WO2007026701A1

WO2007026701A1 - Wing-flapping flying apparatus

Info

Publication number: WO2007026701A1
Application number: PCT/JP2006/316989
Authority: WO
Inventors: Koju Hiraki; Naofumi Goto
Original assignee: Kyushu Institute Of Technology
Priority date: 2005-08-30
Filing date: 2006-08-29
Publication date: 2007-03-08
Also published as: JPWO2007026701A1; JP4150799B2

Abstract

A wing-flapping flying apparatus comprising a body part (11) in which a rotatingly driven crank member (19) is disposed, a backbone member (40) installed just above the axis of the body part (11), right and left wing front side support members (24, 25) connected to the front end part of the backbone member (40) so that their inner end parts can be rotated, right and left side wing bodies (12, 13) having wing sheets (30) stretched between the right and left wing front side support members (24, 25) and the backbone member (40) and bendable at the center part thereof, swing support members (41, 42) swingably fitted to the body part (11) and supporting the intermediate parts of the wing front support members (24, 25), and a crank rod (22) having an upper end part fixed to the front end part of the backbone member (40) at a predetermined angle and a lower end part connected to the crank member (19). The crank rod (22) is lifted by rotatingly driving the crank member (19) to simultaneously provide both a flapping motion to vertically move the wing bodies (12, 13) and a feathering motion to provide a torsional operation to the wing bodies (12, 13) to the flying apparatus.

Description

Specification

Flapping flight equipment

Technical field

TECHNICAL FIELD [0001] The present invention relates to a flapping flight apparatus that flies with wings provided on both sides of a body part to generate propulsive force and lift and fly.

Background art

[0002] The reciprocating motion (also referred to as flubbing motion) of the wing, which is the main motion of the wing flapping motion, is the rotational motion generated by a rotational power source such as a motor mounted on the fuselage. This is realized by converting to a reciprocating rotary motion around the fulcrum used. Here, as shown in FIG. 18, a flapping flight apparatus 100 includes a rotary power source (not shown) mounted on a fuselage (not shown), a wing support member 102 attached to the center of the fuselage, and a wing support member 102. A pair of left and right wings 104 and 105 connected to each other via a central bent portion 103, and a rotary power source connected to a plane perpendicular to the direction of travel (in a vertical plane extending to the left and right). In the case of a crank pin 106 that moves, and a crankshaft 109 and 110 that connect the tip of the crank pin 106 and the support portions 107 and 108 of the blades 104 and 105, the left and right blades 104 and 105 are When launching (crank pin 106 goes from bottom dead center to top dead center) and when lowering left and right wings 104, 105 (crank pin 106 also goes to top dead center force), it is connected to crank pin 106 The two crankshafts 109 and 110 It is not possible to carry out the universal exercise. For this reason, the movements of the left and right wings 104 and 105 are not completely symmetrical, and a phase difference occurs in the operation of the left and right wings 104 and 105. For this reason, the right and left balance is lost in the flapping flight apparatus 100, and the flapping flight apparatus 100 flies while swinging left and right.

[0003] On the other hand, the actual way of moving a bird's wing is a reciprocating motion (also referred to as a fuzzing motion or pitching motion) related to the twisting of the wing, which is not just a flapping motion, and the wing is pushed forward or retracted. It is a motion with a large degree of freedom that combines various motions such as a motion that moves (with lead lug motion!), And a motion that moves the wing fulcrum itself up and down (also with heaving motion). Use according to the situation, and separate! / [0004] For this reason, in order to realize the flapping motion and the fusing motion, for example, in the operation of the blade, it is only necessary to mount a rotational power source for the flapping motion and the feathering motion, respectively. Installing a rotating power source increases the size and weight of the fuselage, which is disadvantageous in terms of flight. Therefore, for example, as proposed in Japanese Patent Application Laid-Open No. 2004-237975, as a flapping device that obtains a flapping motion and a feathering motion as one rotational power source force, it rotates on a circular disk. The stopper, which is a small-diameter disk, rolls the wings up and down to perform a flapping motion, and twists the wings so that the lift increases at the timing of the up and down turning. Proposal of a device that gives motion!

However, in the invention described in Japanese Patent Application Laid-Open No. 2004-237975, the feathering motion that twists the wing is given by the secondary motion that the small-diameter disc rolls on the disc, so that the transmission of power There is a problem that improvement in lift cannot be expected in practical use due to poor efficiency.

[0005] The present invention has been made in view of the power situation, and provides a flapping flight device capable of simultaneously performing a flapping motion and a feathering motion to generate a large propulsive force and lift force with a single rotational power source. The purpose is to do.

Disclosure of the invention

[0006] The flapping flight apparatus according to the first invention that meets the above-mentioned object is (1) a body part, and (2) is rotationally driven by a rotational drive source, and the rotation shaft is in a lateral direction with respect to the body part. And a crank mechanism having a crank member disposed in the moon body portion and a crank rod connected to the crank member to move up and down and move up and down, and (3) directly above the axis of the body portion. A spine whose front end is connected to the upper end of the crank rod at a constant angle; and (4) left and right connected to the front end of the spine so that the inner end is rotatable (flexible). A pair of left and right wing seats, which are stretched between the left and right front wing support materials around the backbone and fixed to the backbone at the center and can be folded. A wing body, and (5) attached to the fuselage section so as to be able to swing (tilt). Furappi the intermediate portion of the blade front support member and having right and left rocking support member for supporting each of the crank rod to the lift by the rotation of the crank member moves the blade body forming the pair in the vertical And a fuzzing motion that imparts a twisting motion to the pair of wings.

That is, by rotating one rotational drive source (for example, a motor or an engine) connected to the crank member, the crank rod can be moved back and forth with respect to the body portion and moved up and down. The upper end of the crank rod and the front end of the spine are connected at a fixed angle, and the spine also swings and moves up and down as the crank rod tilts and moves up and down. A front wing support member extending from side to side is pivotally connected to the front end portion of the backbone material, and an intermediate portion of the bracket front support member is swingably supported attached to the left and right sides of the body portion. Since it is supported by the member, the backbone and the left and right wing front support materials are interlocked by raising and lowering and swinging the crank rod. This makes it possible to realize the flapping and feathering kinetics of a wing body with a wing seat stretched between the left and right wing front support centering on the backbone, with two rotational drive sources. It is possible to increase lift and propulsion compared to the case of flapping motion alone.

[0008] By changing the length of the crank rod, the angle at which the backbone is fixed to the crank rod, and the intermediate position of the left and right wing front support members to which the left and right swing support members are connected, It is possible to set the timing of the fuzzing movement that is coupled to the flapping movement of the right wing body, reducing the resistance when the wing is launched, and increasing the lifting force when the wing is lowered And stable lift can be generated.

Furthermore, the total flapping angle can be adjusted by changing the support position of the front blade support member to which the left and right swing support members are connected. Here, the total flapping angle refers to the front support member when the wing is launched to the maximum when the fuselage is viewed from the front (i.e., the tip of the wings in the pair of left and right are at the top). This is the sum of the angle between the horizontal axis (upper flapping angle) and the angle (lower flapping angle) between the front support member and the horizontal when the blade is fully lowered.

[0009] A flapping flight apparatus according to a second invention is the flapping flight apparatus according to the first invention, wherein the crank member includes a rotating disk and a pin provided around the rotating disk, The lower end of the crank rod is rotatably connected to the pin. By using a rotating disk for the crank member, the crank member can be rotated smoothly using the inertial force effectively. Further, the mechanism is simplified and the overall length is shortened, and it is easy to place the body horizontally.

[0010] A flapping flight apparatus according to a third aspect of the present invention is the flapping flight apparatus according to the first and second aspects of the present invention, wherein the left and right swing support members are respectively connected at the lower end to the body part. A front diagonal member and a rear diagonal member. As a result, the swing support member can be configured more strongly, and the intermediate portion of the blade front support member can be supported without being easily moved in the front-rear direction. Furthermore, the load applied to the swing support member can be dispersed in the body portion.

[0011] The flapping flight apparatus according to the fourth invention is the flapping flight apparatus according to the third invention, wherein either one or both of the front oblique member and the rear oblique member is Adjustably attached to the body. This makes it possible to adjust the position at which the intermediate part of the blade front support member is rotatably supported, and to adjust the distribution of the upper feathering angle and the lower feathering angle. Here, the upper feathering angle refers to a horizontal line in a state where the rear end side of the backbone is raised from the horizontal line (the axis of the trunk) when the trunk is viewed from the side (i.e., the backbone is most downward). The maximum angle with the back aggregate. The lower feathering angle refers to the horizontal line and the backbone when the rear end side of the backbone is lowered from the horizontal line (the axis of the trunk) (that is, the backbone is most upward) when the body is viewed from the side. The maximum angle between It is possible to change the magnitude and direction of the generated aerodynamic force by adjusting the distribution of the upper and lower fuzzing angles during the flight, and to move straight flight flight up or down flight. Is possible. In addition, for example, the right and left wings are set to a desired angle by stopping the rotational drive source during flight and simultaneously moving the upper end of the left and right swing support members back and forth with respect to the fuselage. Can change the trajectory of the flight.

[0012] A flapping flight apparatus according to a fifth aspect of the present invention is the flapping flight apparatus according to the third and fourth aspects of the present invention. One or both are attached to the body part so that the vertical movement can be adjusted. Further, the flapping flight apparatus according to the sixth invention is the flapping flight apparatus according to the third to fifth inventions, wherein one or both of the deviation of the front diagonal member and the rear diagonal member are: The telescopic adjustment is possible. According to the fifth and sixth inventions, the positions of the upper end portions of the left and right swing support members can be changed up and down with respect to the body portion, and the distribution of the upper flapping angle and the lower flapping angle can be adjusted. It becomes possible. By adjusting the distribution of the upper and lower flapping angles during flight, the magnitude and direction of the generated aerodynamic force can be changed, and the flight trajectory can be changed. become.

[0013] A flapping flight apparatus according to a seventh invention is the flapping flight apparatus according to the first to sixth inventions, wherein the crank rod is adjustable in expansion and contraction. As a result, the average position of the front end portion of the backbone can be changed up and down, and the total flapping angle can be changed. In addition, by extending and retracting the crank rod, the angle between the crank rod and the vertical direction can be changed, and the total fusing angle can be freely adjusted. Here, the total feathering angle refers to the sum of the upper and lower feathering angles.

[0014] The flapping flight apparatus according to the eighth aspect of the present invention is the flapping flight apparatus according to the first to seventh aspects of the present invention, which has rubber-wound power, a motor or an engine as the rotational drive source of the crank member. . This makes it possible to fly this flapping flight device, especially using motors and engines, for example, the length of the front diagonal members and the rear diagonal members constituting the left and right swing support members, respectively. The flapping flight device can be operated by changing it with a remote controller etc.

Brief Description of Drawings

FIG. 1 is an explanatory diagram of a flapping flight apparatus according to an embodiment of the present invention.

[FIG. 2] (A) and (B) are a partially cutaway side sectional view and a partially front sectional view, respectively, of the flapping flight apparatus.

[FIG. 3] (A) and (B) are a partially cutaway side sectional view and a partially front sectional view of the flapping flight apparatus, respectively.

[FIG. 4] (A) and (B) are a partially cutaway side sectional view and a partially front sectional view of the flapping flight apparatus, respectively.

[FIG. 5] (A) and (B) are a partially cutaway side sectional view and a partially front sectional view, respectively, of the flapping flight apparatus.

FIG. 6 is an explanatory view showing a connection state between a wing body and a bent portion of the flapping flight apparatus. [7] FIG. 7 is an explanatory view showing a connection state between a wing body and a swing support member of the flapping flight apparatus.

8] (A) to (C) are explanatory views of the swing support member of the flapping flight apparatus.

[9] (A) and (B) are explanatory views showing the connected state of the swing support member and the body portion, respectively.

[Fig. 10] An illustration of the total flapping angle, upper flapping angle, and lower flapping angle in the wing body.

[Fig. 11] (A) and (B) are explanatory diagrams showing changes in distribution of the upper flapping angle and the lower flapping angle in the wing body.

FIG. 12 is an explanatory diagram of the total feathering angle, upper feathering angle, and lower feathering angle in the wing body.

[13] It is an explanatory diagram showing the coupled state of the flapping motion and the fusing motion of the wing body.

[FIG. 14] (A) and (B) are explanatory diagrams showing changes in the distribution of the upper and lower fusing angles in the wing body.

[FIG. 15] (A) and (B) are explanatory views showing a change in distribution of the upper flapping angle and the lower flapping angle in accordance with the change in the vertical position of the upper fulcrum portion relative to the body portion.

[FIG. 16] (A) and (B) are explanatory diagrams showing changes in the distribution of the upper and lower fuzzing angles in accordance with the change in the front-rear position of the upper fulcrum with respect to the body.

FIGS. 17 (A) and 17 (B) are explanatory diagrams showing changes in distribution of the upper flapping angle and the lower flapping angle when the vertical positions of the left and right upper fulcrum portions with respect to the body portion are independently changed.

[18] FIG. 18 is an explanatory diagram of a flapping flight apparatus according to a conventional example.

[Fig. 19] (A) is a graph showing the wind speed and aerodynamic force (lift direction) when the flapping motion and the fusing motion are linked. (B) is the wind velocity and aerodynamic force (lift direction) of the flapping motion only. It is a graph which shows the relationship.

[Fig. 20] (A) is a graph showing the wind speed and aerodynamic force (thrust direction) when the flapping motion and the fusing motion are linked. (B) is the wind velocity and aerodynamic force (thrust direction) of the flapping motion only. It is a graph which shows the relationship.

BEST MODE FOR CARRYING OUT THE INVENTION [0016] Next, with reference to the accompanying drawings, embodiments that embody the present invention will be described for understanding of the present invention.

As shown in FIGS. 1 to 5, a flapping flight apparatus 10 according to an embodiment of the present invention includes a body part 11, a backbone material 40 provided immediately above the axis of the body part 11, and a backbone material 40. And a pair of left and right wing bodies 12 and 13 provided on both sides of the wing. These will be described in detail below.

[0017] As shown in Figs. 2 (A), (B) to Fig. 5 (A), (B), the body portion 11 is provided, for example, in parallel with the bottom member 14 and both sides of the bottom member 14. Left and right side members 15 and 16, bottom member 14 and front member 17 provided on the front side of left and right side members 15 and 16, bottom member 14 and rear side member 18 provided on the rear side of left and right side members 15 and 16 Have.

[0018] In the body part 11, a crank member 19 that rotates in a vertical plane extending in the front-rear direction of the body part 11 and a rotation drive source (not shown) of the crank member 19 are mounted. Here, the crank member 19 includes a rotating disk 20a, the rotating shaft 20 of which is attached perpendicularly to the left member 15 via a non-illustrated bearing and arranged in parallel to the left member 15, and a rotating disk 20a. It has a pin 21 attached to the edge in parallel (eccentrically) to the axis of the rotary shaft 20. The rotary shaft 20 is connected to a rotary power shaft of a rotary drive source such as a motor, engine, rubber winding power or the like via a power transmission mechanism (not shown) such as a gear. Further, the lower end portion of the crank rod 22 is rotatably connected to the tip portion of the pin 21. Further, in the middle of the crank rod 22, for example, a mechanical length expansion / contraction mechanism 23 using a screw is provided so that the length of the crank rod 22 can be expanded / contracted. A crank mechanism having a crank member 19 and a crank rod 22 is formed to change the rotational motion into a vertical motion (including a case of moving in the front-rear direction).

As shown in FIG. 6, each of the pair of left and right wing bodies 12 and 13 is linear in the left-right direction with the front end portion of the spine 40 provided just above the axial center of the body portion 11 as a center, for example. Long wing support members 24, 25 extending in the direction of the left and right and left and right wing support members 24, 25 in parallel with each other, and in the lateral direction around the rear end of the spine 40 Side frames 26 and 27, and left and right front wing support members 24 and 25 and left and right rear frames 26 and 27 having left and right connecting frames 28 and 29 for connecting the front ends thereof, respectively. Yes. In addition, the wing bodies 12, 13 are The right wing front support member 24, 25, the left and right rear frames 26, 27, and the left and right connecting frames 28, 29 are provided as a single wing sheet 30. The central portion of the wing sheet 30 is fixed to the backbone 40 and can be bent at the central portion around the backbone 40.

[0020] Here, the base end portions (center side) of the left and right blade front support members 24, 25 are respectively inserted between mounting members 31, 32 arranged in parallel with a gap in the front-rear direction, The left and right pins 33 are pivotally attached to the attachment members 31 and 32 to form a front bending mechanism 34. Similarly, the base end portions (center side) of the left and right rear frames 26, 27 are respectively inserted between mounting members 35, 36 arranged in parallel with a gap in the front-rear direction, and left and right pins The rear bending mechanism 38 is formed by being rotatably attached to the attachment members 35 and 36 by 37. Accordingly, the pair of left and right wing bodies 12 and 13 are connected to each other via the front bending mechanism 34 and the rear bending mechanism 38 so as to be bent. It should be noted that a bent portion 39 is configured having the front bending mechanism 34, the rear bending mechanism 38, and the spine 40, and the inner ends of the wing bodies 12 and 13 are connected to the bent portion 39.

[0021] Further, the front end portion of the backbone 40 is fixed to the upper end portion of the crank rod 22 at a fixed angle (in this embodiment, a right angle), and the front bending mechanism 34 is formed on the upper portion of the crank rod 22 and the rear bending portion. Mechanisms 3 and 8 are respectively connected to the rear ends of the backbone 40.

[0022] Furthermore, upper fulcrum portions 43, 44 provided at the upper end portions of the swing support members 41, 42 are provided at midway positions of the front blade support members 24, 25 of the pair of left and right blade bodies 12, 13, respectively. It is connected. Here, the upper fulcrum portions 43 and 44 are provided in the middle of the blade front support members 24 and 25 as shown in FIGS. 7 and 8A to 8C, for example. And a frame receiving member 45 that is rotatably supported around the axis thereof, and a handle 45a on which the frame receiving member 45 is mounted and grips on both sides.

[0023] The joint 45a includes a base member 45b for placing the frame receiving member 45 and a pair of pin receiving members 46 sandwiching the frame receiving member 45 provided on both sides of the base member 45b and placed on the base member 45b. 47, and the pin receiving members 46, 47 are provided with holes 47b through which the short pin members 47a provided on both sides of the frame receiving member 45 are inserted. Here, the joint 45a is attached to the upper end of the swing support members 41, 42, and the blade support members 24, 25 through which the frame receiving member 45 is inserted are provided with stopper members 47c so as to sandwich the frame receiving member 45. It has been. Accordingly, the upper end portions of the swing support members 41 and 42 can be coupled to the front blade support members 24 and 25 so as to be swingable and rotatable.

Further, as shown in FIGS. 7 and 8, the left and right swing support members 41 and 42 include front oblique members 48 and 4 9 and rear oblique members 50 and 51, respectively, as shown in FIG. Further, lower fulcrum portions 52 and 53 for attaching the lower end portions to the left side member 15 of the body portion 11 are provided at the lower end portions of the front oblique member 48 and the rear oblique member 50 of the left swing support member 41, respectively. Further, lower fulcrum portions 54 and 55 for attaching the lower end portions to the right side member 16 of the body portion 11 are provided at the lower end portions of the front oblique member 49 and the rear oblique member 51 of the right swing support member 42, respectively. Yes.

Here, a frame receiving member 45 is attached to the upper end portions of the front oblique members 48, 49, and portions on both sides of the rear oblique members 50, 51 are provided on the upper end portions of the rear oblique members 50, 51. A cutout portion 54a is formed in the central portion in the center portion, leaving the cutout portion 54a on the upper end side of the front oblique members 48 and 49. A through hole 55a is formed on the upper end side of each of the front oblique members 48 and 49 passing through the notch 54a, and the through hole 55a is formed on each of the protrusions 54b on both sides of the notch 54a. The connecting pin 55b is inserted through the hole 54c. Further, the lower fulcrum portions 52 (54) and 53 (55) are formed at the lower ends of the front diagonal member 48 (49) and the rear diagonal member 50 (51) as shown in FIGS. 9 (A) and (B), for example. And a pair of pin receiving members 57 and 58 that rotatably support both end sides of the pin member 56, a front diagonal member 48 (49) and a rear side. A rotation connecting mechanism 59 is rotatably connected to the lower end portion of the oblique member 50 (51).

[0026] Further, the lower fulcrum portions 52 (54) and 53 (55) support the forward / backward movement mechanism 60 that supports the rotational connection mechanism 59 so as to be movable back and forth with respect to the left side member 15 (right side member 16) of the body portion 11. And a pair that supports both sides of the front-rear moving mechanism 60 so that the front-rear moving mechanism 60 can be moved up and down with respect to the left-side member 15 (right member 16) provided on the left member 15 (right member 16). It has a vertical movement mechanism 60a. Here, for example, a mechanical length expansion / contraction mechanism using a screw can be used for the back-and-forth movement mechanism 60 and the vertical movement mechanism 60a. Furthermore, for example, mechanical length expansion / contraction mechanisms 61 to 64 using screws are provided in the middle of the front side slanting members 48 and 49 and the rear side slanting members 50 and 51, so that the front side slanting member 48 (49) The length of the rear oblique member 50 (51) is adjustable. [0027] With such a configuration, by driving the forward / backward moving mechanism 60 (vertical moving mechanism 60a), the front diagonal member 48 (49) and the rear diagonal member 50 ( 51) can be moved back and forth (up and down) with respect to the body part 11, and the lower end parts of the front slanting member 48 (49) and the rear slanting member 50 (51) can be moved relative to the body part 11. To the left and right.

Here, by operating the forward / backward moving mechanism 60, the rotational connecting mechanism 59 connected to the front oblique member 48 (49) and the rear oblique member 50 (51), respectively, at the same time in substantially the same distance in the same direction. The upper end of the front diagonal member 48 (49) moves back and forth with respect to the body part 11 without changing the height position with respect to the body part 11, and the upper fulcrum part 43 (44) is moved to the body part. It can be moved back and forth with respect to the body part 11 with the height position with respect to 11 constant.

[0028] Further, by operating the forward / backward movement mechanism 60, the rotational connecting mechanism 59 connected to the front oblique member 48 (49) and the rear oblique member 50 (51) is substantially substantially simultaneously moved in the opposite direction. By moving the same distance or operating the vertical movement mechanism 60a, the upper end of the front oblique member 48 (49) can be moved up and down with respect to the body part 11 without changing the front-rear position with respect to the body part 11. Thus, the upper fulcrum part 43 (44) can be moved up and down with respect to the body part 11 with the front-rear position with respect to the body part 11 kept constant. In addition, the front and rear moving mechanism 60 and the vertical moving mechanism 60a are linked to each other so that the front side is connected to the front side diagonal member 48 (49) and the rear side diagonal member 50 (51) via the rotating connection mechanism 59. The upper end of the oblique member 48 (49) is moved back and forth and up and down with respect to the body part 11, and the upper fulcrum part 43 (44) is moved with respect to the body part 11, and more specifically with respect to the axis of the crank member 19. It can be moved back and forth and up and down. When the position of the upper fulcrum portion 43 (44) is moved in the front-rear direction, the position in the front-rear direction of the backbone 40, specifically, the front-rear position with respect to the axis of the crank member 19 changes.

[0029] Next, the operation of the flapping flight apparatus 10 of the present invention will be described.

The position of the lower fulcrum portions 52 to 55 on the left and right members 15 and 16 of the body portion 11 is determined and fixed using the front and rear moving mechanism 60, and the front oblique member 48 and the length extending and contracting mechanisms 61 to 64 are used. When the lengths of 49 and rear oblique members 50 and 51 are determined and fixed, the size of a triangle having two sides of the front oblique members 48 and 49 and the rear oblique members 50 and 51 is determined. As a result, against the body part 11 Thus, the upper and lower and front and rear positions of the upper fulcrum parts 43 and 44 are fixed, and the left and right wing bodies 12 and 13 are fixed to the body part 11 side at the connection positions with the upper fulcrum parts 43 and 44. When the crank member 19 is rotated by driving the rotational drive source, the crank rod 22 connected to the pin 21 repeats the vertical movement, and the backbone 40 fixed to the crank rod 22 is also connected to the shaft of the body portion 11. Swing up and down repeatedly with respect to the parallel line directly above the heart.

[0030] At this time, the left and right wing bodies 12 and 13 are fixed to the body part 11 side at the connection position with the upper fulcrum parts 43 and 44, and therefore the front side bending mechanism 34 constituting the bending part 39 and When the rear bending mechanism 38 moves up and down, the wing bodies 12 and 13 are bent up and down through the central bent portion 39 and repeat the bending and moving operation to realize the flapping motion.

Here, since the rotating disk 20a of the crank member 19 rotates in a vertical plane extending in the front-rear direction of the body part 11, the crank rod 22 moves up and down with respect to the body part 11 when viewed from the front. The vertical movement of the crank rod 22 and the bending motion of the wing bodies 12 and 13 at the bent portion 39 are synchronized. For this reason, the flapping motion of each wing body 12 and 13 is performed symmetrically (without phase difference). As a result, the air above and below the wing bodies 12 and 13 is stably pushed out rearward, and a propulsive force can be generated in the body portion 11 as a reaction force.

[0031] Further, the lower fulcrum portions 52 to 55 are configured such that the lower end portions of the front oblique members 48 and 49 and the rear oblique members 50 and 51 can be rotated to the left and right members 15 and 16 of the body portion 11, respectively. Since the rotating connecting mechanism 59 to be connected is provided, the lower end portions of the front oblique members 48 and 49 and the rear oblique members 50 and 51 can swing left and right with respect to the body portion 11. For this reason, the distance between the upper fulcrum portions 43, 44 connected to the intermediate portions of the blade support members 24, 25 and the front bending mechanism 34 is shown in, for example, FIGS. 2 (B) and 4 (B). Thus, when the blade support members 24 and 25 are in a horizontal state, the swing support members 41 and 42 are adjusted in advance so that the swing support members 41 and 42 are opened vertically or slightly outward from the vertical direction when viewed from the front. It is preferable that the position of the pin 21 is set at the center position in the vertical direction of the rotating disk 20a of the crank member 19. As a result, as shown in Fig. 3 (B), the wing bodies 12, 13 are in the most advanced state, and as shown in Fig. 5 (B), the wing bodies 12, 13 are in the most lowered state. The front oblique members 48 and 49 and the rear oblique members 50 and 51 swing inward so that the upper fulcrum portions 43 and 44 are close to the front bending mechanism 34 side (inner side). As a result, a smooth flapping motion can be realized. In this embodiment, the wing body is launched. “Attached” means the state where the front side of the wing body is raised, and “when the wing body is lowered” means the state where the front part of the wing body is lowered.

As shown in FIGS. 3A and 3B, when the lower end of the crank rod 22 is at the lowest point position with respect to the body part 11, the front bending mechanism 34 and the rear bending mechanism 38 are also used in the body part 11. In contrast, the wing bodies 12 and 13 are bent to the uppermost side via the central bent portion 39, and the wing bodies 12 and 13 are in the most uplifted state. Further, as shown in FIGS. 5A and 5B, when the lower end of the crank rod 22 is at the uppermost position with respect to the body portion 11, the front side bending mechanism 34 and the rear side bending mechanism 38 are also located with respect to the body portion 11. The wing bodies 12 and 13 are bent to the maximum through the central bent portion 39, and the wing bodies 12 and 13 are in the most lowered state. Then, as shown in Fig. 10, the upper flapping angle Θ and the wing bodies 12 and 13 are pushed down most when the wing bodies 12 and 13 are pushed up most. The sum of the lower flapping angles Θ formed by the wing front support members 24 and 25 becomes the total flapping angle Θ, and the total flapping angle d

The propulsive force changes according to the magnitude of Θ.

[0033] As shown in FIGS. 11 (A) and 11 (B), the connecting position between the wing body 12 and the upper fulcrum 43 is also moved to the point Q by moving the point P force to the point Q. When the wing body 12 bends upward at the central bend 39, the upper flapping angle becomes 0 (uP uQ

<θ) and the lower frame uP when the wing body 12 bends downward at the central bend 39.

The wrapping angle can be changed to 0 «Θ), and the total flapping angle Θ can be changed to 0 dP dQ dP uP

+ Θ 0 + Θ

The dP force can also be reduced to uQ dQ. Therefore, the total flapping angle Θ is set by adjusting the connection position of the wing body 12 and the upper fulcrum 43 according to the specifications of the flapping flight apparatus 10 to be produced.

[0034] In the left and right wing bodies 12 and 13, the position of the upper fulcrum portions 43 and 44 of the swing support members 41 and 42 in the front-rear direction with respect to the body portion 11 is fixed. Even when moving, the front-rear position of the front bending mechanism 34 with respect to the body portion 11 is held substantially constant. Therefore, when the lower end portion of the crank rod 22 rotates around the rotary shaft 20 together with the pin 21, as shown in FIG. 12, the upper end portion of the crank rod 22 connected to the front bending mechanism 34 is front and rear with respect to the body portion 11. The position is held constant and the crank rod 22 moves up and down. In this case, the upper end of the crank rod 22 is held constant in the front-rear direction with respect to the body 11! Along with this movement, the front end of the backbone 40 connected at a constant angle repeats the same movement as the upper end of the crank rod 22. FIG. 12 shows an example in which the front end portion of the backbone 40 is not located immediately above the axis of the crank member 19 and the front end of the backbone 40 is located in front of the axis of the crank member 19. ing. As a result, the upper feathering angle φ is larger than the lower feathering angle φ.

d

[0035] Then, when the spine 40 repeatedly swings in conjunction with the vertical movement of the upper end of the crank rod 22, the position of the rear bending mechanism 38 of the bent portion 39 moves up and down with respect to the front bending mechanism 34. Change back and forth. For this reason, it is possible to perform a fusing motion that inclines (twists) the wing bodies 12 and 13 with respect to the advancing direction of the body portion 11 while performing the flapping movement of the wing bodies 12 and 13. Here, the state force when the lower end force crank member 19 of the crank rod 22 is at the uppermost point position of the crank member 19 and the blade bodies 12 and 13 are pushed down most is also the blade with the lower end of the crank rod 22 at the lowermost point position of the crank member 19. When the bodies 12 and 13 are directed to the most advanced state, as shown in FIGS. 2 (A) and 2 (B), the wing bodies 12 and 13 are Tilt so that the front side of 13 is up. The lower end force of the crank rod 22 is the lowest point position of the crank member 19 and the wing bodies 12 and 13 are the most uplifted state force, so that the lower end of the crank rod 22 is at the uppermost position of the crank member 19 and the wing body 12, As shown in FIGS. 4 (A) and 4 (B), the wing bodies 12 and 13 are placed on the front side of the wing bodies 12 and 13 with respect to the traveling direction of the fuselage section 11 as shown in FIGS. Tilt so that is at the bottom. As described above, as shown in FIG. 13, when the wing bodies 12 and 13 are lowered, it is possible to efficiently obtain the lift force as the reaction force of the lowering together with the propulsive force. Sometimes, the downward force can be reduced as the reaction force of the launch along with the propulsion force. As a result, the flapping flight apparatus 10 can fly. The relationship between the lift force and the downward force varies depending on whether the position of the front end portion of the backbone 40 is on the front side or the rear side with respect to the axis of the crank member 19. Therefore, the position of the front end portion of the spine 40 can be adjusted by changing the positions and lengths of the rear oblique members 50 and 51 and the front oblique members 48 and 49 attached to the trunk portion 11.

[0036] Then, as shown in FIG. 12, the lower feathering angle φ that the spine 40 becomes horizontal with the wing bodies 12 and 13 tilted most with the front side up, and the wing bodies 12 and 13 with the front side down. Most inclined state d

The sum of the upper feathering angle φ, which is the level of the backbone 40, becomes the total feathering angle φ, Ud by the size of the Zaring angle Φ and the distribution of the upper and lower feathering angles φ and φ

, Lift and downward force can be changed. Therefore, depending on the flight performance of the flapping flight device 10 to be manufactured, the size of the total feathering angle Φ and the upper feathering angle

Determine the distribution of Φ and lower fusing angle φ. This distribution is the front end u d of the backbone 40

It depends on the position of the front / rear direction and the length of the crank rod 22. The position of the front end portion of the spine 40 can be adjusted by the front diagonal members 48 and 49 and the rear diagonal members 50 and 51.

[0037] As shown in FIGS. 14 (A) and 14 (B), when the length extension mechanism 23 is driven to increase the length of the crank rod 22 and the front bending mechanism 34 is also set to the D point force. The upper feathering angle that the spine 40 is horizontal with the wings 12 and 13 tilted down most is changed from u to u «φ, and the spine with the wings 12 and 13 tilted up most The lower feathering angle that the material 40 is horizontal can be changed to φ force and φ «), and the total feathering angle Φ can be changed to φ + dD dE dD uD

Φ to Φ + Φ

dD dE can be reduced to dE. Therefore, the expansion / contraction range of the crank rod 22 is determined according to the flight performance of the flapping flight apparatus 10 to be manufactured, and the total fusing angle Φ is set.

[0038] Here, without changing the positions of the lower fulcrum portions 52 to 55, the length extending and contracting mechanisms 61 to 64 provided on the front oblique members 48 and 49 and the rear oblique members 50 and 51 are driven in conjunction with each other. When the lengths of the front diagonal members 48 and 49 and the rear diagonal members 50 and 51 are expanded and contracted, for example, as shown in FIGS. 15A and 15B, the height of the upper fulcrum portion 43 relative to the body portion 11 When the position is lowered from point R to point S, the total flapping angle Θ is kept constant, the upper flapping angle is 0 force and 0 «uR uS θ), and the lower flapping angle is 0 force and 0 force (> Θ ) To change the upper flap uR dR dS dR

The distribution of the corner angle and the lower flapping angle can be changed.

On the other hand, when the front and rear moving mechanisms 60 are driven to change the positions of the lower fulcrum portions 52 to 55 without changing the lengths of the front oblique members 48 and 49 and the rear oblique members 50 and 51, FIG. As shown in (A) and (B), the upper fulcrum parts 43 and 44 can be moved forward relative to the body part 11, the total feathering angle Φ is kept constant, and the upper feathering angle is changed from Φ. φ (>), lower featherin uF uG uF

Change the distribution of the upper and lower feathering angles from Φ to φ «φ) dF dG dF

You can make it. As a result, the propulsive force and lift force can be changed during flight by adjusting the distribution of the upper and lower flapping angles and the distribution of the upper and lower feathering angles. For example, the ascending angle and the descending angle of the flapping flight apparatus 10 can be adjusted.

[0040] Further, during flight, for example, by a remote control device, the length extension / contraction mechanisms 61 and 63 provided on the front oblique member 48 and the rear oblique member 50, the front oblique member 49, and the rear oblique member are provided. By independently driving the length expansion and contraction mechanisms 62 and 64 provided in 51, the lengths of the front diagonal members 48 and 49 and the rear diagonal members 50 and 51 can be expanded and contracted independently. For example, as shown in FIGS. 17A and 17B, the height of the upper fulcrum 43 connected to the left wing 12 with respect to the body 11 is set to the upper fulcrum 44 connected to the right wing 13. It can be made higher than the height position with respect to the body part 11.

As a result, the upper flapping angle Θ of the wing body 12 is made ul2 ul3 larger than the upper flapping angle Θ of the wing body 13, and the lower flapping angle Θ of the wing body 12 is made smaller than the lower flapping angle Θ of the wing body 13. Can be small dl2 dl3. As a result, the magnitude and direction of the aerodynamic force applied to the wing body 12 and the magnitude and direction of the aerodynamic force applied to the wing body 13 can be changed separately, and transition to straight flight power and swirl flight without using the tail wing It becomes possible to do.

[0041] Further, when the operation of the rotary drive source is stopped to stop the flapping motion and the feathering motion of the left and right wing bodies 12, 13, and the flapping flight device 10 performs inertial flight, for example, The height of the upper fulcrum 43 (44) with respect to the body 11 is fixed by operating the front / rear drive mechanism 60 by the remote control device and simultaneously moving the pivot coupling mechanism 59 by the same distance in the same direction. When the body 11 is moved back and forth, the angle of attack of the left and right wings 12 and 13 can be changed, and the vector of the aerodynamic force acting on the wings 12 and 13 can be changed to fly up or You can transition to descending flight. In addition, the pivot coupling mechanism 59 is simultaneously moved in the opposite direction by substantially the same distance to move the upper fulcrum portion 43 (44) up and down with respect to the body portion 11 with the front-rear position with respect to the body portion 11 being constant. However, the angle of attack of the left and right wing bodies 12 and 13 is changed by moving the pivot coupling mechanism 59 independently and moving the upper fulcrum 43 (44) back and forth and up and down with respect to the body 11. You can also

[0042] Further, when the flapping motion and the feathering motion of the left and right wing bodies 12 and 13 are stopped by stopping the operation of the rotary drive source and the flapping flight device 10 performs inertial flight, Either or both of the front and rear drive mechanism 60 and the vertical movement mechanism 60a of the swing support members 41 and 42 are independently operated to move the body portions 11 of the left and right upper fulcrum portions 43 and 44. The vertical position or the vertical and vertical positions relative to the body part 11 should be different. As a result, the angle of attack between the left and right wing bodies 12 and 13 is different, and the vector of the aerodynamic force acting on the left and right wing bodies 12 and 13 is also different.

Experimental example

Next, with reference to FIGS. 19 and 20, an experiment for confirming the action and effect when the feathering motion is added to the flapping motion will be described.

Figure 19 (A) is a graph showing the wind speed and aerodynamic force (lift direction) when the flapping motion and the fusing motion are linked, and (B) is the relationship between the wind speed and aerodynamic force (lift direction) of the flapping motion only. It is a graph which shows. In the case of flapping motion only, even if the wind speed (horizontal axis) is increased, if the elevation angle is not increased, positive lift will not occur, but if linked to the fusing motion, positive lift will be generated at almost any elevation angle. .

[0044] Fig. 20 (A) is a graph showing the wind speed and aerodynamic force (thrust direction) when the flapping motion and the fusing motion are linked, and (B) is the wind velocity and aerodynamic force (thrust direction) of the flapping motion only. ) Is a graph showing the relationship. As the wind speed (horizontal axis) is increased, the resistance increases, so if only the flapping motion is used, the thrust will be negative.However, if the flapping motion and the feathering motion are linked together, even if the wind speed is increased, the thrust will be almost positive. Generate thrust!

[0045] As described above, the power of explaining the embodiment of the present invention The present invention is not limited to this embodiment, and can be changed without changing the gist of the invention. The case where the flapping flight apparatus of the present invention is configured by combining a part or all of the modified examples is also included in the scope of the right of the present invention.

For example, the flapping flight device of the present invention does not have a tail, but a tail can be attached. By attaching the tail wing, it is possible to prevent the fuselage from shaking due to the reaction force when the left and right wings are flapping, and stable flight can be performed. In addition, even if the wings do not flutter during flight, by changing the vertical and front / rear positions of the upper fulcrum body connected to the left and right wings, it is possible to fly up and down from straight flight. It is possible to shift to 1 between flying and turning flight.

The crank rod 22, the backbone 40, the wing front support members 24 and 25, the rear frames 26 and 27, and the swing support members 41 and 42 are connected rotatably using pins or shafts. , Elastic part It is also possible to use a material or a member that can be bent repeatedly and can be connected so that it can rotate or bend repeatedly.

[0046] Further, during flight, the positions of the lower fulcrum portions are independently changed while the lengths of the front and rear oblique members are independently expanded and contracted, so that the flapping angles of the left and right wing bodies and It is also possible to change the aerodynamic vector acting on the flapping flight system by simultaneously changing the feathering angle independently.

Industrial applicability

[0047] The industrial fields of the flapping flight apparatus according to the present invention include the following fields.

(1) Toys such as model airplanes

With a single rotational power source, a simple mechanism realizes the flapping and feathering movements of the left and right wings, so it is possible to provide a kite toy that is low in cost and has few failures.

(2) Disaster relief robot field

By adopting radio control and mounting an imaging device (for example, a CCD camera or an infrared camera), it arrives quickly in a narrow or dangerous place that is not easily accessible by humans, such as in a partially collapsed building. This makes it possible to quickly find out the status of disasters and save lives when a disaster occurs.

(3) Atmospheric exploration robot field

For example, if the wind is observed around the airport, it can detect microbursts that endanger the aircraft during take-off and landing, and it is equipped with an atmospheric analyzer to fly over the crater of the volcano. By doing so, it can contribute to understanding eruption activities, and of course, it can also be used to observe greenhouse gases (such as carbon dioxide and carbon dioxide) and air pollution. In addition, if a data transmission device is installed and the planetary explorer power is released to fly through the planetary atmosphere, a wider range of observations will be possible compared to the conventional parachute descent.

Claims

The scope of the claims

[1] (1) The body part,

(2) Rotation driven by a rotation drive source, the rotation axis of which is disposed in the body part with the rotation axis facing in the left-right direction, and connected to the crank member to move back and forth and move up and down A crank mechanism having a crank rod;

(3) a spine that is directly above the axis of the body part, and whose front end is connected to the upper end of the crank rod at a constant angle;

(4) The left and right wing front support members whose inner end portions are rotatably connected to the front end portion of the spine material, and are stretched between the left and right wing front support materials around the spine material and the center. A pair of left and right wing bodies having a wing sheet that is fixed to the backbone material and can be bent at a portion;

(5) left and right swing support members attached to the body portion so as to be swingable and supporting intermediate portions of the left and right wing front support members,

The crank rod is moved up and down by the rotation of the crank member, and a flapping motion for moving the paired wings up and down and a fuzzing motion for twisting the paired wings are given simultaneously. Flapping flight device characterized by.

[2] In the flapping flight apparatus according to claim 1, the crank member has a rotating disk and a pin provided around the rotating disk, and a lower end portion of the crank rod is freely rotatable on the pin. A flapping flight device characterized by being connected to the wing.

[3] In the flapping flight apparatus according to any one of claims 1 and 2, the left and right swing support members are front diagonal members whose lower end portions are connected to the body portion, respectively. A flapping flight apparatus comprising a slanted member on the rear side.

[4] In the flapping flight apparatus according to claim 3, one or both of the front oblique member and the rear oblique member are attached to the body portion so as to be adjustable in the longitudinal direction.

V Flapping flight device characterized by slamming.

[5] In the flapping flight apparatus according to any one of claims 3 and 4, wherein either one or both of the front side slanting member and the rear side slanting member is adjusted up and down. A flapping flight device characterized by being attached to the fuselage as possible.

[6] In the flapping flight apparatus according to claim 3 in any one of claims 3 to 5,! One or both of the displacement of the member and the rear oblique member can be expanded and contracted, and the flapping flight apparatus is characterized in that

[7] The flapping flight apparatus according to any one of claims 1 to 6, wherein the crank mouth is adjustable in expansion and contraction.

[8] The flapping flight apparatus according to any one of claims 1 to 7, wherein the flapping flight apparatus has rubber winding power, a motor, or an engine as a rotational drive source of the crank member. .