JP5090842B2 - Flapping flight equipment - Google Patents

Description

The present invention relates to a flapping flight apparatus that flies by a flapping motion in which a main wing swing-down operation and a swing-up operation are repeated.

A flapping flight apparatus that uses a flapping motion to fly is developed as a flying apparatus capable of low-speed flight together with a rotary wing aircraft such as a helicopter. For example, it is used as a flying toy.

In a flapping flight apparatus that performs low-speed flight, it is required to generate thrust by flapping motion and to increase as much as possible the lift generated by the swing-down and swing-up operations of the flapping motion.

As one method of obtaining lift, it is disclosed to obtain a desired lift by a feathering motion that periodically changes the pitch angle of the main wing when swinging down and the pitch angle of the main wing when swinging up (See Patent Document 1).

As another method, the trailing edge of the flapping wing is unfixed, and a spring is provided on the spine portion of the flapping wing that is not fixed, and a trailing edge height adjusting thread is tied to the rear end of the spring, When swinging down the flapping wing, the trailing edge height adjusting thread is stretched to restrict the rise of the blade surface film, and when swinging up the flapping wing, the air surface resistance is temporarily lowered by the air resistance to divert the air resistance. In addition, a flapping airplane is disclosed in which the main wing spar is quickly swung up to minimize the aircraft descent (see Patent Document 2).
JP 2005-119658 A JP 2002-85860 A

In a flying device that generates lift using a feathering motion, the main wing (flapping wing) swings down and swings up (generally referred to as a flapping motion) and a feathering shaft (for example, a main wing spar is used as a feathering shaft). It is necessary to give a motion of twisting the main wing around the structure, which inevitably complicates the structure.

On the other hand, as described in Patent Document 2, the spine portion supporting the main wing has a spring structure, and the flying device has a structure in which the position and shape of the spine during the swing-down operation and the swing-up operation are changed. Then, even if the feathering motion is not used, the shape of the main wing during the swing-down operation and the swing-up operation can be passively changed, so that there is a difference between the ascending force when swinging down and the descending force when swinging up. As a result, lift is generated.
In this case, lift can be obtained with a simple structure. However, if the spine portion is deformed to the left or right due to a crosswind or the like, the main wing may become asymmetrical, and stable flight may not be possible.

Therefore, an object of the present invention is to provide a flapping flight apparatus that can enable low-speed flight by a flapping motion with a simple structure without using a feathering motion and can perform a stable flight.

A flapping flight device of the present invention made to solve the above-described problem includes a trunk portion and a pair of left and right main wings that perform flapping motion about the trunk portion, and each main wing is a sheet-like wing surface member and a wing. A flapping flight apparatus having a wing bone member that supports a leading edge of a face member, the power source supported by the trunk, and the power generated by the power source is transmitted to the wing bone member to swing the wing bone member. The blade motion mechanism that performs the lowering operation and the swing-up operation, and the blade surface shape deformation that actively deforms at least the shape of the blade member during the swing-down operation or the shape of the blade member during the swing-up operation Means.

That is, according to the present invention, a simple mechanism for changing the shape of the blade surface member is provided to actively change the shape of the blade surface member during the swing-down operation and the shape of the blade surface member during the swing-up operation. Let Here, “active” does not use the fact that the blade surface shape is passively changed by the influence of air when the blade member is shaken down or lifted by power. It means that the member is deformed by applying some restraining force.
By actively changing the shape of the blade member during the swing-down operation and the shape of the blade member during the swing-up operation, the shape of the blade member during the swing-down operation and the blade member during the swing-up operation are changed. By actively changing, the aerodynamic force at the time of swinging down and swinging up changes. As a result, it is possible to generate a force that controls the posture of the flapping machine.

According to the present invention, it is possible to generate a large lift force without using a feathering motion by actively changing the shape of the wing surface member, and to perform flapping flight stably with a simple structure. it can.

(Means and effects for solving other problems)
In the above invention, the blade surface shape deforming means may further include a deformation amount adjusting mechanism for adjusting a deformation amount for actively deforming the blade surface member.
Thereby, the shape of the wing surface during the swing-down operation or the swing-up operation can be adjusted, and the aerodynamic force for controlling the attitude can be adjusted according to the environment during flight.

In the above invention, an angular velocity meter in the pitch direction and a deformation amount control unit that adjusts a deformation amount that actively deforms the blade member by operating the deformation amount adjusting mechanism according to the angular velocity in the pitch direction. May be.
Thereby, the deformation amount control unit can control the head-up moment and the head-down moment by adjusting the amount of deformation that actively deforms the blade member according to the angular velocity in the pitch direction obtained by the angular velocity meter. Therefore, the posture in the pitch direction can be stabilized.

In the above invention, the blade surface shape deforming means is a yarn member that actively pulls the blade surface member obliquely upward so as to limit the lowering of the blade surface near the center during swinging operation so that the vicinity of the blade surface is convex upward. Alternatively, it may be made of a thread member that actively pulls the blade surface member obliquely downward so that the vicinity of the blade surface center is restricted during the swing-up operation so that the vicinity of the blade surface center is convex downward.
Here, the thread member may be an inelastic thread that hardly deforms, or may be an elastic thread such as a rubber thread. Preferably, when the material used for the wing surface member has elasticity, use an inelastic thread, and when the material used for the wing surface member does not have elasticity, use an elastic thread. You may make it absorb an impact by making it absorb with the elastic force of a blade surface member or a thread | yarn.
According to this, near the center of the blade surface is pulled by the thread member during the swing-down operation and the vicinity of the center of the blade surface is convex upward, or near the center of the blade surface is pulled by the thread member during the swing-up operation Becomes convex downward, and the aerodynamic force generated by the wing can be changed.

In the above invention, the blade surface shape deforming means is a yarn member that actively pulls the blade surface member obliquely upward so as to limit the lowering of the blade surface near the center during swinging operation so that the vicinity of the blade surface is convex upward. Or a thread member that actively pulls the blade surface member obliquely downward so that the vicinity of the blade surface center is restricted downward during swinging operation so that the vicinity of the blade surface center is convex downward. The fulcrum member is tiltably attached to the body, and one end of the thread member is fixed to the left wing surface and the other end is fixed near the center of the right wing surface, and the fulcrum member supports the vicinity of the middle of the thread member. The lowering amount or rising amount at the center of the blade surface may be limited by adjusting the tilt angle of the fulcrum member.
According to this, it is possible to restrict the shape of the wings at the same time on the left and right simultaneously with one deformation amount adjusting mechanism.

In the above invention, the blade surface shape deforming means is a yarn member that actively pulls the blade surface member obliquely upward so as to limit the lowering of the blade surface near the center during swinging operation so that the vicinity of the blade surface is convex upward. Or a thread member that actively pulls the blade surface member obliquely downward so that the vicinity of the blade surface center is restricted downward during swinging operation so that the vicinity of the blade surface center is convex downward. A left wing fulcrum member and a right wing fulcrum member that are independently tiltably attached to the body, and the thread member is a left wing thread member that connects the vicinity of the left wing surface center and the left wing fulcrum member, and the vicinity of the right wing surface center And a right wing thread member connecting the right wing fulcrum member, and the descent amount or the ascending amount near the center of each wing surface may be independently limited by adjusting the inclination angle of each fulcrum member.
According to this, since the shapes of the left and right wings can be independently restricted, the flight direction can be adjusted.

In the above invention, the wing surface shape deforming means actively presses the wing surface from below and restricts the lowering of the wing surface center so that the vicinity of the wing surface center is convex upward during the swing-down operation. It consists of a pressing member that deforms, or a pressing member that actively deforms so that the vicinity of the center of the blade surface is convex downward by pressing the blade surface from above during swinging operation and restricting the rise near the center of the blade surface You may do it.
According to this, near the center of the blade surface is pushed up by the pressing member during the swinging operation, and the vicinity of the center of the blade surface is convex upward, or near the center of the blade surface is pushed down by the pressing member during the swinging operation, It becomes convex downward and the aerodynamic force generated by the wing can be changed.

In the above invention, the blade surface shape deforming means is constituted by a left wing pressing member and a right wing pressing member that are independently supported by the trunk portion, and each pressing member can independently adjust the height in contact with the vicinity of the center of each wing surface. It may be configured as follows.
According to this, even in the adjustment using the pressing member, the shape of the left and right wings can be independently restricted, so that the flight direction can be adjusted.

In the above invention, the blade surface shape deforming means is synchronized with the blade deformation element made of a piezoelectric element or biometal attached to the blade surface and actively deforming the blade surface, and the swinging and swinging operations of the blade member. The blade deformation element controller may be configured to operate the blade deformation element to periodically deform the blade surface shape.
According to this, the wing deformation element control unit operates the wing deformation element in synchronization with the swing-down operation and the swing-up operation of the wing bone member to periodically deform the blade surface shape. The aerodynamic force can be changed by generating a strong ascending force with a convex upward and releasing the control during the swing-up operation.

In the above invention, the wing surface shape deforming means is provided with the left wing wing deforming element and the right wing wing deforming element independently, and the wing deforming element control unit is configured to control the left wing wing deforming element and the right wing wing deforming element. You may make it control an element independently.
According to this, even in the adjustment using the wing deforming element, the shape of the left and right wings can be independently restricted, so that the flight direction can be adjusted.

In the above invention, the wing surface shape deforming means actively lowers each of the left and right main wings at a plurality of positions lined up and down along the trunk in the vicinity of the position where the left and right main wings are fixed to the trunk. You may make it consist of the thread | yarn member to pull.
According to this, the aerodynamic force generated by the wing is changed by changing the tension in the vicinity of the position where the left and right main wings are fixed to the trunk (the vicinity of the base of the main wing) during the swing-down operation or the swing-up operation. be able to.

In the above invention, the wing surface shape deforming means actively lowers each of the left and right main wings at a plurality of positions lined up and down along the trunk in the vicinity of the position where the left and right main wings are fixed to the trunk. The deformation adjustment mechanism is composed of a fulcrum member and a roller that are tiltably attached to the body at a plurality of positions aligned in the front-rear direction along the body, and the thread member has one end at the body. The other end may be fixed to the left wing surface in the vicinity or the right wing surface in the vicinity of the trunk portion, and the other end may be fixed to the fulcrum member via a roller.
According to this, the aerodynamic force generated by the wing can be controlled.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that some of the embodiments described below are merely examples, and modifications can be made without departing from the scope of the present invention.

(Embodiment 1)
First, an embodiment in which the main wing shape is actively deformed by restricting the movement of the wing surface using a thread will be described.
FIG. 1 is a perspective view showing a configuration of a flapping flight apparatus according to an embodiment of the present invention. FIG. 2 is a front view seen from the front of the aircraft.
The structure of the flapping flight apparatus 1 mainly includes a trunk 11, a main wing 12 (left wing 12 a and right wing 12 b), a tail wing 13, a small motor 21 (including a battery), a link mechanism 22, a wing restraint thread 23, and a thread adjustment mechanism 24. Become.

The trunk portion 11 is formed of a rod-like body, and a small motor 21 is attached in addition to the main wing 12 (the left wing 12a and the right wing 12b) and the tail wing 13. The body 11 itself is made of wood or aluminum in order to give strength and reduce weight.

The main wing 12 includes a wing bone 14 (left wing bone 14a and right wing bone 14b) that extends symmetrically about the trunk 11 and a wing surface 15 (left wing surface 15a and right wing surface 15b). The wing bone 14 is made of wood or aluminum. The blade surface 15 is formed of a deformable sheet material such as a synthetic resin film or paper, and is attached to the trunk portion 11 with an adhesive. The leading edge of the wing surface 15 is supported by the wing bone 14. On the other hand, the rear edge of the blade surface 15 can be freely deformed. As a result, when the wingbone 14 of the main wing 12 (the left wing 12a and the right wing 12b) is swung down or swung up and flapping, the leading edge side of the wing surface 15 moves up and down following the movement of the wingbone 15. However, the wind pressure resistance is received from the center of the blade surface 15 to the rear edge, and the blade 15 follows while bending.

Since the tail 13 is a fixed wing, the periphery of the wing surface is supported by a wing bone. The tail 13 is used as an auxiliary wing for stabilizing the flight posture.

The small motor 21 is supported by the body 11 and functions as a driving device for flapping motion.
The link mechanism 22 connects the small motor 21 and the wing bone 14 (14a, 14b), and converts the rotational motion generated by the small motor 21 into the vertical movement of the wing bone 14 by a known link structure, The flapping motion of the wing bone 14 is caused.

One end of the wing restraint yarn 23 is fixed near the center of the left wing surface 15a, and the other end is fixed near the center of the right wing surface 15b so that both wings are connected. The yarn adjusting mechanism 24 includes an arm 24a and a motor 24b that tilts the arm 24a, and an intermediate portion of the blade restraining yarn 23 passes through a hole 24c provided at the tip of the arm 24a.
By adjusting the tilt angle of the arm 24a, when the blade surface 15 is swung down, the vicinity of the center of the blade surface is pulled by the blade restraining thread 23, so that the blade surface shape is actively deformed.

Then, by driving the motor 24b and changing the tilt angle to change the restraint state of the blade surface 15 (15a, 15b) by the blade restraining yarn 23, the limit that the blade surface 15 can be lowered during the swing-down operation is set. By adjusting, the blade surface shape is adjusted.

Next, the flight operation will be described. FIG. 3 is a diagram schematically showing the state of the main wing 12 (left wing 12a, right wing 12b) in one cycle of flapping motion.
When the main wing 12 is swung up most (FIG. 3 (a)), it is swung down to be almost horizontal (FIG. 3 (b)) and further swung down to the most swung down state (FIG. 3 (c)). By swinging up and approaching the horizontal position (FIG. 3 (d)) and further swinging back to the most swung state (FIG. 3 (a)), one flapping motion is completed. Of the one flapping operation, the blade restraining yarn 23 starts restraining the blade surface 15 of the main wing 12 between the states shown in FIGS. 3B and 3C, and FIG. 3C and FIG. The blade restraining thread 23 releases the restraint of the blade surface 15 of the main wing 12 between the states shown by 3 (d).

4 is a front view of the flapping flight apparatus 10 when the main wing 12 is swung up most (ie, the state shown in FIG. 3A), and FIG. 5 is a state where the main wing 12 is most swung down (ie, FIG. 3C). It is a front view of the flapping flight apparatus 10 when In the most swung up state (FIG. 3A), the blade restraining yarn 23 is loose, and the blade surface 15 moves so as to be naturally bent by the flapping motion. On the other hand, the blade restraining thread 23 is adjusted so that the blade surface 15 is greatly convex upward by pulling the blade surface 15 in the most swung down state (FIG. 3C).
As a result, the aerodynamic force generated by the blade can be changed.

For comparison, FIG. 6 shows the state of the main wing when the flapping motion is performed without using the wing restraint yarn 23. FIG. 6 (a) shows a state where it is most up, and FIG. 6 (c) shows a state where it is most down.
FIG. 3A and FIG. 6A are almost the same. Comparing FIG. 3 (c) and FIG. 6 (c), in FIG. 6 (c), the lowering of the blade surface 15 is not restricted by the blade restraining yarn, so that it is not bent very much.
By comparing FIG. 3 with FIG. 6, the lowering of the blade surface 15 during the swing-down operation is restricted by the blade restraining thread 23, and the blade surface 15 can be largely bent, thereby changing the aerodynamic force.

When it is necessary to adjust the aerodynamic force, such as when being affected by wind during flight, the tension adjusting mechanism 24 can be operated to adjust the tension of the wing restraint thread 23.
Further, in the present embodiment, the lowering of the blade surface 15 during the swing-down operation is restricted and greatly bent by the blade restraining thread 23, but the rise of the blade surface 15 during the swing-up operation is limited. Similarly, the aerodynamic force can be changed.

(Embodiment 2)
FIG. 7 is a perspective view showing the configuration of the flapping flight apparatus 2 according to the second embodiment of the present invention.
Parts similar to those of the flapping flight apparatus 1 described with reference to FIG.
In this embodiment, the tension adjusting mechanism 24 is operated on the trunk 11 of the flapping flight apparatus 10 described with reference to FIG. 1 based on the angular velocity sensor 31 and the angular velocity signal from the angular velocity sensor 31 to adjust the tension of the wing restraint yarn 23. A control device 32 to be adjusted is mounted. The control device 32 is composed of a microcomputer and measures the displacement of the pitch angle of the airframe based on the angular velocity signal, and performs feedback control so that the pitch angle becomes constant by adjusting the flapping motion accordingly. Thereby, a head-up moment or a head-down moment can be generated so that the pitch angle does not change greatly, and stable flight can be performed.

(Embodiment 3)
FIG. 8 is a perspective view showing the configuration of the flapping flight apparatus 3 according to the third embodiment of the present invention. In the present embodiment, the wing restraint thread 23 and the thread adjustment mechanism 24 provided in the trunk portion 11 of the flapping flight apparatus 10 described in FIG. 1 are made independent on the left and right sides, and the left wing restraint thread 23a, the right wing restraint thread 23b, and the left wing thread adjuster. The mechanism 26 and the right wing thread adjusting mechanism 27 are used.
As a result, the left wing 12a and the right wing 12b can independently adjust the lift, and control of the flight direction such as a left turn and a right turn can be added.

(Embodiment 4)
FIG. 9 is a perspective view showing the configuration of the flapping flight apparatus 4 according to the fourth embodiment of the present invention. In this embodiment, instead of the blade restraining thread 23 and the thread adjusting mechanism 24 described in FIG. 1, an arm tilting mechanism 42 (left arm tilting mechanism 42a, right arm) that tilts the pressing arm 41 (left arm 41a, right arm 41b). An arm tilting mechanism 42 b) is attached to the body 11.
When the blade surface 15 is swung down by the arm tilt mechanism 42 (left arm tilt mechanism 42a, right arm tilt mechanism 42b), the vicinity of the center of the blade surface 15 is the pressing arm 41 (left arm 41a, right arm 41b). By adjusting the height at which the blade surface 15 comes into contact with an appropriate limit for lowering the blade surface 15, the vicinity of the center of the blade surface 15 is actively deformed during the swing-down operation.

Then, by driving the arm tilting mechanism 42 to change the tilting angle and changing the restraint state by the pressing arm 41, the amount of lowering near the center of the blade surface 15 is limited during the swing-down operation, and the blade surface shape Is adjusted.
Thus, as in the embodiment described with reference to FIG. 3, the pressing arm 41 starts to restrain the blade surface 15 of the main wing 12 during the swing-down operation in one cycle of the flapping operation, and the blade surface during the swing-up operation. The restriction of 15 is released. In the present embodiment, the left and right pressing arms 41 may be controlled independently.
Further, the vicinity of the center of the blade surface 15 may be actively deformed so that the amount of increase near the center of the blade surface 15 is limited during the swing-up operation.

(Embodiment 5)
FIG. 10 is a perspective view showing the configuration of the flapping flight apparatus 5 according to the fifth embodiment of the present invention. In the present embodiment, instead of the blade restraining thread 23 and the thread adjusting mechanism 24 described with reference to FIG. 1, a piezoelectric element 51 (blade deforming element) that mechanically distorts the blade surface 15 to deform and the link mechanism 22. A sensor 52 that detects the rotation state and detects the swing-down operation and the swing-up operation of the main wing 12, and the piezoelectric element 51 is operated in synchronization with the swing-down operation and the swing-up operation based on the signal from the sensor 52 to change the blade surface shape. A wing deformation element control unit 53 that periodically deforms is attached to the body 11. Note that biometal may be used instead of the piezoelectric element 51. The sensor 52 may directly detect the movement of the wing bone 14 of the main wing 12.
The wing deformation element control unit 52 is composed of a microcomputer, and in the same way as the embodiment described with reference to FIG. 3, the piezoelectric element 51 is active on the blade surface 15 of the main wing 12 during the swing-down operation in one cycle of the flapping operation. The active deformation of the blade surface 15 is released during the swing-up operation.
Thereby, aerodynamic force can be changed. In the present embodiment, the left and right piezoelectric elements 51 may be controlled independently. Further, the piezoelectric element may be operated without synchronizing with flapping.

(Embodiment 6)
FIG. 11 is a diagram showing the configuration of a flapping flight apparatus 6 according to a sixth embodiment of the present invention, FIG. 11 (a) is a perspective view thereof, and FIG. 11 (b) is an enlarged view of a main part viewed from the bottom side. It is.
In this embodiment, instead of the wing restraint thread 23 and the thread adjustment mechanism 24 described in FIG. 1, the wing restraint thread 61 (left wing restraint thread 61a, right wing restraint thread 61b) and wing restraint thread 62 (left wing restraint thread) are arranged from the front. 62a, right wing restraint thread 62b) and wing restraint thread 63 (left wing restraint thread 63a, right wing restraint thread 63b) are fixed to the blade surfaces 15a, 15b in this order, and a thread adjusting mechanism 64 (arm 64a, motor 64b, Hole 64c, roller 64d), thread adjusting mechanism 65 (arm 65a, motor 65b, hole 65c, roller 65d), thread adjusting mechanism 66 (arm 66a, motor 66b, hole 66c, roller 66d) in this order in the body 11. It is supported.

The left wing restraint yarn 61a has one end fixed to the left wing surface 15a and the other end tied to a hole 64c of the arm 64a via a roller 64d for changing the direction of the yarn. Similarly, the right wing restraint thread 61b has one end fixed to the right wing surface 15b and the other end connected to a hole 64c of the arm 64a via a roller 64d for changing the direction of the thread. The roller 64d has a pair of rollers for a left wing restraint yarn and a right wing restraint yarn attached coaxially so that they can rotate in opposite directions. A round bar having a cylindrical side surface with reduced friction may be attached as the roller 64 so that each thread slides on the cylindrical side surface.
Similarly, one end of the left wing restraint thread 62a is fixed to the left wing surface 15a, and the other end is tied to the hole 65c of the arm 65a via a roller 65d. One end of the right wing restraining thread 62b is fixed to the right wing surface 15b, and the other end is tied to the hole 65c of the arm 65a via a roller 65d.
Similarly, one end of the left wing restraint thread 63a is fixed to the left wing surface 15a, and the other end is connected to the hole 66c of the arm 66a via a roller 66d. The right wing restraint thread 63b has one end fixed to the right wing surface 15b and the other end connected to a hole 66c of the arm 66a via a roller 66d.

By adjusting the tilt angles of the arms 64a, 65a, 66a, the tension of the blade restraining yarns 61, 62, 63 can be changed independently, so that the blade surface 15 in the vicinity of the position attached to the trunk portion 11 can be changed. The wing shape is deformed.
Thereby, aerodynamic force can be changed. In the present embodiment, the left and right blade suppression yarns may be controlled independently. In that case, a thread adjusting mechanism is provided for each of the left and right main wings.

INDUSTRIAL APPLICABILITY The present invention can be used for a flapping flight apparatus that flies at a low speed by a flapping operation. Specifically, the present invention can be used as a flying toy or a monitoring flying apparatus equipped with a sensor or a lightweight camera.

The perspective view of the flapping flight apparatus which is one Embodiment of this invention. The front view of the flapping flight apparatus of FIG. The figure which showed typically the state of the main wing | blade 12 (left wing 12a, right wing 12b) in 1 cycle of flapping movement (when restraint was given). The front view of the flapping flight apparatus when the main wing 12 is swung up most. The front view of the flapping flight apparatus when the main wing 12 is most swung down. The figure which showed typically the state of the main wing | blade 12 (left wing 12a, right wing 12b) in 1 cycle of flapping movement (when constraint is not given). The perspective view which shows the structure of the flapping flight apparatus 2 which is 2nd embodiment of this invention. The perspective view which shows the structure of the flapping flight apparatus 3 which is 3rd embodiment of this invention. The perspective view which shows the structure of the flapping flight apparatus 4 which is 4th embodiment of this invention. The perspective view which shows the structure of the flapping flight apparatus 5 which is 5th embodiment of this invention. The perspective view and bottom view which show the structure of the flapping flight apparatus 5 which is 6th embodiment of this invention.

Explanation of symbols

1-5: Flapping flight device 11: Body 12 (12a, 12b): Main wing (left wing, right wing)
13: Tail 14 (14a, 14b): Wing bone (left wing bone, right wing bone)
15 (15a, 15b): Wing surface (left wing surface, right wing surface)
23, 23a, 23b: Wing restraint thread, left wing restraint thread, right wing restraint thread 24, 24a, 24b: Yarn adjusting mechanism, left wing thread adjusting mechanism, right wing thread adjusting mechanism 31: Angular velocity sensor 32: Control device 41 (41a, 41b) : Pressing arm (left pressing arm, right pressing arm)
42 (42a, 42b): Pressing arm tilting mechanism (left pressing arm tilting mechanism, right pressing arm tilting mechanism)
51: Piezoelectric element 52: Sensor 53: Wing deformation element control units 61-63 (61a-63a, 61b-63b): Wing restraint thread, left wing restraint thread, right wing restraint thread 64-66: Thread adjustment mechanism

Claims (12)

A flapping flight apparatus including a trunk portion and a pair of left and right main wings that perform flapping motion about the trunk portion, each main wing having a sheet-like wing surface member and a wing bone member that supports a leading edge of the wing surface member Because
A power source supported by the torso,
A wing bone motion mechanism that transmits the power generated by the power source to the wing bone member to perform the swing-down operation and the swing-up operation of the wing bone member;
A flapping flight apparatus comprising: wing surface shape deforming means for actively deforming at least either the shape of a wing surface member during a swing-down operation or the shape of a wing surface member during a swing-up operation. The flapping flight apparatus according to claim 1, wherein the wing surface shape deforming means further includes a deformation amount adjusting mechanism for adjusting a deformation amount for actively deforming the wing surface member. An angular velocity meter in the pitch direction and a deformation amount control unit that adjusts a deformation amount that actively deforms the blade member by operating the deformation amount adjusting mechanism according to the angular velocity in the pitch direction. The flapping flight apparatus according to claim 2. The blade surface shape deforming means is a yarn member that actively pulls the blade surface member obliquely upward so as to limit the lowering of the vicinity of the blade surface center at the time of the swing-down operation so that the vicinity of the blade surface center is convex upward, or 2. The yarn member according to claim 1, comprising a thread member that actively pulls the blade surface member obliquely downward so that rising near the blade surface center during swing-up operation is restricted and the vicinity of the blade surface center is convex downward. Flapping flight equipment. The blade surface shape deforming means is a yarn member that actively pulls the blade surface member obliquely upward so as to limit the lowering of the vicinity of the blade surface center at the time of the swing-down operation so that the vicinity of the blade surface center is convex upward, or It consists of a thread member that actively pulls the wing surface member obliquely downward so that the wing surface center is restricted upward during swinging operation so that the vicinity of the wing surface center is convex downward. The fulcrum member is mounted so as to be tiltable. One end of the thread member is fixed to the left wing surface and the other end is fixed near the center of the right wing surface, and the fulcrum member supports the vicinity of the middle of the thread member. The flapping flight apparatus according to claim 2, wherein the amount of descending or ascending at the center of the wing surface is limited by adjusting the inclination angle. The blade surface shape deforming means is a yarn member that actively pulls the blade surface member obliquely upward so as to limit the lowering of the vicinity of the blade surface center at the time of the swing-down operation so that the vicinity of the blade surface center is convex upward, or It is composed of a thread member that actively pulls the wing surface member obliquely downward so that the vicinity of the wing surface center is restricted downward during swinging operation so that the vicinity of the wing surface center is convex downward. Each of the left wing fulcrum member and the right wing fulcrum member which are independently tiltably attached to the left wing fulcrum member, and the thread member is a left wing thread member connecting the left wing surface center and the left wing fulcrum member, and the right wing surface center and right wing fulcrum. The flapping flight apparatus according to claim 2, comprising a right wing thread member that connects the members, and independently limiting a descending amount or ascending amount near the center of each wing surface by adjusting an inclination angle of each fulcrum member. . The wing surface shape deforming means is a pressure that actively deforms so that the center of the wing surface is convex upward by pressing the wing surface from below and restricting the lowering of the vicinity of the wing surface center when swinging down. 2. A member or a pressing member that actively deforms so that the vicinity of the center of the blade surface protrudes downward by pressing the blade surface from above during swinging operation and restricting the rise near the center of the blade surface. The flapping flight device described in 1. The blade surface shape deforming means includes a left wing pressing member and a right wing pressing member that are independently supported by the trunk, and each pressing member is configured to be able to independently adjust the height in contact with the vicinity of the center of each wing surface. The flapping flight apparatus according to claim 7. The wing surface shape deforming means includes a wing deformation element made of a piezoelectric element or biometal that is attached to the wing surface and actively deforms the wing surface, and the blade deformation in synchronization with the swinging and swinging operations of the blade member. The flapping flight apparatus according to claim 1, further comprising a wing deformation element control unit that operates the element to periodically deform the wing surface shape. The wing surface shape deforming means includes a wing deforming element for the left wing and a wing deforming element for the right wing independently, and the wing deforming element control unit includes a wing deforming element for the left wing and a wing deforming element for the right wing. The flapping flight apparatus according to claim 9, which is controlled independently. The wing surface shape deforming means is a yarn member that actively pulls downward at a plurality of positions lined up and down along the trunk portion near the position where the left and right main wings are fixed to the trunk portion with respect to the left and right main wings. The flapping flight apparatus according to claim 1, comprising: The wing surface shape deforming means is a yarn member that actively pulls downward at a plurality of positions lined up and down along the trunk portion near the position where the left and right main wings are fixed to the trunk portion with respect to the left and right main wings. The deformation amount adjusting mechanism is composed of a fulcrum member and a roller that are tiltably attached to the body at a plurality of positions aligned in the front-rear direction along the body, and the yarn member has one end on the left wing near the body The flapping flight apparatus according to claim 2, wherein the flapping flight device is fixed to the right wing surface near the surface or the trunk portion, and the other end is fixed to the fulcrum member via a roller.

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