−π)) (7)
Whether the compound sign (±) of L3 is positive or negative is easily determined by considering the actual behavior of the blade portion 110.

  The state of the rising and moving apparatus of the present embodiment shown in FIGS. 19 and 20 is a state where the main surface of the blade portion 110 is parallel to a plane extending in the vertical direction, that is, a state where the twist angle β = 270 °. It is. At this time, θ1 = 0 °, θ2 = −45 ° R1 = R2 = 15 mm, R3 = 15.81 mm, L1 = 5 mm, L2 = 11.4 mm, and L3 = 11.39 mm.

  The rotation angles θ1 and θ2 of the upper and lower rotors 122 and 132 are calculated by the central processing unit 151 based on the information obtained by the magnetic encoder 126 as described above. A method for controlling the rotation angles θ1 and θ2 will be described later.

As described above, the flapping motion of the blade portion 110 is realized.
(Torque assist mechanism)
Next, the torque assist mechanism will be described with reference to FIGS.

<Principle>
As shown in FIG. 43, in the flapping flight, the direction of movement of the blade portion 110 is reversed, so that the torque required for the actuator is high when the blade portion 110 is turned back and forth between the up and down strokes. . However, the torque required for the actuator is small until immediately before the blade portion 110 is turned back. Therefore, the kinetic energy of the actuators (upper and lower ultrasonic motors 120 and 130) is accumulated using some method during a period when the torque required for the actuator is small, and during a period when a high torque is required for the actuator. By giving the accumulated energy to the blade portion 110, the time history of torque required for the actuator can be smoothed.

  Next, a method of smoothing the torque time history at the time of switching will be described with reference to FIGS. In this embodiment, as the technique, a technique is used in which energy of the actuator is accumulated by elastically deforming a certain substance, and energy is given to the actuator by the restoring force of the elastically deformed substance. Hereinafter, the torque applied to the actuator by the energy accumulated in the elastically deformable substance is referred to as auxiliary torque.

  As shown in FIG. 21, in the rising and moving apparatus 100 according to the present embodiment, the phenomenon that the torque peak becomes extremely large when the blade portion 110 is turned back is notable in the driving torque T <b> 1 of the upper ultrasonic motor 120. . Control of the rotation angle θ1 of the upper rotor 122 and the rotation angle θ2 of the lower rotor 132 is assumed to be as shown in FIG. Further, the rising and moving apparatus 100 reciprocates the front edge portion 1102 as the blade shaft in the front-rear direction, and rotates around the front edge portion 1102 in a predetermined period after the reversal of the movement direction in the reciprocating motion. A flapping movement shall be performed.

  The launching operation of the upper ultrasonic motor 120 and the lowering operation of the upper ultrasonic motor 120 are symmetric in the front-rear direction. Therefore, only the procedure for assisting the torque at the time of turning back after the launch operation of the upper ultrasonic motor 120 will be described below.

  As shown in FIG. 23, a spring 301 is provided outside the upper rotor 122. The spring 301 is fixed to any part of the main body 101. The spring 301 and the upper rotor 122 start contact when the rotation angle of the upper rotor 122 exceeds θ_contact. A method for obtaining θ_contact will be described later.

  When the upper rotor 122 comes into contact with the spring 301, the spring 301 starts to contract, so that a restoring force acts on the upper rotor 122 in the direction in which the spring 301 extends. Since the magnitude of the restoring force is proportional to the contracted length of the spring 301, torque as shown by a broken line in FIG. 24 is generated. Here, the torque indicated by the broken line in FIG. 24 is referred to as auxiliary torque by the torque auxiliary mechanism. The torque assisting mechanism corresponds to the energy storage / donating mechanism of the present invention.

  The torque T1 required for driving the upper rotor 122 is a value obtained by adding the above-mentioned auxiliary torque to the conventional torque T1 shown by a thin solid line in FIG. 24, and therefore, as shown by a thick solid line in FIG. become.

  As described above, the deformation energy is stored in the spring 301 by the displacement of the upper rotor 122 in the first half of the turning operation with a small torque, and the stored deformation energy is stored in the second half of the turning operation by the restoring force of the spring 301. Given to. That is, the torque assist mechanism according to the present embodiment, that is, the energy storage and supply mechanism, stores energy when the torque required to drive the leading edge 1102 as the blade shaft is small, and the leading edge 1102 is stored. Is applied to the upper rotor 122 when the torque required to drive the motor is large. In other words, the energy storage and supply mechanism stores the energy of the upper rotor 122 in the first half of the turn-back of the leading edge 1102 and gives the energy to the upper rotor 122 in the second half of the turn-back. Thereby, the peak of the torque T1 is reduced, and the torque time history is smoothed.

<Design method>
Next, the design concept of the spring constant and contraction amount of the spring 301 for reducing the maximum torque to T_MAX will be described with reference to FIGS. Although the rotation angle θ1 and the torque T1 can be negative values, in the description of this item, it is assumed that the signs of the rotation angle θ1 and the torque T1 are all positive values.

  First, as shown in FIG. 25, a time t1 at which the original torque T1 becomes equal to T_MAX in the second half of the switching operation is obtained. Since this time t1 is the final time when the auxiliary torque is required, the rotation angle θ1 at this time becomes the aforementioned rotation angle θ_contact.

  Furthermore, it is necessary to determine the spring constant of the spring 301 so that the value obtained by subtracting the auxiliary torque by the spring 301 from the torque T1 becomes smaller than T_MAX when the torque T1 is the rotation angle θ1_MAXT1 at which the maximum value T1_MAX is reached. The amount of contraction of the spring 301 at this time is a value obtained by multiplying the difference between the rotation angle θ1_MAX1 and the rotation angle θ_contact by a distance R_contact between the point where the spring 301 contacts the upper rotor 122 and the rotation center position of the upper rotor 122. It is. Therefore, the force F_spring generated in the spring 301 at this time is expressed by the following equation (8), where k is the spring constant of the spring 301.

F_spring = (θ1_MAXT1-θ_contact) × R_contact × k (8)
The auxiliary torque T_spring provided at this time is expressed by the following equation (9).

T_spring = F_spring / R_contact = (θ1_MAXT1-θ_contact) × k (9)
Further, the following equation (10) is established.

T_MAX + T_spring> T1_MAX (10)
Therefore, the following equation (11) is obtained.

k> (T1_MAX−T_MAX) / (θ1_MAXT1-θ_contact) (11)
Strictly speaking, equation (11) needs to hold at all times, but in the present embodiment, as shown in FIG. 24, when the torque T1 is the maximum value, equation (11) is If established, the torque required for the actuator can be greatly reduced.

  In the present embodiment, if R_contact = 4 mm, k = 160, and θ_contact = 30.5 °, the peak of torque T1 decreases from 17 gf · cm to 10 gf · cm.

<Configuration example>
FIG. 26 is a diagram illustrating a second example of the torque assist mechanism. In this torque assist mechanism, the spring 301 in FIG. 23 is replaced by a leaf spring 311.

  FIG. 27 is a diagram illustrating a third example of the torque assist mechanism. According to this torque assist mechanism, when the rubber block 322 fixed to the upper rotor 122 collides with the support column 321 fixed to the main body 101, the energy of the upper rotor 122 is accumulated in the rubber block 322, and the rubber block 322. The energy is given to the upper rotor 122 by the restoring force of.

FIG. 28 is a diagram illustrating a fourth example of the torque assist mechanism. According to this torque assist mechanism, the coil springs 332 and 333 that are housed in the hollow rotor 334 and are fixed to the fulcrum 331.
Each collide with the inner wall of the hollow rotor 334, energy of the upper rotor 122 is accumulated, and energy is given to the upper rotor 122 by the restoring force of the coil springs 332 and 333, respectively. Note that the fulcrum 331 is fixed to the main body 101.

  FIG. 29 is a diagram illustrating a fifth example of the torque assist mechanism. This torque assist mechanism is obtained by replacing the coil spring 332 shown in FIG. 28 with a leaf spring 341. The leaf spring 341 is fixed to the main body 101.

  FIG. 30 is a diagram illustrating a sixth example of the torque assist mechanism. The torque assist mechanism shown in FIG. 30 uses a rubber cord 351 instead of the coil springs 332 and 333 and the leaf spring 341. The rubber cord 351 has one end fixed to the support point 352 and the other end fixed to the upper rotor 122. Further, the rubber cord 351 is loose when the rotation angle θ1 = 0 ° of the upper rotor 120. According to this, when the upper rotor 122 starts rotational reciprocating motion, the rubber cord 351 expands from the position of the rotational angle θ_contact and accumulates energy. In addition, energy is given to the upper rotor 122 by the restoring force of the rubber cord 351 when the stretched rubber cord 351 contracts. The support point 352 is fixed to the main body.

  FIG. 31 is a diagram illustrating a seventh example of the torque assist mechanism. A mechanism similar to the above-described torque assist mechanism is provided not on the upper rotor 122 but on the bearing 123, whereby the weight of the torque assist mechanism is reduced. According to this torque assist mechanism, the leaf spring 362 collides with the dog 361 provided on the bearing 123, and the leaf spring 362 is elastically deformed to accumulate energy. Energy is given to the upper rotor 122 via the dog 361 by the restoring force of the leaf spring 362. The leaf spring 362 is fixed to the main body 101.

  FIG. 32 is a diagram showing an eighth example of the torque assist mechanism. According to this torque assist mechanism, the leaf spring 371 provided on the bearing 123 collides with the dog 372 fixed to the rotor shaft 124, and the leaf spring 371 is elastically deformed to accumulate energy. Further, energy is given to the upper rotor 122 by the restoring force of the leaf spring 371. The leaf spring 371 is fixed to the main body 101.

<Selection of materials and methods>
As a member that elastically deforms and stores energy, an elastic body such as metal or a superelastic body such as rubber is suitable. In particular, the rubber string is desirable as a member for storing energy because it has a small specific gravity and is easily reduced in weight.

  Further, a torque assist mechanism that stores energy in a mode other than elastic deformation may be used. For example, a torque assist mechanism that accumulates and releases energy by contraction and expansion of the gas sealed in the cylinder using the relationship between the volume change of the gas and the pressure may be used. Further, a torque assist mechanism may be used in which the gas sealed in the cylinder uses phase change to accumulate and supply energy.

  Further, instead of the ultrasonic motor 120, an electromagnetic motor may be used, and a torque assist mechanism in which inductive power is stored in the power source 190 or the like may be used.

<Supplement>
In this item, a method for smoothing the time history of torque at the time of switching after the launch operation is described, but the method for smoothing the time history of torque at the time of switching after the down stroke is also described above. This is the same as the above method. Although only the torque assist mechanism of the upper ultrasonic motor 120 has been described, the same configuration as the torque assist mechanism of the upper ultrasonic motor 120 can be applied to the torque assist mechanism of the lower ultrasonic motor 130. It is.

  In particular, in the present embodiment, the amplitude of the lower rotor 132 is increased at the time of advance turnover described later. At the time of this advance switching, the torque supplied to the lower ultrasonic motor 130 increases. For this reason, it is desirable to apply the above-described method to the lower rotor 132 in the case of the flapping of the leading turn. Further, in order to apply the above-described method, it is necessary to consider the position of the elastic body as the torque assist mechanism so as not to hinder the lower rotor 132 from reciprocating with a large amplitude at the time of preceding turning.

(Operation control of the rising and moving device by changing the flapping method)
<Basic operation>
The rising and moving apparatus 100 according to the present embodiment automatically takes the posture shown in FIG. 1 because the mass below the acting point of the flying force generated by the flapping motion of the blade portion 110 is large. That is, it is not necessary to control the rotation around the X axis and the rotation around the Y axis. On the other hand, the translational acceleration along each of the X-axis, Y-axis, and Z-axis, and the rotational acceleration around the Z-axis (hereinafter, also referred to as “angular acceleration”) are changed depending on how to flutter. Note that the force generated by the flapping motion changes with the motion of the blade portion, but here, the force of one cycle average of the flapping motion is the force generated by the flapping motion.

(Control parameter)
In the rising and moving apparatus 100 according to the present embodiment, in order for the torque assist mechanism to function properly, the amplitude of the rotation angle θ1 of the upper ultrasonic motor 120, that is, the stroke angle α needs to be fixed. Therefore, in order to control the operation of the rising and moving apparatus 100, the rotation angle θ2 of the lower ultrasonic motor 130 is changed. That is, the rising and moving apparatus 100 changes the flow of the fluid by changing the twist angle β, thereby changing the posture.

  Specifically, the timing of the twisting motion of the blade portion 110 is changed at each end of the flapping motion stroke.

(Change in levitation force in the vertical direction)
As disclosed by Dickinson et al. In the above-mentioned Non-Patent Document 2, as shown in FIG. 33, (1) the blade portion 110 is ahead of the intermediate timing of the flapping motion switching operation, that is, in the first half of the switching operation. As shown in FIG. 34, as shown in FIG. 34, the levitation force increases. On the other hand, as shown in FIG. 34, (2) the blade 110 is twisted after the intermediate timing of the flapping motion, that is, the latter half of the flapping. (Turn delayed turning back), the phenomenon that the levitation force decreases.

(Cancellation of propulsive force in the front-rear direction when the lifting force in the vertical direction changes)
Further, according to the above-described operation (1) shown in FIG. 33, the inventors increase the drag along the wing traveling direction before the turning-back operation, and the operation (2) shown in FIG. Found that the drag would decrease. The fore-and-aft drag generated at the time of launch and the fore-and-aft drag generated at the time of launch are opposite to each other. Therefore, if the launching operation and the descending operation are mirror-symmetric with respect to a plane perpendicular to the front-rear direction, the drag force caused by these operations is canceled and the propulsive force becomes zero. For this reason, the rising and moving apparatus can move only in the vertical direction.

(Change in propulsive force in the longitudinal direction)
On the other hand, if the operation (1) shown in FIG. 33 differs from the operation (2) shown in FIG. 34 in the turn-up at the time of launch and the turn-down at the time of the downstroke, before and after the two operations. Differences occur between directional drags, and propulsion is generated either forward or backward. More specifically, as shown in FIG. 35A, in the second half of the downhill, the forward acceleration is obtained by delayed turn-back, and in the second half of the launch, the forward acceleration is obtained by the preceding turn-back. . On the other hand, similarly, as shown in FIG. 35A, in the latter half of the down stroke, the backward acceleration is obtained by the preceding turn-back, and in the latter half of the launch, the backward acceleration is obtained by the delayed turn-back.

(Cancellation of changes in levitation force when the propulsive force in the front-rear direction changes)
It is possible to cancel the change in acceleration upward and the change in acceleration downward, regardless of whether the forward acceleration or backward acceleration is performed. It is. For this reason, it is possible to obtain only the acceleration in the horizontal direction.

(3D space movement)
As described above, even if the stroke angle α of each of the left and right blade portions 110, that is, the amplitude of θ1, is fixed, only the time history of θ2 is changed, and the timing of turning back of the blade portion 110 in launching By making the timing of turning back at the down stroke different, acceleration in the vertical direction and the front-back direction can be generated in the blade portion 110. Further, by making the acceleration generated in the left blade 110 different from the acceleration generated in the right blade 110, the levitation moving device 100 is tilted to the left or right, and the levitation moving device 100 is moved in the left direction or It becomes possible to turn to the right.

<< Control details >>
Hereinafter, the flapping method described in the above (1) shown in FIG. 33 is referred to as twisting leading back turning (hereinafter simply referred to as “preceding turning back”), and the flapping way described in (2) shown in FIG. It is referred to as twist-delay cutback (hereinafter simply referred to as “delay cutback”), and the flapping method during hovering illustrated in FIG. 22 is referred to as center cutback.

  Moreover, the hovering, the translational motion in the Z-axis direction, and the translational motion in the Y-axis direction are respectively symmetrical. Therefore, the operation of the blade is also symmetrical. For this reason, only the operation of the left blade portion 110 among the left and right symmetrical operations will be described.

<Hovering>
FIG. 22 shows how to flapping during hovering. In FIG. 22, the time history of the rotation angles θ <b> 1 and θ <b> 2 is shown together with the time history of the cross section of the blade part 110. The levitation force at this time is balanced with its own weight, and the propulsive force in the front-rear direction is zero.

<Translation control in the Z-axis direction>
FIG. 33 shows the upward movement along the Z axis, that is, how to flapping for ascent. FIG. 34 shows a downward movement along the Z-axis, that is, a way of flapping for lowering. 33 and 34, the time history of the rotation angles θ1 and θ2 is shown together with the time history of the cross section of the blade portion 110. Note that the left and right blade portions 110 perform mirror-symmetric operations with the YZ plane as the symmetry plane.

  The operation shown in FIG. 33 is the preceding return operation described in (1) above, and the operation shown in FIG. 34 is the delayed return operation described in (2) above. The acceleration in the front-rear direction during these operations is zero as shown in FIG. 35A.

<Translation control in the Y-axis direction>
FIGS. 35B and 36A show a way of flapping for moving forward, and FIGS. 35C and 36B show a way of flapping for moving backward. Note that the left and right blade portions 110 perform mirror-symmetric operations with the YZ plane as a symmetry plane.

  When moving forward, the preceding turning operation described in the above (1) is performed in the turning back in the period including the launch end, and in the turning back in the period including the down end (2) The delayed switching operation described in (1) is performed.

  In the backward movement, the delayed switching operation described in (2) is performed in the switching in the period including the end of the launch, and in the switching in the period including the trailing end, the ( The preceding switching operation described in 1) is performed.

  As described above, the levitation force decreases at the time of delayed turnover, and the levitation force increases at the time of advance turnover. Therefore, in the translational motion in the Y-axis direction, the operations described in the above (1) and (2) It is possible to cancel out the levitation forces generated by. That is, the rising and moving apparatus 100 can move in the front-rear direction while maintaining altitude.

<Rotation control around the Z axis>
In order to rotate in the positive direction around the Z axis, that is, to turn to the left, the left blade portion 110 operates in a manner of flapping for retreating, and the right blade portion 110 operates in a manner of flapping for advancement. do it.

  In order to rotate in the negative direction around the Z-axis, that is, turn rightward, the left blade 110 operates in a manner of flapping for forward movement, and the right blade 110 operates in a manner of flapping for backward movement. do it.

  In any case, as described above, the levitation forces caused by the left and right blade portions 110 can be canceled out, so that the levitation moving apparatus 100 rotates around the Z axis while maintaining the altitude. It is.

<Translation control in the X-axis direction>
In order to move leftward, the right wing 110 may move up and the left wing 110 moves down. As a result, the rising and moving apparatus 1 changes the posture so that the left blade portion 110 is positioned below the right blade portion 110, so that the tip of the levitation force vector is vertically upward. Tilt to the right. Thereby, the force which moves the rising and moving apparatus 100 to the left is generated.

  At this time, since the levitation force may be lowered, it is desirable to perform both the translation control in the X-axis direction and the control for the upward movement in the Z-axis direction.

<Control change method>
As described above, the rising and moving apparatus 100 can freely move in the space by properly using the three types of flapping methods having different turning timings, that is, the preceding turning, the delayed turning, and the center turning.

  Note that all three types of flapping methods with different turning-back timings are performed within a predetermined period from before to after the end of the reciprocating motion of the blade portion 110 in the front-rear direction. Therefore, within a predetermined period from the front to the back of the flapping motion stroke center, that is, within a predetermined period from the front to the rear of the stroke angle α = 0 °, the values of the rotation angles θ1 and θ2 are the speed and acceleration. Including the same. Therefore, as described above, if the flapping method is changed within a period in which the rotation angles θ1 and θ2 are common, the next flapping method is mechanically performed without interpolating the operation of the vane portion 110. By simply selecting, it is possible to smoothly transition from one flapping method to another flapping method without causing discontinuity in the operation of the blade unit 110.

<Control selection>
As described above, if the flapping method is changed in the phase of θ1 = 0 °, as an expression method indicating the flapping state, it is classified as down, up, and turning back at each end. Is not appropriate. It is reasonable to divide the flapping method into two, with the second half of the downhill and the first half of the turn-up and the first half of the downhill as the forward flapping motion, and the second half of the launch and the first half of the turn-up and down-down are the rear flapping motion. is there.

  That is, in the forward flapping motion and the backward flapping motion in the left and right wing portions 110, it is possible to control the flapping manner most simply by selecting the center turning, the leading turning, and the delayed turning, respectively. . Table 2 shows options corresponding to the manner of flapping of the rising and moving apparatus based on the above description.

<Supplementary items>
In this item, an example of a method for realizing the position control most simply is described. However, the flapping method of the present invention is not limited to the flapping method of this item. For example, in the present embodiment, the angular velocities of the rotation angles θ1 and θ2 are substantially constant except for the turn-back period. That is, as shown in FIG. 44, the reciprocating motion of the blade portion 110 includes the up and down motion with a constant angular velocity, and the continuous reversing motion with changing angular velocity, that is, the reciprocating motion direction. It consists of a movement to reverse. The angular velocity of the turn-back motion changes so as to be continuous with the angular velocity of the launch motion and the angular velocity of the down-motion. As this reversing motion, for example, a one-variable trigonometric function or the like can be cited. However, a method of moving the rising and moving apparatus 100 by changing the reaction received from the surrounding fluid by changing the angular velocities of the rotation angles θ1 and θ2 may be used.

  In addition, in this item, for simplicity of explanation, a method is used in which all the flapping methods are expressed by a combination of the three types of turn-back patterns of the blades 110. It is an example of expression, and the flapping method of the present invention is not limited to the flapping method expressed by the above-described method.

  For example, a flapping expression method in which there are many patterns of the rotation angles θ1 and θ2 may be used. That is, a flapping method having a plurality of types of flapping timings for leading and delaying flapping, or a flapping method for expressing flapping that can continuously and freely change the flapping timing may be used. On the contrary, the center cut-back may use a flapping expression method that alternately repeats the preceding cut-back and the delayed cut-back. With such a flapping expression method, it is not necessary to store data for the center cut-back pattern in the memory, so that the number of patterns of the rotation angles θ1 and θ2 can be reduced.

  The time history of the rotation angle θ shown in FIGS. 22 and 33 to 36B is an example of the rotation angle θ of the rising and moving apparatus 100 having the configuration shown in FIGS. 19 and 20. Actually, depending on the mechanism for driving the blade part 110, if various parameters for controlling the mechanism are set so as to realize the preceding turning and the delayed turning of the blade part 110, the rotation angle θ Is not limited to the time history of the rotation angle θ shown in FIGS. 22 and 33 to 36B.

(Position detection sensor)
The position detection sensor 160 is fixed to the main body 101. Therefore, the position and posture measured by the position detection sensor 160 are the position and posture of the rising and moving apparatus 100 itself. As shown in FIG. 37A, the position detection sensor 160 provides the measured position and orientation data to the central processing unit 151 described later. The sensor for realizing such a function changes with the progress of technology and does not relate to the essence of the present invention, and may be any sensor. As an example of a sensor for detecting the above-described posture, a sensor that can detect a change in posture of about 0.5 ° by a combination of magnetism and acceleration is commercially available. For example, position detection can be performed with an error of about 1 m by GPS (Global Positioning System). In recent years, a technique for measuring distances using radio waves used for communication, such as UWB (Ultra Wide Band), has been developed.

(Control circuit)
37A and 37B, the control circuit 150 includes a central processing unit 151 (Central Processing Unit), a driver 152 that drives the upper and lower ultrasonic motors 120 and 130 according to instructions from the central processing unit 151, and a driver A booster circuit 153 for supplying a high voltage to 152 is provided.

<Operation of control circuit>
A motion command is given to the control circuit 150 from the controller 200 operated by the operator 210 via the communication device 170. The operation command is stored in a temporary storage device (hereinafter referred to as “RAM (Random Access Memory)”) 155. The central processing unit 151 obtains flapping data from a fixed storage device (hereinafter referred to as “ROM (Read Only Memory)”) 154 based on the motion command stored in the RAM 155. After that, the central processing unit 151 gives the flapping data to the driver 152. Thereby, the rising and moving apparatus 100 performs either the above-described translational movement in the front / rear, left / right, up / down direction, or rotation about the vertical axis.

<Central processing unit>
The central processing unit 151 outputs a PWM (Pulse Width Modulation) signal and a rotation direction control signal to the driver 152 using the above-described motion command and information in the ROM 154 and RAM 155. Thereby, the ultrasonic motor 120 and 130 operate according to the motion command given by the operator 210 via the controller 200. As a result, a flapping method corresponding to the driving command is realized. Note that the period of the reciprocating motion of the flapping is determined using the repetition timer 156.

<Repetition timer>
The central processing unit 151 includes a repetition timer 156 as shown in FIGS. 37A and 37B. The repetition timer 156 outputs a value of −0.5 to 0.5 as a flapping motion phase ψ to the central processing unit 151 at a repetition period of 50 Hz. However, the phase ψ of the flapping motion is counted up from −0.5, and when the value becomes 0.5, the value of the phase ψ is again counted up from −0.5. Corresponding to one cycle of the repetitive timer 156, the front flapping motion in which the blade portion 110 is positioned forward of the central position of the reciprocating motion, and the backward flapping motion in which the blade portion 110 is positioned rearward of the central position of the reciprocating motion. Each of the exercises is performed. That is, one cycle of the repetition timer 156 corresponds to twice the cycle of the flapping motion. In this embodiment, if the phase ψ is positive, the rising and moving apparatus 100 performs a backward flapping motion, and if the phase ψ is negative, the rising and moving apparatus 100 performs a forward flapping motion. In recent years, many microcontrollers used for device control include a function called auto reload timer, which is almost the same as the repeat timer described in this section. The function of the repeat timer in this section can be realized.

<Flapping data stored in ROM>
The ROM 154 stores flapping data. The flapping data is time history data of the duty ratio of the PWM control signal transmitted to the driver 152. The ultrasonic motors 120 and 130 are applied with a driving voltage having a frequency of 250 KHz and a duty ratio fixed at 50%. On the other hand, as shown in FIG. 38, the duty ratio of the PWM control signal transmitted to the driver 152 is the ON period with respect to the sum of the ON period and the OFF period of the 250 kHz drive voltage with the duty ratio fixed at 50%. It is a ratio.

  That is, the flapping data corresponding to the three modes of the preceding switching, the delayed switching, and the center switching described above is stored in the ROM 154 as the duty ratio of the PWM control signal transmitted to the driver 152 corresponding to the flapping motion phase ψ. Stored in advance. Note that the duty ratio of the PWM control signal transmitted to the driver 152 is indicated by Duty1 (ψ, MODE) and Duty2 (ψ, MODE). However, as shown in Table 2, when −0.5 ≦ ψ <0.5, MODE = 1 is a leading loopback, MODE = 0 is a central loopback, and MODE = −1 is a delayed loopback. To do.

  39 to 41 show the values of Duty 1 and Duty 2 in the center switching, the leading switching, and the delayed switching when the backward switching operation is performed, respectively. However, if Duty 1 and Duty 2 are negative values, it means that the blade portion 110 is moving from the rear to the front with respect to the center position of the reciprocating motion. In the present embodiment, each Duty function is expressed as Duty1 (−ψ) = − 1 × Duty1 (0.5 + ψ) because the flapping operation is symmetric with respect to a plane perpendicular to the front-rear direction. obtain.

  That is, only by code conversion, each Duty value in a region where ψ is negative is calculated using a function of each Duty in a region where ψ is positive. For this reason, the above Duty functions are stored in the ROM 154 only in the area where ψ is positive. According to this, the data amount of each Duty function stored in the ROM 154 can be reduced by half. Therefore, in the present embodiment, only the region where ψ is positive is shown in each Duty function.

  In addition, since the right wing part 110 and the left wing part 110 are mirror-symmetric with respect to the Z axis, the left-handed coordinates obtained by inverting the positive and negative in the X-axis direction of the above-described coordinate system are adopted. If so, Duty 1 and Duty 2 similar to those described above can also be used in the control of the right blade portion 110.

  Further, the graph of the duty 1 of the voltage for driving the upper rotor 122 is the same graph in any of FIGS. 39 to 41, but the graph of the duty 2 of the voltage for driving the lower rotor 132 is It can be seen that the graphs are different in FIGS. Further, as can be seen from FIGS. 22, 33, and 34, the graph of the rotation angle θ1 of the upper rotor 122 is the same even when the flapping method (center turning, leading turning, and delayed turning) is changed. The graph of the rotation angle θ <b> 2 of the lower rotor 132 differs depending on how to flapping (center turning, preceding turning, and delayed turning). According to this, it can be seen that the amplitude of the upper rotor 122 is always fixed at a constant value, but the amplitude of the lower rotor 132 varies depending on how the wings flutter (center turning, preceding turning, and delayed turning).

<Operation of central processing unit>
The central processing unit 151 determines whether the current flapping motion is a forward flapping motion or a backward flapping motion based on the sign of the phase ψ. After that, the central processing unit 151 determines the flapping state based on the data shown in Table 2 stored in the ROM 154, and according to the motion command stored in the RAM 155 obtained by the communication device 170. The value of MODE is determined.

  Further, the central processing unit 151 obtains the values of Duty 1 and Duty 2 stored in the ROM 154 based on the value of the phase ψ described above. The absolute value of this value is the duty ratio of the PWM control signal transmitted to the driver 152. The sign of this value is the rotation direction of each of the upper and lower ultrasonic motors 120 and 130 transmitted to the driver 152. The former is expressed by a command ABS (Duty), for example, and the latter is expressed by a command SIGN (Duty), for example. These commands are built into the microcontroller. Calculations using these commands are easily executed in a general microcontroller.

  Based on the above-described duty ratio, the central processing unit 151 outputs an ON / OFF signal for PWM control corresponding to the flapping method to the driver 152 and a rotation direction control signal corresponding to the positive or negative of the phase ψ. Output to the driver 152.

  In this embodiment, since the resonance frequency of diaphragm 1211 is 250 kHz, for example, if PWM control with a resonance frequency of 2.5 kHz is executed, it is possible to control the ultrasonic motor in 100 steps. is there.

<Driver operation>
The driver 152 rotates / stops and rotates / inverts the ultrasonic motor 120 in accordance with ON / OFF of the PWM control signal and the rotation direction control signal given from the central processing unit 151.

  Since the ultrasonic motor 120 has a self-position holding function, the rotation and stop operations are realized by turning on / off power supply, which will be described later, according to PWM ON / OFF.

  Further, as shown in FIGS. 9 and 13, in the ultrasonic transducer 121, by changing the difference between the phase of the potential φA applied to the back electrode 1217 and the phase of the potential φB applied to the front electrode 1216, A change between positive and negative rotation of the upper rotor 122 can be made.

  The driver 152 receives a PWM signal from the central processing unit 151, controls a circuit that creates data of potentials φA and φB, and high voltage power supplied from the booster circuit 153, and controls the surface electrode 1216 of the ultrasonic transducer 121. And a circuit for applying potentials φA and φB to the back electrode 1217. The former can be easily realized by using a general timer circuit or a CPU (Central Processing Unit), and the latter is realized by using, for example, a half bridge circuit. This can be integrated using CMOS (Complementary Metal Oxide Semiconductor) technology and, as will be described later, can be made smaller and lighter enough to be suitable for flapping flight applications. And are commercially available. According to our experiments, these circuits can be contained in a small package of 3 mm × 3 mm × 0.85 mm, and the weight of the package is about 25 mg.

Generally, the former program is expressed as follows.
: Label
if (PWM = ON) then
if (rotation direction = forward direction) then
φA = 1
φB = 1
φA = 0
φB = 0
end if
if (rotation direction = reverse direction) then
φB = 1
φA = 1
φB = 0
φA = 0
end if
end if
goto label
However, these are examples for simply expressing the operation of the former circuit. In the actual program, timing adjustment is performed so that each of φA and φB becomes a rectangular wave of 250 kHz. Need to be inserted.

<Boost circuit>
The step-up circuit 153 changes the voltage (3 V) of the power source 190 to a voltage of ± 15 V necessary for driving the ultrasonic motor, and applies a voltage of ± 15 V to the driver 152. As the booster circuit 153, a general DC (Direct Current) -DC converter is used. As an example, a small package of 3 mm × 3 mm × 0.85 mm is commercially available. The mass of the booster circuit 153 is about 25 mg.

<Block diagram>
A block diagram of the aforementioned control scheme is shown in FIG. 37A. Since the driving methods of the four ultrasonic motors are the same, FIG. 37A shows only the control system of the upper ultrasonic motor 120 that drives the left blade 110, and the other control systems are omitted. . FIG. 37B is a functional block diagram for explaining the flow of data processing in the flowchart of FIG. 42 described later.

<Control flow chart>
Next, an example of a flowchart for controlling the rising and moving apparatus will be described with reference to FIG. In addition, this flowchart is an example and can be changed by the application of the rising and moving apparatus 100.

  In the following flowchart, the repetition timer 156 operates constantly using the above-described auto reload timer, and in step S1, it is assumed that the process is started from a state where ψ = 0. At this time, it is assumed that α = 0 °.

Step S1 <Determination of floating movement device operation>
The motion command of the operator 210 transmitted from the controller 200 is stored in the RAM 155 via the communication device 170.

Step S2 <Flapping status detection>
The central processing unit 151 recognizes the flapping state at the current time of the rising and moving apparatus 100 based on the data of the value of the phase ψ transmitted from the repetition timer 156. Specifically, if the value of the phase ψ is positive, the central processing unit 151 determines that the rising and moving apparatus 100 is performing the flapping motion, and if the phase ψ is negative, the rising and moving apparatus 100 is Judge that he is flapping forward.

Step S3 <determining flapping mode>
The central processing unit 151 selects the row component of Table 2 according to the motion command, and selects the column component of Table 2 according to the flapping state. Thereby, the central processing unit 151 selects any one of the flapping modes, that is, the value of MODE, from among the center switching, the leading switching, and the delayed switching. Data of the selected flapping mode is stored in the RAM 155.

Step S4 <Duty ratio determination>
The central processing unit 151 determines the duty of the PWM control signal transmitted to the driver 152 from the Duty1 (ψ, MODE) and Duty2 (ψ, MODE) data stored in the ROM 154 based on the flapping mode data. Select the ratio.

Step S5 <Driver Drive>
The central processing unit 151 outputs a rotation direction control signal to the driver 152 according to whether the duty ratio of the PWM control signal is positive or negative, and outputs a PWM signal having the duty ratio to the driver 152. That is, when ABS (A) is an absolute value of A and SIGN (A) is a sign of A, the rotation direction control signal is SIGN (Duty) and the duty ratio is ABS (Duty). Here, Duty means Duty 1 (ψ, MODE) and Duty 2 (ψ, MODE) corresponding to the upper and lower ultrasonic motors 120 and 130.

Step S6 <Ultrasonic motor drive>
The driver 152 applies a rectangular wave voltage having an amplitude of 30V and a frequency of 250 kHz to the front electrode 1216 and the back electrode 1217 in accordance with the rotation direction control signal. These two rectangular waves have a phase difference of ± 90 °. Specifically, the driver 152 applies a rectangular wave potential φB to the surface electrode 1216 of the ultrasonic transducer 121, and applies a rectangular wave potential φA to the back electrode 1217 of the ultrasonic transducer 121. The phase of the rectangular wave potential φA and the phase of the rectangular wave potential φB are shifted by ± 90 °.

Step S7 <Next Flapping Mode Selection>
In the case of ψ = 0 or ψ = −0.5, this means that the flapping state has been changed, so the processing of step S1 is executed again, and the flapping mode is updated including the change of the motion command. The When ψ = 0 or other than ψ = −0.5, the flapping mode is not updated, the process of step S4 is executed, and a new phase ψ is set.

<Supplement>
In addition, the form of the said instruction | command is an example for description to the last, and is not limited to this. For example, a method in which a smooth speed command without a quantization error can be obtained by giving the speed command as an analog signal as a voltage value may be used. In addition, the voltage required for driving the ultrasonic motor can be changed as technology advances. For example, if an ultrasonic motor that can be driven at 3 V or less, which is the drive voltage of the current main TTL (Transistor Transistor Logic) -IC (Integration Circuit) or CPU (Central Processing Unit), is realized, the booster circuit 153 is unnecessary. It becomes.

  Further, in the present embodiment, for the sake of simplicity of explanation, the method of uniquely selecting the flapping method is described without performing feedback control, but simply by the command of the controller 200. However, the control method of the rising and moving apparatus 100 is described. Is not limited to the method described above.

  For example, feedback control may be used in which the central processing unit 151 obtains position and orientation information from the position detection sensor 160 and newly creates a motion command based on the information.

  Further, in this embodiment, for the sake of simplicity of explanation, the explanation is made under the assumption that the rotational speeds of the ultrasonic motors 120 and 130 are uniquely determined according to the duty ratio. In some cases, this assumption may not hold. In this case, the duty ratio may be adjusted with reference to the values of the rotation angles θ1 and θ2 of the upper and lower ultrasonic motors 120 and 130 obtained from the signal of the upper magnetic encoder 126.

  Note that, in the above-described control of the rising and moving apparatus, ideally, it is desirable that the computation time required for controlling the flapping motion for obtaining high mobility is short. The rising and moving apparatus is preferably lightweight. For this reason, it is desirable that the algorithm for controlling the flapping motion is as simple as possible. Considering these, the requirements for a flapping flying device with high mobility are singleness, continuity, selectivity, independence, and simplicity.

  Singleness means that the fluid force generation mechanism can independently change the direction of the fluid force regardless of the posture of the body on which the fluid force generation mechanism is installed. An example of a rising and moving apparatus lacking in isolation is a helicopter in which a rotor is fixed to a fuselage.

  Continuity means that the flapping motion is changed continuously without causing a large acceleration in the trunk.

  Selectivity means that the flapping movement is changed independently regardless of the past flapping movement history. An example of a rising and moving apparatus lacking selectivity is the MFI (Micromechanical Flying Insect) by Ron Fearing et al. Since the blade part is driven by resonance, the flapping method can only be gradually changed over a plurality of periods.

  Independence means that the fluid force generated by the fluid force generation mechanism is not affected by the history of flapping motion changes. Specific scenes lacking independence include the phenomenon of being affected by airflow generated by previous flapping movements.

  Simplicity means that the algorithm for realizing the flapping motion change is as simple as possible.

(Examination of high mobility requirements)
<< Singleness >>
As shown in Table 2, the control of the flapping rising and moving apparatus 100 in the present embodiment is all performed by selecting the timing of the twisting operation of the wings at both ends of the flapping motion. This is not constrained by the posture of the trunk, so that individuality is ensured.

  More specifically, when one of the preceding flapping and the delayed flapping shown in FIGS. 35A, 35B, and 35C is selected, the horizontal component of the acceleration of the blade portion 110 is independently controlled. The horizontal component of the acceleration of the blade portion 110 in one cycle of the flapping motion can be directed either forward or backward. Therefore, the rising and moving apparatus can change the direction of the fluid force by changing only the operation of the blade part 110 without changing the posture of the main body part (body) 101.

<< continuity >>
The above-described twisting, that is, turning-back operation of the blade portion 110 is different only in a specific period including the start point or end point of the reciprocating motion of the blade portion 110 in the flapping motion, and in any flapping manner, the center position of the reciprocating motion of the flapping motion is different. In the predetermined period including, the movement of the blade part 110 is the same. That is, the plurality of types of flapping motions perform a common operation at a timing including the center position of the reciprocating motion. For this reason, even if the flapping method is changed during the flapping motion, if the flapping method is changed at the same timing, the blade portion in the change from one flapping method to another flapping method The behavior of 110 is continuous. In other words, the flapping method is smoothly changed.

  More specifically, in the rising and moving apparatus of the present embodiment, the ROM 154 of the control circuit 150 has a plurality of types of data (see Table 2) for causing the blade section 110 to flutter, and the plurality of types of data To control the actuators (upper and lower rotors 120 and 130). Each of the plurality of types of data can specify the operation of one cycle of the reciprocating motion of the blade unit 110, and the plurality of types of data perform a flapping motion common to the blade unit 110 in a predetermined period of one cycle of the reciprocating motion. It is something to be made. Specifically, the plurality of types of data are three types of data consisting of data for preceding return, data for center return, and data for delayed return, as shown in FIGS. 35B and 35C and Table 2. This is data for making the flapping shown (stopping, ascending, descending, advancing, retreating, moving right, moving left, turning right, and turning left). The control circuit 150 causes the blade unit 110 to perform a flapping motion specified by one of the plurality of types of data in the actuator (rotor 120, 130) in a predetermined period including the center position of the reciprocating motion of the blade unit 110. The control is switched from control to control for causing the blade portion 110 to perform the flapping motion specified by the other data among the plurality of types of data.

  According to said structure, the aspect of flapping motion can be changed, without a discontinuous change arising in the motion of a blade | wing part. Therefore, “continuity” of flapping motion is realized.

  In addition, the flapping portion draws a trajectory different from the flapping motion specified by other data performed in each of two specific periods of one cycle of the reciprocating motion in the flapping motion specified by one data. It is desirable. According to this, the blade | wing part 110 changes sequentially into four types of states at maximum during 1 period of a reciprocating motion. Therefore, the variation of flapping movement becomes abundant.

<< Independence >>
Further, the two specific periods may be shifted from each other by a half cycle. According to this, one specific period and another specific period are repeated with the largest shift in time. Therefore, the influence of the airflow generated due to the flapping motion in one specific period has the smallest effect on the airflow generated due to the flapping motion in the other specific period. Therefore, “independence” in changing the flapping movement is ensured.

  In addition, it is desirable that one and the other of the two specific periods include a timing positioned at one end of the reciprocating motion of the blade portion 110 and a timing positioned at the other end of the reciprocating motion of the blade portion 110, respectively. That is, it is desirable that the turn-back of the blade portion 110 is performed in a period including the end of the reciprocating motion in the front-rear direction. According to this, the position of the blade part 110 in one specific period is farthest from the position of the blade part 110 in another specific period. Therefore, the influence of the airflow generated due to the flapping motion in one specific period has the smallest effect on the airflow generated due to the flapping motion in the other specific period. Therefore, “independence” in changing the flapping movement is ensured.

  That is, in the rising and moving apparatus of the present embodiment, a plurality of types of flapping motions in which the motion of the blade portion 110 is different only during a specific period including both ends of the flapping motion. Therefore, the influence of the behavior of the fluid generated by the previous flapping motion on the current flapping motion is reduced as much as possible. Thereby, independence is realized.

<< Simpleness >>
One direction component of the fluid force generated by the flapping motion in one of the two specific periods and one direction component of the fluid force generated by the flapping motion in the other of the two specific periods are Offset. According to this, the mode of change in the posture of the rising and moving apparatus due to the change of the flapping motion is simplified. As a result, control for bringing the rising and moving apparatus into a desired posture is facilitated. Therefore, “simpleness” in changing the flapping movement is ensured.

  More specifically, in the rising and moving apparatus of the present embodiment, as shown in Table 2, the rising and moving modes of the rising and moving apparatus (stop, rise, descend, advance, retract, move left, move right) , Left turn, right turn) and a flapping method for realizing the mode of rising and moving (combination of preceding turning, center turning, and delayed turning) has a one-to-one correspondence. Therefore, the change of the floating movement mode can be realized by an extremely simple algorithm that only changes the data of the drive duty ratios of the upper and lower ultrasonic motors 120 and 130 corresponding to the manner of flapping. Therefore, simplicity is realized in the rising and moving apparatus of the present embodiment.

  Further, the flapping motion specified by the data for hovering among the plurality of data is to cause the wing portion 110 to perform a reciprocating motion in the front-rear direction that is mirror-symmetrical with respect to a plane including the up-down direction and the left-right direction. The control circuit 150 includes basic data (FIGS. 39, 40, and 41) for moving the blade portion 110 from the center position of the reciprocating motion in the front-rear direction to one end of the reciprocating motion in the front-rear direction, and the reciprocating motion in the front-rear direction. An algorithm or a calculation function unit for converting basic data so as to move the blade portion 110 from the center position of the motion to the other end of the reciprocating motion in the front-rear direction, that is, (Duty1 (−ψ) = − 1 × Duty1 (0 .5 + ψ)). According to this, the control circuit 150 can cause the blade unit 110 to perform a desired flapping motion only by having data for only a half period of one cycle of the flapping motion. Therefore, the memory capacity for storing data in the control circuit 150 can be reduced. As a result, the rising and moving apparatus can be reduced in size and weight.

(Communication device)
The communication device 170 receives information on acceleration required for the rising and moving device 100 from the external controller 200, and gives the information to the central processing unit 151 of the control circuit 150. Further, the communication device 170 transmits image information obtained by the image sensor 180 to the external controller 200.

(Power supply)
The power source 190 as a driving energy source of the present invention may be any power source as long as it has a discharge characteristic capable of supplying necessary power and has a mass that does not hinder flying.

  The power supply 190 used by the present inventors is a lithium ion battery having a mass of 0.7 g, and according to the calculation by the present inventors, 0.6 W can be supplied for about 50 seconds. The power source 190 is provided in the lower part of the main body 101. Therefore, the power source 190 is positioned below the bearing 123, which is the point of action of the fluid reaction force received by the blade portion 110, and autonomously stabilizes the posture of the rising and moving apparatus 100.

  Other power sources include fuel cells, capacitors such as electric double layer capacitors, solar cells, and wired supply. Moreover, these power supplies may be used together. For example, in addition to the lithium ion battery, a solar battery may be provided on the surface of the blade portion 110, and these electric powers may be used together.

(Main unit)
The main body 101 includes a bottom plate 102, an upper plate 103, a frame portion 104 that connects the bottom plate 102 and the upper plate 103, and legs 105 provided on the bottom plate 102.

The bottom plate 102 and the top plate 103 are made of CFRP having a thickness of 0.2 mm, and the frame portion 104 is made of stainless steel having a thickness of 35 μm. The leg 105 is a CFRP hollow pipe having a wall thickness of 40 μm, a length of 10 mm, and a diameter of 0.5 mm.

  The top plate 103 and the bottom plate 102 are also connected by a rotor shaft 124, a support shaft 127, and a main body reinforcing pole 112.

(Image sensor)
The image sensor 180 is a CMOS (Complementary Metal Oxide Silicon) imager, and its mass is 200 mg. Image information acquired by the image sensor 180 is transmitted to the external controller 200 by the communication device 170.

(Probability of ascent)
<Mass>
According to the calculation by the present inventors, the levitation force generated by one blade portion is 1.2 gf. Therefore, the levitation force generated by the two blade portions is 2.4 gf. Table 3 shows the mass of each component. As shown in Table 3, since the total mass of the rising and moving apparatus 100 is 2.17 g, and this value is smaller than the above-described floating force 2.4 gf, the rising and moving apparatus 100 can rise.

<Power consumption>
According to the calculations by the present inventors, the mechanical power required for the wing portion of the rising and moving apparatus 100 to generate a flying force of 1.2 gf is a maximum of 40 mW for both the upper and lower ultrasonic motors 120 and 130. The energy conversion efficiency of each ultrasonic motor is 33%. Therefore, the maximum power required for levitation is about 120 mW per ultrasonic motor, and the sum of those powers is 480 mW. Since the total efficiency of the driver 152 and the booster circuit 153 is about 85%, the power required for driving the four ultrasonic motors is 565 mW at the maximum.

  The power consumption of the central processing unit 151 is 5 mW. The power consumption of the magnetic encoder 126 is 5 mW. The power consumption of the position detection sensor 160 is 5 mW. The power consumption of the image sensor 180 is 15 mW. The power consumption of the communication device 170 is 5 mW.

The sum total of these electric powers is a maximum of 600 mW, and is a value within the range of the power supply 190. Therefore, the rising and moving apparatus 100 can float using only the power supplied from the built-in power source 190. Therefore, the rising and moving apparatus 100 can be a stand-alone robot that can fly and fly independently without receiving power from the outside.

<Another embodiment>
A rising and moving apparatus according to another embodiment of the present invention will be described with reference to FIGS. The rising and moving apparatus according to another embodiment has the same configuration as the rising and moving apparatus according to the above-described embodiment except for the matters described below. In addition, in the comparison with another embodiment and the above-mentioned embodiment, since the site | part to which the same referential mark is attached | subjected has the same structure and function, the description is not repeated.

<Configuration and operating principle>
FIG. 45 is a diagram showing a torque assist mechanism of the rising and moving apparatus according to another embodiment of the present invention.

  The upper ultrasonic motor 120 is fixed to the upper ultrasonic motor base plate 383, and the upper ultrasonic motor base plate 383 is connected to the main body 101 at a fixing point 382 through a spring 381. Further, the predetermined portion of the upper ultrasonic motor base plate 383 is a circle in a plan view of the main body 101 so as to move on an arc-shaped locus with the rotor shaft 124 schematically shown on the left side in FIG. It is constrained by an arc-shaped inner wall. The spring constant of the spring 381 is the same as that of the above-described embodiment.

  The energy stored in the spring 381 changes according to the drag received from the fluid in the space where the rising and moving apparatus flutters. Therefore, energy is stored in the spring 381 in the first half of each turn-back of the reciprocating motion for flapping. In addition, in the latter half of each turn-back of both ends of the reciprocating motion for flapping, the moving direction of the wing is reversed, so that the energy stored in the spring 381 is supplied to the actuator 122.

  According to such a configuration, energy accumulation and supply are always realized at both ends of the flapping motion regardless of the amplitude of the stroke angle α for flapping. Therefore, the rotary motion of the upper and lower ultrasonic motors is assisted by the spring 381 without performing any special device.

  FIG. 45 is a diagram schematically illustrating the energy storage / donating mechanism for the sake of simplicity of explanation, and the shapes of the upper ultrasonic motor base plate 383, the spring 381, and the like function as the energy storage / donating mechanism. Anything can be used as long as it is possible. In addition, the predetermined part of the upper ultrasonic motor base plate 383 has an arcuate locus as described above in order to maintain a constant contact angle between the upper rotor 122 and the upper ultrasonic vibrator 121. However, the predetermined part of the upper ultrasonic motor base plate 383 may draw any trajectory as long as the change value of the contact angle between the upper rotor 122 and the upper ultrasonic vibrator 121 is within the allowable range. You may move. For example, as shown in FIG. 46, the predetermined portion of the upper ultrasonic motor base plate 383 may move so as to draw a linear locus. According to this, the structure of the inner wall of the main body 101 is simplified.

  In addition, as shown in FIG. 47, by using a leaf spring 384 having a fixed end 385 in the vicinity of the center point of the rotor shaft 124, the predetermined position of the upper ultrasonic motor base plate 383 draws an arc-shaped locus. In addition, the energy storage of the actuator and the energy supply to the actuator can be realized while restraining the movement of the upper ultrasonic motor base plate 383. According to this, it is possible to perform both functions of restraining movement of the upper ultrasonic motor base plate 383 and storing and supplying energy with a very simple structure. For convenience of drawing, the upper rotor 122 and the rotor shaft 124 are not shown in FIG. 47, but they are located at the same positions as the upper rotor 122 and the rotor shaft 124 shown in FIGS. Is provided.

(Still another embodiment)
The ultrasonic actuator (ultrasonic motor) shown in FIGS. 9 to 14B may be replaced by the following ultrasonic transducer. The names and symbols given to the ultrasonic transducers of the present embodiment shown below are different from the names and symbols given to the ultrasonic actuators (ultrasonic motors) of the above-described embodiments. However, the ultrasonic transducer according to the present embodiment has the same function as the ultrasonic actuator (ultrasonic motor) according to the above-described embodiment, and the name and the code are appropriately converted so that the above-described implementation is performed. It shall be incorporated in the rising and moving apparatus of the form.

  Note that the ultrasonic transducer in the present embodiment is designed so that the resonance frequency of the stretching vibration and the resonance frequency of the bending vibration substantially coincide with each other.

  “The resonance frequency of the stretching vibration and the resonance frequency of the bending vibration are substantially the same” means that the resonance frequency of the stretching vibration and the bending vibration are such that the driving force required for each product can be obtained. Means that the resonance frequency of the stretching vibration and the resonance frequency of the bending vibration do not need to be completely the same value.

  Hereinafter, with reference to FIG. 48 to FIG. 66, the adjustment method of the ultrasonic transducer according to the embodiment of the present invention and the ultrasonic transducer used therein will be described. In the present specification, the vibration node means a region where the amplitude is substantially zero when only the vibration is generated. For example, a node of stretching vibration means a region where the amplitude of the main plate portion of the diaphragm is substantially zero when only stretching vibration occurs, and a node of bending vibration means only bending vibration. This means a region where the amplitude of the main plate portion of the diaphragm is substantially zero. The state where the amplitude is substantially zero includes a state where the ultrasonic transducer vibrates with an amplitude that is negligible for driving the driven body.

  Hereinafter, the method for adjusting the vibration characteristics of the ultrasonic transducer according to the first embodiment of the present invention and the ultrasonic transducer used therefor will be described with reference to FIGS. 48 to 60.

  The ultrasonic transducer of the present embodiment is one of two types of vibrations necessary for the above-described operation even after the ultrasonic transducer 1 that operates by combining a plurality of vibrations is assembled. It is possible to adjust the characteristics of one vibration independently of the other vibrations.

<Overall configuration>
First, the ultrasonic motor 1000 according to the embodiment of the present invention will be described with reference to FIG. FIG. 48 is a plan view of the ultrasonic motor 1000. As shown in FIG. 48, the ultrasonic motor 1000 includes the ultrasonic vibrator 1 and the rotor 2 rotated by the ultrasonic vibrator 1. The rotor 2 is an example of a driven body of the present invention. Therefore, the driven body is not limited to the rotating body, and may be another operation.

  The ultrasonic vibrator 1 has a diaphragm 7. The diaphragm 7 has a supporting protrusion 3. A through hole 50 is provided in the supporting protrusion 3. The shaft 5 passes through the through hole 50. The shaft 5 is fixed to the support 4 as shown in FIG. The outer peripheral surface of the rotor 2 is in contact with one corner S of the four corners of the main plate portion 6. Although the rotor 2 is rotatably supported by the support body 4, the mechanism for that is not shown in figure.

  The ultrasonic vibrator 1 is provided with electrodes 9, 10, 11, 12, 17 and a piezoelectric element 8. The electrodes 9, 10, 11, 12, and 17 are electrically connected to a control device (not shown) so that a predetermined signal can be inputted.

In the ultrasonic transducer 1 of the present embodiment, when a signal is input to the electrodes 9, 10, 11, 12, and 17, the piezoelectric element 8 vibrates. The vibration of the piezoelectric element 8 is transmitted to the main plate portion 6 of the diaphragm 7. As a result, the diaphragm 7 vibrates so that the corner portion S of the main plate portion 6 draws an elliptical orbit E. As a result, the rotor 2 in contact with the corner S moves along the circular path C. That is, the rotor 2 rotates around its rotation center axis.

<Ultrasonic transducer>
Next, the structure of the ultrasonic transducer 1 will be described in more detail with reference to FIGS. 49 and 50. 49 and 50 are a perspective view and an exploded perspective view of the ultrasonic transducer 1, respectively.

  As shown in FIGS. 49 and 50, the ultrasonic transducer 1 has a diaphragm 7. The diaphragm 7 includes a supporting protrusion 3 fixed to the shaft 5 and a main plate 6 that is formed integrally with the supporting protrusion 3 and rotates the rotor 2 by vibration.

  The main plate portion 6 is a flat plate member having a substantially rectangular planar shape having a width of 2 mm, a length of 9 mm, and a thickness of 0.2 mm. Further, the supporting protrusion 3 protrudes from the long side of the main plate 6 so as to extend from the center position of the long side of the main plate 6 along the short side direction of the main plate 6, and has a width of 1 mm and a length of 2 A flat plate-like member having a substantially rectangular planar shape with a thickness of 15 mm and a thickness of 0.2 mm.

  The supporting protrusion 3 is provided with a circular through hole 50 having a diameter of 0.6 mm. The diameter of the through hole 50 is 0.6 mm, which is the same as the diameter of the shaft 5. The distance from the center position of the long side of the main plate portion 6 to the center point of the through hole 50 is 1.0 mm. The piezoelectric element 8 is attached to each of the front and back surfaces of the main plate portion 6. The piezoelectric element 8 is a flat plate member having a rectangular planar shape with a width of 2 mm, a length of 8 mm, and a width of 0.2 mm. Further, the piezoelectric element 8 is fixed to the main plate part 6 via the electrode 17 so that the long side of the piezoelectric element 8 and the long side of the main plate part 6 coincide.

  The dimensions and shapes of the diaphragm 7 and the piezoelectric element 8 are not limited to the above dimensions and shapes, and may be other dimensions and shapes. Moreover, the material of the diaphragm 7 is not particularly limited, but is preferably a conductive material such as stainless steel. Moreover, although the support protrusion part 3 and the main plate part 6 may be formed of separate members, it is desirable that they are integrally formed of one member.

  The piezoelectric element 8 is made of lead zirconate titanate (PZT), but may be made of any material as long as the element vibrates when a voltage is applied. On one main surface of the piezoelectric element 8, electrodes 9, 10, 11, and 12 are attached. The electrodes 9, 10, 11, and 12 are flat members having the same rectangular planar shape. The electrodes 9, 10, 11, and 12 are provided in each of the four rectangular regions if one main surface of the piezoelectric element 8 is divided into substantially the same four rectangular regions. A substantially rectangular electrode 17 is provided on the other main surface of the piezoelectric element 8. The electrode 17 is a flat plate member having the same rectangular planar shape as the other main surface of the piezoelectric element 8.

  In the ultrasonic transducer 1 of the present embodiment, the two piezoelectric elements 8 are respectively provided on one main surface and the other main surface of the main plate portion 6 via electrodes 17.

  The two electrodes 17 are fixed to one main surface and the other main surface of the main plate portion 6 so that the long side direction thereof coincides with the long side direction of the main plate portion 6. The two electrodes 17 are each bonded to the main plate portion 6 with a conductive adhesive such as silver paste.

Note that the electrode 17 may not be provided between the piezoelectric element 8 and the main plate portion 6 as long as the piezoelectric element 8 and the main plate portion 6 are bonded by a conductive adhesive. In this case, the conductive adhesive serves as the electrode 17. In particular, when the main plate portion 6 is made of a conductive material such as stainless steel as in the ultrasonic vibrator of the present embodiment, a signal of 0 V is always input to the electrodes 17 of the two piezoelectric elements 8 respectively. Therefore, if the piezoelectric element 8 and the main plate portion 6 are joined by a conductive adhesive, the main plate portion 6 can be formed even if the electrode 17 is not provided between the piezoelectric element 8 and the main plate portion 6. It can serve as the electrode 17.

  Further, the piezoelectric element 8 attached to one main surface of the diaphragm 7 and the electrodes 9, 10, 11, 12, and 17 attached to the piezoelectric element 8 and the other main surface of the diaphragm 7 are attached. The piezoelectric element 8 and the electrodes 9, 10, 11, 12, and 17 attached to the piezoelectric element 8 are arranged mirror-symmetrically in the thickness direction of the diaphragm 7. Therefore, the vibration characteristic of the piezoelectric element 8 on one main surface of the diaphragm 7 and the vibration characteristic of the piezoelectric element 8 on the other main surface of the diaphragm 7 are substantially the same. Therefore, the diaphragm 7 of the present embodiment vibrates in the in-plane direction. Further, since the main plate portion 6 of the diaphragm 7 is rectangular, the corner portion S of the diaphragm 7 vibrates elliptically in the above-described in-plane direction.

  If the object of the present invention can be achieved, the piezoelectric element 8 and the electrodes 9, 10, 11, 12, and 17 attached to one main surface of the diaphragm 7, and the diaphragm 7 The piezoelectric element 8 and the electrodes 9, 10, 11, 12, and 17 attached to the other main surface may have an asymmetric structure or may be asymmetrically arranged.

  Next, a method for driving the ultrasonic transducer 1 of the present embodiment will be described with reference to FIGS.

  When the ultrasonic transducer 1 is driven, a predetermined signal is input to the electrodes 9, 10, 11, 12, and 17 from a control device (not shown) provided outside. A signal (applied voltage) input to the electrodes 9, 10, 11, 12, and 17 positioned on one main surface side of the diaphragm 7 is positioned on the other main surface side of the diaphragm 7. The signals (applied voltages) input to the electrodes 9, 10, 11, 12, and 17 are input mirror-symmetrically via the main plate 6. However, if the object of the present invention can be achieved, a signal (applied voltage) input to the electrodes 9, 10, 11, 12, and 17 positioned on one main surface side of the diaphragm 7 and The signal (applied voltage) input to the electrodes 9, 10, 11, 12, and 17 positioned on the other main surface side of the diaphragm 7 may be asymmetric.

  As shown in FIG. 50, the electrode 9 and the electrode 12 are connected, and the same signal (φ1) is input. The electrode 10 and the electrode 11 are connected, and the same signal (φ2 ) Is entered. Therefore, the signals input to the electrodes 9, 10, 11, and 12 have four modes (A), (B), (C), and (D) as shown in FIG. . In FIG. 51, the entire outer shape of the electrodes 9, 10, 11, and 12 in a non-vibrating state is drawn by a broken line, and the electrodes 9, 10, 11, and in a state of stretching vibration or bending vibration are drawn. Each of the 12 shapes is drawn with a solid line. As shown in FIG. 52, the signals input to the electrode 9 and the electrode 11 and the signals input to the electrode 10 and the electrode 12 have a difference of 90 degrees in their phases. Has amplitude and frequency.

  The main plate portion 6 of the ultrasonic transducer 1 described above performs vibration in combination with the stretching vibration shown in FIG. 53 and the bending vibration shown in FIG. According to the expansion and contraction vibration shown in FIG. 53, the main plate portion 6 of the diaphragm 7 is compressed or expanded in the long side direction as indicated by the white arrow. Thereby, the corner | angular part S vibrates in a long side direction. On the other hand, according to the bending vibration shown in FIG. 54, the diaphragm 7 changes from one S-shape to another S-shape that is mirror-symmetrical to it. Thereby, the corner | angular part of the main-plate part 6 of the diaphragm 7 vibrates in a short side direction, as shown by the white arrow.

  When the main plate portion 6 vibrates and contracts, as can be seen from FIG. 51, since the amplitude in the long side direction is extremely large relative to the amplitude in the short side direction, the corner portion S substantially vibrates in the long side direction. However, when the main plate portion 6 is bent and vibrated, the difference between the amplitude in the long side direction and the amplitude in the short side direction is not so large, so the corner portion S is actually inclined according to the electrode shape. Vibrate in the direction.

  When a voltage that changes at the same frequency as the resonance frequency of the stretching vibration is applied to each of the electrodes 9, 10, 11, and 12 in the same phase, the main plate portion 6 moves in the direction indicated by the arrow in FIG. , Perform stretching vibration. In addition, a voltage (positive) that changes at the same frequency as the resonance frequency of the bending vibration is applied to each of the electrodes 9 and 11 in the same phase, and a voltage (negative) having an opposite phase to the electrodes 9 and 11 is applied to the electrodes. When applied to each of 10 and 12, the main plate portion 6 performs bending vibration as indicated by arrows in FIG. A reference potential (0 V) is always applied to each of the two electrodes 17.

  In FIGS. 53 and 54, the position X of the expansion vibration node and the position Y of the bending vibration node are indicated by hatching, respectively. The vibration node is a position in the main plate 6 where the amplitude is substantially zero. The shape of the electrode is not limited to a rectangle, and any shape may be used as long as the ultrasonic transducer 1 can generate both stretching vibration and bending vibration.

  Further, according to the conventional ultrasonic vibrator 1, the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration are not substantially the same as shown in FIG. 55, that is, shifted by Δφ. It is extremely difficult to reduce the deviation Δφ. This is because in adjusting the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration, one of them could not be changed independently of the other.

  However, according to the structure of the ultrasonic transducer 1 of the present embodiment, it is easy to reduce the deviation Δφ for the following reason. According to the structure of the ultrasonic transducer 1 described above, as shown in FIG. 53, the supporting projection 3 is provided at the position X of the node of the stretching vibration. If at least one of the physical quantities of the structure of the supporting protrusion 3 such as the shape, rigidity, mass, and internal stress is changed, the flexural vibration is not changed without changing the vibration characteristics of the stretching vibration. Characteristics can be changed. Therefore, it is easy to substantially match the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration.

  A voltage having the same frequency as the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration is applied to the electrodes 9 and 11, and the electrodes 9 and 11 have the same frequency and the phase is +90 degrees. A shifted voltage is applied to the electrodes 10 and 12. Thereby, stretching vibration and bending vibration are alternately generated every quarter of one cycle of the AC voltage input to the electrode. As a result, the corner portion S of the main plate portion 6 that is in contact with the rotor 2 performs elliptical vibration as indicated by the reference symbol E in FIG.

  When a voltage having the same frequency as that of the electrodes 9 and 11 and a phase shifted by −90 degrees is applied to the electrodes 10 and 12, an ellipse in the direction opposite to the direction indicated by the reference symbol E in FIG. Vibration occurs. In addition, if the phase of one of the signals input to the electrodes 9 and 11 and the electrodes 10 and 12 changes by 180 degrees with the rotor 2 rotating in a certain direction, the ultrasonic transducer The rotation direction of the rotor 2 in contact with the corner portion S of 1 is reversed.

  As shown in FIG. 56, the ultrasonic transducer 1 is located at or near the position Y of the bending vibration node shown in FIG. 54 and the expansion vibration shown in FIG. You may have the adjustment protrusion 20 for adjusting a vibration characteristic in positions other than the position Y of a node, or its vicinity. However, the adjustment protrusion 20 may be formed as a part of the piezoelectric element 8 or the diaphragm 7 or may be formed by adding another material to the piezoelectric element 8 or the diaphragm 7.

  According to the ultrasonic transducer 1 having the structure shown in FIG. 56, the adjustment protrusion 20 is ground or heated, or some member is added to the adjustment protrusion 20, so that the resonance frequency b of bending vibration is obtained. The resonance frequency a of the stretching vibration can be changed without changing the value. Therefore, the phase shift between the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration can be easily reduced.

<Method for adjusting vibration characteristics of ultrasonic transducer>
In the ultrasonic motor 1000, in order to obtain the maximum driving efficiency, the ultrasonic vibrator 1 is assembled and assembled at a predetermined position of the ultrasonic motor 1000, and the resonance frequency a of the stretching vibration and the bending vibration. It is necessary that the resonance frequency b substantially matches. However, even in the ultrasonic vibrator 1 designed so that the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration substantially coincide with each other, an error in the dimensions of the piezoelectric element 8 or the diaphragm 7, piezoelectricity Due to factors such as errors in alignment between the element 8 and the diaphragm 7 and errors in the dimensions of the electrodes, as shown in FIG. 55, the ultrasonic transducer actually assembled and assembled in the ultrasonic motor 1000 is assembled. There may be a deviation Δφ between the resonance frequency a of the stretching vibration 1 and the resonance frequency b of the bending vibration. In FIG. 55, the horizontal axis indicates the frequency f (= 1 / T), and the vertical axis indicates the amplitude of the vibration in the long side direction of the stretching vibration and the amplitude F of the vibration in the short side direction of the bending vibration.

  FIG. 57 shows the result of the simulation performed by the present inventor, and shows the change in the length L1 of the supporting protrusion 3 and the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration of the ultrasonic vibrator 1. Showing the relationship. As shown in FIG. 57, as the length L1 of the supporting protrusion 3 increases, the resonance frequency b of the bending vibration of the ultrasonic transducer 1 decreases approximately linearly, but the stretching vibration is reduced. The resonance frequency a is substantially constant.

  The portions shown by hatching in FIGS. 53 and 54 correspond to the node position X of the stretching vibration and the node position Y of the bending vibration. The supporting protrusion 3 is provided at a position X of the expansion / contraction vibration node generated in the main plate 6 or a position in the vicinity thereof, and is provided at a position away from the position Y of the bending vibration node or in the vicinity thereof. ing. Therefore, when the length L1 of the supporting protrusion 3 is changed, the resonance frequency a of the stretching vibration does not change, but the resonance frequency b of the bending vibration changes.

  After the ultrasonic vibrator 1 is attached to a predetermined position of the ultrasonic motor 1000, the shape and mass thereof can be changed by grinding the supporting protrusion 3. Thereby, only the resonance frequency b of the bending vibration can be adjusted in a state where the resonance frequency a of the stretching vibration is substantially constant. As a result, it becomes easy to substantially match the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration. Further, instead of changing the shape and mass of the support protrusion 3, the resonance frequency a of the stretching vibration can be kept constant by changing the physical properties such as rigidity of the support protrusion 3 by heat treatment such as annealing. In this state, it is easy to adjust the resonance frequency b of the bending vibration.

  Next, a method for adjusting the vibration characteristics of the ultrasonic transducer 1 by cutting the open end of the support protrusion 3, that is, by changing the shape and mass of the support protrusion 3 will be specifically described. Is done.

  When the assembly is performed and the resonance frequency b of the bending vibration of the ultrasonic vibrator 1 assembled at a predetermined position of the product is lower than the resonance frequency a of the stretching vibration, the resonance frequency a of the stretching vibration and the bending vibration In order to substantially match the resonance frequency b, it is necessary to increase the resonance frequency b of the bending vibration to the resonance frequency a of the stretching vibration.

In the present embodiment, as shown in FIG. 58, the open end of the support protrusion 3 is scraped and the support protrusion 3 is shortened to increase the resonance frequency b of the bending vibration, thereby causing the stretching vibration. It is made to correspond to the resonance frequency a. According to this method, it is possible to easily adjust the vibration characteristics of the ultrasonic transducer 1. In addition, since the support protrusion 3 is not ground between the through hole 50 of the shaft 5 and the main plate portion 6, the vibration characteristics of the ultrasonic transducer 1 are maintained while the strength of the support protrusion 3 is maintained. Can be adjusted.

  In addition, as shown in FIG. 49, a recess 55 is provided at each of two positions separated by the same distance from the center position of the through hole 50 provided in the support protrusion 3, and the shape of the support protrusion 3 is formed. And the mass may be varied. According to this, only the resonance frequency b of the bending vibration can be changed without changing the resonance frequency a of the stretching vibration.

  Further, as shown in FIG. 55, the two concave portions 55 are formed by grinding at positions that are opposed to each other through the center position of the through hole 50 and that are at an equal distance from the center position of the through hole 50. The Accordingly, it is possible to change the resonance frequency of the bending vibration by reducing the moment of inertia in the bending vibration. In addition, when the recessed part 55 becomes large too much by grinding, a vibration characteristic may be adjusted again by embedding a certain member in the recessed part 55. FIG.

  Next, a method of adjusting the vibration characteristics of the ultrasonic transducer 1 by changing the rigidity of the support protrusion 3 by heating the support protrusion 3 will be described. After the supporting protrusion 3 is heated to about 700 degrees using a heating device (not shown), it is naturally cooled. Thereby, the rigidity of the support protrusion 3 is reduced. When the rigidity of the supporting protrusion 3 is reduced, the resonance frequency b of the bending vibration of the ultrasonic transducer 1 is reduced. Further, when the supporting protrusion 3 is heated to about 700 degrees by the heating device and then rapidly cooled in water, the rigidity of the supporting protrusion 3 increases, and the bending vibration of the ultrasonic vibrator 1 is increased. The resonance frequency b increases. As a heating device, it is desirable to use a device that can locally heat only the supporting protrusion 3 such as a laser. Further, the heating temperature needs to be equal to or higher than the transformation temperature of the material of the supporting protrusion 3. When stainless steel is used as the material of the diaphragm 7, the heating temperature is desirably about 700 degrees.

  Next, a method for adjusting the vibration characteristics of the ultrasonic transducer 1 by mounting the weight 13 on the support protrusion 3, that is, by adding a material having a predetermined mass to the support protrusion 3 will be described. .

  As shown in FIG. 60, when the stainless steel weight 13 is bonded to the support protrusion 3, the mass of the support protrusion 3 increases. When the mass of the support protrusion 3 increases, the moment of inertia of the support protrusion 3 in bending vibration increases. Therefore, the resonance frequency b of the bending vibration of the ultrasonic vibrator 1 can be reduced. However, the material of the weight 13 is not limited to stainless steel and may be any material.

  Similar to the above-described supporting protrusion 3, the bending vibration is also affected by causing a change in at least one of the shape, rigidity, mass, and internal stress of the adjusting protrusion 20 shown in FIG. It becomes easy to change only the resonance frequency b of the stretching vibration without changing the resonance frequency a.

(An ultrasonic transducer according to another example of the embodiment)
<Overall configuration>
In the ultrasonic transducer of the present embodiment, the same components as those of the ultrasonic transducer of the first embodiment are the same as the reference numerals assigned to the ultrasonic transducer 1 of the first embodiment. Reference numerals are given and the description will not be repeated unless otherwise required.

Also in the present embodiment, the vibration characteristics of the ultrasonic transducer 1 can be easily adjusted even after the ultrasonic transducer 1 is assembled.

  FIG. 61 is a plan view of ultrasonic motor 1000 of the present embodiment. As shown in FIG. 61, the ultrasonic motor 1000 of the present embodiment includes an ultrasonic transducer 1 and a rotor 2.

  The ultrasonic transducer 1 according to the present embodiment is substantially the same as the ultrasonic transducer 1 according to the first embodiment described with reference to FIGS. 48 to 55, but a supporting protrusion via the main plate 6. 3 is different from the ultrasonic transducer 1 of the first embodiment in that the pressing protrusion 14 is provided so as to oppose to the ultrasonic transducer 1. One end of a linear rubber 15 is bonded to the pressing protrusion 14. The other end of the linear rubber 15 is fixed to a pressing mechanism provided outside (not shown). The linear rubber 15 pulls the pressing protrusion 14 against the pressing mechanism by the contraction force. Accordingly, the force with which the corner portion S of the ultrasonic transducer 1 presses the outer peripheral portion of the rotor 2 can be adjusted. That is, the contact force between the ultrasonic transducer 1 and the rotor 2 is adjusted by adjusting the contraction force of the linear rubber 15.

  Also in the ultrasonic motor 2 of the present embodiment, as in the ultrasonic motor 1000 of the first embodiment, signals are sent to electrodes 9, 10, 11, 12, and 17 provided in the ultrasonic transducer 1 described later. Entered. Thereby, the corner | angular part S of the main board part 6 contact | abutted to the outer peripheral surface of the rotor 2 moves drawing the elliptical orbit E shown in FIG. As a result, the rotor 2 rotates around the rotation center axis along the circular orbit C.

<Ultrasonic transducer>
FIG. 62 shows a perspective view of the ultrasonic transducer 1 of the present embodiment. Of the constituent elements of the ultrasonic transducer 1, the shape, dimensions, arrangement, and constituent materials of the main plate portion 6, the piezoelectric element 8, the electrodes 9, 10, 11, 12, and 17 are the ultrasonic waves of the embodiment. Since it is the same as that of the vibrator 1, its description will not be repeated.

  However, in the present embodiment, the through hole 50 and the shaft 5 are not fixed. Therefore, the shaft 5 can rotate around its axis in the through hole 50 provided in the supporting protrusion 3. More specifically, the supporting protrusion 3 is restricted from moving in the direction in which the shaft 5 extends, but can rotate around the rotation center axis along the direction in which the shaft 5 extends. In addition, the axial movement of the shaft 5 of the supporting protrusion 3 is prevented from moving along the axial direction of the shaft 5 on each of the upper side and the lower side of the supporting protrusion 3. A restraining member (not shown) is provided. The pressing protrusion 14 has a substantially rectangular shape with a width of 1 mm and a length of 2.5 mm.

  In addition, since the driving method of ultrasonic transducer 1 of the present embodiment is the same as the driving method of ultrasonic transducer 1 of the first embodiment, description thereof will not be repeated.

  Further, as the structure of the ultrasonic transducer 1, the structure shown in FIG. 63 may be adopted. In the structure shown in FIG. 63, at least one of the positions in the vicinity of the position X of the bending vibration node shown in FIG. 53 and away from the position Y of the stretching vibration node shown in FIG. The adjustment protrusion 20 is provided at a position of the piezoelectric element 8 or the main plate 6 even if the adjustment protrusion 20 is a part of the piezoelectric element 8 or the main plate 6. It may be added.

<Method for adjusting vibration characteristics of ultrasonic transducer>
FIG. 64 shows a simulation result performed by the inventors of the present application. The length L2 of the pressing protrusion 14 of the ultrasonic transducer 1, the resonance frequency a of the stretching vibration of the ultrasonic transducer 1, and the bending vibration are shown. The relationship with the resonance frequency b is shown. As shown in FIG. 64, as the length L2 of the pressing protrusion 14 is increased, the resonance frequency b of the bending vibration of the ultrasonic transducer 1 decreases approximately linearly. a is almost constant.

  The pressing projection 14 is provided at the position X of the expansion vibration node generated in the main plate 6 or in the vicinity thereof, and at a position away from the position Y of the bending vibration node or the vicinity thereof. Therefore, when the length L2 of the pressing protrusion 14 is changed, the resonance frequency b of the bending vibration can be changed without changing the resonance frequency a of the stretching vibration.

  After the ultrasonic vibrator 1 is attached to a predetermined position of the ultrasonic motor 1000, the shape and mass of the pressing projection 14 are changed, so that the resonance frequency a of the stretching vibration is substantially constant and the bending vibration By adjusting only the resonance frequency b, the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration can be substantially matched.

  It is also possible to adjust the resonance frequency of the bending vibration by changing the physical properties of the pressing protrusion 14 such as rigidity using a technique such as annealing.

  Next, there is a specific method of adjusting the vibration characteristics of the ultrasonic transducer 1 by grinding the tip of the pressing projection 14 to change the shape and mass of the pressing projection 14 of the ultrasonic transducer 1. Will be explained.

  When the resonance frequency b of the bending vibration of the ultrasonic vibrator 1 assembled and installed at a predetermined position is lower than the resonance frequency a of the stretching vibration, the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration Therefore, it is necessary to increase only the resonance frequency b of the bending vibration so as to substantially match the resonance frequency a of the stretching vibration. As shown in FIG. 65, when the length L2 of the pressing protrusion 14 is shortened by grinding the tip of the pressing protrusion 14, the resonance frequency a of the stretching vibration is constant and the resonance frequency of the bending vibration is constant. b increases. Therefore, it is easy to substantially match the resonance frequency b of the bending vibration with the resonance frequency a of the stretching vibration.

  Next, a method of adjusting the vibration characteristics of the ultrasonic transducer 1 by applying heat treatment to the pressing projection 14 to change the rigidity of the pressing projection 14 of the ultrasonic transducer 1 will be described.

  The pressing protrusion 14 is heated to about 700 degrees using a heating device. Thereafter, natural cooling is performed. As a result, the rigidity of the pressing protrusion 14 is reduced. When the rigidity of the pressing projection 14 is reduced, the resonance frequency b of the bending vibration of the ultrasonic vibrator 1 is lowered.

  Further, when the pressing protrusion 14 is heated to about 700 degrees using a heating device and then rapidly cooled in water, the rigidity of the pressing protrusion 14 increases, and the ultrasonic transducer 1. The resonance frequency b of the bending vibration increases.

  As the heating device, it is desirable to use a device such as a laser that can locally heat only the pressing protrusion 14. The heating temperature needs to be equal to or higher than the transformation temperature of the material of the pressing protrusion 14. Therefore, when stainless steel is used as the material of the pressing protrusion 14, it is desirable that the pressing protrusion 14 is heated at a temperature of about 700 degrees.

  Next, a method of adjusting the vibration characteristics of the ultrasonic vibrator 1 by changing the mass of the pushing protrusion 14 of the ultrasonic transducer 1 when the weight 13 is mounted on the pressing projection 14 will be described. The

As shown in FIG. 66, when the stainless weight 13 is bonded to the pressing protrusion 14,
The resonance frequency b of the bending vibration is lowered while the resonance frequency a of the stretching vibration is constant. In addition, the material of the weight 13 is not limited to stainless steel, and may be a material other than stainless steel.

  Similarly to the support protrusion 3, by changing at least one of the shape, rigidity, and mass of the adjustment protrusion 20 shown in FIG. 63, the resonance frequency b of the bending vibration is changed. Only the resonance frequency a of the stretching vibration can be easily adjusted without changing it.

  In the above-described embodiment, the physical quantity of the protruding portion, which is a structure provided at the position of one of the plurality of types of vibration nodes or in the vicinity thereof, of the shape, rigidity, and mass The vibration characteristics are adjusted by changing at least one of them. However, as described above, the internal stress of the structure at or near the position of the vibration node is changed instead of the shape, rigidity, and mass of the structure provided at or near the position of the vibration node. It is possible to adjust the vibration characteristics. As a method of changing the internal stress, a method in which the structure at the position of the vibration node or in the vicinity thereof includes a dielectric and an electric field is applied to the dielectric from the outside.

  Further, in each of the above embodiments, the protrusion is provided so as to include the vibration node, but even if the protrusion is provided in the vicinity of the position of the vibration node, the vibration node and the protrusion If the distance between them is smaller than a predetermined amount, it is easy to adjust the vibration characteristics as compared with the conventional method. For example, in the case where the resonance frequency a of the stretching vibration is changed without changing the resonance frequency b of the bending vibration, a peripheral shape surrounding the node of the bending vibration expressed by a point when seen in a plan view is used. A protrusion may be formed on the region. For example, even if a pipe-like protruding portion surrounding a point as a vibration node of bending vibration is provided instead of the adjusting protruding portion 20, the vibration characteristics can be easily adjusted in the same manner as described above. .

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is the schematic of the whole structure of the rising and moving apparatus of embodiment. It is the schematic of the detailed structure of the rising and moving apparatus of embodiment. It is a schematic plan view of the blade | wing part of the rising and moving apparatus of embodiment. It is a schematic side view of the blade | wing part of the rising and moving apparatus of embodiment. It is a figure which shows the 1st layer of the blade | wing part of the rising and moving apparatus of embodiment. It is a figure which shows the 2nd layer of the blade | wing part of the rising and moving apparatus of embodiment. It is explanatory drawing which shows the 3rd layer of the blade | wing part of the rising and moving apparatus of embodiment. It is an external view of the actuator used for the rising and moving apparatus of the embodiment. It is the schematic of the ultrasonic motor used for the rising and moving apparatus of embodiment. It is a figure which shows the 1st vibration mode of the ultrasonic motor used for the rising and moving apparatus of embodiment. It is a figure which shows the 2nd vibration mode of the ultrasonic motor used for the rising and moving apparatus of embodiment. It is explanatory drawing showing operation | movement of the ultrasonic motor used for the rising and moving apparatus of embodiment. It is explanatory drawing showing operation | movement of the ultrasonic motor used for the rising and moving apparatus of embodiment. It is the schematic of the preload mechanism of the ultrasonic motor used for the rising and moving apparatus of embodiment. It is a figure which shows the other example of an upper part and a lower rotor. It is the schematic of the wing drive mechanism used for the rising and moving apparatus of embodiment. It is a figure which shows the 1st component of the wing drive mechanism used for the rising and moving apparatus of embodiment. It is a figure which shows the 2nd component of the wing drive mechanism used for the rising and moving apparatus of embodiment. It is a figure which shows the 3rd component of the wing drive mechanism used for the rising and moving apparatus of embodiment. It is a figure which shows the definition of the size of the wing drive mechanism used for the rising and moving apparatus of embodiment. It is a figure for demonstrating the drive principle of the wing drive mechanism used for the rising and moving apparatus of embodiment. It is a graph which shows the time history of the drive torque of the ultrasonic motor used for the rising and moving apparatus of embodiment. It is a figure for demonstrating how to flapping at the time of hovering of the rising and moving apparatus of embodiment. It is a figure for demonstrating the energy storage and discharge | release mechanism of the rising and moving apparatus of embodiment. It is a graph which shows the effect of the torque auxiliary mechanism of the rising and moving apparatus of an embodiment. It is an auxiliary | assistant figure showing the design method of the torque assistance mechanism of the rising and moving apparatus of embodiment. It is the schematic which shows the 2nd example of the torque assistance mechanism of the rising and moving apparatus of embodiment. It is the schematic which shows the 3rd example of the torque assistance mechanism of the rising and moving apparatus of embodiment. It is the schematic which shows the 4th example of the torque assistance mechanism of the rising and moving apparatus of embodiment. It is the schematic which shows the 5th example of the torque assistance mechanism of the rising and moving apparatus of embodiment. It is the schematic which shows the 6th example of the torque assistance mechanism of the rising and moving apparatus of embodiment. It is the schematic which shows the 7th example of the torque assistance mechanism of the rising and moving apparatus of embodiment. It is the schematic which shows the 8th example of the torque assistance mechanism of the rising and moving apparatus of embodiment. It is explanatory drawing showing how to flutter at the time of the rising of the rising and moving apparatus of embodiment. It is explanatory drawing showing how to flutter at the time of descent | fall of the rising and moving apparatus of embodiment. It is explanatory drawing showing the force of the horizontal direction which arises by the way of flapping at the time of the raising / lowering of the rising and falling apparatus of embodiment. It is explanatory drawing showing the advance method of the rising and moving apparatus of embodiment. It is explanatory drawing showing the retreating method of the rising and moving apparatus of embodiment. It is explanatory drawing showing the way of flapping at the time of advance of the rising and moving apparatus of embodiment. It is explanatory drawing showing how to flutter at the time of reverse of the rising and moving apparatus of embodiment. It is a hardware block diagram of the control system in the rising and moving apparatus of an embodiment. It is a functional block diagram of the control system in the rising and moving apparatus of the embodiment. It is a figure for demonstrating the duty ratio of the PWM control signal of the rising and moving apparatus of embodiment. It is a graph which shows the duty ratio for control of center turning of the rising and moving apparatus of an embodiment. It is a graph which shows the duty ratio for control of the advance switching of the rising and moving apparatus of an embodiment. It is a graph which shows the duty ratio for control of delay switching of the rising and moving apparatus of an embodiment. It is a flowchart which shows the flow of control of the rising and moving apparatus of embodiment. It is a figure for demonstrating the problem of the conventional rising and moving apparatus. It is a figure for demonstrating how to flap a general hovering. It is a figure for demonstrating the energy storage and provision mechanism of the rising and moving apparatus of another embodiment. It is a figure for demonstrating the energy storage and provision mechanism of the rising and moving apparatus of another embodiment. It is a figure for demonstrating the energy storage and provision mechanism of the rising and moving apparatus of another embodiment. It is a top view of the ultrasonic motor of another embodiment. It is a perspective view of an ultrasonic transducer of still another embodiment. It is a disassembled perspective view of the ultrasonic transducer | vibrator of another embodiment. It is a figure for demonstrating four voltage modes applied to four electrodes attached to the piezoelectric element. 6 is a time chart for explaining that a phase of a signal for stretching vibration and a phase of vibration for bending vibration are shifted by 90 °. It is a figure which shows the aspect which the main-plate part of another embodiment deform | transforms by expansion-contraction vibration. It is a figure which shows the aspect which the main-plate part of another embodiment deform | transforms by bending vibration. It is a figure for demonstrating that the resonance frequency of a stretching vibration and the resonance frequency of a bending vibration do not correspond. It is the schematic showing the structure of the ultrasonic transducer | vibrator of another embodiment. It is a graph which shows the relationship between the length of the protrusion part for support of another embodiment, the resonance frequency of expansion-contraction vibration, and the resonance frequency of bending vibration. It is a figure for demonstrating how to cut the protrusion part for support of another embodiment. It is a figure which shows the recessed part provided in the protrusion part for support of another embodiment. It is a figure for demonstrating the state in which the weight was installed in the protrusion part for support of another embodiment. It is a top view of the ultrasonic motor of another embodiment. It is a perspective view of an ultrasonic transducer of still another embodiment. It is the schematic showing the structure of the ultrasonic transducer | vibrator of another embodiment. It is a graph which shows the relationship between the length of the protrusion part for pressing of another embodiment, the resonance frequency of expansion-contraction vibration, and the resonance frequency of bending vibration. It is a figure for demonstrating how to cut the protrusion part for pressing of another embodiment. It is a figure which shows the state by which the weight was installed in the protrusion part for pressing of another embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 Levitation movement apparatus, 101 Main body, 110 Wings, 120, 130 Ultrasonic motor, 140 Drive mechanism, 150 Control circuit, 160 Position sensor, 170 Communication apparatus, 180 Image sensor, 190 Power supply, 122 Rotor, 301 Spring, 381 Spring , 382 fixed point, 383 Upper ultrasonic motor base plate, 384 leaf spring, 385 fixed point, 1 ultrasonic vibrator, 2 rotor, 1000 ultrasonic motor, 3 support protrusion, 4 support, 5 shaft, 6 main plate , 7 Diaphragm, 8 Piezoelectric element, 9, 10, 11, 12, 17 Electrode, 14 Protruding part for pressing, 15 Rubber, 20 Protruding part for adjustment, 50 Through hole, 55 Recessed part, a Resonance frequency of stretching vibration, b Resonance frequency of flexural vibration, C circular orbit, E elliptical orbit, S corner, X stretching vibration node position, Y bending The position of the node of vibration, displacement of Δφ phase.

Claims (18)

A wing having a leading edge attached to the body;
With reciprocating flapping the wing portion in the longitudinal direction in a predetermined period after the previous movement direction of reversal in the flapping reciprocation, an actuator to twist the blade portion around the leading edge,
The flapping torque or energy required to the actuator for reciprocal motion to store energy from the actuator is smaller than a predetermined value, the required torque or energy specified value to the actuator for the flapping reciprocation An energy storage and supply mechanism that gives energy to the actuator when larger ,
The flapping reciprocating motion is composed of a motion with a constant angular velocity and a motion for reversing the motion direction, which is performed in succession to the motion and changes the angular velocity,
The energy storage / donating mechanism is configured to accumulate energy from the actuator only in the first half of the movement for reversing the movement direction, and to apply energy to the actuator only in the second half of the movement for reversing the movement direction. Ascent movement device . A wing having a leading edge attached to the body;
An actuator for reciprocating the blade portion in the front-rear direction, and twisting the blade portion around the front edge during a predetermined period from before to after reversal of the movement direction in the flutter reciprocation;
When torque or energy required for the actuator for the flapping reciprocating motion is smaller than a predetermined value, energy is accumulated from the actuator, and the torque or energy required for the actuator for the flapping reciprocating motion is a specific value. An energy storage and supply mechanism for supplying energy to the actuator when larger,
The energy storage / donating mechanism stores energy of the actuator by elastic deformation of a substance, and gives energy to the actuator by a restoring force of the substance,
The flapping reciprocating motion is composed of a motion with a constant angular velocity and a motion for reversing the motion direction, which is performed in succession to the motion and changes the angular velocity,
The flapping and rising and moving apparatus in which the substance contacts the actuator only during a movement period for reversing the movement direction. A wing having a leading edge attached to the body;
An actuator for reciprocating the wing portion in the front-rear direction and twisting the wing portion around the front edge portion in a predetermined period before and after reversal of the movement direction in the wing reciprocating motion;
When the torque or energy required for the actuator for the flapping reciprocating motion is smaller than a predetermined value, energy is accumulated from the actuator, and the torque or energy required for the actuator for the flapping reciprocating motion is a specific value. An energy storage and supply mechanism for supplying energy to the actuator when larger,
The energy storage / donating mechanism stores energy of the actuator by elastic deformation of a substance, and gives energy to the actuator by a restoring force of the substance,
The flapping reciprocating motion is composed of a motion with a constant angular velocity and a motion for reversing the motion direction, which is performed continuously with the motion and the angular velocity changes,
The flapping and rising and moving apparatus has a structure in which the actuator elastically deforms the substance only in each of the movement periods for reversing the movement direction at both ends of the flapping reciprocating movement. A wing having a leading edge attached to the body;
An actuator for reciprocating the blade portion in the front-rear direction, and twisting the blade portion around the front edge during a predetermined period from before to after reversal of the movement direction in the flutter reciprocation;
When torque or energy required for the actuator for the flapping reciprocating motion is smaller than a predetermined value, energy is accumulated from the actuator, and the torque or energy required for the actuator for the flapping reciprocating motion is a specific value. An energy storage and supply mechanism for supplying energy to the actuator when larger,
The actuator includes a back-and-forth reciprocating motion rotor that causes the blade portion to reciprocate in the front-rear direction, and a twisting motion rotor for twisting the blade portion around the front edge portion,
The flapping levitation movement device, wherein the energy storage / donating mechanism accumulates energy of the back-and-forth reciprocating rotor and applies the energy to the back-and-forth reciprocating rotor. A wing having a leading edge attached to the body;
An actuator for reciprocating the blade portion in the front-rear direction, and twisting the blade portion around the front edge during a predetermined period from before to after reversal of the movement direction in the flutter reciprocation;
When torque or energy required for the actuator for the flapping reciprocating motion is smaller than a predetermined value, energy is accumulated from the actuator, and the torque or energy required for the actuator for the flapping reciprocating motion is a specific value. An energy storage and supply mechanism for supplying energy to the actuator when larger,
The actuator is a rotor that reciprocates the blade portion in the front-rear direction, and reciprocates with a relatively large amplitude in a direction substantially parallel to the first rotor, and a first rotor that reciprocates with a relatively small amplitude. A second rotor that moves,
The flapping levitation moving device further includes a control unit that controls the degree of twist of the blade part by controlling the difference between the phase of the first rotor and the phase of the second rotor,
The energy storage / donating mechanism stores the energy of the first rotor and applies the energy to the first rotor. A wing having a leading edge attached to the body;
An actuator for reciprocating the blade portion in the front-rear direction, and twisting the blade portion around the front edge during a predetermined period from before to after reversal of the movement direction in the flutter reciprocation;
When torque or energy required for the actuator for the flapping reciprocating motion is smaller than a predetermined value, energy is accumulated from the actuator, and the torque or energy required for the actuator for the flapping reciprocating motion is a specific value. An energy storage and supply mechanism for supplying energy to the actuator when larger,
The actuator is a rotor that reciprocates the front edge portion in the front-rear direction, and is connected to the front edge portion, and is variable in a direction substantially parallel to the first rotor, and a first rotor that reciprocates at a fixed amplitude. A second rotor that reciprocates with amplitude,
The flapping levitation moving device further includes a control unit that controls the degree of twist of the blade part by controlling the difference between the phase of the first rotor and the phase of the second rotor,
The energy storage / donating mechanism stores the energy of the first rotor and applies the energy to the first rotor. It said energy storage and donor mechanism includes a rechargeable battery, the energy of the actuator accumulated as electric power to the battery, providing energy to the actuator using the electric power stored in the battery, according to claim 1 And the flapping and floating movement apparatus according to any one of 4 to 6 . The flapping and floating movement according to any one of claims 1 and 4 to 6, wherein the energy accumulation / donating mechanism accumulates energy of the actuator by elastic deformation of a substance and gives energy to the actuator by a restoring force of the substance. Equipment . 9. The flapping and flying apparatus according to claim 2 , wherein the substance is a solid. The flapping and rising and moving apparatus according to any one of claims 1 and 4 to 6, wherein the energy storage / donating mechanism stores and supplies the kinetic energy by compression and expansion of a gas in a sealed container. The flapping and floating movement apparatus according to any one of claims 1 and 4 to 6, wherein the energy storage / donating mechanism stores and supplies the kinetic energy by a gas phase change in a sealed container. The flapping levitation moving apparatus according to any one of claims 2, 3, and 8 , wherein the substance is provided in the actuator. The flapping levitation moving apparatus according to any one of claims 2, 3, and 8 , wherein the substance includes a string-like elastic body that is slackened at a central position of flapping reciprocating motion of the blade portion. The flapping levitation moving apparatus according to any one of claims 1 to 6, wherein the energy storage / donating mechanism accumulates kinetic energy generated by movement of the actuator and supplies the kinetic energy to the actuator. The actuator includes a rotor;
The flapping levitation movement apparatus according to claim 14 , wherein the predetermined part of the energy storage / donating mechanism moves so as to draw an arc-shaped locus around a rotation center axis common to the rotation center axis of the rotor. The energy storage / donating mechanism includes a leaf spring,
The flapping rising and moving apparatus according to claim 15 , wherein the fixed end of the leaf spring is positioned in the vicinity of the rotation center axis of the rotor. A wing having a leading edge attached to the body;
An actuator for reciprocating the blade portion in the front-rear direction, and twisting the blade portion around the front edge during a predetermined period from before to after reversal of the movement direction in the flutter reciprocation;
Energy is accumulated from the actuator only during the period before the reversal of the movement direction in the flapping reciprocation of the predetermined period, and only during the period after the reversal of the movement direction in the flapping reciprocation of the predetermined period. A flapping flying device including an energy storage / supply mechanism for supplying energy to the actuator. A wing having a leading edge attached to the body;
An actuator for reciprocating the blade portion in the front-rear direction, and twisting the blade portion around the front edge during a predetermined period from before to after reversal of the movement direction in the flutter reciprocation;
Energy is accumulated from the actuator only when the torque or energy required for the actuator for the flapping reciprocation is smaller than a predetermined value, and the torque or energy required for the actuator for the flapping reciprocation is specified. A flapping rising and moving apparatus comprising an energy storage and supply mechanism that gives energy to the actuator only when the value is larger than the value.

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