JP2012180050A - Flapping flight device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a flight device capable of stably flying by reducing run-out of a body shaft, while flapping plural pairs of right-left wing bodies like a dragonfly.SOLUTION: This flapping flight device includes the vertically rockably supported right-left wing bodies in a plurality of pairs arranged in a longitudinally long support body, and a driving means for driving the respective wing bodies, and can perform a stable flight characterized in that the ratio of the whole weight and the area of the wing bodies is 0.357 m/N or less, and the wing bodies are constituted of an elastic shaft member and a thin film wing part, and a step height is arranged between the front-rear wing bodies.

Description

  The present invention relates to a flapping flight device that flies in the atmosphere while flapping like a dragonfly.

In recent years, attention has been paid to flying devices that can perform work and observation in extreme environments such as disaster sites and indoor and outdoor high places where people cannot easily approach. When flying insects and bird wings are used for the flight of this flying device, complex flight performance such as extremely high turning performance and acceleration can be expected compared to fixed wing aircraft and rotary wing aircraft.
Until now, flapping flight devices have been studied. Conventionally proposed and manufactured are butterflies that fly with two wings (Patent Document 1), birds (Patent Document 2), and bees (Patent Document 3). It is a model. Although a four-wing flapping flight device has been proposed, one that simply flutters the front and rear wings alternately (Patent Document 4) and one that flutters the wings crossing each other are known (Patent Document 5).

However, little research has been conducted on flapping flight devices modeled on dragonflies that have high flight performance among flying creatures.
The dragonfly mainly uses a flapping motion that moves the kite up and down around the body axis and a feathering motion that moves the kite up and down around the front edge of the kite, so that it can fly with high hovering motion and high turning ability Are known.
The present applicant has also proposed a flying device that can hover like a dragonfly and fly repeatedly, such as a sharp turn and a sudden rise (Patent Document 6).

JP 2009-90770 A JP 2010-18059 A JP 2006-31436 A JP 2000-317148 A JP 2008-273270 A JP 2009-190651 A

  However, the flying device described above is not sufficient for performing a stable flight while keeping the body axis substantially horizontal while flapping multiple pairs of left and right wings like a dragonfly.

  Therefore, an object of the present invention is to provide a flying device that can fly stably with little blurring of the body axis while flapping a pair of left and right wings like a dragonfly.

The flapping flight apparatus of the present invention is a flapping flight apparatus in which a plurality of pairs of left and right wings supported so as to be able to swing up and down are provided on a support body that is long in the front-rear direction, and driving means for driving each wing is provided. There,
The ratio of the total weight to the area of the wing is 0.357 m ² / N or less,
The wing includes an elastic shaft member and a thin film wing,
A step is provided between the front and rear wings.

  In the flapping flight apparatus of the present invention, the position of the front wing can be adjusted to be above the rear wing.

  Further, the position of the wing body in front of the flapping can be adjusted to be above the support body.

  The flapping angle of the wings is 60 ° or less, and the wings can be adjusted so that the phase of the rear wings has a delay of 90 ° or less with respect to the phase of the front wings.

  Also, a flying device comprising a support body that is long in the front-rear direction and provided with a single or plural pairs of left and right wings supported in a vertically swingable manner in the front-rear direction and driving means for driving each wing. The driving means includes a rotating body having a rotation axis substantially along the front-rear direction of the support body and including a plurality of crank portions having different phases, and one end side is pivotally supported by the crank portion and the other. An end side is supported by a predetermined part of the wing, a connection arm is provided for connecting the crank part and the wing, and one end side of each of the connection arms supported by the pair of left and right wings is in phase with each other. A drive motor is provided which is pivotally supported on different crank portions and rotationally drives the rotating body. Therefore, a single or a plurality of pairs of wings can be caused to flutter substantially on the left and right.

  In the flapping flight apparatus of the present invention, a tail can be provided.

  In the flapping flight apparatus of the present invention, the support body can be provided with a flight control weight.

In the flapping flight device according to the present invention, it is possible to obtain lift for flying when the ratio of the total weight to the area of the wing is 0.357 m ² / N or less, and the wing is elastic. It consists of a shaft member and thin film wings, allowing flapping and feathering movements like an actual dragonfly wing, and providing a step between the front and back wings to fly However, the thrust is increased stably, and as a result, stable flight is possible.

In the flapping flight apparatus of the present invention, the flight posture can be stabilized like the dragonfly by adjusting so that the position of the front wing is above the rear wing.
it can.

  Further, the position of the wing body in front of the flapping can be adjusted so that it is above the support body, so that it can fly stably.

  The flapping angle of the wing is 60 ° or less, and the lift necessary for flight is adjusted so that the phase of the rear wing has a delay of 90 ° or less with respect to the phase of the front wing. And thrust can be obtained.

  Further, the flapping flight apparatus of the present invention is provided with a rotating body having a rotation axis along a long support body at the front and rear, and provided with a plurality of crank portions having different phases, and a connecting arm pivotally supported by the crank portion. Since the single or plural pairs of wings are swung by, it is possible to fly with a flapping action like an insect. Further, since the connecting arm is pivotally supported by the crank portions having different phases and the blades are swung by the rotation of the crank portion, they can be swung substantially symmetrically.

  In the flapping flight apparatus of the present invention, the flight posture can be stabilized by providing the tail.

  In the flapping flight apparatus of the present invention, by providing a weight for flight control on the support body, it is possible to control posture such as straight movement, ascent, descent, left turn, and right turn by moving the center of gravity.

FIG. 1 is a diagram showing an outline of the overall configuration of the flapping flight apparatus 1. FIG. 2 is a schematic explanatory diagram of the flapping flight apparatus 1 as viewed from an obliquely upward direction. FIG. 3 is a schematic explanatory view of the flapping flight apparatus 1 viewed from the left. FIG. 4 is a front view of the flapping flight apparatus 1 as viewed from the front. FIG. 5 is a rear view of the flapping flight apparatus 1 as viewed from the rear. FIG. 6 is a schematic diagram illustrating a case where the front wing (front wing) and the back wing (back wing) are both flapping at a flapping angle of 60 ° and the phase shift is 90 °. . FIG. 7 (a) shows the height (ΔZ) of the step provided in the flapping flight apparatus 1, and FIG. 7 (b) is a graph showing the relationship between ΔZ and lift. FIG. 8A is a graph showing the relationship between the phase delay of the wings before and after the flapping flight apparatus 1 and the propulsive force. FIG. 8B is a graph showing the relationship of lift to the area of the wings of the flapping flight apparatus 1 (solid line) of the present invention having a step and the flapping flight apparatus (dotted line) having no level difference as in the prior art. .

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 from above of the flapping flight apparatus 1 of the present invention.

  FIG. 1 shows a flapping flight apparatus 1 in which two pairs of left and right wings 3a, 3b, 3c, 3d supported in a vertically swingable support body 2 are supported in the front-rear direction. Yes.

  The support body 2 is composed of a single support shaft.

  The number of wings may be three or more depending on the length of the support body 2. The wings 3a and 3b indicate forward wings, and the wings 3c and 3d indicate rearward wings.

As shown in FIG. 1, the wings 3a, 3b, 3c, 3d are arranged on the front, rear, left and right with respect to the support body 2, but the total weight of the flapping flight apparatus 1 and the wings 3a, 3b, 3c are arranged. , 3d area ratio is 0.357 m ² / N or less. By adjusting to this ratio, the flapping flight apparatus 1 can obtain the lift necessary for flight. The ratio is preferably 0.255 m ² / N or more from the viewpoint of obtaining sufficient lift regardless of the size of the flapping flying vehicle 1.

The ratio can be calculated by the following formula.

Ratio (m ² / N) = (total area of flapping flight device wings: cm ² ) / (total weight of flapping flight device (gf)) × 1.01962857 × 10 ⁻²

  Each of the wings 3 a, 3 b, 3 c, 3 d is composed of an elastic shaft member 4 and a thin film wing part 5.

  The elastic shaft member 4 is located at a substantially front edge of the wing body, and is made of an elastic material such as a carbon rod, an elastic resin material, or bamboo material. Among these, a carbon rod is preferable from the viewpoint of being lightweight and strong. By being composed of such materials, when the flap ends up (flapping movement), the end of the elastic shaft member promotes a feathering movement, which is like an insect dragonfly wing. Flapping can be realized easily. Moreover, the diameter of the elastic shaft member 4 should just be about 0.3-1.0 mm from a viewpoint which is easy to flutter up and down.

  In the wings 3 a, 3 b, 3 c, 3 d, it is preferable to extend the branch 6 from the vicinity of the center of the elastic shaft member 4 in the backward direction of the flying device 1. By providing the branch 6 in this manner, the thin film wing 5 swings at the ends of the wings 3a, 3b, 3c, 3d when the wings 3a, 3b, 3c, 3d are swung up and down. Can cause a feathering movement in conjunction with a flapping movement.

The thin film wing part 5 is a part for obtaining lift, and is made of a light material in the upper part even if it is thin, such as polypropylene or polyethylene. Among these, polypropylene is preferable from the viewpoint that the rear end portion of the thin film wing portion 5 is likely to swing when flapping up and down.
The thickness of the thin film wing 5 is not particularly limited, but may be 0.1 mm or less from the viewpoint of facilitating flight.
Further, the shape of the tip portion of the thin film wing portion 5 is not particularly limited, and when viewed from above, as shown in FIG. 1, even if the leading edge portion is longer than the trailing edge portion, The back edge part may be longer than the front edge part. Moreover, it is good also as an edge part with roundness, such as a substantially semicircle shape.
The ratio between the total weight of the flapping flight apparatus 1 and the area of the wings 3a, 3b, 3c, 3d is calculated using the area of the thin film wing part 5.

Examples of a method for fixing the elastic shaft member 4 and the thin film wing portion 5 include fixing the two members with an adhesive and fixing with an adhesive tape, but are not particularly limited.
In the flapping flight apparatus 1 according to the present invention, the thin film wing portion 5 is fixed to swing support shafts 7 a, 7 b, 7 c, 7 d, which will be described later, and the support body 2 on the base end side where the support body 2 is located. Greater lift can be obtained.

  In the present invention, the elastic shaft members 4 of the wings 3a, 3b, 3c, 3d are fixed to the end portions of the swing support shafts 7a, 7b, 7c, 7d on the base end side. The swing support shafts 7a and 7b can swing the front blades 3a and 3b, and the swing support shafts 7c and 7d can swing the rear blades 3c and 3d up and down. As for the left and right wings, in FIGS. 1 to 5, the swing support shaft 7 a is disposed behind the swing support shaft 7 b, but may be disposed forward instead. Similarly, the swing support shaft 7c is disposed in front of the swing support shaft 7d, but may be disposed rearward.

One feature of the present invention is that a step is provided between the front and rear wings.
Specifically, as shown in FIG. 2, the connecting positions of the swing support shafts 7a and 7b to which the elastic shaft members 4 of the front wings 3a and 3b are connected and the support body 2, and the rear wings 3c, The swing support shafts 7c, 7d to which the 3d elastic shaft member 4 is connected and the connection position of the support main body 2 are spaced so that there is a step in the vertical direction of the support main body 2. FIG. 2 is a schematic explanatory view of the flapping flight apparatus 1 as viewed from the obliquely upward direction, but the thin film wings 5 of the wings 3a, 3b, 3c, and 3d are omitted for explaining the driving means 8. .

As shown in FIG. 2, the flight posture can be stabilized in the same manner as the actual dragonfly by adjusting the positions of the front wings 3a and 3b to be above the rear wings 3c and 3d.
Further, by adjusting the positions of the front wings 3 a and 3 b so as to be above the support body 2, it is possible to fly stably.
In this case, the base end sides of the swinging support shafts 7 a and 7 b are pivotally supported by the support shaft 10 connected so as to protrude forward in the upper part of the support plate 9 connected to the distal end portion of the support body 2. It is configured to be swingable. The support plate 9 is connected to the tip of the support body 2 so as to be perpendicular to the horizontal direction of the support body 2, and a drive motor 11 constituting the drive means 8 is fixed.
On the other hand, the base end sides of the swing support shafts 7c and 7d are pivotally supported by the support body 2 and configured to be vertically swingable.
As described above, the support plate 9 can provide a step between the front and rear wings.

  Here, FIG. 7A shows the height (ΔZ) of the step provided in the flapping flight apparatus 1, and FIG. 7B shows the relationship between ΔZ and lift. As shown in FIG. 7B, it can be seen that the lift obtained by changing ΔZ also changes. Therefore, it is possible to obtain a larger thrust by adjusting the range of ΔZ as compared with the conventional case where ΔZ is set to a horizontal position where substantially zero.

  In addition, as a level | step difference in the flapping flight apparatus which has three or more pairs of the left and right wings, the front wings may be the highest and may be provided so as to descend toward the rear.

The swing support shafts 7a, 7b, 7c, and 7d have the blades 3a, 7b, 7c, and 7d as the swing support shafts 7a, 7b, 7c, and 7d swing upward and downward by the connecting arms 12a, 12b, 12c, and 12d, respectively. 3b, 3c, and 3d are also configured to be swingable integrally.
The swing support shafts 7a, 7b, 7c, 7d and the respective connecting arms 12a, 12b, 12c, 12d are pivotally supported by pins 13. As shown in FIG. 2, the direction of the shaft support at the pin 13 may be the front of the swing support shafts 7a, 7b, 7c, 7d, or may be the rear.
However, an interval is provided between the swing support shafts 7a and 7b that move up and down in close proximity so as not to contact each other, but the pin 13 needs to be provided so as to be within the interval.
The same applies between the swing support shafts 7c and 7d.

The driving means 8 includes a driving motor 11, a rotating body 14 rotated by the driving motor 11, and connecting arms 12a, 12b, 12c, which connect the rotating body 14 and the blades 3a, 3b, 3c, 3d, 12d.
The drive motor 11 is provided with a gear 15, and the rotating body 14 is rotated through the gear 15.

  The rotating body 14 includes two rotating gears 16 a and 16 b that rotate via the gear 15, and a rotation axis 17 that is substantially along the front-rear direction of the support body 2. Thus, five crank portions 18a, 18b, 18c, 18d, and 18e whose phases are shifted in the range of 60 to 90 ° are provided. The gear 15 rotates the rotating gear 16a, and the rotating gear 16a rotates the rotating gear 16b.

The connecting arm 12 is pivotally supported on the crank portion 18.
As shown in FIG. 3, the crank portion 18 includes crank portions 18a and 18b provided in front of the rotary gear 16b, and crank portions 18c, 18d, and 18e provided in the rear of the rotary gear 16b. The third crank portion 18c constitutes the axis of the rotary gear 16b. FIG. 3 is a schematic explanatory view of the flapping flight apparatus 1 viewed from the left. The thin film wing 5 of the wing 3 is omitted.
The front end of the foremost first crank portion 18a is provided at a position that is eccentric with respect to the shaft center (third crank portion 18c) of the rotating gear 16b. A connecting arm 12b that swings the wing 3b is pivotally supported.
The 2nd crank part 18b provided in the back end of the 1st crank part 18a is shifted and provided in the range of 60-90 degrees from the 1st crank part 18a. Further, a connecting arm 12a for swinging the right front wing 3a is pivotally supported on the second crank portion 18b.
And the 3rd crank part 18c provided in the back end of the 2nd crank part 18b is shifted and provided in the range of 60-90 degrees from the 2nd crank part 18b. The crank portion 18 is pivotally supported at the front portion of the third crank portion 18c by the lower portion of the support plate 9, and the rear portion of the third crank portion 18c is pivotally supported by the support plate 19.
Furthermore, the fourth crank portion 18d provided at the rear end of the third crank portion 18c is provided so as to be shifted from the third crank portion 18c by 60 to 90 °. A connecting arm 12c that swings the right rear wing 3c is pivotally supported by the fourth crank portion 18d.
And the 5th crank part 18e provided in the rear end of the 4th crank part 18d is shifted and provided in the range of 60-90 degrees from the 4th crank part 18d. A connecting arm 12d that swings the left rear wing 3d is pivotally supported by the fifth crank portion 18e.
In this way, the phase of the crank portion 18 that pivotally supports the connecting arm 12 that swings the paired left and right wings in the vertical direction is set to the axis of the rotation gear 16b (third crank portion 18c). By shifting within a range of 60 to 90 °, the front wings 3a and 3b as shown in FIG. 4 and the rear wings 3c and 3d as shown in FIG. Become.

  Furthermore, when the wing 3 swings as described above, the flapping of the front wing and the phase of the rear wing are shifted as shown in FIG. 6, thereby realizing flapping similar to that of an insect dragonfly. FIG. 6 shows a case where the front and rear wings are both flapping at a flapping angle of 60 ° and the phase shift is 90 °. In the present invention, this phase shift is preferably adjusted to 60 to 90 °.

As shown in FIG. 4, the connecting arms 12a and 12b are connected to the swinging support shafts 7a and 7b so that the flapping angle θ1 of the wings 3a and 3b is 60 ° or less, which is necessary for flight. High lift and thrust. FIG. 4 is a front view of the flapping flight apparatus 1 as viewed from the front.
On the other hand, the connecting arms 12c and 12d are also connected to the swing support shafts 7c and 7d so that the flapping angle θ2 of the wings 3c and 3d is 60 ° or less as shown in FIG. Necessary lift and thrust can be obtained. FIG. 5 is a rear view of the flapping flight apparatus 1 as viewed from the rear. Further, in order to make the movement of the swing support shafts 7c and 7d easier to see, the central portion of the tail blade 21 is omitted.

Note that by adjusting the angles θ1 and θ2 to be the same angle, a large thrust can be obtained when performing horizontal flight.
The angles θ1 and θ2 can be adjusted by changing the length of the connecting arm or changing the axial support position between the connecting arm and the swing support shaft.

  In the present invention, in addition to setting the angles θ1 and θ2 to 60 ° or less, the phase of the rear wings 3c and 3d is delayed by 90 ° or less with respect to the phase of the front wings 3a and 3b. By adjusting so, the flight in the horizontal direction can be performed more stably. As shown in FIG. 8A, in the flapping flight apparatus 1, the propulsive force can be maintained higher than that in the case where the phase of the front and rear wings is 90 ° or less, as compared with the case where it exceeds 90 °.

The phase of the wing 3 can be adjusted by adjusting the phases of the crank portion 18a to the crank portion 18d with respect to the rotation axis 17.
For example, when the angle of the crank portion 18b that controls the movement of the front right wing 3a and the crank portion 18d that controls the movement of the rear right wing 3c is 90 degrees or less with respect to the rotation axis 17. The phase of the rear wings 3c and 3d is delayed by 90 ° or less with respect to the phase of the front wings 3a and 3b.

  In the flapping flight apparatus 1 of the present invention, a step is provided between the front and rear wings, and the flapping angles θ1, θ2 and the phase are adjusted as described above, as shown in FIG. As described above, it is possible to obtain a remarkable thrust (force in the horizontal direction) as compared with the flapping flight apparatus in which the front and rear wings are horizontally installed.

  A battery 20 for supplying electric power to the drive motor 11 is connected to the rear side of the swing support shaft 7d of the support body 2 as shown in FIGS. The battery 20 can be used as a weight.

In the present invention, the weight can also be moved.
For example, an actuator that moves in the front-rear direction by electromagnetic force may be attached to the battery 20, and this actuator may be connected to the support body 2.
As the actuator moves in the front-rear direction, the weight can be adjusted so as to be biased in the front-rear direction of the flapping flight apparatus 1. As a result, the center of gravity of the flapping flight apparatus 1 moves back and forth. It is possible to control the flight in the vertical direction. Specifically, if the weight is moved in the forward direction, the flapping flight apparatus 1 is lowered, and conversely, if the weight is moved in the backward direction, the flapping flight apparatus 1 can be raised.

Further, an actuator that moves in the left-right direction by electromagnetic force may be attached to the battery 20, and this actuator may be connected to the support body 2.
As the actuator moves in the left-right direction, the weight can be adjusted so as to be biased in the left-right direction of the flapping flight apparatus 1, and as a result, the center of gravity of the flapping flight apparatus 1 moves to the left and right. Can enable control of flight. Specifically, if the weight is moved in the right direction, the flapping flight apparatus 1 can turn right, and conversely, if the weight is moved in the left direction, the flapping flight apparatus 1 can turn left.

  The weight may be provided between the front and rear wings near the center of the support body 2 separately from the battery 20.

  The support body 2 may be connected to an electronic circuit board (not shown) for controlling the drive motor 11 and, if necessary, the actuator.

  A tail 21 is provided at the rear end of the support body 2 to stabilize the flight. As the tail 21, the vertical tail is provided together with the horizontal tail, and thus there is an advantage that the swing of the flapping flight apparatus 1 at the time of flight can be reduced. Further, the horizontal tail is not limited to be horizontal, and an angle may be given in the vertical direction around the support member 2. Further, the shape and size of the tail 21 are not particularly limited.

  By providing the above-described configuration, the flapping flight apparatus 1 of the present invention enables stable flight with little blurring of the body axis while flapping like a real dragonfly.

Example 1
Next, a flapping flight apparatus 1 (total length 22 cm, total weight 7.5 g, total wing area 205 cm ² ) having the appearance shown in FIG. 1 and the structure shown in FIGS.
The level difference between the front and rear wings was adjusted to 5 cm, and the distance between the rear end of the front wing and the front edge of the rear wing was adjusted to 7.5 cm.
Moreover, the structure of the main members is as follows.
Drive motor 11: 6 mm diameter coreless motor “Mk06-10”
Gear 15: M0.3 9-pinion “G309-097”
Rotating gears 16a, 16b: M0.3 60-sheet spars "G360L"
The gear reduction ratio was adjusted to 33.3.
Tail 21: Expanded polystyrene (thickness 1 mm), provided with horizontal and vertical tails of the same area.
Support member 2: Carbon rod (diameter 1 mm)
Elastic shaft member 4 of wing body 3: carbon rod (diameter 0.7 mm)
Branch 6 of wing 3: carbon rod (diameter 0.3 mm)
Thin film wing part 5 of wing 3: polypropylene film (thickness 0.45 mm, width 4.5 cm)
Swing support shaft 7: styrene resin (2mm square material)
Crank part 18: Piano wire (diameter 0.7 mm), phase difference of each crank part adjusted to 90 ° Connection arm 12: Aluminum rod (diameter 1 mm)
Support plates 9, 19: Balsa material Battery 20: Li-Po battery (with a sonoid actuator that can change in the left-right direction)
In addition, the produced flapping flight apparatus 1 was one in which the phases of the front and rear wings 3 were shifted by 90 °, and could flutter at a frequency of 14 Hz.

(Comparative Example 1)
Using the same members as in Example 1 except that the upper part of the support plate 9 is eliminated and the tail is lowered by about 30 ° downward from the horizontal tail, a coaxial flapping that eliminates the step between the front and rear wings is used. A flying device was also produced (weight 7.1 g).

(Test example: Thrust measurement)
The flapping flight device produced in Example 1 and Comparative Example 1 was hung on a fixture provided on an electronic balance (“BL-220H” manufactured by Shimadzu Corporation), and the output voltage of the electric balance when flapping was used. Recording was performed with a digital oscilloscope (“wave Surf 424” manufactured by Iwadori Measurement Co., Ltd.) electrically connected via a low-pass filter (cut frequency: about 60 Hz).
All of the flapping flight devices had a flapping frequency of 14 Hz, whereas the average thrust in Example 1 was 7.6 gf, the maximum thrust was 14.7 gf, and the minimum thrust was 2.2 gf, whereas in Comparative Example 1, the average thrust was 6.3 gf, maximum thrust 13.7 gf, and minimum thrust −0.11 gf, it can be seen that the thrust of the flapping flight apparatus of Example 1 is significantly large.

(Test example: turning flight)
When the flapping flight apparatus of Example 1 was made to fly horizontally, the fluttering of the body axis was small while flapping like a real dragonfly, and stable flight was possible. Also, when flying horizontally, the transmitter at hand issued a command to bias the actuator to the left, and the flapping flight device flew leftward. Next, when a command to bias the actuator to the right was issued, the flapping flight device flew to the right. From this, it was possible to make the flapping flight device fly around by remote control.

DESCRIPTION OF SYMBOLS 1 Flapping flight apparatus 2 Support main body 3 Wing body 4 Elastic shaft member 5 Thin film feather | wing part 6 Branch 7 Swing support shaft 8 Drive means 9 Support plate 10 Support shaft 11 Drive motor 12 Connection arm 13 Pin 14 Rotating body 15 Gear 16 Rotating gear 17 Rotating shaft 18 Crank part 19 Support plate 20 Battery 21 Tail

Claims (7)

A flapping flight apparatus provided with a plurality of pairs of left and right wings supported so as to be swingable up and down on a long support body in the front and rear, and provided with a driving means for driving each wing,
The ratio of the total weight to the area of the wing is 0.357 m ² / N or less,
The wing includes an elastic shaft member and a thin film wing,
A flapping flight device characterized in that a step is provided between front and rear wings.   2. The flapping flight apparatus according to claim 1, wherein the position of the front wing is above the rear wing.   The flapping flight apparatus according to claim 2, wherein the position of the front wing is above the support body.   The flapping angle of the wing is 60 ° or less, and the phase of the rear wing is adjusted so that there is a delay of 90 ° or less with respect to the phase of the front wing. The flapping flight device described. The drive means
A rotating body having a rotation axis substantially along the front-rear direction of the support body and having a plurality of crank portions having different phases is provided.
One end side is pivotally supported by the crank portion and the other end side is supported by a predetermined part of the wing body, and a connecting arm is provided for connecting the crank portion and the wing body,
One end side of each of the connecting arms supported by the wings forming the left and right pair is pivotally supported by crank portions having different phases,
The flapping flight apparatus according to any one of claims 1 to 4, further comprising a drive motor that rotationally drives the rotating body.   The flapping flight apparatus according to any one of claims 1 to 5, wherein a tail wing is provided.   The flapping flight apparatus according to claim 1, wherein a weight for flight control is provided on the support body.

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