WO2018110292A1 - Flapping device - Google Patents

Abstract

A flapping device (1A) is provided with a frame (10), an actuator installed on the frame (10), a pair of flexible wings (40) that generate lift by longitudinal oscillating movement, and cords (47) extended between the frame (10) and the pair of wings (40). Each of the wings (40) includes a leading edge (41) to which the oscillating movement is inputted from the actuator, and a trailing edge (42) that actuates later than the leading edge (41) with respect to the input of oscillating movement from the actuator to the leading edge (41), the cords (47) being connected to the trailing edges (42). The flapping device (1A) is furthermore provided with cord supports (53) that support the cords (47) on the frame (10) side, and a position adjustment mechanism (50) that variably adjusts the positions of the cord supports (53) by moving the cord supports (53). Due to such a configuration, there is provided a flapping device in which a mechanism for achieving various forms of flight is obtained by means of a simple configuration.

Description

Flapping equipment

The present disclosure relates to a flapping apparatus. The present application is based on priority based on Japanese Patent Application No. 2016-243319, which is a Japanese patent application filed on December 15, 2016, and Japanese Patent Application No. 2017-117362, which is a Japanese patent application filed on June 15, 2017. Claim priority based on issue. All the descriptions described in the Japanese patent application are incorporated herein by reference.

Regarding a conventional flapping device, for example, in Japanese Translation of PCT International Publication No. 2012-529398 (Patent Document 1), a rocker arm is assembled at the base end of a mast to which a wing is attached, and output from a rotary motor as a drive source. The rotary motion is converted into a reciprocating linear motion by the crank so that the rocker arm is periodically pushed and pulled, and the mast is driven by the rocker arm so that the wings swing in the front-rear direction. A flapping device is disclosed. Here, by changing the angle formed by the front edge and the inner edge of the wing, the fluid force of the left and right wings is controlled to produce a steering torque of yaw, roll, and pitch. More specifically, a mast structure is provided on the inner edge of the wing body, and the root portion of the mast structure is rotated about three axes.

Special table 2012-529398 gazette

As disclosed in Patent Document 1 described above, a flapping apparatus that obtains a levitation force by a wing body swinging back and forth is known. In such a flapping apparatus, it is required that a mechanism for realizing various flight forms be obtained with a simple configuration.

Therefore, an object of the present disclosure is to solve the above-described problem, and to provide a flapping apparatus in which a mechanism for realizing various flight forms is obtained with a simple configuration.

A flapping apparatus according to the present disclosure includes a casing, an actuator mounted on the casing, a pair of wings that have flexibility and generate levitation force by swinging back and forth, a casing, and a pair of And a linear body suspended between the wings. The wing body operates behind the front edge portion to which the swing motion is input from the actuator and the swing motion input from the actuator to the front edge portion, and the linear body is connected. And a trailing edge. The flapping apparatus includes a support unit that supports the linear body on the housing side, and a position adjustment mechanism unit that variably adjusts the position of the support unit by moving the support unit.

According to the present disclosure, it is possible to provide a flapping apparatus in which mechanisms for realizing various flight forms are obtained with a simple configuration.

It is a perspective view (front side) which shows the flapping apparatus in Embodiment 1 of this indication. It is a perspective view (back side) which shows the flapping apparatus in Embodiment 1 of this indication. It is a perspective view which shows a main rotary motor and a power transmission mechanism. It is a side view which shows a main rotary motor and a power transmission mechanism. It is a top view which shows the motion conversion part of a power transmission mechanism. FIG. 2 is a perspective view for explaining the operation of the wing body in the flapping apparatus in FIG. 1. FIG. 2 is a cross-sectional view continuously showing the operation of the left wing in the flapping apparatus in FIG. 1. It is a top view which shows the moving direction of the code | cord | chord support body by a position adjustment mechanism part. (Left side) It is a perspective view which shows a 1st moving mechanism part. (Left side) It is a perspective view which shows a 1st moving mechanism part. It is a perspective view which shows a 2nd moving mechanism part. It is a perspective view which shows a 2nd moving mechanism part. It is the table | surface which put together the operation control of the flapping apparatus by the position adjustment mechanism part. It is a figure which shows operation | movement of the left side wing | wing body at the time of a forward deflection flapping. It is a figure which shows operation | movement of the left side wing | wing at the time of back deflection flapping. It is a figure which shows operation | movement of the left side wing | wing at the time of code | seat relaxation. It is a figure which shows operation | movement of the left side wing | wing at the time of a cord tension. It is a figure which shows the angle of attack of a wing. It is a graph which shows the relationship between the angle of attack of a wing and the force coefficient of thrust and drag. It is a perspective view which shows the various flight forms of a flapping apparatus. It is a perspective view which shows the various flight forms of a flapping apparatus. It is a perspective view which shows the various flight forms of a flapping apparatus. It is a perspective view which shows the various flight forms of a flapping apparatus. It is a perspective view which shows the various flight forms of a flapping apparatus. It is a perspective view which shows the various flight forms of a flapping apparatus. It is a perspective view which shows the flapping apparatus in Embodiment 2 of this indication. It is a top view which shows the position adjustment mechanism part with which the flapping apparatus in FIG. 26 is provided. It is a top view which shows the movement to the front-back direction of a cord support guide, and the movement to the left-right direction of a code support body. It is a top view which shows the movement to the front-back direction of a cord support guide, and the movement to the left-right direction of a code support body. It is a front view which shows partially the flapping apparatus in Embodiment 3 of this indication. It is a top view which shows the cord support body in FIG. FIG. 32 is a top view for explaining a method of adjusting the cord length in the cord support in FIGS. 30 and 31. FIG. 32 is a top view for explaining a method of adjusting the cord length in the cord support in FIGS. 30 and 31. FIG. 32 is a front view showing a first modification of the cord support in FIGS. 30 and 31. FIG. 32 is a top view showing a second modification of the cord support in FIGS. 30 and 31. It is a front view which shows partially the flapping apparatus in Embodiment 4 of this indication. FIG. 37 is a top view showing the cord support in FIG. 36. It is a front view which shows partially the flapping apparatus in Embodiment 5 of this indication. It is a top view which shows partially the flapping apparatus in Embodiment 6 of this indication.

Embodiments of the present disclosure will be described with reference to the drawings. In the drawings referred to below, the same or corresponding members are denoted by the same reference numerals.

(Embodiment 1)
1 and 2 are perspective views illustrating a flapping apparatus according to Embodiment 1 of the present disclosure. FIG. 1 shows a flapping apparatus viewed from the front side, and FIG. 2 shows a flapping apparatus viewed from the rear side.

Referring to FIGS. 1 and 2, flapping apparatus 1 </ b> A according to the present embodiment uses a housing 10, a main rotary motor 20 as a power source assembled to housing 10, and the power generated by main rotary motor 20. A power transmission mechanism 30 that transmits power, a left mast 39L and a right mast 39R connected to the power transmission mechanism 30, a left wing 40L to which a swing motion is input from the power transmission mechanism 30 through the left mast 39L and the right mast 39R, and The right wing 40R and a battery (not shown) for supplying power to the main rotary motor 20 are provided.

When the left mast 39L and the right mast 39R are not particularly distinguished, they are simply referred to as “mast 39”. When the left wing 40L and the right wing 40R are not particularly distinguished, they are simply referred to as “wings 40”.

As shown in the figure, an X axis (roll axis), a Y axis (pitch axis), and a Z axis (yaw axis) are taken on the front, rear, left, and right of the flapping apparatus 1A, respectively, and the front side viewed from the flapping apparatus 1A and The direction toward the rear side is defined as + X direction and −X direction, respectively, and the direction toward the left side and right side as viewed from the flapping apparatus 1A is defined as + Y direction and −Y direction, respectively. The directions toward the upper side and the lower side as viewed from the apparatus 1A are defined as + Z direction and −Z direction, respectively, and the following description will be made using these axes and directions.

The housing 10 is a member constituting the main body of the flapping apparatus 1A, and is assembled with various components for realizing the flight of the flapping apparatus 1A. The casing 10 is configured by a framework in which a plurality of frame-shaped members are combined, and may include a cover (not shown) that covers the framework in addition to this.

More specifically, the housing 10 includes a lower frame 11, an upper frame 12, an intermediate frame 13, and a plurality of stems 15.

The stem 15 extends in a rod shape in the Z-axis direction. The plurality of stems 15 are arranged in parallel to each other. As shown in the figure, in the present embodiment, a total of four stems 15 are used, and these four stems 15 are respectively located on the right front, right rear, left front and left rear of the flapping apparatus 1A. Has been placed.

The lower frame 11, the upper frame 12, and the intermediate frame 13 are arranged in the XY plane. The lower frame 11, the upper frame 12, and the intermediate frame 13 are supported by the plurality of stems 15 by being installed on the plurality of stems 15, and the lower frame 11, the upper frame 12, and the intermediate frame 13 are Z-axis Arranged at different positions. More specifically, the upper frame 12 and the lower frame 11 are vertically arranged with a distance in the Z-axis direction. The intermediate frame 13 is disposed between the upper frame 12 and the lower frame 11 in the Z-axis direction.

The plurality of stems 15 are preferably made of carbon fiber rod-shaped members, and the lower frame 11, the upper frame 12, and the intermediate frame 13 are preferably made of resin members. . By comprising in this way, flapping apparatus 1A can be reduced in weight, ensuring high rigidity. The lower frame 11, the upper frame 12, and the intermediate frame 13 are preferably provided with holes, cutouts, and the like while ensuring necessary rigidity for weight reduction.

FIG. 3 is a perspective view showing the main rotating motor and the power transmission mechanism. FIG. 4 is a side view showing the main rotary motor and the power transmission mechanism. In FIG. 3, the housing 10 is shown, but in FIG. 4, only the upper frame 12 of the housing 10 is shown.

1 to 4, the main rotating motor 20 and the power transmission mechanism 30 constitute an actuator that inputs a swing motion to the wing body 40. The main rotary motor 20 and the power transmission mechanism 30 are mounted on the housing 10.

The main rotating motor 20 is mounted on the housing 10 by being fixed to the intermediate frame 13. The main rotating motor 20 is disposed between the intermediate frame 13 and the lower frame 11 in the Z-axis direction.

The main rotary motor 20 has an output shaft 20a (see FIG. 4) that outputs rotational motion, and the output shaft 20a is disposed so as to extend along the Z-axis direction. A gear 20b is fixed to the tip of the output shaft 20a. The gear 20b rotates with the output shaft 20a as the output shaft 20a rotates about the axis.

The operation of the main rotary motor 20 is controlled by a user or a control unit to which a control instruction is given by an automated algorithm. Specifically, the control unit variably adjusts the electric power supplied from the above-described battery (not shown) to the main rotary electric motor 20, thereby controlling the output (that is, the rotation speed) of the main rotary electric motor 20. The above-described operation control of the main rotating motor 20 is a conventionally known general method, and thus detailed description thereof is omitted here.

The power transmission mechanism 30 includes a rotary motion transmission unit 30A and a motion conversion unit 30B. First, the structure of the rotary motion transmitting unit 30A will be described. The rotary motion transmitting unit 30A is mounted on the housing 10 by being fixed to the intermediate frame 13. The rotational motion transmitting unit 30A is provided from between the intermediate frame 13 and the lower frame 11 to between the upper frame 12 and the intermediate frame 13 in the Z-axis direction.

Rotational motion transmission unit 30A includes a first transmission member 31 and a second transmission member 32. Both the first transmission member 31 and the second transmission member 32 are rotatably supported by the housing 10.

The first transmission member 31 includes a first connection rod 31a extending along the Z-axis direction, a gear 31b fixed to the first connection rod 31a, and a gear 31c fixed to the first connection rod 31a. . Both the gear 31b and the gear 31c rotate around the axis of the first connecting rod 31a together with the first connecting rod 31a.

The second transmission member 32 includes a second connection rod 32a extending along the Z-axis direction, a gear 32b fixed to the second connection rod 32a, and a disk 32c fixed to the second connection rod 32a. . Both the gear 32b and the disk 32c rotate around the axis of the second connection rod 32a together with the second connection rod 32a.

The gear 31b fixed to the first connecting rod 31a meshes with the gear 20b fixed to the output shaft 20a. The gear 32b fixed to the second connecting rod 32a meshes with the gear 31c fixed to the first connecting rod 31a.

With such a configuration, the rotational motion generated on the output shaft 20a of the main rotary electric motor 20 is transmitted to the first transmission member 31 and the second transmission member 32 in the rotational motion, and as a result, the disk 32c is transmitted. It will rotate around the axis of the second connecting rod 32a. That is, the disk 32c rotates around a central axis 201 (see FIG. 5 described later) extending in a direction parallel to the extending direction of the second connecting rod 32a (that is, the Z-axis direction). The first transmission member 31 and the second transmission member 32 function as a speed reducer by adjusting the number of teeth of the gears 31b, 31c, and 32b.

FIG. 5 is a top view showing a motion conversion unit in the power transmission mechanism. Next, the structure of the motion conversion unit 30B will be described with reference to FIGS. 1 to 5. The motion conversion unit 30B is mounted on the housing 10 by being fixed to the upper frame 12. The motion conversion unit 30B is provided between the intermediate frame 13 and the upper frame 12 in the Z-axis direction.

The motion converting unit 30B includes a crank arm 33, a crank pin 34a and a crank pin 34b, a slider 35, a slide guide 16a and a slide guide 16b, an elastic belt 36, a left side rotating body 37L and a right side rotating body 37R, and a left side. It has a guide shaft 18L and a right guide shaft 18R, and a left mast support 38L and a right mast support 38R.

When the left rotating body 37L and the right rotating body 37R are not particularly distinguished, they are simply referred to as “rotating bodies 37”. When the left guide shaft 18L and the right guide shaft 18R are not particularly distinguished, they are simply referred to as “guide shaft 18”. When the left mast support 38L and the right mast support 38R are not particularly distinguished, they are simply referred to as “mast support 38”.

The slider 35 is configured by a rectangular frame-shaped member, and is disposed above the second transmission member 32 of the rotational motion transmission unit 30A. The slider 35 is movably supported by slide guides 16 a and 16 b supported by the upper frame 12. More specifically, the slide guides 16 a and 16 b are arranged side by side in the Y-axis direction so as to extend along the X-axis direction, and the slide guides 16 a and 16 b are disposed at predetermined positions of the slider 35. There are provided a plurality of through holes through which are inserted. By inserting the slide guides 16a and 16b through the plurality of through holes, the slider 35 is provided so as to be movable in the X-axis direction.

The disk 32 c of the second transmission member 32 and the slider 35 are connected by a crank arm 33. The crank arm 33 is disposed in the XY plane. The crank arm 33 extends in an arm shape between the disk 32 c and the slider 35.

One end of the crank arm 33 is rotatably connected to an eccentric position of the disk 32c of the second transmission member 32 by a crank pin 34a. The other end of the crank arm 33 is rotatably connected to the front end portion of the slider 35 in the X-axis direction by a crank pin 34b.

When the disk 32c of the second transmission member 32 rotates about the central axis 201, the one end of the crank arm 33 connected to the disk 32c moves in the circumferential direction about the central axis 201. . Accordingly, the slider 35 is periodically pushed and pulled by the crank arm 33, and reciprocates linearly in the X-axis direction, which is the extending direction of the slide guides 16a and 16b.

The rotating body 37 is arranged in the same XY plane as the slider 35. The rotating body 37 is provided adjacent to the slider 35 in the Y-axis direction. More specifically, the left side rotator 37L is provided adjacent to the left side of the slider 35, and the right side rotator 37R is provided adjacent to the right side of the slider 35. The left rotating body 37L and the right rotating body 37R are provided at a distance from the slider 35 in the Y-axis direction. The rotating body 37 is configured by a substantially cylindrical member, and is disposed so that the outer peripheral surface thereof faces the slider 35. A gear groove is provided on the outer peripheral surface of the rotating body 37.

The guide shaft 18 extends in a rod shape along a central axis 202 (see FIG. 5) parallel to the Z axis. The guide shaft 18 is supported by the upper frame 12 and the intermediate frame 13 at both ends extending in a rod shape.

The rotating body 37 is supported by the guide shaft 18 so as to be rotatable about the central axis 202. More specifically, the left rotating body 37L is supported by the left guide shaft 18L so as to be rotatable about the center axis 202, and the right rotating body 37R is supported by the right guide shaft 18R so as to be rotatable about the center axis 202. Has been.

The elastic belt 36 is composed of a toothed belt. The elastic belt 36 may be made of any material as long as it exhibits elasticity, but is preferably made of resin or rubber.

The elastic belt 36 is suspended between the slider 35, the left rotating body 37L, and the right rotating body 37R.

More specifically, the elastic belt 36 is fixed to the front end portion of the slider 35 in the X-axis direction, and extends from the front end portion of the slider 35 toward the left rotating body 37L. The elastic belt 36 is wound around the left rotating body 37L around the central axis 202 while meshing with a gear groove provided on the outer peripheral surface of the left rotating body 37L. The elastic belt 36 extends from the left rotating body 37L toward the rear end of the slider 35 in the X-axis direction. The elastic belt 36 is fixed to the rear end portion of the slider 35 in the X-axis direction, and extends from the rear end portion of the slider 35 toward the right rotating body 37R. The elastic belt 36 is wound around the right rotating body 37R around the central axis 202 while meshing with a gear groove provided on the outer peripheral surface of the right rotating body 37R. The elastic belt 36 extends from the right rotating body 37R toward the front end of the slider 35 in the X-axis direction.

With such a configuration, the elastic belt 36 of the portion wound around the left side rotating body 37L and the right side rotating body 37R in accordance with the reciprocating linear motion of the slider 35 along the X-axis direction described above causes the left side rotating body 37L and right side to rotate. As a result, the left rotating body 37L and the right rotating body 37R reciprocate in the rotating direction about the center axis 202 as a rotation center.

The left mast support 38L and the right mast support 38R are attached to the left rotator 37L and the right rotator 37R, respectively. The left mast support 38L and the right mast support 38R are integrated with the left rotator 37L and the right rotator 37R, respectively, and reciprocate in the rotation direction around the central axis 202.

The left mast 39L and the right mast 39R are connected to the left mast support 38L and the right mast support 38R, respectively. The left mast 39L extends linearly from the left mast support 38L along the + Y direction. The right mast 39R extends linearly along the −Y direction from the right mast support 38R. A left wing 40L and a right wing 40R are attached to the left mast 39L and the right mast 39R, respectively.

With such a configuration, the left rotating body 37L and the right rotating body 37R reciprocate synchronously in the rotation direction around the central axis 202, so that the left rotating body 40L and the right rotating body 40R move around the central axis 202. It swings in the front-rear direction (X-axis direction) as the center of rotation.

Referring to FIGS. 1 and 2, the wing 40 has flexibility. The left wing 40L as a whole has a shape extending in the + Y direction from the left mast support 38L. The right wing 40R as a whole has a shape extending in the −Y direction from the right mast support 38R. The left wing 40L and the right wing 40R have a symmetrical shape.

The wing body 40 has a front edge portion 41, a rear edge portion 42, a root portion 43, and a tip portion 44 as its constituent parts. The wing surface of the wing body 40 is formed in a region surrounded by the front edge portion 41, the rear edge portion 42, the root portion 43, and the tip end portion 44.

The root portion 43 is provided in a position closest to the swing center (the central axis 202 in FIG. 5) of the wing 40 in the wing 40. The distal end portion 44 is located away from the root portion 43. The tip 44 is provided at the tip of the wing 40 that extends from the mast support 38 in the Y-axis direction.

The front edge portion 41 extends between the base portion 43 and the tip portion 44. The front edge portion 41 extends linearly between the base portion 43 and the tip portion 44. The front edge portion 41 extends in the Y-axis direction between the base portion 43 and the tip portion 44. The mast 39 is provided along the front edge portion 41. The front edge portion 41 is supported rotatably about the mast 39. A swinging motion is input to the front edge portion 41 through the mast 39.

The rear edge portion 42 extends between the base portion 43 and the tip portion 44. The rear edge portion 42 extends between the base portion 43 and the tip portion 44 while being bent and / or curved.

When the wing 40 is stopped, the front edge portion 41 and the rear edge portion 42 face each other in the vertical direction (Z-axis direction) across the wing surface formed by the wing body 40. The rear edge portion 42 is disposed below the front edge portion 41. The wing body 40 hangs up and down between the front edge portion 41 and the rear edge portion 42. The wing body 40 is a long and narrow direction in which the direction connecting the base portion 43 and the tip portion 44 (Y-axis direction) is the longitudinal direction, and the direction in which the front edge portion 41 and the rear edge portion 42 are opposed (Z-axis direction) is the short direction. Has a shape. During the swinging motion of the wing body 40, the rear edge portion 42 operates later than the front edge portion 41 with respect to the input of the swinging motion to the front edge portion 41.

The flapping apparatus 1A further includes a left cord 47L and a right cord 47R, and a left cord support 53L and a right cord support 53R.

When the left code 47L and the right code 47R are not particularly distinguished, they are simply referred to as “code 47”. When the left cord support 53L and the right cord support 53R are not particularly distinguished, they are simply referred to as “cord support 53”.

The cord 47 is composed of a flexible linear body. The cord 47 may be composed of a member that can be expanded and contracted in the linearly extending direction. The cord 47 is made of rubber or polyurethane rubber, for example.

The left cord 47L is suspended between the housing 10 and the left wing 40L. The right cord 47R is suspended between the housing 10 and the right wing 40R. The left cord 47L and the right cord 47R are provided symmetrically with respect to the casing 10.

The cord 47 is connected to the rear edge 42 of the wing 40. More specifically, a clip member 46 is attached to the rear edge portion 42 of the wing body 40. The clip member 46 is configured to be able to hold the wing body 40 from its thickness direction. The cord 47 is connected to the rear edge portion 42 via the clip member 46.

The left cord support 53L is configured to support the left cord 47L on the housing 10 side. The end of the left cord 47L opposite to the end connected to the rear edge portion 42 of the left wing 40L is connected to the left cord support 53L. The right cord support 53R is configured to support the right cord 47R on the housing 10 side. The end of the right cord 47R opposite to the end connected to the rear edge portion 42 of the right wing 40R is connected to the right cord support 53R.

The left cord support 53L is provided below the position of the rear edge portion 42 of the left wing 40L to which the left cord 47L is connected and closer to the right wing 40R in the Y-axis direction. The right cord support 53R is provided below the position of the rear edge portion 42 of the right wing 40R to which the right cord 47R is connected and closer to the left wing 40L in the Y-axis direction. The cord 47 is provided so as to hang obliquely downward from the rear edge portion 42 of the wing body 40 toward the cord support 53.

With such a configuration, during the swinging motion of the wing body 40, the front edge portion 41 freely passively rotates about the mast 39, while the operation of the rear edge portion 42 is restrained by the cord 47.

FIG. 6 is a perspective view for explaining the operation of the wing body in the flapping apparatus in FIG. 7 is a cross-sectional view continuously showing the operation of the left wing body in the flapping apparatus in FIG. FIG. 7 representatively shows the operation of the left wing 40L, but the left wing 40L and the right wing 40R operate symmetrically.

In FIG. 7, the operation of the left wing 40L in the cross section (virtual curved surface 210 in FIG. 6) in the vicinity of 3/4 of the wing length of the left wing 40L that generates representative aerodynamics is the rotation of the left wing 40L. A cylindrical coordinate system around the center (center axis 202) is shown expanded in a plane. The cross section of the left wing 40L is shown from a circle indicating the front edge portion 41 and a straight line indicating the wing surface. Here, in order to simplify the description, the deformation of the left wing 40L is ignored.

6 and 7, the front edge portion 41 of the wing body 40 is moved forward with respect to the center position (positions a and f) as the wing body 40 swings (position d). ) And the backward turning position (position i). During this time, the front edge portion 41 of the wing body 40 moves in a first plane 211 that is an XY plane (horizontal plane).

Looking at the movement of the front edge 41 of the wing 40 in order from the position a in the front stroke diagram, the front edge 41 of the wing 40 is located at position a → position b → position c (above, front stroke diagram) → position d. (Front stroke diagram and rear stroke diagram) → Position e → Position f → Position g → Position h (End stroke diagram) → Position i (Back stroke diagram and forward stroke diagram) → Position j → Position a (End, forward Move the stroke diagram in order.

Position d is the rocking end of the front edge 41 in the + X direction, and is the front turning position of the front edge 41. The position i is the swing end of the front edge portion 41 in the −X direction, and is the rear turning position of the front edge portion 41. Position a and position f are the center positions of the swing angle of the front edge portion 41 with the center axis 202 as the center. The time when the front edge 41 moves from the rear turn-back position (position i) toward the front turn-back position (position d) is referred to as “front stroke of the wing 40”, and the front edge 41 is moved forward (position d). ) To the rear turning position (position i) is referred to as “rear stroke of the wing 40”.

In FIG. 7, the front stroke of the wing body 40 and the rear stroke of the wing body 40 are illustrated separately for the sake of simplicity of illustration, but in reality, the wing body 40 has the same space. Work within.

First, near the center of the front stroke, the wing surface of the wing body 40 has a moving speed with respect to the surrounding fluid, and fluid force is applied to the wing surface as a reaction. At this time, since the trailing edge portion 42 is restrained by the cord 47, the wing body 40 moves forward (+ X direction) while the angle of attack changes as shown in FIG. As a result, lift is generated (position a to position c).

Next, when the front edge portion 41 reaches the front turning position, the moving speed of the front edge portion 41 decreases, so that the wing surface of the wing body 40 becomes passive due to the fluid force and the inertia force of the wing body 40 itself. Starts to rotate (position d). (Bending occurs in the cord 47 during this process, but it is an irregular phenomenon and is excluded from consideration.)
After turning back, the wing surface of the wing 40 is further rotated by the fluid flow generated by the forward stroke (position e). In the vicinity of the center of the rear stroke, the wing body 40 assumes a posture symmetrical with respect to the position a due to the restraint by the cord 47 (position f). The wings 40 perform a symmetrical operation with respect to the operation from the position b to the position e in the period from the position g to the position j. Thereby, the upward fluid force can be obtained continuously except for the front and rear turning positions. Since the movement of the wing body 40 is symmetric in the front-rear direction, the average levitation force is directed downward (−Z direction).

Subsequently, the structure of the position adjustment mechanism 50 provided in the flapping apparatus 1A will be described in detail. FIG. 8 is a top view showing the moving direction of the cord support by the position adjusting mechanism.

1, 2, and 8, flapping apparatus 1 </ b> A further includes a position adjustment mechanism unit 50. The position adjustment mechanism unit 50 adjusts the position of the cord support 53 variably by moving the cord support 53 (left cord support 53L, right cord support 53R). The position adjustment mechanism unit 50 is supported by the housing 10 (more specifically, the lower frame 11). The position adjustment mechanism unit 50 is disposed below the main rotary electric motor 20 and the power transmission mechanism 30.

The position adjusting mechanism unit 50 includes a left first moving mechanism unit 60L, a right first moving mechanism unit 60R, and a second moving mechanism unit 70. When the left first moving mechanism 60L and the right first moving mechanism 60R are not particularly distinguished, they are simply referred to as “first moving mechanism 60”.

The left first moving mechanism 60L and the right first moving mechanism 60R are connected to the left cord support 53L and the right cord support 53R, respectively.

As shown in FIG. 7, the first moving mechanism unit 60 is located in a second plane 213 parallel to the first plane 211, and the front turning position (position d) in the axial direction (X-axis direction) of the roll axis. ) And the first position (position of the cord support 53 shown in FIG. 7) that is equidistant from the rear turning position (position i) and the axial direction of the roll axis (X-axis direction). ) In the axial direction of the second position (the position of the cord support 53 shown in FIG. 14 described later) closer to the forward turning position (position d) and the roll shaft (X-axis direction) than The cord support 53 is moved in a range including a third position (position of the cord support 53 shown in FIG. 15 described later) that is closer to the rear turning position (position i) than the position d).

When the cord support 53 is in the first position, the cord support 53 is positioned in the vertical surface 212 including the position a and the position f which are the center positions of the front edge portion 41.

In particular, in the present embodiment, the left first moving mechanism 60L is configured to swing the left cord support 53L about a central axis 206 (first axis) parallel to the Z axis (yaw axis). ing. The right first moving mechanism 60R is configured to swing the right cord support 53R about the central axis 206.

The left first moving mechanism 60L is configured to swing the left cord support 53L independently of the right first moving mechanism 60R. The right first moving mechanism 60R is configured to swing the right cord support 53R independently of the left first moving mechanism 60L.

The second moving mechanism unit 70 is connected to the left cord support 53L and the right cord support 53R. The second moving mechanism unit 70 moves the cord support 53 so that the tension of the cord 47 between the housing 10 and the wing 40 changes.

Particularly in the present embodiment, the second moving mechanism unit 70 is configured to move the left cord support 53L and the right cord support 53R in the Y-axis direction (the axial direction of the pitch axis). The second moving mechanism unit 70 is configured to move the left cord support 53L and the right cord support 53R together.

9 and 10 are perspective views showing the first moving mechanism (left side). Referring to FIGS. 8 to 10, left first moving mechanism 60L and right first moving mechanism 60R have a symmetrical structure.

The first moving mechanism 60 includes a first sub-rotary electric motor 61, a base 62, a cylindrical worm 63, a gear unit 64, a worm wheel 65, an arm member 66, and a shaft 67.

The base portion 62 has a plate shape extending in the XY plane, and is disposed below the lower frame 11 in the Z-axis direction. The first sub-rotary motor 61 is mounted on the base portion 62. The first sub-rotary motor 61 is provided such that its output shaft rotates around a central axis 221 extending in the X-axis direction. The first sub-rotary motor 61 is composed of a servo motor capable of controlling the rotation angle (position) of the motor by a position command from the control unit.

A cylindrical worm 63 is connected to the output shaft of the first auxiliary rotating motor 61. The cylindrical worm 63 rotates around the central shaft 221 when power is transmitted from the first sub-rotary electric motor 61.

The gear unit 64 includes a worm wheel 64a and a cylindrical worm 64b. The worm wheel 64a and the cylindrical worm 64b are provided side by side on the axis of the central axis 222 extending in the Y-axis direction. The worm wheel 64a and the cylindrical worm 64b are supported so as to be rotatable about a central axis 222. The worm wheel 64 a is provided so as to mesh with the cylindrical worm 63. The worm wheel 64a and the cylindrical worm 64b rotate around the central axis 222 when power is transmitted from the cylindrical worm 63 to the worm wheel 64a.

The worm wheel 65 is supported so as to be rotatable about a central axis 206 that is the center of oscillation of the cord support 53. The worm wheel 65 is provided so as to mesh with the cylindrical worm 64b. The worm wheel 65 rotates around the central axis 206 when power is transmitted from the cylindrical worm 64b.

The arm member 66 is supported so as to be rotatable about the central axis 206. The arm member 66 extends from the central axis 206 in an arm shape in the radial direction of the central axis 206. A cord support 53 is connected to the tip end of the arm member 66 extending in an arm shape via a shaft 67. The arm member 66 is connected to the worm wheel 65 on the axis of the central axis 206.

With such a configuration, the cord support 53 is swung in the front-rear direction around the central axis 206 by transmitting the rotation in the forward direction and the reverse direction from the first sub-rotary electric motor 61 toward the arm member 66. Can be moved.

The cord 47 is supported by the cord support 53 so as to be rotatable about a central axis 207 (second axis) parallel to the yaw axis. More specifically, the flapping apparatus 1 </ b> A further includes a bearing 54. The bearing 54 is interposed between the shaft 67 and the cord support 53. Since the inner ring of the bearing 54 is fixed to the shaft 67 and the outer ring of the bearing 54 is fixed to the cord support 53, the shaft 67 and the cord support 53 are provided to be relatively rotatable around the central axis 207. ing.

As the wing body 40 swings, the direction in which the cord 47 is pulled out from the cord support 53 changes in the front-rear direction. At this time, by changing the position of the cord 47 pulled out from the cord support 53 in accordance with the direction in which the cord 47 is pulled out, energy efficiency can be improved in the actuator for swinging the wing body 40, Durability can be improved.

FIGS. 11 and 12 are perspective views showing the second moving mechanism. Referring to FIGS. 8, 11, and 12, second moving mechanism unit 70 includes a support plate 51, a second auxiliary rotary electric motor 71, a gear unit 73, and a nut 74.

The left cord support 53L and the right cord support 53R are integrally supported by the support plate 51. More specifically, the support plate 51 has a plate shape arranged in the XY plane, and extends with the Y-axis direction as the longitudinal direction. At both ends of the support plate 51 extending in the Y-axis direction, an arm member 66 that supports the left cord support 53L and an arm member 66 that supports the right cord support 53R are connected.

The second sub-rotation motor 71 is disposed below the lower frame 11 in the Z-axis direction. The second sub rotary motor 71 is supported by the lower frame 11. The second sub-rotary motor 71 is arranged such that its output shaft 71a rotates around a central shaft 223 extending in the Y-axis direction. The second auxiliary rotary motor 71 is composed of a servo motor capable of controlling the rotation angle (position) of the motor by a position command from the control unit.

The gear unit 73 includes a spur gear 73a and a feed screw 73b. The spur gear 73a and the feed screw 73b are provided side by side on the central axis 224 extending in the Y-axis direction. The spur gear 73a and the feed screw 73b are supported so as to be rotatable about the central shaft 224. The spur gear 73a is connected to the output shaft 71a of the second auxiliary rotary electric motor 71 through a plurality of gears (not shown). The spur gear 73a and the feed screw 73b rotate around the central shaft 224 when power is transmitted from the second auxiliary rotary electric motor 71 to the spur gear 73a.

The nut 74 is screwed to the feed screw 73b. A support plate 51 is connected to the nut 74. In other words, the cord support 53 (the left cord support 53L and the right cord support 53R) is connected to the nut 74 via the support plate 51 and the arm member 66.

With such a configuration, the rotation of the forward direction and the reverse direction is transmitted from the second auxiliary rotating motor 71 toward the feed screw 73b, whereby the nut 74 moves in the left-right direction. Along with this, the cord support 53 (left cord support 53L, right cord support 53R) can be moved in the Y-axis direction (the axial direction of the pitch axis).

FIG. 13 is a table summarizing the operation control of the flapping apparatus by the position adjusting mechanism. In FIG. 13, the operation of the flapping apparatus 1A around the yaw axis, roll axis and pitch axis is shown with the right screw direction as + and the left screw direction as-, and FIG. It is a figure which shows operation | movement of the left side wing | blade in FIG. FIG. 15 is a diagram illustrating the operation of the left wing during backward deflection flapping.

In FIGS. 14 and 15 and later in FIGS. 16 and 17, the operation of the left wing body 40L at the time of the basic flapping shown in FIG. 7 is indicated by a dotted line.

Referring to FIG. 14, the first moving mechanism 60 swings the cord support 53 around the central axis 206, thereby moving the cord support 53 forward (+ X direction). The operation of 40 is called “forward deflection flapping”.

At the time of forward flapping, the inclination of the flapping surface of the left wing 40L shown in FIG. 14 is shifted in the clockwise direction in the flapping device 1A as viewed from above, compared with the basic flapping, except for the position c and the position h. ing. As a result, the average levitation force obtained by the swing motion of the left wing body 40L also rotates clockwise in the top view of the flapping device 1A, so that a propulsive force component in the backward direction (−X direction) is generated.

Referring to FIG. 15, the first moving mechanism 60 swings the cord support 53 around the central axis 206 to move the cord support 53 backward (−X direction). The operation of the body 40 is referred to as “backward deflection flapping”.

At the time of this backward deflection flapping, the inclination of the wing surface of the left wing 40L shown in FIG. 15 is shifted in the counterclockwise direction in the top view of the flapping device 1A than at the basic flapping, except for the position c and the position h. is doing. As a result, the average levitation force obtained by the swinging motion of the left wing body 40L also rotates counterclockwise in the top view of the flapping device 1A, so that a propulsive force component forward (+ X direction) is generated.

FIG. 16 is a diagram showing the operation of the left wing when the cord is relaxed. FIG. 17 is a diagram illustrating the operation of the left wing during cord tension. FIG. 18 shows the angle of attack of the wings. FIG. 19 is a graph showing the relationship between the angle of attack of a wing and the force coefficient of thrust and drag.

Referring to FIG. 16, when the left cord support 53L is moved in the + Y direction by the second moving mechanism 70, the left cord 47L is loosened. Thereby, the radius of rotation of the trailing edge 42 of the left wing 40L is increased, and the angle of attack of the wing 40 shown in FIG. 18 is reduced. Referring to FIG. 17, when the left cord support 53L is moved in the −Y direction by the second moving mechanism 70, the left cord 47L is stretched. As a result, the radius of rotation of the trailing edge 42 of the left wing 40L is reduced, and the angle of attack of the wing 40 shown in FIG. 18 is increased.

As shown in FIG. 19, the thrust (corresponding to lift) increases monotonously as the angle of attack increases until the angle of attack is close to 40 °. Within this range, the magnitude of the thrust can generally be controlled by moving the cord 47 left and right. That is, the thrust decreases when the cord support 53 approaches the wing 40 in the Y-axis direction, and the thrust increases when the cord support 53 moves away from the wing 40 in the Y-axis direction.

Actually, drag increases as angle of attack increases. In this case, when the load on the main rotary motor 20 increases, the rotational speed of the main rotary motor 20 decreases, and as a result, the moving speed of the wing body 40 also decreases. For this reason, the magnitude of the angle of attack does not simply correspond to the magnitude of the thrust. Moreover, since the moving speed of the wing body 40 during the swinging motion is not uniform, the average levitation force needs to be considered by these weighted averages. However, as shown in FIG. 19, when the angle of attack is in the range of 0 ° to 20 °, the rate of increase of the thrust exceeds the rate of change of the drag, so that the magnitude of the angle of attack corresponds to the magnitude of the thrust. It is done. For this reason, if the angle of attack in the vicinity of the stroke center (positions a to c and positions f to h), which is assumed to generate the main levitation force, is high if the moving speed of the wings 40 is within this range, the average It is thought that the levitation force will correspond.

20 to 25 are perspective views showing various flight modes of the flapping apparatus. In the drawing, the flow of the surrounding fluid that is caused by the swinging motion of the wing body 40 and its size are indicated by the direction of the arrow and the size of the arrow, respectively. 13 and 20, when the cord support 53 (left cord support 53L, right cord support 53R) is moved to the right (−Y direction), the levitation force of the left wing 40L increases. The levitation force of the right wing 40R decreases. Thereby, in the flapping apparatus 1A, a rotational motion in the right screw direction (X +) occurs around the axis of the X axis (roll axis).

Referring to FIGS. 13 and 21, when the cord support 53 (left cord support 53L, right cord support 53R) is moved to the left (+ Y direction), the levitation force of the left wing 40L decreases, The levitation force of the right wing 40R increases. As a result, the flapping device 1A undergoes a rotational motion in the left screw direction (X−) around the X axis (roll axis).

Referring to FIGS. 13 and 22, when the left cord support 53L is moved forward (+ X direction) and the right cord support 53R is moved backward (−X direction), the axis of the Z axis (yaw axis) A rotational motion in the right screw direction (Z +) occurs around.

Referring to FIGS. 13 and 23, when the left cord support 53L is moved backward (−X direction) and the right cord support 53R is moved forward (+ X direction), the axis of the Z axis (yaw axis) A rotational movement in the left-handed screw direction (Z-) occurs around.

Referring to FIG. 13 and FIG. 24, when the cord support 53 (left cord support 53L, right cord support 53R) is moved forward (+ X direction), a left-hand screw around the Y axis (pitch axis) axis A rotational movement in the direction (Y-) occurs.

Referring to FIGS. 13 and 25, when the cord support 53 (the left cord support 53L, the right cord support 53R) is moved rearward (−X direction), the right side around the Y axis (pitch axis) axis. A rotational movement in the screw direction (Y +) occurs.

Thus, by moving the left and right cord supports 53 (left cord support 53L, right cord support 53R) in the front-rear direction and the left-right direction, the flapping device 1A rotates around the vertical axis and moves in the left-right direction. Since the movement in the front-rear direction is realized, the flapping apparatus 1A can be moved to an arbitrary position in the space.

With reference to FIGS. 1, 2, and 7, when the movement of the cord support 53 in the left-right direction by the second movement mechanism unit 70 is zero, that is, in the axial direction of the pitch axis (Y-axis direction), When the distance from the cord support 53 to the position of the rear edge portion 42 (clip member 46) to which the cord 47 is connected is equal between the left and right wings 40, the central axis 206 that is the center of oscillation of the cord support 53 Is coincident with the central axis 202 which is the center of oscillation of the wing body 40.

With such a configuration, the influence of the movement of the cord support 53 in the front-rear direction on the steering torque of the roll can be reduced.

The structure of the flapping apparatus 1A according to the first embodiment of the present disclosure described above will be described together. The flapping apparatus 1A according to the present embodiment includes a casing 10, an actuator mounted on the casing 10, and flexibility. And a pair of wings 40 that generate a levitation force by swinging back and forth, a housing 10, and a cord 47 as a linear body suspended between the pair of wings 40. . The wing body 40 is operated later than the front edge portion 41 with respect to the front edge portion 41 to which the swing motion is input from the actuator and the swing motion input from the actuator to the front edge portion 41, and the cord 47 is And a trailing edge 42 to be connected. The flapping apparatus 1A includes a cord support 53 as a support for supporting the cord 47 on the housing 10 side, and a position adjustment mechanism 50 that variably adjusts the position of the cord support 53 by moving the cord support 53. Is further provided.

According to the flapping apparatus 1A in the first embodiment of the present disclosure configured as described above, various flight modes (rotation around the vertical axis, movement in the left-right direction, and movement in the front-rear direction) can be performed with a simple configuration. A mechanism for realizing (movement) can be obtained.

(Embodiment 2)
FIG. 26 is a perspective view illustrating a flapping apparatus according to Embodiment 2 of the present disclosure. FIG. 27 is a top view showing a position adjustment mechanism part provided in the flapping apparatus in FIG.

The flapping apparatus 1B in the present embodiment basically has the same structure as the flapping apparatus 1A in the first embodiment. Hereinafter, the description of the overlapping structure will not be repeated.

Referring to FIGS. 26 and 27, in the present embodiment, one cord 47 is suspended over left wing 40L, housing 10 and right wing 40R.

Flapping apparatus 1B replaces left cord support 53L and right cord support 53R in Embodiment 1, with left cord support guide 81L (first support portion) and right cord support guide 81R (second support portion); A cord support 82 (third support portion). When the left cord support guide 81L and the right cord support guide 81R are not particularly distinguished, they are simply referred to as “cord support guide 81”.

The cord support guide 81 is provided at the tip of an arm member 66 that extends from the central axis 206 in an arm shape in the radial direction. The left cord support guide 81L is provided so as to support the cord 47 that is fed from the housing 10 side toward the left wing 40L. The right cord support guide 81R is provided so as to support the cord 47 that is fed from the housing 10 side toward the right wing 40R. The cord support guide 81 supports the cord 47 so that the cord 47 can move along the extending direction.

The cord support 82 is provided so as to support the cord 47 between the left cord support guide 81L and the right cord support guide 81R. The cord support 82 is provided so as to support the cord 47 between the central shaft 206 that is the swing center of the left cord support guide 81L and the central shaft 206 that is the swing center of the right cord support guide 81R. Yes. The cord 47 is connected to the cord support 82.

The flapping apparatus 1B includes a left third movement mechanism 86L, a right third movement mechanism 86R, and a fourth movement mechanism 87 as the position adjustment mechanism 50. When the left third moving mechanism 86L and the right third moving mechanism 86R are not particularly distinguished, they are simply referred to as “third moving mechanism 86”.

Left side third moving mechanism part 86L and right side third moving mechanism part 86R have structures similar to left side first moving mechanism part 60L and right side first moving mechanism part 60R in the first embodiment, respectively. That is, the left third movement mechanism 86L is configured to swing the left cord support guide 81L around a central axis 206 (third axis) parallel to the Z axis (yaw axis). The right third movement mechanism 86R is configured to swing the right cord support guide 81R about the central axis 206 (third axis).

The fourth moving mechanism 87 is connected to the cord support 82. The fourth moving mechanism unit 87 is configured to move the cord support 82 in the Y-axis direction (the axial direction of the pitch axis). The fourth moving mechanism unit 87 is configured to move the cord support 82 on the support plate 51.

When the cord support 82 is moved in the + Y direction by the fourth moving mechanism 87, the cord length between the left cord support guide 81L and the left wing 40L becomes long and the cord 47 is loosened. Further, when the cord support 82 is moved in the −Y direction by the fourth moving mechanism 87, the cord length between the right cord support guide 81R and the right wing 40R becomes longer and the cord 47 becomes loose.

The flapping apparatus 1B further includes a guide member 83. The guide member 83 is provided so as to support the cord 47 in the vicinity of the central axis 206 that is the center of oscillation of the cord support guide 81. The guide member 83 is provided so as to support the cord 47 that is fed from the cord support 82 toward the left cord support guide 81L and the right cord support guide 81R. The guide member 83 is composed of a pair of rotatable rollers, and is provided so as to sandwich the cord 47.

28 and 29 are top views showing the movement of the cord support guide in the front-rear direction and the movement of the cord support in the left-right direction.

Referring to FIGS. 26 to 29, also in the present embodiment, the flapping apparatus 1B is moved in the space by moving the left and right cord support guides 81 in the front-rear direction and moving the cord support 82 in the left-right direction. It can be moved to any position.

At this time, even when the cord support guide 81 is moved in the front-rear direction by the guide member 83 provided in the vicinity of the swing center of the cord support guide 81, it is between the left cord support guide 81L and the right cord support guide 81R. The length of the cord 47 housed in is almost unchanged. Accordingly, the cord length between the left and right wings 40 and the left and right cord support guides 81 can be adjusted by the movement of the cord support 82 in the left-right direction. Similarly to the first embodiment, the cord support guide 81 is used to make the cord support guide 81 match the center axis 206 that is the swing center of the cord support 53 and the center axis 202 that is the swing center of the wing body 40. The distance to the position (clip member 46) of the rear edge portion 42 to which 47 is connected does not change as the cord support guide 81 moves in the front-rear direction. For this reason, the independence of the steering torque of the yaw axis, roll axis, and pitch axis can be enhanced.

According to the flapping apparatus 1B according to the second embodiment of the present disclosure configured as described above, the effects described in the first embodiment can be similarly achieved.

(Embodiment 3)
FIG. 30 is a front view partially showing the flapping apparatus according to the third embodiment of the present disclosure. FIG. 30 shows the cord support 301 and the fourth moving mechanism 87 when the flapping apparatus is viewed from the front side. FIG. 31 is a top view showing the cord support in FIG.

Compared with the flapping apparatus 1B in the second embodiment, the flapping apparatus in the present embodiment has basically the same structure. Hereinafter, the description of the overlapping structure will not be repeated.

Referring to FIG. 30 and FIG. 31, the flapping apparatus in the present embodiment has a cord support 301 in place of the cord support 82 in the second embodiment.

In the present embodiment, the left cord 47L is suspended between the housing 10 and the left wing 40L, and the right cord 47R is suspended between the housing 10 and the right wing 40R. The left cord 47L and the right cord 47R are connected to the cord support 301. The fourth moving mechanism unit 87 is configured to move the cord support 301 in the Y-axis direction.

The cord support 301 has a cord length adjustment mechanism 310 as a linear body length adjustment mechanism.

The cord length adjustment mechanism unit 310 is configured to variably adjust the length of the cord 47 suspended between the casing 10 and the wing 40. The cord length adjusting mechanism 310 variably adjusts the length of the left cord 47L suspended between the housing 10 and the left wing 40L, and the right cord 47R suspended between the housing 10 and the right wing 40R. It is configured to variably adjust the length. The cord length adjusting mechanism 310 determines the length of the left cord 47L suspended between the housing 10 and the left wing 40L and the length of the right cord 47R suspended between the housing 10 and the right wing 40R. It is configured to adjust independently of each other.

The structure of the cord length adjusting mechanism 310 will be specifically described. The cord support 301 is provided with a left cord guide 313L and a right cord guide 313R. When the left code guide 313L and the right code guide 313R are not particularly distinguished, they are simply referred to as “code guide 313”.

The cord guide 313 is configured by a hole through which the cord 47 can be inserted. The code guide 313 extends on the XY plane. The cord guide 313 passes through the cord support 301 between a first position on the outer peripheral surface of the cord support 301 and a second position on the outer peripheral surface of the cord support 301 that is shifted from the first position. ing.

The left cord 47L and the right cord 47R are inserted into the left cord guide 313L and the right cord guide 313R, respectively.

The cord support 301 is provided with a left screw 314L and a right screw 314R for fastening the cord 47 to the cord support 301. When the left screw 314L and the right screw 314R are not particularly distinguished, they are simply referred to as “screws 314”.

The left screw 314L is provided such that the tip thereof reaches the left code guide 313L. The right screw 314R is provided such that the tip thereof reaches the right code guide 313R. The left cord 47L inserted through the left cord guide 313L is connected to the cord support 301 by being sandwiched between the tip of the left screw 314L and the inner wall of the left cord guide 313L. The right cord 47R inserted through the right cord guide 313R is connected to the cord support 301 by being sandwiched between the tip of the right screw 314R and the inner wall of the right cord guide 313R.

In such a configuration, the left screw 314L is loosened and the left cord 47L is moved in the linearly extending direction to change the position at which the left cord 47L is supported by the cord support 301, and thereby the housing 10 and The length of the left cord 47L suspended between the left wings 40L can be variably adjusted. While loosening the right screw 314R and moving the right cord 47R in the linearly extending direction to change the position where the right cord 47R is supported by the cord support 301, the space between the housing 10 and the right wing 40R is changed. It is possible to variably adjust the length of the right cord 47R suspended on the cable.

Note that the cord support 301 may not be provided with the cord guide 313. In this case, for example, the cord 47 is connected to the cord support 301 by being sandwiched between the head of the screw 314 and the cord support 301.

The torque for changing the posture of the flapping device changes due to the influence of the shape and elasticity of the wing 40 in addition to the cord length. On the other hand, when the operation time of the flapping apparatus becomes longer, the shape, elasticity, and the like of the wing body 40 change with time. In this case, a slight change in the shape or elasticity of the wing body 40 changes the torque for changing the posture of the flapping device, so that the posture of the flapping device (for example, a posture that maintains neutrality in the left and right directions) is maintained. Will fluctuate.

When performing PID control (Proportional-Integral-Differential Controller), if the torque changes slightly, it is possible to maintain the posture of the flapping device. However, for example, the torque changes greatly, and the neutral position of the torque However, if the fourth moving mechanism unit 87 is biased to a position near the limit position where it can move, the cord support 301 can be moved only slightly to the side close to the limit position. In such a case, the torque for reestablishing the posture of the flapping device in a certain direction cannot be generated to a necessary magnitude, and as a result, the posture of the flapping device may not be stabilized.

In the flapping apparatus according to the present embodiment, by providing the cord support 301 with the cord length adjustment mechanism 310, the left and right cord lengths can be adjusted independently. By adjusting the left and right cord lengths independently even if the value of the torque deviates greatly from the conditions set during the manufacture of the fuselage due to changes over time during the operation of the flapping apparatus, The user can adjust the torque, and as a result, the posture of the flapping apparatus can be stabilized.

32 and 33 are top views for explaining a method of adjusting the cord length in the cord support in FIGS. 30 and 31. FIG. In FIG. 32 and FIG. 33, the support end of the cord 47 in the wing body 40 is shown by a clip member 46.

Referring to FIG. 32, as an example, the left wing 40L has a small angle of attack (close to horizontal) even when the cord support 301 is in the same position by changing the shape and elasticity of the left wing 40L. (Angle) is assumed. In this case, since the levitation force of the left wing 40L changes, the torque determined by the balance between the levitation force of the left wing 40L and the levitation force of the right wing 40R also changes.

33, in the cord length adjusting mechanism 310, the left screw 314L is loosened and moved so that the left cord 47L is pulled into the left cord guide 313L. After the position for supporting the left cord 47L is determined, the left screw 314L is tightened. By shortening the length of the left cord 47L suspended between the casing 10 and the left wing 40L, the angle of attack of the left wing 40L can be increased, and as a result, the balance of torque can be adjusted. Become.

In the present embodiment, since the left and right cord lengths can be adjusted independently, even when various changes occur in the levitation force due to changes over time in the left wing 40L and the right wing 40R. The torque balance can be adjusted appropriately.

Further, in the present embodiment, the cord support 301 is provided with a cord guide 313 for guiding the cord 47. With such a configuration, it is possible to regulate the moving direction of the cord 47 when adjusting the cord length, and the cord length can be easily adjusted.

FIG. 34 is a front view showing a first modification of the cord support in FIGS. 30 and 31. FIG. FIG. 35 is a top view showing a second modification of the cord support in FIGS. 30 and 31. 34 and 35 correspond to FIGS. 30 and 31, respectively.

Referring to FIG. 34, the cord support 301 has a bottom surface 301b. The cord support 301 is provided so that the bottom surface 301 b faces the fourth moving mechanism portion 87. The cord support 301 is detachably attached to the fourth moving mechanism portion 87.

In the present modification, the cord guide 313 is provided on the bottom surface 301b of the cord support 301. The code guide 313 has a groove shape that is recessed from the bottom surface 301b. The cord 47 inserted through the cord guide 313 is connected to the cord support 301 by being sandwiched between the tip end portion of the screw 314 and the fourth moving mechanism portion 87.

According to such a configuration, since the area where the cord 47 is exposed to the outside when the cord length is adjusted is increased, the cord length adjustment operation is facilitated.

Referring to FIG. 35, in this modification, the cord support 301 is provided with an excess cord holding portion 321. The surplus cord holding portion 321 is configured to hold the surplus cord 47 (surplus cord 47) extending from the cord guide 313 on the cord support 301.

More specifically, the surplus cord holding portion 321 has a slit shape that opens to the outer peripheral surface of the cord support 301. The surplus cord 47 extending from the cord guide 313 is held on the cord support 301 by being press-fitted into the surplus cord holding portion 321.

According to such a configuration, when the cord support 301 is moved by the fourth moving mechanism 87, the possibility that the surplus cord 47 inhibits the movement of the cord support 301 can be suppressed.

According to the flapping apparatus according to the third embodiment of the present disclosure configured as described above, the effects described in the first and second embodiments can be similarly achieved.

(Embodiment 4)
FIG. 36 is a front view partially showing the flapping apparatus according to the fourth embodiment of the present disclosure. FIG. 36 shows the cord support 331 and the fourth moving mechanism 87 when the flapping apparatus is viewed from the front side thereof. FIG. 37 is a top view showing the cord support in FIG.

Compared with the flapping apparatus in the third embodiment, the flapping apparatus in the present embodiment has basically the same structure. Hereinafter, the description of the overlapping structure will not be repeated.

36 and 37, the flapping apparatus in the present embodiment has a left cord support 331L and a right cord support 331R in place of cord support 301 in the third embodiment. When the left cord support 331L and the right cord support 331R are not particularly distinguished, they are simply referred to as “cord support 331”.

In the present embodiment, the left cord 47L is connected to the left cord support 331L, and the right cord 47R is connected to the right cord support 331R. The cord 47 is connected to the cord support 331 by adhesion, for example. The fourth movement mechanism unit 87 is configured to move the cord support 331 in the Y-axis direction.

The left cord support 331L and the right cord support 331R are overlapped with each other in the vertical direction (Z-axis direction). The right cord support 331R is superimposed on the left cord support 331L from above. The left cord support 331L and the right cord support 331R are combined so as to be slidable in the Y-axis direction. The left cord support 331L and the right cord support 331R are detachably attached to the fourth moving mechanism portion 87.

The cord support 331 has a cord length adjustment mechanism 340 instead of the cord length adjustment mechanism 310 in the third embodiment.

The structure of the cord length adjusting mechanism 340 will be specifically described. A screw insertion hole 342 is provided in the right cord support 331R. The screw insertion hole 342 passes through the right cord support 331R in the up-down direction, and opens on the mating surface with the left cord support 331L. The screw insertion hole 342 has a long hole shape whose longitudinal direction is the Y-axis direction.

The screw 341 is provided on the cord support 331. The screw 341 is inserted into the screw insertion hole 342 and is screwed to the left cord support 331L. The right cord support 331R and the left cord support 331L are integrated with each other by a screw 341.

In such a configuration, the screw 341 is loosened and the left cord support 331L is moved in the Y-axis direction to change the distance between the left cord support 331L and the left wing 40L. The length of the left cord 47L suspended between the bodies 40L can be variably adjusted. While loosening the screw 341 and moving the right cord support 331R in the Y-axis direction to change the distance between the right cord support 331R and the right wing 40R, the suspension is suspended between the housing 10 and the right wing 40R. The length of the right cord 47R can be adjusted variably.

According to the flapping apparatus in the fourth embodiment of the present disclosure configured as described above, the effects described in the first to third embodiments can be similarly achieved.

(Embodiment 5)
FIG. 38 is a front view partially showing the flapping apparatus according to the fifth embodiment of the present disclosure. FIG. 38 shows a cord support 351 when the flapping device is viewed from the front side thereof.

Compared with the flapping apparatus in the third embodiment, the flapping apparatus in the present embodiment has basically the same structure. Hereinafter, the description of the overlapping structure will not be repeated.

38, the flapping apparatus in the present embodiment has a cord support 351 instead of cord support 301 in the third embodiment.

In the present embodiment, the left cord 47L and the right cord 47R are connected to the cord support 351. The cord 47 is connected to the cord support 351 by adhesion, for example. The fourth moving mechanism unit 87 is configured to move the cord support 351 in the Y-axis direction.

The cord support 351 has a cord length adjustment mechanism 350 instead of the cord length adjustment mechanism 310 in the third embodiment.

The structure of the cord length adjustment mechanism unit 350 will be specifically described. The cord support 351 is provided with a left screw 361L and a right screw 361R. When the left screw 361L and the right screw 361R are not particularly distinguished, they are simply referred to as “screws 361”. The left screw 361L and the right screw 361R are provided side by side in the Y-axis direction. The screw 361 is screwed to the cord support 351 so as to be rotatable in both the forward and reverse directions.

The left cord 47L is wound around the left screw 361L. The right cord 47R is wound around the right screw 361R. The cord 47 is wound around the screw 361 before the connection end to the cord support 351.

In such a configuration, the left screw 361L is rotated in the forward and reverse directions to change the length of the left cord 47L wound around the left screw 361L, thereby being suspended between the housing 10 and the left wing 40L. The length of the left cord 47L can be variably adjusted. The length of the right cord 47R suspended between the housing 10 and the right wing 40R is changed by rotating the right screw 361R in the forward and reverse directions and changing the length of the right cord 47R wound around the right screw 361R. The thickness can be adjusted variably.

According to the flapping apparatus in the fifth embodiment of the present disclosure configured as described above, the effects described in the first to third embodiments can be similarly achieved.

(Embodiment 6)
FIG. 39 is a top view partially illustrating the flapping apparatus according to the sixth embodiment of the present disclosure. FIG. 39 shows the cord support 53 according to the first embodiment.

In the present embodiment, a case will be described in which the structure of the cord length adjustment mechanism unit 310 described in the third embodiment is applied to the flapping apparatus in the first embodiment. Hereinafter, the description of the overlapping structure will not be repeated.

39, in the present embodiment, the cord support 53 includes a cord length adjustment mechanism 410 serving as a linear body length adjustment mechanism. The cord length adjusting mechanism 410 is configured to variably adjust the length of the cord 47 suspended between the housing 10 and the wing 40.

The structure of the cord length adjusting mechanism 410 will be specifically described. The cord support 53 is provided with a cord guide 411. The code guide 411 includes a hole through which the code 47 can be inserted. The cord guide 411 extends in the circumferential direction around a central axis 207 that is the center of rotation of the cord support 53. A cord 47 is inserted through the cord guide 411.

The cord support 53 is provided with a screw 412 for fastening the cord 47 to the cord support 53. The screw 412 is provided so that the tip portion thereof reaches the code guide 411. The cord 47 inserted through the cord guide 411 is connected to the cord support 53 by being sandwiched between the tip of the screw 412 and the inner wall of the cord guide 411.

In such a configuration, the screw 412 is loosened, the cord 47 is moved in the linearly extending direction, and the position where the cord 47 is supported by the cord support 53 is changed. The length of the cord 47 suspended between the two can be variably adjusted.

The left cord support 53L and the right cord support 53R have the cord length adjustment mechanism 410 described above in common, and in this embodiment, the housing 10 and the left wing 40L The length of the left cord 47L suspended between and the length of the right cord 47R suspended between the housing 10 and the right wing 40R can be adjusted independently of each other.

According to the flapping apparatus in the sixth embodiment of the present disclosure configured as described above, the effects described in the first and third embodiments can be similarly achieved.

In the flapping apparatus according to the third to sixth embodiments, a sensor that detects a change in the torque generation state is provided, and the cord length adjustment mechanism unit automatically adjusts the cord length based on the detection result of the sensor. Good. As a sensor for detecting a change in the torque generation state, for example, an angular acceleration sensor, a posture sensor, a sensor for detecting the inclination of the wings, or the like can be used. According to such a configuration, it is possible to correct the torque deviation due to the temporal change of the wing without the user's effort.

Hereinafter, the configuration of the present disclosure and the effects achieved by the present disclosure will be described together.

A flapping apparatus according to the present disclosure includes a casing, an actuator mounted on the casing, a pair of wings that have flexibility and generate levitation force by swinging back and forth, a casing, and a pair of And a linear body suspended between the wings. The wing body operates behind the front edge portion to which the swing motion is input from the actuator and the swing motion input from the actuator to the front edge portion, and the linear body is connected. And a trailing edge. The flapping apparatus includes a support unit that supports the linear body on the housing side, and a position adjustment mechanism unit that variably adjusts the position of the support unit by moving the support unit.

According to the flapping apparatus configured as described above, the wing body swings back and forth while taking a posture inclined with respect to the moving direction of the wing body between the front edge portion and the rear edge portion, Get the thrust needed for flight. At this time, when the support portion is moved by the position adjusting mechanism portion, the degree and / or timing at which the operation of the rear edge portion is restrained by the linear body changes. For this reason, the flight form of the flapping apparatus can be controlled by variably adjusting the position of the support portion. Therefore, according to the present disclosure, a mechanism for realizing various flight modes can be obtained with a simple configuration.

Further preferably, the front edge portion reciprocates between the front turning position and the rear turning position in the first plane including the roll axis and the pitch axis in accordance with the swinging motion of the wing body. The position adjusting mechanism is in a second plane parallel to the first plane, and in the axial direction of the roll axis, the first position is equidistant from the front turning position and the rear turning position, and in the axial direction of the roll axis. The support unit is moved in a range including a second position closer to the front turning position than the rear turning position and a third position closer to the rear turning position than the front turning position in the axial direction of the roll shaft. 1 moving mechanism part is included.

More preferably, the first moving mechanism section swings the support section about a first axis parallel to the yaw axis.

According to the flapping apparatus configured in this way, the flight form of the flapping apparatus can be controlled mainly by intentionally changing the timing at which the movement of the trailing edge is restrained by the linear body.

More preferably, the first axis coincides with the swing center axis of the wing.
According to the flapping apparatus configured as described above, the influence of the movement of the support portion by the first moving mechanism portion on the steering torque of the roll can be reduced.

Also preferably, the position adjusting mechanism includes a second moving mechanism that moves the support so that the tension of the linear body between the housing and the wing changes.

More preferably, the second moving mechanism unit moves the support unit in the axial direction of the pitch axis.
According to the flapping apparatus configured as described above, the flight form of the flapping apparatus can be controlled mainly by intentionally changing the degree of restraint of the operation of the trailing edge by the linear body.

Also preferably, the support portion supports the linear body so as to be rotatable about a second axis parallel to the yaw axis.

According to the flapping apparatus configured as described above, the energy efficiency of the actuator can be increased, and the durability of the linear body can be improved.

Also preferably, the linear body is suspended over one of the pair of wings, the housing, and the other of the pair of wings. As a support part, the 1st support part which supports the linear body extended toward one side of a pair of wings from a housing side, and the linear body extended toward the other of a pair of wings from a housing side are supported. A second support part and a third support part for supporting the linear body between the first support part and the second support part are provided. The position adjustment mechanism includes a third moving mechanism that swings the first support and the second support around a third axis that is parallel to the yaw axis, and the third support that extends in the axial direction of the pitch axis. A fourth moving mechanism unit to be moved.

According to the flapping apparatus configured in this way, the flight form of the flapping apparatus can be controlled by changing the degree and timing at which the movement of the trailing edge is restrained by the linear body.

Also preferably, the support section has a linear body length adjustment mechanism that variably adjusts the length of the linear body suspended between the housing and the wing.

According to the flapping apparatus configured in this way, even if various changes occur in the levitation force due to the aging of the wings, the length of the linear body suspended between the skeleton and the wings, Adjustments can be made to obtain the desired flight configuration.

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.

The present disclosure is mainly applied to a flapping apparatus that obtains a levitation force by a wing swinging motion.

1A, 1B device, 10 housing, 11 lower frame, 12 upper frame, 13 intermediate frame, 15 stem, 16a, 16b slide guide, 18 guide shaft, 18L left guide shaft, 18R right guide shaft, 20 main rotary motor, 20a output Shaft, 20b, 31b, 31c, 32b gear, 30 power transmission mechanism, 30A rotational motion transmission unit, 30B motion conversion unit, 31 first transmission member, 31a first connection rod, 32 second transmission member, 32a second connection rod , 32c disk, 33 crank arm, 34a, 34b crank pin, 35 slider, 36 elastic belt, 37 rotor, 37L left rotor, 37R right rotor, 38 mast support, 38L left mast support, 38R right mast Holding body, 39 mast, 39L left mast, 39R right mast, 40 wing, 40L left wing, 40R right wing, 41 front edge, 42 rear edge, 43 root, 44 tip, 46 clip member, 47 cord, 47L left cord, 47R right cord, 50 position adjustment mechanism, 51 support plate, 53, 82 cord support, 53L left cord support, 53R right cord support, 54 bearing, 60 first moving mechanism, 60L left first moving mechanism, 60R right first moving mechanism, 61 first auxiliary rotating motor, 62 base, 63, 64b cylindrical worm, 64, 73 gear unit, 64a, 65 worm wheel, 66 arm member, 67 Shaft, 70 second moving mechanism, 71 second subrotating motor, 7 a output shaft, 73a spur gear, 73b feed screw, 74 nut, 81 cord support guide, 81L left cord support guide, 81R right cord support guide, 83 guide member, 86 third moving mechanism, 86L left third moving mechanism, 86R right third moving mechanism, 87 fourth moving mechanism, 201, 202, 206, 207, 221, 222, 223, 224, central axis, 210, virtual curved surface, 211, first plane, 213, second plane, 301,331 , 351 cord support, 301b bottom surface, 310, 340, 350, 410, cord length adjustment mechanism, 313, 411 cord guide, 313L left cord guide, 313R right cord guide, 314, 341, 361, 412 screw, 314L, 361L Left side screw, 314R, 3 61R right side screw, 321 surplus cord holding part, 331L left side cord support, 331R right side cord support, 342 screw insertion hole.

Claims (9)

1. The body,
   An actuator mounted on the housing;
   A pair of wings that have flexibility and generate levitation force by swinging back and forth;
   A linear body suspended between the housing and the pair of wings;
   The wings are
   A leading edge to which a swing motion is input from the actuator;
   A rear edge that is operated later than the front edge with respect to the input of the swing motion from the actuator to the front edge, and to which the linear body is connected, and
   A support portion for supporting the linear body on the housing side;
   A flapping apparatus comprising: a position adjusting mechanism that variably adjusts the position of the support by moving the support.
2. The front edge is reciprocated between a front turning position and a rear turning position in a first plane including a roll axis and a pitch axis in accordance with the swinging motion of the wing.
   The position adjustment mechanism section is in a second plane parallel to the first plane, and in the axial direction of the roll axis, a first position that is equidistant from the front turning position and the rear turning position, and a roll axis A second position closer to the front turning position than the rear turning position and a third position closer to the rear turning position than the front turning position in the axial direction of the roll shaft. The flapping apparatus according to claim 1, further comprising a first moving mechanism section that moves the support section.
3. The flapping apparatus according to claim 2, wherein the first moving mechanism section swings the support section about a first axis parallel to the yaw axis.
4. The flapping apparatus according to claim 3, wherein the first axis coincides with a swing central axis of the wing.
5. The said position adjustment mechanism part contains the 2nd moving mechanism part which moves the said support part so that the tension | tensile_strength of the said linear body between the said housing and the said wings may change. The flapping apparatus according to item 1.
6. The flapping apparatus according to claim 5, wherein the second moving mechanism unit moves the support unit in the axial direction of the pitch axis.
7. The flapping apparatus according to any one of claims 1 to 6, wherein the support portion supports the linear body so as to be rotatable about a second axis parallel to the yaw axis.
8. The linear body is suspended over one of the pair of wings, the casing, and the other of the pair of wings,
   As the support portion, a first support portion that supports the linear body that is fed out from the housing side toward one of the pair of wings, and is fed out from the housing side toward the other of the pair of wings. A second support part for supporting the linear body; and a third support part for supporting the linear body between the first support part and the second support part;
   The position adjustment mechanism includes a third moving mechanism that swings the first support and the second support around a third axis parallel to the yaw axis, and the third support that is connected to the pitch axis. The flapping apparatus according to any one of claims 1 to 7, further comprising a fourth moving mechanism section that moves in the axial direction.
9. The said support part has a linear body length adjustment mechanism part which adjusts the length of the said linear body suspended between the said housing and the said wing body variably. The flapping device described.

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