JP2003117261A - Floating machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a floating machine which is advantageous in miniaturization with a simple structure and which is easily controlled in posture. SOLUTION: The floating machine 1 is provided with a base 2, the rotor 3 mounted on the base 2 and having a rotary blade 34, a vibration body 4 for driving the rotor the other rotor 5 mounted on the base 2 and having a rotary blade 54, a vibration body 4 for driving the rotor 5 and a posture control means 16 for controlling the posture of the floating machine 1 by moving the center of gravity. The vibration body 4 is constituted by laminating an electrode, a piezoelectric element and a reinforcing board and is vibrated with slight amplitude in a longitudinal direction (vertical vibration) by the extension/ contraction of the piezoelectric element when an AC voltage is applied on the piezoelectric element. When the vibration body 4 is vibrated, the rotors 3 and 5 are repeatedly received a friction force (pressure force) from the vibration body 4 and rotated. When the rotors 3 and 5 are rotated, a lifting power works on the rotary blades 34 and 54. Thus, the floating machine 1 floats in the air.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a float.

[0002]

2. Description of the Related Art A levitation body that rotates a rotor having rotary blades and levitates in the air is used as, for example, a toy (a helicopter toy).

However, the conventional levitation body has a complicated structure because it uses an internal combustion engine (engine) or an electromagnetic motor as a drive source, and it is difficult to miniaturize it.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to provide a levitation body which has a simple structure, is advantageous for downsizing, and can easily control its posture.

[0005]

These objects are achieved by the present invention described in (1) to (38) below.

(1) A base portion, at least one rotor rotatably installed on the base portion and having rotary blades, at least one vibrating body installed on the base portion and having a piezoelectric element, and the vibration. The vibrating body has a driven body that is in contact with the body and is rotatably installed with respect to the base, and rotates in conjunction with the rotor, and a posture changing unit that changes the posture by moving the center of gravity. , Vibrating by applying an alternating voltage to the piezoelectric element, and by this vibration, a force is repeatedly applied to the driven body to rotationally drive the driven body, thereby rotating the rotor to levitate, A levitation body, characterized in that the attitude changing means adjusts the attitude of the rotor by changing the attitude.

(2) The posture changing means includes at least one weight element, a center-of-gravity moving drive source, and displacement means for displacing the weight element with respect to the levitation body. Levitating body.

(3) Assuming an x-axis and a y-axis that are substantially perpendicular to the rotor axis and are orthogonal to each other, the displacement means causes the weight element to move in the x-axis direction and the y-axis direction. The levitation body according to (2) above, which is configured to be displaced in each of the above.

(4) Assuming an x-axis and a y-axis which are substantially perpendicular to the axis of the rotor and are orthogonal to each other, the displacing means causes the weight element to have an axis substantially parallel to the x-axis. The levitation body according to (2) above, which is configured to move along an axis that is substantially parallel to the y-axis.

(5) Assuming an x-axis and a y-axis that are substantially perpendicular to the axis of the rotor and are orthogonal to each other, the displacement means separates the weight element from the center of gravity of the weight element by a predetermined distance. And is rotated about an axis that is substantially parallel to the y-axis, and is separated from the center of gravity of the weight element by a predetermined distance, and is rotated about an axis that is substantially parallel to the x-axis. The levitation body according to (2).

(6) One rotation center of the weight element is
The levitation body according to (5) above, which is located near the other center of rotation.

(7) The drive source for moving the center of gravity is composed of at least one vibrating body having a piezoelectric element,
The levitation body according to any one of the above (2) to (6), wherein the vibrating body vibrates by applying an AC voltage to the piezoelectric element, and a force is repeatedly applied by the vibration.

(8) Assuming an x-axis and a y-axis that are substantially perpendicular to the axis of the rotor and are orthogonal to each other, the displacement means displaces the weight element in the x-axis direction. The levitation body according to (2) above, which has a direction displacement means and a y-axis direction displacement means for displacing the weight element in the y-axis direction.

(9) At least one of the center-of-gravity moving drive source of the x-axis direction displacing means and the center-of-gravity moving drive source of the y-axis direction displacing means is constituted by at least one vibrating body having a piezoelectric element. The vibrating body is vibrated by applying an alternating voltage to the piezoelectric element, and the vibrating body is configured to repeatedly apply a force by the vibration.

(10) The displacement means in the x-axis direction and the y
The levitation body according to (8) or (9), wherein at least one of the axial displacement means is configured to move the weight element along a predetermined axis.

(11) The displacement means in the x-axis direction and the y-direction
At least one of the axial displacement means is configured to rotate the weight element about an axis that is separated from the center of gravity of the weight element by a predetermined distance, as described above in any one of (8) to (10). Levitating body.

(12) At least one of the drive source for moving the center of gravity of the displacement means in the x-axis direction and the drive source for moving the center of gravity of the displacement means in the y-axis direction has at least one piezoelectric element.
At least one of the x-axis direction displacing means and the y-axis direction displacing means is in contact with the lead screw and the vibrating body, and is driven to rotate in conjunction with the lead screw. A body, the vibrating body vibrates by applying an AC voltage to the piezoelectric element, and by this vibration, a force is repeatedly applied to the driven body to drive the driven body. The levitation body according to (8) above, wherein the lead screw is rotated to move the weight element.

(13) The levitating body according to the above (12), wherein the driven body that rotates in conjunction with the lead screw is integrated or fixed to the lead screw.

(14) The x-axis direction displacement means and the y
The levitation body according to the above (12) or (13), wherein at least one of the axial displacement means is provided with the weight element and has a moving member that moves by rotation of the lead screw.

(15) The moving member is formed with a groove to be screwed into the lead screw.
Levitation body described in.

(16) The x-axis direction displacement means and the y
At least one of the axial displacement means has a base portion on which the lead screw is rotatably installed, and a vibrating body for rotating the lead screw is provided on the base portion side according to the above (15). Levitating body.

(17) The x-axis direction displacement means and the y
At least one of the axial displacement means has a base portion in which a groove to be screwed into the lead screw is formed, and the lead screw and a vibrating body for rotating the lead screw are provided on the moving member side. Above (14)
Levitation body described in.

(18) The displacement means in the x-axis direction and the y
At least one of the axial displacement means has a bar-shaped guide for guiding the moving member, and the above-mentioned (14) to (1).
The levitation body according to any one of 7).

(19) The levitation body according to any one of the above (14) to (17), wherein the self-weight of the weight element prevents the moving member from following the rotation accompanying the rotation of the lead screw.

(20) At least one of the drive source for moving the center of gravity of the displacement means in the x-axis direction and the drive source for moving the center of gravity of the displacement means in the y-axis direction has at least one piezoelectric element.
At least one of the x-axis direction displacing means and the y-axis direction displacing means includes a moving member provided with the vibrating body and the weight element, and the moving member is movable. And a rod-shaped guide that comes into contact with the vibrating body, the vibrating body vibrates by applying an AC voltage to the piezoelectric element, and by this vibration, a force is repeatedly applied to the guide to cause the movement. The float according to (8) above, wherein the member is moved along the guide.

(21) At least one of the drive source for moving the center of gravity of the displacement means in the x-axis direction and the drive source for moving the center of gravity of the displacement means in the y-axis direction is provided with at least one piezoelectric element.
At least one of the x-axis direction displacing means and the y-axis direction displacing means, and a moving member provided with a rod-shaped guide that abuts against the weight element and the vibrating body. A vibrating body is provided and has a base portion that movably supports the guide in the longitudinal direction thereof, and the vibrating body vibrates by applying an AC voltage to the piezoelectric element, and this vibration causes the guide to move. The levitation body according to (8) above, in which a force is repeatedly applied to move the moving member together with the guide.

(22) At least one of the drive source for moving the center of gravity of the displacement means in the x-axis direction and the drive source for moving the center of gravity of the displacement means in the y-axis direction is provided with at least one piezoelectric element.
At least one of the x-axis direction displacing means and the y-axis direction displacing means is provided with a driven body that is in contact with the vibrating body at the base end side, and the base end side is provided. It has an arm rotatably installed in the center and has the weight element on the tip side, and the vibrating body vibrates by applying an AC voltage to the piezoelectric element, and by this vibration, The levitation body according to the above (8), in which a force is repeatedly applied to the driven body to drive the driven body, thereby rotating the arm and moving the weight element.

(23) The drive source for moving the center of gravity of the x-axis direction displacing means is composed of at least one vibrating body having a piezoelectric element, and the x-axis direction displacing means has the x-axis direction displacing means on the proximal side. A driven body that comes into contact with the vibrating body of the axial displacement means is provided, is rotatably installed on the base end side about an axis substantially parallel to the y-axis, and the weight element is provided on the front end side. The vibrating body of the x-axis direction displacement means vibrates by applying an AC voltage to the piezoelectric element, and this vibration repeatedly applies a force to the driven body to cause the vibrating body to move. The driving body is driven, whereby the arm is rotated and the weight element is moved in the x-axis direction.
The drive source for moving the center of gravity of the axial displacement means is composed of at least one vibrating body having a piezoelectric element, and the y-axis direction displacement means is in contact with the vibrating body of the y-axis direction displacement means, The driven body is provided so as to be rotatable about an axis substantially parallel to the x-axis, and the driven body is provided with the x-axis direction displacement means. The vibrating body of the means vibrates by applying an AC voltage to the piezoelectric element, and by this vibration, a force is repeatedly applied to the driven body to drive the driven body, whereby the x-axis direction displacement means. The floating body according to (8) above, wherein the weight element is moved in the y-axis direction by rotating.

(24) The rotation center of one of the weight elements is located near the rotation center of the other weight element.
Levitation body described in.

(25) The levitation body according to any one of the above (2) to (24), wherein the weight element has at least energy storage means for storing the energy of the levitation body.

(26) The levitation body according to any one of the above (2) to (25), which has a position detecting means for detecting the position of the weight element.

(27) The levitation body according to any one of (1) to (26), wherein the posture changing means is located below the rotary blade.

(28) The levitation body according to any one of (1) to (27), wherein the driven body that rotates in conjunction with the rotor is integrated or fixed to the rotor.

(29) The vibrating body which comes into contact with the driven body is installed so as to come into contact with the driven body from the outer peripheral side in the radial direction of the driven body.
The levitation body according to any one of 1.

(30) The vibrating body has a shape having a long direction and a short direction.
The float according to any one of 9).

(31) The levitation body according to the above (30), wherein the vibrating body is in contact with the vicinity of an end portion in the longitudinal direction.

(32) The levitation body according to any one of (1) to (31), wherein the vibrating body is plate-shaped.

(33) The levitation body according to the above (32), wherein the vibrating body has a substantially rectangular shape.

(34) The levitation body according to the above (32) or (33), wherein the vibrating body for rotating the rotor is installed in a posture substantially perpendicular to the rotation center line of the rotor.

(35) The vibrating body has at least one arm portion protruding from the vibrating body, and the vibrating body is supported by the arm portion. Levitating body.

(36) The levitation body according to any one of the above (1) to (35), which has two rotors that rotate in mutually opposite directions.

(37) The levitation body according to the above (36), wherein the both rotors are installed substantially coaxially.

(38) The levitation body according to the above (36) or (37), wherein the rotational speeds of the rotors can be adjusted respectively.

[0044]

BEST MODE FOR CARRYING OUT THE INVENTION The levitation body of the present invention will be described below in detail with reference to the preferred embodiments shown in the accompanying drawings.

<First Embodiment> FIG. 1 is a perspective view (details are omitted) showing a first embodiment of the levitation body of the present invention, and FIG.
FIG. 3 is a side view showing the rotor of the levitation body shown in FIG.
1 is an enlarged cross-sectional side view of the vicinity of the hollow central axis in the levitation body shown in FIG. 1, FIG. 4 is a perspective view of a vibrating body in the levitation body shown in FIG. 1, and FIG. 5 is a levitation body shown in FIG. FIG. 6 is a plan view showing how the vibrating body drives the driven body.
FIG. 7 is a plan view showing a state in which the convex portion of the vibrating body in the levitation body shown in FIG. 1 makes an elliptic motion, and FIG. 7 is perpendicular to the y-axis of the x-axis direction moving means of the attitude changing means in the levitation body shown in FIG. 8 is a cross-sectional view taken along a plane, FIG. 8 is a side view of the x-axis direction moving means of the attitude changing means in the levitation body shown in FIG. 1 (frames, weight elements, etc. are not shown), and FIG. FIG. 10 is a cross-sectional view taken along a plane perpendicular to the x-axis of the y-axis direction moving means of the attitude changing means in FIG. 10, FIG. 10 is a perspective view of the vibrating body in the levitation body shown in FIG. 1, and FIGS. Figure 1
FIG. 13 is a side view showing how the vibrating body in the levitation body drives the driven body, and FIG. 13 is a block diagram showing a circuit configuration of the levitation body shown in FIG. In the following description, the upper side in FIGS. 2, 3, 7, 8 and 9 will be referred to as “upper” and the lower side will be referred to as “lower”.

Further, as shown in FIGS. 1, 7, 8 and 9, the x-axis, the y-axis and the z-axis which are orthogonal to each other are shown.
Assume the axis (x-y-z coordinates). In this case, the z-axis is
It is supposed to be coincident with or parallel to the rotation center line (axis) of the rotor.

The levitation body 1 shown in these figures has a base 2 and
A rotor (first rotor) 3 rotatably installed with respect to the base 2, a vibrating body 4 rotatably driving the rotor 3, and a rotor 54 rotatably installed with respect to the base 2. It has a rotor (second rotor) 5 provided with, a vibrating body 4 for rotationally driving the rotor 5, and a posture changing means 16 for changing the posture of the levitation body 1 by moving the center of gravity. The rotor 3 and the rotor 5 rotate in opposite directions and are coaxially provided. That is, this float 1
Has a double reversal rotor. The configuration of each unit will be described below.

As shown in FIGS. 2 and 3, the base 2 is
Substrate 21 having a substantially flat plate shape and a hollow (substantially cylindrical) projecting (projecting) upward from substrate 21
It has a hollow center shaft 24 and vibrating body mounting portions 23 and 25. The base 2 may be provided with a grounding leg (not shown) for stably grounding to the ground (floor surface).

The rotor 3 is rotatably installed on the hollow central shaft 24. The rotor 3 rotates clockwise in a plan view (not shown).

As shown in FIG. 3, the rotor 3 has a cylindrical member 31 having a substantially cylindrical shape and the outside (outer periphery) of the cylindrical member 31.
The rotary blade fixing member 32 and the driven body 33 fixed (fixed) to the rotary blade fixing member 32 and the two rotary blades 34 fixed to the rotary blade fixing member 32, respectively.

As shown in FIGS. 2 and 3, the rotor 3 is installed in the base 2 with the hollow central shaft 24 inserted into the inner cavity of the tubular member 31, that is, the shaft hole 35. Two bearings 11 and 11 are provided between the hollow center shaft 24 and the inner surface of the shaft hole 35, respectively, so that the rotor 3 can rotate the hollow center shaft 24 (rotation center line 36) relative to the base 2. ) Can be rotated smoothly around the center.

Although the bearing 11 is composed of a sliding bearing, it may be a rolling bearing.

A flange member 26 is fixed to the outer periphery of the upper end of the hollow center shaft 24, so that the rotor 3 is not separated from the hollow center shaft 24.

The rotary blade fixing member 32 has a cylindrical portion 321 formed in a substantially cylindrical shape, and two protruding portions formed from the upper end of the cylindrical portion 321 in a direction substantially perpendicular to the rotation center line 36 of the rotor 3. It is composed of a fixed portion 322. The rotary blade fixing member 32 is fixed to the tubular member 31 by, for example, press fitting in a state where the tubular member 31 is inserted inside the tubular portion 321.

The two fixing portions 322 project in opposite directions. The base end portions (root portions) of the rotary blades 34 are fixed to the upper surfaces of the two fixing portions 322, respectively.

The two rotary blades 34 are provided so as to extend from the rotation center line 36 to opposite sides. That is, the two rotary blades 34 are provided at approximately 180 ° intervals. Further, the rotary blades 34 are installed in a posture substantially vertical to the rotation center line 36.

When the rotor 3 rotates clockwise in plan view (when viewed from the upper side in FIG. 2) by driving a vibrating body 4 which will be described later, the rotor blades 34 are lifted (almost parallel to the rotation center line 36 and upward). Force) acts.

The number of the rotor blades 34 provided on the rotor 3 is not limited to two, and may be three or more.

A driven body 33 is provided on the outer periphery of the lower end portion of the tubular member 31. That is, the driven body 33 is located below the rotary blade fixing member 32.

The driven body 33 has a substantially ring shape (annular shape).
The tubular member 31 is fixed to the tubular member 31 by press fitting, for example, with the lower end portion of the tubular member 31 inserted inside.

The tubular member 31 and the rotary blade fixing member 3
2. The driven body 33 may be integrally formed (in one member). Further, the rotary blades 34 may be integrally formed with these.

On the upper side of the base portion 2, the vibrating body 4 for rotationally driving the rotor 3 is installed so as to abut the outer peripheral surface 331 of the driven body 33.

The rotor 5 has a rotary shaft 51 inserted (inserted) in the hollow central shaft 24 and a rotary blade fixing member 53 connected (fixed) to the upper end of the rotary shaft 51 via a connecting member 52.
And two driven blades 55 fixed to the lower end of the rotary shaft 51, and two rotary blades 54 fixed to the rotary blade fixing member 53, respectively, and coaxial (concentric) with the rotor 3. It is installed in.

Two bearings 13 and 13 are provided between the rotary shaft 51 and the inner surface of the hollow central shaft 24, whereby the rotor 5 can rotate smoothly with respect to the base 2. ing.

The upper end of the rotary shaft 51 projects from the hollow central shaft 24. At the upper end of the rotary shaft 51, the connecting member 5
2 is stuck.

The connecting member 52 has a substantially cylindrical shape, and the upper end of the rotary shaft 51 is inserted inside the lower end of the connecting member 52.
For example, it is fixed to the rotary shaft 51 by press fitting.

The rotary blade fixing member 53 includes a cylindrical portion 531 formed in a substantially cylindrical shape, and two fixing portions 532 protruding from the upper end of the cylindrical portion 531 in a direction substantially perpendicular to the rotary shaft 51. It is composed of. The rotary blade fixing member 53 is fixed to the connecting member 52 by, for example, press fitting in a state where the upper end portion of the connecting member 52 is inserted inside the lower end portion of the tubular portion 531.

The fixed portion 532 is formed similarly to the fixed portion 322, and the base end portion (root portion) of the rotary blade 54 is fixed to the upper surface thereof.

The two rotary blades 54 are provided so as to extend from the rotation center line 36 to the opposite sides. That is, the two rotary blades 54 are provided at approximately 180 ° intervals. Further, the rotary vanes 54 are installed in a posture substantially vertical to the rotary shaft 51.

With this structure, the rotary vanes 54 are located above the rotary vanes 34. Further, both the rotary blades 34 and the rotary blades 54 are located above the substrate 21.

As shown in FIG. 3, the lower end of the rotary shaft 51 projects from the lower surface of the substrate 21. A substantially disc-shaped hub 56 is fixed to the lower end of the rotary shaft 51.

The driven body 55 has a substantially ring shape (annular shape) like the driven body 33, and when the hub 56 is inserted inside the driven body 55, it is pressed into the hub 56. It is fixed to the other side. That is, the driven body 55
Are located below the substrate 21. The driven body 5
5 and the hub 56 may be integrally formed (in one member).

On the upper side of the base portion 2, the vibrating body 4 for rotationally driving the rotor 5 is installed so as to be in contact with the outer peripheral surface 551 of the driven body 55.

Next, as for the vibrating body 4, the vibrating body 4 for rotationally driving the rotor 3 will be described as a representative.

As shown in FIG. 4, the vibrating body 4 has a substantially rectangular plate shape. The vibrating body 4 includes a plate-shaped electrode 41, a plate-shaped piezoelectric element 42, and a reinforcing plate 4 from the upper side in FIG.
3, a plate-shaped piezoelectric element 44, and a plate-shaped electrode 45 are laminated in this order. In FIG. 4, the thickness direction is exaggerated.

Each of the piezoelectric elements 42 and 44 has a rectangular shape and expands / contracts in the longitudinal direction by applying a voltage. The constituent material of the piezoelectric elements 42 and 44 is not particularly limited, and examples thereof include lead zirconate titanate (PZT), crystal, lithium niobate, barium titanate, lead titanate, lead metaniobate, polyvinylidene fluoride, and zinc. Various materials such as lead niobate and scandium lead niobate can be used.

These piezoelectric elements 42 and 44 are the reinforcing plate 4
It is fixed to both sides of No. 3 respectively. The reinforcing plate 43 has a function of reinforcing the entire vibrating body 4, and prevents the vibrating body 4 from being damaged by excessive amplitude, external force, or the like. Reinforcement plate 4
The constituent material of 3 is not particularly limited as long as it is an elastic material (material that can be elastically deformed), but is, for example, various metal materials such as stainless steel, aluminum or aluminum alloy, titanium or titanium alloy, copper or copper alloy. Is preferred.

The reinforcing plate 43 is preferably thinner (smaller) than the piezoelectric elements 42 and 44.
Thereby, the vibrating body 4 can be vibrated with high efficiency.

The reinforcing plate 43 also has a function as a common electrode for the piezoelectric elements 42 and 44. That is,
An alternating voltage is applied to the piezoelectric element 42 by the electrode 41 and the reinforcing plate 43, and an alternating voltage is applied to the piezoelectric element 44 by the electrode 45 and the reinforcing plate 43. That is, as shown in FIG. 13, the vibrating body 4 is connected to a drive control circuit 9 described later, and an AC voltage is applied by the drive control circuit 9.

The piezoelectric elements 42 and 44 repeatedly expand and contract in the longitudinal direction when an AC voltage is applied, and accordingly, the reinforcing plate 43 also repeatedly expands and contracts in the longitudinal direction. That is, when an AC voltage is applied to the piezoelectric elements 42 and 44, the vibrating body 4
4 vibrates (longitudinal vibration) with a minute amplitude in the longitudinal direction, as shown by the arrow in FIG. 4, and the convex portion 46 longitudinally vibrates (reciprocates).

At the right end of the reinforcing plate 43 in FIG.
6 is integrally formed. The convex portion 46 is provided at a position (corner portion in the illustrated configuration) deviated from the center (center line 49) in the width direction of the reinforcing plate 43. This convex portion 46 is
In the configuration shown in the figure, it is formed so as to project in a substantially semicircular shape.

Further, the arm portion 48 is provided so as to project in a direction substantially perpendicular to the longitudinal direction from approximately the center in the longitudinal direction of the reinforcing plate 43. A hole 481 into which the bolt 12 is inserted is formed in the arm portion 48.

As shown in FIGS. 2, 3 and 5, such a vibrating body 4 is installed so as to contact the outer peripheral surface 331 of the driven body 33 at the convex portion 46. That is, in the present embodiment, the vibrating body 4 is installed in contact with the driven body 33 from the radially outer side of the driven body 33.

In the configuration shown, the outer peripheral surface 331 is
Although it is smooth, a groove may be formed over the entire circumference, and the convex portion 46 may abut in this groove.

As shown in FIGS. 2, 3 and 5, the vibrating body mounting portion 23 projecting upward from the substrate 21 is formed with a screw hole, and the vibrating body 4 has arm portions. It is fixed to the vibrating body mounting portion 23 by the bolt 12 inserted into the hole 481 of 48.

As described above, the vibrating body 4 is supported by the arm portion 48. Thereby, the vibrating body 4 can freely vibrate, and vibrates with a relatively large amplitude. Also,
The vibrating body 4 is installed in a state where the convex portion 46 is pressed against the outer peripheral surface 331 by the elasticity of the arm portion 48.

Further, the vibrating body 4 is installed in a posture substantially perpendicular to the rotation center line 36 (a posture substantially parallel to the rotary blade 34). As a result, the space occupied by the vibrating body 4 is small in the vertical direction, and the levitation body 1 is particularly advantageous for thinning (size reduction in the direction of the rotation center line 36).

When the vibrating body 4 is vibrated by applying an AC voltage to the piezoelectric elements 42 and 44 while the convex portion 46 is in contact with the outer peripheral surface 331 of the driven body 33, the driven body 33 becomes When 4 extends, it receives a frictional force (pressing force) from the convex portion 46.

That is, as shown in FIG. 5, due to the radial component S ₁ of the vibration displacement S of the convex portion 46 (the radial displacement of the driven body 33), a large amount is generated between the convex portion 46 and the outer peripheral surface 331. A frictional force is applied to the driven body 33 by the circumferential component S ₂ (displacement of the driven body 33 in the circumferential direction) of the vibration displacement S.
Is given a clockwise rotational force in FIG.

When the vibrating body 4 vibrates, such a force repeatedly acts on the driven body 33, and the driven body 33 rotates clockwise in FIG. As a result, the rotor 3 is
It rotates in the clockwise direction (when viewed from the upper side in FIG. 2).

Since the vibrating body 4 that rotationally drives the rotor 5 is the same as the vibrating body 4 that rotationally drives the rotor 3, description thereof will be omitted.

As shown in FIG. 2, a vibrating body mounting portion 25 similar to the vibrating body mounting portion 23 projects downward from the substrate 21, and the rotor 5 is mounted on the vibrating body mounting portion 25. The vibrating body 4 which is rotationally driven is fixed by a bolt (not shown). The vibrating body 4 is provided so that its convex portion 46 contacts the outer peripheral surface 551 of the driven body 55.

The rotor 5 is driven by the vibrating body 4 in a direction opposite to the rotor 3, that is, in a plan view (not shown) (see FIG. 2).
Rotate counterclockwise (when viewed from the upper middle).

When the rotor 3 rotates clockwise in FIG. 5, a lift force acts on the rotor blades 34, and when the rotor 5 rotates in the opposite direction to the rotor 3, a lift force acts on the rotor blades 54. The levitation body 1 floats (flyes) in the air by the lift force.

It is preferable to provide a rotation speed detecting means for detecting the rotation speed (rotation speed) of the rotor 3 on the rotor 3 side, and to detect the rotation speed (rotation speed) of the rotor 5 on the rotor 5 side. It is preferable to provide a rotation speed detecting means for controlling the rotation speed.

Thus, the vibrating body 4 has a simple structure,
Compact (especially thin) and lightweight. Further, unlike the case of driving by magnetic force like an ordinary electromagnetic motor, since the driven bodies 33, 55 are driven by the frictional force (pressing force) as described above, the driving force is large.

The levitation body 1 according to the present invention is such a vibrating body 4 as described above.
Since the rotors 3 and 5 are driven to rotate by using, it is extremely advantageous for downsizing (particularly thinning). Further, it is also advantageous for weight reduction, and a large payload (load) of the levitation body 1 can be secured. Further, it is possible to reduce the manufacturing cost.

Further, in this embodiment, as described above,
The driven body 33 is fixed to the tubular member 31, and the driven body 33
Are integrated with the rotor 3. That is, the vibrating body 4
Is designed to directly drive the rotor 3,
No power transmission mechanism or speed change mechanism is provided (not required). Similarly, on the rotor 5 side, the vibrating body 4 directly drives the rotor 5 to rotate, and is not provided with a power transmission mechanism or a speed change mechanism (not necessary). As a result, the levitation body 1 has a particularly simple structure and a light weight, which is particularly advantageous in reducing the size and weight (securing the payload).

As described above, since the vibrating body 4 has a large driving force, the rotors 3 and 5 can be rotated with sufficient torque without a transmission mechanism (reduction mechanism) as in the present embodiment. be able to.

Further, in the present embodiment, the in-plane vibration of the vibrating body 4 is directly converted into the rotation of the rotors 3 and 5 (in-plane rotation), so that the energy loss accompanying this conversion is small and the rotors 3 and 5 are small. Can be rotationally driven with high efficiency.

Further, in the present embodiment, the direction of the frictional force (pressing force) exerted by the convex portion 46 on the driven body 33 is substantially perpendicular to the rotation center line 36, so that the rotor 3 should be inclined. The rotor 3 rotates more smoothly and surely without applying any force. Similarly, the rotor 5 also rotates more smoothly and reliably.

Unlike the configuration shown in the figure, the vibrating body 4 that rotationally drives the rotor 3 may be installed so as to come into contact with the upper surface or the lower surface of the driven body 33 in the direction parallel to the rotation center line 36. Further, the vibrating body 4 that rotationally drives the rotor 5 may be installed so as to contact the upper surface or the lower surface of the driven body 55 from a direction parallel to the rotation center line of the rotor 5.

Further, in the levitation body 1 of the present embodiment, the vibrating body 4 that rotationally drives the rotor 3 and the driven body 33 are the substrate 2
The vibrating body 4 and the driven body 55, which are provided on the upper side of the No. 1 and drive the rotor 5 to rotate, are provided on the lower side of the substrate 21. Accordingly, the respective members can be installed dispersively on the upper side and the lower side of the substrate 21, which is particularly advantageous for downsizing.

Further, since the two rotors 3 and 5 generate lift, a large lift can be obtained.

Further, since the rotor 3 and the rotor 5 rotate in the opposite directions, the reaction force received by the base 2 is offset and the base 2 can be prevented from rotating.

Particularly, since the vibrating body 4 for the rotor 3 and the vibrating body 4 for the rotor 5 are separately provided, the rotational speed (rotational speed) of the rotor 3 and the rotational speed (rotational speed) of the rotor 5 are determined. They can be adjusted (adjusted) independently of each other, whereby it is possible to more reliably prevent the base 2 from rotating and to control the rotation (orientation) of the base 2.

Further, since the rotor 3 and the rotor 5 are provided coaxially, the above effect can be achieved without increasing the size and weight of the two rotors. That is, it is advantageous for size reduction and weight reduction.

Unlike the present invention, two ordinary electromagnetic motors are provided, and the rotor 3 and the rotor 5 are connected by these electromagnetic motors.
When both and are directly driven, it is extremely difficult to install the rotor 3 and the rotor 5 coaxially. On the other hand, in the present invention, by driving the rotors 3 and 5 using the vibrating body 4, the rotor 3 and the rotor 5 can be easily installed coaxially.

Further, in the present embodiment, since the hollow central shaft 24 is provided, the rotor 3 (cylindrical member 31) and the rotor 5 (rotary shaft 51) do not rub (contact) with each other, so that the rotor 3 and Each of 5 can rotate smoothly.

In the illustrated configuration, the rotor 3 and the rotor 5 have the same conditions such as the diameter, the number of rotating blades (two), and the shape of the rotating blades. Number of sheets,
The conditions such as the shape of the rotary blade may be different from each other.

Further, in the present invention, the rotor 3 and the rotor 5 may not be provided coaxially (side by side).

The frequency of the AC voltage applied to the piezoelectric elements 42 and 44 is not particularly limited, but it is preferable that it is approximately the same as the resonance frequency of the vibration (longitudinal vibration) of the vibrating body 4. As a result, the amplitude of the vibrating body 4 is increased, and the rotors 3 and 5 can be rotationally driven with high efficiency.

As described above, the vibrating body 4 mainly longitudinally vibrates in the longitudinal direction thereof, but the longitudinal vibration and the bending vibration are simultaneously excited to cause the convex portion 46 to make an elliptic motion (elliptic vibration). Is more preferable. This allows the rotors 3 and 5 to be rotationally driven with higher efficiency. Hereinafter, with respect to this point, the vibrating body 4 that rotationally drives the rotor 3 is representative.
Described in.

When the vibrating body 4 rotationally drives the driven body 33, the convex portion 46 receives a reaction force from the driven body 33. In the present embodiment, since the convex portion 46 is provided at a position displaced from the center line 49 of the vibrating body 4, the vibrating body 4 is in-plane as shown by the one-dot chain line in FIG. It deforms and vibrates (flexing vibration) so that it bends in the direction. Note that, in FIG. 5, the deformation of the vibrating body 4 is exaggerated.

By appropriately selecting the frequency of the applied voltage, the shape / size of the vibrating body 4, the position of the convex portion 46, etc., the resonance frequency of this bending vibration can be made approximately the same as the resonance frequency of the longitudinal vibration. . By doing so, longitudinal vibration and flexural vibration of the vibrating body 4 occur simultaneously, the amplitude becomes larger, and the convex portion 46 is displaced substantially along an ellipse (ellipse as shown by a dashed line in FIG. 6). Vibrate.

Accordingly, in one vibration of the vibrating body 4, when the convex portion 46 sends the driven body 33 in the rotating direction, the convex portion 46 is pressed against the driven body 33 with a strong force,
When the convex portion 46 returns, the frictional force with the driven body 33 can be reduced or eliminated, so that the vibration of the vibrating body 4 can be converted with high efficiency by the rotation of the rotor 3.

In this embodiment, the rotor 3 is directly driven to rotate by the vibrating body 4. However, in the present invention, the vibrating body 4 may indirectly drive the rotor 3. Good. That is, the driven body 33 may be provided separately from the rotor 3, and the rotational force of the driven body 33 may be transmitted to the rotor 3 by the rotational force transmission mechanism. Similarly, in this embodiment, the rotor 5 is directly driven to rotate by the vibrating body 4, but in the present invention, the vibrating body 4 may indirectly drive the rotor 5. That is, the driven body 55 may be provided separately from the rotor 5, and the rotational force of the driven body 55 may be transmitted to the rotor 5 by the rotational force transmission mechanism. In these cases, the torque transmission mechanism is, for example, a gear train (gear transmission mechanism).
Alternatively, any mechanism such as a winding transmission mechanism using a pulley, a belt or a chain may be used.

Further, although one vibrating body 4 for rotationally driving the rotor 3 is installed in the present embodiment, a plurality of vibrating bodies 4 are provided and the driven body 33 is composed of a plurality of vibrating bodies in the present invention. It may be rotationally driven at 4. Similarly, in the present embodiment, one vibrator 4 that rotationally drives the rotor 5 is installed, but in the present invention, a plurality of vibrators 4 are provided and the driven body 55 is a plurality of vibrators 4. It may be rotationally driven.

Next, the posture changing means 16 will be described. Posture changing means 1 shown in FIGS. 1, 7, 8 and 9.
6 is a rotation center line (axis) of the rotors 3 and 5 by changing (adjusting) the posture of the levitation body 1 by moving the center of gravity.
It is a device for inclining 36 (adjusting the inclination) in a predetermined direction with respect to a vertical line (direction of gravity).

As shown in FIG. 1, the posture changing means 16 is
It is located below the rotors 34 and 54. That is, below the substrate 21 of the base 2, the cross-shaped substrate 1 is formed.
61 is installed (fixed), and the posture changing means 16 is
It is installed (fixed) on this substrate 161. in this case,
The substrate 161 has x-shaped stripes on one side forming the cross.
It is arranged so that it is parallel to the axis and the other strip is parallel to the y-axis.

The posture changing means 16 in this embodiment is
A linear actuator that moves the weight element 14 along a predetermined axis.
The x-axis direction moving means (x-axis direction displacing means) 16x for moving (displacement) in the axial direction and the moving means and the weight element 14 are y.
It has y-axis direction moving means (y-axis direction displacement means) 16y for moving (displacement) in the axial direction.

The displacement means for displacing the weight element 14 with respect to the levitation body 1 is constituted by the x-axis direction moving means (x-axis direction displacement means) 16x and the y-axis direction movement means (y-axis direction displacement means) 16y. Composed.

As shown in FIGS. 7 and 8, the x-axis direction moving means 16x is fixedly provided to the frame (base) 171, slider (moving member) 175, and frame 171, and guides the slider 175. Rod-shaped guide 17
2, a lead screw 173 rotatably provided with respect to the frame 171, and a vibrating body 4 that rotationally drives the lead screw 173.

Guide 172 and lead screw 17
3 are parallel to each other and parallel to the x-axis, and the lead screw 173 is arranged below the guide 172.

A driven body 174 is fixed (fixed) to the end portion of the lead screw 173 on the right side in FIG. 7, and the lead screw 173 and the driven body 174 are
Rotate together.

The driven body 174 has a substantially ring shape (annular shape), and the lead screw 173 is provided inside thereof.
Is fixed to the lead screw 173, for example, by press-fitting with the end portion thereof inserted.

The lead screw 173 and the driven body 174 may be integrally formed (in one member).

The vibrating body 4 has the convex portion 46 to drive the driven body 174.
7 is installed on the inner side surface of the frame 171 so as to be in contact with the outer peripheral surface 1741 thereof and to be parallel to the inner side surface of the frame 171 on the right side in FIG. That is, in the present embodiment, the vibrating body 4
Are installed in contact with the driven body 174 from the outer peripheral side in the radial direction of the driven body 174.

In the illustrated construction, the outer peripheral surface 1741
Is smooth, but a groove may be formed over the entire circumference, and the convex portion 46 may abut in this groove.

In the vibrating body 4 of the posture changing means 16, the electrodes are divided into a plurality of electrodes, and a voltage is selectively applied to the electrodes to partially drive the piezoelectric elements, whereby the in-plane longitudinal / bending is achieved. The vibration of can be selected arbitrarily. That is, by changing the energization state (vibration pattern of the vibrating body 4) to the vibrating body 4, the direction of the vibration (vibration displacement) of the convex portion 46 of the vibrating body 4 is changed, whereby the driven body 17
4 can be rotated in either the clockwise direction or the counterclockwise direction in FIG. 8 (the direction opposite to the forward direction). Hereinafter, the vibrating body 4 will be described, but the description will be focused on the differences from the vibrating body 4 that rotationally drives the rotors 3 and 5, and the description of the same matters will be omitted.

As shown in FIG. 10, the vibrating body 4 is similar to the vibrating body 4 for rotationally driving the rotors 3 and 5, and the piezoelectric element 42 is on the upper side and the piezoelectric element 44 is on the lower side of the reinforcing plate 43 in FIG. 10 is laminated, but four plate-shaped electrodes 41a, 41b, 41c, and 41d are installed on the upper side of the piezoelectric element 42 in FIG. 10, and on the lower side of the piezoelectric element 44 in FIG.
Four plate-shaped electrodes 45a, 45b, 45c and 45d
(The electrodes 45a, 45b, 45c and 45d are not shown and only the reference numerals are shown in parentheses) are installed, which is different from the vibrating body 4 that rotationally drives the rotors 3 and 5. That is, the piezoelectric element 42 is divided (divided) into four rectangular regions almost equally, and rectangular electrodes 41a, 41b, and 4 are formed in the respective divided regions.
1c and 41d are installed, similarly, the piezoelectric element 44 is divided (divided) into four regions, and rectangular electrodes 45a, 45b, 45c, and 45d are installed in each of the divided regions. . The electrodes 41a, 41
Electrodes 45 are provided on the back sides of b, 41c and 41d, respectively.
a, 45b, 45c and 45d are arranged.

One diagonal electrode 41a and 41c
And the electrodes 45a and 45c located on the back side thereof are all electrically connected and simultaneously energized. Similarly, the electrodes 41b and 41d on the other diagonal line and the electrodes on the back side All the electrodes 45b and 45d located are electrically connected (hereinafter, simply referred to as "connection").
It is said that it is energized at the same time.

The reinforcing plate 43 is grounded (installed), and the electrodes 41a, 41c, 45a and 45c, which are energized, and the electrodes 41b, 41d, 45b and 45d.
Is configured to be switched by a switch (changeover switch) not shown, and the AC voltage is applied to either one of them. That is, as shown in FIG. 13, the vibrating body 4 is connected to a drive control circuit 9 to be described later having the switch not shown, and the drive control circuit 9 selects (switches) an electrode to be energized. An alternating voltage is applied.

The convex portion 46 is provided at the right end portion (short side) in FIG. 10 and at the center of the reinforcing plate 43 in the width direction (center of the short side).

As shown in FIGS. 7 and 8, the end of the guide 172 on the right side in FIG. 7 is inserted into the hole 481 of the arm 48 of the vibrating body 4, and the vibrating body 4 has an end of the guide 172. Part of the pair of spacers 1 arranged on both sides of the arm portion 48 by
It is fixed to the frame 171 via 76.

Thus, the vibrating body 4 is supported by the arm portion 48. Thereby, the vibrating body 4 can freely vibrate, and vibrates with a relatively large amplitude. Also,
The vibrating body 4 is installed in a state where the convex portion 46 is pressed against the outer peripheral surface 1741 by the elasticity of the arm portion 48.

The electrodes 41a, 41c, 45a and 45c of the vibrating body 4 are energized, and these electrodes 41a, 41c, 4c
When an AC voltage is applied between the reinforcing plates 43 and the electrodes 5a and 45c, as shown in FIG.
The portions corresponding to 1a, 41c, 45a and 45c repeatedly expand and contract in the direction of arrow a, whereby the convex portion 46 of the vibrating body 4 vibrates (reciprocates) in the diagonal direction indicated by arrow b, or the arrow As indicated by c, an elliptic vibration (elliptic motion) occurs. The driven body 174 is the electrode 41 of the vibrating body 4.
When the portions corresponding to a, 41c, 45a, and 45c extend, the convex portion 46 receives a frictional force (pressing force).

That is, according to the radial component S ₁ of the vibration displacement S of the convex portion 46 (the radial displacement of the driven body 174),
A large frictional force is applied between the convex portion 46 and the outer peripheral surface 1741, and due to the circumferential component S ₂ of the vibration displacement S (the displacement of the driven body 174 in the circumferential direction), the driven body 174 in FIG. A counterclockwise rotational force is applied.

When the vibrating body 4 vibrates, such a force repeatedly acts on the driven body 174, and the driven body 174 rotates counterclockwise in FIG. As a result, the lead screw 173 rotates counterclockwise in FIG.

Contrary to the above, the electrodes 41b, 41 of the vibrating body 4 are
d, 45b and 45d are energized, and these electrodes 41
When an AC voltage is applied between the b, 41d, 45b and 45d and the reinforcing plate 43, as shown in FIG. 12, portions corresponding to the electrodes 41b, 41d, 45b and 45d of the vibrating body 4 are respectively removed. It repeatedly expands and contracts in the direction of the arrow a, whereby the convex portion 46 of the vibrating body 4 vibrates (reciprocates) in the oblique direction indicated by the arrow b, or makes an elliptical vibration (elliptical movement) as indicated by the arrow c. . The driven body 174 receives a frictional force (pressing force) from the convex portion 46 when the portions of the vibrating body 4 corresponding to the electrodes 41b, 41d, 45b and 45d extend.

That is, according to the radial component S ₁ of the vibration displacement S of the convex portion 46 (the radial displacement of the driven body 174),
A large frictional force is applied between the convex portion 46 and the outer peripheral surface 1741, and due to the circumferential component S ₂ of the vibration displacement S (displacement of the driven body 174 in the circumferential direction), the driven body 174 in FIG. A clockwise turning force is applied.

When the vibrating body 4 vibrates, such a force repeatedly acts on the driven body 174, and the driven body 174 rotates clockwise in FIG. As a result, the lead screw 173 rotates clockwise in FIG.

11 and 12, the deformation of the vibrating body 4 is exaggerated and the arm portion 48 is shown.
Are not shown.

Here, the shape and size of the vibrating body 4 and the position of the convex portion 46 are appropriately selected, and the resonance frequency of the flexural vibration is made approximately the same as the frequency of the longitudinal vibration.
The vertical vibration and the flexural vibration occur simultaneously, and the convex portion 46 can be displaced (elliptical vibration) substantially along an ellipse as shown by an arrow c in FIGS. 11 and 12. Further, as is conventionally known, the longitudinal vibration and the bending vibration are separately driven with their phases shifted, whereby the ratio of the major axis to the minor axis of the elliptic vibration (major axis / minor axis) can be changed.

In the present embodiment, the case where the electrodes of the vibrating body 4 are divided and driven is described, but this is an example, and the present invention is limited to the structure and driving method of the vibrating body 4 described above. It is not something that will be done.

As shown in FIGS. 7 and 8, the slider 1
Above the 75, a hole 1751 into which the guide 172 is inserted.
And a hole 1751 into which the lead screw 173 is inserted is formed on the lower side of the slider 175.
Are installed so as to be movable along the guide 172.

At the lower end of the slider 175, the weight element 1 is attached.
4 is installed (fixed). The weight element 14 and the slider 175 act as a weight.

In the present embodiment, the weight element 14 is located below the lead screw 173, but the position of the weight element 14 is not particularly limited, and for example, the guide 17 may be used.
It may be between 2 and the lead screw 173.

On the inner surface of the hole 1752 of the slider 175, a groove to be screwed with the lead screw 173 is formed.

When the lead screw 173 rotates counterclockwise in FIG. 8, the slider 175 moves to the guide (shaft) 17
2 and the lead screw (shaft) 173 to the left in FIG. As a result, the center of gravity of the levitation body 1 is shown in FIG.
The levitation body 1 that has moved to the left side in the middle and is levitating rotates counterclockwise in FIG. 7 by a predetermined angle to change its posture.

When the lead screw 173 rotates in the opposite direction, that is, in the clockwise direction in FIG. 8, the slider 175 moves to the guide 172 and the lead screw 17.
Move to the right side in FIG. As a result, the center of gravity of the levitation body 1 moves to the right side in FIG. 7, and the levitation body 1 is being levitated.
Rotates in the clockwise direction in FIG. 7 by a predetermined angle to change its posture.

The x-axis direction moving means 16x has a position detecting means (moving amount detecting means) 7 for detecting the position (moving amount) of the weight element 14 in the x-axis direction.

As shown in FIGS. 7 and 8, the position detecting means 7 is composed of a slit plate 71 having a plurality of slits formed at regular intervals on the outer peripheral portion thereof, and a sensor 72 having a light emitting portion and a light receiving portion. ing.

In the present embodiment, as the sensor 72, a light emitting element that irradiates the outer peripheral portion of the slit plate 71 (the portion where the slit is formed) with light, and a slit of the slit plate 71 emitted from this light emitting element. Through (transparent)
Although a photo interrupter having a light receiving element that receives (photoelectrically converts) the emitted light (transmitted light) is used, the present invention is not limited to this, and for example, a light emitting element that emits light toward the outer peripheral portion of the slit plate 71, A photoreflector or the like having a light receiving element that receives (photoelectrically converts) light (reflected light) emitted from this light emitting element and reflected by the slit plate 71 may be used.

The slit plate 71 corresponds to the driven body 174 shown in FIG.
It is fixed to the side surface on the left side of the center and rotates integrally with the driven body 174 and the lead screw 173.
Therefore, the amount of movement of the weight element 14 corresponds to the amount of rotation of the slit plate 71.

The sensor 72 is installed on the inner side surface of the frame 171 on the right side in FIG.

When the vibrating body 4 is driven and the driven body 174, the lead screw 173 and the slit plate 71 rotate, a pulse (pulse signal) is output from the sensor 72 accordingly. This pulse is supplied (input) to the θy control circuit 92y of the drive control circuit 9 described later, and θ
The y control circuit 92y counts the pulses, obtains the movement amount of the weight element 14 in the x-axis direction based on the count value (the number of pulses), and obtains the position of the weight element 14 in the x-axis direction from the movement amount. . Information on the amount of movement and the position of the weight element 14 is obtained from the weight element 1
4 is used for predetermined control and processing when moving 4 in the x-axis direction.

The position detection means 7 is not limited to the optical detection, but may be the magnetic detection, for example.

Next, the y-axis direction moving means 16y will be described. The differences from the x-axis direction moving means 16x will be mainly described, and the description of the same matters will be omitted.

As shown in FIG. 9, the y-axis direction moving means 16
y is a frame (base) 171, a rod-shaped guide 172 fixedly provided on the frame 171, and a lead screw 1 rotatably provided on the frame 171.
73, a slider (moving member) 175, the vibrating body 4 that rotationally drives the lead screw 173, the position (movement amount) of the weight element 14 and the x-axis direction moving means 16x in the y-axis direction.
And a position detecting means (moving amount detecting means) 7 for detecting

As shown in FIG. 1, the y-axis direction moving means 16
y is installed (fixed) on the lower side of the strip-shaped body parallel to the y-axis of the substrate 161.

The x-axis direction moving means 16x is installed (fixed) at the lower end of the slider 175 of the y-axis direction moving means 16y.

The slider 1 of this y-axis direction moving means 16y
75, the x-axis direction moving means 16x, and the weight element 14 act as a weight.

Others are almost the same as the x-axis moving means 16x except that the x-axis is replaced by the y-axis, and therefore the description thereof is omitted.

The vibrating body 4 vibrates and the lead screw 1
When 73 rotates in a predetermined direction, the slider 175 moves to the left side in FIG. 9 along the guide (shaft) 172 and the lead screw (shaft) 173. As a result, the center of gravity of the levitation body 1 moves to the left side in FIG. 9, and the levitation body 1 in levitation rotates counterclockwise by a predetermined angle in FIG. 9 to change its posture.

When the vibrating body 4 vibrates and the lead screw 173 rotates in the opposite direction, the slider 17
5 moves to the right side in FIG. 9 along the guide 172 and the lead screw 173. As a result, the center of gravity of the levitation body 1 moves to the right side in FIG. 9, and the levitation body 1 in levitation moves to the right side in FIG.
Rotate counterclockwise by a predetermined angle to change its posture.

When the driven body 174, the lead screw 173 and the slit plate 71 rotate, the sensor 72 outputs a pulse (pulse signal) accordingly. This pulse is θx of the drive control circuit 9 described later.
The θx control circuit 92 is supplied (input) to the control circuit 92x.
x counts the pulses, obtains the movement amount of the weight element 14 in the y-axis direction based on the count value (the number of pulses), and obtains the position of the weight element 14 in the y-axis direction from the movement amount. The information on the movement amount and position of the weight element 14 is used for predetermined control and processing when moving the weight element 14 in the y-axis direction.

Next, the weight element 14 will be described. Figure 1
3, the weight element 14 has a spherical casing 14
1 (not shown in FIG. 13), this casing 1
41 includes a drive control circuit 9 and an attitude control sensor 8
And a battery (not shown) for wireless communication, a battery for supplying electric power to each part of the levitation body 1 such as the drive control circuit 9, the attitude control sensor 8 and the transmission / reception part (energy storage means for accumulating energy of the levitation body 1 ) 15 and are stored (built-in).

That is, in this embodiment, the drive control circuit 9, the attitude control sensor 8, the transmitter / receiver, the battery 15 and the like constitute a part of the weight element 14 of the attitude changing means 16.
As a result, the weight of the dedicated weight (the portion that acts only as a weight) can be reduced, so that the levitation body 1 can be made lighter in weight and the payload (load) of the levitation body 1 can be increased. You can

The attitude control sensor 8 moves around the Z axis (θz
Gyro sensor 81z for detecting the rotation of the
It is composed of a gyro sensor 81x that detects rotation around the axis (θx direction) and a gyro sensor 81y that detects rotation around the Y axis (θy direction).

As each of the gyro sensors 81x, 81y and 81z, a sensor which detects only an angular velocity or an angular acceleration of a predetermined value or more is used. As a result, it is possible to detect only abrupt (sudden) rotations of the floating body 1 in the θx direction, the θy direction, and the θz direction.

Further, the drive control circuit 9 includes the θz detection circuit 9
1z, θx detection circuit 91x, θy detection circuit 91y
, Θz control circuit 91z, θx control circuit 91x, θ
y control circuit 91y, first drive circuit 931, second drive circuit 932, y drive circuit 93y, and x drive circuit 9
3x and a switch (switch not shown) for switching the energized electrodes of the vibrating body 4 of the y-axis direction moving means 16y (a changeover switch) and a switch (not shown) for switching the energized electrodes of the vibrating body 4 of the x-axis direction moving means 16x ( Changeover switch).

The first drive circuit 931 is connected to the vibrating body 4 for rotationally driving the rotor 3, and the second drive circuit 932 is provided.
Is connected to the vibrating body 4 that rotationally drives the rotor 5.

The y drive circuit 93y is connected to the vibrating body 4 of the y-axis direction moving means 16y via a switch for switching the electrodes, and the x drive circuit 93x is connected to the vibrating body 4 for switching the electrodes in the x-axis direction. It is connected to the vibrating body 4 of the moving means 16x.

Further, examples of the battery 15 include a primary battery, a secondary battery (storage battery), a fuel cell, a solar battery (a combination of a photoelectric conversion element and a secondary battery), and the like.

In contrast to such a levitating body 1, an operating section (controller) not shown is provided on the ground (floor), and the operating section and the levitating body 1 can communicate with each other by radio. The levitation body 1 can be remotely operated wirelessly (adjustment of the rotational speeds of the rotors 3 and 5 and adjustment of the position of the weight element 14 in the x-axis direction and the y-axis direction) from the operation section.

In the levitation body 1, the detected value in the θz direction by the gyro sensor 81z, the indicated value in the Z axis direction (the indicated height value), and the indicated value around the Z axis (the indicated value in the θz direction). The rotation speeds (rotational speeds) of the rotor 3 and the rotor 5 are respectively controlled based on

That is, when the instruction value in the Z-axis direction is input to the θz control circuit 92z, the first drive circuit 931 and the second drive circuit 931 are adjusted so that the instruction value (height) in the Z-axis direction becomes the same. Through 932, the drive of each vibrating body 4 that rotationally drives the rotors 3 and 5 is controlled. Thereby, the floating body 1 can be raised or lowered, and can be held at a predetermined height.

In addition, the instruction value in the θz direction is the θz control circuit 9
When input to 2z, each vibrating body 4 that rotationally drives the rotors 3 and 5 via the first drive circuit 931 and the second drive circuit 932 so as to have the indicated value (direction) in the θz direction. Drive is controlled. As a result, the levitation body 1 is moved in the θz direction by a predetermined amount (predetermined angle) in both forward and reverse directions.
It can be rotated and can be held at a predetermined angle (direction) in the θz direction.

When the gyro sensor 81z detects rotation in the θz direction, the gyro sensor 81z inputs a detection signal to the θz detection circuit 91z, and the θz detection circuit 91z obtains a detection value in the θz direction. The detected value is input to the θz control circuit 92z, and the θz control circuit 92z is input.
z so that the detected value in the θz direction becomes 0 through the first drive circuit 931 and the second drive circuit 932.
The drive of each vibrating body 4 that rotationally drives the rotors 3 and 5 is controlled. As a result, the levitation body 1 suddenly (suddenly)
The rotation in the θz direction can be prevented or suppressed, and the levitation body 1 can be stably levitated.

In the levitation body 1, the position of the weight element 14 in the Y-axis direction is controlled based on the detected value in the θx direction by the gyro sensor 81x and the instruction value in the Y-axis direction.

That is, when the instruction value in the Y-axis direction is inputted to the θx control circuit 92x, the y-axis direction moving means 16y vibrates via the y-driving circuit 93y so as to have the indicated value in the Y-axis direction. The drive of the body 4 is controlled. As a result, the weight element 14 and the x-axis direction moving means 16x move in the Y-axis direction, the center of gravity of the levitation body 1 moves in the Y-axis direction, and the levitation body 1
The center lines of rotation of the rotors 3 and 5 rotate in the YZ plane by a predetermined angle and are inclined by a predetermined angle with respect to the vertical line toward the y-axis.

In this way, the levitation body 1 can be moved (flying) in the inclination direction of the rotation center line.

When the gyro sensor 81x detects rotation in the θx direction, the gyro sensor 81x inputs a detection signal to the θx detection circuit 91x, and the θx detection circuit 91x obtains a detection value in the θx direction. The detected value is input to the θx control circuit 92x, and the θx control circuit 92x.
The vibrating body 4 of the y-axis direction moving means 16y is driven via the drive circuit 73y so that the detected value in the θx direction becomes 0 by x.
Drive is controlled. Thereby, the sudden (sudden) rotation of the levitation body 1 in the θx direction can be prevented or suppressed, and the levitation body 1 can be stably levitated.

Further, in the levitation body 1, the position of the weight element 14 in the X-axis direction is controlled based on the detected value in the θy direction by the gyro sensor 81y and the instruction value in the X-axis direction.

That is, when the X-axis direction instruction value is input to the θy control circuit 92y, the x-axis direction moving means 16x vibrates via the x drive circuit 93x so that the X-axis direction instruction value is obtained. The drive of the body 4 is controlled. As a result, the weight element 14 moves in the X-axis direction, the center of gravity of the levitation body 1 moves in the X-axis direction, and the rotation center lines of the rotors 3 and 5 of the levitation body 1 rotate by a predetermined angle in the XZ plane. Then, it is inclined at a predetermined angle with respect to the vertical line toward the x-axis.

In this way, the levitation body 1 can be moved (flying) in the inclination direction of the rotation center line.

When the gyro sensor 81y detects rotation in the θy direction, the gyro sensor 81y inputs a detection signal to the θy detection circuit 91y, and the θy detection circuit 91y obtains a detection value in the θy direction. The detected value is input to the θy control circuit 92y, and the θy control circuit 92y is input.
The vibrating body 4 of the x-axis direction moving means 16x is set via the drive circuit 73y so that the detected value in the θy direction becomes 0 depending on y.
Drive is controlled. This makes it possible to prevent or suppress abrupt (sudden) rotation of the levitation body 1 in the θy direction, and the levitation body 1 can be stably levitated.

As described above, in this levitation body 1,
The posture changing means 16 changes its posture, that is,
The attitude can be controlled, and thus the levitation body 1 can be moved (flying) in an arbitrary direction (arbitrary position) easily and reliably.

Further, since the lead screw 173 is rotationally driven by using the vibrating body 4, it is extremely advantageous for downsizing. Also, it is advantageous for weight reduction,
The payload (load) of the levitation body 1 can be increased. Further, it is possible to reduce the manufacturing cost.

In the present embodiment, the vibrating body 4 directly drives the lead screw 173 to rotate, but in the present invention, the vibrating body 4 uses the lead screw 173.
May be indirectly driven. That is, the driven body 174 is provided separately from the lead screw 173,
The rotational force of the driven body 174 may be transmitted to the lead screw 173 by a rotational force transmission mechanism. In this case, as the rotational force transmission mechanism, any mechanism such as a gear train (gear transmission mechanism), a winding transmission mechanism using a pulley, a belt, a chain, or the like may be used.

Further, in the present embodiment, one vibrating body 4 that rotationally drives the lead screw 173 is installed, but in the present invention, a plurality of vibrating bodies 4 are provided and the driven body 1 is provided.
The 74 may be rotationally driven by a plurality of vibrators 4.

Also, in this embodiment, the posture changing means 16
Drive source for moving the center of gravity, that is, the lead screw 17
Although the vibrating body 4 is used as a drive source for rotationally driving the rotating body 3, the present invention is not limited to the vibrating body 4, and, for example, an electromagnetic motor or the like may be used. You may use together several types of drive sources.

Further, in this embodiment, the weight element 14 is 1
However, in the present invention, a plurality of weight elements 14 may be provided.

Further, in the present invention, for example, two weight elements 14 are provided, and the x-axis direction moving means (x-axis direction displacement means) 16 is provided.
One of the weight elements 14 is moved (displaced) in the x-axis direction by x, and the y-axis direction moving means (y-axis direction displacing means) 16y is
The other weight element 14 may be configured to move (displace) in the y-axis direction. That is, the x-axis direction moving means 16x
And the y-axis direction moving means 16y are independent of each other, a dedicated weight element 14 is provided for each, and the x-axis direction moving means 16x
Then, one weight element 14 may be moved in the x-axis direction, and the other weight element 14 may be moved in the y-axis direction by the y-axis direction moving means 16y.

Further, according to the present invention, the method of remotely controlling the levitation body 1 is not limited to the wireless control, but may be, for example, a wired control. That is, the operation unit (not shown) and the levitation body 1 may be connected by a lead wire (conductor wire) (not shown), and the levitation body 1 may be remotely operated from the operation unit by this lead wire. Further, the lead wire may supply electric power from the operation unit to each part of the levitation body 1 such as the vibrating body 4.

The method of supplying electric power to each part of the levitation body 1 such as the vibrating body 4 is not limited to the above-mentioned methods, but energy may be transmitted from the ground by light, electromagnetic waves, or the like. The methods described above may be combined arbitrarily.

Further, although the case where the slider 175 moves with respect to the levitation body 1 has been described in the present embodiment, the present invention is not limited to this, and, for example, conversely to the above, the slider 175 is used as a base and the frame 171 is used. May be the moving member. That is, the slider 175 is fixed to the floating body 1,
The weight element 14 is provided on the frame 171, and the frame 17
1 may be moved. In this case, the center of gravity moves due to the movement of the frame 171, the guide 172, the lead screw 173, and the weight element 14.

<Second Embodiment> FIG. 14 is a sectional view taken along a plane perpendicular to the y axis of the x-axis direction moving means of the attitude changing means in the second embodiment of the levitator of the present invention. , X of the attitude changing means in the second embodiment of the levitation body of the present invention
It is a side view of the axial moving means (frames, weight elements, etc. are not shown).

The second embodiment of the levitation body according to the present invention will be described below with reference to these drawings. The differences from the first embodiment will be mainly described, and the description of the same matters will be omitted. To do.

In the following description, the upper side in FIGS. 14 and 15 is referred to as “upper” and the lower side is referred to as “lower”.

Further, in FIGS. 14 and 15, as shown in the drawing, the x-axis, y-axis and z-axis (x-
yz coordinates). In this case, the z axis is assumed to be coincident with or parallel to the rotation center line (axis) of the rotor.

The levitation body 1 of the second embodiment differs from that of the first embodiment only in the posture changing means 16.

That is, as shown in FIGS. 14 and 15, in the x-axis direction moving means 16x of the posture changing means 16, the guide 172 of the first embodiment is omitted.

A hole 1752 having a groove for screwing with the lead screw 173 is provided at the upper end of the slider (moving member) 175, and the weight element 14 is installed (fixed) at the lower end of the slider 175. Has been done.

In the x-axis direction moving means 16x, the slider 17 accompanying the rotation of the lead screw 173 is caused by the weight of the weight element 14, that is, the gravity acting on the weight element 14.
5 (following rotation) can be prevented (prevented).

On the right side of the frame (base) 171 in FIG. 14, a vibrating body mounting portion 177 having a screw hole is provided so as to project toward the left side. It is fixed to the vibrating body mounting portion 177 by a bolt 178 inserted in the 481.

Y-axis direction moving means 16 of posture changing means 16
Since y is almost the same as that of the x-axis direction moving means 16x, illustration and description thereof will be omitted.

According to such a floating body 1, the same effect as that of the first embodiment can be obtained.

Further, since it is not necessary to provide the guide 172, it is particularly advantageous for size reduction and weight reduction.

Although the case where the slider 175 moves with respect to the floating body 1 has been described in the present embodiment, the present invention is not limited to this. For example, conversely to the above, the slider 175 is used as the base and the frame 171 is used. May be the moving member. That is, the slider 175 is fixed to the floating body 1,
The weight element 14 is provided on the frame 171, and the frame 17
1 may be moved. In this case, the frame 171, the lead screw 173, and the weight element 14
The center of gravity moves due to the movement of.

<Third Embodiment> FIG. 16 is a sectional view taken along a plane perpendicular to the y-axis of the x-axis direction moving means of the attitude changing means in the third embodiment of the levitating body of the present invention. FIG. 17 is a cross-sectional view taken along the line AA in FIG. 16.

The third embodiment of the levitation body according to the present invention will be described below with reference to these drawings. The differences from the first embodiment will be mainly described, and similar matters will not be described. To do.

In the following description, the upper side in FIGS. 16 and 17 will be referred to as “upper” and the lower side will be referred to as “lower”.

16 and 17, the x-axis, y-axis and z-axis (x-
yz coordinates). In this case, the z axis is assumed to be coincident with or parallel to the rotation center line (axis) of the rotor.

The levitation body 1 of the third embodiment is different from the first embodiment only in the attitude changing means 16.

As shown in FIGS. 16 and 17, in the x-axis direction moving means 16x of the posture changing means 16, the vibrating body 4 has the short side of the vibrating body 4 and the axis of the guide 172 substantially parallel to each other.
That is, the long side of the vibrating body 4 and the axis of the guide 172 are substantially perpendicular to each other, and the slider 175 is installed so that the convex portion 46 contacts the guide 172. Also, the vibrating body 4
Is located below the guide 172, and its convex portion 46 is in contact with the lower side of the guide 172.

In the illustrated construction, the outer peripheral surface of the guide 172 is smooth, but a groove may be formed along the axis of the guide 172 and the convex portion 46 may abut in this groove. . Further, the cross-sectional shape of the guide 172 is not limited to the circular shape, and may be, for example, an elliptical shape, a polygonal shape such as a triangular shape or a quadrangular shape.

The slider 175 has a plate shape. The slider 175 is provided with a vibrating body mounting portion 177 having a screw hole formed therein so as to project toward the left side in FIG. 17, and the vibrating body 4 is arranged so as to be parallel to the slider 175.
It is fixed to the vibrating body mounting portion 177 by bolts 178 inserted in the eight holes 481.

A pair of support portions 1753, 1753 are provided on the upper side of the slider 175 at both left and right ends in FIG. Are formed.

The slider 175 has a pair of supporting portions 17
It is supported by 53 and 1753 so as to be movable with respect to the guide 172.

The weight element 14 is installed (fixed) on the slider 175. The weight element 14 does not have the casing 141 as in the first embodiment, and each member (component) thereof is installed on the slider 175.

Further, in this embodiment, since the vibrating body 4 is installed on the slider 175 side, it constitutes a part of the weight element 14. As a result, the weight of the dedicated weight (the portion that acts only as a weight) can be made lighter than in the first embodiment, and the levitation body 1 can be made even lighter.

In this x-axis direction moving means 16x, when the vibrating body 4 vibrates, the vibrating body 4 is guided by the convex portion 46 when the portion corresponding to the predetermined electrode extends.
A frictional force (pressing force) is applied to the slider 175, and the repeated frictional force (pressing force) causes the slider 175 to move to the left or right side in FIG. 16 along the guide.

As a result, the center of gravity of the levitation body 1 moves to the left or right side in FIG. 16, and the levitation body 1 in levitation changes its posture.

Y-axis direction moving means 16 of posture changing means 16
Since y is almost the same as that of the x-axis direction moving means 16x, illustration and description thereof will be omitted.

According to the levitation body 1 as described above, the same effect as that of the first embodiment can be obtained.

Further, since it is not necessary to provide the lead screw 173, it is particularly advantageous for downsizing and weight reduction.

Further, since the vibrating body 4 directly drives the guide 172 or the slider 175, high speed drive and high speed response are possible.

Here, it is preferable that the x-axis direction moving means 16x has a position detecting means (moving amount means) for detecting the position (moving amount) of the weight element 14 in the x-axis direction.

The y-axis direction moving means 16y is position detecting means (moving amount detecting means) for detecting the position (moving amount) of the weight element 14 and the x-axis direction moving means 16x in the y-axis direction.
It is preferable to have

In the present embodiment, the case where the slider 175 moves with respect to the levitation body 1 has been described. However, the present invention is not limited to this. For example, conversely to the above, the slider 175 is used as the base and the frame 171 is used. May be the moving member. That is, the slider 175 is fixed to the floating body 1,
The weight element 14 is provided on the frame 171, and the slider 175 is provided.
However, the guide 172 provided on the frame 171 may be movably supported in the longitudinal direction (axial direction), and the frame 171 may be moved together with the guide 172. In this case, the frame 171, the guide 172
The center of gravity moves due to the movement of the weight element 14.

<Fourth Embodiment> FIG. 18 is a view (front view) showing the attitude changing means in the fourth embodiment of the levitation body of the present invention as viewed from the y-axis direction, and FIG. 19 is a view of the levitation body of the present invention. It is the figure (side view) which looked at the attitude | position change means in 4th Embodiment from the x-axis direction.

The fourth embodiment of the levitation body of the present invention will be described below with reference to these drawings. The differences from the first embodiment will be mainly described, and the description of the same matters will be omitted. To do.

In the following description, the upper side in FIGS. 18 and 19 is referred to as “upper” and the lower side is referred to as “lower”.

18 and 19, the x-axis, the y-axis, and the z-axis (x-
yz coordinates). In this case, the z axis is assumed to be coincident with or parallel to the rotation center line (axis) of the rotor.

The levitation body 1 of the fourth embodiment differs from that of the first embodiment only in the attitude changing means 16.

Posture changing means 1 in the fourth embodiment
As shown in FIGS. 18 and 19, 6 is a pendulum type actuator that rotates the weight element 14 around an axis that is separated from the center of gravity of the weight element 14 by a predetermined distance. The x-axis direction moving means 16x is a frame. 171, an arm 181 provided so as to be rotatable (swingable) about a shaft 183 with respect to the frame 171, and a vibrating body 4 that drives (rotates) the arm 181.

A driven body 182 is formed on the upper end (base end) of the arm 181. The right side portion of the driven body 182 in FIG. 18 has a substantially arc shape, and the arm 181
In the driven body 182, is installed so as to be rotatable about a shaft 183 with respect to the frame 171. Also,
The shaft 183 is arranged parallel to the y-axis.

In the present embodiment, the arm 181 and the driven body 182 are integrally formed (in one member), but in the present invention, the arm 181 and the driven body 182 are formed in different members. May be.

At the lower end (tip) of the arm 181,
The weight element 14 is installed (fixed). Accordingly, the weight element 14 is separated from the center of gravity of the weight element 14 by a predetermined distance together with the arm 181, and rotates about the axis 183 parallel to the y axis.

The vibrating body 4 has the convex portion 46 and the driven body 182.
18 is installed on the protruding portion 1711 protruding to the right side of the frame 171 in FIG. That is, in the present embodiment, the vibrating body 4 is installed in contact with the driven body 182 from the outer peripheral side in the radial direction of the driven body 182.

A vibration body mounting portion 177 having a screw hole is formed on the protrusion 1711 so as to project toward the left side in FIG. It is fixed to the vibrating body mounting portion 177 by 178.

In the illustrated construction, the outer peripheral surface 1821
Is smooth, it is also possible to form a groove on the outer peripheral surface 1821, and the convex portion 46 abuts in this groove.

As shown in FIGS. 18 and 19, the y-axis direction moving means 16y of the attitude changing means 16 is composed of the frame 17
1, a driven body 184 rotatably (swingable) about a shaft 185 with respect to the frame 171, and a driven body 18
And a vibrating body 4 that drives (rotates) the motor 4.

The driven body 184 has a substantially arcuate shape (a shape in which a part of a circular ring is cut out), and the driven body 184 is rotatable around a shaft 185 with respect to the frame 171. It is installed in. Further, the shaft 185 is arranged parallel to the x-axis.

The x-axis direction moving means 16x is installed (fixed) at the lower end of the driven body 184. Therefore, the weight element 14 has the x-axis direction moving means 16x (the arm 1).
81), it is separated from the center of gravity of the weight element 14 by a predetermined distance and is rotated about an axis 185 parallel to the x-axis.

Here, the shaft 185 is located near the shaft 183. That is, one rotation center is located near the other rotation center.

The vibrating member 4 has the convex portion 46 and the driven member 184.
It is installed on the frame 171 so as to abut the outer peripheral surface 1841. That is, in the present embodiment, the vibrating body 4
Are installed in contact with the driven body 184 from the outer peripheral side in the radial direction of the driven body 184.

A vibrating body mounting portion 177 having a screw hole is provided on the frame 171 so as to project toward the left side in FIG. Is fixed to the vibrating body mounting portion 177.

In the structure shown, the outer peripheral surface 1841
Is smooth, but it is also possible to form a groove over the entire outer peripheral surface 1841 so that the convex portion 46 abuts in this groove.

Further, like the x-axis direction moving means 16x, the y-axis direction moving means 16y has an arm, and the driven body 184 is provided on the upper end (base end) side of the arm.
The x-axis direction moving means 16x may be installed (fixed) on the lower end (tip) side.

In this posture changing means 16, when the vibrating body 4 of the x-axis direction moving means 16x vibrates, the driven body 182 is driven.
18 receives a frictional force (pressing force) from the convex portion 46 when a portion of the vibrating body 4 corresponding to a predetermined electrode is extended, and by the repeated frictional force (pressing force), clockwise or counterclockwise in FIG. Rotate a predetermined amount (predetermined angle) clockwise. That is, the arm 181 rotates about the shaft 183 by a predetermined amount in the clockwise or counterclockwise direction in FIG. 18, and the weight element 14 is
It moves to the left side or the right side in FIG.

As a result, the center of gravity of the levitation body 1 moves to the left or right side in FIG. 18, and the levitation body 1 in levitation changes its posture.

The vibrating body 4 of the y-axis direction moving means 16y
When the driven body 184 vibrates, the driven body 184 receives a frictional force (pressing force) from the convex portion 46 when a portion of the vibrating body 4 corresponding to a predetermined electrode extends, and by the repeated frictional force (pressing force), By rotating a predetermined amount (predetermined angle) clockwise or counterclockwise in FIG. 19, the weight element 14 moves to the left or right in FIG.

As a result, the center of gravity of the levitation body 1 moves to the left or right side in FIG. 19, and the levitation body 1 in levitation changes its posture.

According to such a floating body 1, the same effect as that of the first embodiment can be obtained.

Here, the x-axis direction moving means 16x preferably has position detecting means (moving amount detecting means) for detecting the position (moving amount) of the weight element 14 in the x-axis direction.

Further, the y-axis direction moving means 16y preferably has a position detecting means (moving amount detecting means) for detecting the position (moving amount) of the weight element 14 in the y-axis direction.

Although the levitation body of the present invention has been described with reference to the illustrated embodiment, the levitation body of the present invention has the features of small size, light weight and high performance as described above.
It has a wide range of applications, and its uses include not only toys
It can be applied to various things. For example, it can be used as a device that flies in an environment where humans cannot enter (a narrow place, a place polluted by radioactivity, etc.) and collects information by various sensors and transports.

Further, the present invention is not limited to the illustrated embodiment, and each part constituting the levitation body can be replaced with an arbitrary structure having the same function.

For example, the shape and structure of the vibrating body are not limited to those shown in the drawings, and may be any shape as long as it can rotate the driven body. For example, one piezoelectric element
A piece, a piece without a reinforcing plate, a shape in which the width gradually decreases toward the portion contacting the driven body,
It may have a plurality of arm portions (for example, a pair of arm portions).

The levitation body of the present invention can be applied to any size from small size to relatively large size, and in particular, the diameter of the rotor equipped with rotor blades is 10 to 300 mm. It is suitable for small levitation bodies.

Further, the levitation body of the present invention may be one provided with one rotor having rotating blades, or may be one provided with three or more rotors.

The levitation body of the present invention may be a combination of any two or more configurations (features) of the above embodiments.

For example, in the present invention, as for the posture changing means 16, any one of the x-axis direction moving means 16x of each of the above-mentioned embodiments and the y-axis direction moving means 1 of each of the above-mentioned embodiments.
You may combine with any of 6y.

That is, there are the following combinations of (1) to (3), each of which can use any one of the above-described embodiments, and a configuration different from each of the above-described embodiments. It should be noted that, as in the above embodiments, the x-axis direction moving means 16x and the y-axis direction moving means 16 are provided.
One of y and the other may be supported (fixed) to the other so that the weight element 14 also serves as the weight element. Further, the x-axis direction moving means 16x and the y-axis direction moving means 16y are made independent, and are respectively provided. , A dedicated weight element 14 is provided, and the x-axis direction moving means 1 is provided.
6x moves (displaces) one weight element 14 in the x-axis direction, and the y-axis direction moving means 16y moves the other weight element 14 in the y direction.
It may be configured to move (displace) in the axial direction.

The x-axis direction moving means 16x and the y-axis direction moving means 16y are each configured to move (slide) the weight element 14 along a predetermined axis. That is, the x-axis direction moving means 16x moves the weight element 14 along an axis substantially parallel to the x-axis, and the y-axis direction moving means 16y.
Configures the weight element 14 to move along an axis substantially parallel to the y-axis.

The x-axis direction moving means 16x and the y-axis direction moving means 16y are respectively provided with the weight element 14 and the weight element 1.
It is configured to rotate about an axis separated from the center of gravity of 4 by a predetermined distance. That is, the x-axis direction moving means 16x separates the weight element 14 from the center of gravity of the weight element 14 by a predetermined distance, rotates the weight element 14 about an axis substantially parallel to the y-axis, and moves the y-axis direction moving means 16x.
The y is configured to separate the weight element 14 from the center of gravity of the weight element 14 by a predetermined distance and rotate the weight element 14 about an axis substantially parallel to the x axis.

The x-axis direction moving means 16x includes the weight element 1
4 is configured to move along a predetermined axis (an axis substantially parallel to the x-axis), and the y-axis direction moving means 16y is configured to move the weight element 14 from the center of gravity of the weight element 14 by a predetermined distance (to the x-axis). It is configured to rotate about substantially parallel shafts).

The y-axis direction moving means 16y includes the weight element 1
4 is configured to be moved along a predetermined axis (an axis substantially parallel to the y-axis), and the x-axis direction moving means 16x causes the weight element 14 to be separated from the center of gravity of the weight element 14 by a predetermined distance (to the y-axis). It is configured to rotate about substantially parallel shafts).

[0272]

As described above, according to the present invention, a rotor having rotary blades is rotationally driven using a vibrating body having a piezoelectric element, so that the structure is simple, and the size and weight are reduced. And a high-performance floating body can be obtained.

Further, since the attitude changing means is provided, the attitude of the levitation body can be controlled, so that the float can be easily (and reliably) moved (flyed) to an arbitrary position.

When a vibrating body having a piezoelectric element is used as the drive source for moving the center of gravity of the posture changing means,
Furthermore, the structure is simple, and it is advantageous for downsizing and weight saving.

Also, when two rotors that rotate in mutually opposite directions are provided, the rotation of the base can be prevented and the orientation can be controlled. In particular, when the two rotors are coaxially provided, the above effect can be achieved without causing an increase in size and weight.

[Brief description of drawings]

FIG. 1 is a perspective view (details omitted) showing a first embodiment of a levitation body according to the present invention.

2 is a side view showing a rotor in the floating body shown in FIG. 1. FIG.

FIG. 3 is an enlarged cross-sectional side view showing the vicinity of a hollow central axis in the float body shown in FIG.

FIG. 4 is a perspective view of a vibrating body in the floating body shown in FIG.

5 is a plan view showing how a vibrating body in the levitation body shown in FIG. 1 drives a driven body.

FIG. 6 is a plan view showing how the convex portion of the vibrating body in the levitating body shown in FIG. 1 makes an elliptical motion.

7 is a cross-sectional view taken along a plane perpendicular to the y-axis of the x-axis direction moving means of the attitude changing means in the floating body shown in FIG.

FIG. 8 is a side view of the x-axis direction moving means of the attitude changing means in the floating body shown in FIG. 1 (frames, weight elements, etc. are not shown).

9 is a cross-sectional view taken along a plane perpendicular to the x-axis of the y-axis direction moving means of the attitude changing means in the floating body shown in FIG.

FIG. 10 is a perspective view of a vibrating body in the floating body shown in FIG.

FIG. 11 is a side view showing how the vibrating body of the levitation body shown in FIG. 1 drives a driven body.

FIG. 12 is a side view showing how the vibrating body of the levitation body shown in FIG. 1 drives a driven body.

13 is a block diagram showing a circuit configuration of the levitation body shown in FIG.

FIG. 14 is a sectional view taken along a plane perpendicular to the y-axis of the x-axis direction moving means of the attitude changing means in the second embodiment of the levitation body of the present invention.

FIG. 15 is a side view of the x-axis direction moving means of the attitude changing means in the second embodiment of the levitation body of the present invention (frames, weight elements, etc. are not shown).

FIG. 16 is a cross-sectional view taken along a plane perpendicular to the y-axis of the x-axis direction moving means of the attitude changing means according to the third embodiment of the levitation body of the present invention.

17 is a cross-sectional view taken along the line AA in FIG.

FIG. 18 is a view (front view) of the attitude changing means according to the fourth embodiment of the levitation body of the present invention when viewed from the y-axis direction.

FIG. 19 is a view (side view) of the attitude changing means in the fourth embodiment of the levitation body of the present invention as viewed from the x-axis direction.

[Explanation of symbols]

1 levitating body 2 base 21 board 23 Vibration body mounting part 24 hollow central shaft 25 Vibration body mounting part 26 Flange member 3 rotor 31 tubular member 32 Rotor blade fixing member 321 tubular part 322 Fixed part 33 Driven body 331 outer peripheral surface 34 rotor 35 shaft hole 36 Center of rotation 4 vibrating body 41, 45 electrodes 41a to 41d electrodes 45a to 45d electrodes 42,44 Piezoelectric element 43 Reinforcement plate 46 convex 48 arms 481 holes 49 center line 5 rotor 51 rotation axis 52 Connection member 53 Rotor blade fixing member 531 Cylindrical part 532 Fixed part 54 rotor 55 Driven body 551 outer peripheral surface 56 hub 7 Position detection means 71 slit plate 72 sensor 8 Attitude control sensor 81x, 81y, 81z gyro sensor 9 Drive control circuit 91x θx detection circuit 91y θy detection circuit 91z θz detection circuit 92x θx control circuit 92y θy control circuit 92z θz control circuit 931 First drive circuit 932 Second drive circuit 93x x drive circuit 93y y drive circuit 11 bearings 12 volt 13 bearings 14 Weight element 141 casing 15 batteries 16 Attitude changing means 16x x-axis direction moving means 16y y-axis direction moving means 161 substrate 171 frames 1711 protrusion 172 Guide 173 Lead screw 174 Driven body 1741 outer peripheral surface 175 slider 1751, 1752 holes 1753 support 1754 holes 176 Spacer 177 Vibrating body mounting part 178 Volts 181 arm 182,184 Driven body 1821, 1841 outer peripheral surface 183, 185 axis

Claims (38)

[Claims] 1. A base, at least one rotor rotatably installed with respect to the base and having rotary blades, at least one vibrating body installed on the base, having a piezoelectric element, and the vibrating body. A vibrating body, which has a driven body that is rotatably installed with respect to the base and that rotates in conjunction with the rotor, and a posture changing unit that changes the posture by moving the center of gravity; The piezoelectric element vibrates by applying an AC voltage, and by this vibration, a force is repeatedly applied to the driven body to rotationally drive the driven body, which causes the rotor to rotate and levitate. A levitation body, wherein the changing means adjusts the inclination of the shaft of the rotor by changing the posture. 2. The posture changing means includes at least one weight element, a center-of-gravity moving drive source, and displacement means for displacing the weight element with respect to the levitation body.
Levitation body described in. 3. When the x-axis and the y-axis which are substantially perpendicular to the axis of the rotor and are orthogonal to each other are assumed, the displacement means moves the weight element into the x-axis direction and the y-axis.
The levitation body according to claim 2, which is configured to be displaced in each of the axial directions. 4. Assuming an x-axis and a y-axis which are substantially perpendicular to the axis of the rotor and are orthogonal to each other, the displacing means moves the weight element along an axis substantially parallel to the x-axis. The levitation body according to claim 2, wherein the levitation body is configured to be moved along an axis substantially parallel to the y-axis. 5. When the x-axis and the y-axis which are substantially perpendicular to the axis of the rotor and orthogonal to each other are assumed, the displacement means separates the weight element from the center of gravity of the weight element by a predetermined distance. A rotation about an axis substantially parallel to the y-axis, a predetermined distance from the center of gravity of the weight element, and a rotation about an axis substantially parallel to the x-axis. The float according to 2. 6. The levitation body according to claim 5, wherein one rotation center of the weight element is located near the other rotation center. 7. The center-of-gravity moving drive source is composed of at least one vibrating body having a piezoelectric element, and the vibrating body vibrates by applying an AC voltage to the piezoelectric element, The levitation body according to any one of claims 2 to 6, which is configured to repeatedly apply a force by means of. 8. When the x-axis and the y-axis which are substantially perpendicular to the axis of the rotor and are orthogonal to each other are assumed, the displacement means displaces the weight element in the x-axis direction. The levitation body according to claim 2, further comprising a displacement means and a y-axis direction displacement means that displaces the weight element in the y-axis direction. 9. At least one of the center-of-gravity moving drive source of the x-axis direction displacing means and the center-of-gravity moving drive source of the y-axis direction displacing means is composed of at least one vibrating body including a piezoelectric element. The vibrating body vibrates by applying an AC voltage to the piezoelectric element, and by this vibration,
The levitation body according to claim 8, which is configured to repeatedly apply a force. 10. The levitation device according to claim 8, wherein at least one of the x-axis direction displacement means and the y-axis direction displacement means is configured to move the weight element along a predetermined axis. body. 11. At least one of the x-axis direction displacement means and the y-axis direction displacement means is configured to rotate the weight element about an axis separated from the center of gravity of the weight element by a predetermined distance. The levitation body according to any one of claims 8 to 10. 12. A barycenter moving drive source of the x-axis direction displacing means and a barycenter moving drive source of the y-axis direction displacing means are composed of at least one vibrating body including a piezoelectric element. Cage, the x-axis direction displacement means and the y
At least one of the axial displacement means has a lead screw and a driven body that is in contact with the vibrating body and rotates in conjunction with the lead screw, and the vibrating body applies an AC voltage to the piezoelectric element. 9. The vibration according to the application, wherein the vibration causes a force to be repeatedly applied to the driven body to drive the driven body, thereby rotating the lead screw to move the weight element. Levitating body. 13. The levitation body according to claim 12, wherein the driven body that rotates in conjunction with the lead screw is integrated or fixed to the lead screw. 14. The weight element is provided in at least one of the x-axis direction displacing means and the y-axis direction displacing means, and a moving member that moves by rotation of the lead screw is provided. Levitating body. 15. The levitation body according to claim 14, wherein a groove that is screwed into the lead screw is formed in the moving member. 16. At least one of the x-axis direction displacement means and the y-axis direction displacement means has a base portion on which the lead screw is rotatably installed, and a vibrating body for rotating the lead screw is The levitation body according to claim 15, which is provided on the base side. 17. The lead screw and the lead screw are rotated by at least one of the x-axis direction displacement means and the y-axis direction displacement means having a base portion formed with a groove screwed into the lead screw. The levitation body according to claim 14, wherein the vibrating body to be moved is provided on the moving member side. 18. The levitation body according to claim 14, wherein at least one of the x-axis direction displacement means and the y-axis direction displacement means has a rod-shaped guide that guides the moving member. 19. The levitation body according to claim 14, wherein follow-up rotation of the moving member due to rotation of the lead screw is prevented by the self-weight of the weight element. 20. At least one of the center-of-gravity moving drive source of the x-axis direction displacing means and the center-of-gravity moving drive source of the y-axis direction displacing means is composed of at least one vibrating body including a piezoelectric element. Cage, the x-axis direction displacement means and the y
At least one of the axial displacement means has a moving member provided with the vibrating body and the weight element, and a rod-shaped guide in which the moving member is movably provided and abutting on the vibrating body, The levitation body according to claim 8, wherein the vibrating body vibrates when an alternating voltage is applied to the piezoelectric element, and the vibration causes a force to be repeatedly applied to the guide to move the moving member along the guide. 21. At least one of the center-of-gravity moving drive source of the x-axis direction displacing means and the center-of-gravity moving drive source of the y-axis direction displacing means is constituted by at least one vibrating body including a piezoelectric element. Cage, the x-axis direction displacement means and the y
At least one of the axial displacement means is provided with a moving member provided with a rod-shaped guide that contacts the weight element and the vibrating body, and the vibrating body, and supports the guide so as to be movable in the longitudinal direction thereof. 9. The vibrating body, which has a base portion, vibrates when an AC voltage is applied to the piezoelectric element, and the vibration repeatedly applies a force to the guide to move the moving member together with the guide.
Levitation body described in. 22. At least one of the center-of-gravity moving drive source of the x-axis direction displacing means and the center-of-gravity moving drive source of the y-axis direction displacing means is composed of at least one vibrating body including a piezoelectric element. Cage, the x-axis direction displacement means and the y
At least one of the axial displacement means is provided with a driven body that is in contact with the vibrating body on the base end side, is rotatably installed around the base end side, and has the weight element on the tip end side. With the arm provided, the vibrating body vibrates by applying an AC voltage to the piezoelectric element, and by this vibration,
The levitation body according to claim 8, wherein a force is repeatedly applied to the driven body to drive the driven body, thereby rotating the arm to move the weight element. 23. The center-of-gravity moving drive source of the x-axis direction displacing means is composed of at least one vibrating body having a piezoelectric element, and the x-axis direction displacing means has the x-axis direction displacing means on the proximal side.
A driven body that comes into contact with the vibrating body of the axial displacement means is provided, is rotatably installed on the base end side about an axis substantially parallel to the y-axis, and the weight element is provided on the front end side. The vibrating body of the x-axis direction displacement means vibrates by applying an AC voltage to the piezoelectric element, and this vibration repeatedly applies a force to the driven body to cause the vibrating body to move. A driving body is driven, whereby the arm is rotated to move the weight element in the x-axis direction, and the drive source for moving the center of gravity of the y-axis direction displacement means is at least one vibrating body including a piezoelectric element. The y-axis direction displacement means is in contact with the vibrating body of the y-axis direction displacement means,
The driven body is rotatably installed around an axis substantially parallel to the x-axis, and the driven body is provided with the x-axis direction displacement means. The vibrating body vibrates by applying an alternating voltage to the piezoelectric element, and the vibration repeatedly applies a force to the driven body to drive the driven body. The levitation body according to claim 8, wherein the weight element is moved in the y-axis direction by rotating. 24. The levitation body according to claim 23, wherein one rotation center of the weight element is located near the other rotation center. 25. The levitation body according to claim 2, wherein the weight element has at least energy storage means for storing energy of the levitation body. 26. The levitation body according to claim 2, further comprising position detecting means for detecting the position of the weight element. 27. The levitation body according to claim 1, wherein the attitude changing means is located below the rotary blade. 28. The driven body that rotates in conjunction with the rotor is integrated with or fixed to the rotor.
The floater according to any one of 1 to 27. 29. The vibrating body contacting the driven body is installed so as to contact the driven body from a radially outer side of the driven body. Levitating body. 30. The levitating body according to claim 1, wherein the vibrating body has a shape having a long direction and a short direction. 31. The levitation body according to claim 30, wherein the vibrating body is in contact with a portion near an end portion in the longitudinal direction. 32. The levitation body according to claim 1, wherein the vibrating body has a plate shape. 33. The levitation body according to claim 32, wherein the vibrating body has a substantially rectangular shape. 34. The levitation body according to claim 32, wherein the vibrating body for rotating the rotor is installed in a posture substantially vertical to a rotation center line of the rotor. 35. The levitating body according to claim 1, further comprising at least one arm portion provided so as to project from said vibrating body, said vibrating body being supported by said arm portion. 36. A levitation body according to claim 1, which has two rotors that rotate in mutually opposite directions. 37. The levitation body according to claim 36, wherein the both rotors are installed substantially coaxially. 38. The levitating body according to claim 36, wherein the rotational speeds of both rotors can be adjusted respectively.