JP2011195050A - Small flight device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a small flight device made close to an actual dragonfly in size, and capable of flying at a flapping frequency similar to that of a dragonfly.SOLUTION: The small flight device longitudinally provided with one or a plurality of pairs of right and left wing bodies vertically rockably supported on a longitudinally long support body includes: a rocking mechanism vertically rocking support parts of the wing bodies and allowing the wing bodies to perform flapping motion; a tilting mechanism connecting base end sides of the wing bodies to the support parts via elastic plate materials, supporting the support parts of the wing bodies tiltably forward and backward, and allowing the wing bodies to perform feathering motion linked with the flapping motion by the inertia force of the flapping motion. Thereby, a flight at a flapping frequency similar to that of a dragonfly can be achieved.

Description

  The present invention relates to a small flying device that flies with a wing like an insect, particularly a dragonfly.

  Birds and insects fly freely in the sky with their wings flapping. In particular, the flying ability of dragonflies that can fly freely, such as hovering ring, sharp turn, and soaring, is outstanding. If this excellent flight capability can be realized with a small flying device, it is considered that a flying device superior to a helicopter or an airplane can be realized.

  Among the dragonflies, Oniyanma, the largest dragonfly in Japan, has a wing length of 10 cm, a total length of 12 cm, and a dead weight of 1 g, and flies at about 30 Hz (flapping frequency: number of flapping per second) from observation. Thus, in order to realize repeated flight such as hovering, sudden turning, and rapid climbing in exactly the same way as Onyamma, a flapping flying device with a total weight approaching 1 g with the same shape, dimensions, and flapping method is conceivable.

  Several small flying devices that flutter have been developed. For example, “Cyberdo” made by Neuros and “Mecha Dragonfly” made by C.C.P. Co., Ltd. are famous, but they all have a large wing area and a flapping frequency of around 10 Hz for flying large birds. In the near future, no flying wing like a dragonfly or a bee has been realized. What is realized by the flying device is that a gear is attached to a motor to decelerate, and a wing can be swung up and down by a crank mechanism. However, with this method, it is difficult to flutter at a high frequency of 20 Hz or higher.

  As a method for realizing flapping of a high frequency, a method of attaching a wing to a piezo vibrator and resonating has been known (Non-Patent Document 1). However, driving a wing of a small flying device with this method requires a driving voltage of several kilovolts or more, which is not practical.

It is known that a flapping motion with a high frequency of 60 to 90 Hz is obtained by attaching one elastic bar to a wing plate of foamed polypropylene and forcibly vibrating the elastic bar (Patent Document 1). Further, it is known to attach a wing to a vibration motor to cause resonance vibration (Patent Document 2).
However, in the flapping airplane disclosed in Patent Document 1 described above, the flapping frequency is 60 to 90 Hz, which is a much higher frequency than the actual dragonfly. In addition, the flapping airplane disclosed in Patent Document 2 has a size that is 20 g that is much heavier than the actual dragonfly, and it is considered difficult to fly like an actual dragonfly.

The present applicant has also proposed a small flying device (Patent Documents 3 and 4). In these flying devices, the wings are swung up and down by the support shafts fixed to the wings, and two types of connecting arms are connected to the wings to center the support shafts. Twisting motion was performed. However, in these flying devices, in order for the wing body to obtain a predetermined flapping angle, it is necessary to swing the support shaft portion of the wing body to the same angle, and the stroke of the connecting arm that moves in the vertical direction becomes large. Therefore, the load on the drive system was also large. Further, in order to perform feathering on the wings, a link mechanism for feathering having the same stroke for feathering according to the large stroke in the vertical direction is required. Therefore, it was difficult to increase the flapping frequency structurally.
Also, as described above, if all of the flapping motion and feathering motion of the wings are performed only by driving the support shaft portion, the power consumed to move each portion increases, and the flight time is limited, There was room for consideration in that the flying device itself would need to be made larger when the power source was made larger.

JP 2008-254714 A JP 2008-81094 A JP 2009-190651 A JP 2009-240501 A

"Development of Flapping Mechanism Using Piezoelectric Mobile Devices" Shinshu University Faculty of Textile Science Kojima, Konishi 4th Japan Biomedical Engineering Koshinetsu Symposium

  In view of the circumstances as described above, an object of the present invention is to provide a small flying device that has a size close to an actual dragonfly and can fly at a flapping frequency similar to that of a dragonfly.

The small flying device according to the present invention is
A small flying device in which a left and right wings that are supported so as to be swingable up and down are provided on a support body that is long in the front-rear direction.
A swing mechanism is provided that swings the support part of the wing up and down to flapping the wing.
While connecting the base end side of the wing to the support part through an elastic plate,
A tilting mechanism is provided that supports the support portion of the wing body so as to be tiltable back and forth, and causes the wing body to perform a feathering motion in conjunction with the flapping motion by the inertia force of the flapping motion. .

  The tilting mechanism may be provided with angle regulating means for regulating an angle change between a position where the wing body is substantially parallel to the axis of the support body and a position where the wing body is at an acute angle or substantially perpendicular to the axis.

  The angle restricting means includes a first contact portion that stops tilting of the support portion at a position where the wing body is at an acute angle or substantially perpendicular to an axis of the support body when the wing body is raised by flapping motion. And a second contact portion that stops the tilting of the support portion at a position where the wing body is substantially parallel to the axis of the support main body when the wing body is lowered by the flapping motion.

According to the small flying device according to the present invention, since the base end side of the wing body and the support portion are connected via the elastic plate material, the support portion for flapping and feathering of the elastic plate material is bent to the extent that the elastic plate material is bent. Since the swing angle can be reduced and the stroke required for swinging the support portion is reduced, the load on the drive system can be reduced.
In addition, a swing mechanism for swinging the wing body up and down by swinging the support section of the wing body up and down, and connecting the base end side of the wing body to the support section via an elastic plate, By providing a tilting mechanism that supports the support portion of the wing body so as to be tiltable back and forth, and causes the feather body to perform a feathering motion in conjunction with the flapping motion by the inertial force of the flapping motion. At the same time, the feathering movement can be autonomously performed on the wings, and the feathering circular link mechanism with a large stroke that has been in the conventional flying device can be omitted, and the load on the drive unit can be reduced accordingly. .
With the above configuration, a flapping frequency of 25 to 35 Hz can be achieved even with a small motor.

  In the small flying device according to the present invention, the tilt mechanism restricts the angle change between the position where the wing body is substantially parallel to the axis of the support body and the position where the wing body is acute or substantially perpendicular to the axis. By providing the regulating means, when the flapping motion and the feathering motion are linked, sufficient lift can be obtained even at a flapping speed of 25 to 35 Hz, and it can fly like a real dragonfly. It becomes.

  In the small flying device according to the present invention, the angle regulating means applies the tilt of the support portion at a position where the wing body is at an acute angle or substantially perpendicular to the axis of the support body when the wing body is raised by flapping motion. A first contact portion that stops, and a second contact that stops the tilting of the support portion at a position where the wing body is substantially parallel to the axis of the support body when the wing body falls by flapping motion. By having this part, the angle of the wing during the feathering movement can be adjusted appropriately.

FIG. 1 is a diagram showing an outline of the overall configuration of the small flying device 1. FIG. 2 is a schematic explanatory diagram when the internal structure in the vicinity of the head and chest of the small flying device 1 is viewed from the lateral direction. FIG. 3 is a schematic explanatory diagram when the internal structure of the small flying device 1 is viewed from the front. 4 (a) and 4 (b) are schematic explanatory views showing the movement of the wings 3a and 3b at the time of rising by the flapping motion when the small flying device 1 is viewed from the front. FIGS. 5A and 5B are schematic explanatory views showing the movements of the wings 3a and 3b at the time of falling due to the flapping motion when the small flying device 1 is viewed from the front. FIG. 6 is a schematic explanatory diagram of the tilt mechanism of the first aspect. FIGS. 7A, 7B, and 7C are schematic explanatory views showing a state of tilting of the tilting mechanism of the first aspect. FIG. 8 is a schematic explanatory diagram of the tilting mechanism of the second aspect. FIGS. 9A and 9B are schematic explanatory views showing a state of tilting of the tilting mechanism of the second mode, and FIG. 9C shows a flying device equipped with the tilting mechanism of the second mode. It is the schematic explanatory drawing seen from the front.

Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a diagram showing an outline of the overall configuration of a small flying device 1 according to the present invention.
In the following description, a dragonfly flying device will be described as an insect flying device, but other insect shapes may be imitated. For example, a flying device that performs a flapping operation simulating the shape of a bee, a spider, a butterfly, a spider, a spider, or the like may be used.

FIG. 1 shows a small flying device 1 in which a pair of left and right wings 3a, 3b, 3c, and 3d supported in a vertically swingable support body 2 are provided in the front-rear direction on a support body 2 that is long in the front-rear direction. Yes.
The number of the wings may be one pair or three or more depending on the length of the support body 2.

  As shown in FIG. 1, the support body 2 has an outer shape imitating an adult dragonfly, and has a head, a chest, and a tail. The chest is composed of a single support shaft 6, and all the wings 3 a, 3 b, 3 c, 3 d are supported by a swing support shaft 7. In addition, you may comprise the said support shaft 6 with two. For the two support shafts, the structures described in Patent Documents 3 and 4 may be employed.

  As shown in FIG. 1, the wings 3a, 3b, 3c, and 3d are arranged in the front, rear, left and right directions with respect to the support body 2, but all have substantially the same shape as the insect dragonfly wings, and the plate It has a shape. As this wing, for example, it is made of a silicon substrate of Si or Si compound having a thickness of 1000 μm or less, has an outer shape imitating an insect wing, and has an uneven pattern imitating the insect vein by etching the surface. It is preferable to use a formed wing body. This wing body imitates the shape and veins of an actual insect wing, and in addition to the pleasure of flying as a flying toy, you can enjoy and enjoy the realistic shape of an insect even when it is not flying. it can. As the wing, the wing described in Patent Document 4 is preferably used.

  In the present invention, the wings 3a, 3b, 3c and 3d are connected to the support portions 5a, 5b, 5c and 5d via the elastic plate 4 on the base end side. The support portions 5a, 5b, 5c, and 5d are members that support the wings 3a, 3b, 3c, and 3d.

  In the present invention, there is provided a swinging mechanism in which the support portions 5a, 5b, 5c, 5d swing up and down with respect to the long axis direction of the support body 2 to flapping the blades 3a, 3b, 3c, 3d. Is provided.

  As shown in FIG. 2, the swing mechanism includes a swing support shaft 7 for transmitting vertical power to the wing body 3, a drive motor 8, and a rotating body 9 that is rotated by the drive motor 8. , And a connecting arm 10 that connects the rotating body 9 and the swing support shaft 7.

  As shown in FIGS. 2 and 3, the swing support shaft 7 is pivotally supported by the support shaft 6 at one end side so as to be vertically swingable. The swing support shaft 7 and the connecting arm 10 are supported by a pin 14.

  As shown in FIG. 2, the drive motor 8 is provided with a gear 11, and the rotating body 9 is rotated through the gear 11. The rotating body 9 is provided with a rotating gear 12 that rotates via the gear 11 and a crank portion 13 that is out of phase by about 90 ° with respect to the rotating shaft that is substantially along the axial direction of the support body 2. It has been. The connecting arm 10 is pivotally supported at an appropriate position of the crank portion 13, and when the crank portion 13 rotates about the rotation axis, the position of the pivotal support portion between the crank portion 13 and the connecting arm 10 is detected. As the frame moves up and down, the swing support shaft 7 pivotally supported by the connecting arm 10 swings in the vertical direction. Note that the structure of the crank portion 13 and the position where the connecting arm 10 and the crank portion 13 are pivotally supported may be adjusted so that the swing angle of the support 5 is in a desired range. Moreover, what is necessary is just to set according to the said patent document 3 about the specific structure of the crank part 13. FIG.

  Further, in the swing mechanism of the small flying device 1 according to the present invention, the swing support shaft 7 may be swung in the vertical direction, so that there is one connecting arm 10 that supports the swing support shaft 7. This is simpler than the structure in which the swing support shaft itself is swung in the front-rear direction, as in the flying devices described in Patent Documents 3 and 4, and the electric power for driving can be suppressed.

In addition, as shown in FIG. 2, the small flying device 1 according to the present invention includes a battery 15 that supplies power to the drive motor 8 together with the support body 2, the rotating body 9, and the drive motor 8, a drive motor 8, and the like. An electronic circuit board 16 for controlling the movement is housed in a chest 17 simulating the shape of a register mark.
As shown in FIG. 2, the battery 15 is disposed below the rotating body 9, but may be disposed at another position in consideration of the center of gravity of the flying device 1 as a whole. Similarly, the electronic circuit board 16 may be arranged at another position. In addition, in the drawing of FIG. 2, description of a power line and a signal line is omitted. Three pairs of legs 18 that support the chest 17 are provided on the lower surface side of the chest 17. Further, the support shaft 6 and the crank portion 13 are pivotally supported by a support plate 19 on the respective rear end sides.

  The present invention is characterized in that the blades 3a, 3b, 3c, 3d and the support portions 5a, 5b, 5c, 5d are connected via the elastic plate member 4. By adopting such a configuration, when the wings 3a, 3b, 3c, and 3d are flapped in the vertical direction, the elastic plate material that is not connected and fixed to the wings 3a, 3b, 3c, and 3d. Since the four portions are bent due to inertia and bent, the angle of vertical movement of the wings 3a, 3b, 3c, 3d is larger than the vertical movement of the support portions 5a, 5b, 5c, 5d, and lift is easily obtained. It has become.

For example, FIGS. 4A and 4B are schematic views showing the movement of the wings 3a and 3b at the time of rising by flapping motion when the small flying device 1 is viewed from the front. In the present invention, the support portions 5a and 5b tilt forward and backward as will be described later, but in the drawing, the support portions 5a and 5b are fixed to the swing support shaft 7 in order to make the movement of the wings 3a and 3b easier to understand. The movement of the state is shown.
FIG. 4A shows the flapping angle θ1 of the wings 3a and 3b when the wings 3a and 3b are moved upward to the limit. The flapping angle θ1 is equal to the swing angle of the supports 5a and 5b.
On the other hand, FIG. 4B shows the flapping angle θ2 of the wings 3a and 3b when the wings 3a and 3b are swung upward at a speed of 25 to 35 Hz. As shown in the figure, the angle θ2 becomes larger than the angle θ1 when the elastic plate 4 is bent and bent upward.

5A and 5B are schematic views showing the movement of the wings 3a and 3b at the time of falling due to the flapping motion when the small flying device 1 is viewed from the front. In the drawing, in order to make the movement of the wings 3a and 3b easy to understand, the support portions 5a and 5b show the movement in a state where they are fixed to the swing support shaft 7.
FIG. 5A shows the flapping angle θ3 of the wings 3a and 3b when the wings 3a and 3b are moved downward to the limit. The flapping angle θ3 is equal to the swing angle of the supports 5a and 5b.
On the other hand, FIG. 5B shows the flapping angle θ4 of the wings 3a and 3b when the wings 3a and 3b are swung downward at a speed of 25 to 35 Hz. As shown in the figure, the angle θ4 becomes larger than the angle θ3 when the elastic plate 4 is bent and bent downward.

As described above, in the small flying device 1 according to the present invention, since the wings 3a and 3b can be flapped up and down more than the swing angle of the supports 5a and 5b, the flaps of the supports 5a and 5b can be flapped. Even if the wrapping angle is small, the wings 3a and 3b can obtain a sufficient lift, so that it is possible to fly even when the flapping speed of the supports 5a and 5b is 25 to 35 Hz.
In order to fly at the flapping rotational speed, in the small flying device 1 according to the present invention, θ2 + θ4 is adjusted by adjusting θ1 + θ3 to a range of 20 to 40 °, depending on the type of material of the elastic plate member 4. It can be 80-90 degrees. The material of the elastic plate 4 is not particularly limited as long as it is a material having elasticity, and examples thereof include synthetic resins such as vinyl chloride, carbon sheets, and the like. In addition, about the thickness of the elastic board | plate material 4, what is necessary is just the thickness which can be bent so that the said wing | blade 3 can perform a flapping motion and a feathering motion. In addition, the elastic plate member 4 can be connected to the wing body 3 and the support body 5, and the wing bodies 3a and 3c or the wing bodies 3b and 3d arranged in the front and back can be flapped. What is necessary is just to arrange | position so that a feathering exercise | movement may not be prevented.

  Further, in the small flying device 1 according to the present invention, the support portion 5 of the wing body 3 is supported to be tiltable back and forth, and the wing body 3 is interlocked with the flapping motion by the inertia force of the flapping motion. Another feature is that a tilting mechanism for feathering movement is provided.

  In the tilt mechanism, the support portion 5 is tiltable in the front-rear direction with respect to the axial direction of the support body 2, and the tilt is such that the wing body 3 is substantially parallel to the axis of the support body 2. Angle restricting means is provided for restricting an angle change between the position and an acute angle or substantially perpendicular to the axis. Examples of such a tilting mechanism include the following two modes depending on the configuration of the support portion 5.

(Tilt mechanism of the first aspect)
As shown in FIG. 6, the tilt mechanism of the first aspect includes a base member 20 that fixes the elastic plate member 4, and a pair of bearing members 21 that insert the swing support shaft 7 into both ends of the base member 20. And supporting portions 5a, 5b, 5c, and 5d (hereinafter abbreviated as 5a, etc.) having a substantially U-shaped cross section that can rotate around the swing support shaft 7. 1 to 5 are also drawings illustrating a structure including the tilt mechanism of the first aspect.
Further, a pin 14 is inserted into the swing support shaft 7 portion inserted between the bearing members 21 in a direction perpendicular to the axial direction of the swing support shaft 7. The connecting arm 10 is connected.

In the support portion 5a and the like, an angle restricting means for restricting an angle change between a position where the wing body 3 is substantially parallel to the axis of the support body 2 and a position which is acute or substantially perpendicular to the axis. As a result, the connecting arm 10 and the pin 14 act.
Specifically, the support portion 5a and the like tilt as shown in FIGS. 7A is a view in which the base member 20 such as the support portion 5a is located at a position substantially parallel to the axial direction of the support body 2. FIG.
When the support portion 5a and the like are rotated forward about the swing support shaft 7, the upper end portion of the connecting arm 10 and the lower surface of the base member 20 are in contact with each other as shown in FIG. The movement is stopped.
Further, when the support portion 5a and the like are rotated backward about the swing support shaft 7, the pin 14 and the end portion of the base member 20 contact each other as shown in FIG. Then the movement is stopped.

  The tilt angle of the support portion 5a and the like as described above is set so that the forward angle can be rotated from 0 to 30 °, and the backward angle can be rotated from 45 to 60 ° at the maximum. Just do it.

  In the tilting mechanism as described above, the feathering motion can be generated in the wing body 3 by interlocking with the inertia force of the flapping motion generated by the vertical motion of the swinging support shaft 7 by the swinging mechanism.

For example, when the wing body 3 in the state shown in FIG. 7A rises due to the flapping motion, the wing body 3 receives air resistance, and the support portion 5a is tilted as shown in FIG. 7C. Then, the pin 14 acts as the first contact portion, and its tilting is stopped. In this case, the elastic plate 4 is bent not only in the upward direction but also in the backward direction as shown in FIG. 4B due to the weight of the wing body 3 and its inertial force, so that the position of the wing body 3 is supported by the support body. The position reaches an acute angle or substantially perpendicular to the axial direction of the main body 2.
Next, at the time of falling due to the flapping movement, the wing body 3 rises as shown in FIG. 7B due to the force to restore the shape of the elastic plate 4 and the downward inertia force. Tilt in the opposite direction to the time, the upper end portion of the connecting frame 10 acts as a second contact portion, and the tilt is stopped. In this case, the elastic plate 4 is bent not only in the downward direction but also in the forward direction as shown in FIG. 5B due to the weight of the wing body 3 and its inertial force. However, since the position of the wing 3 at the time of rising of the flapping motion is an acute angle or substantially perpendicular to the axial direction of the support 2, the position of the wing 3 at the time of falling is the support body 2. The tilting stops at a position substantially parallel to the axial direction.

  In the tilt mechanism of the first mode shown in FIGS. 2 to 6, the connecting arm 10 is arranged in the front direction of the swinging support shaft 7. You may arrange | position in the back direction of the rocking | fluctuation support shaft 7. FIG. In this case, in the tilt mechanism shown in FIGS. 7A to 7C, the right side is the front and the left side is the rear.

(Tilt mechanism of the second aspect)
As shown in FIGS. 8 and 9, the tilt mechanism of the second aspect has a sheet material 22 bent in a substantially V-shaped cross section, and the swing support is provided on the substantially V-shaped inner surface of the sheet material 22. Support portions 5 a ′, 5 b ′, 5 c ′, 5 d ′ (having a hinge-like tape material T to which the shaft 7 is fixed and which can move in an arc around the inner bending line of the sheet material 22 ( Hereinafter, it is abbreviated as 5a ′. In the support portion 5a ′ and the like, the tape material T functions as a substantial support portion of the wing body 3, and the sheet material 22 functions as an angle regulating means for regulating the change in the angle of the wing body.

  As shown in FIG. 8, the sheet material 22 is preferably arranged so that the bending line side is in the front direction. The portion for fixing the swing support shaft 7 may be a position that does not prevent the hinge-like tape material T from moving as will be described later.

The tape T is connected to the sheet material 22 and the elastic plate material 4. For example, a part of the tape material T is bonded to the substantially V-shaped inner surface, and the remaining portion of the tape material T is bent along the bending line inside the sheet material 22, and the tape material T is bent. The elastic plate 4 is bonded to the part. As for the method of bonding the sheet material 22 or the elastic plate material 4 and the tape material T, the tape material T can move like a hinge by drawing an arc around the bending line inside the sheet material 22. What is necessary is just to adhere to. The material of the sheet material 22 may be any material that can be bent, and may be the same material as the elastic body 4, for example. Moreover, as a raw material of the said tape material T, adhesive tapes, such as a cellophane tape, etc. are mentioned.
In addition, what is necessary is just to set suitably about the thickness, the width | variety, etc. of the said tape material T and the sheet material 22 from a viewpoint of weight reduction and intensity | strength.

In the support portion 5a ′ and the like, as an angle restricting means for restricting an angle change between a position where the wing body 3 is substantially parallel to the axis of the support body 2 and a position which is acute or substantially perpendicular to the axis. The upper surface 23 and the lower surface 24 of the sheet material 22 act.
Specifically, in the support portion 5a ′ and the like, the tape material T tilts as shown in FIGS. 9 (a) and 9 (b). 9C is a schematic view of the flying device 1 provided with the tilting mechanism having the support portion 5a ′ and the like when viewed from the front, and FIGS. 9A and 9B are FIGS. It is the schematic which shows the cross section of the said tilting mechanism. In FIGS. 9A and 9B, the wing body 3 is not shown for easy understanding of the movement at the support portion 5a ′.

  As shown in FIG. 9A, the elastic plate member 4 bonded to the tape member T at the support portion 5a ′ moves upward along an arc around the inner bending line of the sheet member 22, The contact with the upper surface 23 is stopped and the movement is stopped. As shown in FIG. 9 (b), when the sheet material 22 is moved downward along the bending line inside the sheet material 22, it contacts the lower surface 24. Therefore, the elastic plate 4 tilts in the front-rear direction.

  In the second tilting mechanism, a feathering motion can be generated in the wing body 3 by interlocking with the inertia force of the flapping motion generated by the vertical motion of the swinging support shaft 7 by the swinging mechanism.

For example, when the wing body 3 rises due to the flapping motion, as shown in FIG. 9B, the elastic plate 4 is in contact with the lower surface 24 of the sheet material 22, and the lower surface 24 acts as the first contact portion. The tilting is stopped. In this case, due to the weight of the wing body 3 and its inertial force, the elastic plate 4 bends not only in the upward direction but also in the rear direction as shown in FIG. The position reaches an acute angle or substantially perpendicular to the axial direction of the main body 2.
Next, at the time of falling due to the flapping motion, the wing body 3 causes the elastic plate member 4 to move to the upper surface 23 of the sheet member 22 as shown in FIG. The upper surface 23 acts as a second contact portion and the tilting is stopped. In this case, the feathering angle of the wing body 3 at the fall of the flapping motion stops tilting at a position substantially parallel to the axial direction of the support body 2.

  As the tilt angle of the support portion 5a 'as described above, the bending angle of the substantially V-shaped inner surface of the sheet material 22 may be set to 45 to 60 degrees at the maximum.

  By providing the swing mechanism and tilting configuration as described above, the small flying device 1 according to the present invention can fly at a flapping frequency like a dragonfly with a shape and size like a real dragonfly. .

  Further, the flight of the flying device 1 is performed by adjusting the flapping frequency to adjust the angle of flapping or feathering, or by moving the abdomen and the leg 18 with a magnet or the like in some cases. It can be adjusted by changing the position of the center of gravity.

Next, the detailed configuration of the members of the Oniyama type flying device 1 will be described.
The support body 2 of the flying device 1 has a substantially real size and has a total length of 120 mm and a weight of 0.3 g. The support body 2 has a structure in which an onyanma image is three-dimensionalized by three-dimensional CAD, and has a light weight and strength consisting of a beam and a sheet-like extremely thin portion based on the shape. And based on the data of this three-dimensional CAD, it manufactured with the acrylic photocurable resin by the three-dimensional printer.
The wing part 3 was obtained by finely processing a Si substrate having a thickness of 100 μm by a MEMS (Micro Electro Mechanical Systems) technique, so that the total weight of the four wing parts was 0.2 g in a substantially real size shape.
For the elastic plate member 4, a vinyl chloride resin or a carbon sheet having a thickness of 0.2 mm was used.
The drive motor 8 used was a coreless motor manufactured by Daidel with a weight of 0.6 g.
The weight of the gear 11 (gear ratio 1: 5), the rotary gear 12, the crank 13, the connecting arm 10, etc. is about 0.5 g.
As for the electronic circuit board 16, the infrared receiver board | substrate IRX303F made from Toko Electric was shaved, and the weight was 0.2g.
The battery 15 is a Li polymer battery, which is FR10 (10 mAhr) manufactured by Toko Electric, and has a weight of 0.37 g. In addition, the control electromagnet was made by cutting HINGEACT manufactured by Plantaco into a weight of 0.15 g. Using such members, the total weight of the flying device 1 was set to 2.32 g.

DESCRIPTION OF SYMBOLS 1 Flying apparatus 2 Support body 3 Blade 4 Elastic plate material 5 Support part 6 Support shaft 7 Oscillation support shaft 8 Drive motor 9 Rotating body 10 Connecting arm 11 Gear 12 Rotating gear 13 Crank part 14 Pin 15 Battery 16 Electronic circuit board 17 Chest part 18 Leg part 19 Support plate 20 Base member 21 Bearing member 22 Sheet material 23 Upper surface 24 Lower surface T Tape material

Claims (3)

A small flying device in which a left and right wings that are supported so as to be swingable up and down are provided on a support body that is long in the front-rear direction.
A swing mechanism is provided that swings the support part of the wing up and down to flapping the wing.
While connecting the base end side of the wing to the support part through an elastic plate,
A tilting mechanism is provided that supports the support portion of the wing body so as to be tiltable back and forth, and causes the wing body to perform a feathering motion in conjunction with the flapping motion by the inertia force of the flapping motion. Flying device.   2. An angle regulating means for regulating an angle change between a position at which the wing body is substantially parallel to an axis of the support body and a position at which the wing body is at an acute angle or substantially perpendicular to the axis. The flying device described.   A first abutting portion for stopping the tilting of the support portion at a position where the wing body is at an acute angle or substantially perpendicular to the axis of the support body when the angle regulating means rises by flapping movement of the wing body; 3. A second abutting portion for stopping the tilting of the support portion at a position where the wing body is substantially parallel to the axis of the support body when the wing body falls by flapping motion. Flight equipment.

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