JP2006142884A - Flying body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a flying body capable of stably flying without providing a posture stabilizing means such as a stabilizer, having an advantage in reducing weight, and decreasing voltage drop or a loss of electric power between a solar cell and a circuit portion. <P>SOLUTION: The flying body comprises a rotor 3 rotatably provided and having a plurality of rotating wings 34, a driven element rotating by interlocking with the rotor 3, an ultrasonic motor having a vibrating element equipped with a contacting portion abutting on the driven element and a piezoelectric element, and a driving circuit driving the ultrasonic motor. The flying body flies with thrust generated by rotations of the rotating wings 34. On a surface of the rotating wing 34, a solar battery 71 receiving light to carry out photoelectric exchange and generate electricity is provided. In the rotating wing 34, the circuit portion 72 having a charging portion charging the electricity generated by the solar cell 71 is provided. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a flying object.

A helicopter or the like is known as a flying object that floats (flys) in the air by rotating a rotor having a plurality of rotor blades. For example, a small flying object is used as a toy (helicopter toy) or the like. (For example, refer to Patent Document 1). Such a flying body is provided with posture stabilizing means such as a stabilizer in order to stabilize the flying posture.
However, the conventional flying body is increased in weight by the posture stabilizing means such as a stabilizer, which is disadvantageous for, for example, a long flight or a long flight.

In addition, a flying object is proposed in which a solar cell (solar cell panel) is mounted on the surface of a rotor blade (propeller) (see, for example, Patent Document 2). In such a flying body, only the solar battery is installed on the rotor, and the circuit unit (control system unit) having a charging unit that charges electricity generated by the solar battery is installed at a separate part away from the rotor. Has been. And the solar cell and the circuit part are electrically connected by the cable (conductive wire).
However, in the conventional aircraft, the circuit unit is installed in another part away from the rotor wing, so the electricity generated by the solar cell is charged to the charging unit via a relatively long cable, There is a problem that the voltage drop and power loss in the cable is very large.

JP 2000-218044 A Japanese Utility Model Publication No. 6-34175

  An object of the present invention is that it is possible to perform stable flight without providing a posture stabilizing means such as a stabilizer, which is advantageous for weight reduction, and a voltage drop and power loss between a solar cell and a circuit unit. It is an object of the present invention to provide a flying body that can reduce the above.

Such an object is achieved by the present invention described below.
The flying body of the present invention is rotatably provided, a rotor having a plurality of rotor blades,
A driven body that rotates in conjunction with the rotor;
An ultrasonic motor having a vibrating body provided with a contact portion and a piezoelectric element that contact the driven body;
A drive circuit for driving the ultrasonic motor,
The vibrating body vibrates by applying an AC voltage to the piezoelectric element by the driving circuit, and the vibration repeatedly drives the driven body through the contact portion to rotate the driven body. And thereby rotating the rotor,
An aircraft that flies by thrust generated by the rotation of the rotor blades,
On the surface of the rotor blade, a solar cell that receives light and photoelectrically converts it to generate electricity is provided.
A circuit unit having a charging unit for charging electricity generated by the solar cell is provided inside the rotor blade.

Thereby, a solar cell and a circuit part can be made to approach, and the voltage drop and the loss of electric power between a solar cell and a circuit part can be reduced.
Further, since the solar cell and the circuit unit are provided on the rotor blade, the weight of the rotor blade can be increased without changing the weight of the entire flying object. As a result, the moment of inertia of the rotor blade can be increased without changing the weight of the entire flying object (the gyro effect is increased), and thus the flight attitude can be adjusted without providing a stabilizer or other attitude stabilization means. It is possible to stabilize the flight.

Further, since it is not necessary to provide posture stabilization means, it is possible to reduce the weight.
In addition, since the circuit unit is provided inside the rotor blade, the circuit unit is protected, and for example, a foreign object collides with the circuit unit or water is applied to the circuit unit. , Breakage, disconnection, short circuit, etc.) can be prevented.
In addition, since the circuit unit is provided inside the rotor blade, the circuit unit can be cooled via the rotor blade by the airflow (air flow) when the rotor rotates, thereby causing malfunction of the circuit unit. And failure can be prevented. In addition, it is not necessary to provide a separate cooling means, which is advantageous for downsizing and weight reduction.

Moreover, since the circuit part is provided not inside the surface of the rotor blade but inside the rotor blade, it is possible to secure a wide area in which the solar cell can be provided, thereby reducing the power generation amount (power generation capacity). Can be bigger.
In addition, since the solar cell is provided, it is possible to easily fly for a long time or to a long distance.
In addition, since an ultrasonic motor (vibrating body) is used as a driving source, a large driving force can be obtained, and a reduction in size and weight can be achieved.

In the flying body of the present invention, it is preferable that at least a part of electric power used for driving the ultrasonic motor is supplied from the charging unit.
Thereby, it is possible to easily perform a long flight or a long flight.
In the flying body of the present invention, it is preferable that the power supplied from the charging unit is configured to be used as auxiliary power for driving the ultrasonic motor.
When the power supplied from the charging unit is used as auxiliary power, various forms are possible. For example, the power supply unit of the charging unit and another power supply unit are connected in series, and the voltage In the form using, a higher voltage (an AC voltage having a large amplitude) can be applied to the ultrasonic motor as compared with the form using only the voltage of the power supply part of the charging part. Thereby, the maximum value of the rotational speed of the rotor can be increased, and a large thrust (lift) can be generated.
In addition, the power supply unit of the charging unit and another power supply unit are connected in parallel and the voltage is used, or one of the power supply unit of the charging unit and the other power supply unit is used with priority, and the other is reserved ( In the form of the spare power supply unit), it is possible to fly for a longer time or to fly further away, and to fly even when a failure occurs in one power supply unit.

In the flying body of the present invention, it is preferable that substantially the entire circuit portion overlaps with a part of the solar cell when the rotor blade is viewed from the thickness direction.
In such a case, solar cells are provided over a wide area on the surface of the rotor blade, and thereby the amount of power generation can be increased.
In the flying body of the present invention, the circuit unit is composed of partial circuit units dispersed inside the rotor blades,
Each of the partial circuit portions of the rotor blades is provided such that the center of gravity of the partial circuit portion is located closer to the end side than the midpoint between the rotation center of the rotor blade and the end portion of the rotor blade. Preferably it is.
As a result, the moment of inertia of the rotor blades can be further increased (the gyro effect is further increased), whereby stable flight can be performed.

In the flying body of the present invention, the circuit unit is composed of partial circuit units dispersed inside the rotor blades,
The partial circuit portions of the rotor blades are preferably provided such that the distances between the rotation center of the rotor blades and the center of gravity of the partial circuit portion of the rotor blades are all substantially equal.
As a result, the balance of the entire rotor is improved, the rotor can rotate stably, and stable flight can be performed.

In the flying object of the present invention, it is preferable that the drive circuit is included in the circuit unit provided in the rotor.
As a result, the moment of inertia of the rotor blades can be further increased (the gyro effect is further increased), whereby stable flight can be performed.
In the aircraft of the present invention, the ultrasonic motor has a pair of drive electrodes,
The drive circuit is configured to repeatedly apply a DC voltage between the pair of drive electrodes so that the polarities are alternately inverted, thereby applying an AC voltage to the piezoelectric element. preferable.
Thereby, compared with the case where one of a pair of drive electrodes is always grounded (grounded), a higher voltage (an AC voltage having a larger amplitude) can be applied to the ultrasonic motor. Thereby, the maximum value of the rotational speed of the rotor can be increased, and a large thrust (lift) can be generated.

The flying body of the present invention preferably includes the two rotors that are provided substantially coaxially and rotate in directions opposite to each other.
Thereby, rotation of the entire flying object can be prevented or the direction can be controlled easily and reliably without causing an increase in size and weight.
Also, since the rotation directions of the two rotors are opposite to each other, the solar cell on the rotor blade side of the lower rotor in the vertical direction is momentarily shielded by the rotor blades of the upper rotor. It can generate electricity.

The aircraft of the present invention is provided substantially coaxially, and has a first rotor having a plurality of first rotor blades and a second rotor having a plurality of second rotor blades that are rotatable in opposite directions;
A first driven body that rotates in conjunction with the first rotor;
A first ultrasonic motor having a first vibrating body provided with a contact portion and a piezoelectric element in contact with the first driven body;
A first drive circuit for driving the first ultrasonic motor;
A second driven body that rotates in conjunction with the second rotor;
A second ultrasonic motor having a second vibrating body provided with a contact portion and a piezoelectric element in contact with the second driven body;
A second drive circuit for driving the second ultrasonic motor,
The first vibrating body vibrates by applying an alternating voltage to the piezoelectric element by the first driving circuit, and this vibration repeatedly applies force to the first driven body through the contact portion. In addition, the first driven body is driven to rotate, thereby rotating the first rotor,
The second vibrating body vibrates by applying an AC voltage to the piezoelectric element by the second driving circuit, and this vibration repeatedly applies force to the second driven body through the contact portion. In addition, the second driven body is driven to rotate, thereby rotating the second rotor,
An aircraft that flies by thrust generated by rotation of the first rotor and the second rotor;
Provided on the surface of the first rotor blade is a solar cell that receives and photoelectrically converts light to generate electricity,
A circuit unit having a charging unit for charging electricity generated by the solar cell is provided inside the first rotor blade.

Thereby, a solar cell and a circuit part can be made to approach on the 1st rotary blade side, and the voltage drop and the loss of electric power between a solar cell and a circuit part can be reduced.
Moreover, since the solar cell and the circuit unit are provided on the first rotor, the weight of the first rotor can be increased without changing the weight of the entire flying object. As a result, the inertia moment of the first rotary wing can be increased without changing the weight of the entire flying body (the gyro effect is increased), thereby providing a posture stabilizing means such as a stabilizer, The flight posture can be stabilized and stable flight can be performed.

Further, since it is not necessary to provide posture stabilization means, it is possible to reduce the weight.
In addition, since the circuit unit is provided inside the first rotor blade, the circuit unit is protected, and, for example, a foreign object collides with the circuit unit or water is applied to the circuit unit. For example, damage, breakage, disconnection, short circuit, etc.) can be prevented.
In addition, since the circuit unit is provided inside the first rotor blade, the circuit unit can be cooled via the first rotor blade by an air flow (air flow) when the first rotor rotates. This can prevent malfunction and failure of the circuit unit. In addition, it is not necessary to provide a separate cooling means, which is advantageous for downsizing and weight reduction.

In addition, since the circuit unit is provided not inside the surface of the first rotor blade but inside the first rotor blade, it is possible to secure a wide area in which the solar cell can be provided. The amount (power generation capacity) can be increased.
In addition, since the solar cell is provided, it is possible to easily fly for a long time or to a long distance.
Further, since the first ultrasonic motor (first vibrating body) and the second ultrasonic motor (second vibrating body) are used as the driving source, a large driving force can be obtained, and the size and weight can be reduced. Can be achieved.

In the flying body of the present invention, at least part of the electric power used for driving the first ultrasonic motor is configured to be supplied from a charging unit provided inside the first rotary wing. It is preferable.
Thereby, it is possible to easily perform a long flight or a long flight.
In the flying body of the present invention, the power supplied from the charging unit provided in the first rotary wing is configured to be used as auxiliary power for driving the first ultrasonic motor. Preferably it is.
When the power supplied from the charging unit is used as auxiliary power, various forms are possible. For example, the power supply unit of the charging unit and another power supply unit are connected in series, and the voltage In the form using, a higher voltage (an AC voltage having a large amplitude) can be applied to the first ultrasonic motor as compared with the form using only the voltage of the power supply part of the charging part. Thereby, the maximum value of the rotational speed of the first rotor can be increased, and a large thrust (lift) can be generated.
In addition, the power supply unit of the charging unit and another power supply unit are connected in parallel and the voltage is used, or one of the power supply unit of the charging unit and the other power supply unit is used with priority, and the other is reserved ( In the form of the spare power supply unit), it is possible to fly for a longer time or to fly further away, and to fly even when a failure occurs in one power supply unit.

In the flying body of the present invention, it is preferable that the first drive circuit is included in the circuit unit provided in the first rotary wing.
As a result, the moment of inertia of the first rotor blade can be further increased (the gyro effect is further increased), whereby stable flight can be performed.
In the aircraft of the present invention, the first ultrasonic motor has a pair of drive electrodes,
The first drive circuit repeatedly applies a DC voltage between the pair of drive electrodes so that the polarity is alternately reversed, whereby an AC voltage is applied to the piezoelectric element of the first ultrasonic motor. It is preferably configured to be applied.
As a result, a higher voltage (an AC voltage having a larger amplitude) can be applied to the first ultrasonic motor as compared with the case where one of the pair of drive electrodes is always grounded. Thereby, the maximum value of the rotational speed of the first rotor can be increased, and a large thrust (lift) can be generated.

In the flying body of the present invention, on the surface of the second rotary wing, a solar cell that receives light, performs photoelectric conversion, and generates electricity is provided.
It is preferable that a circuit unit having a charging unit for charging electricity generated by a solar cell provided on a surface of the second rotary blade is provided inside the second rotary blade.
Thereby, a solar cell and a circuit part can be made to approach on the 2nd rotary blade side, and the voltage drop and the loss of electric power between a solar cell and a circuit part can be reduced.
Moreover, since the solar cell and the circuit unit are provided on the second rotor, the weight of the second rotor can be increased without changing the weight of the entire flying object. As a result, the inertia moment of the second rotor blade can be increased without changing the weight of the entire flying object (the gyro effect is increased), thereby providing a posture stabilizing means such as a stabilizer. The flight posture can be stabilized and stable flight can be performed.
In addition, since the circuit unit is provided inside the second rotor blade, the circuit unit is protected, and, for example, a foreign object collides with the circuit unit or water is applied to the circuit unit. For example, damage, breakage, disconnection, short circuit, etc.) can be prevented.
In addition, since the circuit unit is provided inside the second rotor blade, the circuit unit can be cooled via the second rotor blade by the airflow (air flow) when the second rotor rotates. This can prevent malfunction and failure of the circuit unit. In addition, it is not necessary to provide a separate cooling means, which is advantageous for downsizing and weight reduction.
Further, since the circuit portion is provided not inside the surface of the second rotor blade but inside the second rotor blade, a wide area where the solar cell can be provided can be secured. The amount (power generation capacity) can be increased.
In addition, since the solar cell is provided, it is possible to easily fly for a long time or to a long distance.

In the flying body of the present invention, at least a part of electric power used for driving the second ultrasonic motor is supplied from a charging unit provided inside the second rotary wing. It is preferable.
Thereby, it is possible to easily perform a long flight or a long flight.
In the flying body of the present invention, the power supplied from the charging unit provided in the second rotary wing is configured to be used as auxiliary power for driving the second ultrasonic motor. Preferably it is.
When the power supplied from the charging unit is used as auxiliary power, various forms are possible. For example, the power supply unit of the charging unit and another power supply unit are connected in series, and the voltage In the form using, a higher voltage (an AC voltage having a large amplitude) can be applied to the second ultrasonic motor as compared with the form using only the voltage of the power supply part of the charging part. Thereby, the maximum value of the rotational speed of the second rotor can be increased, and a large thrust (lift) can be generated.
In addition, the power supply unit of the charging unit and another power supply unit are connected in parallel and the voltage is used, or one of the power supply unit of the charging unit and the other power supply unit is used with priority, and the other is reserved ( In the form of the spare power supply unit), it is possible to fly for a longer time or to fly further away, and to fly even when a failure occurs in one power supply unit.

In the flying body of the present invention, it is preferable that the second drive circuit is included in the circuit portion provided inside the second rotary wing.
As a result, the moment of inertia of the second rotor blade can be further increased (the gyro effect is increased), and thus stable flight can be performed.
In the aircraft of the present invention, the second ultrasonic motor has a pair of drive electrodes,
The second drive circuit repeatedly applies a DC voltage between the pair of drive electrodes so that the polarity is alternately reversed, whereby an AC voltage is applied to the piezoelectric element of the second ultrasonic motor. It is preferably configured to be applied.
Thereby, compared with the case where one of the pair of drive electrodes is always grounded (grounded), a higher voltage (an AC voltage having a larger amplitude) can be applied to the second ultrasonic motor. Thereby, the maximum value of the rotational speed of the second rotor can be increased, and a large thrust (lift) can be generated.

The flying body of the present invention preferably has posture changing means for changing the flying posture by moving the center of gravity.
As a result, the flying posture of the flying object can be easily and reliably changed, and the flying object can be easily and reliably moved (moved) to an arbitrary position.
In the flying body of the present invention, it is preferable that the posture changing means has a weight element and a displacement mechanism for displacing the weight element.
Thereby, the center of gravity of the flying object can be easily and reliably moved with a simple configuration.

Hereinafter, the flying object of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
<First Embodiment>
FIG. 1 is a perspective view showing a first embodiment of a flying object of the present invention, FIG. 2 is an enlarged sectional side view showing the vicinity of a central axis in the flying object shown in FIG. 1, and FIG. 3 is shown in FIG. 4 is a plan view schematically showing a rotor in the flying object, FIG. 4 is a perspective view of a vibrating body in the flying object shown in FIG. 1, and FIG. 5 is a state in which the vibrating object in the flying object shown in FIG. FIG. 6 is a plan view showing a state in which the convex portion of the vibrating body in the flying object shown in FIG. 1 moves elliptically, and FIG. 7 is a perspective view of the posture changing means in the small flying object shown in FIG. 8 is an exploded perspective view of the attitude changing means in the small flying object shown in FIG. 1, FIG. 9 is a perspective view of the linear actuator of the attitude changing means in the flying object shown in FIG. 1, and FIG. 10 is the flying shown in FIG. FIG. 11 is a plan view of a linear actuator of posture changing means in the body. FIG. 12 is a cross-sectional view taken along the line AA in FIG. 10, and FIG. 13 is a perspective view of the vibrating body in the flying body shown in FIG. FIG. 15 is a plan view showing a state in which the vibrating body in the flying body shown in FIG. 1 drives the driven body, and FIG. 16 is a block diagram showing a circuit configuration of the flying body shown in FIG.

In the following description, the upper side (upper side) in FIGS. 1, 2, 7 and 8 will be described as “upper” and the lower side (lower side) as “lower”.
Further, the attitude of the flying object shown in FIG. 1 is defined as a “basic attitude”, and in FIG. 1, the vertical direction is “vertical direction”, the upper direction (upper side) is “vertical upper direction (vertical upper direction)”, and the lower direction (lower side). Is defined as “vertically downward (vertically downward)”.
Further, in FIG. 1, FIG. 7, and FIG. 8, an x axis, a y axis, and a z axis (xyz coordinates) orthogonal to each other are assumed as shown. In this case, the z-axis is assumed to be coincident with or parallel to the rotation center line (rotation center axis) of the rotor.

  The flying object 1 shown in these drawings includes a substantially cylindrical central axis (axis) 22, two bases 2 fixed to the central axis 22 so as to face each other, and a central axis 22 (lower base 2). The rotor (first rotor) 3 provided with two rotor blades (first rotor blades) 34 and the lower base 2 is provided to rotate and drive the rotor 3 ( The rotating body (first rotating body) (first ultrasonic motor) 4 that is a driving source (rotating) is installed so as to be rotatable with respect to the center shaft 22 (upper base 2), and two rotating blades ( A rotor (second rotor) 5 having a second rotor blade 54 and a vibrating body (second vibrating body) provided on the upper base 2 and serving as a drive source for rotating (rotating) the rotor 5 ) (Second ultrasonic motor) 4, attitude changing means 16 for changing the flying attitude of the flying object 1 by moving the center of gravity, It is fixed to the shaft 22, and a grounding means 6 for supporting the air vehicle 1. The rotor 3 and the rotor 5 rotate in opposite directions and are provided coaxially. In other words, the flying object 1 includes a double reversing rotor.

The rotors 3 and 5, the vibrating body 4 that rotationally drives the rotor 3, and the vibrating body 4 that rotationally drives the rotor 5 constitute a main part of thrust generating means (lift generating means) that generates thrust (lift). In the basic posture, the thrust generating means is located above the vertical direction, and the posture changing means 16 and the ground contact means 6 are located below the vertical direction.
In this embodiment, an ultrasonic motor (first ultrasonic motor) is configured by the vibrating body (first vibrating body) 4 that rotationally drives the rotor 3. The sonic motor may have other components in addition to the vibrating body 4.

Similarly, in the present embodiment, an ultrasonic motor (second ultrasonic motor) is configured by the vibrating body (second vibrating body) 4 that rotationally drives the rotor 5. The ultrasonic motor may have other components in addition to the vibrating body 4.
The same applies to the vibrating bodies of linear actuators 16x and 16y described later of the posture changing means 16.

Hereinafter, the configuration of each unit will be described.
As shown in FIGS. 1 and 2, the two base portions 2 each have a substrate 21 having a substantially flat plate shape and a vibrating body mounting portion 23 provided on the substrate 21. In the upper base portion 2, the vibrating body mounting portion 23 is provided on the upper side of the substrate 21, and in the lower base portion 2, the vibrating body mounting portion 23 is provided on the lower side of the substrate 21.

A rotor 3 is rotatably installed in the vicinity of the base 2 below the lower base 2 of the central shaft 22. The rotor 3 rotates clockwise in a plan view (when viewed from the upper side in FIG. 2).
As shown in FIG. 2, the rotor 3 includes a cylindrical member 31 having a substantially cylindrical shape, a rotating blade fixing member 32 fixed to the outer side (outer periphery) of the cylindrical member 31, and a driven body (first member). 1 driven body) 33 and two rotor blades 34 fixed to the rotor blade fixing member 32, respectively.

The rotor 3 is installed in a state where the central shaft 22 is inserted into the lumen of the cylindrical member 31, that is, the shaft hole 35. Two bearings 11, 11 are provided between the center shaft 22 and the inner surface of the shaft hole 35, respectively, so that the rotor 3 moves the center shaft 22 (rotation center line 36) with respect to the base 2. It can rotate smoothly as a center.
The bearing 11 is composed of a sliding bearing, but may be a rolling bearing (bearing).

Two through holes 311 extending in the left-right direction in FIG. 2 are formed at positions corresponding to the rotary blades 34 of the cylindrical member 31.
The rotor blade fixing member 32 includes a cylindrical portion 321 formed in a substantially cylindrical shape, and a fixing portion 322 formed so as to protrude from the lower end portion of the cylindrical portion 321 in a direction substantially perpendicular to the rotation center line 36 of the rotor 3. It is configured. Two through holes 323 extending in the left-right direction in FIG. 2 and communicating with the corresponding through holes 311 are formed at positions corresponding to the rotary blades 34 of the rotary blade fixing member 32. The rotary blade fixing member 32 is fixed to the cylindrical member 31 by, for example, press-fitting, with the cylindrical member 31 inserted inside the cylindrical portion 321.

The base end portions (root portions) of the two rotary blades 34 are fixed to the fixed portion 322, respectively.
The two rotor 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 an interval of approximately 180 °. Further, the rotary blade 34 is installed in a posture substantially perpendicular to the rotation center line 36.
When the rotor 3 is rotated clockwise in plan view (as viewed from the upper side in FIG. 2) by driving a vibrating body 4 to be described later, lift force (upward force substantially parallel to the rotation center line 36) is exerted on the rotor blades 34. Act.

Note that the number of 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 upper end portion of the cylindrical member 31. That is, the driven body 33 is located above the rotary blade fixing member 32.
The driven body 33 has a substantially ring shape (annular shape), and is fixed to the cylindrical member 31 by press-fitting, for example, with the upper end portion of the cylindrical member 31 inserted therein.

On the lower side of the base portion 2, the vibrating body 4 that rotationally drives the rotor 3 is configured such that a convex portion (contact portion) 46 of a reinforcing plate 43 described later comes into contact with the outer peripheral surface 331 of the driven body 33. Installed. The vibrating body 4 is located in the vicinity of the rotary blade 34.
On the other hand, the rotor 5 is rotatably installed above the base 2 on the upper side of the central shaft 22 and in the vicinity of the base 2. The rotor 5 rotates counterclockwise in plan view (when viewed from the upper side in FIG. 2).

The rotor 5 includes a cylindrical member 51 having a substantially cylindrical shape, a rotary blade fixing member 52 and a driven body (second driven body) 53 fixed (fixed) to the outside (outer periphery) of the cylindrical member 51. And two rotor blades 54 fixed to the rotor blade fixing member 52, respectively, and are disposed above the rotor 3 coaxially (concentrically) with the rotor 3.
The rotor 5 is installed in a state where the central shaft 22 is inserted into the lumen of the cylindrical member 51, that is, the shaft hole 55. Two bearings 11, 11 are provided between the center shaft 22 and the inner surface of the shaft hole 55, respectively, so that the rotor 5 moves the center shaft 22 (rotation center line 36) with respect to the base 2. It can rotate smoothly as a center.
The bearing 11 is composed of a sliding bearing, but may be a rolling bearing (bearing).

  The rotary blade fixing member 52 has a cylindrical portion 521 that is closed on the upper side and formed in a substantially cylindrical shape, and a fixed portion that protrudes from the upper end portion of the cylindrical portion 521 in a direction substantially perpendicular to the rotation center line 36 of the rotor 5. Part 522. Two through holes 523 extending in the left-right direction in FIG. 2 are formed at positions corresponding to the rotor blades 54 of the rotor blade fixing member 52. The rotary blade fixing member 52 is fixed to the tubular member 51 by, for example, press-fitting, with the tubular member 51 inserted inside the tubular portion 521.

To the fixed portion 522, the base end portions (root portions) of the two rotary blades 54 are fixed.
The two rotor blades 54 are provided so as to extend from the rotation center line 36 to opposite sides. That is, the two rotor blades 54 are provided at an interval of approximately 180 °. Further, the rotary blade 54 is installed in a posture substantially perpendicular to the rotation center line 36.
When the rotor 5 rotates counterclockwise in a plan view (when viewed from the upper side in FIG. 2) by driving a vibrating body 4 described later, lift force (upward force substantially parallel to the rotation center line 36) is exerted on the rotor blade 54. ) Acts.

The number of rotor blades 54 provided on the rotor 5 is not limited to two and may be three or more.
A driven body 53 is provided on the outer periphery of the lower end portion of the cylindrical member 51. That is, the driven body 53 is located below the rotary blade fixing member 52.
The driven body 53 has a substantially ring shape (annular shape), and is fixed to the cylindrical member 51 by press-fitting, for example, with the lower end portion of the cylindrical member 51 inserted therein.

On the upper side of the base portion 2, the vibrating body 4 that rotationally drives the rotor 5 is arranged such that a convex portion (contact portion) 46 of the reinforcing plate 43 described later comes into contact with the outer peripheral surface 531 of the driven body 53. is set up. The vibrating body 4 is located in the vicinity of the rotary blade 54.
With such a configuration, the rotary blade 54 is positioned above the rotary blade 34. Further, the rotary blade 54 is positioned above the substrate 21 of the upper base 2, and the rotary blade 34 is positioned below the substrate 21 of the lower base 2.
When the rotor 3 rotates clockwise in plan view (when viewed from the upper side in FIG. 2), lift acts on the rotor blades 34, and when the rotor 5 rotates in the opposite direction to the rotor 3, Lifting forces act, and the flying object 1 floats (flys) in the air by these lifting forces. That is, the flying object 1 flies by lift (thrust) generated by the rotation of the rotor blades 34 and 35.

  FIG. 3 schematically shows the rotor 3 in the flying object 1. As shown in FIGS. 3 and 16, in the flying object 1, the rotor 3 receives light and performs photoelectric conversion on the rotor 3. A solar cell (solar cell panel) (photoelectric conversion element) 71 for generating the light and a circuit unit 72 of the drive control means 9 are provided. The circuit unit 72 includes a charging unit (charging system) 74 that charges electricity generated by the solar cell 71 and a first drive circuit 931 that drives the vibrating body 4 that rotationally drives the rotor 3. The charging unit 74 includes a secondary battery that is charged with electricity and forms a power supply unit, and a circuit for charging the secondary battery with electricity generated by the solar battery 71. In FIG. 3, the portion of the solar cell 71 is indicated by hatching.

  Similarly, the rotor 5 is provided with a solar cell (solar cell panel) (photoelectric conversion element) 71 that receives light and performs photoelectric conversion to generate electricity, and a circuit unit 72 of the drive control means 9. Yes. The circuit unit 72 includes a charging unit (charging system) 74 that charges the electricity generated by the solar cell 71 and a second drive circuit 932 that drives the vibrating body 4 that rotationally drives the rotor 5. The charging unit 74 has a secondary battery that is charged with electricity and forms a power supply unit, and a circuit for charging the secondary battery with electricity generated by the solar battery 71.

The configuration on the rotor 3 side and the configuration on the rotor 5 side are the same, and therefore, the rotor 3 side will be typically described below.
The solar cell 71 is provided on the surface of each rotor blade 34 of the rotor 3. In this case, the solar cell 71 is installed on the upper surface of each rotor blade 34.
On the other hand, each rotor blade 34 of the rotor 3 has a hollow portion, and the circuit portion 72 is provided in each hollow portion (inside each rotor blade 34). That is, the circuit unit 72 is configured by two partial circuit units 73 dispersed inside each rotor blade 34. The circuit unit 72 and the solar cell 71 are electrically connected to each other.

Electric power (voltage) used for driving the vibrating body 4 that rotationally drives the rotor 3 is supplied from the charging unit 74 of the circuit unit 72.
With such a configuration, the solar cell 71 and the circuit unit 72 (charging unit 74) can be brought close to each other, and a voltage drop and a power loss between the solar cell 71 and the circuit unit 72 can be reduced.

  Moreover, since the solar cell 71 and the partial circuit part 73 are provided in each rotary blade 34, the weight of each rotary blade 34 (rotor 3) can be increased, without changing the weight of the whole aircraft 1. As a result, the inertia moment of each rotor blade 34 (rotor 3) can be increased without changing the weight of the entire flying object 1 (the gyro effect is increased). Without being provided, the flight posture can be stabilized and stable flight can be performed.

Further, since it is not necessary to provide posture stabilization means, it is possible to reduce the weight.
Further, since the circuit portion 72 is provided inside the rotor blade 34 (because each partial circuit portion 73 is provided inside each rotor blade 34), the circuit portion 72 is protected, and the circuit portion 72 is For example, it is possible to prevent the circuit portion 72 from malfunctioning (for example, damage, breakage, disconnection, short-circuiting, etc.) due to collision of foreign matter or water.

Moreover, since the circuit part 72 is provided in the inside of the rotor blade 34, the circuit part 72 can be cooled via the rotor blade 34 by the airflow (air flow) when the rotor 3 rotates. In addition, malfunction and failure of the circuit unit 72 can be prevented. In addition, it is not necessary to provide a separate cooling means, which is advantageous for downsizing and weight reduction.
Moreover, since the circuit part 72 is provided not in the surface of the rotor blade 34 but in the rotor blade 34, the area | region which can provide the solar cell 71 can be ensured widely, Thereby, electric power generation amount ( The power generation capacity) can be increased.

Moreover, since it is possible to generate electricity with the solar battery 71 and charge the electricity with the charging unit 74 at any time, it is possible to easily fly for a long time or fly far away.
Further, since the rotation directions of the rotor 3 and the rotor 5 are opposite to each other, the solar cell 71 on the rotor blade 34 side of the lower rotor 3 is shielded from light by the rotor blade 54 of the upper rotor 5 for a moment. Therefore, it is possible to generate enough electricity.

  Here, the solar cell 71 is configured such that when the rotor blade 34 is viewed from the thickness direction (in a plan view), substantially the entire circuit unit 72 overlaps a part of the solar cell 71, that is, each partial circuit unit. It is preferable that substantially the entire 73 is installed so as to overlap with a part of the solar cell 71, and it is more preferable to install the substantially entire surface of the upper surface of each rotor blade 34. Thereby, electric power generation amount can be enlarged.

  In addition, the partial circuit portions 73 of the respective rotary blades 34 are arranged closer to the end side than the midpoint C between the rotation center Q of the rotary blade 34 (rotor 3) and the end portion of the rotary blade 34, respectively. It is provided so that the center of gravity G is located. As a result, the moment of inertia of the rotor blades 34 can be increased (the gyro effect is increased), and thus stable flight can be performed.

The partial circuit portions 73 of the rotor blades 34 are provided such that the distances between the rotation center Q of the rotor blades 34 and the center of gravity G of the partial circuit portion 73 of the rotor blades 34 are all substantially equal. Yes. Thereby, the balance of the whole rotor 3 becomes good, the rotor 3 can rotate stably, and the stable flight can be performed.
In the present embodiment, the vibrating body 4 is configured to be driven only by the power supplied from the charging unit 74, but the present invention is not limited to this.

Further, in the flying object 1, the shaft 22 has a portion above the upper base 2 and a portion below the lower base 2 made of a conductive material such as metal, respectively. A portion between the base 2 and the lower base 2 is made of an insulating material. Thereby, the part above the upper base 2 and the part below the lower base 2 in the shaft 22 are insulated from each other.
The cylindrical members 31, 51 and the driven bodies 33 and 53 are each made of a conductive material such as metal. The tubular member 31 and the driven body 33 are electrically connected to each other, and the tubular member 51 and the driven body 53 are electrically connected to each other.

The conductive portion of the shaft 22, the cylindrical member 31 and the driven body 33, and the cylindrical member 51 and the driven body 53 are insulated from each other.
As shown in FIG. 2, one terminal of the output unit that outputs an alternating voltage of the first drive circuit 931 is electrically connected to the cylindrical member 31 via a conductor (cable), and the other terminal is , And electrically connected to the brush 19 through a conducting wire. The brush 19 is in contact (conducting) with the outer peripheral surface of the lower portion of the shaft 22 from the lower base 2.

Further, an outer peripheral surface of a portion of the shaft 22 below the lower base portion 2 and an electrode 45 on the piezoelectric element 44 side (to be described later) of the vibrating body 4 that rotationally drives the rotor 3 are electrically connected via a conducting wire. It is connected. In addition, an electrode 45 on the piezoelectric element 44 side of the vibrating body 4 and an electrode 41 described later on the piezoelectric element 42 side are electrically connected via a conducting wire.
Thereby, one terminal of the output part which outputs the alternating voltage of the 1st drive circuit 931 is the convex part (contact part) 46 of the reinforcement member 43 which the cylindrical member 31, the to-be-driven body 33, and the vibrating body 4 mention later. Etc., and electrically connected to the reinforcing plate 43.

On the other hand, the other terminal of the output unit that outputs the AC voltage of the first drive circuit 931 is connected to the electrode 41 of the vibrating body 4 via the brush 19 and the lower part of the shaft 22 below the lower base 2. And 45 are electrically connected.
Similarly, one terminal of the output part which outputs the alternating voltage of the 2nd drive circuit 932 is electrically connected to the cylindrical member 51 via a conducting wire (cable), and the other terminal is connected via a conducting wire. The brush 19 is electrically connected. The brush 19 is in contact (conducting) with the outer peripheral surface of the portion of the shaft 22 above the upper base 2.

Further, the outer peripheral surface of the upper portion of the shaft 22 above the upper base 2 and the electrode 45 on the piezoelectric element 44 side of the vibrating body 4 that rotationally drives the rotor 5 are electrically connected via a conducting wire. . Further, the electrode 45 on the piezoelectric element 44 side of the vibrating body 4 and the electrode 41 on the piezoelectric element 42 side are electrically connected via a conducting wire.
Thereby, one terminal of the output part which outputs the alternating voltage of the 2nd drive circuit 932 has the convex part (contact part) 46 etc. of the cylindrical member 51, the to-be-driven body 53, and the reinforcement board 43 of the vibrating body 4. And is electrically connected to the reinforcing plate 43.

On the other hand, the other terminal of the output part that outputs the AC voltage of the second drive circuit 932 is connected to the electrodes 19 and 45 of the vibrating body 4 via the brush 19 and the part above the upper base part 2 of the shaft 22. Is electrically connected.
As shown in FIG. 1, the grounding means 6 includes a plate-shaped fixing portion 60 fixed to the central shaft 22 and four rod-shaped legs (grounding legs) 61 having elasticity (spring property). ing.

In the basic posture shown in FIG. 1, each leg 61 extends from the fixed portion 60 obliquely downward in the vertical direction and expands downward in the vertical direction. Further, the legs 61 are arranged at equal intervals (equal angular intervals) with the fixed portion 60 as the center. Moreover, the front-end | tip part (lower side edge part) 62 of each leg 61 is curving toward the outer side, respectively so that a lower side may become convex.
The fixed portion 60 is fixed to a portion (center axis 22) that is vertically above the center of gravity (the center of gravity of the flying object 1) in the basic posture and that is vertically above the posture changing means 16.

By this grounding means 6, it is possible to stably ground the ground (floor surface), and take-off and landing can be performed easily and reliably.
In particular, at the time of landing, the impact of landing can be absorbed by the elasticity of the leg 61, and even if the flying object 1 is landed in a tilted state, the spring force of the leg 61 grounded first is used for the flight. Since the posture of the body 1 is corrected, rollover can be prevented.

Next, as the vibrating body 4, the vibrating body 4 that rotationally drives the rotor 3 will be described.
As shown in FIG. 4, the vibrating body 4 has a substantially rectangular plate shape. The vibrating body 4 includes a plate-like electrode 41, a plate-like piezoelectric element 42, a reinforcing plate (vibrating plate) 43, a plate-like piezoelectric element 44, and a plate-like electrode 45 from the upper side in FIG. They are stacked 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 and contracts in the longitudinal direction when a voltage is applied. The constituent materials of the piezoelectric elements 42 and 44 are not particularly limited. For example, lead zirconate titanate (PZT), crystal, lithium niobate, barium titanate, lead titanate, lead metaniobate, polyvinylidene fluoride, zinc Various materials such as lead niobate and lead scandium niobate can be used.

  These piezoelectric elements 42 and 44 are fixed to both surfaces of the reinforcing plate 43, 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 over-amplitude, external force, or the like. The constituent material of the reinforcing plate 43 is not particularly limited as long as it is an elastic material (that can be elastically deformed). For example, various metal materials such as stainless steel, aluminum or aluminum alloy, titanium or titanium alloy, copper or copper alloy, and the like. Is preferred. In the present embodiment, a metal material is used as a constituent material of the reinforcing plate 43.

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 AC voltage is applied to the piezoelectric element 42 by the electrode 41 and the reinforcing plate 43, and an AC voltage is applied to the piezoelectric element 44 by the electrode 45 and the reinforcing plate 43. That is, as described above (as shown in FIG. 16), the vibrating body 4 is connected to the first drive circuit 931 of the circuit unit 72, and an AC voltage is applied by the first drive circuit 931. It is like that.

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 vibrates with a small amplitude (longitudinal vibration) in the longitudinal direction as indicated by an arrow in FIG. Reciprocate).
A convex portion (contact portion) 46 is integrally formed at the right end of the reinforcing plate 43 in FIG. The convex portion 46 is provided at a position (corner portion in the configuration shown) that is shifted from the center (center line 49) in the width direction of the reinforcing plate 43. In the configuration shown in the figure, the convex portion 46 is formed so as to protrude in a substantially semicircular shape.

The reinforcing plate 43 is integrally formed with an arm portion 48 having elasticity (flexibility). The arm portion 48 is provided so as to protrude from a substantially longitudinal center of the reinforcing plate 43 in a direction substantially perpendicular to the longitudinal direction. The arm portion 48 is formed with a hole 481 into which the bolt 12 is inserted.
As shown in FIGS. 2 and 5, such a vibrating body 4 is installed so as to abut (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 in the drawing, the outer peripheral surface 331 is smooth. However, a groove may be formed over the entire circumference, and the convex portion 46 may be in contact with the groove.
As shown in FIGS. 2 and 5, a screw hole is formed in the vibrating body mounting portion 23 projecting downward from the substrate 21 of the lower base portion 2, and the vibrating body 4 has an arm portion. The vibrating body mounting portion 23 is fixed by bolts 12 inserted into 48 holes 481.

As described above, the vibrating body 4 is supported by the arm portion 48. Thereby, the vibrating body 4 can vibrate freely and vibrates with a relatively large amplitude. The vibrating body 4 is installed in a state in which the convex portion 46 is pressed against the outer peripheral surface 331 by the elasticity of the arm portion 48.
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). Thereby, the space which the vibrating body 4 occupies becomes small in the up-down direction.

When the vibrating body 4 is vibrated by applying an AC voltage to the piezoelectric elements 42 and 44 in a state where the convex portion 46 is in contact with the outer peripheral surface 331 of the driven body 33, the driven body 33 expands. When receiving, a frictional force (pressing force) is received from the convex portion 46.
That is, as shown in FIG. 5, a large frictional force is applied between the convex portion 46 and the outer peripheral surface 331 by the radial component S1 of the vibration displacement S of the convex portion 46 (the radial displacement of the driven body 33). 5 is applied to the driven body 33 by the circumferential component S2 of the vibration displacement S (the circumferential displacement of the driven body 33).

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. Thereby, the rotor 3 rotates clockwise in FIG. 5 (when viewed from the lower side in FIG. 2).
The vibrating body 4 that rotationally drives the rotor 5 is the same as the vibrating body 4 that rotationally drives the rotor 3, and thus the description thereof is omitted. It is provided so as to abut on the outer peripheral surface 531 of the driven body 53.

The rotor 5 rotates in the opposite direction to the rotor 3, that is, counterclockwise (when viewed from the lower side in FIG. 2) in a plan view (not shown) by driving the vibrating body 4.
When the rotor 3 rotates clockwise in FIG. 5, lift acts on the rotor blades 34, and when the rotor 5 rotates in the opposite direction to the rotor 3, lift forces act on the rotor blades 54, The flying object 1 floats (flys) in the air.

In addition, 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 a rotation speed for detecting the rotation speed (rotation speed) of the rotor 5 on the rotor 5 side. It is preferable to provide detection means.
Thus, the vibrating body 4 has a simple structure, and is small (particularly thin) and lightweight. Further, unlike the case of driving by magnetic force like a normal electromagnetic motor, the driven bodies 33 and 53 are driven by the frictional force (pressing force) as described above, so that the driving force is large.
The flying body 1 is extremely advantageous for miniaturization because the rotors 3 and 5 are rotationally driven using such a vibrating body 4. Moreover, it is advantageous also for weight reduction and the payload (load) of the flying body 1 can be taken large. In addition, the manufacturing cost can be reduced.

  In the present embodiment, as described above, the driven body 33 is fixed to the cylindrical member 31, and the driven body 33 is integrated with the rotor 3. That is, the vibrating body 4 directly rotates the rotor 3 and is not provided with a power transmission mechanism, a speed change mechanism, or the like (unnecessary). Similarly, on the rotor 5 side, the vibrating body 4 directly rotates the rotor 5 and is not provided with a power transmission mechanism, a speed change mechanism, or the like (unnecessary). Thereby, the flying body 1 has a particularly simple structure and is lightweight, and is particularly advantageous for downsizing and weight reduction (securing of 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 using a speed change mechanism (deceleration mechanism) as in the present embodiment. .
Further, in this embodiment, since the in-plane vibration of the vibrating body 4 is directly converted into the rotation of the rotors 3 and 5 (in-plane rotation), the energy loss associated with this conversion is small, and the rotors 3 and 5 are made highly efficient. Can be rotated.

Further, in this embodiment, the direction of the frictional force (pressing force) exerted by the convex portion 46 on the driven body 33 is a direction substantially perpendicular to the rotation center line 36, so that a force that causes the rotor 3 to tilt is applied. The rotor 3 rotates more smoothly and reliably without acting. Similarly, the rotor 5 rotates more smoothly and reliably.
Unlike the illustrated configuration, the vibrating body 4 that rotationally drives the rotor 3 may be installed so as to contact the upper surface or the lower surface of the driven body 33 from a direction parallel to the rotation center line 36. 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 53 from a direction parallel to the rotation center line 36 of the rotor 5.

In addition, since the rotor 3 and the rotor 5 generate lift, a large lift can be obtained.
Further, when the rotor 3 and the rotor 5 rotate in opposite directions, the reaction force received by the flying object 1 (base 2) is canceled out, and the flying object 1 is prevented from rotating around the rotation center line 36. be able to.
In particular, 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 separately provided. The vehicle 1 (base 2) can be more reliably prevented from rotating around the rotation center line 36, or can be rotated around the rotation center line 36 of the aircraft 1. (Orientation) can be controlled.

Further, since the rotor 3 and the rotor 5 are provided coaxially, the above effects can be achieved without causing an increase in size and weight due to the provision of two rotors. That is, it is advantageous for miniaturization and weight reduction.
In the configuration shown in the figure, the rotor 3 and the rotor 5 have the same diameter, the number of rotor blades (two), the shape of the rotor blades, etc., but the diameter, the number of rotor blades, and the rotation Conditions such as the shape of the wing may be different from each other.

In the present invention, the rotor 3 and the rotor 5 may not be provided coaxially (arranged in parallel).
The frequency of the AC voltage applied to the piezoelectric elements 42 and 44 is not particularly limited, but is preferably approximately the same as the resonance frequency of vibration (for example, longitudinal vibration) of the vibrating body 4. Thereby, the amplitude of the vibrating body 4 becomes large, and the rotors 3 and 5 can be rotationally driven with high efficiency.

As described above, the vibrating body 4 mainly vibrates longitudinally in the longitudinal direction, but it is more preferable to excite the longitudinal vibration and the bending vibration simultaneously to cause the convex portion 46 to elliptically move (elliptical vibration). preferable. Thereby, the rotors 3 and 5 can be rotationally driven with higher efficiency. Hereinafter, this point will be described with reference to the vibrating body 4 that rotationally drives the rotor 3.
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 this embodiment, since the convex portion 46 is provided at a position shifted from the center line 49 of the vibrating body 4, the vibrating body 4 is in-plane as shown by a one-dot chain line in FIG. 5 by this reaction force. It deforms and vibrates (bending vibration) so as to bend in the direction. In FIG. 5, the deformation of the vibrating body 4 is exaggerated.

Further, 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., it is possible to excite the combined vibration of the longitudinal vibration and the bending vibration of the vibrating body 4, As the amplitude increases, the convex portion 46 is displaced (elliptical vibration) along a substantially ellipse as shown by a one-dot chain line in FIG.
Thereby, in one vibration of the vibrating body 4, when the convex portion 46 sends the driven body 33 in the rotation direction, the convex portion 46 is pressed by the driven body 33 with a strong force, and when the convex portion 46 returns, Since the frictional force with the driven body 33 can be reduced or eliminated, the vibration of the vibrating body 4 can be converted with high efficiency by the rotation of the rotor 3.

  In the present 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. 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 (the rotor 3 is interlocked with the driven body 33). As long as it rotates.) 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 53 may be provided separately from the rotor 5, and the rotational force of the driven body 53 may be transmitted to the rotor 5 by the rotational force transmission mechanism (the rotor 5 is interlocked with the driven body 53. As long as it rotates.) In these cases, 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 as the rotational force transmission mechanism.

  In the present embodiment, one vibrating body 4 that rotationally drives the rotor 3 (driven body 33) is provided. However, in the present invention, a plurality of vibrating bodies 4 are provided, and a plurality of driven bodies 33 are provided. The rotating body 4 may be rotationally driven. Similarly, in the present embodiment, one vibrating body 4 that rotationally drives the rotor 5 (driven body 53) is provided. However, in the present invention, a plurality of vibrating bodies 4 are provided, and the driven body 53 is provided. The plurality of vibrators 4 may be rotationally driven.

Next, the posture changing means 16 will be described.
The posture changing means 16 shown in FIGS. 1, 7, and 8 changes (adjusts) the posture of the flying object 1 by moving the center of gravity, so that the rotation center line (rotation center axis) 36 of the rotors 3 and 5 is obtained. Inclining a predetermined angle in a predetermined direction with respect to a vertical line (vertical direction: direction of gravity) (adjusting the inclination).

As shown in FIG. 1, the posture changing means 16 is located below the rotary blade 34. That is, the posture changing means 16 is installed (fixed) at the lower end of the central shaft 22.
The posture changing means 16 in this embodiment includes a weight element (weight) 14 and a linear actuator (first axis moving means) (y-axis direction displacing means) that moves (displaces) the weight element 14 in the y-axis direction. Linear actuator) 16y, and linear actuator (second axis moving means) that moves (displaces) the linear actuator (y axis direction moving means) 16y and the weight element 14 in the x axis direction (second axis moving means). Linear actuator) 16x.

The linear actuators 16x and 16y constitute moving means (displacement means (displacement mechanism)) that moves (displaces) the weight element 14 relative to the flying object 1.
As shown in FIGS. 7 and 8, the linear actuator 16x and the linear actuator 16y are joined to each other through four pins 186 in a state where sliders 181 described later face each other. In this case, one end of each pin 186 is inserted into the hole 185 (see FIGS. 9 and 10) of the slider 181 of the linear actuator 16y, and the other end is a hole 185 of the slider 181 of the linear actuator 16x (see FIGS. 9 and 10). 10) to connect the sliders 181 to each other.

Further, the linear actuator 16x and the linear actuator 16y have the movement directions of the sliders 181 orthogonal to each other, that is, the movement direction of the slider 181 of the linear actuator 16x is the x-axis direction, and the movement direction of the slider 181 of the linear actuator 16y is y. It is joined so as to be in the axial direction.
Further, in this posture changing means 16, the linear actuator 16x is located above, the linear actuator 16y is located below, and as shown in FIG. 1, the upper side of the center portion of the base 161 described later of the linear actuator 16x is It is joined to the lower end of the central shaft 22. And the weight element 14 is joined to the lower side of the center part of the base 161 mentioned later of the linear actuator 16y.

Next, the linear actuator 16y will be described as a representative of the linear actuator 16y and the linear actuator 16x.
As shown in FIGS. 9 to 12, the linear actuator 16 y has a plate-like base 161, a plate-like base 171, a plate-like slider 181, and a vibrating body (drive source) 4. . The base 161, the base 171, the slider 181 and the vibrating body are installed so as to be parallel to each other (including a case where a part thereof overlaps the surface direction).

  The base 171 is installed at the center of the base 161 so as to be movable in the left-right direction in FIGS. 10 to 12 with respect to the base 161. In this case, a pair of guide pins 162 are erected along the left-right direction in FIGS. 10 to 12 at the center of the base 161, and the base 171 is long 1 in the left-right direction in FIGS. 10 to 12. A pair of elongated holes 172 are formed along the left-right direction in FIGS. Each guide pin 162 is inserted into a corresponding slot 172. As a result, the base 171 is guided by the guide pins 162 and can move in the left-right direction in FIGS. 10 to 12 along the elongated hole 172.

  The base 171 is provided with a vibrating body 4 that rotationally drives a rotor 164 (driven body 165) described later. The vibrating body has a convex portion (contact portion) 46 and a pair of arm portions 48, and each arm portion 48 is arranged with respect to the base 171 so that the convex portion 46 faces the right side in FIGS. It is fixed by a bolt 175 inserted in the formed hole 481. Thereby, the vibrating body 4 is supported by each arm part 48 so that it can vibrate. The vibrating body 4 will be described in detail later.

Also, a pair of spring retaining pins 168 are provided upright at the right end (corner) of the base 161 in FIGS. On the other hand, the base 171 is formed with a pair of spring hooks 173. One spring hook portion 173 is provided on the upper side of the base 171 in FIG. 10, and the other spring hook portion 173 is provided on the lower side of the base 171 in FIG. 10.
The corresponding spring stopper pin 168 and the spring hooking portion 173 are respectively installed in a state where the coil spring 174 (biasing means) is extended (extended state). That is, each coil spring 174 has one end thereof hooked (fixed) on the spring hooking portion 173 of the base 171 and the other end attached to the spring stopper pin 168 of the base 161 (fixed). ).

The base 161 is biased toward the right side in FIGS. 10 to 12 by the elastic force (restoring force) of each coil spring 174, and the convex portion 46 of the vibrating body 4 is formed on the outer peripheral surface 1651 of the driven body 165 described later. It abuts and is pressed.
Further, a rotor 164 is rotatably installed at the right end of the base 161 in FIGS. 10 to 12 and at the center in the vertical direction in FIG. The rotor 164 includes a cylindrical portion 166 having a substantially cylindrical shape, and a driven body 165 fixed (fixed) to the outer side (outer periphery) of the cylindrical portion 166. The driven body 165 has a substantially ring shape (annular shape), and is located at a position corresponding to the vibrating body 4 (base end side).

A pinion gear 167 is formed on the outer peripheral surface 1651 on the tip side of the rotor 164 (cylindrical portion 166). Thereby, when the rotor 164 rotates, the driven body 165 and the pinion gear 167 rotate integrally.
In addition, the diameter (outer diameter) of the portion (gear which is a rotating body) where the pinion gear 167 of the rotor 164 is formed is set to be smaller than the diameter (outer diameter) of the driven body 165. The mechanism is configured.

Further, the moving speed of the slider 181 can be adjusted by adjusting (changing) the ratio of the diameter of the portion (gear which is a rotating body) where the pinion gear 167 of the rotor 164 is formed and the diameter of the driven body 165. It can be adjusted (changed) arbitrarily.
Also, two rollers 163 having grooves 1631 are rotatably installed at the left end (corner) of the base 161 in FIGS.

  The slider 181 is positioned in the groove 1631 of these rollers 163, is sandwiched between the rollers 163 and the rotor 164, and is installed so as to be movable in the vertical direction in FIG. In other words, the slider 181 is regulated by each roller 163 and the rotor 164 so that the moving direction is the vertical direction in FIG. 10 and the posture is held constant.

The slider 181 has a substantially rectangular frame shape. That is, a substantially rectangular opening 182 is provided at the center of the slider 181.
Thereby, weight reduction can be achieved. In addition, the vibrating body 4 can be attached and detached using the opening 182 and the maintainability is improved.
The width of the slider 181 (the length in the left-right direction in FIGS. 10 to 12) is preferably set to be relatively long. Thereby, it is possible to reduce wrinkles between the base 161 (base surface) and the slider 181 (slider surface).

  A rack gear 183 that meshes with a pinion gear 167 provided on the rotor 164 is formed on the outer end surface of the slider 181 on the right side in FIGS. 10 to 12 along the moving direction of the slider 181. The rack gear 183 and the pinion gear 167 convert the rotational motion of the rotor 164 into linear motion of the slider 181. Therefore, the rack gear 183 and the pinion gear 167 constitute a rotation / movement conversion mechanism.

Further, projecting portions 184 (stoppers) are formed at both corners on the right side of the slider 181 in FIG. By these protrusions 184, the movement range of the slider 181 is restricted (movement beyond a predetermined position is prevented), and the separation of the slider 181 is prevented (prevented).
Further, four holes 185 are formed in the vicinity of the vibrating body 4 in the slider 181.

  In the linear actuator 16y, when the vibrating body 4 vibrates in a predetermined pattern, a rotational force (driving force) in a predetermined direction is repeatedly applied to the driven body 165 from the convex portion 46 (via the convex portion 46) by the vibration. Given (given), the rotor 164 rotates in a predetermined direction. The rotational motion of the rotor 164 is converted into the linear motion of the slider 181 by the pinion gear 167 provided in the rotor 164 and the rack gear 183 provided in the slider 181, and the slider 181 is guided to each roller 163. And moves in a predetermined direction (for example, the positive direction in the y-axis direction). That is, relative to the slider 181, the base 161 and the weight element 14 move integrally.

  On the other hand, when the vibrating body 4 is excited so that the vibrations are reversed, a rotational force in the reverse direction is repeatedly applied from the convex portion 46 to the driven body 165, and the rotor 164 rotates in the reverse direction. The rotational motion of the rotor 164 is converted into the linear motion of the slider 181 by the pinion gear 167 provided in the rotor 164 and the rack gear 183 provided in the slider 181, and the slider 181 is guided to each roller 163. And moves in the opposite direction (eg, the negative direction in the y-axis direction). That is, relative to the slider 181, the base 161 and the weight element 14 move integrally.

According to the linear actuator 16y, the structure is simple, the size can be reduced (particularly, the thickness is reduced) and the weight can be reduced, and a high driving force can be obtained at a low speed.
As a result, the weight element 14, that is, the center of gravity can be easily and reliably moved at a low speed, whereby the attitude of the flying object 1 can be changed accurately and reliably, and stable flight can be performed. it can.

Further, since the slider 181 and the vibrating body 4 can be arranged to overlap each other, the total area of the linear actuator 16y can be reduced, which is advantageous for downsizing.
Also, for example, when using a linear actuator that moves the slider directly by abutting the contact portion of the vibrating body against the slider, the force that presses the vibrating body against the slider becomes the resistance when the slider moves. However, in this linear actuator 16y, the load applied to the slider 181 from the vibrating body 4 can be eliminated, and thereby the drive of the linear actuator 16y is stabilized and more stable flight can be performed.

Further, in the case of using the linear actuator in the form of moving the slider directly, since the slider is made of metal in order to suppress the wear of the slider due to the contact portion of the vibrating body, it is disadvantageous for reducing the weight of the linear actuator. In this linear actuator 16y, since the vibrating body 4 does not directly drive the slider 181, the slider 181 can be made of a light material such as resin, thereby reducing the weight of the linear actuator 16y. That is, the weight of the flying object 1 can be reduced.
Since the linear actuator 16x is the same as the linear actuator 16y, description thereof is omitted.

In the present invention, one of the linear actuator 16y and the linear actuator 16x may be omitted.
In the vibrating body 4 of the posture changing means 16, the electrodes are divided into a plurality of parts, a voltage is selectively applied to them, and the piezoelectric elements are partially driven to generate longitudinal and bending vibrations in the plane. It can be arbitrarily selected. 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 165 is shown in FIG. 10 It is configured to be able to rotate in both the clockwise direction and counterclockwise direction (forward direction and reverse direction). Hereinafter, the vibrating body 4 will be described, but the description will focus on differences from the vibrating body 4 that rotationally drives the rotors 3 and 5, and description of similar matters will be omitted.

  As shown in FIG. 13, the vibrating body 4 is formed by laminating a piezoelectric element 42 on the upper side in FIG. 13 and a piezoelectric element 44 on the lower side of the reinforcing plate 43 in the same manner as the vibrating body 4 that rotationally drives the rotors 3 and 5. In the structure, four plate-like electrodes 41a, 41b, 41c and 41d are installed on the upper side of the piezoelectric element 42 in FIG. 13, and four plate-like electrodes 45a on the lower side of the piezoelectric element 44 in FIG. , 45b, 45c and 45d (electrodes 45a, 45b, 45c and 45d are not shown, and only the reference numerals are shown in parentheses), and the vibrating body 4 which rotationally drives the rotors 3 and 5 Is different. That is, the piezoelectric element 42 is divided (divided) into four rectangular areas approximately equally, and rectangular electrodes 41a, 41b, 41c and 41d are respectively installed in the divided areas. 44 is divided (divided) into four regions, and rectangular electrodes 45a, 45b, 45c and 45d are provided in each of the divided regions. In addition, the electrodes 45a, 45b, 45c, and 45d are arrange | positioned at the back side of the electrodes 41a, 41b, 41c, and 41d, respectively.

  The electrodes 41a and 41c on one diagonal line and the electrodes 45a and 45c located on the back side thereof are all electrically connected and energized at the same time. Similarly, the electrodes on the other diagonal line 41b and 41d and the electrodes 45b and 45d located on the back side thereof are all electrically connected (hereinafter simply referred to as “connection”), and are energized at the same time.

  The reinforcing plate 43 is grounded (grounded), and the electrodes 41a, 41c, 45a and 45c to be energized and the electrodes 41b, 41d, 45b and 45d are switched by a switch (changeover switch) not shown. An AC voltage is applied to either one of them. That is, as shown in FIG. 16, the vibrating body 4 is connected to a drive control circuit 90 described later having the switch (not shown) in the drive control means 9, and is energized by the drive control circuit 90. An electrode is selected (switched) and an alternating voltage is applied.

Moreover, the convex part 46 is the right end part (short side side) in FIG. 13, Comprising: The width direction center (short side center) of the reinforcement board 43 is provided.
The reinforcing plate 43 is integrally formed with a pair (two) of arm portions 48 having elasticity (flexibility). The pair of arm portions 48 are substantially in the center in the longitudinal direction (left-right direction in FIG. 10) of the reinforcing plate 43 and are in a direction substantially perpendicular to the longitudinal direction, and are opposite to each other via the reinforcing plate (vibrating body 4). It is provided so as to protrude in the direction (symmetric in the vertical direction in FIG. 10).

  When the electrodes 41a, 41c, 45a and 45c of the vibrating body 4 are energized and an AC voltage is applied between these electrodes 41a, 41c, 45a and 45c and the reinforcing plate 43, as shown in FIG. The portions of the vibrating body 4 corresponding to the electrodes 41a, 41c, 45a and 45c repeatedly expand and contract 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. Motion) or elliptical vibration (elliptical motion) as indicated by an arrow c. The driven body 165 receives a frictional force (pressing force) from the convex portion 46 when portions corresponding to the electrodes 41a, 41c, 45a, and 45c of the vibrating body 4 extend.

That is, a large frictional force is applied between the convex portion 46 and the outer peripheral surface 1651 by the radial component S1 of the vibration displacement S of the convex portion 46 (the radial displacement of the driven body 165). Due to the directional component S2 (displacement of the driven body 165 in the circumferential direction), the counterclockwise rotational force in FIG. 14 is applied to the driven body 165.
When the vibrating body 4 vibrates, such a force repeatedly acts on the driven body 165, and the driven body 165 rotates counterclockwise in FIG. As a result, the rotor 164 rotates counterclockwise in FIG.

  On the contrary, when the electrodes 41b, 41d, 45b and 45d of the vibrating body 4 are energized and an AC voltage is applied between the electrodes 41b, 41d, 45b and 45d and the reinforcing plate 43, 15, the portions corresponding to the electrodes 41b, 41d, 45b, and 45d of the vibrating body 4 repeatedly expand and contract in the direction of the arrow a, whereby the convex portion 46 of the vibrating body 4 is inclined as shown by the arrow b. Vibrates in the direction (reciprocating motion) or elliptically vibrates (elliptical motion) as indicated by an arrow c. The driven body 165 receives a frictional force (pressing force) from the convex portion 46 when portions corresponding to the electrodes 41b, 41d, 45b and 45d of the vibrating body 4 extend.

That is, a large frictional force is applied between the convex portion 46 and the outer peripheral surface 1651 by the radial component S1 of the vibration displacement S of the convex portion 46 (the radial displacement of the driven body 165). Due to the directional component S2 (displacement in the circumferential direction of the driven body 165), the clockwise rotational force in FIG.
When the vibrating body 4 vibrates, such a force repeatedly acts on the driven body 165, and the driven body 165 rotates clockwise in FIG. As a result, the rotor 164 rotates clockwise in FIG.

In FIGS. 14 and 15, the deformation of the vibrating body 4 is exaggerated and the arm portion 48 is not shown.
In the present embodiment, the case where the electrode of the vibrating body 4 is driven by being divided into four parts has been described. However, this is an example, and the present invention is limited to the structure of the vibrating body 4 and the driving method described above. is not.

Each linear actuator 16x and 16y has a position detecting means (movement amount) (not shown) for detecting the position (movement amount) in the x-axis direction and the position (movement amount) in the y-axis direction of the slider 181 (weight element 14), respectively. Detection means). Each position detecting means is constituted by a predetermined position detecting scale and a sensor having a light emitting part and a light receiving part.
When the vibrating body 4 of the linear actuator 16x is driven and the slider 181 moves, a signal from the sensor is supplied (input) to a θy control circuit 92y of the drive control circuit 90 described later, and the θy control circuit 92y is based on the signal. Thus, the movement amount and position of the slider 181 (weight element 14) in the x-axis direction are obtained. Information on the amount of movement and position of the slider 181 (weight element 14) is used for predetermined control and processing when the slider 181 (weight element 14) is moved in the x-axis direction.

Similarly, when the vibrating body 4 of the linear actuator 16y is driven and the slider 181 is moved, a signal from the sensor is supplied (input) to a θx control circuit 92x of a drive control circuit 90 described later, and the θx control circuit 92x is Based on the signal, the movement amount and position of the slider 181 (weight element 14) in the y-axis direction are obtained. Information on the amount of movement and position of the slider 181 (weight element 14) is used for predetermined control and processing when the slider 181 (weight element 14) is moved in the y-axis direction.
Each position detection means is not limited to optical detection, but may be magnetic detection, for example.

Next, the weight element 14 will be described.
As shown in FIG. 1, the weight element 14 has a box-shaped casing 141, and a drive of a predetermined drive circuit, for example, the drive control means 9 shown in FIG. 16 is provided outside the casing 141. A circuit board (flexible circuit board) 13 having a control circuit 90, an attitude control sensor 8 and the like is installed.

  Thereby, the circuit board 13 is cooled by the airflow (airflow) from the rotor blades 34 and 54 when the rotors 3 and 5 are rotated, and the heat generated in the circuit board 13 can be radiated easily and reliably. Thereby, it is possible to prevent malfunction and failure of the drive control circuit 90, the attitude control sensor 8, and the like. In addition, it is not necessary to separately provide cooling means (heat radiating means), which is advantageous for downsizing and weight reduction.

Further, in the casing 141, for example, a battery shown in FIG. 16 is used to supply power to a transmitting / receiving unit (not shown) for wireless communication and each part of the flying object 1 such as the drive control circuit 90, the attitude control sensor 8, and the transmitting / receiving unit. (Energy storage means for storing energy for driving the flying object 1) 15 and the like are housed (built-in).
That is, in the present embodiment, the drive control circuit 90, the attitude control sensor 8, the transmission / reception unit, the battery 15, and the like constitute a part of the weight element 14 of the attitude changing unit 16. As a result, the weight of the dedicated weight portion (the portion acting only as the weight) can be reduced, so that the flying object 1 can be reduced in weight and the payload (load) of the flying object 1 can be increased. Can do.

Further, since the mass of the weight element 14 occupies most of the mass of the flying object 1, the position of the center of gravity can be easily moved by the movement of the weight element 14.
As shown in FIG. 16, the attitude control sensor 8 includes a gyro sensor 81z that detects rotation around the Z axis (θz direction), a gyro sensor 81x that detects rotation around the X axis (θx direction), and Y And a gyro sensor 81y that detects rotation around the axis (direction θy).

  The drive control circuit 90 includes a θz detection circuit 91z, a θx detection circuit 91x, a θy detection circuit 91y, a θz control circuit 92z, a θx control circuit 92x, a θy control circuit 92y, and a y drive circuit 93y. x drive circuit 93x, switch (not shown) for switching the energized electrode of the vibrating body 4 of the linear actuator 16y, and switch (changeover switch) (not shown) for switching the energized electrode of the vibrating body 4 of the linear actuator 16x It consists of and.

The y drive circuit 93y is connected to the vibrating body 4 of the linear actuator 16y via a switch for switching the electrodes, and the x drive circuit 93x is connected to the vibrating body 4 of the linear actuator 16x via a switch for switching the electrodes. Yes.
The θz control circuit 92z, the first drive circuit 931, and the second drive circuit 932 can wirelessly transmit and receive signals (wireless communication).

Examples of the battery 15 include a combination of a primary battery, a secondary battery (storage battery), a fuel cell, a solar battery (photoelectric conversion element), and a charging unit (for example, a secondary battery).
17 and 18 are schematic views (side views) for explaining the operation and the like of the flying object shown in FIG.

As shown in FIG. 17, when the position of the center of gravity is on an extension line of the rotation center line 36 (center axis 22), the direction of the rotation center line 36 is a vertical direction. The lift at this time is only the vertical component (thrust).
Then, as shown in FIG. 18, when the center of gravity moves due to the movement of the weight element 14, the vehicle 1 so that the direction of the straight line L passing through the fulcrum P where the lift acts (generates) and the center of gravity is the vertical direction. (Rotation center line 36) is inclined. As a result, a horizontal component (translational force) is generated in the lift, and the flying object 1 moves in the horizontal direction.

An operation unit (controller) (not shown) is provided on the ground (floor) for such a flying object 1, and the operation unit and the flying object 1 can communicate with each other wirelessly. Thus, the flying object 1 can be remotely operated wirelessly (adjustment of the rotational speed of the rotors 3 and 5, adjustment of the position of the weight element 14 in the x-axis direction and the y-axis direction, etc.).
In the flying object 1, based on the detected value in the θz direction by the gyro sensor 81z, the indicated value in the Z axis direction (height indicated value), and the indicated value around the Z axis (indicated value in the θz direction). Thus, the rotational speeds (rotational speeds) of the rotor 3 and the rotor 5 are controlled.

That is, when an instruction value in the Z-axis direction is input to the θz control circuit 92z, the instruction value (height) in the Z-axis direction is set via the first drive circuit 931 and the second drive circuit 932. Thus, the driving of each vibrating body 4 that rotationally drives the rotors 3 and 5 is controlled. Thereby, the flying object 1 can be raised or lowered, and can be held at a predetermined height.
Further, when an instruction value in the θz direction is input to the θz control circuit 92z, the rotor is passed through the first drive circuit 931 and the second drive circuit 932 so that the instruction value (direction) in the θz direction is obtained. The driving of each vibrating body 4 that rotationally drives 3 and 5 is controlled. Thereby, the flying object 1 can be rotated by a predetermined amount (predetermined angle) in the θz direction in either the forward or reverse direction, and can be held at a predetermined angle (orientation) in the θz direction.

In the flying object 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 indicated value in the Y-axis direction.
That is, when the indicated value in the Y-axis direction is input to the θx control circuit 92x, the driving of the vibrating body 4 of the linear actuator 16y is controlled via the y drive circuit 93y so that the indicated value in the Y-axis direction becomes the indicated value. Is done. Thereby, the weight element 14 moves in the Y-axis direction together with the base 161, the center of gravity of the flying object 1 moves in the Y-axis direction, and the rotation center lines 36 of the rotors 3 and 5 of the flying object 1 are in the YZ plane. Is rotated at a predetermined angle, and is inclined at a predetermined angle toward the y-axis with respect to the vertical line.
In this manner, the flying object 1 can be moved horizontally (flying) in the direction of inclination of the rotation center line 36, for example.

In the flying object 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 instruction value in the X-axis direction is input to the θy control circuit 92y, the driving of the vibrating body 4 of the linear actuator 16x is controlled via the x drive circuit 93x so as to become the instruction value in the X-axis direction. Is done. As a result, the weight element 14 and the linear actuator 16y move in the X-axis direction, the center of gravity of the flying object 1 moves in the X-axis direction, and the rotation center line 36 of each rotor 3 and 5 of the flying object 1 becomes the XZ plane. And rotate at a predetermined angle with respect to the vertical line toward the x-axis.

In this way, the flying object 1 can be moved horizontally (flying) in the inclination direction of the rotation center line, for example.
As described above, the posture changing means 16 can change the flying posture of the flying object 1 easily and surely, and the flying object 1 can be easily and reliably moved (moved) to an arbitrary position.

Second Embodiment
Next, a second embodiment of the flying object 1 of the present invention will be described.
FIG. 19 is a block diagram showing a main part in the circuit configuration of the second embodiment of the flying object of the present invention.
Hereinafter, the flying object 1 of the second embodiment will be described focusing on the differences from the first embodiment described above, and the description of the same matters will be omitted.

  In the flying body 1 of the second embodiment, the power supplied from the charging unit 74 provided inside the rotor wing 34 is an auxiliary for driving the vibrating body 4 (ultrasonic motor) that rotationally drives the rotor 3. The power supplied from the charging unit 74 provided inside the rotor blade 34 is used as auxiliary power for driving the vibrating body 4 (ultrasonic motor) that rotationally drives the rotor 5. The configuration is the same as that of the first embodiment described above except that the configuration is different. That is, a part of electric power used for driving the vibrating body 4 that rotationally drives the rotor 3 is supplied from the charging unit 74 provided inside the rotor blade 34, and the vibrating body 4 that rotationally drives the rotor 5. A part of the electric power used for driving is supplied from a charging unit 74 provided inside the rotor blade 54.

Since the configuration on the rotor 3 side and the configuration on the rotor 5 side are the same, the rotor 3 side will be described below with a specific example as a representative.
As shown in FIG. 19, in the flying object 1 of the second embodiment, the circuit unit 72 provided inside the rotor wing 34 is the secondary of the charging unit 74 that is charged with electricity generated by the solar cell 71. It has a power source (DC power source) 77 composed of a battery (power source unit) 75 and another secondary battery (power source unit) 76. The secondary battery 75 and the secondary battery 76 are connected in series.

The DC voltage (power supply voltage) of the power supply 77 is applied to the first drive circuit 931, and when driving the vibrating body 4 that rotationally drives the rotor 3, the DC voltage of the power supply 77 is driven by the first drive circuit 931. Is converted into an alternating voltage and applied to the vibrating body 4.
According to the flying object 1, the same effect as the flying object 1 of the first embodiment described above can be obtained.
And in this air vehicle 1, since the voltage of the power supply 77 formed by connecting the secondary battery 75 of the charging unit 74 and another secondary battery 76 in series is used, only the voltage of the secondary battery 76 of the charging unit 74 is used. Compared with the case of using a high voltage, a high voltage (an AC voltage having a large amplitude) can be applied to the vibrating body 4. Thereby, the maximum value of the rotational speeds of the rotors 3 and 5 can be increased, and a large thrust (lift) can be generated.

In the present invention, only one of the rotor 3 side and the rotor 5 side is such that the power supplied from the charging unit 74 is used as auxiliary power for driving the vibrating body 4 (ultrasonic motor). It may be configured.
Moreover, when using the electric power supplied from the charging part 74 as auxiliary electric power, the form is not restricted to the form mentioned above, Various forms are possible.

  As other forms, for example, the power supply part of the charging part 74 and another power supply part are connected in parallel and the voltage is used, or one of the power supply part and the other power supply part of the charging part 74 is given priority. For example, a configuration in which the other is used as a backup (backup power supply unit) can be used. In these cases, it is possible to fly for a longer time or to fly further, and to fly even when a failure occurs in one of the power supply units.

<Third Embodiment>
Next, a third embodiment of the flying object 1 of the present invention will be described.
FIG. 20 is a circuit diagram showing a main part in the circuit configuration of the third embodiment of the flying object of the present invention.
Hereinafter, the flying object 1 of the third embodiment will be described focusing on the differences from the first embodiment described above, and description of similar matters will be omitted.

First, for the vibrating body 4 (ultrasonic motor) that rotationally drives the rotor 3 and the vibrating body 4 (ultrasonic motor) that rotationally drives the rotor 5, 1 on the piezoelectric element 42 side by the electrode 41 and the reinforcing plate 43, respectively. A pair of drive electrodes is configured, and the electrode 45 and the reinforcing plate 43 constitute a pair of drive electrodes on the piezoelectric element 44 side.
In the flying body 1 of the third embodiment, the first drive circuit 931 includes the electrode 41 of the vibrating body 4 that rotationally drives the rotor 3 and the reinforcing plate 43 (between a pair of drive electrodes), the electrode 45 and the reinforcing plate 43 (between a pair of drive electrodes), the DC voltage (power supply voltage) supplied from the charging unit 74 provided inside the rotor blade 34 is alternately switched in polarity. Thus, the AC voltage is applied to the piezoelectric element 42 and the piezoelectric element 44 of the vibrating body 4 respectively. Similarly, the second drive circuit 932 is provided between the electrode 41 and the reinforcing plate 43 (between a pair of drive electrodes) of the vibrating body 4 that rotationally drives the rotor 5, and between the electrode 45 and the reinforcing plate 43 ( A DC voltage (power supply voltage) supplied from the charging unit 74 provided inside the rotor blade 54 is repeatedly applied between the pair of drive electrodes) so that the polarity is alternately inverted, Thereby, an AC voltage is applied to each of the piezoelectric element 42 and the piezoelectric element 44 of the vibrating body 4.

Since the configuration on the rotor 3 side and the configuration on the rotor 5 side are the same, the rotor 3 side will be described below with a specific example as a representative.
As shown in FIG. 20, in the flying object 1 of the third embodiment, the first drive circuit 931 includes four FETs (field effect transistors) 941, 942, 943, and 944 as four switching elements (switching means). And a gate driver (not shown) for outputting a signal (pulse signal) for controlling on / off (switching operation) of these four FETs 941 to 944.

  In the illustrated example, each of the FETs 941 and 943 is turned on (ON) when the voltage level of the signal (voltage) input to the gate is low level (L), and is turned off (OFF) when the voltage level is high level (H). P-channel FET is used, and each of the FETs 942 and 944 is turned on when the voltage level of the signal (voltage) input to the gate is high, and is turned off when it is low. N-channel FET is used.

The FET 941 and the FET 942 have their drains connected to each other, and one terminal (output terminal) 945 of the output unit 94 is provided between the drain of the FET 941 and the drain of the FET 942. The terminal 945 is electrically connected to the reinforcing plate 43 through the tubular member 31, the driven body 33, and the convex portion 46 of the reinforcing plate 43 of the vibrating body 4.
Similarly, the FET 943 and the FET 944 have their drains connected to each other, and the other terminal (output terminal) 946 of the output unit 94 is provided between the drain of the FET 943 and the drain of the FET 944. . The terminal 946 is electrically connected to the electrodes 41 and 45 of the vibrating body 4 via the brush 19 and the shaft 22 and the like.

  Further, the sources of the FET 941 and the FET 943 are connected to each other. Similarly, the sources of the FET 942 and the FET 944 are connected to each other. The sources of the FET 941 and the FET 943 and the FET 942 and the FET 943 are connected. A DC voltage (power supply voltage) of the secondary battery (power supply unit) 75 of the charging unit 74 is applied between the sources. The voltage value of the secondary battery 75 is assumed to be VDD.

Next, the operation of the first drive circuit 931 will be described.
First, when the level of a signal input from the gate driver to each of the FETs 941 to 944 is high level in the FET 941, high level in the FET 942, low level in the FET 943, and low level in the FET 944, the FET 941 is off and the FET 942 is on. FET 943 is turned on and FET 944 is turned off.

  Thereby, the voltage of the terminal 946 with respect to the terminal 945 (voltage between the terminal 945 and the terminal 946 with respect to the terminal 945) E becomes + VDD, and between the reinforcing plate 43 of the vibrating body 4 and the electrode 41, A + VDD voltage is applied, and a + VDD voltage is applied between the reinforcing plate 43 and the electrode 45. That is, a voltage of + VDD is applied to the piezoelectric elements 42 and 43, respectively.

Next, when the level of the signal input from the gate driver to each of the FETs 941 to 944 switches to the low level in the FET 941, the low level in the FET 942, the high level in the FET 943, and the high level in the FET 944, the FET 941 is turned on, and the FET 942 is turned on. Is off, FET 943 is off, and FET 944 is on.
As a result, the voltage E of the terminal 946 with respect to the terminal 945 becomes −VDD, a voltage of −VDD is applied between the reinforcing plate 43 and the electrode 41 of the vibrating body 4, and the voltage between the reinforcing plate 43 and the electrode 45 is increased. In between, a voltage of -VDD is applied. That is, a voltage of −VDD is applied to the piezoelectric elements 42 and 43, respectively.

Thereafter, the above-described operation is repeated. Thereby, the voltage of + VDD and the voltage of −VDD are alternately and repeatedly applied to the piezoelectric elements 42 and 43 of the vibrating body 4, respectively. That is, an AC voltage having an amplitude of 2VDD is applied to the piezoelectric elements 42 and 43 of the vibrating body 4, and the vibrating body 4 is driven by the AC voltage.
According to the flying object 1, the same effect as the flying object 1 of the first embodiment described above can be obtained.

In the flying body 1, a higher voltage (an AC voltage having a larger amplitude) is applied to the vibrating body 4 than when one of the pair of drive electrodes of the vibrating body 4 is always grounded. Can do. Thereby, the maximum value of the rotational speeds of the rotors 3 and 5 can be increased, and a large thrust (lift) can be generated.
The third embodiment may be applied to the second embodiment described above.

As mentioned above, although the flying body of this invention was demonstrated based on embodiment of illustration, this invention is not limited to this, The structure of each part is substituted by the thing of the arbitrary structures which have the same function. be able to. In addition, any other component may be added to the present invention.
Further, the present invention may be a combination of any two or more configurations (features) of the above embodiments.

In the present invention, the shape and structure of the vibration body of the ultrasonic motor are not limited to the configuration shown in the figure, and may be anything as long as the driven body can be rotationally driven. For example, the piezoelectric element may be a single element, may not have a reinforcing plate, or may have a shape in which the width gradually decreases toward a portion in contact with the driven body.
In the present invention, the method for remotely controlling the flying object is not limited to wireless control, and may be, for example, wired control.

Moreover, in this invention, you may be comprised so that a flying body may carry out automatic flight control.
The size of the flying object of the present invention is not particularly limited, but is particularly suitable for a relatively small flying object (small flying object) having a diameter of a rotor having a plurality of rotor blades of, for example, about 5 to 300 mm. It is.
Further, the flying object of the present invention can be applied to both unmanned (unmanned flying object) and manned (manned flying object).

In addition, the flying object of the present invention may be one provided with one rotor having a plurality of rotor blades, or may be provided with three or more rotors. That is, the present invention is not limited to the flying object having the illustrated structure, and can be applied to various flying objects having a rotor having a plurality of rotor blades such as a helicopter.
In addition, the use of the flying object of the present invention is not particularly limited. For example, working means such as various sensors (sensing means) are mounted on the flying object, and the flying object is moved (moved) to a target place in various environments. Various types of information can be collected (sensing work).

In addition, for example, information can be collected by various sensors in a harmful environment where humans cannot enter (a place having an environment harmful to the human body).
The flying object can be used not only on the earth but also on other planets, for example, other planets such as Mars (applicable to flying objects for planetary exploration). ).

1 is a perspective view showing a first embodiment of a flying object of the present invention. It is a cross-sectional side view which expands and shows the vicinity of the central axis in the flying body shown in FIG. It is a top view which shows typically the rotor in the flying body shown in FIG. It is a perspective view of the vibrating body in the flying body shown in FIG. It is a top view which shows a mode that the vibrating body in the flying body shown in FIG. 1 drives a to-be-driven body. It is a top view which shows a mode that the convex part of the vibrating body in the flying body shown in FIG. 1 carries out an elliptical motion. It is a perspective view of the attitude | position change means in the flying body shown in FIG. It is a disassembled perspective view of the attitude | position change means in the flying body shown in FIG. It is a perspective view of the linear actuator of the attitude | position change means in the flying body shown in FIG. It is a top view of the linear actuator of the attitude | position change means in the flying body shown in FIG. It is a side view of the linear actuator of the attitude | position change means in the flying body shown in FIG. It is sectional drawing in the AA line in FIG. It is a perspective view of the vibrating body in the flying body shown in FIG. It is a top view which shows a mode that the vibrating body in the flying body shown in FIG. 1 drives a to-be-driven body. It is a top view which shows a mode that the vibrating body in the flying body shown in FIG. 1 drives a to-be-driven body. It is a block diagram which shows the circuit structure of the flying body shown in FIG. It is a schematic diagram for demonstrating the effect | action etc. of the flying body shown in FIG. It is a schematic diagram for demonstrating the effect | action etc. of the flying body shown in FIG. It is a block diagram which shows the principal part in the circuit structure of 2nd Embodiment of the flying body of this invention. It is a circuit diagram which shows the principal part in the circuit structure of 3rd Embodiment of the flying body of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Flying object 2 ... Base 21 ... Board | substrate 22 ... Center axis 23 ... Vibrating body attaching part 3 ... Rotor 31 ... Cylindrical member 311 ... Through-hole 32 ... Rotary blade fixing member 321 ... Cylindrical part 322 ... Fixed part 323 ... Through hole 33 ... Driven body 331 ... Outer peripheral surface 34 ... Rotary blade 35 ... Shaft hole 36 ... Rotation center line 4 ... Vibrating body 41, 45 ... Electrodes 41a to 41d ... Electrodes 45a to 45d ... Electrodes 42, 44 ... Piezoelectric elements 43 ... Reinforcing plates 46 ... Protrusions 48 ... Arms 481 ... Holes 49 ... Center lines 5 ... Rotors 51 ... ... Cylindrical member 52 …… Rotating blade fixing member 521 …… Cylindrical portion 522 …… Fixing portion 523 …… Through hole 53 …… Driven body 531 …… Outer peripheral surface 54 …… Rotating blade 541 …… Shaft 55 …… Shaft hole 6 ... Grounding means 60 ... Fixed part 61 ... Leg 62 ... Tip 71 ... Solar cell 72 ... Circuit part 73 ... Partial circuit part 74 ... Charging part 75, 76 ... Secondary battery 77 ... Power supply 8 ... Attitude control sensor 81x, 81y, 81z ... Gyro sensor 9 ... Drive control means 90 ... 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 94 …… output unit 941 to 944 …… FET 945, 946 …… terminal 11 ... Bearing 12 ... Bolt 13 ... Circuit board 14 ... Weight element 141 ... Casing 15 ... Battery 16 ... Posture changing means 16x ... Linear assembly Tutor 16y ... Linear actuator 161 ... Base 162 ... Guide pin 163 ... Roller 1631 ... Groove 164 ... Rotor 165 ... Driven body 1651 ... Outer peripheral surface 166 ... Cylindrical part 167 ... Pinion gear 168 …… Spring retaining pin 171 …… Base 172 …… Elongated hole 173 …… Spring hook 174 …… Coil spring 175 …… Bolt 181 …… Slider 182 …… Open 183 …… Rack gear 184 …… Protrusion 185 …… Hole Part 186 …… Pin 19 …… Brush

Claims (21)

A rotor provided rotatably and having a plurality of rotor blades;
A driven body that rotates in conjunction with the rotor;
An ultrasonic motor having a vibrating body provided with a contact portion and a piezoelectric element that contact the driven body;
A drive circuit for driving the ultrasonic motor,
The vibrating body vibrates by applying an AC voltage to the piezoelectric element by the driving circuit, and the vibration repeatedly drives the driven body through the contact portion to rotate the driven body. And thereby rotating the rotor,
An aircraft that flies by thrust generated by the rotation of the rotor blades,
On the surface of the rotor blade, a solar cell that receives light and photoelectrically converts it to generate electricity is provided.
An aircraft, wherein a circuit unit having a charging unit for charging electricity generated by the solar cell is provided inside the rotor blade.   The flying body according to claim 1, wherein at least a part of electric power used for driving the ultrasonic motor is supplied from the charging unit.   The flying body according to claim 1, wherein the electric power supplied from the charging unit is configured to be used as auxiliary electric power for driving the ultrasonic motor.   The flying body according to any one of claims 1 to 3, wherein when the rotor blade is viewed from the thickness direction, substantially the entire circuit portion overlaps a part of the solar cell. The circuit unit is composed of partial circuit units dispersed inside the rotor blades,
Each of the partial circuit portions of the rotor blades is provided such that the center of gravity of the partial circuit portion is located closer to the end side than the midpoint between the rotation center of the rotor blade and the end portion of the rotor blade. The flying object according to any one of claims 1 to 4. The circuit unit is composed of partial circuit units dispersed inside the rotor blades,
The partial circuit portions of the rotor blades are provided so that the distances between the rotation center of the rotor blades and the center of gravity of the partial circuit portion of the rotor blades are all substantially equal. The flying object according to any one of the above.   The flying body according to any one of claims 1 to 6, wherein the drive circuit is included in the circuit unit provided in the rotor. The ultrasonic motor has a pair of drive electrodes,
The drive circuit is configured so that a DC voltage is repeatedly applied between the pair of drive electrodes so that the polarity is alternately inverted, whereby an AC voltage is applied to the piezoelectric element. The flying object according to any one of 1 to 7.   The flying body according to any one of claims 1 to 8, comprising two rotors provided substantially coaxially and rotating in opposite directions. A first rotor having a plurality of first rotor blades and a plurality of second rotor blades provided substantially coaxially and rotatable in opposite directions to each other;
A first driven body that rotates in conjunction with the first rotor;
A first ultrasonic motor having a first vibrating body provided with a contact portion and a piezoelectric element in contact with the first driven body;
A first drive circuit for driving the first ultrasonic motor;
A second driven body that rotates in conjunction with the second rotor;
A second ultrasonic motor having a second vibrating body provided with a contact portion and a piezoelectric element in contact with the second driven body;
A second drive circuit for driving the second ultrasonic motor,
The first vibrating body vibrates by applying an alternating voltage to the piezoelectric element by the first driving circuit, and this vibration repeatedly applies force to the first driven body through the contact portion. In addition, the first driven body is driven to rotate, thereby rotating the first rotor,
The second vibrating body vibrates by applying an AC voltage to the piezoelectric element by the second driving circuit, and this vibration repeatedly applies force to the second driven body through the contact portion. In addition, the second driven body is driven to rotate, thereby rotating the second rotor,
An aircraft that flies by thrust generated by rotation of the first rotor and the second rotor;
Provided on the surface of the first rotor blade is a solar cell that receives and photoelectrically converts light to generate electricity,
An aircraft, wherein a circuit unit having a charging unit for charging electricity generated by the solar cell is provided inside the first rotor blade.   11. The structure according to claim 10, wherein at least a part of electric power used for driving the first ultrasonic motor is supplied from a charging unit provided inside the first rotary blade. Aircraft.   The power supplied from a charging unit provided inside the first rotary blade is configured to be used as auxiliary power for driving the first ultrasonic motor. The listed flying object.   The flying body according to any one of claims 10 to 12, wherein the first drive circuit is included in the circuit unit provided inside the first rotary wing. The first ultrasonic motor has a pair of drive electrodes;
The first drive circuit repeatedly applies a DC voltage between the pair of drive electrodes so that the polarity is alternately reversed, whereby an AC voltage is applied to the piezoelectric element of the first ultrasonic motor. The flying object according to claim 10, wherein the flying object is configured to be applied. Provided on the surface of the second rotor blade is a solar cell that receives light, performs photoelectric conversion, and generates electricity;
15. The circuit unit according to claim 10, wherein a circuit unit having a charging unit that charges electricity generated by a solar cell provided on a surface of the second rotary blade is provided inside the second rotary blade. Aircraft described in.   The at least part of the electric power used for driving the second ultrasonic motor is configured to be supplied from a charging unit provided inside the second rotor blade. Aircraft.   The power supplied from the charging unit provided inside the second rotor blade is configured to be used as auxiliary power for driving the second ultrasonic motor. The listed flying object.   The flying object according to any one of claims 15 to 17, wherein the second drive circuit is included in the circuit unit provided inside the second rotary wing. The second ultrasonic motor has a pair of drive electrodes,
The second drive circuit repeatedly applies a DC voltage between the pair of drive electrodes so that the polarity is alternately reversed, whereby an AC voltage is applied to the piezoelectric element of the second ultrasonic motor. The flying object according to claim 15, wherein the flying object is configured to be applied.   The flying body according to any one of claims 1 to 19, further comprising posture changing means for changing a flying posture by moving the center of gravity. The flying body according to claim 20, wherein the posture changing means includes a weight element and a displacement mechanism for displacing the weight element.

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