JP2009178592A - Floating body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a floating body, which is a toy floated in a room or outdoors. <P>SOLUTION: This floating body includes: a body part 24; a pair of main wings 15 fitted on both sides of the body part; a take-up shaft 196 provided between the paired main wings and extended in the flapping direction of the main wings; a pair of yarns 191, the respective one ends of which are connected to the paired main wings, the other ends being connected to the take-up shaft; and a main wing motive power device 65 fitted to the body part and adapted to rotate the yarn take-up shaft. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a floating body that floats in the air. In particular, the present invention relates to a toy that performs self-exciting flapping motion and floats in a room or outdoors.

  Various floating bodies that float in the air by flapping motion have been devised. For example, there has been a floating main wing having a model airplane-like structure having a main wing and a tail wing, which is floated by the power of rubber (for example, Patent Document 1). Also, a floating body having a main wing and a tail wing, pulling the drive yarn with a spool wound by an electric motor, downing the main wing, and then launching the main wing by the repulsive force of the elastically deformed spar provided on the main wing As described above, a configuration has been devised in which flapping wings are configured to continuously flutter the wings (for example, Patent Document 2).

JP 2002-85860 A (paragraph numbers 0010 to 0011, FIGS. 1 and 2) Japanese Patent Laid-Open No. 5-178293 (paragraph numbers 0010 to 0015, FIGS. 1 and 2) Japanese Utility Model Publication No. 7-027693 Japanese National Patent Publication No. 11-509758 Japanese Utility Model Publication No. 50-003692 JP 2003-135866 A

  Among conventional floating bodies, as shown in Patent Document 1, if the power is rubber, the time for floating is limited even though it can be lightened. In addition, as shown in Patent Document 2, if the power is based on an electric motor, although it has been devised, it could not be actually floated, or if it was very fast, it was floated It may have been possible, but there was nothing that could actually be used as a toy.

  The present invention has been made to solve the problems of the conventional floating bodies as described above, and is practically suspended in a room or outdoors by flapping the wings with electric energy. The purpose is to provide a toy.

The floating body according to the present invention includes a main wing and an electric main wing power unit that causes the main wing to flutter, and flies at a low speed equal to or less than a walking speed (3 m / sec) against gravity.
The floating body according to the present invention has a blade load with respect to the total weight of 3 Newton / square meter or less.

  According to the present invention, in a floating body that floats with its wings fluttered, it is possible to fly like floating in the air at low speed by its own power by flapping the wings with electric energy. Provide toys to be floated on.

It is a schematic diagram of a floating body. 3 is a perspective view of a floating body 31 according to Embodiment 1. FIG. 3 is a side view of a floating body 31. FIG. 3 is a front view of a floating body 31. FIG. 4 is a rear view of the floating body 31. FIG. FIG. 6 is an operation explanatory diagram of the floating body 31. FIG. 6 is an operation explanatory diagram of the floating body 31. 3 is a circuit diagram used for a floating body 31. FIG. It is a figure which shows the relational expression of flapping flight of each embodiment. It is a figure which shows the characteristic of the floating body of each embodiment. FIG. 10 is an operation explanatory diagram of the third embodiment. It is an operation | movement flowchart. 6 is another electric circuit diagram used for the floating body 31. FIG. FIG. 10 is an operation diagram using the crank 44 of the fourth embodiment. It is a figure which shows the horizontal tail power apparatus 69 of Embodiment 5. FIG. It is a figure which shows the horizontal tail 16 of Embodiment 5. FIG. FIG. 20 is an explanatory diagram of the sixth embodiment. FIG. 10 is a cross-sectional view of a state where a lid 186 is removed from a bearing housing 181 of a horizontal tail power unit 69 according to a seventh embodiment. FIG. 19 is a cross-sectional view taken along line AA in a state where a lid 186 is attached to the bearing housing 181 of the horizontal tail power unit 69 of FIG. 18 of the seventh embodiment. FIG. 10 is an explanatory diagram of an eighth embodiment. FIG. 10 is an explanatory diagram of the ninth embodiment. FIG. 10 is an explanatory diagram of the ninth embodiment. FIG. 20 is an explanatory diagram of the tenth embodiment. FIG. 20 is an explanatory diagram of the tenth embodiment. FIG. 20 is an explanatory diagram of the tenth embodiment. FIG. 38 is a configuration diagram of a ground control mechanism according to a tenth embodiment. It is an internal block diagram of the ground control mechanism 80 of Embodiment 11. FIG. FIG. 20 is a flapping mechanism diagram of main wing 15 of the twelfth embodiment. FIG. 20 is a flapping mechanism diagram of main wing 15 of the twelfth embodiment. FIG. 23 is a flapping mechanism diagram of the main wing 15 according to the thirteenth embodiment. FIG. 23 is a flapping mechanism diagram of the main wing 15 according to the thirteenth embodiment. FIG. 23 is a flapping mechanism diagram of the main wing 15 according to the thirteenth embodiment. FIG. 38 is a power circuit diagram of a main wing power unit 56 according to the fourteenth embodiment. FIG. 17 is a flapping mechanism diagram of main wing 15 according to the fifteenth embodiment. FIG. 18 is a flapping mechanism diagram of the main wing 15 according to the sixteenth embodiment. FIG. 18 is a flapping mechanism diagram of the main wing 15 according to the sixteenth embodiment. FIG. 19 is a power supply installation diagram of an embodiment 17; It is a figure which shows the other structure which makes the main wing | wing 15 of Embodiment 19 flutter. It is a figure which shows the structure which added the balsa stick | rod 169 and the rubber | gum 164 to the floating body of FIG. 30 demonstrated in Embodiment 13. FIG. It is a figure which shows the structure which provided the balsa stick | rod 169 and the rubber | gum 164 in the floating body of FIG. 34 demonstrated in Embodiment 15. FIG. It is a figure which shows the structure which provided the balsa stick | rod 169 and the rubber | gum 164 in the floating body of FIG. 35 demonstrated in Embodiment 16. FIG. It is a figure which shows the structure which provided the balsa stick | rod 169 and the rubber | gum 164 in the floating body of FIG. 36 demonstrated in Embodiment 16. FIG. It is a figure which shows the structure which attached rubber | gum 164, without using the balsa stick | rod 169. FIG. It is a figure which shows the structure which attached rubber | gum 164 using the balsa stick | rod 169. FIG. It is a figure which shows the structure which provided the winding shaft in the lower part, and attached the rubber | gum 164 to the upper part using the balsa stick | rod 169. FIG. FIG. 38 is a power supply circuit diagram for the motor according to the twentieth embodiment. FIG. 38 is a power supply circuit diagram for the motor according to the twentieth embodiment.

  In recent years, small motors have become faster and smaller and lighter due to the application of new materials, and the wing surface load is less than 5 Newtons per square meter, that is, a walking speed of 3 m / second or less that can fly indoors. Invented by the inventors that an electric floating body floating in the air would be possible, this invention was made. This idea realizes a floating body as a practical toy that has not been realized in the past. The present invention is also intended for use as a toy that provides a kind of healing.

FIG. 1 is a diagram showing names of respective parts of a floating body that floats.
FIG. 1A is a side view of the floating body, and FIG. 1B is a top view.
Here, as an example of a floating body, a case of a floating body having a trunk, a main wing, and a horizontal tail is shown. Here, the floating body is an “object that floats and swims in the air”. That is, an object that floats softly. Therefore, an airplane that flies much faster than walking speed with a helicopter, normal propeller, or engine is not a floating body. In addition, the floating body generally means “a thing heavier than air and flying while moving at a certain angle with respect to the wind direction at a speed lower than the walking speed”. Balloons and balloons are lighter than air and are not floating. Since the floating body has an angle of attack A with respect to the wind, a lift force and a slight drag force (negligible) are generated, and the lift body floats in the air under the lift force. In addition, by deflecting the horizontal tail above the no-lift line of the main wing, in the vicinity of the horizontal tail, a negative angle of attack i is formed with respect to the wind blowing along the wing to maintain flight stability. Yes. The lift can be changed by adjusting the angle of attack angle A and the wobbling angle i of the horizontal tail. The angle of attack A can also be changed by changing the position of the center of gravity of the floating body.
The flying speed of floating is determined by the weight per unit wing area, that is, the wing surface weight. This floating body is devised so that it can fly at a very low speed while using electric power by using a motor that has been reduced in size and weight by the recent high-speed rotation.

  As shown in FIG. 1 (b), this floating body has a wing receding angle D, which prevents the aircraft from skidding in the same way as other flying bodies.

Embodiment 1 FIG.
First, the most understandable embodiment will be described. FIG. 2 is a perspective view of the floating body according to the first embodiment.
FIG. 3 is a side view.
FIG. 4 is a front view.
FIG. 5 is a rear view.
The case is not shown in FIGS. 2 to 4 to show the internal structure, but the appearance of the drive device and the wing shaft is made constant or similar to a bird, insect or airplane. In many cases, the main wing power unit 56 is housed in a case so as to improve.
Hereinafter, the main wing power unit 56 will be described.
Unlike a crank device that changes a normal rotational motion to a linear motion, this device uses a string 51 and a crank 44 to make the wings flutter and measure.
The rotating machine 41 is a motor that is installed at a certain distance from the central axis of the wing of the floating body, and the armature rotates by obtaining electric power from the battery 49. The battery 49 is attached to the support plate 54. The support plate 54 is fixed to the floating body 31. The rotating machine 41 is also fixed to the floating body 31. A gear 43 is provided on the rotating shaft of the rotating machine 41. The gear 43 meshes with a gear 46 fixed to the crank 44. The gear 43 and the gear 46 form a speed reduction mechanism 55 having a high speed reduction ratio (about 100) between the number of rotations (usually several hundreds per second) and the number of flapping (usually several times per second). Yes. Usually, when the reduction ratio is about this level, the reduction mechanism 55 is formed by adding a plurality of other gears (not shown). The crank 44 is provided with a string stopper 47 in a protruding shape. The ends of the two strings 51 are tied to the string stopper 47. The U-shaped pipe 48 is fixed to the support bar 53. In addition, the crankshaft 45 is instructed by the support rod 53 and the support plate 54 and can rotate. The crank 44 moves the strap stopper 47 on the circumference in accordance with the rotation of the rotating machine 41. For this reason, the string 51 is tensioned or released as the string stopper 47 moves. The string 51 passes through the inside of the pipe 48 that maintains a certain distance from the central bone, and is tied to the main wing 15. Therefore, when the string 51 moves through the pipe 48, the main wing 15 moves up and down. That is, the main wing 15 flutters.

  That is, the main wing 15 can be flapped by the crank and the string by the rotating machine 41.

The string 51, the speed reduction mechanism 55, and the crank 44 constitute a power transmission unit. The power of the rotating machine 41 can be transmitted to the main wing 15 by the power transmission unit.
By having the configuration as described above, the main wing power unit 56 can cause the main wing 15 to flutter in a cycle suitable for flight.
The string 51 is an example of a wire, and the material may be any material that cannot be worn by contact with the pipe 48, such as fishing line.

The frame structure of the floating body 31 devised for weight reduction will be described with reference to FIG.
The floating body 31 has a main body central bone 39 that is an axis of symmetry of the floating body 31. Further, a main wing main bone 33 and a main wing reinforcing bone 35 arranged in the vicinity of an aerodynamic center (a center point of lift force: a point where the moment is constant regardless of the magnitude of the angle of attack) as main parts of the main wing 15 are provided. It is a main component. Further, the main wing intermediate longitudinal bone 11 is provided in parallel with the main body central bone 39 and sandwiching the main body central bone 39 from both ends of the plate bone 34. The plate bone 34 is a lightweight plate bone using a foaming agent or the like for fixing the main wing intermediate longitudinal bone 11 and the leading edge. Further, in order to maintain the shape of the upper outer edge portion of the end portion of the main wing 15, the main wing fine bone 13 is provided. In addition, a floating sheet on which a living body such as a cocoon or a butterfly made of a lightweight and tough synthetic resin sheet or a synthetic resin nonwoven fabric having a necessary strength constituting the floating body 31 is printed on these frames. 36. The floating body sheet 36 is bonded and fixed to the above-described frame. Further, the main body central bone 39 passes through the attachment member 17 and the main body central bone 39 exists from the top of the floating body to the horizontal tail. Further, when the reinforcing bone 35 is bonded and fixed to the sheet, the angle between the main wing main bone 33 and the central bone 39 is fixed. Further, a reinforcing sheet member 17 (attachment member 17) is bonded to the intersection of the reinforcing bone 35 and the central bone, and the horizontal tailbone 18 is connected to this point. For each aggregate excluding the plate bone 34, a wire material such as glass fiber or carbon fiber reinforced resin, wood such as cocoon and lamin is used. Or you may use the plastic which designed the cross-sectional shape appropriately and improved the rigidity of a required direction.
In this way, the main wing 15 mainly composed of the main wing main bone 33 is light and rigid, and the main wing 15 always follows even if the main wing 15 flutters.

6 and 7 are conceptual diagrams for explaining the flapping operation.
Here, for the sake of simplicity of explanation, a straight pipe 48 is shown which is fixed to the fuselage and maintained at a constant distance from the main wing central axis. As shown in FIG. 6, the string 51 is pulled when the crank 44 starts to rotate in the direction of the arrow H, and the distance between the main wing center bar and the pipe 48 and the motor case 76 is kept constant. Moves in the direction of arrow E. As shown in FIG. 7, when the strap stopper 47 rotates 180 degrees, the main wing 15 reaches the lowest position. Furthermore, as the crank 44 continues to rotate, the main wing 15 returns to the direction of the arrow F due to the lift acting on the wing and the gravity acting on the flapping mechanism. Usually, the main wing 15 has elasticity so that the main wing 15 returns in the direction of the arrow E, and a resonance frequency described later and a flapping frequency necessary for stable flight are adjusted by applying a return force by the elastic force. .

  FIG. 8 shows a circuit diagram. A resistor 58 and a battery 49 are connected to the rotating machine 41. Based on the power supply from the battery 49, the rotating machine 41 continues to rotate in the direction of the arrow H, and the flapping operation continues.

  In this embodiment, in order to facilitate flapping of the wing, it is desirable to match the resonance frequency of the wing with the cycle frequency of flapping required for flight. The flapping cycle by the rotation of the motor can be calculated if the values of the following parameters are known.

Rated voltage of the motor.
Maximum motor speed.
Maximum motor torque.
Maximum motor current.
Reduction mechanism.
The span direction of the wing.
Wind power center on one wing.
The vertical angle of flapping.
Air specific gravity.
The width of the wings.
Angle of attack.
Air resistance.
The total mass of the floating body.
etc.

By changing the values of the parameters as described above, for example, if flapping of 1.6 cycles per second is necessary for flight, it is possible to flutter at this frequency.
On the other hand, when the driving force of the motor is applied to the main wing 15 by the string 51, tension is applied to the string 51 in a cycle that is the same as the flapping of 1.6 times per second described above. If the resonance frequency of the main wing 15 matches this cycle, resonance can occur. Here, “resonance” means “in a certain object, a state in which the externally applied vibration frequency is equal to the natural frequency of the object”. Here, the natural frequency means “the frequency of free vibration of the object”. In this example, resonance occurs when the vibration frequency (1.6 times / second) applied to the blade from the outside by the string 51 is equal to the natural frequency of the blade. The natural frequency of the wing can also be set to a predetermined value by changing the elasticity, inertia ratio, and other parameters of the main wing 15. By creating such a resonance state, the wings can easily flutter and energy consumption is reduced, so that the load on the motor can be reduced.

Embodiment 2. FIG.
An important relational expression of the flapping flight of the floating body shown in the first embodiment (and shown in each embodiment) will be described with reference to FIG.

Expressions (1) and (2) in FIG. 9 are expressions representing necessary conditions for flight.
Find one that has one specific wing shape (the aspect ratio is important). Here, the aspect ratio is a ratio (main wing aspect ratio) between the total length when the pair of main wings 15 are expanded in the direction of 180 degrees and the length of the front and rear of the main wing 15 (from the head to the horizontal tail).
If one of the main shapes of the main wing 15 (the aspect ratio is important) is found to fly, for example, if the main wing 15 is reduced or expanded (for example, the vertical, horizontal, shape, aspect ratio, etc.), the proportionality constant is the same. The flight condition is obtained by proportional calculation using this equation.
The proportionality constant depends on the shape (mainly dependent on the aspect ratio). The collection of this proportionality constant is an important technical asset.

  In addition, in the case of the same model (floating bodies having the same specifications, such as the same shape, the same weight, the same material, etc.) and the same angle of attack, the thrust (propulsive force) increases according to the equation (3).

In FIG. 10, the example of the characteristic of the floating body of each embodiment is shown.
FIG. 10A shows various numerical examples of a large free flight model body that freely flies without a fastening line and a small wired flight model body that is restrained by the fastening line. FIG. 10B shows an example of the motor 1 and the motor 2.
Note that some of the numerical values in FIG. 10 seem to be incorrect due to rounding off or the like.
The features here are as follows.

1. The overall weight is light. In order to fly against gravity, the total weight is preferably 20 grams or less. If possible, it should be 10 grams or less.
For example, when the motor 1 is used, the total mass of the large free flight model is 17.7 grams. The total mass of the small wired flight model is 5.5 grams.

2. The power source is light. The weight of the motor is desirably 1 gram or less. For example, the motor 1 is 0.7 grams. The motor 2 is 1.0 gram.
The ratio of the weight of the motor to the total mass of the flight model is desirably 20% or less. If possible, it should be around 5%.
For example, the ratio of the weight of the motor 1 to the total mass of the flight model body is 0.7 to 17.7 = 0.0395 = about 4% in the case of a large free flight model body. In the case of a small wired flight model body, 0.7 to 5.5 = 0.1272 = about 13%.
The ratio of the weight of the motor 2 to the total mass of the flight model body is 1.0: 18.0 = 0.0555 = about 6% in the case of the large free flight model body. For a small wired flight model, 1.0 vs. 5.8 = 0.1724 = approximately 18%.

3. The blade load is small. The blade load is preferably 3 Newton / square meter, preferably 2 Newton / square meter or less. Furthermore, from the point of strength design, it is better to make it less than 1.7 Newton / square meter if possible.
For example, when the acceleration of gravity is 9.8 m / s ² , when the motor 1 is used, the wing surface load of the large free flight model is ((17.7 / 1000) * 9.8) /0.107= 1,621≈1.62 Newton / square meter. The total mass of the small wired flight model is ((5.5 / 1000) * 9.8) /0,033=1,633≈1.63 Newton / square meter. If you make the wings smaller and halve the wing area, you can fly even in narrow spaces. In this case, the blade surface load is doubled, for example, about 3.2 Newton / square meter. However, from the viewpoint of the strength of the blade, the blade surface load is preferably 3.0 Newton / square meter or less.

4). You can fly indoors. The reason why a motor-driven low-speed flutter that can fly indoors has become possible is as follows.
(1) The wing surface load of the airframe became 120 g / m ² or less. For example, lighter and 100g ^{/ m 2} ~112g ^/ m 2 as shown in FIG. 10.
(2) As shown in FIG. 10, the motor is light and has high performance.
(3) A lithium polymer secondary battery having a light weight and a high capacity of 3.7 V 120 mAh is now available.

5. It can float in the air even if the speed is slower than the previous aircraft. The speed of the flying model shown in FIG.
The motor output required for flapping flight is total mass × gravity acceleration (9.8 m / s ² ) × aerodynamic drag coefficient (about 0.1) × flexible flight speed.
Here, the flight speed is (wing surface load / ((1/2) × air density)) ^1/2 , and the air density is 1.20-1.29 kg / m ³ . The speed of the flying model shown in FIG. 10 is about 1.6 m / second (about walking speed). For example, if the wing load is 1.62 N / m ² and the air density is 1.2 kg / m ³ at an air temperature of 0 ° C., the flying speed at which the air can float is
(1.62 / (1/2) * 1.2) ^1/2 = 1.64 m / s
It becomes.
Further, if the wing load is 1.62 N / m ² and the air density is 1.29 kg / m ³ at an air temperature of 20 ° C., the flyable flight speed is
(1.62 / (1/2) * 1.29) ^1/2 = 1.58 m / s
It becomes.
If parts can be exchanged, the load on the wing may change, so the speed of the floating body will also change. However, if the flying speed is 2.0 m / sec, it will float in the air.
Therefore, the motor output necessary to float the flight model shown in FIG. 10 in the air is as follows.
(1) 9mW for small size (5.5 * 9.8 * 0.1 * 1.6 = 8.62)
(2) 28mW for large size (17.7 * 9.8 * 0.1 * 1.6: = 27.75)
As shown in FIG. 10B, the rated maximum output of the motor is 40000/60 * 1.6 / 100 * 9.8 / 4≈26.1 mW in the case of the motor 1, and 26000 / in the case of the motor 2. 60 * 0.9 / 100 * 9.8 / 4≈9.55 mW, but if the voltage is doubled (tolerable range) and the output is quadrupled, double output can be achieved by intermittent operation on and off. Even if necessary, it is still possible to fly with sufficient margin.
The minimum floating flight speed of the floating body shown in FIG. 10 is 1.6 m / second (about walking speed). Compared to the case where a normal model airplane requires a speed of 10 m / second or more, it is shown in FIG. The flying model body can be said to be an extremely safe flying body. Moreover, you may make it fly at a low speed of 3.0 m / sec or less. 3.0 m / sec is a speed of about 10 km / h (walking fast or running slowly), and it is possible to enjoy flying at a certain speed while maintaining safety.

  As described above, according to this embodiment, a safe and inexpensive flight model body can be provided. In addition, a small and lightweight flying object / floating object that can be played indoors can be provided.

Embodiment 3 FIG.
FIG. 11 is an operation explanatory diagram in the case where the switch 57 and the capacitor 61 are provided in a floating motor electric circuit in a resonance state to reduce power consumption.
FIG. 12 is a flowchart thereof.
(A), (f), S21, S22
Switch 57 is turned on. At the same time as a current flows from the battery 49 to the rotating machine 41, a charging current flows to the capacitor 61, and the capacitor 61 is charged.
(B), (g), S23, S24
When the crank 44 rotates 170 degrees, the switch 57 is turned off.
(C), (h), S25
When the switch 57 is turned off, the capacitor 61 is discharged. After this discharge, the rotating machine 41 is not supplied with power from the power source.
(D), (i), S26, S27
As the main wing 15 returns by itself in the direction of arrow F, the crank 44 rotates in the direction of arrow H. At this time, the rotating machine 41 becomes a generator. In this way, the current from the rotating machine 41 is charged in the capacitor 61. When the capacity of the capacitor 61 is sufficiently large, the power generated by the rotating machine 41 is stored in the capacitor 61.
(E), (j), S28
When the crank 44 rotates 360 degrees, the switch 57 is turned on. At this time, the rotating machine 41 is supplied with electric power from the power source and changes from a generator to a motor. The state of (j) is the same as the state of (f), and after that, the operation is repeated and flapping continues.

According to this embodiment, since the capacitor 61 is provided and the rotating machine 41 is used as a generator, the power consumption of the battery 49 can be reduced.
As shown in FIG. 13, a rechargeable battery 59 may be provided instead of the battery 49. The operation in this case is the same as that shown in FIG. That is, when the rotating machine 41 functions as a generator and the voltage of the electric power is higher than that of the rechargeable battery 59, the rechargeable battery 59 is charged, and a long time operation becomes possible.

Embodiment 4 FIG.
FIG. 14A is a view showing another example of the main wing power unit 56.
The rotating machine 41 with the speed reducer is attached so that the rotating shaft of the rotating machine 41 with the speed reducer is the same axis as the main body central bone 39. A crank 44 is directly attached to the rotating shaft of the rotating machine 41. A string 51 is tied to a string stopper 47 of the crank 44. The rotating machine 41 rotates in both forward and reverse directions (that is, in the directions of arrows H and I). The pipe 48 is fixed by a support bar 53. The support bar 53 is attached to the crankshaft 45 via a bearing. The crankshaft 45 is also on the same axis as the main body central bone 39.
The reason for this configuration is to reduce the weight by eliminating the casing that supports the rotating mechanism.

FIGS. 14B and 14C are explanatory diagrams of the operation.
By providing a switch 57 for switching the polarity that reverses the current to the rotating machine 41 in the circuit, the rotating machine 41 can rotate in both forward and reverse directions. In this embodiment, the flapping size can be changed by changing the rotation angle q of the rotating machine 41 or the radius r of the crank 44.

Embodiment 5 FIG.
A floating body that flies freely in a limited space needs to control the direction of travel. 15 and 16 are diagrams showing a horizontal tail power unit 69 that moves the horizontal tail and changes the traveling direction.
The horizontal tail power unit 69 includes a horizontal tail center bone 19. In order for the flying object to fly stably, as shown in FIG. 15, the horizontal tail 16 needs to be lifted up from the surface of the main wing 15 or the trunk portion 24. That is, it is necessary to provide the angle i in FIG. In order to secure this i-angle and to make it easy to attach the rotating mechanism of the horizontal tail 16, the horizontal bone of the horizontal tail 16 made of GFRP (glass fiber reinforced plastic) material on the back surface of the floating sheet 36 of the horizontal tail 16 is used. 19 is attached. Further, the floating body sheet 36 is provided with a hole 23, the horizontal tail central bone 19 is passed through the hole 23 of the floating body sheet 36, and one end portion is projected to the surface side of the trunk portion 24. The end portion of the horizontal tail central bone 19 projected to the surface side is attached to a motor 65 (rotary machine) with a speed reducer. Therefore, when the motor 65 rotates in the forward / reverse direction, the horizontal tail central bone 19 can also rotate in the forward / reverse direction around the axis. Horizontal tail plates 21 are attached to both sides of the other end of the horizontal tail center bone 19. The horizontal tail plate 21 is a horizontal tail molded plastic plate. The horizontal tail plate 21 is for firmly forming the shape of the horizontal tail 16 and ensuring the reproducibility of the control of the horizontal tail 16. The horizontal tail plate 21 is connected to the horizontal tail bone 18. Accordingly, the horizontal tail blade 21 and the horizontal tail bone 18 are rotated in the directions of the arrow J and the arrow K as the horizontal tail center bone 19 rotates in both forward and reverse directions (arrows L and M). Become.

The horizontal tail power unit 69 has an angle changing unit 66 to which a motor 65 is attached. The angle changing unit 66 holds the motor 65 so that the mounting angle R of the motor 65 can be changed. By changing the attachment angle R, the horizontal tail 16 can move in the directions of arrows N and Q (vertical direction). Accordingly, the horizontal tail center bone 19 can rotate about its own white axis and change the angle (attachment angle R) between the axis and the main body central bone 39.
In this way, the horizontal tail 16 can freely change the force received from the wind.
Changing the attachment angle R is nothing but changing the angle i in FIG.

  The horizontal tail power unit 69 is provided with a wireless communication unit 67. The wireless communication unit 67 performs wireless communication with the mobile phone 68. By selecting the button of the mobile phone 68, the motor 65 and the angle changing unit 66 are operated, and the horizontal tail 16 is controlled. As a result, the human intends the vertical direction, the horizontal direction, and the tilt direction in which the floating body 31 floats. Can be changed.

Embodiment 6 FIG.
FIG. 17 is a view showing another example of the horizontal tail power unit 69.
In the case of FIG. 17, there is one main body central bone 39, and a magnet plate 71 and an electromagnet 72 are provided on both sides thereof. The wireless communication unit 67 can energize the electromagnet 72 in the forward and reverse directions by performing wireless communication with the mobile phone 68. Two horizontal tailbones 18 are fixed to the electromagnet 72. FIGS. 17B and 17E show a case where the electromagnet 72 is not energized. FIGS. 17C and 17F show the case where the electromagnet 72 is energized and tilted in the direction of arrow J. FIG. As a result, the horizontal tail also tilts in the direction of arrow J. FIGS. 16D and 16G show a case where the electromagnet 72 is inclined in the direction of the arrow K as a result of energization. As a result, the horizontal tail 16 also tilts in the direction of arrow K.
In this example as well, a horizontal tail plate 21 that connects the main body central bone 39 and the horizontal tail bone 18 may be provided.

Embodiment 7 FIG.
18 and 19 are diagrams showing another example of the horizontal tail power unit 69 of the sixth embodiment.
FIG. 18 is a front view of the horizontal tail power unit 69.
FIG. 18 is a cross-sectional view of the bearing housing 181 with the lid 186 removed.

FIG. 19 is a cross-sectional view taken along line AA of the horizontal tail power unit 69 of FIG.
FIG. 19 is a cross-sectional view of the bearing housing 181 with the lid 186 attached thereto.
The structure in the right direction of the horizontal tail center bone 19 in FIG. 19 is the same as the structure shown in FIG.

  The bearing housing 181 of the horizontal tail power unit 69 is fixed to the main body central bone 39 by an inclined mounting surface 189. The inclined mounting surface 189 is a tapered surface having an angle of 7.5 degrees with respect to the horizontal tail center bone 19. Accordingly, the horizontal tail center bone 19 is attached to the main body center bone 39 at an attachment angle R of 7.5 degrees.

  The horizontal tail center bone 19 is attached to the bearing housing 181 so as to be rotatable around the axis of the horizontal tail center bone 19. A disc-shaped drive wheel 182 is fixed to the end of the horizontal tail center bone 19 via a washer 187. An O-ring 183 is attached to the outer periphery of the drive wheel 182.

  A motor 184 is inserted and fixed to the eccentric shaft jacket 185 in the direction of the motor shaft 188. The eccentric shaft jacket 185 is a cylindrical motor container whose thickness has changed, and is used to eccentric the motor shaft 188 of the motor 184. The eccentric shaft jacket 185 is fixed to the bearing housing 181. As a result, the motor 184 is fixed to the bearing housing 181 so that the motor shaft 188 of the motor 184 contacts the O-ring 183 and the motor shaft 188 is eccentric.

  Pressure adjustment between the motor shaft 188 and the O-ring 183 is performed by inserting the motor into an eccentric shaft jacket 185 that has been previously eccentric, and inserting and setting the eccentric shaft jacket 185 into the motor mounting hole of the bearing housing 181. Do. The eccentric shaft jacket 185 is a mechanism that can adjust the pressing force of the motor shaft 188 and the O-ring 183.

For example, the overall weight of the horizontal tail power unit 69 shown in FIGS. 18 and 19 is about 2 grams.
Moreover, as the motor 184, a commercially available motor can be used, for example.
The material of the bearing housing 181 is preferably polyacetal, for example.
The material of the horizontal tail center bone 19 is preferably a plastic with a special cross-sectional shape, a reinforced plastic made of glass fiber or carbon fiber for strength.
Further, the material of the ring of the O-ring 183 is preferably viton, fluororubber, urethane, silicon rubber or the like for preventing slipping.

The operation of the horizontal tail power unit 69 shown in FIGS. 18 and 19 will be described.
When the motor shaft 188 of the motor 184 rotates in the forward / reverse direction, the O-ring 183 also rotates in the forward / reverse direction (arrow M, L direction), and the horizontal tail center bone 19 also in the forward / reverse direction (arrow M, L direction). To turn.
As a result, as shown in FIG. 16, the horizontal tail 16 rotates in the forward and reverse directions (arrow J and K directions).

  By applying the tail drive device described above to a normal kite, the kite can be moved freely even with a single thread.

Embodiment 8 FIG.
FIG. 20 shows a case where a cavity 25 is provided in the body portion 24 of the floating body 31 that does not flutter but flies at a low speed.
The cavity 25 is provided with a micro fan 73 that rotates at high speed and a high-speed rotating motor 65 without a reduction gear.
With such a configuration, the air flow forcibly passes through the cavity 25 of the body portion 24 and substitutes for the flapping thrust.

Embodiment 9 FIG.
21 and 22 show the case where the floating body 31 is attached to the base 75.
In the case of FIG. 21, a battery 49 is provided on the base 75, and power from the battery 49 is supplied to a lead wire (electric wire) 74. Therefore, it is not necessary to provide the battery 49 on the floating body 31. For this reason, if electric power is supplied from a household electric wire, the floating body 31 which floats forever can be obtained.

  In FIG. 22, the thread 37 is omitted and the lead wire 74 is replaced with the thread 37, and the configuration is simplified.

Embodiment 10 FIG.
FIG. 23 shows a floating body that is restrained by a thread or an electric wire instead of the thread and flies. In the figure, the electric wire is attached to the center of gravity position in the axial (traveling) direction and to the lowest point of the trunk in the vertical direction. In addition, by attaching an aileron to the wing, the lift is tilted by a certain angle from the vertical line that stands on the wing surface.
This tilted lifting force cancels out the torque caused by the centrifugal force generated by the rotational motion and the gravity caused by the tilting in the centrifugal direction, so that the floating body can perform a permanent circular motion. Various angles at this time are calculated | required by the type | formula of FIG.
In FIG. 25, the thread or the electric wire instead of the thread is taken out from the side of the lower part of the body, but it is obvious that the same effect as above can be obtained by this method.

FIG. 26 is an internal configuration diagram of the ground control mechanism 80 used as the platform 75.
Inside the fixed case 81 are a motor 84, a gear 82 and a gear 88. A rotation shaft 83 is provided at the center of the gear 88, and a rotation case 91 is attached to the upper end of the rotation shaft 83.
Inside the rotating case 91 are a motor 94, a gear 92, and a gear 98. As the gear 98 rotates, the rotating shaft 93 of the wire winding drum 95 rotates. Further, a battery 49 is built in the rotating case 91, and the battery 49 supplies power to the electric wire 74 wound around the wire winding drum 95 via the rotating shaft 93, for example. The electric wire 74 is connected to the floating body via the ring 99.
When flying a floating object with electric wires indoors, the flight will not continue unless the floating object rotates (turns) and flies. In this case, the electric wire 74 is twisted. Along with this rotation (turning), the rotating case 91 containing the wire winding drum 95 must also rotate. The reason why the rotating case 91 is forcibly rotated by the motor 94 of the fixed case is that the rotating case 91 is rotated in synchronization with the rotation (turning) of the floating body and the electric wire 74 is not twisted. Alternatively, the rotating case 91 may be freely rotated instead of forcibly rotating.
As shown in FIG. 26, the power source is placed in the rotating case 91 as a battery 49 or attached with a slip ring. The control switch 97 has a button 96 for switching between positive and negative of the voltage applied to the motor for flapping, and the switched frequency controls the flapping frequency. This controls the flying speed of the floating body.

Embodiment 11 FIG.
FIG. 27 is an internal configuration diagram of the ground control mechanism 80.
FIG. 27 shows a case where the electric wire 74 (thread 37) is attached to the floating body 31 to make it easier to swivel and float.
As described with reference to FIG. 25, when the floating body 31 flaps, a forward force is applied, and the floating body 31 flies on the circumference V.

A rotation mechanism 483 and a rotation transformer 484 are provided inside the table 480. At the upper end of the base 480, there is a cylindrical portion 490. The tube portion 490 is a clay tube tube that supports the outer periphery of the telescopic rod 486.
The rotation mechanism 483 incorporates a motor, and from the center of the rotation mechanism 483, the rotation shaft 489 of the motor passes through the center of the next core 481 and stands up.
The rotary transformer 484 has a primary core 481 and a secondary core 482. Windings 185 are wound around the primary core 481 and the secondary core 482, respectively. The primary core 481 and the secondary core 482 form a non-contact transformer. That is, the primary core 481 is fixed to the base 480, and the secondary core 482 is fixed to the rotating shaft 489 and is rotatable about the rotating shaft 489.
A telescopic rod 486 is fixed to the upper surface of the secondary core 482. The telescopic rod 486 is a cylindrical rod that expands and contracts like a fishing rod. By adjusting the height of the telescopic rod 486, the flight altitude of the floating body 31 is adjusted.
A power source, a sensor, and an arithmetic device are attached to the control box 487.
Electric power is supplied from the power source to the rotation mechanism 483 and the primary core 481 by the electric wire 74.
The motor of the rotation mechanism 483 rotates the secondary core 482 and rotates the telescopic rod 486 by rotating autonomously.
Further, the electric power supplied to the primary core 481 is transformed by the rotary transformer 484 and supplied from the secondary core 482 to the motor 65 of the floating body 31 via the electric wire 74.
The sensor generates infrared rays upward and detects the rotational speed of the floating body 31. The arithmetic device controls the rotation of the motor of the rotation mechanism 483 so as to coincide with the rotation speed of the floating body 31. For this reason, the secondary core 482 and the telescopic rod 486 rotate in synchronization with the turning flight of the floating body 31 in the V direction. As a result, the electric wire 74 from the telescopic rod 486 to the floating body 31 is not twisted and the floating flight of the floating body 31 in the V direction can be continued continuously.
The remote controller 488 commands the control box 487 to give an on / off command, a flight speed command, and the like.
The stop book 491 is a flat rest area (place) when the floating body 31 is not flying.
In the center of the stationary book 491, there is a length adjusting portion 492 that adjusts the length of the electric wire 74. By adjusting the length of the electric wire 74 from the stationary book 491 to the floating body 31, the turning radius of the floating body can be freely changed. For example, it can be shortened indoors and extended outdoors.
The secondary core 482 and the expansion / contraction rod 486 are not forcibly rotated by the motor of the rotation mechanism 483, but the rotation mechanism 483 is not provided, and the secondary core 482 expands and contracts according to the turning of the floating body 31. The rod 486 may be freely rotated.

Embodiment 12 FIG.
FIG. 28 and FIG. 29 are diagrams showing a structure in which the main wing 15 is fluttered with a reduction ratio smaller than that in the case of a crank.
In the drawing, the right main wing 15 is omitted because it is symmetrical.
The motor 65 is fixed to the horizontal tail center bone 19 of the trunk (not shown) by a motor fixing mechanism 195. The horizontal tail center bone 19 of the trunk is present at the base of the main wing 15. The winding shaft 196 is a rod that is directly connected to the rotating shaft of the motor 65. The winding shaft 196 is also rotated by the rotation of the motor 65 with a speed reducer.

  An upper thread 191 and a lower thread 193 are attached above and below the main wing 15. One end of the upper thread 191 is connected to the main wing 15, and the other end is connected to the upper thread stopper 192. On the other hand, one end of the lower thread 193 is attached to the main wing 15 and the other end is attached to the lower thread stopper 194.

FIG. 28 shows a state in which the main wing 15 is at the uppermost position. FIG. 29 shows a case where the main wing 15 is at the lowest position.
In the case of FIG. 28, since the main wing 15 is at the uppermost position, the upper thread 191 is wound around the winding shaft 196 above the upper thread stopper 192.
On the other hand, the lower thread 193 is in the most extended state, and is directly extended from the lower thread stopper 194.

  In the case of FIG. 29, the lower thread 193 is wound around the winding shaft 196 below the lower thread stopper 194, and the upper thread 191 is directly extended from the upper thread stopper 192.

  The upper thread 191 and the lower thread 193 are wound in opposite directions so that the directions wound by the rotation of the motor 65 are reversed. For example, when the winding shaft 196 rotates clockwise, the upper thread 191 is wound and the lower thread 193 extends. Conversely, when the winding shaft 196 rotates counterclockwise, the upper thread 191 extends and the lower thread 193 is wound.

  Thus, the main wing 15 moves up and down by rotating the motor 65 in both forward and reverse directions. That is, the main wing 15 flaps. In this case, for example, a reduction ratio is obtained by dividing twice the length of the change of the upper thread or the lower thread while the wing moves from the lowest point to the highest point by the circumference of the winding shaft. A reduction gear with a small reduction ratio can be used. In some cases, the reduction gear can be omitted, so that the weight of the gear can be reduced.

Embodiment 13 FIG.
30, 31, and 32 are diagrams showing another structure for causing the main wing 15 to flutter.
FIG. 30 shows the top point of flapping.
FIG. 31 shows the lowest point of flapping.
FIG. 32 shows a plan view.

The main wing 15 is attached to the leaf spring 103. The leaf spring 103 is attached to the mounting base 101. The mounting base 101 is a trunk.
As shown in FIG. 31, the leaf spring 103 exhibits a force that keeps the main wing 15 in the horizontal direction.

  The motor 65 is fixed to the mounting base 101. The rotation axis of the motor 65 is between the pair of main wings 15 and extends from the mounting base 101 in the vertical direction.

  By rotating the winding shaft 196, the yarn 199 is wound. The thread 199 is wound up by the rotation of the motor 65, and the power supply to the motor is stopped in a state where the highest point of flapping is obtained as shown in FIG.

  At this point, the restoring force of the leaf spring 103 is activated, and the state returns from FIG. 30 to FIG. After the state of FIG. 31 is reached, power is again supplied to the motor 65 and the yarn 199 is taken up, so that the main wing 15 rises again.

  Thus, by utilizing the restoring force of the leaf spring 103, the flapping structure can be simplified. Moreover, flapping can be assisted by using the restoring force of the leaf spring 103.

Embodiment 14 FIG.
FIG. 33 is a diagram illustrating an example of a power supply.
An AC power source 109 is connected to the DC motor 141. The AC power supply 109 generates an AC signal of 1 Hz, for example.

As shown in FIG. 33 (b), in the A section of the AC signal, the DC motor 141 rotates in the forward direction, the yarn is wound up, and the blades are raised.
In section B, the motor reverses, the yarn is released and the wings are lowered. The AC power source 109 generates an AC signal having a low frequency.

Therefore, from the viewpoint of the DC motor 141, the A section can be regarded as being supplied with positive DC.
Further, it can be considered that a negative direct current is supplied in the B section. Therefore, the DC motor 141 rotates normally in the A section and reverses in the B section.

  In this way, since the current supplied to the DC motor 141 changes smoothly by using an AC signal with a low frequency at which the DC motor 141 operates, flapping of the wings also moves smoothly, and the DC signal is sent. It becomes possible to obtain more natural flapping.

Note that the DC motor 141 and the AC power source 109 of this embodiment can be used for any main wing power unit 56 of each embodiment.
In addition, when a DC power supply is used instead of the AC power supply 109, if a lithium polymer secondary battery is attached, it is possible to fly for a long time.

Embodiment 15 FIG.
FIG. 34 is a diagram showing another structure for causing the main wing 15 to flutter.
In FIG. 34, the top is the back of the floating body, and the bottom is the front (abdominal surface) of the floating body.
The floating body of this embodiment is provided between a pair of main wings 15 attached to both sides of the trunk part, a pair of main wings 15 and a pair of main wings, and extends in the flapping direction (vertical direction) of the main wings. The existing winding shaft 196, a pair of main wings and one pair of main wings connected to each other and the other end connected to the winding shaft 196, respectively, and a main wing power attached to the body and rotating the winding shaft Device (motor 65).

  The pair of threads 199 are stretched in a straight line between the pair of main wings 15 and the winding shaft 196. The connection point 107 is preferably on the tip side of the main wing main bone 33 in order to reduce the load (the force that pulls the thread 199). The tip may be used, but it is desirable that the tip be on the trunk side of the tip in order to promote free (natural) flapping of the tip of the wing. For example, it is good to use the point which divides the main wing main-bone 33 into 1: 2.

  The take-up shaft 196 is from the connection point (or the vicinity thereof) of the pair of main wing main bones 33 to the blade back surface (upward in FIG. 34) with respect to the plate surface (back surface) of the body mounting base 101. It is a bar extending in the vertical direction, and changes the position at which the yarn is wound up as the connection point 107 moves up and down according to the flapping of the pair of main wings 15.

  The main wing power unit includes a motor 65 having a rotation shaft, and the rotation shaft of the motor 65 and the winding shaft 196 are directly connected.

  Furthermore, a spring 64 is provided to assist flapping of the main wing. The spring 64 is attached to a substantially middle portion of the pair of main wing main bones 33 in a C shape or a U shape.

Further, FIG. 34 is characterized in that the main wing main bone 33 and the seat 136 are turned upside down. The main wing 15 is a wing that flutters up and down, and includes a number that forms a skeleton of the main wing and a lightweight sheet that is attached on the bone.
The sheet 136 is the floating body sheet 36. Normally, the sheet 136 is provided on the ground surface side (lower side), but here, the bone forming the skeleton is placed downward.
The reason is that the sheet 136 should be above the bones such as the main wing main bone 33 in order to obtain the wind resistance and the wind flow by flapping the main wing 15. is there. That is, in order to form a smooth airflow in the main wing 15, the seat 136 is provided above the motor and bone (the sky side).

  Further, the spring 64 is C-shaped or U-shaped and attached to the pair of main wings 15 and biased so as to keep an angle formed by the pair of main wings 15 at a predetermined angle (for example, 180 degrees). This spring may be rubber or FRP (fiber reinforced plastic). The spring 64 can assist in returning the flapping of the main wing 15 (arrow E).

  In FIG. 34, the coupling point between the thread 199 and the take-up shaft 196 is located at a height H. When the height of the coupling point is made as high as possible, the force for pulling the yarn 199 of the winding shaft 196 can be reduced. For this reason, the winding shaft 196 extends to the sky in an upright state in the middle of the pair of main wings 15. In addition, since the length of the linear portion of the yarn that changes while the wing moves from the lowest point to the highest point, for example, increases, the deceleration obtained by dividing twice this length by the circumference of the winding shaft The rate is increased, and the weight of a higher-speed motor and a speed reducer described later can be reduced.

  Note that the extending direction of the winding shaft 196 may be inclined obliquely rearward (horizontal tail direction) from the center of the base of the pair of main wings 15. When the tip of the winding shaft 196 is tilted backward (in the horizontal tail direction), as the thread 199 is wound upward, the connection point 107 between the main wing and the system is also pulled backward, and flapping the main wing. A twist can be added.

Embodiment 16 FIG.
FIG. 35 and FIG. 36 show a case where the body portion is surrounded by a flange plate 299 and a one-stage reduction mechanism 55 is provided therein.

The reduction mechanism 55 includes a gear 43 and a gear 46. By using the speed reduction mechanism 55, not only can the rotation speed of the winding shaft 196 be adjusted, but the rotation shaft can be extended vertically. If this extension of the rotating shaft is used to realize the embodiment of FIG. 28, the motor fixing mechanism of FIG. 28 becomes unnecessary and the structure becomes simple.
However, if there is a gear, it is necessary to apply a slight reverse voltage to the motor to cancel the frictional resistance generated during the reverse rotation of the gear and facilitate the return by the spring.

  Moreover, the reason why the gutter 299 is used is to reduce the weight. Light wood such as lauan material may be used in addition to the saddle plate 299. Alternatively, plastic may be used.

Embodiment 17. FIG.
FIG. 37 shows a case where the battery 49 (power source) is suspended from the thread 38.
As shown in FIG. 37 (b), the battery 49 is tied so that its position can be changed with respect to the thread line 38. Accordingly, the battery 49 is slidably attached to the thread line 38.

  By changing the position of the battery 49, the position of the center of gravity can be adjusted. Since the angle of attack of the floating body varies depending on the position of the center of gravity in the floating state, the angle of attack that determines the thrust and lift can be changed by changing the position of the battery 49.

  Further, since the battery 49 is located below the body and the battery 49 is the heaviest part, the center of gravity can be lowered (stabilized).

In addition, a spacer 999 is provided to adjust the angle between the trunk and the horizontal tail 16. The spacer 999 is a tapered wedge-shaped plate inserted between the horizontal tail center bone 19 of the horizontal tail 16 and the body mounting base 101. The mounting angle of the horizontal tail 16 can be changed by changing the thickness or angle of the spacer 999.
Therefore, the i angle can be adjusted by replacing the spacer 999. Since the angle of attack changes with the i angle, the angle of attack that is extremely important for the floating body can be changed.

Embodiment 18 FIG.
The shape of the floating body is not limited to moths, but may be butterflies, dragonflies, people (faces), frogs, or other animals.
Further, the floating body may be a hook connected by a single fastening line. If it is a kite, it is connected by a fastening line, so it will not fly.
Also, the main character of the manga or an anime character may be used.

  Further, by insulating the electric circuit from the outside, it is possible to use it underwater or in the sea even in the air.

  In each embodiment, the feature point has been mainly described. However, the description content of each embodiment and these features can be combined or selected.

Embodiment 19. FIG.
FIG. 38 is a diagram showing another structure for causing the main wing 15 to flutter.
FIG. 38A shows a front view, and FIG. 38B shows a side view.
FIG. 38 is a view showing a structure in which a very light rubber 164 is attached as a spring material in which a winding shaft 196 is provided in the upper part (backward direction) and a balsa rod 169 is used in the lower part (abdominal face direction).

The main wing 15 is attached to the mounting base 101 or the main body central bone 39. The balsa bar 169 is attached to the mounting base 101. The head of the balsa rod 169 has a V-shaped or U-shaped cut 161 (recess). The mounting base 101 is a trunk.
The rubber 164 passes through a notch 161 (indentation) in the column head of the balsa rod 169, and both ends thereof are exposed to an intermediate portion (connection point 163) of the main wing main bone 33. This connection point 163 is located on the body side with respect to the connection point 107 of the yarn 199 so as not to increase the winding load of the motor 65 (which may be equipped with a speed reduction mechanism) as much as possible. The balsa rod 169 may be rod-shaped or plate-shaped, and any shape or material may be used. The height of the balsa rod 169 may be such a height that the rubber 164 can exert a tension that pulls the main wing 15 downward. The rubber 164 is an example of an elastic body that exerts a tension that always pulls the main wing 15 downward.
Instead of the balsa rod 169, a housing of the motor 65 (which may have a speed reduction mechanism) may be used so that the rubber 164 passes through the bottom of the housing of the motor 65. Instead of the balsa rod 169, the case 76 shown in FIG. 15 may be used, and the rubber 164 may pass through the bottom of the outer periphery of the case 76.
Since the rubber 164 may be deteriorated, it is desirable that the rubber 164 be replaced with the main wing main bone 33 in a replaceable manner.

  The motor 65 (sometimes with a speed reduction mechanism) is fixed to the mounting base 101. The bearing portion 165 is fixed to the mounting base 101 on the side opposite to the motor 65. A take-up shaft 196 is attached to the rotation shaft of the motor 65 in the same axial direction. The winding shaft 196 is between the pair of main wings 15 and extends from the mounting base 101 in the vertical direction. The winding shaft 196 is rotatably supported by a bearing portion 165 provided on the opposite side of the mounting base 101 and extends from the mounting base 101 in the vertical direction. The bearing portion 165 is for resisting deformation, bending, and inclination of the winding shaft 196 caused by the rotational load applied to the winding shaft 196, the tension of the yarn 199, and the impact shock while guaranteeing the rotation of the winding shaft 192. is there.

  By rotating the winding shaft 196, the yarn 199 is wound. The thread 199 is wound up by the rotation of the motor 65 (which may be equipped with a speed reduction mechanism), and the power supply to the motor is stopped in a state where the highest point of flapping is obtained as shown in FIG.

At this time, the restoring force of the rubber 164 and the restoring force of the main wing 15 (main wing main bone 33) work, and the main wing 15 returns downward. Since the restoring force of the rubber 164 exhibits an action similar to that of a bird's muscle, natural flapping can be obtained. However, in the case of having a gear, a slight reverse torque may be applied to the motor in order to compensate for the resistance generated when the gear is reverse as described above.
When the main wing 15 is in the lowest point state, power is supplied again to the motor 65 and the yarn 199 is taken up, so that the main wing 15 is raised again.

  Thus, by utilizing the restoring force of the rubber 164, the flapping structure can be made simple and lightweight. Moreover, flapping can be assisted by using the restoring force of the rubber 164. Further, since the restoring force of the rubber 164 exhibits an action similar to that of a bird's muscle, a natural flapping can be obtained.

  FIG. 39 is obtained by adding a balsa rod 169 and rubber 164 to the floating body of FIG. 30 described in the thirteenth embodiment.

  In FIG. 40, a balsa rod 169 and rubber 164 are provided instead of the floating spring 64 of FIG. 34 described in the fifteenth embodiment.

41 and 42 are provided with a balsa rod 169 and rubber 164 in place of the floating spring 64 of FIGS. 35 and 36 described in the sixteenth embodiment.
As described above, the balsa rod 169 and the rubber 164 of this embodiment can be used in combination with other embodiments in place of or together with the spring.

FIG. 43 shows a case where the rubber 164 is provided on both the front and back surfaces of the main wing 15. Moreover, the case where the position of the connection point 163 of the rubber | gum 164 on the surface and the connection point 163 of the rubber | gum 164 on the back surface is shifted is shown.
Thus, by changing the connection point 163 of the rubber 164 between the front surface and the back surface of the main wing 15, it is possible to bring about a change in flapping of the main wing. In FIG. 43, one of the front and back rubber 164 may be a spring. Further, other elastic bodies may be used.
The connection point 163 between the rubber 164 and the main wing main bone 33 is preferably slidably attached to the main wing main bone 33 so that the tension of the rubber 164 can be changed.

  FIG. 44 is a view showing a structure in which a rubber 164 is attached using a balsa rod 169 in the vertical direction (abdominal surface direction and back surface direction).

  FIG. 45 is a diagram showing a structure in which a take-up shaft is provided in the lower part (abdominal surface direction) and rubber 164 using a balsa rod 169 is attached to the upper part (back surface direction), contrary to FIG. In the case of FIG. 38, when the main wing 15 is at the uppermost position, the tension of the rubber 164 becomes maximum, so the down force (down speed) of the main wing 15 increases. On the other hand, in the case of FIG. 45, when the main wing 15 is at the lowest position, the tension of the rubber 164 becomes maximum, so that the launch force (launch speed) of the main wing 15 is increased.

Embodiment 20. FIG.
46 and 47 are diagrams showing a power supply circuit to the motor shown in each embodiment.
In the figure, T1 to T5 are transistors (switches). C is a capacitor (storage battery). M is a motor. In this circuit, when T1 is on, T2 and T3 are on and T4 and T5 are off. Therefore, current flows as shown by the arrow in FIG. 25, the motor M rotates, and the capacitor C is charged. When T1 is turned off, T2 and T3 are turned off, and T4 and T5 are turned on. Therefore, the capacitor C is charged, a current flows as shown by an arrow in FIG. 47, and the motor M is reversed.
By repeating ON / OFF of T1, the motor M rotates in the forward and reverse directions, so that the wings can be fluttered. Further, the capacitor C can use power without waste.

  As described above, in Embodiments 1 to 20, the following floating body, flying model body, or control mechanism has been described.

The main wing,
An electric main wing power unit that makes the main wing flutter,
The wing surface load with respect to the total weight is 3 Newton / square meter or less.

  It is characterized by flying at a speed of 3 m / sec or less against gravity.

The floating body is further
It has a central bone that is the axis of flapping of the main wing,
The electric main wing power unit is
A rotating machine attached to the central bone of the body,
A power transmission unit that transmits the power of the rotating machine to the main wing is provided.

The power transmission unit is
Wire rods attached to the main wing,
A speed reduction mechanism that decelerates the rotation of the rotating machine;
A crank that rotates at a speed reduced by the speed reduction mechanism and attaches the other end of the wire to generate tension on the wire is provided.

The power transmission unit is
Wire rods attached to the main wing,
A rotating machine,
A switch for rotating the rotating machine in the forward and reverse directions;
An end portion of the wire rod is attached, and a winding rod having a small diameter that generates tension on the wire rod by winding and releasing the wire rod by rotating in the forward and reverse directions of the rotating machine is provided.

  The rotating machine operates as an electric motor and a generator during one reciprocating flapping, and the power unit includes a charger for charging generated power when the rotating machine operates as a generator. Features.

  The resonance frequency of the main wing is matched with the flapping cycle.

The floating body includes a fastening line, the rotating machine has a motor,
The fastening line is provided with a lead wire for supplying electric power to the motor.

The floating body includes a fastening line, the rotating machine has a motor,
The fastening wire also serves as a lead wire for supplying electric power to the motor.

In floating bodies that float at low speed,
The tail,
And a tail power device for moving the tail.

The tail power unit is
A rotating machine,
And a tail plate that moves the tail by rotating the tail bone.

The floating body is further
The central bone of the body,
One tail end is connected to the main body central bone, and the other end is provided with two tail fins attached to the tail plate.

The tail power unit is
A tailbone center bone provided at the center of the tail,
And an angle changing unit that changes the angle of the tail fin and changes the angle of attack of the tail.

  The tail wing power unit includes a wireless communication unit that receives a signal for operating the tail wing power unit.

  The floating body is a ridge fastened by a fastening line.

In a floating body that floats at a speed of 3 m / sec or less,
A torso with a cavity,
And a fan attached to the cavity of the trunk.

In floating bodies,
The torso,
A pair of main wings attached to both sides of the trunk,
A winding shaft provided between the pair of main wings and extending in the direction of flapping of the main wings;
A pair of main wings and one end connected to each other, and the other end connected to a winding shaft;
And a main wing power unit that is attached to the body and rotates a shaft that winds the yarn.

  The pair of yarns are stretched in a straight line between the pair of main wings and the winding shaft.

  The winding shaft is a bar extending in the vertical direction from the trunk portion, and is characterized in that the position at which the yarn is wound is changed with the movement of the position of the connection point according to the flapping of the pair of main wings.

The main wing power unit includes a motor having a rotating shaft,
The rotating shaft and the winding shaft are directly connected.

  The main wing power unit includes a motor having a rotation shaft, and includes a speed reduction mechanism between the rotation shaft and the winding shaft.

  The floating body further includes a spring such as rubber or FRP (fiber reinforced plastic) for assisting flapping of the main wing.

  The main wing is a wing that flutters up and down, and includes a bone forming a skeleton of the main wing and a sheet attached on the bone.

The main wing power unit is
A DC motor;
An AC power supply for supplying AC to the DC motor is provided.

The floating body further includes a thread tied to the body,
The main wing power unit includes a power source attached to the thread.

  The floating body further includes an elastic body that assists flapping of the main wing.

  The flight model body flies in the air at a speed of 3.0 m / second or less by flapping its wings.

  The wing surface load with respect to the total weight is 3 Newton / square meter or less.

  In a control mechanism that controls a floating body that is constrained by a fastening line and swirls and floats, the control mechanism includes a fixed case and a rotating unit that is rotatably attached to the fixed case, and the fastening line is fastened to the floating body from the rotating unit. Features.

  The fixed case includes a rotating mechanism that rotates the rotating portion in synchronization with the swirling and floating of the floating body.

The control mechanism includes a non-contact rotary transformer that supplies power to the fastening line,
The rotary transformer includes a primary core disposed in a fixed case and a secondary core disposed in a rotating portion.

  The fastening line is coupled to the lowest point of the fuselage provided on the wing of the flight model body, and an aileron is attached to the wing so that the lift is tilted with respect to a vertical line standing on the wing plane.

  The fastening line is taken out from the lower side surface of the fuselage provided on the wing of the flight model body, the aileron is attached to the wing, and the lift is tilted with respect to the vertical line upright on the wing plane.

  15 main wing, 16 horizontal tail, 17 mounting member, 18 horizontal tail bone, 19 horizontal tail bone, 21 horizontal tail plate, 23 hole, 24 trunk, 25 cavity, 31 floating body, 33 main wing bone, 34 plate bone , 35 Main wing reinforcement bone, 36 Floating body sheet, 37 thread, 38 thread, 39 Main body central bone, 41 Rotating machine, 43, 46 Gear, 44 Crank, 45 Crank shaft, 47 Strap stopper, 48 Pipe, 49 Battery, 51 String , 53 Support rod, 54 Support plate, 55 Reduction mechanism, 56 Main wing power unit, 57 Switch, 58 Resistance, 59 Rechargeable battery, 61 Capacitor, 63 Winding wheel, 64 Spring, 65 Motor, 66 Angle changing unit, 67 Wireless communication unit 68 mobile phone, 69 horizontal tail power unit, 71 magnet plate, 72 electromagnet, 73 fan, 74 electric wire, 75 units, 76 case, 01 mounting base, 103 leaf spring, 107 connection point, 109 AC power supply, 110 AC signal, 136 sheet, 141 DC motor, 191 upper thread, 192 upper thread stopper, 193 lower thread, 194 lower thread stopper, 195 motor fixing mechanism, 196 Winding shaft, 199 thread, 298 stopper, 299 saddle plate, 999 spacer.

Claims (10)

In floating bodies,
The torso,
A pair of main wings attached to both sides of the trunk,
A winding shaft provided between the pair of main wings and extending in the direction of flapping of the main wings;
A pair of main wings and one end connected to each other, and the other end connected to a winding shaft;
A floating body comprising a main wing power unit that is attached to a trunk and rotates a shaft that winds a thread.   The floating body according to claim 1, wherein the pair of yarns are stretched in a straight line between the pair of main wings and the winding shaft.   The winding shaft is a bar extending in a vertical direction from the body portion, and the position for winding the yarn is changed with the movement of the position of the connection point according to the flapping of the pair of main wings. The floating body described. The main wing power unit includes a motor having a rotating shaft,
The floating body according to claim 1, wherein the rotating shaft and the winding shaft are directly connected.   2. The floating body according to claim 1, wherein the main wing power unit includes a motor having a rotation shaft, and includes a speed reduction mechanism between the rotation shaft and the winding shaft.   The floating body according to claim 1, further comprising a spring such as rubber or FRP (fiber reinforced plastic) that assists flapping of the main wing.   The floating body according to claim 1, wherein the main wing is a wing that flutters up and down, and includes a bone forming a skeleton of the main wing and a sheet attached on the bone. The main wing power unit is
A DC motor;
The floating body according to claim 1, further comprising an alternating current power source for supplying alternating current to the direct current motor. The floating body further includes a thread tied to the body,
The floating body according to claim 1, wherein the main wing power unit includes a power source attached to the thread.   The floating body according to claim 1, further comprising an elastic body for assisting flapping of the main wing.

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