WO2007032269A1

WO2007032269A1 - Levitation movement device, ultrasonic vibrator used for the device, and method of regulating vibration characteristics of the vibrator

Info

Publication number: WO2007032269A1
Application number: PCT/JP2006/317839
Authority: WO
Inventors: Masaki Hamamoto; Teruhisa Kotani
Original assignee: Sharp Kabushiki Kaisha
Priority date: 2005-09-15
Filing date: 2006-09-08
Publication date: 2007-03-22

Abstract

A levitation movement device has a blade (110) attached to a body and having a front edge. The blade (110) is reciprocated in front-rear directions by an actuator and is twisted about the front edge for a predetermined time period between before and after the direction of movement of the reciprocating motion is reversed. Further, energy storage/supply mechanism (311) provided at the levitation movement device stores energy when torque required by the actuator for the reciprocating motion is smaller than a predetermined value, and supplies energy to the actuator when torque required by the actuator for the reciprocating motion is greater than the predetermined value. The peak of torque required by the actuator for flapping motion is reduced.

Description

Specification

Levitation movement device, ultrasonic vibrator that can be used for the same, and method for adjusting vibration characteristics of the ultrasonic vibrator

Technical field

The present invention relates to a rising and moving apparatus that uses flapping flight for movement, and particularly relates to a method of supplying energy from the actuator to a blade part. The present invention also relates to an ultrasonic transducer that can be used in the rising and moving apparatus and a method for adjusting the vibration characteristics of the ultrasonic transducer.

Background art

[0002] A flapping robot is superior in maneuverability in comparison with conventional fixed wing aircraft and helicopters. In recent years, therefore, research aimed at the engineering realization of flapping robots has become active.

[0003] Ron Fearing et al. At the University of Califoronore, Norkeley proposed a small flapping flying robot called the Micromechanical Flying Insert and described its configuration in the paper "Wing Transmission for a Micromechanical Flying Insect". The way of flapping the flapping flight robot is disclosed in the paper “Wing Rotation and the Aerodynamic Basis of Insect Flight” by Dickinson et al. According to it, three principles are used: prevention of stall delay, generation of rotational lift, and wake capture. Non-Patent Document 1: Wmg Transmission for a Micromecnanical Flymg Insect, R.S.

Fearing, K.H.Chiang, M.H.Dickinson, D.L.Pick, M.Sitti, and J. Yan, I EEE Int. Conf. Robotics and Automation, April, 2000.

Non-Special Terms 2: "Wing Rotation and the Aerodynamic Basis of Insect Flight", Michael H. Dickinson, Fritz-Olaf Lehmann, Sanjay P. Sane, Science, vol. 2 84, no.5422, 18 June 1999.

Disclosure of the invention

Problems to be solved by the invention

[0004] In flapping flight, the wings (for example, the wings of insects) should be Therefore, it is necessary to reverse the direction of movement of the blades by 180 °. For this reason, a rising and moving device that performs such flapping flight (hereinafter also referred to as a “flapping and floating moving device”) is compared with a helicopter that can obtain the same levitation force. A large torque is required for 180 ° reversal of direction). As a result, the peak of torque required for the actuator and the peak of energy required for the drive energy source that supplies energy to the actuator become large. Therefore, the size of the actuator and the driving energy source is increased. This increases the overall weight of the rising and moving device. For this reason, there is a problem that performance such as mobility required for the rising and moving apparatus is deteriorated. In the following, the above problem will be explained concretely.

FIG. 43 shows a time history of torque required for an actuator to drive a blade portion of a conventional flapping flying device, and a rotating blade that generates a floating force that is the same as the flying force of the flapping flying device. 2 is a graph schematically showing a time history of torque necessary for rotating a rotor blade (hereinafter referred to as a rotor) of a rising and moving apparatus (hereinafter referred to as a helicopter) having a vortex. As shown in Fig. 44, the flapping movement of the flapping and floating movement apparatus described in this section is a reciprocating motion that is repeated at a frequency of 25 Hz, and consists of two types of motion. One is a reciprocating rotational motion in the front-rear direction with a constant angular velocity, and the other is a sine wave motion in which the sign of the angular velocity is reversed when the blades are switched back and forth. Also, in the graph of angular velocity in FIG. 44, the line indicating the sine wave motion smoothly connects the straight lines indicating the reciprocating motion. It should be noted that the rising and moving apparatus of the embodiment described later performs flapping as shown in FIG. 43 and FIG.

[0006] In actuality, during flapping flight, the blade part performs a twisting motion with the longitudinal direction of the blade part as the rotation axis at each of both ends of the rotational reciprocation in the front-rear direction. However, the torque required for the actuator to twist the blade is negligibly small compared to the torque required for the reciprocating motion of the blade in the longitudinal direction shown in Fig. 43. Therefore, for convenience of explanation, the torque required for the actuator for the twisting motion of the blade is not considered in the following explanation.

[0007] Based on the above assumptions, there is a demand for an actuator in a flapping flying device. Let us consider the torque. As shown in Fig. 43, the torque required for the actuator in the flapping and floating movement device is equivalent to the torque required for the rotor blade in the helicopter during most of the reciprocating motion. However, in the flapping flying device, the torque force required of the actuator at the timing of changing the movement of the blade from launch to launch or from launch to launch is required for the rotating blades of the helicopter About twice as much torque. In addition, at this timing, the power consumed by the actuator also increases rapidly in the same manner as the tonoleque required for the actuator.

[0008] In general, in the comparison of two actuators having the same configuration, the mass of the actuator that generates a relatively large torque is larger than the mass of the actuator that generates a relatively small torque. ,. In addition, two driving energy sources having the same configuration, for example, a driving energy source that can supply a relatively large power in comparison with two batteries, are compared with a driving energy source that supplies a relatively small power. do it

, Have a larger mass.

[0009] In short, the conventional flapping rising and moving apparatus has a larger mass than the helicopter that generates the same levitating force in order to cope with the torque and power increase in a short time as shown in FIG. And need a drive energy source. As a result, the acceleration generated in the rising and moving apparatus is reduced. Therefore, the mobility of the rising and moving device must be reduced.

[0010] In other words, the conventional rising and moving apparatus requires a very large actuator and a driving energy source in order to output a large torque and power required in a short period of time when the blade part is turned back. As a result, mobility is impaired.

[0011] The present invention has been made in view of the above-described problems, and its purpose is to reduce the size of the actuator and the drive energy source by reducing the large torque and power required when the blades are turned back. Therefore, it is to provide a rising and moving apparatus having high mobility.

Another object of the present invention is to provide an ultrasonic transducer that can be used in a rising and moving apparatus and a method for adjusting the vibration characteristics thereof.

Means for solving the problem [0013] A rising and moving apparatus according to one aspect of the present invention includes a blade portion having a front edge portion attached to a main body, a reciprocating motion of the blade portion in the front-rear direction, and before the reversal of the movement direction in the reciprocating motion. And an actuator for twisting the blade portion around the front edge portion in a predetermined period thereafter. The device also stores energy when the torque required for the actuator for reciprocation is less than a predetermined value, and for the actuator when the torque required for the actuator for reciprocation is greater than a specific value. Energy is provided. Energy storage and provision mechanism is provided.

[0014] According to the above configuration, it is possible to smooth the Tonlek time history required for the actuator for the reciprocating motion. Therefore, since the peak of the required torque is reduced, the weight of the actuator and the drive energy source can be reduced.

[0015] Note that the rising and moving apparatus may have a means for detecting torque or may not have a means for detecting torque. If the rising and moving device does not have a means for detecting torque, the energy storage and supply mechanism is not provided in the rising and moving device, and the energy is preliminarily determined according to the torque required for the actuator. The timing for accumulating energy and the timing for supplying energy are determined. In addition, the energy storage and supply mechanism, when the required torque is smaller than the predetermined value, if there are multiple periods in which the required torque is not necessarily stored, and the required torque is smaller than the predetermined value. What is necessary is just to accumulate energy in at least any one of a plurality of periods. In addition, the energy storage and supply mechanism, when the above-mentioned required torque is greater than a specific value, may have multiple periods when the required torque that does not necessarily provide energy is greater than the specific value. At least during this period, energy should be provided so as to reduce the peak of the required torque.

[0016] The reciprocating motion described above includes a motion with a constant angular velocity and a motion for reversing the motion direction, which is performed continuously following the motion and changes the angular velocity, and stores energy. The mechanism accumulates the energy of the actuator in the first half of the movement for reversing the direction of movement, and gives the energy to the actuator in the second half of the movement for reversing the direction of movement.

[0017] In the first half of the movement for reversal of the movement direction, Since the inertial force of the fluid acts on the blade portion, the above-mentioned required torque is small. On the other hand, in the latter half of the movement for reversing the movement direction, the required torque is large because the blade part needs to move against the inertial force. Therefore, as described above, it is most effective if the energy of the actuator is accumulated in the first half of the movement for reversing the movement direction and the energy accumulated in the second half of the movement for reversing the movement direction is given to the actuator. In particular, it is possible to smooth the Tonlek time history required for flapping motion.

[0018] Further, the energy storage / supply mechanism has a chargeable / dischargeable battery, stores the energy of the actuator as electric power in the battery, and supplies the energy to the actuator using the electric power stored in the battery. Yo! According to this, energy can be stored and donated as needed.

[0019] Further, the energy storage / donating mechanism may store the energy of the actuator by elastic deformation of the substance, and give the energy to the actuator by the restoring force of the substance. According to this, it is possible to store and supply energy without providing any special control by simply providing a material that is elastically deformed in advance at an appropriate position.

[0020] If the substance is a solid, the structure of the energy storage and supply mechanism can be simplified as compared with the case where energy is stored and supplied using liquid or gas.

[0021] If the energy storage and delivery mechanism stores and delivers kinetic energy by compression and expansion of the gas in a sealed container, the gas is lighter than liquids and solids. Energy storage · The weight of the donation mechanism can be reduced.

[0022] Further, if the energy storage and supply mechanism stores and supplies kinetic energy by the phase change of gas in a sealed container, the amount of stored energy and the amount of supply per unit volume increase. Therefore, it is possible to reduce the size of the energy storage and supply mechanism.

[0023] Further, the above-described reciprocating motion includes a motion having a constant angular velocity and a motion for reversing the motion direction in which the angular velocity changes and is continuously performed. If the actuator contacts the actuator only during the reversal motion period, the time history of the required torque can be smoothed without reducing the efficiency of the reciprocating motion. Ability to do S.

[0024] Further, if the aforementioned substance is provided in the actuator, an energy storage / donation mechanism having a simple structure can be realized.

[0025] Further, the above-described reciprocating motion is performed continuously with a motion having a constant angular velocity and this motion.

The actuator has a structure that elastically deforms the substance in each of the motion periods for reversal of the motion direction at both ends of the reciprocating motion. It is desirable that According to this, energy storage and supply can be realized only by the above-described elastically deformable substance, so that the energy storage and supply mechanism can be reduced in weight.

[0026] Further, if the above-described substance includes a string-like elastic body that is slackened at the center position of the reciprocating motion of the blade shaft, the energy storage / donating mechanism can be reduced in weight.

[0027] Further, if the above-mentioned substance is elastically deformed in a period until the required torque reaches the maximum value, the time history of the required torque can be smoothed without reducing the efficiency of the reciprocating motion. Can be realized.

[0028] If the spring constant of the substance is the maximum required torque divided by the amount of deformation of the substance when the torque reaches the maximum, the panel constant of the elastically deformable substance is set to an optimum value. Ability to do S.

[0029] Further, the rising and moving apparatus of the present invention includes a back-and-forth reciprocating motion rotor that causes the blade portion to reciprocate in the front-rear direction, and a torsional motion rotor for twisting the blade portion around the front edge portion. The energy storage and supply mechanism may store the energy of the back-and-forth reciprocating rotor and supply the energy to the back-and-forth reciprocating rotor.

[0030] According to this, the peak of the torque required for the actuator for the reciprocating motion is larger than the torque required for the actuator for the torsional motion, so that energy is efficiently stored and supplied. can do.

[0031] A rising and moving apparatus according to another aspect of the present invention includes a blade portion having a front edge portion attached to a main body, reciprocating the blade portion in the front-rear direction, and before reversing the movement direction in the reciprocating motion. And an actuator for twisting the blade portion around the front edge portion in a predetermined period thereafter. The device is also used to drive the actuator in reciprocating motion. Energy storage that provides energy when the required energy is smaller than a predetermined value, and gives energy to the actuator when the energy required for driving the actuator during reciprocation is greater than a specific value. Has

[0032] According to the above configuration, the time history of energy required for driving the actuator can be smoothed. Therefore, it is possible to reduce the size of the actuator and the drive energy source.

[0033] Note that the rising and moving apparatus may have means for detecting energy, or may not have means for detecting energy. When the rising and moving device does not have a means for detecting energy, an energy storage and supply mechanism is provided in the rising and moving device, so that it is required for driving the actuator. Depending on the energy to be stored, the timing for storing energy and the timing for supplying energy are determined in advance. In addition, when the above required energy is smaller than a predetermined value, the energy storage and supply mechanism does not necessarily store energy, but there are multiple periods where the required energy is smaller than the predetermined value. Any material that accumulates energy in at least one of a plurality of periods may be used. In addition, the energy storage and supply mechanism does not necessarily provide energy to the actuator when the required energy is greater than a specific value. If there are multiple periods in which the required energy is greater than the specific value, It suffices to provide energy to the actuator so as to reduce the peak of the required energy during at least one of the plurality of periods.

[0034] In addition, the actuator is a rotor that reciprocates the blades in the front-rear direction in relation to the rising and moving apparatus of another aspect, and a first rotor that reciprocates with a relatively small amplitude; And a second mouth that reciprocates with a relatively large amplitude in a direction substantially parallel to the first rotor. In this case, the apparatus further includes a control unit that controls the degree of twisting of the blades according to the difference between the phase of the first rotor and the phase of the second rotor, and the energy storage / delivery mechanism is It is desirable to store the energy of the rotor and give the energy to the first rotor. According to this, similarly to the above, the energy peak required for the actuator for the reciprocating motion of the blade shaft in the front-rear direction is the energy peak required for the actuator for the twisting motion. Because it is relatively large, the energy storage and donation mechanism can efficiently store and donate energy.

[0036] In addition, the actuator is a rotor that reciprocates the front edge part in the front-rear direction in relation to the rising and moving apparatus of another aspect, and is connected to the front edge part and reciprocates at a fixed amplitude. The first rotor and a second port that reciprocates with a variable amplitude in a direction substantially parallel to the first rotor may be provided. In this case, the rising and moving apparatus further includes a control unit that controls the degree of twist of the blade portion by controlling the difference between the phase of the first rotor and the phase of the second rotor, and the energy storage and donating mechanism It is desirable to store the energy of one rotor and give the energy to the first rotor.

[0037] According to the above configuration, the amplitude of the first rotor for driving the leading edge portion that requires a larger torque is fixed. Therefore, energy (torque) smoothing can be easily realized by the method described later. In addition, since the phase difference between the first rotor and the second rotor can be set arbitrarily, the two-degree-of-freedom control of the blade portion can be realized while achieving the above torque smoothing. In other words, it is possible to realize both various controls of the rising and moving device and smoothing of energy (torque).

[0038] Further, the energy storage / donating mechanism may accumulate the kinetic energy generated by the movement of the actuator and supply the kinetic energy to the actuator. According to this, regardless of the manner in which the activator moves, the energy storage and supply mechanism can store the energy of the activator and supply it to the activator. Therefore, it is possible to realize both various controls and energy peak reduction.

[0039] Further, the actuator may include a rotor, and the predetermined part of the energy storage and supply mechanism may move so as to draw an arc-shaped locus around the rotation center axis common to the rotor rotation axis. . According to this, the degree of change in the relative positional relationship between the energy storage / donating mechanism and other parts due to the rotation of the rotor can be minimized.

[0040] Energy storage · The donating mechanism includes a plate panel, and the fixed end of the plate panel is rotating the rotor. It may be positioned near the mandrel. According to this, it is possible to easily realize both the accumulation and supply of energy and the movement for drawing the locus of the arc.

[0041] A rising and moving apparatus according to another aspect of the present invention is attached to a main body, and a blade portion that realizes a flapping motion by reciprocating motion, an actuator that operates the blade portion, and a flapping motion on the blade portion. And a controller that controls the actuator based on the plurality of types of data. Each of the multiple types of data can specify the movement of the blade part in one cycle of reciprocating movement, and cause the blade part to perform a common movement in a predetermined period of one cycle of the reciprocating movement. During this period, the blades are caused to move differently from the movement specified by the other data among the multiple types of data. The control unit determines that the actuator is identified by the other data among the multiple types of data from the control that causes the blade to perform the movement specified by the data of one of the multiple types of data during the predetermined period. Switch to control that causes the blades to move.

[0042] According to the above configuration, it is possible to change the flapping motion without causing a discontinuous change in the motion of the blade portion.

[0043] Further, the period other than the predetermined period may be two specific periods in one cycle of the reciprocating motion. According to this, one blade part changes sequentially into a maximum of 4 types during one cycle of reciprocating motion. Therefore, the variation of flapping motion becomes abundant

[0044] Further, the two specific periods may be shifted by 1Z2 cycles from each other. According to this, one specific period and another specific period are repeated with the largest interval. Therefore, the effect of the airflow generated by the flapping motion in one specific period on the airflow generated by the flapping motion in the other specific period is the smallest.

[0045] Further, it is desirable that one and the other of the two specific periods include a timing at which the blade portion is positioned at one end of the reciprocating motion and a timing at which the blade portion is positioned at the other end of the reciprocating motion, respectively. According to this, the position of the blade part in one specific period is farthest from the position of the blade part in another specific period. For this reason, the airflow generated due to the flapping motion in one specific period occurs in the flapping motion in the other specific period. Therefore, the effect on the airflow generated is minimized.

[0046] In addition, one directional component of the fluid force generated by the movement in one of the two specific periods, and one directional component of the fluid force generated by the movement in the other of the two specific periods Is offset. According to this, the mode of change in the posture of the rising and moving apparatus due to the change of the flapping motion is simplified. As a result, control for bringing the rising and moving apparatus into a desired posture is facilitated.

[0047] In addition, the control unit executes control for twisting the blade part around the front edge part at each of both ends of the reciprocating motion, and the actuator uses the front edge part for the two specific periods, respectively. It is desirable to include the timing of twisting around. According to this, the fluid force can be generated in the horizontal direction by changing the timing of twisting the blade portion.

[0048] Further, the plurality of data includes data for hovering, and the flapping motion specified by the data for hovering is in the front-rear direction which is mirror-symmetrical with respect to a plane including the vertical direction and the horizontal direction on the blade axis. The control unit is based on the basic data for moving the blade from the center position of the reciprocating motion in the front-rear direction to one end of the reciprocating motion in the front-rear direction and the center position of the reciprocating motion in the front-rear direction. It is desirable to include an arithmetic processing unit for converting basic data so that the blade part is moved to the other end of the reciprocating motion in the front-rear direction. According to this, the control unit can have a force S for causing the blade unit to perform a desired flapping motion only by having data for a period of 1/2 of one cycle of the flapping motion. Therefore, the memory capacity for storing data in the control unit can be reduced. As a result, the rising and moving apparatus can be reduced in size and weight.

[0049] The method for adjusting the vibration characteristics of an ultrasonic transducer according to the present invention adjusts the vibration properties of an ultrasonic transducer that drives a driven body by combining a plurality of types of vibration. Each of the types of vibrations has a vibration node having an amplitude of substantially zero. In this method, the operator who adjusts the vibration characteristics of the ultrasonic vibrator is at or near the position of at least one vibration node of the plurality of types of vibration nodes and other vibrations. The physical quantity of the structure is changed at a position other than the position of the knot or its neighboring position. As a result, the characteristic of vibration having no vibration node at the position where the physical quantity is changed is adjusted. [0050] In general, in the manufacture of a product using an ultrasonic vibrator, an error in the shape of a piezoelectric element, a diaphragm, or an electrode, a bonding error between the piezoelectric element, the diaphragm, and the electrode, and an ultrasonic wave An error in assembling the vibrator into the final product will occur. For this reason, at least one resonance frequency of the vibration frequencies necessary for driving the driven body is different from the design value. As a result, there arises a problem that the resonance frequencies of all vibrations necessary for driving the driven body do not substantially coincide. In this case, according to the above method, it is possible to adjust other vibration characteristics without changing the vibration characteristics of one of a plurality of types of vibrations necessary for driving the driven body. Therefore, it is easier to make the resonance frequencies of all the vibrations necessary for driving the driven body substantially coincide with each other as compared with the conventional method.

[0051] It should be noted that the physical quantity of the structure includes at least one of mass, rigidity, shape, and internal stress, but any structure can be used as long as the vibration characteristics can be adjusted. Also good. Further, the position in the vicinity of the vibration node may be any position as long as it includes the position adjacent to the vibration node and can adjust the vibration characteristics substantially easily. For example, the position in the vicinity of the vibration node includes a peripheral region surrounding the vibration node when the vibration node is represented by a point when seen in a plan view.

[0052] By changing the physical quantity in the protruding portion as the structure at the position of the vibration node, even if the vibration characteristic is adjusted without having the vibration node at or near the position where the physical quantity is changed. Good. According to this method, the vibration characteristic can be adjusted by changing the physical quantity of the protruding portion. Therefore, compared with the method of adjusting the vibration characteristic by changing the physical quantity of another structure, the vibration characteristic is improved. Adjustment is easy.

[0053] Further, by grinding the protruding portion, the vibration characteristic without the vibration node at or near the position of the protruding portion may be adjusted. According to this method, the vibration characteristics can be adjusted by an extremely simple operation of grinding the protrusion.

[0054] Further, by the heat treatment of the protruding portion, the vibration characteristic having no vibration node at the position of the protruding portion or a position in the vicinity thereof may be adjusted. According to this method, it is possible to adjust the vibration characteristics without changing the shape of the protrusion.

[0055] Further, by adding a predetermined member to the protruding portion, the position of the protruding portion or a position in the vicinity thereof The vibration characteristics having no vibration node may be adjusted. This method also facilitates vibration characteristics having no vibration node at the position of the protrusion or the vicinity thereof without changing the vibration characteristic having the vibration node at the position of the protrusion or the vicinity thereof. It is possible to adjust to S.

[0056] Further, by providing a recess at or near the position of at least one vibration node among the plurality of types of vibration nodes, vibration is generated at a position where the recess is provided or a position near the position. The characteristic of the vibration having no nodes may be adjusted. According to this method, the vibration characteristic having no vibration node at the position of the recess or the vicinity thereof is changed without changing the vibration characteristic having the vibration node at the position of the recess or the vicinity thereof. Easy to adjust.

[0057] Further, the plurality of types of vibrations may include stretching vibrations and bending vibrations, and the vibration characteristics of any one of the stretching vibrations and the bending vibrations may be adjusted. According to this, it is possible to easily adjust the vibration characteristics of a general ultrasonic vibrator that vibrates elliptically.

[0058] Further, the characteristic of flexural vibration without adjusting the characteristic of stretching vibration may be adjusted. According to this, the vibration characteristics can be easily adjusted as compared with the method of adjusting the vibration characteristics of the stretching vibration without adjusting the vibration characteristics of the bending vibration.

[0059] In addition, the protrusion may function as a support protrusion for supporting the ultrasonic transducer. According to this method, it is not necessary to provide a support protrusion separately from the protrusion for adjusting the vibration characteristics. Therefore, the vibration characteristics of the ultrasonic vibrator can be easily adjusted as the number of parts increases.

[0060] The ultrasonic transducer of the present invention drives a driven body by combining a plurality of types of vibrations. Each of the types of vibrations has a vibration node whose amplitude is substantially zero. A vibration characteristic adjusting unit is provided at or near the position of at least one of the vibration nodes of the plurality of types of vibration and at a position other than the position of the other vibration node or its vicinity. .

[0061] According to this structure, by changing the physical quantity of the structure of the vibration characteristic adjusting unit, the vibration characteristic adjustment without changing the characteristic of the vibration having the vibration node at the position of the vibration characteristic adjusting unit or in the vicinity thereof. Against vibrations that do not have vibration nodes at or near The vibration characteristics can be changed. As a result, it becomes easier to make the resonance frequencies of all vibrations necessary for driving the driven body substantially the same as in the conventional structure.

[0062] If the vibration characteristic adjustment unit described above has a protrusion, the vibration characteristic adjustment unit or the vibration characteristic adjustment unit can be changed by changing at least one of the shape, rigidity, mass, and internal stress of the protrusion. Can adjust a vibration characteristic adjusting unit that does not change a vibration characteristic having a vibration node at a position in the vicinity thereof, or a vibration characteristic without a node at a position in the vicinity thereof. Therefore, the adjustment operation of the vibration characteristics becomes easy.

[0063] If the above-described vibration characteristic adjusting unit has a recess, the mass of the vibration characteristic adjusting unit can be changed only by adding an object to the recess. Therefore, the vibration characteristic adjustment unit or the vibration characteristic adjustment unit that does not have the vibration node at the nearby position can be easily changed without changing the vibration characteristic having the vibration node at the position near the vibration characteristic adjustment unit. Adjusting power S

[0064] The protrusion may function as a support protrusion that supports the ultrasonic transducer.

According to this structure, it is not necessary to provide a protrusion for adjusting the vibration characteristics separately from the support protrusion. Therefore, the vibration characteristics of the ultrasonic vibrator can be easily adjusted as the number of parts increases.

[0065] Further, the protrusion may function as a pressing protrusion for pressing the ultrasonic transducer against the driven body driven by the ultrasonic transducer. According to this structure, the vibration characteristic adjusting portion for adjusting the vibration characteristics and the pressing protrusion for pressing the ultrasonic transducer against the driven body are made of the same component. Therefore, the vibration characteristics of the ultrasonic vibrator can be adjusted as the number of parts of the ultrasonic vibrator increases.

[0066] The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the invention which is to be understood in connection with the accompanying drawings.

Brief Description of Drawings

FIG. 1 is a schematic diagram of the overall configuration of a rising and moving apparatus according to an embodiment.

FIG. 2 is a schematic diagram of a detailed structure of the rising and moving apparatus according to the embodiment.

FIG. 3 is a schematic plan view of a blade portion of the rising and moving apparatus according to the embodiment. 4 is a cross-sectional view taken along line IV-IV in FIG.

FIG. 5] is a diagram showing a first layer of a blade portion of the rising and moving apparatus according to the embodiment.

6] It is a figure which shows the 2nd layer of the blade | wing part of the rising and moving apparatus of embodiment.

7] It is explanatory drawing which shows the 3rd layer of the blade | wing part of the rising and moving apparatus of embodiment. FIG. 8] is an external view of an actuator used in the rising and moving apparatus of the embodiment. [9] It is a schematic view of an ultrasonic motor used in the rising and moving apparatus of the embodiment. FIG. 10] A diagram showing a first vibration mode of the ultrasonic motor used in the rising and moving apparatus of the embodiment.

[11] It is a diagram showing a second vibration mode of the ultrasonic motor used in the rising and moving apparatus of the embodiment.

FIG. 12 is an explanatory diagram showing the operation of the ultrasonic motor used in the rising and moving apparatus of the embodiment.

FIG. 13 is an explanatory view showing the operation of the ultrasonic motor used in the rising and moving apparatus of the embodiment.

FIG. 14A is a schematic diagram of a preload mechanism of an ultrasonic motor used in the rising and moving apparatus of the embodiment.

FIG. 14B is a diagram showing another example of the upper and lower rotors.

15] It is a schematic diagram of a wing drive mechanism used in the rising and moving apparatus of the embodiment. FIG. 16 is a diagram showing a first component of the wing drive mechanism used in the rising and moving apparatus of the embodiment.

FIG. 17 is a diagram showing a second component of the wing drive mechanism used in the rising and moving apparatus of the embodiment.

FIG. 18 is a diagram showing a third component of the wing drive mechanism used in the rising and moving apparatus of the embodiment.

[Sen 19] is a diagram showing the definition of the size of the wing drive mechanism used in the rising and moving apparatus of the embodiment.

[20] FIG. 20 is a diagram for explaining the drive principle of the wing drive mechanism used in the rising and moving apparatus of the embodiment. [Sono 21] This is a graph showing the time history of the driving torque of the ultrasonic motor used in the rising and moving apparatus of the embodiment.

[22] FIG. 22 is a diagram for explaining how to flutter when hovering the rising and moving apparatus of the embodiment.

Gakuen 23] This is a diagram for explaining the energy storage and provision mechanism of the rising and moving apparatus of the embodiment.

FIG. 24] is a graph showing the effect of the torque assist mechanism of the rising and moving apparatus of the embodiment.

FIG. 25 is an auxiliary diagram showing a design method of the torque assist mechanism of the rising and moving apparatus according to the embodiment.

FIG. 26 is a schematic view showing a second example of the torque assist mechanism of the rising and moving apparatus of the embodiment.

[27] FIG. 27 is a schematic diagram showing a third example of the torque assist mechanism of the rising and moving apparatus of the embodiment.

[28] FIG. 28 is a schematic diagram showing a fourth example of the torque assist mechanism of the rising and moving apparatus of the embodiment.

FIG. 29 is a schematic diagram showing a fifth example of the torque assist mechanism of the rising and moving apparatus of the embodiment.

FIG. 30 is a schematic diagram showing a sixth example of the torque assist mechanism of the rising and moving apparatus of the embodiment.

[31] FIG. 31 is a schematic diagram showing a seventh example of the torque assist mechanism of the rising and moving apparatus of the embodiment.

FIG. 32] is a schematic diagram showing an eighth example of the torque assist mechanism of the rising and moving apparatus of the embodiment.

[Gakuen 33] It is explanatory drawing showing how to flapping when the rising and moving apparatus of the embodiment rises. 37] It is an explanatory view showing how to flap when the rising and moving apparatus of the embodiment descends. FIG. 35A] is an explanatory view showing the horizontal force generated by the flapping of the rising and falling apparatus of the embodiment.

FIG. 35B is an explanatory diagram illustrating the forward movement method of the rising and moving apparatus according to the embodiment. 35C] It is explanatory drawing showing the retreating method of the rising and moving apparatus of embodiment.

[36A] is an explanatory view showing how the flapping device of the embodiment flutters when moving forward. [36B] It is an explanatory view showing how the flapping device of the embodiment flutters when retreating.

FIG. 37A is a hardware block diagram of a control system in the rising and moving apparatus of the embodiment.

37B] is a functional block diagram of a control system in the rising and moving apparatus of the embodiment. [38] FIG. 38 is a diagram for explaining the duty ratio of the PWM control signal of the rising and moving apparatus of the embodiment.

[39] This is a graph showing the duty ratio for controlling the center turning of the rising and moving apparatus of the embodiment.

FIG. 40] is a graph showing the duty ratio for controlling the advance switching of the rising and moving apparatus of the embodiment.

FIG. 41 is a graph showing a duty ratio for controlling the delayed switching of the rising and moving apparatus according to the embodiment.

FIG. 42] is a flowchart showing a control flow of the rising and moving apparatus of the embodiment. [Gakuen 43] It is a diagram for explaining the problems of the conventional rising and moving apparatus.

FIG. 44 is a diagram for explaining a general method of flapping hovering.

[En] 45] This is a diagram for explaining the energy storage and provision mechanism of the rising and moving apparatus according to another embodiment.

[46] FIG. 46 is a diagram for explaining the energy storage and provision mechanism of the rising and moving apparatus according to another embodiment.

[Sen 47] This is a diagram for explaining the energy storage and provision mechanism of the rising and moving apparatus of another embodiment.

FIG. 48 is a plan view of an ultrasonic motor according to still another embodiment.

FIG. 49 is a perspective view of an ultrasonic transducer of still another embodiment.

FIG. 50] is an exploded perspective view of an ultrasonic transducer of still another embodiment.

[51] FIG. 51 is a diagram for explaining four voltage modes applied to four electrodes attached to a piezoelectric element. FIG. 52 is a time chart for explaining that the phase of the signal for stretching vibration and the phase of vibration for bending vibration are shifted by 90 °.

FIG. 53 is a diagram showing a state in which the main plate portion of still another embodiment is deformed by stretching vibration.

FIG. 54 is a diagram showing an aspect in which the main plate portion of still another embodiment is deformed by bending vibration.

FIG. 55 is a diagram for explaining that the resonance frequency of stretching vibration and the resonance frequency of bending vibration do not match.

FIG. 56 is a schematic diagram showing the configuration of an ultrasonic transducer in still another embodiment.

FIG. 57 is a graph showing the relationship between the length of the support protrusion of another embodiment, the resonance frequency of stretching vibration and the resonance frequency of bending vibration.

FIG. 58 is a view for explaining how to cut the supporting protrusion according to still another embodiment.

FIG. 59 is a diagram showing a recess provided in the support protrusion of yet another embodiment.

FIG. 60 is a diagram for explaining a state in which a weight is installed on the supporting protrusion of still another embodiment.

FIG. 61 is a plan view of an ultrasonic motor according to still another embodiment.

FIG. 62 is a perspective view of an ultrasonic transducer of still another embodiment.

FIG. 63 is a schematic diagram showing the configuration of an ultrasonic transducer in still another embodiment.

FIG. 64 is a graph showing the relationship between the length of a pressing protrusion, the resonance frequency of stretching vibration, and the resonance frequency of bending vibration according to still another embodiment.

FIG. 65 is a view for explaining how to cut the pressing protrusion according to still another embodiment.

FIG. 66 is a diagram showing a state in which a weight is installed on the pressing protrusion of yet another embodiment.

Explanation of symbols

100 Ascent movement device, 101 body, 110 wings, 120, 130 ultrasonic motor, 140 drive mechanism, 150 control circuit, 160 position sensor, 170 communication device, 180 image sensor, 190 M, 122 low speed, 301 , 383 _h¾ Ultrasonic motor base plate, 384 leaf spring, 385 fixed point, 1 ultrasonic transducer, 2 ports 1000 ultrasonic motor, 3 support protrusion, 4 support, 5 shaft, 6 main plate, 7 diaphragm, 8 piezoelectric element, 9, 10, 11, 12, 17 electrode, 14 pressing protrusion, 15 Rubber, 20 Adjusting protrusion, 50 Through-hole, 55, Concave, a Resonance frequency of stretching vibration, b Resonance frequency of bending vibration, C circular orbit, E elliptical orbit, S corner, X Position of expansion / contraction vibration node , Y Bend vibration node position, Δ φ phase shift.

BEST MODE FOR CARRYING OUT THE INVENTION

[0069] A rising and moving apparatus according to an embodiment of the present invention will be described with reference to FIGS.

In the present embodiment, a rising and moving apparatus having a symmetrical configuration will be described. Therefore, for simplification of explanation, the same reference numerals are given to the symmetrical components, and only the left side of them will be explained.

[0070] (Overall configuration)

First, the overall configuration of the rising and moving apparatus of the present embodiment will be described using FIG. 1 and FIG. Since this item is for explaining the overall configuration, the detailed configuration and operation of each component will be described later.

As shown in FIG. 1, the rising and moving apparatus 100 includes a main body 101 and a pair of blade portions 110 provided on the main body 101. One of the pair of blade portions 110 is provided on the left side portion of the main body 101, and the other of the pair of blade portions 110 is provided on the right side portion of the main body 101.

The rising and moving apparatus 100 causes a flow to occur in the surrounding fluid and a reaction from the surrounding fluid by the flapping motion of the blade portion 110. At this time, the rising and moving apparatus 100 receives the reaction exceeding its own weight, which is directed right above the lead, from the surrounding fluid. As a result, the rising and moving apparatus 100 generates acceleration in the upward direction that exceeds the gravitational acceleration. As a result, the rising and moving apparatus 100 is lifted.

Further, as shown in FIG. 2, the rising and moving apparatus 100 has an upper ultrasonic motor 120 and a lower ultrasonic motor 130 as the actuator of the present invention. The upper ultrasonic motor 120 and the lower ultrasonic motor 130 are rotatably mounted on the main body 101. The upper ultrasonic motor 120 and the lower ultrasonic motor 130 are connected to a blade driving mechanism 140 that transmits the movements of the upper ultrasonic motor 120 and the lower ultrasonic motor 130 to the blade portion 110. A blade portion 110 is connected to the blade driving mechanism 140. Feather 110 is driven by upper and lower ultrasonic motors 120 and 130, and a reciprocating rotational motion (hereinafter referred to as a “stroke motion”) with the vertical axis as a rotational center axis, and a front edge portion of blade portion 110. A rotational movement (hereinafter referred to as “twisting movement”) is performed with the rotation center axis. In other words, the blade portion 110 can perform the stroke motion and the twist motion independently.

[0074] The upper and lower ultrasonic motors 120 and 130 are controlled by a control circuit 150.

The control circuit 150 is given position information and posture information of the rising and moving apparatus 100 from a position detection sensor 160 fixed to the main body 101.

In addition, the rising and moving apparatus 100 has a function of transmitting information on the rising and moving apparatus 100 itself and information on the periphery thereof from the communication apparatus 170 to the external controller 200. In the present embodiment, image information obtained by the image sensor 180 is transmitted to the controller 200. Note that the image information obtained by the image sensor 180 may be directly used by the control circuit 150. For example, the position and speed of the rising and moving apparatus 100 may be recognized by the control circuit 150 by performing image processing on the image information.

Further, as shown in FIG. 1 and FIG. 2, communication device 170 has a function of receiving information transmitted from external controller 200 and providing the information to control circuit 150. In the present embodiment, the external controller 200 is controlled by the operator 210 and gives a motion command for the rising and moving apparatus 100. On the other hand, the external controller 200 can acquire image information obtained by the image sensor 180 mounted on the rising and moving apparatus 100.

It should be noted that the method in which the controller 200 presents the above-described image information to the operator 210 may be any method. For example, if the external controller 200 has an image display function, the image itself acquired by the image sensor 180 is visually presented to the operator 210. For convenience of explanation, the external controller 200 is assumed to be operated by the operator 210. This is not essential.

In addition, the control circuit 150, the communication device 170, the image sensor 180, and the like are driven by electric power supplied from a power source 190 disposed in the main body 101. The power source 190 functions as the driving energy source of the present invention. However, the driving energy source of the present invention uses electric power. Other than, for example, fossil fuel etc. In this case, as the actuator, for example, a two-cycle engine, a Stirling engine, or the like corresponding to the driving energy source is used.

[0079] (feather)

The blade portion 110 has a shape as shown in FIGS. 3 to 7, has a length of 65 mm, and a width of 16 mm. The blade portion 110 includes a front edge portion 1102, a blade surface portion 1103, a frame portion 1104, a branch portion 1105, and an actuator joint portion 1106. The wing surface portion 1103 is a portion other than the front edge portion 1102, the frame portion 1104, the branch portion 1105, and the actuator joint portion 1106, and the elongated plate-like portions 1107, 1108, and 1109 and the aramid phenolic 1114. It is the part that becomes power.

[0080] Parts other than the aramid film 1114 of the blade part 110, that is, the front edge part 1102, the frame part 1104, the branch part 1105, the actuator joint part 1106, the elongated plate-like parts 1107, 1108, and 1109 are 20 xm thick. It consists of CFRP (Carbon Fiber Reinforced Plastic) layer. Specifically, the portions other than the aramid film 1114 of the blade portion 110 are formed by cutting out the three portions shown in FIGS. 5 to 7 from the CFRP sheet and laminating the three portions. .

[0081] The leading edge portion 1102 and the actuator junction portion 1106 have a three-layer structure of CFRP layers having a thickness of 20 µm. Further, the frame portion 1104, the branch portion 1105, the elongated plate-like portions 1107, 1108, and 1109 have a single layer structure of a CFRP layer. If the positive direction of the X axis shown in FIG. 3 is 0 degree, the direction of the fiber axis of the elongated plate-like portion 1107 is −60 degrees (+120 degrees), and the elongated plate-like portion 1108 and the frame portion 1104 The direction of each fiber axis is 0 degrees (180 degrees), the direction of the fiber axis of the elongated plate-like part 1109 is +60 degrees (+240 degrees), and the direction of the fiber axis of the branch part 1105 is -30 degrees (150 degrees). The leading edge 1102 and the actuator joint 1106 are stacked with three C FRP layers with fiber axis orientations of -60 degrees (+120 degrees), 0 degrees (180 degrees), and +60 degrees (240 degrees) It is formed by.

[0082] Since the main deformation of the leading edge portion 1102 is expansion and contraction parallel to the longitudinal direction of the blade portion 110, it is desirable that this direction and the fiber axis of the CFRP layer match. Further, it is considered that force is applied to the actuator joint 1106 in a plurality of directions, and the direction of these forces changes according to the flapping motion. Therefore, it has as uniform rigidity as possible in all directions As described above, it is desirable to form by laminating a large number of CFRP layers having fiber axes in different directions. The leading edge portion 1102 and the actuator joint portion 1106 are more rigid than the other portions. A method of manufacturing a blade that satisfies these requirements will be described later.

Further, a wing surface portion 1103 is provided so as to be surrounded by the actuator joint portion 1106, the front edge portion 1102, the frame portion 1104, and the branch portion 1105. The wing surface portion 1103 has an aramid Finolem 111 4 force and extends in the depth direction of the paper surface of FIG. Further, the actuator joint 1106 is provided at the base of the blade 110 and is joined to the actuator, and its length is 1 Omm.

Further, as shown in FIGS. 5 to 7, each of the plurality of elongated plate-like portions 1107 has the same width, and the plurality of elongated plate-like portions 1107 are provided at the same pitch and in parallel with each other. Yes. Each of the plurality of elongated plate-like portions 1108 has the same width, and the plurality of elongated plate-like portions 1108 are provided at the same pitch and in parallel with each other. Further, each of the plurality of elongated plate-like portions 1109 has the same width, and the plurality of elongated plate-like portions 1109 are provided at the same pitch and in parallel with each other.

[0085] In the present embodiment, for the sake of simplicity of explanation, the force S, for example, the stiffness distribution, is intentionally changed for the plurality of elongated plate-like portions in the same layer to be the same pitch and parallel. If you want, you are not limited to the above. For example, the blade portion 110 may be used in which the pitch on the base side is smaller than that on the tip side, thereby increasing the rigidity.

[0086] <Front edge>

As shown in FIG. 4, the front edge portion 1102 has a groove structure extending along the longitudinal direction of the blade portion 110, that is, an uneven shape called corrugation. Therefore, the rigidity of the leading edge portion 1102 with respect to in-plane bending deformation including the longitudinal direction is higher than the rigidity against bending deformation with the longitudinal direction as the rotation center axis. The uneven shape of the front edge portion 1102 can be easily formed by heating a sheet of a CFRP layer material called a pre-predator in a state of being in close contact with a mold corresponding to the uneven shape. Further, a large load is applied to the leading edge portion 1102. Therefore, the front edge 1102 is an elongated plate Since the structure is not provided with a shape part, that is, a solid structure with no gap, the rigidity is higher than that of the blade part 1103. Furthermore, since the load increases cumulatively as the front edge portion 1102 approaches the base, the base is thicker than the tip. The width and height of the leading edge 1102 at the root portion is about 2 mm, and the width and height of the leading edge 1102 at the tip portion is about 1 mm. However, due to the limitation of the description accuracy of the figure, in FIGS. 4 to 7, the width of the front edge portion 1102 at the root portion and the width of the front edge portion 1102 at the tip portion are drawn with the same width.

[0087] <Feather>

As shown in FIGS. 4 to 7, the wing surface portion 1103 is constituted by elongated plate-like portions 1107, 1108 and 1109 of the CFRP layer, and an aramid film 1114. An aramid film 1114 having the same outer shape as the blade portion 110 is sandwiched between elongated plate-like portions of the CFRP layer.

[0088] In the present embodiment, the heat resistance temperature of the aramid film 1114 is higher than the molding temperature of the CFRP layer, and in the CFRP layer molding process, the pre-preda and the aramid film are brought into contact with each other. By performing pressure and heat treatment, it is possible to bond the CFRP layer and the aramid film with the resin component contained in the pre-preda. Therefore, the raw materials including the front edge portion 1102, the frame portion 1104, the branch portion 1105, the actuator joint portion 1106, the long-field plate portion 1107, 1108, 1109 and the aramid phenolic 1114 formed by the CF RP layer are described above. It is possible to easily manufacture the wing face portion 1103 by sintering on a metal mold.

[0089] The elongated plate-like portions 1107, 1108, and 1109 of the wing surface portion 1103 are stacked in a state where the extending directions thereof are shifted from each other by 60 degrees. Therefore, when viewed from the direction perpendicular to the surface of the wing surface portion 1103, it appears that the elongated plate-like portions 1107, 1108, and 1109 form a regular triangular frame, that is, a truss. Each of the elongated plate-like portions 1107, 1108, and 1109 has an elongated rectangular outline, and two long sides thereof extend parallel to the fiber axis. This is a configuration that maximizes the strength characteristics of CFRP, which is a uniaxial anisotropic material, by aligning the longitudinal direction of CFRP, which has high strength, with the direction of the force of each beam in the above-mentioned truss structure. is there. However, one of the two long sides If the fiber extends parallel to the fiber axis, the strength of the fiber can be used to some extent effectively. If the beam is not rectangular, it is necessary to determine the optimum fiber axis direction for the shape of the beam using a technique such as stress analysis.

Further, in the present embodiment, it is assumed that the bending rigidity of each of the elongated plate-like portions 1107, 1108, and 1109 is 1Z8 of the front edge portion 1102. In general, the bending stiffness is proportional to the cross-sectional secondary moment. In other words, the bending stiffness is proportional to (width: the length of the short side of the rectangle) X (thickness cubed).

Here, the thickness of each of the elongated plate-like portions 1107, 1108, and 1109 is constant, and the width of the elongated plate-like portion 1107 is the distance between the central axes of the elongated plate-like portions 1107 (hereinafter, This is 1 / a times the pitch, and the width of the elongated plate-like portion 1108 is 1 / a times the pitch of the elongated plate-like portions 1108, and the width of the elongated plate-like portion 1109 is Assume that the width is 1 / a times the pitch of the elongated plate-like portions 1109. Under this assumption, if the width of the elongated plate-like part is increased by a times, the bending rigidity of the wing face part 1103 will also be increased by 1 / a. Accordingly, in the present embodiment, the width of each of the elongated plate-like portions 1107, 1108, and 1109 is set to be the same as that of the elongated plate-like portion 1107, each of the elongated plate-like portions 1108, and each of the elongated plate-like portions 1109. By setting the pitch to 1/8 times, the wing face portion 1103 having a bending stiffness 1/8 times that of the leading edge portion 1102 is realized. That is, by changing only the width of each of the elongated plate-like portions 1107, 1108, and 1109 without changing the thickness of the wing surface portion 1103, that is, the number of laminated elongated plate-like portions, the desired bending rigidity distribution is obtained. A blade portion 110 is formed. The number of laminated thin plate-like parts is only a natural number and cannot be continuously changed.Therefore, simply changing the number of laminated thin plate-like parts makes the distribution of the bending rigidity of the blade part discontinuous. Become. However, since the ratio between the width and the pitch of the elongated plate-like portion can be continuously changed, the desired bending rigidity can be obtained by continuously changing the bending rigidity distribution. Distribution can be obtained.

Note that, according to the structure of the blade portion 110 of the present embodiment, the ratio between the width of the elongated plate-like portion 1107 and the pitch between the elongated plate-like portions 1107, the width of the elongated plate-like portion 1108 and the elongated plate-like shape. By making the ratio of the pitch between the portions 1108 and the width of the elongated plate-like portion 1109 different from the pitch between the elongated plate-like portions 1109, the bending rigidity of the wing surface portion 1103 has anisotropy. Is possible. For example, when manufacturing the blade portion 110 having high rigidity against in-plane bending deformation including the longitudinal direction of the blade portion 110, the width of the elongated plate-like portion 1108 is increased, and the width of the elongated plate-like portion 1108 is increased. What is necessary is just to make a pitch small.

[0093] On the other hand, when a method of cutting out a part of a laminated structure in which three CFRP layers are laminated so that a truss is formed, three CFRP layers are laminated on three sides of each truss. Has been. The mass of the wing surface formed by this method is 3 Za times the mass of the laminated structure of three CFRP layers having the same area as the wing surface portion 1103 where the truss is not formed (a is the value described above). In this case, in the in-plane bending deformation mode including the fiber axis of one of the three CFRP layers, the two CFRP layers other than the one CFRP layer have only the rigidity of the resin. Is not necessary. That is, the above-described blade portion 110 has approximately the same rigidity as the blade portion with a mass of about 1/3 that of the blade portion formed by the cutout described in this paragraph. (Specifically, the values of the mass and rigidity of the blade are listed in the <Flour mass> item below.)

<Frame>

As shown in FIG. 4, the aramid phenolic 1114 constituting the wing surface portion 1103 is stretched between the actuator joint portion 1106, the front edge portion 1102, and the frame portion 1104. Therefore, the end portion of the aramid film 1114 is prevented from being damaged. In the present embodiment, the width of the frame part 1104 is about 0.5 mm. As shown in FIG. 4, the frame portion 1104 has a shape surrounding the wing surface portion 1103, and therefore the extending direction thereof differs depending on the position. The direction of the fiber axis of the frame 1104 coincides with the extending direction thereof.

[0094] <branch>

When the blade portion 110 becomes large, the turning radius of the tip portion of the blade portion 110 also increases. In this case, since the relative speed with respect to the fluid increases, a large fluid force is generated at the tip of the blade portion 110. Even if the fluid force generated at the tip of the blade 110 becomes large, the controllability of the tip of the blade 110 needs to be maintained. Therefore, a branch portion 1105 connected to the front edge portion 1102 and extending obliquely from the front edge portion 1102 is provided. The width of the branch 1105 is about 0.9 mm. The branch portion 1105 is formed to extend in the direction of 30 ° when the direction facing the tip side of the blade portion 110 in the X-axis direction is 0 °. [0095] Depending on the angle between the branch portion 1105 and the X-axis and the rigidity required for the blade surface portion 1103, the CFRP layer having an elongated plate-like portion different from the above-described elongated plate-like portion 1107 is used. A branch 110 5 may be provided. In addition, a wing surface portion 1103 having a structure in which a branch portion 1105 formed using a material different from the CFRP layer is sandwiched between the CFRP layers may be used.

[0096] <actuator joint>

The shape of the actuator joint 1106 is actually determined according to the compatibility with the actuator that drives the blade 110. It is assumed that the actuator joint portion 1 106 of the present embodiment has a shape shown in FIG. In addition, in order to prevent deformation due to fluid force generated by flapping motion, the actuator joint 1106 is made of a CFRP layer that does not have an elongated plate-like portion, that is, has a solid structure with no gap. Used. In addition, a groove structure is provided at the front end of the actuator joint 1106. The groove structure of the actuator joint 1106 and the groove structure of the leading edge 1102 are provided so as to be continuous.

[0097] <Wing mass>

Assuming that the specific gravity of CFRP is 1.6 g / cm ³ , Table 1 shows the mass of each part of the aforementioned blade 110. As shown in Table 1, the mass of the blade 110 is about 26.5 mg. The mass of the actuator joint 1106 is about 10.8 mg.

[0098] [Table 1]

[0099] On the other hand, the mass of the blade portion of the comparative example using the method of cutting out a laminated structure in which three CFRP layers are laminated so as to form a truss shape is about 48 mg.

[0100] (Ultrasonic motor) Next, the upper ultrasonic motor 120 and the lower ultrasonic motor 130 as the actuator of the present invention will be described with reference to FIGS. 8 to 14B.

[0101] <Overall configuration>

First, the configuration of the upper ultrasonic motor 120 and the lower ultrasonic motor 130 will be described.

As shown in FIG. 8, the upper ultrasonic motor 120 has an upper ultrasonic transducer 121 and an upper rotor 122 driven by the upper ultrasonic transducer 121. Further, the upper rotor 122 is provided on the rotor shaft 124 via the upper bearing 123 so as to be rotatable only around the axis of the rotor shaft 124. The rotor shaft 124 is fixed to the main body 101. In the upper rotor 122, an upper magnetization pattern 125 is written in an arc shape. The upper magnetization pattern 125 is read by the upper magnetic encoder 126. In the upper ultrasonic transducer 121, as shown in FIG. 14A, the support portion 1214 is fixed to the support shaft 127, and the traction portion 1224 is pulled by the traction rubber 129. Further, power for driving the upper ultrasonic transducer 121 is supplied via the film substrate 128.

The lower ultrasonic motor 130 has a mirror-symmetric structure with the upper ultrasonic motor 120 in the vertical direction. That is, in the lower ultrasonic motor 130, the lower ultrasonic transducer 131 rotates the lower rotor 132. The lower rotor 132 is provided on the rotor shaft 124 so as to be rotatable only about the axis of the rotor shaft 124 with a lower bearing (not shown) interposed therebetween. The lower rotor 132 has a lower magnetization pattern (not shown) written in an arc shape. The lower magnetization pattern is read by the lower magnetic encoder 136.

[0104] The upper and lower ultrasonic motors 120 and 130 have exactly the same configuration except that they are provided mirror-symmetrically in the vertical direction. Only the detailed structure will be described.

[0105] <Driving principle>

Next, the principle of driving the upper ultrasonic motor 120 will be described with reference to FIGS. 9 to 14B.

The upper ultrasonic transducer 121 includes a diaphragm 1211, a front surface piezo 1212, and a back surface piezo 1213 force. The diaphragm 1211 is made of stainless steel having a thickness of 0.2 mm, and includes a rectangular portion having a width of 2 mm and a length of 9 mm, and a support portion 1214 that protrudes outward from a central portion in the longitudinal direction of the rectangular portion. . The diaphragm 1211 is sandwiched between the front surface piezo 1212 and the back surface piezo 1213. It is rare. The front surface piezo 1212 and the back surface piezo 1213 each have a strip shape with a width of 2 mm, a length of 8 mm, and a thickness of 0.2 mm, and are formed of a piezo sintered body that is polarized in the thickness direction.

[0107] A front electrode 1216 is bonded to the front surface piezo 1212, and a rear surface electrode is connected to the back surface piezo 1213.

1217 is joined. When a voltage is applied to the surface electrode 1216, the upper ultrasonic transducer 121 has three nodes as shown in FIG. 10, that is, a third-order flexural vibration mode is excited. Further, when a voltage is applied to the back electrode 1217, a longitudinal (stretching) vibration mode as shown in FIG. 11 is excited. In the upper ultrasonic transducer 121 in the present embodiment, the resonance frequencies of the resonance modes for the two vibrations are both 250 kHz, and they coincide with each other. Here, by changing the phase of vibration of these resonance modes by ± 90 °, the vertex of the diaphragm 1211 performs two kinds of elliptical motions shown in FIGS. The two types of elliptical motion are elliptical motion that rotates in the forward direction and elliptical motion that rotates in the reverse direction. A contact portion 1215 made of ceramic is provided at the apex of the diaphragm 1211. The contact portion 1215 rotates the upper rotor 122 around the axis of the rotor shaft 124 by frictional force according to the above-described elliptical motion. At this time, either forward rotation or reverse rotation is selected.

12 and 13 show that the potential applied to the front electrode 1216 is φA, the potential applied to the back electrode 1217 is φB, and φA and φB are cos (2π ft) and The rotation direction of the contact portion 1215 when expressed as a function of sin (2 π ft) multiplied by the amplitude is shown. For simplicity of explanation, the potential applied to each of the front electrode 1216 and the back electrode 1217 is represented by a trigonometric function. If the phase of these potentials is shifted by ± 90 °, it is represented by a rectangular wave or the like. The potential to be applied may be applied to both electrodes. Note that each of the upper rotor 122 and the lower rotor 132 has a fan-shaped outline and performs a reciprocating rotary motion within a range of a predetermined rotation angle. Therefore, in order to reduce the weight, as shown in FIG. 14B, the upper rotor 122 and the lower rotor 132 having a fan-shaped frame structure with a central angle of 120 °, in which unnecessary portions are removed, are used. It is desirable. If a rotor having a fan-shaped contour is used, the occupancy ratio of the rotor rotating (rotating reciprocating motion) around the central axis can be most effectively reduced. Upper rotor 1 Each of 22 and the lower rotor 132 has a frame portion along a fan-shaped outline.

[0109] Note that the numerical values such as the size of each part and the resonance frequency of the diaphragm described above are examples, and are not limited to the above values as long as the requirements for levitation are satisfied. The requirements for this ascent are stated in the Ascentability section below.

[0110] Further, as shown in FIG. 14B, the upper rotor 122 and the lower rotor 132 may have a hollow structure for light weight as long as necessary strength is secured. ,. In other words, each of the upper rotor 122 and the lower rotor 123 may have a structure having a frame extending along a fan-shaped outer periphery having a force radius of 120 °.

Further, the upper rotor 122 and the lower rotor 132 are provided with limiters 12322a and 12322b for limiting the rotation angle θ 1 of the upper roller 122, which will be described later, to the rotation angle Θ 2 of the lower rotor 132 within a predetermined range. , And limiter 12322c force S can be provided or reduced. The limiter 12322b is provided on the inner peripheral surface of the lower rotor 132 having a fan-shaped frame structure, and the limiter 12322a and the limiter 12322c are provided on the inner peripheral surface of the upper rotor 122 having a fan-shaped frame structure. The limiter 12322b is positioned between the limiter 1 2322a and the limiter 12322c in the arc-shaped locus. According to this, the movement range of the limiter 12322b is limited by the limiter 12322a and the limiter 12322c. Therefore, the wing twist angle β described later is limited to a value within a certain range. Therefore, in Equation (7), which will be described later, there is physically one solution. As a result, the operation of the blade is stabilized.

[0112] Further, it is desirable that the upper and lower rotors 122 and 132 transmit the driving force of each ultrasonic transducer to the wing portion without loss. Therefore, it is desirable that the rotational resistance of the rotor be as small as possible. Further, in order to avoid collision between the upper rotor 122 and the lower rotor 132, it is desirable that these apertures have a structure that can rotate only around the central axis. Therefore, in this embodiment, a kind of ball bearing called a pivot is used as a bearing in the contact portion between the rotor and the rotation center shaft. This prevents contact between the rotors as described above. If the loss is sufficiently smaller than the driving force of the ultrasonic vibrator, a friction type bearing such as Teflon (Registered trademark) bearings may be used.

[0113] It should be noted that at the time of backward turning described later, when the vane portion is in a horizontal state, that is, when the / 3 force reaches 80 ° described later, the β force SO after turning back becomes equal to π, or The force that satisfies π and β <2 π is indefinite. In the former case, the blades are turned over, the angle of attack is negative, lift is not obtained, and the rising and moving device cannot fly. For this reason, the operation of the blade is limited by the two limiters described above so that the β force does not reach 80 °. Furthermore, according to the experiments by the present inventors, a phenomenon is observed in which the blade root part is turned over even if the β force S does not reach 180 ° strictly because the fluid force applied to the blade part is elastically deformed by pushing up the hinge. Yes. For this reason, it is desirable that the above-mentioned two limiters should be set to a value that is somewhat smaller than the force 180 ° within the range that does not interfere with flapping flight.

[0114] <Preload mechanism>

Next, a mechanism for applying a preload from the contact portion 1215 to the upper rotor 122 will be described with reference to FIG. 14A.

[0115] Preload is applied from the contact portion 1215 to the upper rotor 122, and as a reaction, a drag is generated from the contact portion 1215 toward the outer peripheral surface of the upper rotor 122. Therefore, friction is generated between the upper rotor 122 and the contact portion 1215. Accordingly, the upper rotor 122 receives a frictional force due to the elliptical motion of the contact portion 1215 and performs a reciprocating rotational motion.

[0116] The traction rubber 129 has an annular shape, and one end thereof is hooked on the traction portion 1224. The other end of the traction rubber 129 is hooked on a traction rubber pin 113 fixed to the main body reinforcing pole 112. Therefore, tension is generated in the pulling rubber 129, and the pulling portion 1224 is pulled toward the main body reinforcing pole 112. Therefore, the vibration plate 1211 is the axis of the support shaft 127 that supports the vibration plate 1211 including the pulling portion 1224. Rotate around. This rotational movement is constrained by the contact portion 1215 coming into contact with the upper rotor 122. Therefore, a preload is generated from the contact portion 1215 to the upper rotor 122.

[0117] It is possible to adjust the magnitude of the above-mentioned preload by rotating the main body reinforcing pole 112 around its long axis. Further, since the preload mechanism is provided to obtain a frictional force for driving the upper rotor 122, the preload mechanism described above is used. 14 and the rising characteristics of the rising and moving apparatus 100 are not impaired, the structure is not limited to that shown in FIG. 14A.

[0118] <Rotation angle detection>

The upper magnetic encoder 126 shown in FIG. 8 is provided with two detectors for the A phase and the B phase with an interval of 1Z4 of the pattern period. The upper magnetic encoder 126 differs in the phase shift state between the A phase and the B phase according to the rotation direction of the upper rotor 122 as in the case of a general encoder. So, for example, if the up edge of phase A is used as a trigger for the counter and 1/0 of the level of phase B is used to determine which of up / down count is used, the upper rotor It is possible to detect the rotation angle Θ 1 of 122. The rotation angle θ 1 is calculated by the central processing unit 151.

[0119] <Supplement>

The ultrasonic motor shown in FIGS. 8 to 14 is an example of a general actuator, and the actuator of the rising and moving apparatus according to the present invention is not limited to the ultrasonic motor having the above-described structure. . For example, an electromagnetic motor or an internal combustion engine may be used as the actuator. Any device for detecting the rotation angle may be used as long as it does not inhibit flapping flight. For example, instead of using the magnetic encoder described above, an optical encoder may be used.

[0120] (Wing drive mechanism)

Next, the blade drive mechanism will be described with reference to FIGS.

As shown in FIG. 15, the blade drive mechanism 140 has an upper plate 141 fixed to the upper rotor 122 and a lower plate 142 fixed to the lower rotor 132. Further, an intermediate plate 144 is connected to the lower plate 142 with a first aramid hinge 143 interposed therebetween. Further, the base portion of the blade portion 110 is connected to the upper plate 141 with the second aramid hinge 145 interposed therebetween. Further, the root portion of the blade portion 110 is also connected to the intermediate plate 144 with the third aramid hinge 146 interposed therebetween. Therefore, a composite hinge in which the upper plate 141, the blade portion 110, the intermediate plate 144, and the lower plate 142 are connected by the aramid film is formed. This composite hinge is It is driven by the lower rotor 122 and the lower rotor 132.

FIGS. 16 to 18 show the shapes of the upper plate 141, the intermediate plate 144, and the lower plate 142. In addition, for the purpose of reinforcement, the parts in the vicinity of the sides that are not connected to the hinges and rotor of each plate are bent by about 90 ° with respect to the main surface of each plate shown by hatching in FIGS. . Further, in order to avoid interference between the bent portions, both side ends of the bent portions are cut in a direction of 45 ° with respect to the direction in which the bent portions extend.

[0123] Each aramid hinge has a width of 0.1 mm, and its width is very small compared to its length, so it functions as a link that can move only in one-degree-of-freedom rotation, that is, a butterfly plate (trillion) The Also, the extension lines of the aramid hinges 143, 145, and 146 intersect at one point, which is located on the central axis of the shaft 124 and between the upper bearing 123 and the lower bearing 133. To position. With this configuration, the reciprocating motion of the blade portion 110 in the front-rear direction is controlled by controlling the rotation angle of the upper ultrasonic motor 120, and the phase of the rotation angle of the upper ultrasonic motor 120 and the phase of the rotation angle of the lower ultrasonic motor 130 are By controlling the difference, the torsional motion of the blade 110 is controlled.

That is, the actuator includes an upper ultrasonic motor 120 as a back-and-forth reciprocating rotor that reciprocates the front edge portion 1102 as a blade shaft in the front-rear direction (rotation angle α: rotation angle around the axis), A twisting rotor for rotating the front edge 1102 around the axis (rotation angle 13) during a predetermined period before and after reversal of the direction of motion in the reciprocating motion is provided.

[0125] The manner of flapping described above will be described more specifically with reference to FIG. 19 and FIG. In FIGS. 19 and 20, the shaft extends along the longitudinal direction of the rising and moving apparatus 100. Further, the shaft extends along the vertical direction of the rising and moving apparatus 100. Furthermore, the X axis extends along the left-right direction of the rising and moving apparatus 100. The X axis, Υ axis, and Ζ axis are perpendicular to each other. Moreover, in the saddle shaft, the rear is positive and the front is negative. On the X axis, the upper part is positive and the lower part is negative. Further, in the shaft, the side where the left blade 110 is located is positive, and the side where the right blade 110 is located is negative. In addition, as shown in FIG. 20, the rotation angle of the upper ultrasonic motor 120 is θ 1, the rotation angle of the lower ultrasonic motor 130 is Θ 2, and flapping is the rotation angle of the reciprocating motion in the front-rear direction. Stroke angle is hidden It is assumed that the twist angle, which is the rotation angle around the axis of the front edge 1102, is / 3.

[0126] In addition, the distance from the intersection of the extension lines of each of the aramid hinges 143, 145, and 146 to the outer end of each of the aramid hinges 143, 145, and 146 is R2, Rl, And R3. Furthermore, the distance between the end point of aramid hinge 146 and the end point of aramid hinge 145 is L1, the distance between the end point of aramid hinge 146 and the end point of aramid hinge 143 is L2, and the distance between the end point of aramid hinge 143 and the end point of aramid hinge 145 is L3. Suppose that A combination of angles (α, β) representing the position of the blade 110 with respect to the mouth shaft 124 シャフト Using the rotation angles θ 1 and Θ 2 of the upper and lower ultrasonic motors,

[0127] The flapping stroke angle α is the rotation of the blade shaft (front edge 1102) around the axis of the rotor shaft 124. Therefore, as shown in the following equation (1), the rotation angle θ of the upper ultrasonic motor 120 Equal to 1.

[0128] α = θ 1 (1)

Further, since the twist angle (rotation angle) is a rotation angle around the axis of the blade axis (front edge portion 1102) of the blade portion 110, it is calculated from the cosine value of β expressed by the following equation (2).

[0129] οοβίπ-i3) = -cos (i3) = [LlXLl + L3XL3-L2XL2] / (2XLlXL3) ···

• (2)

However, for L3, the following equation (3) holds.

[0130] L3 = sqrt (Rl X Rl + R2 X R2-2 X Rl XR2 X cos (θ 1_ Θ 2)) (3)

Where sqrt () is the positive square root of the value in 0.

Note that, as is clear from FIGS. 19 and 20, β is greater than π and powerful, less than 2π.

Therefore, it is determined by the value of / 3 power.

From the above formulas (1) to (4), the rotation angles θ 1 and Θ 2 for obtaining the desired position (hi, / 3) of the blade portion 110 are expressed by the following formulas (5) and (6 ).

[0134] Θ 1 = α (5)

cos (θ 1- Θ 2) = [R1XR1 + R2XR2-L3XL3] / 2XR1XR2 --- (6) However, for L3, the following equation (7) holds.

[0135] L3 = Ll X cos (i3—π) soil sqrt (L2 X L2—LI X L1 X sin2 (j3—π)) (7) Note that the L3 compound sign (soil) is positive Whether it is negative or negative is easily determined by considering the actual behavior of the blade 110.

The rising and moving apparatus according to the present embodiment shown in FIGS. 19 and 20 is in a state where the main surface of blade part 110 is parallel to a plane extending in the vertical direction, that is, twist angle β = 270 0. This is the state. At this time, Θ1 = 0 °, Θ2 = _45 ° Rl = R2 = 15 mm, R3 = l 5.81 mm, LI = 5 mm, L2 = l l .4 mm, and: L3 = l l .39 mm.

The rotational angles θ 1 and Θ 2 of the upper and lower rotors 122 and 132 are calculated by the central processing unit 151 based on the information obtained by the magnetic encoder 126 as described above. A method for controlling the rotation angles θ 1 and Θ 2 will be described later.

[0138] As described above, the flapping motion of the blade portion 110 is realized.

(Torque assist mechanism)

Next, the torque assist mechanism will be described with reference to FIGS.

[0139] <Principle>

As shown in Fig. 43, the direction of movement of the wing part 110 is reversed in the flapping flight, and therefore, the torque required for the actuator is high when the wing part 110 is turned back and forth between the up and down movements. Become. However, the torque required for the actuator is small until just before the blade 110 is turned back. Therefore, the kinetic energy of the actuator (upper and lower ultrasonic motors 120 and 130) is accumulated using some method during a period when the torque required for the actuator is small, and the actuator is given a high torque and torque. By applying the accumulated energy to the blade section 110 during the period when the actuator is required, it is possible to smooth the Tonerek time history required for the actuator.

[0140] Next, a method for smoothing the torque time history at the time of switching will be described with reference to FIGS. In the present embodiment, as the technique, a technique is used in which the energy of the actuator is accumulated by elastically deforming a certain substance, and the energy is given to the actuator by the restoring force of the elastically deformed substance. In the following, it is given to the actuator by the energy accumulated in the elastically deforming substance. Luke is referred to as an auxiliary Tonolek.

As shown in FIG. 21, in the rising and moving apparatus 100 according to the present embodiment, the phenomenon in which the peak of torque becomes extremely large when the wing portion 110 is turned back is due to the driving torque of the upper ultrasonic motor 120 T1 Appears prominently. Control of the rotation angle θ 1 of the upper rotor 122 and the rotation angle Θ 2 of the lower rotor 132 is assumed to be as shown in FIG. Further, the rising and moving apparatus 100 reciprocates the front edge portion 1102 as a blade shaft in the front-rear direction, and around the front edge portion 1102 in a predetermined period from before to after the reversal of the movement direction in the reciprocating motion. The flapping motion is to be rotated.

[0142] The launching operation of the upper ultrasonic motor 120 and the lowering operation of the upper ultrasonic motor 120 are symmetric in the front-rear direction. Therefore, in the future, only the procedure for assisting tonolec at the time of switching after the launch operation of the upper ultrasonic motor 120 will be described.

As shown in FIG. 23, a spring 301 is provided outside the upper rotor 122. The spring 301 is fixed to any part of the main body 101. The spring 301 and the upper rotor 122 start contact when the rotation angle of the upper rotor 122 exceeds Θ-contact. The method of obtaining Θ-contact will be described later.

Since the spring 301 starts to contract when the upper rotor 122 contacts the spring 301, a restoring force acts on the upper rotor 122 in the direction in which the spring 301 extends. Since the magnitude of the restoring force is proportional to the contracted length of the spring 301, a torsion as shown by a broken line in FIG. 24 occurs. Here, the torque indicated by the broken line in FIG. 24 described above is referred to as an auxiliary torque by the torque assist mechanism. The torque assist mechanism corresponds to the energy storage and supply mechanism of the present invention.

[0145] The tonolec T1 required for driving the upper rotor 122 is a value obtained by adding the above-mentioned auxiliary torque to the conventional tonolec T1 shown by the thin solid line in FIG. 24. Therefore, the thick solid line in FIG. It becomes as shown by.

[0146] As described above, the deformation energy is stored in the spring 301 by the displacement of the upper rotor 122 in the first half of the switching operation with a small torque, and the stored deformation energy is stored in the second half of the switching operation by the restoring force of the spring 301. To the upper rotor 122. In other words, the torque assist mechanism of this embodiment, that is, the energy storage and supply mechanism, is used as the blade shaft. Energy is stored when the torque required to drive the leading edge 1102 is small, and is applied to the upper rotor 122 when the torque required to drive the leading edge 1102 is large. In other words, the energy storage and supply mechanism accumulates the energy of the upper rotor 122 in the first half of the turning of the leading edge 1102 and gives the energy to the upper rotor 122 in the second half of the turning. As a result, the above-mentioned Tonolek T1 peak is reduced, and the torque time history is smoothed.

[0147] <Design method>

Next, with reference to FIG. 24 and FIG. 25, the design concept of the panel constant and the contraction amount of the spring 301 for reducing the maximum torque to T-MAX will be described. Note that the rotation angle θ 1 and torque T1 can be negative values. For simplicity of explanation, in this section, the signs of rotation angle Θ 1 and torque T1 are all positive values. To do.

First, as shown in FIG. 25, a time tl at which the original tonnelec T1 becomes equal to T−MAX in the latter half of the switching operation is obtained. Since this time tl is the final time when the auxiliary torque is required, the rotation angle θ 1 at this time becomes the rotation angle Θ−contact described above.

[0149] Further, when the rotation angle θ 1— MAXT1 at which the torque T1 becomes the maximum value Tl—MAX, the torque 301 is less than the value force T—MAX obtained by subtracting the auxiliary torque from the panel 301 from the torque T1. It is necessary to determine the spring constant. The amount of contraction of the spring 301 at this time depends on the difference between the rotation angle θ 1 _MAXT1 and the rotation angle Θ-contact, and the distance between the point where the spring 301 contacts the upper rotor 122 and the rotation center position of the upper rotor 122 R_contact The value multiplied by. Therefore, the force F_spring generated in the spring 301 at this time is expressed by the following equation (8), where k is the spring constant of the spring 301.

[0150] F_spring = (Θ 1—MAXT1— Θ—contact) X R_contact X k- · · (8)

The auxiliary torque T_spring given at this time is expressed by the following equation (9).

[0151] T_spring = F_spring / R_contact = (Θ l—MAXTl— Θ—contact) X k--• (9)

Further, the following equation (10) is established.

[0152] T_MAX + T_spring> Tl_MAX- · · (10)

Therefore, the following equation (11) is obtained. [0153] k> (T1_MAX-T_MAX) / (Θl—MAXTl—Θ—contact) · · · (11) Strictly speaking, the force that Equation (11) must hold at all times In the embodiment, as shown in FIG. 24, when the torque T1 is the maximum value, if the formula (11) is satisfied, the torque required for the actuator can be greatly reduced.

In this embodiment, if R_contact = 4 mm, k = 160, and Θ_contact = 30.5 °, the peak of torque T1 decreases from 17 gf ′ cm to lOgf ′ cm.

[0155] <Configuration example>

FIG. 26 is a diagram illustrating a second example of the torque assist mechanism. In this torque assist mechanism, the spring 301 in FIG. 23 is replaced by a leaf spring 311.

FIG. 27 is a diagram showing a third example of the torque assist mechanism. According to this Tonlek assist mechanism, when the rubber block 322 fixed to the upper rotor 122 collides with the support column 321 fixed to the main body 101, the energy of the upper rotor 122 is accumulated in the rubber block 322, and the rubber block 322 Energy is imparted to the upper rotor 122 by the restoring force of.

[0157] Fig. 28 is a diagram showing a fourth example of the torque assist mechanism. According to this Tonlek assist mechanism, each of the coil springs 332 and 333, which are housed in the hollow rotor 334 and fixed to the fulcrum 331, collide with the inner wall of the hollow rotor 334, and the energy of the upper rotor 122 is accumulated. Energy is applied to the upper rotor 122 by the restoring forces of the coil springs 332 and 333, respectively. The fulcrum 331 is fixed to the main body 101.

[0158] Fig. 29 is a diagram showing a fifth example of the torque assist mechanism. This torque assist mechanism is obtained by replacing the coil spring 332 shown in FIG. The leaf spring 341 is fixed to the main body 101.

FIG. 30 is a diagram showing a sixth example of the torque assist mechanism. In the torque assist mechanism shown in FIG. 30, a rubber string 351 is used in place of the coil springs 332 and 333 and the leaf spring 341. One end of the rubber cord 351 is fixed to the support point 352 and the other end is fixed to the upper rotor 122. Further, the rubber cord 351 is slack when the rotation angle Θ 1 = 0 ° of the upper rotor 120. According to this, when the upper rotor 122 starts rotational reciprocating motion, the rubber cord 351 extends from the position of the rotational angle 6_contact and accumulates energy. In addition, the restoring force of the rubber cord 351 when the stretched rubber cord 351 contracts causes the upper rotor 122 to Energy is given. The support point 352 is fixed to the main body 101.

FIG. 31 is a diagram showing a seventh example of the torque assist mechanism. In the upper rotor 122, the bearing 123 is provided with a mechanism similar to the above-described Tonnelec assist mechanism, thereby achieving a light weight of the torque assist mechanism. According to this torque assist mechanism, the leaf spring 362 collides with the dog 361 provided on the bearing 123, and the leaf spring 362 is elastically deformed to accumulate energy. The restoring force of the leaf spring 362 gives energy to the upper rotor 122 through the dog 361. The leaf spring 362 is fixed to the main body 101.

FIG. 32 is a diagram showing an eighth example of the torque assist mechanism. According to this Tonlek assist mechanism, the plate spring 371 force provided on the bearing 123 collides with the dog 372 fixed to the rotor shaft 124, and the plate panel 371 elastically deforms to accumulate energy. In addition, energy is given to the upper rotor 122 by the restoring force of the plate panel 371. The leaf spring 371 is fixed to the main body 101.

[0161] <Selection of materials and methods>

As a member that elastically deforms and stores energy, an elastic body such as metal or a superelastic body such as rubber is suitable. In particular, the rubber cord is desirable as a member for storing energy because it has a small specific gravity and is easily reduced in weight.

[0162] A torque assist mechanism that stores energy in a mode other than elastic deformation may be used. For example, a torque assist mechanism that stores and releases energy by contraction and expansion of the gas sealed in the cylinder using the relationship between the volume change of the gas and the pressure may be used. Further, a torque assist mechanism may be used in which the gas sealed in the cylinder uses phase change to accumulate and supply energy.

[0163] Further, instead of the ultrasonic motor 120, an electromagnetic motor may be used, and a tonnelec auxiliary mechanism in which inductive power is stored in the power source 190 or the like may be used.

[0164] <Supplement>

In this item, the method of smoothing the time history of Tonolek at the time of switching after the launch operation is explained, but the method of smoothing the time history of Tonolek at the time of switching after the down motion is also described. This is the same as the method described above. Also, only the torque assist mechanism of the upper ultrasonic motor 120 has been described, but the upper torque assist mechanism of the lower ultrasonic motor 130 has also been improved. A configuration similar to the torque assist mechanism of the ultrasonic motor 120 can be applied.

[0165] In particular, in the present embodiment, the amplitude of lower rotor 132 is increased at the time of advance turnover described later. At the time of this advance switching, the torque supplied to the lower ultrasonic motor 130 is increased. For this reason, it is desirable to apply the above-described method to the lower rotor 132 in the case of the flapping of the leading turn. In addition, in order to apply the above-described method, it is necessary to consider the position of the elastic body as the torque assist mechanism so as not to hinder the lower rotor 132 from reciprocating with a large amplitude at the time of preceding switching.

[0166] (Operation control of rising and moving device by changing flapping method)

The rising and moving apparatus 100 according to the present embodiment automatically assumes the posture shown in FIG. 1 because the mass of the portion below the point of action of the flying force generated by the flapping motion of the blade portion 110 is large. In other words, it is not necessary to control the rotation around the X axis and the rotation around the Y axis. On the other hand, the translational acceleration along each of the X-axis, Y-axis, and Z-axis, and the rotational acceleration around the Z-axis (hereinafter also referred to as “angular acceleration”) are changed according to the flapping method. The force generated by the flapping motion changes with the movement of the blade, but here, the average force of one cycle of the flapping motion is the force generated by the flapping motion.

[0167] (Control parameter)

In the rising and moving apparatus 100 according to the present embodiment, in order for the torque assist mechanism to function properly, the rotation angle θ 1 of the upper ultrasonic motor 120, that is, the stroke angle amplitude needs to be fixed. . Therefore, in order to control the operation of the rising and moving apparatus 100, the rotation angle Θ2 of the lower ultrasonic motor 130 is changed. That is, the rising and moving apparatus 100 changes the flow of the fluid by changing the twist angle β, thereby changing the posture.

[0168] Specifically, the timing of the twisting motion of the blade portion 110 is changed at each of both ends of the flapping motion stroke.

[0169] (Change in levitation force in the vertical direction)

In the aforementioned non-patent document 2, as shown by Dickinson et al.

As shown in Fig. 3, (1) ahead of the middle timing of flapping motion, If the blade part 110 is twisted in the first half of turning back (twisted-up turning back), the levitation force increases. On the other hand, as shown in FIG. 34, (2) after the intermediate timing of the flapping motion, that is, turning back. If the blade part 110 is twisted in the latter half of the period (twisting delay turning back), the levitation force decreases.

[0170] (Cancellation of propulsive force in the front-rear direction when the levitation force in the up-down direction changes) Furthermore, according to the operation (1) shown in FIG. It was found that the drag along the direction increased, and that the drag decreased according to the operation (2) shown in FIG. The fore-and-aft drag generated during launch and the fore-and-aft drag generated during downhill are opposite to each other. Therefore, if the launching and lowering operations are mirror-symmetric with respect to a plane perpendicular to the front-rear direction, the drag due to these operations will be canceled out and the propulsive force will be zero. For this reason, the rising and moving apparatus can move only in the vertical direction.

[0171] (Change in propulsive force in the longitudinal direction)

Conversely, if the operation of (1) shown in Fig. 33 and the operation of (2) shown in Fig. 34 differ between the turning-up at the time of launch and the turning-down at the time of launch, the two operations are the same. There will be a difference between the front and rear forces, and propulsion will be generated either forward or backward. More specifically, as shown in FIG. 35A, in the second half of the downhill, the forward acceleration is obtained by the delayed turn-back, and in the second half of the launch, the forward turn-back is performed in the forward direction. Can be obtained. On the other hand, similarly, as shown in FIG. 35A, in the latter half of the down stroke, the backward acceleration is obtained by the preceding turn-back, and in the latter half of the launch, the backward acceleration is obtained by the delayed turn-back. It is done.

[0172] (Massification of change in levitation force in vertical direction when propulsive force in the longitudinal direction changes)

It should be noted that the change in the acceleration in the upward direction and the change in the acceleration in the downward direction must be canceled out when either the operation that obtains the acceleration in the forward direction or the operation that obtains the acceleration in the backward direction is executed. Is possible. For this reason, it is possible to obtain only the acceleration in the horizontal direction.

[0173] (3D space movement) As described above, even if the stroke angle of each of the left and right blade portions 110, that is, the amplitude of θ 1 is fixed, only the time history of Θ 2 is changed, and the blade portion at launch is changed. By making the timing of turning back 110 different from the timing of turning back down, it is possible to cause the blade portion 110 to generate acceleration in the vertical direction and the front-rear direction. In addition, by making the acceleration generated in the left blade 110 different from the acceleration generated in the right blade 110, the levitation moving device 100 can be tilted to the left or right, and the levitation moving device 100 can be moved to the left. It is possible to turn right or left.

[0174] <Details of control >>

Hereinafter, the way of flapping described in the above (1) shown in FIG. 33 is referred to as twisted leading back (hereinafter simply referred to as “leading back”), and the way of flapping described in (2) shown in FIG. It is called twist-delay cutback (hereinafter simply referred to as “delay cutback”), and the flapping method during hovering shown in FIG. 22 is called center cutback.

[0175] The hovering, the translational motion in the Z-axis direction, and the translational motion in the Y-axis direction are respectively left-right symmetric. Therefore, the operation of the blade is also symmetrical. For this reason, only the operation of the left blade portion 110 among the symmetrical operations will be described.

[0176] <Hovering>

Figure 22 shows how to flapping during hovering. In FIG. 22, the time history of the rotation angles θ 1 and Θ 2 is shown together with the time history of the cross section of the blade portion 110. The levitation force at this time is balanced with its own weight, and the propulsive force in the front-rear direction is zero.

[0177] <Translation control in the Z-axis direction>

Figure 33 shows how to move upward along the Z axis, ie flapping for ascent. Fig. 34 shows how to move downward along the Z-axis, that is, how to flap for lowering. 33 and FIG. 34, the time histories of the rotation angles θ 1 and Θ 2 are shown together with the time history of the cross section of the blade portion 110. Note that the left and right blade portions 110 perform mirror-symmetric operations with the Y-Z plane as the symmetry plane.

The operation shown in FIG. 33 is the preceding switching operation described in (1) above, and the operation shown in FIG. The operation is the delayed switching operation described in (2) above. The acceleration in the longitudinal direction during these movements is zero as shown in Figure 35A.

[0179] <Y axis translation control>

Figures 35 and 36 show how to flutter forward, and Figures 35C and 36 show how to flutter backward. Note that the left and right blade portions 110 perform mirror-symmetric operations with the heel plane as a symmetry plane.

[0180] When moving forward, in the turn-back in the period including the launch end,

The preceding switching operation described in (1) is performed, and the delayed switching operation described in (2) is performed in the switching including the down end.

[0181] When moving backwards, the delay switching operation described in (2) above is performed in the switching in the period including the end of the launch, and the switching in the period including the end of the downing is performed. In step S1, the preceding switching operation described in (1) above is performed.

[0182] As described above, the levitation force decreases at the time of delayed turnover and the levitation force increases at the time of advance turnover. Therefore, in the translational motion in the axial direction, the above (1) and (2) It is possible to offset the levitation forces generated by the described operations. That is, the rising and moving apparatus 100 can move in the front-rear direction while maintaining altitude.

[0183] <Rotation control around shaft axis>

In order to rotate in the positive direction around the heel axis, that is, to turn left, the left wing 110 operates in the manner of flapping for retreating, and the right wing 110 is operated in the manner of flapping for advancement. do it.

[0184] In order to rotate in the negative direction around the heel axis, that is, to turn to the right, the left wing 110 operates in the manner of flapping for forward movement, and the right wing 110 is flapping for backward movement. It only has to work.

[0185] In any case, as described above, the levitation force due to the left and right blades 110 can be canceled out, so that the vertical axis of the ascent movement device 100 can be maintained with the altitude maintained. Around rotation is performed.

[0186] <Translation control in the axial direction>

To move to the left, the right wing 110 moves up and It is only necessary that the blade part 110 operates to descend. As a result, the rising and moving apparatus 1 changes the posture so that the left wing portion 110 is positioned below the right wing portion 110, thereby

The tip of the levitation force vector is tilted to the right from the vertically upward state. As a result, a force for moving the rising and moving apparatus 100 to the left is generated.

[0187] At this time, since the levitation force may be reduced, it is desirable to perform both the translation control in the X-axis direction and the control for the upward movement in the Z-axis direction.

[0188] <How to change control>

As described above, the rising and moving apparatus 100 can freely move in the space by properly using the three types of flapping, which are different in the timing of the return, that is, the advance return, the delayed return, and the center return.

[0189] Note that all three types of flapping methods with different turn-back timings are performed within a predetermined period from before to after the end of the reciprocating motion of the blade portion 110 in the front-rear direction. For this reason, the rotation angles Θ 1 and Θ 2 have values of a predetermined period from before to after the center of the flapping stroke, that is, within a predetermined period from before to after the stroke angle _α = 0 °. , Including its speed and acceleration. Therefore, as described above, if the flapping method is changed within a period in which the rotation angles θ 1 and Θ 2 are common, the next flapping is mechanically performed without any interpolation of the operation of the vane portion 110. It is possible to make a smooth transition from one flapping method to another flapping method that does not cause discontinuity in the operation of the wing part 110 by simply selecting one.

[0190] <Control selection>

As described above, if the flapping method is changed in the phase of Θ 1 = 0 °, the method of expressing the flapping state is divided into down, up, and turn-back at each end. That isn't appropriate. It is rational to divide the flapping method into two types, with the first half of the downhill and the first half of the launch after the downhill as the front flapping motion, and the first half of the launch and the first half after the uplift as the rear flapping motion. Is.

[0191] That is, in the forward and backward flapping motions in the left and right blade portions 110, selection of center switching, leading switching, and delayed switching is performed, respectively. By making the selection, it is possible to control the manner of flapping most simply. Table 2 shows the options for the flapping movement of the rising and moving device based on the above explanation.

[Table 2]

In this item, an example of a method for realizing the simplest position control is described, but the flapping method of the present invention is not limited to the flapping method of this item. For example, in the present embodiment, the angular velocities of the rotation angles θ 1 and Θ 2 are assumed to be substantially constant except for the turn-back period. That is, as shown in FIG. 44, the reciprocating motion of the blade portion 110 includes the up and down motion with a constant angular velocity, and the continuous reversing motion with a changing angular velocity, that is, the reciprocating motion direction. It consists of a movement to reverse. The angular velocity of the turn-back motion changes continuously to the angular velocity of the launch motion and the angular velocity of the down-motion. An example of this reversal motion is a one-variable trigonometric function. Shiga Naga Therefore, a method of moving the rising and moving apparatus 100 by changing the reaction received from the surrounding fluid by changing the angular velocities of the rotation angles θ 1 and Θ 2 may be used.

[0194] Also, in this item, for simplicity of explanation, a method is used in which all the flapping methods are expressed by combining the three types of blade 110 turning patterns. This is an example of how to flapping, and the flapping method of the present invention is not limited to the flapping method expressed by the above-described method.

[0195] For example, a flapping expression method in which many patterns of rotation angles θ 1 and Θ 2 exist may be used. That is, there may be used a flapping method having a plurality of types of flapping timings for leading and delaying flapping, or a flapping method for representing flapping methods that can continuously and freely change the flapping timing. Conversely, the center cut-back may use a flapping expression method that alternately repeats the preceding cut-back and the delayed cut-back. With such a flapping method, it is not necessary to store the data for the center cut pattern in the memory, so the number of rotation angles θ 1 and Θ 2 can be reduced. it can.

[0196] The time history of the rotation angle Θ shown in Fig. 22 and Figs. 33 to 36 is an example of the rotation angle Θ of the rising and moving apparatus 100 having the configuration shown in Figs. In practice, depending on the mechanism that drives the blade 110, if the various parameters that control the mechanism are set to realize the preceding and delayed switching of the blade 110, the rotation The time history of the angle Θ is not limited to the time history of the rotation angle Θ shown in FIG. 22 and FIGS.

[0197] (Position detection sensor)

The position detection sensor 160 is fixed to the main body 101. Therefore, the position and posture measured by the position detection sensor 160 are the position and posture of the rising and moving apparatus 100 itself. As shown in FIG. 37, the position detection sensor 160 provides the measured position and attitude data to the central processing unit 151 described later. The sensor for realizing such a function may be any sensor because it changes with the progress of technology and does not relate to the essence of the present invention. As an example of the sensor for detecting the above-mentioned attitude, a combination of magnetism and acceleration is 0.5. Detect changes in posture What can be done is commercially available. For example, GPS (Global Positioning System) can be used for position detection with an error of about lm. In recent years, technologies such as UWB (Ultra Wide Band) have been developed to measure distances using radio waves used for communication.

[0198] (Control circuit)

As shown in FIGS. 37A and 37B, the control circuit 150 includes a central processing unit 151 (Central Processing Unit), a driver 152 that drives the upper and lower ultrasonic motors 120 and 130 according to a command from the central processing unit 151, and A booster circuit 153 for supplying a high voltage to the driver 152 is included.

[0199] <Control circuit operation>

A motion command is given to the control circuit 150 from the controller 200 operated by the operator 210 to the communication device 170. The operation command is stored in a temporary storage device (hereinafter referred to as “RAM (Random Access Memory)”) 155. Based on the motion command stored in RAM 155, central processing unit 151 obtains flapping data from a fixed storage device (hereinafter referred to as “ROM (Read Only Memory)”). After that, the central processing unit 151 gives the flapping data to the driver 152. As a result, the rising and moving apparatus 100 performs either the aforementioned translational movement in the front / rear, left / right, up / down direction, or rotation about the vertical axis.

[0200] <Central processing unit>

The central processing unit 151 outputs a PWM (Pulse Width Modulation) signal and a rotation direction control signal to the driver 152 using the above-described motion command, information of the ROM 154 and RAMI 55. As a result, the ultrasonic motors 120 and 130 operate in accordance with the motion command given by the operator 210 to the rising and moving apparatus 100 using the controller 200. As a result, a flapping method corresponding to the operation command is realized. Note that the period of the reciprocating motion of the flapping is determined using the repetition timer 156.

[0201] <Repetition timer>

The central processing unit 151 includes a repeat timer 156 as shown in FIGS. 37A and 37B. The repetition timer 156 sets the value of 0.5 to 0.5 as 50H as the phase of the flapping motion. Output to the central processing unit 151 at a repetition cycle of z. However, it is assumed that the phase φ of the flapping motion is counted up from −0.5, and when the value reaches 0.5, the value of the phase φ is again increased from 0.5. Corresponding to one cycle of the repetitive timer 156, the front flapping motion is such that the blade portion 110 is positioned forward of the center position of the reciprocating motion, and the rear flapping motion is determined such that the blade portion 110 is positioned behind the central position of the reciprocating motion. Each exercise is performed. That is, one cycle of the repeat timer 156 corresponds to twice the cycle of the flapping motion. In the present embodiment, if the phase φ is positive, the rising and moving apparatus 100 performs the backward flapping motion, and if the phase Φ is negative, the rising and moving apparatus 100 performs the forward flapping motion. To do. In recent years, many microcontrollers used for device control include a function called auto-reload timer, which is almost the same as the repeat timer described in this section. Therefore, it is possible to realize the repeat timer function in this section.

[0202] <Flapping data stored in ROM>

The ROM 154 stores flapping data. The flapping data is the time history data of the duty ratio of the PWM control signal transmitted to the dryer 152. The ultrasonic motors 120 and 130 are applied with a driving voltage having a frequency of 250 KHz and a fixed duty ratio of 50%. On the other hand, as shown in FIG. 38, the duty ratio of the PWM control signal transmitted to the driver 152 is the O to the sum of the O period and OFF period of the 250 kHz drive voltage with the duty ratio fixed at 50%. N period ratio.

[0203] That is, the flapping data corresponding to the above-mentioned three modes of the preceding switching, the delayed switching, and the center switching is the duty ratio of the PWM control signal transmitted to the driver 152 corresponding to the flapping motion phase φ. , Stored in advance in ROM154. Note that the duty ratio of the PWM control signal transmitted to the driver 152 is indicated by Dutyl (φ, MODE) and Duty2 (0, MODE). However, as shown in Table 2, when —0.5 ≤ φ <0.5, MODE = l is the leading switch, MODE = 0 is the center switch, and M〇DE = _ 1 is the delayed switch. Suppose that

[0204] FIGS. 39 to 41 show the values of Dutyl and Duty2 in the center switching, the leading switching, and the delayed switching when the backward switching operation is performed, respectively. The However, if Dutyl and Duty2 are negative values, it means that the blade 110 is moved from the rear to the front with respect to the center position of the reciprocating motion. In the present embodiment, each Duty function is symmetrical with respect to a plane perpendicular to the front-rear direction, so that Dutyl (-φ) =-1 X Dutyl (0.5 +

Φ)).

That is, only by code conversion, each Duty value in a region where φ is negative is calculated using a function of each Duty in a region where φ is positive. Therefore, the above Duty functions are stored in the ROM 154 only in the area where φ is positive. According to this, the data amount of each duty function stored in the ROM 154 can be reduced by half. Therefore, in this embodiment, only the region where φ is positive is shown in each duty function.

[0206] Since the right wing 110 and the left wing 110 are mirror-symmetric with respect to the Z axis, the left-handed system in which the positive and negative in the X-axis direction of the coordinate system described above are reversed is used. If these coordinates are adopted, the same Dutyl and Duty 2 as described above can be used in the control of the right blade 110.

[0207] In addition, the graph of Dutyl of the voltage for driving the upper rotor 122 shows the force S and the voltage for driving the lower rotor 132 which are the same graphs in any of Figs. It can be seen that the graph of Duty2 is different from that in Figs. In addition, as can be seen from FIGS. 22, 33, and 34, the graph of the rotation angle Θ 1 of the upper rotor 122 has the same force even when the flapping method (center turning, leading turning, and delayed turning) is changed. The graph of the rotation angle Θ 2 of the lower rotor 132 differs depending on how the wings flutter (center turning, leading turning, and delayed turning). According to this, the amplitude of the upper rotor 122 is always fixed at a constant value. The amplitude of the lower rotor 132 varies according to the flapping method (center turning, preceding turning, and delayed turning). I understand.

[0208] Operation of central processing unit>

Based on the sign of phase φ, central processing unit 151 determines whether the current flapping is a force that is a forward flapping motion or a backward flapping motion. Thereafter, the central processing unit 151 flapping based on the data shown in Table 2 stored in the ROM 154. And the value of MODE described above is determined in accordance with the motion command stored in the RAMI 55 obtained by the communication device 170.

[0209] Further, central processing unit 151 obtains the values of Dutyl and Duty2 stored in ROM 154 based on the value of phase φ described above. The absolute value of this value is the duty ratio of the PWM control signal transmitted to the driver 152. The sign of this value is the direction of rotation of each of the upper and lower ultrasonic motors 120 and 130 transmitted to the driver 152. The former is represented by a command such as ABS (Duty), and the latter is represented by a command such as SIGN (Duty). These commands are built into the microcontroller. Arithmetic using these commands is easily performed in a general microcontroller.

[0210] Based on the above-described duty ratio, central processing unit 151 outputs an ON / OFF signal for PMW control corresponding to the flapping method to driver 152, and according to whether phase φ is positive or negative The rotation direction control signal is output to the driver 152.

[0211] In the present embodiment, since the resonance frequency of diaphragm 1211 is 250 kHz, for example, if PWM control with a resonance frequency of 2.5 kHz is executed, 100-step ultrasonic motor control is performed. Is possible.

[0212] <Driver operation>

The driver 152 stops the rotation Z of the ultrasonic motor 120 and reverses it in the forward rotation Z in accordance with the ONZOFF of the PWM control signal and the rotation direction control signal given from the central processing unit 151.

[0213] Since the ultrasonic motor 120 has a self-position holding function, the rotation and stop operations are realized by turning on / off power supply, which will be described later, according to the ON / OFF of the PWM.

Further, as shown in FIG. 9 and FIG. 13, in the ultrasonic transducer 121, the difference between the phase of the potential φA applied to the back electrode 1217 and the phase of the potential φB applied to the front electrode 1216 By changing, the force S can be changed between the positive rotation and the negative rotation of the upper rotor 122.

[0215] The driver 152 receives the PWM signal from the central processing unit 151 and receives the potentials φ A and φ Β And a circuit for controlling the high voltage power supplied from the booster circuit 153 and applying the potentials φ Α and φ に to the surface electrode 1216 and the back electrode 1217 of the ultrasonic transducer 121. The former can be easily realized by using a general timer circuit or a CPU (Central Processing Unit), and the latter is realized by using, for example, a half bridge circuit. It can be integrated using CMOS (Complementary Metal Oxide Semiconductor) technology and, as will be described later, can be made smaller and lighter enough to be suitable for flapping flight applications. And are commercially available. According to the experiments of the present inventors, these circuits can be contained in a small package of 3 mm X 3 mm X 0.85 mm, and the weight of the package is about 25 mg.

Generally, the former program is expressed as follows.

: Label

if (PWM = ON) then

if (rotation direction = positive direction) then

φ Α = 1

φ Β = 1

φ Α = 0

φ Β = 0

end if

if (rotation direction = reverse direction) then

Β = 1

φ Α = 1

φ Β = 0

φ Α = 0

end if

goto label

However, these are examples for simply expressing the operation of the former circuit. In the ram, timing adjustment is performed so that each of φ A and φ B becomes a 250 kHz rectangular wave, so it is necessary to insert a dummy executable statement.

[0217] <Boost circuit>

The booster circuit 153 changes the voltage (3 V) of the power source 190 to a voltage of ± 15 V necessary for driving the ultrasonic motor, and applies a voltage of ± 15 V to the driver 152. As the booster circuit 153, a general DC (Direct Current) -DC converter is used. As an example, a small package of 3 mm × 3 mm × 0.85 mm is commercially available. The mass of the booster circuit 15 3 is about 25 mg.

[0218] Block diagram>

A block diagram of the control scheme described above is shown in Figure 37A. Since the driving methods of the four ultrasonic motors are the same, only the control system of the upper ultrasonic motor 120 that drives the left blade 110 is shown in FIG. 37A, and the other control systems are omitted. ing. FIG. 37B is a functional block diagram for explaining the flow of data processing in the flowchart of FIG. 42 described later.

[0219] <Control flowchart>

Next, an example of a flowchart for controlling the rising and moving apparatus will be described with reference to FIG. This flowchart is an example, and can be changed by the application of the rising and moving apparatus 100.

[0220] In the following flowchart, repetition timer 156 operates constantly using the above-described auto-reload timer, and in step S1, processing is started from a state where φ = 0. And At this time, α = 0 °.

Step 0 Sl

The motion command force of the operator 210 transmitted from the controller 200 is transmitted to the RAMI 55 through the communication device 170 and stored in the RAMI 55.

[0222] Step S2 <Flap status detection>

The central processing unit 151 recognizes the state of flapping at the current time of the rising and moving apparatus 100 based on the data of the value of the phase φ transmitted from the repetition timer 156. Specifically, the central processing unit 151 determines that the rising and moving apparatus 100 moves backward when the value of the phase φ is positive. If the phase φ is negative, it is determined that the rising and moving apparatus 100 is performing the forward flapping motion.

[0223] Step S3 <Determine flapping mode>

The central processing unit 151 selects the row component of Table 2 according to the motion command, and selects the column component of Table 2 according to the flapping state. As a result, the central processing unit 151 selects one of the flapping modes, that is, the value of MODE, from among the center switching, the leading switching, and the delayed switching. The data of the selected flapping mode is stored in the RAMI 55.

[0224] Step S4 <Duty ratio determination>

The central processing unit 151 is a PWM control signal transmitted to the driver 152 from the Dutyl (φ, MODE) and Duty2 (φ, MODE) data stored in the ROM154 based on the flapping mode data described above. Select the duty ratio.

[0225] Step S 5 <Driver drive>

The central processing unit 151 outputs a rotation direction control signal to the driver 152 and outputs a PWM signal having the duty ratio to the driver 152 according to whether the duty ratio of the PWM control signal is positive or negative. That is, if ABS (A) is the absolute value of A and SIGN (A) is the sign of A, the rotation direction control signal is SIGN (Duty) and the duty ratio is ABS (Duty). Here, Duty means Duty 1 (φ, MODE) and Duty2 (φ, MODE) corresponding to the upper and lower ultrasonic motors 120 and 130.

[0226] Step S 6 <Ultrasonic motor drive>

In response to the rotation direction control signal, the driver 152 applies a rectangular wave voltage having an amplitude of 30 V and a frequency of 250 kHz to the front electrode 1216 and the rear electrode 1217. These two square waves differ in phase by ± 90 °. Specifically, the driver 152 applies a rectangular wave potential ci) B to the surface electrode 1216 of the ultrasonic transducer 121, and applies a rectangular wave potential φΑ to the back electrode 1217 of the ultrasonic transducer 121. give. The phase of this square wave potential (ί> と is out of phase with the phase of the square wave potential φ B by ± 90 °.

[0227] Step S7 <Next flapping mode selection>

If Φ = 0 or Yu = -0.5, it means that the flapping state has changed. Therefore, the processing of step SI is executed again, and the flapping mode is updated including the change of the motion command. In cases other than φ = 0 or φ = _ 0.5, the flapping mode is not updated, the process of step S4 is executed, and a new phase φ is set.

[0228] <Supplement>

In addition, the form of the said instruction | command is an example for description to the last, and is not limited to this. For example, a method may be used in which a speed command with a smooth force without quantization error is obtained by giving the speed command as an analog signal as a voltage value. In addition, the voltage required to drive an ultrasonic motor can change as technology advances. For example, if an ultrasonic motor that can be driven at 3 V or less, which is the drive voltage of the current IC (Integration and Ircuit) and CPU (and entral Processing Unit), is realized, the boost circuit 153 Is no longer necessary.

[0229] Also, in the present embodiment, for simplicity of explanation, the feedback control is not performed, and the method of uniquely selecting the flapping method according to the command of the controller 200 has been described. The 100 control methods are not limited to the method described above.

[0230] For example, feedback control in which central processing unit 151 obtains position and orientation information from position detection sensor 160 and newly creates a motion command based on the information may be used.

Furthermore, in the present embodiment, for the sake of simplicity of explanation, the explanation is made under the assumption that the rotational speeds of ultrasonic motors 120 and 130 are uniquely determined according to the duty ratio. Depending on load fluctuations, this assumption may not be true. In this case, the duty ratio may be adjusted by referring to the values of the rotation angles θ 1 and Θ 2 of the upper and lower ultrasonic motors 120 and 130 obtained by the signal of the upper magnetic encoder 126.

[0232] Note that, in the above-described control of the rising and moving apparatus, ideally, it is desirable that the computation time required for controlling the flapping motion for obtaining high mobility is short. The rising and moving device should be lightweight. For this reason, it is desirable that the algorithm for controlling the flapping motion is as simple as possible. Considering these, the requirements for a flapping flying device with high mobility are the singleness, continuity, selectivity and independence. , And simplicity.

[0233] Independence means that the fluid force generation mechanism can independently change the direction of the fluid force regardless of the posture of the body on which the fluid force generation mechanism is installed. An example of a rising and moving device lacking in isolation is a helicopter with a rotor fixed to the fuselage.

[0234] Continuity means that the flapping movement changes continuously without causing significant acceleration in the torso.

[0235] Selectivity means the ability to change the flapping movement independently of the flapping movement history of the past. An example of a rising and moving device that lacks selectivity is the MFI (iicromechanical Flying Insect) force by Ron Fearmgb described above. This is because the blades are driven by resonance, and the flapping method can only be changed gradually over a plurality of periods.

[0236] Independence means that the fluid force generated by the fluid force generation mechanism is not affected by the history of changes in flapping motion. A specific scene lacking independence is the phenomenon of being affected by airflow generated by the previous flapping movement.

[0237] Simplicity means that the algorithm for realizing the flapping motion change is as simple as possible.

[0238] (Examination of high mobility requirements)

<<Singleness>>

As shown in Table 2, the control of the flapping rising and moving apparatus 100 in the present embodiment is all performed by selecting the timing of the twisting operation of the wings at both ends of the flapping motion. This is not constrained by the posture of the trunk, so that individuality is ensured.

[0239] More specifically, when one of the leading flapping and the flapping flapping shown in Fig. 35A, Fig. 35B, and Fig. 35C is selected, the horizontal component of the acceleration of the wing part 110 is calculated. It can be controlled independently, and the direction of the horizontal component of the acceleration of the blade portion 110 in one cycle of the flapping motion can be directed either forward or backward. Therefore, the rising and moving apparatus can change the direction of the fluid force only by changing the operation of the blade 110 without changing the posture of the main body (body) 101. [0240] <<continuity>>

The above-described twisting of the wing part 110, that is, the turning-back operation, differs only in a specific period including the start or end point of the reciprocating motion of the wing part 110 in the flapping motion. In a predetermined period including the center position of the movement, the movement of the blade part 110 is the same. In other words, the multiple types of flapping movements perform a common action at the timing including the center position of the back and forth movement. Therefore, even if the flapping method is changed during the flapping exercise, if the flapping method changes at the same timing, a change in flapping force of 1 changes to another flapping method The behavior of the blade portion 110 at is continuous. In other words, the flapping method changes smoothly.

[0241] More specifically, in the rising and moving apparatus of the present embodiment, the ROM 154 of the control circuit 150 has a plurality of types of data (see Table 2) for causing the blade section 110 to perform a flapping motion. Based on the type of data, the actuators (upper and lower rotors 120 and 130) are controlled. Each of the multiple types of data can identify the movement of one cycle of the reciprocating motion of the blade 110, and the multiple types of data can be used for the flapping motion common to the blade 110 during a predetermined period of one cycle of the reciprocating motion. It is what makes you. Specifically, the multiple types of data are three types of data: data for leading back, data for center back, and data for delay back, as shown in Figures 35B and 35C and Table 2. Is the data for flapping (stopping, ascending, descending, advancing, retreating, moving to the right, moving to the left, turning to the right, and turning to the left). The control circuit 150 causes the blade unit 110 to perform the flapping motion specified by the data of one of a plurality of types of data to the blade unit 110 during a predetermined period including the center position of the reciprocating motion of the blade unit 110. The control is switched from the control for causing the blade unit 110 to perform the flapping motion specified by the other data among the plurality of types of data.

[0242] According to the above configuration, it is possible to change the mode of flapping motion in which discontinuous changes occur in the motion of the blade portion. Therefore, “continuity” of flapping motion is realized. [0243] Further, in the flapping motion specified by the data of 1, the flapping portion flapping specified by other data performed in each of two specific periods in one cycle of the reciprocating motion. It is desirable to draw a different trajectory from the movement. According to this, the blade part 110 is sequentially changed into four types at maximum during one cycle of the reciprocating motion. Therefore, the variation of flapping movement becomes abundant.

[0244] <<Independence>>

Also, the two specific periods may be shifted from each other by 1Z2 cycles. According to this, one specific period and another specific period are repeated with the largest deviation in time. For this reason, the airflow generated by the flapping motion in one specific period has the least effect on the airflow generated by the flapping motion in the other specific period. This ensures “independence” in changing the flapping movement.

[0245] Also, it is desirable that one and the other of the two specific periods include timing positioned at one end of the reciprocating motion of the blade portion 110 and timing positioned at the other end of the reciprocating motion of the blade portion 110, respectively. . That is, it is desirable that the turn-back of the blade portion 110 is performed in a period including the end portion of the reciprocating motion in the front-rear direction. According to this, the position of the blade part 110 in one specific period and the position of the blade part 110 in another specific period are the largest apart. For this reason, the air flow S caused by the flapping motion in one specific period has the smallest influence S on the air flow caused by the flapping motion in the other specific period. Therefore, “independence” in changing the flapping movement is ensured.

That is, in the rising and moving apparatus of the present embodiment, a plurality of types of flapping motions in which the motion of the blade portion 110 is different only during a specific period including each of both ends of the flapping motion. Therefore, the influence of the fluid behavior generated by the previous flapping motion on the current flapping motion has been reduced as much as possible. This achieves independence.

[0247] <<Simpleness>>

One direction component of the fluid force generated by the flapping motion in one of the two specific periods and one direction component of the fluid force generated by the flapping motion in the other of the two specific periods The power is offset. According to this, the flapping movement The mode of change in the attitude of the rising and moving apparatus due to the change is simplified. As a result, control for bringing the rising and moving apparatus into a desired posture is facilitated. Therefore, “simpleness” in changing the flapping movement is ensured.

[0248] More specifically, in the rising and moving apparatus of the present embodiment, as shown in Table 2, the rising and moving modes of the rising and moving apparatus (stop, rise, descend, advance, retract, move to the left) , Right-turn, left-turn, right-turn) and flapping to realize the mode of rising movement (combination of leading back, center turning, and delayed turning) has a one-to-one correspondence. Therefore, it is possible to change the flying movement using a very simple algorithm that only changes the data of the drive duty ratio of the upper and lower ultrasonic motors 120 and 130 corresponding to the flapping method. be able to. Therefore, simplicity is realized in the rising and moving apparatus of the present embodiment.

[0249] Further, the flapping motion specified by the data for hovering among the plurality of data causes the wing portion 110 to reciprocate in the front-rear direction that is mirror-symmetrical with respect to the plane including the vertical direction and the horizontal direction. The control circuit 150 includes basic data (FIGS. 39, 40, and 41) for moving the blade 110 from the center position of the reciprocating motion in the front-rear direction to one end of the reciprocating motion in the front-rear direction. In order to move the blade 110 from the center position of the reciprocating motion in the front-rear direction to the other end of the reciprocating motion in the front-rear direction, an algorithm or calculation function unit for converting basic data, that is, (Dutyl (-φ) = -1 X Dutyl (0.5 + Φ)) is desirable. According to this, the control circuit 150 can cause the blade unit 110 to perform a desired flapping motion only by having data for only the period of 1Z2 of one cycle of the flapping motion. Therefore, the memory capacity for storing data in the control circuit 150 can be reduced. As a result, the rising and moving apparatus can be reduced in size and weight.

[0250] (Communication equipment)

The communication device 170 receives information on the acceleration required for the rising and moving device 100 from the external controller 200 and provides the information to the central processing unit 151 of the control circuit 150. Further, the communication device 170 transmits the image information obtained by the image sensor 180 to the external controller 200. [0251] (Power)

The power source 190 as the driving energy source of the present invention may be any power source as long as it has a discharge characteristic capable of supplying the required power and has a mass that does not hinder levitation.

[0252] The power source 190 used by the present inventors is a lithium ion battery having a mass of 0.7 g, and according to the calculation by the present inventors, 0.6 W can be supplied for about 50 seconds. The power source 190 is provided in the lower part of the main body 101. Therefore, the power source 190 is positioned below the bearing 123, which is the point of action of the fluid reaction force received by the blade portion 110, and stabilizes the posture of the rising and moving apparatus 100.

[0253] Other power sources include fuel cells, capacitors such as electric double layer capacitors, solar cells, and wired supply. These power supplies may be used in combination. For example, in addition to the lithium ion battery, a solar battery may be provided on the surface of the blade 110, and these electric powers may be used together.

[0254] (Main unit)

The main body 101 includes a bottom plate 102, an upper plate 103, a frame portion 104 connecting the bottom plate 102 and the upper plate 103, and legs 105 provided on the bottom plate 102.

[0255] The bottom plate 102 and the top plate 103 have a CFRP force with a thickness of 0.2 mm, and the frame portion 104 has a stainless force with a thickness of 35 zm. Leg 105 is 40 μm thick and 10 mm long

And CFRP hollow pipe with a diameter of 0.5mm.

[0256] The top plate 103 and the bottom plate 102 are also connected by a rotor shaft 124, a support shaft 127, and a main body reinforcing pole 112.

[0257] (Image sensor)

The image sensor 180 is a CMS (Complementary Metal Oxide Silicon) imager, and its mass is 200 mg. Image information acquired by the image sensor 180 is transmitted to the external controller 200 by the communication device 170.

[0258] (Availability of levitation)

<Mass> According to the calculations by the present inventors, the levitation force produced by the blade part sentence is 1.2 gf. Therefore, the levitation force generated by the two blades is 2.4 gf. The mass of each component is shown in Table 3. As shown in Table 3, the total mass of the rising and moving device 100 is 2.17 gf, and this value is the above-mentioned floating force 2.4 g, so the rising and moving device 100 can lift the force S .

[Table 3]

[0260] <Power consumption>

According to the calculation by the present inventors, the mechanical power required for the blade portion of the rising and moving apparatus 100 to generate a flying force of 1.2 gf is a maximum of 40 mW for both the upper and lower ultrasonic motors 120 and 130. The energy conversion efficiency of each ultrasonic motor is 33%. Therefore, the maximum power required for ascent is about 120mW per ultrasonic motor, and the total power is 480mW. Since the total efficiency of driver 152 and booster circuit 153 is approximately 85%, the maximum power required to drive the four ultrasonic motors is 565 mW.

[0261] The power consumption of the central processing unit 151 is 5 mW. The power consumption of the magnetic encoder 126 is 5 mW. The power consumption of the position detection sensor 160 is 5 mW. The power consumption of the image sensor 180 is 15 mW. The power consumption of the communication device 170 is 5 mW.

[0262] The sum of these powers is a maximum of 600 mW, which is within the capacity of the power source 190. Therefore, the rising and moving apparatus 100 can only use the power supplied from the built-in power supply 190. Can be used to surface. Therefore, the rising and moving apparatus 100 can be a stand-alone mouth bot that can fly independently without receiving power supply from the outside.

[0263] <Another embodiment>

A rising and moving apparatus according to another embodiment of the present invention will be described with reference to FIGS. The rising and moving apparatus according to another embodiment has the same configuration as the rising and moving apparatus according to the above-described embodiment except for the matters described below. Note that in comparison between another embodiment and the above-described embodiment, portions denoted by the same reference numerals have the same structure and function, and thus description thereof will not be repeated.

[0264] <Configuration and principle of operation>

FIG. 45 is a diagram showing a torque assist mechanism of the rising and moving apparatus according to another embodiment of the present invention.

The upper ultrasonic motor 120 is fixed to the upper ultrasonic motor base plate 383, and the upper ultrasonic motor base plate 383 is connected to the main body 101 at a fixing point 382 with a spring 381 interposed therebetween. Further, the predetermined portion of the upper ultrasonic motor base plate 383 is a plan view of the main body 101 so that the predetermined portion of the upper ultrasonic motor base plate 383 moves on an arc-shaped locus with the rotor shaft 124 schematically shown on the left side in FIG. Constrained by an arc-shaped inner wall. Note that the spring constant of the spring 381 is the same as that of the above-described embodiment.

[0266] The energy stored in the spring 381 varies depending on the resistance received from the fluid in the space where the rising and moving apparatus flutters. Therefore, energy is stored in the spring 381 in the first half of each turn-back at both ends of the reciprocating motion for flapping. Further, in the latter half of each turn-back of the reciprocating motion for flapping, the motion direction of the blade portion 110 is reversed, so that the energy stored in the spring 381 is supplied to the actuator 122.

[0267] According to such a configuration, energy accumulation and supply are always realized at both ends of the flapping motion regardless of the amplitude of the stroke angle for flapping. For this reason, the upper and lower ultrasonic motors 120 and 130 can be rotated without special measures. Movement is assisted by spring 381.

[0268] Fig. 45 is a diagram schematically showing the energy storage and supply mechanism for the sake of simplicity of explanation. The shapes of the upper ultrasonic motor base plate 383 and the spring 381 are the energy storage and supply mechanism. As long as it can fulfill the functions of In addition, the predetermined portion of the upper ultrasonic motor base plate 383 has an arcuate locus as described above in order to maintain a constant contact angle between the upper rotor 122 and the upper ultrasonic transducer 121. . However, the predetermined part of the upper ultrasonic motor base plate 383 is not limited to any trajectory as long as the change in contact angle between the upper rotor 122 and the upper ultrasonic transducer 121 is within the allowable range. You may move to draw. For example, as shown in FIG. 46, the predetermined part of the upper ultrasonic motor base plate 383 may move so as to draw a linear locus. According to this, the structure of the inner wall of the main body 101 becomes a simpole.

In addition, as shown in FIG. 47, by using a leaf spring 384 having a fixed end 385 near the center point of the rotor shaft 124, the predetermined position of the upper ultrasonic motor base plate 383 is also changed. While restricting the movement of the upper ultrasonic motor base plate 383 so as to draw an arcuate trajectory, it is possible to realize energy storage of the actuator and supply of energy to the actuator. According to this, it is possible to perform both functions of restraining movement of the upper ultrasonic motor base plate 383 and storing and supplying energy with a very simple structure. For convenience of drawing, the upper rotor 122 and the rotor shaft 124 etc. are not shown in FIG. 47, but these are the same as the upper rotor 122 and the rotor shaft 124 shown in FIGS. 45 and 46. They are located at the same position.

[0270] (Another embodiment)

The ultrasonic actuator (ultrasonic motor) shown in FIGS. 9 to 14 may be replaced by the following ultrasonic transducer. The names and symbols given to the ultrasonic transducers of the present embodiment shown below are different from the names and symbols given to the ultrasonic actuators (ultrasonic motors) of the aforementioned embodiments. However, the ultrasonic transducer of this embodiment is the same as the ultrasonic actuator (ultrasonic motor) of the above-described embodiment. It is assumed that the name and code are appropriately converted in such a manner as to fulfill the above function and are incorporated in the rising and moving apparatus of the above-described embodiment.

[0271] Note that the ultrasonic vibrator according to the present embodiment is designed so that the resonance frequency of the stretching vibration and the resonance frequency of the bending vibration substantially coincide.

[0272] "The resonance frequency of the stretching vibration and the resonance frequency of the bending vibration substantially match" means that the resonance frequency of the stretching vibration is sufficient to obtain the driving force required for each product. If the resonance frequency of the bending vibration and the resonance frequency of the bending vibration are approximate, it means that the resonance frequency of the stretching vibration and the resonance frequency of the bending vibration need not be the same value.

Hereinafter, with reference to FIGS. 48 to 66, the adjustment method of the ultrasonic transducer according to the embodiment of the present invention and the ultrasonic transducer used therefor will be described. In this specification, the vibration node means a region where the amplitude is substantially zero when only the vibration is generated. For example, a stretching vibration node means a region where the amplitude of the main plate portion of the vibration plate is substantially zero when only the stretching vibration occurs, and the bending vibration node is a bending vibration. This means a region where the amplitude of the main plate portion of the diaphragm is substantially zero when only this occurs. The state in which the amplitude is substantially zero includes a state in which the ultrasonic transducer vibrates with an amplitude that is negligible for driving the driven body.

[0274] Hereinafter, with reference to FIG. 48 to FIG. 60, a method for adjusting the vibration characteristics of the ultrasonic transducer of Embodiment 1 of the present invention and the ultrasonic transducer used therefor will be described.

[0275] The ultrasonic vibrator according to the present embodiment has two types of vibrations necessary for the above-described operation even after the ultrasonic vibrator 1 that operates by combining a plurality of vibrations is assembled. The vibration characteristics of one of the movements can be adjusted independently of the other vibrations.

[0276] <Overall configuration>

First, the ultrasonic motor 1000 according to the embodiment of the present invention will be described with reference to FIG. FIG. 48 is a plan view of the ultrasonic motor 1000. As shown in FIG. 48, the ultrasonic motor 1000 includes an ultrasonic vibrator 1 and a rotor 2 rotated by the ultrasonic vibrator 1. The rotor 2 is an example of a driven body of the present invention. Accordingly, the driven body is not limited to the rotating body, and may perform other operations. The ultrasonic vibrator 1 has a diaphragm 7. The diaphragm 7 has a supporting protrusion 3. A through hole 50 is provided in the supporting protrusion 3. The shaft 5 passes through the through hole 50. The shaft 5 is fixed to the support 4 as shown in FIG. The outer peripheral surface of the rotor 2 is in contact with one corner S of the four corners of the main plate 6. The rotor 2 is rotatably supported by the support body 4, but a mechanism for this is not shown.

In addition, the ultrasonic transducer 1 is provided with electrodes 9, 10, 11, 12, 17 and a piezoelectric element 8. The electrodes 9, 10, 11, 12, and 17 are electrically connected to a control device (not shown) so that a predetermined signal can be inputted.

[0279] In addition, in the ultrasonic transducer 1 of the present embodiment, when a signal is input to the electrodes 9, 10, 11, 12, 17, the piezoelectric element 8 vibrates. The vibration of the piezoelectric element 8 is transmitted to the main plate portion 6 of the diaphragm 7. As a result, the diaphragm 7 vibrates so that the corner S of the main plate 6 draws an elliptical orbit E. As a result, the rotor 2 in contact with the corner portion S moves along the circular path C. That is, the rotor 2 rotates around its rotation center axis.

[0280] <Ultrasonic transducer>

Next, the structure of the ultrasonic transducer 1 will be described in more detail with reference to FIG. 49 and FIG. 49 and 50 are a perspective view and an exploded perspective view of the ultrasonic transducer 1, respectively.

As shown in FIGS. 49 and 50, the ultrasonic transducer 1 has a diaphragm 7. The diaphragm 7 has a support protrusion 3 fixed to the shaft 5 and a main plate 6 that is formed integrally with the support protrusion 3 and rotates the rotor 2 by vibration.

[0282] The main plate portion 6 is a flat plate-like member having a substantially rectangular planar shape having a width of 2 mm, a length of 9 mm, and a thickness of 0.2 mm. Further, the supporting projection 3 protrudes from the long side of the main plate 6 so as to extend along the short side direction of the main plate 6 and has a width lmm and a length 2 A flat plate-like member having a substantially rectangular planar shape of 15 mm and a thickness of 0.2 mm.

[0283] The supporting protrusion 3 is provided with a circular through hole 50 having a diameter of 0.6 mm. The diameter of the through hole 50 is 0.6 mm, which is the same as the diameter of the shaft 5. The distance from the center position of the long side of the main plate 6 to the center point of the through hole 50 is 1.0 mm. Piezoelectric element 8 is attached to each of the front surface and the back surface of the main plate portion 6. The piezoelectric element 8 is a flat plate member having a rectangular planar shape having a width of 2 mm, a length of 8 mm, and a width of 0.2 mm. Further, the piezoelectric element 8 is fixed to the main plate portion 6 with the electrode 17 interposed so that the long side of the piezoelectric element 8 and the long side of the main plate portion 6 are aligned.

[0284] The dimensions and shapes of the diaphragm 7 and the piezoelectric element 8 are not limited to the above dimensions and shapes, and may be other dimensions and shapes. The material of the diaphragm 7 is not particularly limited, but is preferably a conductive material such as stainless steel. Further, the supporting protrusion 3 and the main plate 6 may be formed of separate members, but it is desirable that they are integrally formed of one member.

[0285] The piezoelectric element 8 may be made of any material as long as it is an element that vibrates when applied with a force voltage made of lead dinoleconium titanate (PZT). On one main surface of the piezoelectric element 8, electrodes 9, 10, 11, and 12 are attached. The electrodes 9, 10, 11, and 12 are flat members having the same rectangular planar shape. Electrodes 9, 10, 11 and 12 are provided in each of the four rectangular regions, assuming that one main surface of the piezoelectric element 8 is divided into four substantially rectangular regions. . A substantially rectangular electrode 17 is provided on the other main surface of the piezoelectric element 8. The electrode 17 is a flat plate-like member having the same rectangular planar shape as the other main surface of the piezoelectric element 8.

[0286] In the ultrasonic transducer 1 of the present embodiment, the two piezoelectric elements 8 are respectively provided on one main surface and the other main surface of the main plate portion 6 with the electrode 17 interposed therebetween. ing.

[0287] The two electrodes 17 are fixed to one main surface and the other main surface of the main plate portion 6 so that the long side direction thereof coincides with the long side direction of the main plate portion 6. Each of the two electrodes 17 is bonded to the main plate 6 with a conductive adhesive such as silver paste.

[0288] Note that the electrode 17 may not be provided between the piezoelectric element 8 and the main plate portion 6 if the piezoelectric element 8 and the main plate portion 6 are bonded by a conductive adhesive. In this case, the conductive adhesive serves as the electrode 17. In particular, when the main plate portion 6 is made of a conductive material such as stainless steel like the ultrasonic vibrator of the present embodiment, the electrodes of the two piezoelectric elements 8 Since a signal of 0 V is always input to each of 17, if the piezoelectric element 8 and the main plate part 6 are joined by a conductive adhesive, the electrode 17 is connected between the piezoelectric element 8 and the main plate part 6. Even if not provided, the main plate portion 6 can serve as the electrode 17.

[0289] Further, the piezoelectric element 8 attached to one main surface of the diaphragm 7 and the electrodes 9, 10, 11, 12, and 17 attached thereto, and the other main surface of the diaphragm 7 The attached piezoelectric element 8 and the electrodes 9, 10, 11, 12, and 17 attached thereto are arranged mirror-symmetrically in the thickness direction of the diaphragm 7. Therefore, the vibration characteristic of the piezoelectric element 8 on one main surface of the vibration plate 7 and the vibration characteristic of the piezoelectric element 8 on the other main surface of the vibration plate 7 are substantially the same. Therefore, diaphragm 7 of the present embodiment vibrates in the in-plane direction. Further, since the main plate portion 6 of the diaphragm 7 is rectangular, the corner portion S of the diaphragm 7 vibrates elliptically in the aforementioned in-plane direction.

[0290] If the object of the present invention can be achieved, the piezoelectric element 8 and the electrodes 9, 10, 11, 12, 12, and 17 attached to one main surface of the diaphragm 7 and vibration The piezoelectric element 8 and the electrodes 9, 10, 11, 12, and 17 attached to the other main surface of the plate 7 may have an asymmetric structure or may be asymmetrically arranged.

[0291] Next, a method for driving the ultrasonic transducer 1 of the present embodiment will be described with reference to FIGS.

[0292] When the ultrasonic transducer 1 is driven, a predetermined signal is supplied to the control device provided outside.

(Not shown) is input to electrodes 9, 10, 11, 12, and 17. The signal (applied voltage) input to the electrodes 9, 10, 11, 12, and 17 positioned on one main surface side of the diaphragm 7 and the other main surface side of the diaphragm 7 are positioned. The signals (applied voltages) input to the electrodes 9, 10, 11, 12, and 17 are mirror-symmetric with respect to the main plate portion 6. However, if the object of the present invention can be achieved, signals (applied voltages) input to the electrodes 9, 10, 11, 12, and 17 positioned on one main surface side of the diaphragm 7 The signal (applied voltage) input to the electrodes 9, 10, 11, 12, and 17 positioned on the other main surface side of the vibration plate 7 may be asymmetric.

As shown in FIG. 50, electrode 9 and electrode 12 are connected, and the same signal (φ 1) is input. Electrode 10 and electrode 11 are connected, and the same signal (φ 2) is input . Therefore, the signal input to the electrodes 9, 10, 11, and 12 has four modes (A), (B), (C), and (D) as shown in FIG. . In FIG. 51, the entire outer shape of the electrodes 9, 10, 11 and 12 in a non-vibrated state is drawn by a broken line, and the electrodes 9, 10, 11, and 11 in a state of stretching vibration or bending vibration are drawn. Each shape of 12 and 12 is drawn with a solid line. In addition, as shown in FIG. 52, the signal input to electrode 9 and electrode 11 and the signal input to electrode 10 and electrode 12 have a force that has a 90-degree deviation in the phase. And have a frequency.

[0294] Main plate portion 6 of ultrasonic transducer 1 described above performs vibration in combination with the stretching vibration shown in FIG. 53 and the bending vibration shown in FIG. According to the stretching vibration shown in FIG. 53, the main plate portion 6 of the diaphragm 7 is compressed or stretched in the long side direction as shown by the white arrow. Thereby, the corner portion S vibrates in the long side direction. On the other hand, according to the bending vibration shown in FIG. 54, the diaphragm 7 changes from one S-shape to another S-shape that is mirror-symmetrical to it. As a result, the corner portion of the main plate portion 6 of the diaphragm 7 vibrates in the short side direction as indicated by the white arrow.

[0295] When the main plate 6 vibrates and contracts, as can be seen from FIG. 51, the amplitude in the long side direction is extremely large relative to the amplitude in the short side direction. The force that can be said to vibrate in the direction When the main plate 6 vibrates, the difference between the amplitude in the long side direction and the amplitude in the short side direction is not so large. Vibrate diagonally.

[0296] Voltage force changing at the same frequency as the resonance frequency of the stretching vibration When applied in the same phase to each of the electrodes 9, 10, 11, and 12, the main plate 6 is shown by an arrow in FIG. Performs stretching vibration in the direction indicated. In addition, a voltage (positive) that changes at the same frequency as the resonance frequency of the bending vibration is applied to each of the electrodes 9 and 11 in the same phase, and a voltage (negative) that is opposite in phase to the electrodes 9 and 11 When applied to each of 10 and 12, the main plate portion 6 performs bending vibration as indicated by arrows in FIG. A reference potential (0 V) is always applied to each of the two electrodes 17.

In FIGS. 53 and 54, the position X of the expansion vibration node and the position Y of the bending vibration node are indicated by hatching, respectively. The vibration node is the main plate 6 This is a position where the amplitude is substantially zero. Further, the shape of the electrode is not limited to a rectangle, and any shape may be used as long as the ultrasonic vibrator 1 can generate both stretching vibration and bending vibration.

[0298] Further, according to the conventional ultrasonic vibrator 1, the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration are not substantially the same as shown in Fig. 55, that is, It is extremely difficult to reduce the deviation Δ (ί> when there is a deviation of Δφ. In adjusting the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration, it is difficult to reduce one of them. This is because the force cannot be changed independently of the other.

[0299] However, according to the structure of the ultrasonic transducer 1 of the present embodiment, it is easy to reduce the deviation Δφ for the following reason. According to the structure of the ultrasonic vibrator 1 described above, as shown in FIG. 53, the supporting protrusion 3 is provided at the position X of the node of the stretching vibration. By changing at least one of the physical quantities of the structure of the supporting protrusion 3 such as shape, rigidity, mass, and internal stress, bending vibration that does not change the vibration characteristics of stretching vibration is changed. Characteristics can be changed. Therefore, it is easy to substantially match the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration.

[0300] A voltage having the same frequency as that of each of the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration is applied to the electrodes 9 and 11, and the same frequency as that of the electrodes 9 and 11, and A voltage with a phase shift of +90 degrees is applied to electrodes 10 and 12. As a result, stretching vibration and bending vibration occur alternately every quarter of the AC voltage input to the electrode. As a result, the corner portion S of the main plate portion 6 in contact with the rotor 2 performs elliptical vibration as indicated by reference symbol E in FIG.

[0301] When a voltage having the same frequency as that of electrodes 9 and 11 and a phase shifted by -90 degrees is applied to electrodes 10 and 12, the direction indicated by reference symbol E in FIG. Directional elliptical vibration occurs. In addition, when the rotor 2 is rotating in a certain direction and the phase force of one of the signals input to the electrodes 9 and 11 and the electrodes 10 and 12 is changed by S180 degrees, the ultrasonic wave The rotation direction of the rotor 2 in contact with the corner S of the vibrator 1 is reversed.

[0302] As shown in FIG. 56, the ultrasonic transducer 1 is located at or near the position Y of the bending vibration node shown in FIG. 54, and shown in FIG. Stretch vibration node position You may have the adjustment protrusion 20 for adjusting a vibration characteristic in positions other than Y or its vicinity. However, the adjustment protrusion 20 may be formed as a part of the piezoelectric element 8 or the diaphragm 7 or may be formed by adding another material to the piezoelectric element 8 or the diaphragm 7.

[0303] According to the ultrasonic vibrator 1 having the structure shown in Fig. 56, the adjustment protrusion 20 is ground or heated, or some member is added to the adjustment protrusion 20, and then bent. The resonance frequency a of the stretching vibration without changing the resonance frequency b of the vibration can be changed. Therefore, the phase shift between the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration can be easily reduced.

[0304] <Method for adjusting vibration characteristics of ultrasonic transducer>

In the ultrasonic motor 1000, in order to obtain the maximum driving efficiency, the ultrasonic vibrator 1 is assembled and assembled at a predetermined position of the ultrasonic motor 1000, and the resonance frequency a of the stretching vibration and the bending vibration are combined. It is necessary that the resonance frequency b is substantially the same. Even if the ultrasonic vibrator 1 is designed so that the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration substantially coincide with each other, the dimensions of the piezoelectric element 8 or the diaphragm 7 As shown in Fig. 55, it is actually assembled and assembled to the ultrasonic motor 1000 due to factors such as errors in the above, errors in the alignment of the piezoelectric element 8 and the diaphragm 7, and errors in the electrode dimensions. In addition, a deviation Δφ may occur between the resonance frequency a of the stretching vibration of the ultrasonic transducer 1 and the resonance frequency b of the bending vibration. In FIG. 55, the horizontal axis represents the frequency f (= 1 / T), and the vertical axis represents the vibration amplitude F in the long side direction of the stretching vibration and the vibration amplitude F in the short side direction of the bending vibration. .

FIG. 57 shows the result of the simulation performed by the present inventors. The length L1 of the supporting protrusion 3 and the resonance frequency a of the stretching vibration of the ultrasonic vibrator 1 and the resonance frequency b of the bending vibration are shown in FIG. It shows the relationship with change. As shown in FIG. 57, as the length L1 of the supporting protrusion 3 increases, the resonance frequency b of the bending vibration of the ultrasonic transducer 1 decreases approximately linearly, but the stretching vibration The resonance frequency a is almost constant.

[0306] The portions indicated by hatching in FIGS. 53 and 54 correspond to the positions of the nodes of the stretching vibration and the positions Y of the bending vibration. The support protrusion 3 is the expansion and contraction that occurs in the main plate 6 It is provided at the position X of the vibration node or in the vicinity thereof, and at a position away from the position Y of the bending vibration node or in the vicinity thereof. Therefore, when the length L1 of the supporting protrusion 3 is changed, the resonance frequency a of the stretching vibration does not change, but the resonance frequency b of the bending vibration changes.

[0307] After the ultrasonic vibrator 1 is attached to a predetermined position of the ultrasonic motor 1000, the shape and mass thereof can be changed by grinding the supporting protrusion 3. Thereby, only the resonance frequency b of the bending vibration can be adjusted in a state where the resonance frequency a of the stretching vibration is substantially constant. As a result, it becomes easy to substantially match the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration. In addition, instead of changing the shape and mass of the support protrusion 3, it is also possible to change the resonance frequency of the stretching vibration by changing the physical properties such as the rigidity of the support protrusion 3 by heat treatment such as annealing. It is easy to adjust the resonance frequency b of the bending vibration while a is kept constant.

[0308] Next, there is a specific method for adjusting the vibration characteristics of the ultrasonic transducer 1 by cutting the open end of the support protrusion 3, that is, by changing the shape and mass of the support protrusion 3. Explained.

[0309] When the resonance frequency b of the bending vibration of the ultrasonic vibrator 1 assembled at a predetermined position of the product is lower than the resonance frequency a of the stretching vibration, the resonance frequency a of the stretching vibration a In order to substantially match the resonance frequency b of the bending vibration with the resonance frequency b of the bending vibration, it is necessary to increase the resonance frequency b of the bending vibration to the resonance frequency a of the stretching vibration.

In the present embodiment, as shown in FIG. 58, the open end of the supporting protrusion 3 is scraped and the supporting protrusion 3 is shortened to increase the resonance frequency b of the bending vibration. Match the resonance frequency a of the stretching vibration. According to this method, the vibration characteristics of the ultrasonic vibrator 1 can be easily adjusted. Further, since the supporting protrusion 3 is not ground between the through hole 50 of the shaft 5 and the main plate portion 6, the vibration of the ultrasonic vibrator 1 is maintained while the strength of the supporting protrusion 3 is maintained. It is possible to adjust the characteristics.

[0311] Further, as shown in FIG. 49, the central position force of the through hole 50 provided in the support protrusion 3 is also provided with a recess 55 at each of two positions separated by the same distance, and the support protrusion The shape and mass of 3 may be changed. According to this, the resonance frequency a of the stretching vibration is It is possible to change only the resonance frequency b of the bending vibration without changing it.

[0312] Also, as shown in FIG. 55, the two recesses 55 are positioned at an equal distance from the center position of the through hole 50 so that they face each other with the center position of the through hole 50 interposed therebetween. Formed by grinding. This makes it possible to change the resonance frequency of the bending vibration by reducing the moment of inertia in the bending vibration. In addition, when the recessed part 55 becomes too large by grinding, a vibration characteristic may be adjusted again by a certain member being carried by the recessed part 55. FIG.

[0313] Next, a method for adjusting the vibration characteristics of the ultrasonic transducer 1 by changing the rigidity of the support protrusion 3 by heat-treating the support protrusion 3 will be described. The supporting protrusion 3 is heated to about 700 degrees using a heating device (not shown) and then cooled naturally. Thereby, the rigidity of the supporting protrusion 3 is reduced. When the rigidity of the support protrusion 3 is reduced, the resonance frequency b of the bending vibration of the ultrasonic transducer 1 is reduced. In addition, if the supporting protrusion 3 is heated to about 700 degrees by the heating device and then rapidly cooled in water, the rigidity of the supporting protrusion 3 increases and the bending vibration of the ultrasonic vibrator 1 is reduced. Resonance frequency b increases. It is desirable to use a device that can locally heat only the supporting protrusion 3 such as a laser as the heating device. Further, the heating temperature needs to be equal to or higher than the transformation temperature of the material of the supporting protrusion 3. When stainless steel is used as the material of the diaphragm 7, the heating temperature is preferably about 700 degrees.

[0314] Next, there is a method in which the weight 13 is mounted on the support protrusion 3, that is, a material having a predetermined mass is added to the support protrusion 3 to adjust the vibration characteristics of the ultrasonic transducer 1. Explained.

[0315] As shown in FIG. 60, when the stainless steel weight 13 is bonded to the supporting protrusion 3, the mass of the supporting protrusion 3 increases. As the mass of the support protrusion 3 increases, the moment of inertia of the support protrusion 3 in bending vibration increases. Therefore, the resonance frequency b of the bending vibration of the ultrasonic vibrator 1 can be reduced. However, the material of the weight 13 is not limited to stainless steel, and any material may be used.

[0316] Similar to the above-described support protrusion 3, the adjustment protrusion 20 shown in FIG. 56 is caused to change in shape, rigidity, mass, and / or internal stress. Also Thus, it is easy to change only the resonance frequency b of the stretching vibration without changing the resonance frequency a of the bending vibration.

[0317] (Another example of the ultrasonic transducer of the embodiment)

In the ultrasonic transducer of the present embodiment, the same components as those of the ultrasonic transducer of the first embodiment have the same reference numerals as those assigned to the ultrasonic transducer 1 of the first embodiment. Reference numerals are given and the description will not be repeated unless otherwise required.

[0318] Also in the present embodiment, even after the ultrasonic transducer 1 is assembled, the vibration characteristics of the ultrasonic transducer 1 can be easily adjusted.

FIG. 61 is a plan view of ultrasonic motor 1000 of the present embodiment. As shown in FIG. 61, the ultrasonic motor 1000 according to the present embodiment includes an ultrasonic transducer 1 and a rotor 2.

[0320] The ultrasonic transducer 1 of the present embodiment is substantially the same as the ultrasonic transducer 1 of the first embodiment described with reference to Figs. 48 to 55, but with the main plate portion 6 interposed therebetween. Thus, the pressing protrusion 14 is provided so as to face the supporting protrusion 3, which is different from the ultrasonic transducer 1 of the first embodiment. One end of a linear rubber 15 is bonded to the pressing protrusion 14. The other end of the linear rubber 15 is fixed to a pressing mechanism provided outside (not shown). The linear rubber 15 pulls the pressing protrusion 14 against the pressing mechanism by the contraction force. Accordingly, the force with which the corner portion S of the ultrasonic transducer 1 presses the outer peripheral portion of the rotor 2 can be adjusted. That is, the contact force between the ultrasonic transducer 1 and the rotor 2 is adjusted by adjusting the contraction force of the linear rubber 15.

[0321] Also in the ultrasonic motor 2 of the present embodiment, as in the ultrasonic motor 1000 of the first embodiment, electrodes 9, 10, 11, 12, and 17 provided on the ultrasonic transducer 1 described later are provided. The signal is input to. Thereby, the corner portion S of the main plate portion 6 that is in contact with the outer peripheral surface of the rotor 2 moves while drawing an elliptical orbit E shown in FIG. As a result, the rotor 2 rotates around the center axis of rotation along the circular path C.

[0322] <Ultrasonic transducer>

FIG. 62 shows a perspective view of the ultrasonic transducer 1 of the present embodiment. Ultrasonic vibration Of the constituent elements of the child 1, the shape, dimensions, arrangement, and constituent materials of the main plate portion 6, the piezoelectric element 8, the electrodes 9, 10, 11, 12, and 17 are the same as those of the embodiment. Since it is the same as that of vibrator 1, its description will not be repeated.

[0323] However, in the present embodiment, the through hole 50 and the shaft 5 are not fixed. Therefore, the shaft 5 can rotate around its axis in the through hole 50 provided in the supporting protrusion 3. More specifically, the support protrusion 3 is restricted from moving in the direction in which the shaft 5 extends, but can rotate around the rotation center axis along the direction in which the shaft 5 extends. In addition, on each of the upper side and the lower side of the supporting protrusion 3, the axial movement of the shaft 5 of the supporting protrusion 3 is prevented so that the ultrasonic vibrator 1 does not move along the axial direction of the shaft 5. There is provided a member (not shown) for restraining. The pressing protrusion 14 has a substantially rectangular shape with a width of 1 mm and a length of 2.5 mm.

[0324] In addition, the driving method of ultrasonic transducer 1 of the present embodiment is the same as the driving method of ultrasonic transducer 1 of the first embodiment, and therefore description thereof will not be repeated.

[0325] Further, as the structure of the ultrasonic transducer 1, the structure shown in FIG. 63 may be adopted. In the structure shown in FIG. 63, at least at a position near the position X of the bending vibration node shown in FIG. 53 and away from the position Y of the stretching vibration node shown in FIG. The adjustment protrusion 20 is provided at the position of 1. However, even if the adjustment protrusion 20 is a part of the piezoelectric element 8 or the main plate 6, the other material is the piezoelectric element 8 or the main plate 6. Even if it was added to.

[0326] <Method for adjusting vibration characteristics of ultrasonic transducer>

FIG. 64 shows a simulation result performed by the inventors of the present application. The length L2 of the pressing protrusion 14 of the ultrasonic vibrator 1 and the resonance frequency a of the stretching vibration of the ultrasonic vibrator 1 and The relationship with the resonance frequency b of bending vibration is shown. As shown in Fig. 64, as the length L2 of the pressing projection 14 is increased, the resonance frequency b of the bending vibration of the ultrasonic transducer 1 decreases approximately linearly, but the resonance of the stretching vibration The frequency a is almost constant.

[0327] The pressing protrusion 14 is provided at or near the position X of the node of the expansion / contraction vibration generated in the main plate portion 6, and at a position away from the position Y of the bending vibration or at the vicinity thereof. Therefore, changing the length L2 of the pressing projection 14 changes the resonance frequency a of the stretching vibration. It is possible to cause a change in the resonance frequency b of the bending vibration that is not generated.

[0328] After the ultrasonic vibrator 1 is mounted at a predetermined position of the ultrasonic motor 1000, the shape and mass of the pressing protrusion 14 are changed, so that the resonance frequency a of the stretching vibration is substantially constant. By adjusting only the resonance frequency b of the bending vibration, the resonance frequency a of the stretching vibration and the resonance frequency b of the bending vibration can be substantially matched.

[0329] The resonance frequency of the bending vibration can also be adjusted by changing the physical properties of the pressing protrusion 14 such as rigidity using a technique such as annealing.

Next, the shape and mass of the pressing protrusion 14 of the ultrasonic vibrator 1 are changed by grinding the tip of the pressing protrusion 14 to adjust the vibration characteristics of the ultrasonic vibrator 1. The method is specifically described.

[0331] When the resonance frequency b of the bending vibration of the ultrasonic vibrator 1 assembled and installed at a predetermined position is lower than the resonance frequency a of the stretching vibration, the resonance frequency a of the stretching vibration and the bending vibration In order to substantially match the resonance frequency b, it is necessary to increase only the resonance frequency b of the bending vibration so as to substantially match the resonance frequency a of the stretching vibration. As shown in Fig. 65, if the length L2 of the pressing projection 14 is shortened by grinding the tip of the pressing projection 14, the resonance frequency of the stretching vibration is constant and the bending vibration resonance Frequency b increases. Therefore, it is easy to substantially match the resonance frequency b of the bending vibration with the resonance frequency a of the stretching vibration.

[0332] Next, a method for adjusting the vibration characteristics of the ultrasonic transducer 1 by applying heat treatment to the pressing projection 14 to change the rigidity of the pressing projection 14 of the ultrasonic transducer 1 will be described. Is done.

[0333] The pressing protrusion 14 is heated to about 700 degrees using a heating device. After that, natural cooling is performed. Thereby, the rigidity of the pressing projection 14 is lowered. When the rigidity of the pressing projection 14 is reduced, the resonance frequency b of the bending vibration of the ultrasonic vibrator 1 is lowered.

[0334] In addition, when the pressing protrusion 14 is heated to about 700 degrees using a heating device and then rapidly cooled in water, the rigidity of the pressing protrusion 14 increases, and the ultrasonic wave The resonance frequency b of the bending vibration of vibrator 1 increases.

[0335] As the heating device, it is desirable to use a device that can locally heat only the pressing projection 14, such as a laser. The heating temperature of the material of the pressing protrusion 14 It must be above the transformation temperature. Therefore, when stainless steel is used as the material of the pressing protrusion 14, it is desirable that the pressing protrusion 14 is heated at a temperature of about 700 degrees.

[0336] Next, when the weight 13 is mounted on the pressing protrusion 14, the mass of the pressing protrusion 14 of the ultrasonic transducer 1 is changed to adjust the vibration characteristics of the ultrasonic transducer 1. Is explained.

As shown in FIG. 66, when the stainless steel weight 13 is bonded to the pressing protrusion 14, the resonance frequency b of the bending vibration is lowered while the resonance frequency a of the stretching vibration is constant. Note that the material of the weight 13 is not limited to stainless steel, and may be a material other than stainless steel.

[0338] Similarly to the support protrusion 3, the resonance of the bending vibration can be obtained by changing at least one element of the shape, rigidity, and mass of the adjustment protrusion 20 shown in FIG. Only the resonance frequency a of the stretching vibration can be easily adjusted without changing the frequency b.

[0339] In the above-described embodiment, the physical quantity of the protruding portion, which is a structure provided at the position of one of the plurality of types of vibration nodes or at a position near the node, includes the shape, rigidity, and The vibration characteristics are adjusted by changing at least one force of the mass. By changing the internal stress of the structure at or near the position of the vibration node instead of the shape, rigidity and mass of the structure provided at or near the position of the vibration node, It is possible to adjust the vibration characteristics as described above. As a method of changing the internal stress, a structure in which the structure at the position of the vibration node or in the vicinity thereof includes a dielectric, and an electric field can be applied to the dielectric from the outside.

[0340] Further, in each of the above embodiments, the protrusion is provided so as to include the vibration node. Even if the protrusion is provided in the vicinity of the position of the vibration node, the vibration node and the protrusion are provided. If the distance to the part is smaller than the predetermined amount, it is easy to adjust the vibration characteristics as compared with the conventional method. For example, when changing the resonance frequency a of the stretching vibration without changing the resonance frequency b of the bending vibration, a peripheral shape surrounding the bending vibration vibration node expressed in terms of a plane. A protrusion may be formed on the region. For example, crooked Even if a pipe-like protruding portion surrounding the point as a vibration node of the bending vibration is provided instead of the adjusting protruding portion 20, the vibration characteristics can be easily adjusted in the same manner as described above. The power which has described and illustrated the invention in detail This is for illustrative purposes only, and not as a limitation, and it is clear that the scope of the invention is limited only by the appended claims. Will be led.

Claims

The scope of the claims

[1] a wing having a leading edge attached to the body;

An actuator that reciprocates the blade portion in the front-rear direction and twists the blade portion around the front edge portion in a predetermined period before and after reversal of the movement direction in the reciprocating motion;

Energy is stored when the torque required for the actuator for the reciprocating motion is less than a predetermined value, and energy is stored in the actuator when the torque required for the actuator for the reciprocating motion is greater than a specific value. An energy storage and supply mechanism that provides a floating movement device.

[2] The reciprocating motion includes a motion having a constant angular velocity and a motion for reversing the motion direction, which is performed continuously with the motion and changes the angular velocity.

The energy storage / donating mechanism stores energy of the actuator in the first half of the movement for reversing the movement direction, and gives energy to the actuator in the second half of the movement for reversing the movement direction. The rising and moving apparatus according to 1.

[3] The energy storage and supply mechanism has a chargeable / dischargeable battery, stores the energy of the actuator as power in the battery, and supplies the energy to the actuator using the power stored in the battery. The rising and moving apparatus according to claim 1.

4. The rising and moving apparatus according to claim 1, wherein the energy storage / donating mechanism stores the energy of the actuator by elastic deformation of a substance and gives the energy to the actuator by a restoring force of the substance.

[5] The rising and moving apparatus according to claim 4, wherein the substance is a solid.

6. The levitating and moving apparatus according to claim 1, wherein the energy storage and supply mechanism stores and supplies the kinetic energy by compression and expansion of a gas in a sealed container.

7. The rising and moving apparatus according to claim 1, wherein the energy storage and supply mechanism stores and supplies the kinetic energy by a phase change of a gas in a sealed container.

[8] The reciprocating motion is performed continuously with the motion having a constant angular velocity and the angular velocity. A degree of movement, and a movement for reversing the movement direction,

5. The rising and moving apparatus according to claim 4, wherein the substance contacts the actuator only during a movement period for reversing the movement direction.

[9] The rising and moving apparatus according to claim 4, wherein the substance is provided in the actuator.

[10] The reciprocating motion is composed of a motion with a constant angular velocity and a motion for reversing the motion direction that is performed continuously and changes the angular velocity,

5. The rising and moving apparatus according to claim 4, wherein the actuator has a structure that elastically deforms the substance in each of the movement periods for reversing the movement direction at both ends of the reciprocating movement.

11. The rising and moving apparatus according to claim 10, wherein the substance includes a string-like elastic body that is slackened at a center position of the reciprocating motion of the blade portion.

12. The rising and moving apparatus according to claim 5, wherein the substance is elastically deformed in a period until the torque reaches a maximum value from a minimum value.

13. The rising and moving apparatus according to claim 5, wherein the spring constant of the substance is obtained by dividing the maximum value of the torque by the amount of deformation of the substance when the torque reaches the maximum value.

[14] The actuator includes a rotor for back-and-forth reciprocating motion that causes the blade portion to reciprocate in the front-rear direction, and a rotor for twisting motion for twisting the blade portion around the front edge portion.

2. The rising and moving apparatus according to claim 1, wherein the energy storage and supply mechanism accumulates energy of the back-and-forth reciprocating rotor and supplies the energy to the back-and-forth reciprocating rotor.

[15] a wing having a leading edge attached to the body;

An actuator that reciprocates the blade portion in the front-rear direction and twists the blade portion around the front edge portion in a predetermined period after the forward force of reversal of the movement direction in the reciprocating motion;

Energy is accumulated when the energy required for driving the actuator in the reciprocating motion is smaller than a predetermined value, and the A rising and moving apparatus comprising: an energy storing and providing mechanism for supplying energy to the actuator when energy required for driving the actuator is greater than a specific value.

[16] The actuator is a rotor that reciprocates the blade portion in the front-rear direction, and is relatively large in a direction substantially parallel to the first rotor and a first rotor that reciprocates with a relatively small amplitude. A second rotor that reciprocates with amplitude,

The rising and moving apparatus further includes a control unit that controls the degree of twist of the blade portion by controlling the difference between the phase of the first rotor and the phase of the second rotor,

16. The rising and moving apparatus according to claim 15, wherein the energy storage and supply mechanism stores energy of the first rotor and supplies the energy to the first rotor.

[17] The actuator is a rotor that reciprocates the front edge portion in the front-rear direction, the first rotor connected to the front edge portion and reciprocating at a fixed amplitude, and substantially parallel to the first rotor. A second rotor that reciprocates with variable amplitude in a different direction,

18. The rising and moving apparatus according to claim 1, wherein the energy storage / donating mechanism accumulates kinetic energy generated by the movement of the actuator and supplies the kinetic energy to the actuator.

[19] The actuator includes a rotor,

19. The rising and moving apparatus according to claim 18, wherein the predetermined part of the energy storage / donating mechanism moves so as to draw an arc-shaped locus around a rotation center axis common to the rotation center axis of the rotor.

[20] The energy storage and donating mechanism includes a panel board,

20. The rising and moving apparatus according to claim 19, wherein the fixed end of the plate panel is positioned in the vicinity of the rotation center axis of the rotor.

[21] A wing part attached to the main body and realizing flapping movement by reciprocating movement; An actuator for operating the blade,

A controller having a plurality of types of data for causing the blade to flutter, and a controller for controlling the actuator based on the plurality of types of data;

Each of the plurality of types of data can specify the movement of the blade portion in one cycle of the reciprocating motion, and is common to the blade portion in a predetermined period of the one cycle of the reciprocating motion. In a period other than the predetermined period, causing the blade part to perform a movement different from the movement specified by the other data of the plurality of types of data.

The control unit controls the actuator to cause the blade unit to perform a movement specified by one data of the plurality of types of data during the predetermined period. A rising and moving apparatus for switching to a control for causing the blade section to perform movement specified by other data.

[22] The rising and moving apparatus according to claim 21, wherein the periods other than the predetermined period are two specific periods in one cycle of the reciprocating motion.

[23] The rising and moving apparatus according to claim 22, wherein the two specific periods are shifted from each other by a half period.

[24] One and the other of the two specific periods include a timing at which the blade portion is positioned at one end of the reciprocating motion and a timing at which the blade portion is positioned at the other end of the reciprocating motion, respectively. 24. The rising and moving apparatus according to claim 23.

[25] One directional component of the fluid force generated by the movement in one of the two specific periods, and one directional component of the fluid force generated by the movement in the other of the two specific periods 23. The rising and moving apparatus according to claim 22, wherein

[26] The control unit performs control for twisting the blade part around the front edge part at each of both ends of the reciprocating motion,

23. The rising and moving apparatus according to claim 22, wherein each of the two specific periods includes a timing at which the actuator twists the blade portion around the front edge portion.

[27] The plurality of data includes data for hovering,

The flapping motion specified by the data for hovering is This is a reciprocating motion in the front-rear direction that is mirror-symmetrical with respect to the plane including the vertical and horizontal directions

The controller is

Basic data for moving the blade portion from a center position of the reciprocating motion in the front-rear direction to one end of the reciprocating motion in the front-rear direction;

An arithmetic processing unit for converting the basic data so as to move the blade portion from the center position of the reciprocating motion in the front-rear direction to the other end of the reciprocating motion in the front-rear direction. Levitation moving device.

[28] A method for adjusting the vibration characteristics of an ultrasonic vibrator that drives a driven body by combining a plurality of types of vibrations,

Each of the plurality of types of vibrations has a vibration node having an amplitude of substantially zero, and is a position of at least one vibration node of the plurality of types of vibration nodes or a position in the vicinity thereof. In addition, by changing the physical quantity of the structure at a position other than or near the position of another vibration node, the characteristics of the vibration having no vibration node at the position where the physical quantity is changed are adjusted. How to adjust the vibrator.

[29] The structure at the position of the vibration node is a protrusion,

29. The method of adjusting an ultrasonic transducer according to claim 28, wherein the characteristic of vibration having no vibration node at a position where the physical quantity is changed is adjusted by changing the physical quantity in the protrusion.

30. The method of adjusting an ultrasonic transducer according to claim 29, wherein the characteristic of vibration having no vibration node at the position of the protrusion or in the vicinity thereof is adjusted by grinding the protrusion.

31. The method of adjusting an ultrasonic transducer according to claim 29, wherein the characteristic of vibration having no vibration node at the position of the protrusion or in the vicinity thereof is adjusted by the heat treatment of the protrusion.

[32] The ultrasonic vibration according to claim 29, wherein a vibration characteristic having no vibration node at a position of the protrusion or a position near the protrusion is adjusted by attaching a predetermined member to the protrusion. How to adjust the child.

[33] The position of or near at least one of the plurality of types of vibration nodes 30. The method of adjusting an ultrasonic vibrator according to claim 28, wherein a vibration characteristic having no vibration node is adjusted at a position where the concave portion is provided or a position near the concave portion by providing a concave portion at a side position.

[34] The plurality of types of vibrations include stretching vibrations and bending vibrations,

30. The method of adjusting an ultrasonic transducer according to claim 28, wherein a vibration characteristic of any one of the stretching vibration and the bending vibration is adjusted.

35. The method for adjusting an ultrasonic transducer according to claim 34, wherein the bending vibration characteristic is adjusted without adjusting the stretching vibration characteristic.

36. The method of adjusting an ultrasonic transducer according to claim 29, wherein the protruding portion functions as a supporting protruding portion for supporting the ultrasonic transducer.

[37] An ultrasonic vibrator that drives a driven body by combining a plurality of types of vibrations,

Each of the plurality of types of vibrations has a vibration node having an amplitude of substantially zero, and is at or near the position of at least one vibration node of the plurality of types of vibration nodes. An ultrasonic transducer in which a vibration characteristic adjusting unit is provided at a position other than the position of the vibration node or a position in the vicinity thereof.

38. The ultrasonic transducer according to claim 37, wherein the vibration characteristic adjustment unit has a protrusion.

39. The ultrasonic transducer according to claim 37, wherein the vibration characteristic adjusting unit has a recess.

40. The ultrasonic transducer according to claim 38, wherein the protruding portion functions as a supporting protruding portion that supports the ultrasonic transducer.

The ultrasonic transducer according to claim 38, wherein the protrusion functions as a pressing protrusion for pressing the ultrasonic vibrator against a driven body driven by the ultrasonic vibrator. .