WO2017078018A1

WO2017078018A1 - Wing flapping apparatus

Info

Publication number: WO2017078018A1
Application number: PCT/JP2016/082450
Authority: WO
Inventors: 中村　和敬; 加藤　正紀; 濱本　将樹; 三宅　知之
Original assignee: 株式会社村田製作所; シャープ株式会社
Priority date: 2015-11-04
Filing date: 2016-11-01
Publication date: 2017-05-11
Also published as: JPWO2017078018A1; JP6552631B2

Abstract

This wing flapping apparatus (1A) is provided with a body, a power source (2) attached to the body, wing bodies (4A, 4B), and a power transmission mechanism (3) which transmits power generated in the power source (2) to the wing bodies (4A, 4B). The power transmission mechanism (3) includes a rotational motion transmission unit (3A) and a motion conversion unit (3B); the rotational motion transmission unit (3A) transmits rotational motion generated in the output shaft (2a) of the power source (2) to the motion conversion unit (3B), and the motion conversion unit (3B) converts rotational motion transmitted from the rotational motion transmission unit (3A) to reciprocating motion. The wing bodies (4A, 4B) receive the transmitted reciprocating motion outputted from the motion conversion unit (3B) and swing. The rotational motion transmission unit (3A) has a load fluctuation suppressing unit which suppresses fluctuation in the load transmitted from the wing bodies (4A, 4B) over the power transmission mechanism (3) to the output shaft (2a) of the power source (2) that accompanies swinging of the wing bodies (4A, 4B).

Description

Flapping equipment

The present invention relates to a flapping apparatus that obtains levitation force by driving and swinging a wing body by a power source assembled to the housing.

Usually, in a flapping apparatus, a wing is provided on each of the port side and the starboard side of the skeleton, and the wing is driven by a power source assembled to the skeleton. At this time, the wing swings so that the distal end located on the side opposite to the proximal end moves in the front-rear direction with the proximal end located on the housing side as the rotation center.

For example, in FIG. 9 of JP 2012-529398 A (Patent Document 1), a rocker arm is assembled at the base end of a mast to which a wing is attached, and a rotary motion output from a rotary motor as a drive source. The rocker arm is periodically pushed and pulled by being converted into a reciprocating linear motion by the crank, and the flutter is configured to swing in the front-rear direction when the mast is driven by the rocker arm. Is disclosed.

Special table 2012-529398 gazette

Here, in the flapping apparatus, an inertial force is generated as the wing swings, and periodic vibrations are generated in the casing. The generated vibration not only causes the flight posture of the flapping apparatus to become unstable, but also causes the fluctuation of the load applied to the power source to increase because the smooth swinging of the wings is hindered. . Therefore, if no countermeasure is taken for this point, the movement efficiency of the flapping device will be significantly reduced.

Also, in the flapping apparatus, the wing body receives air resistance when the wing swings. The magnitude of this air resistance is proportional to the product of the drag coefficient determined by the angle of attack and the square of the wing speed. Therefore, the variation in air resistance is transmitted to the drive source as a variation in load via a power transmission mechanism that connects the wing body and the power source. Therefore, if no countermeasure is taken for this point, a large load fluctuation is applied to the drive source, and the motion efficiency of the flapping apparatus is significantly reduced.

Therefore, the present invention has been made in view of the above-described problems, and an object thereof is to provide a flapping apparatus in which exercise efficiency is improved.

A flapping apparatus according to the present invention includes a casing, a power source assembled to the casing, a wing, and a power transmission mechanism that transmits power generated by the power source to the wing. . The wing is driven by the power transmission mechanism. The power source includes an output shaft that outputs rotational motion. The power transmission mechanism includes a rotational motion transmission unit and a motion conversion unit. The rotational motion transmission unit transmits the rotational motion generated in the output shaft to the motion conversion unit, and the motion conversion unit converts the rotational motion transmitted from the rotational motion transmission unit into a reciprocating motion. The wing swings in response to the transmission of the reciprocating motion output from the motion converter. In the flapping apparatus according to the present invention, the rotational motion transmission unit is configured to reduce fluctuations in a load transmitted from the wing body to the output shaft through the power transmission mechanism as the wing body swings. It has a load fluctuation suppression part to suppress.

In the flapping apparatus according to the present invention, the rotational motion transmission unit may include a connecting rod that is easier to twist than the output shaft and transmits rotational motion by rotating as the load fluctuation suppression unit. Good.

In the flapping apparatus according to the present invention, even if the rotational motion transmission unit includes a connecting rod that is more flexible than the output shaft and transmits rotational motion by rotating as the load fluctuation suppression unit. Good.

In the flapping apparatus according to the present invention, the output shaft may be made of metal, and in that case, the connecting rod is preferably made of carbon fiber.

In the flapping apparatus according to the present invention, the rotational motion transmission unit may include a pair of gears having backlash and transmitting rotational motion by meshing as the load fluctuation suppression unit. .

In the flapping apparatus according to the present invention, the power source may be composed of a rotary motor including the output shaft.

According to the present invention, it is possible to provide a flapping apparatus with improved exercise efficiency.

It is a schematic perspective view of the principal part of the flapping apparatus in Embodiment 1 of this invention. It is a schematic perspective view of the principal part which abbreviate | omitted illustration of the housing of the flapping apparatus in Embodiment 1 of this invention. It is a schematic front view for demonstrating a structure and operation | movement of the rotational motion transmission part of the flapping apparatus in Embodiment 1 of this invention. It is a schematic top view for demonstrating the structure and operation | movement of the motion conversion part of the flapping apparatus in Embodiment 1 of this invention. It is a schematic top view for demonstrating the detail of operation | movement of the motion conversion part of the flapping apparatus in Embodiment 1 of this invention. It is a schematic top view for demonstrating the detail of operation | movement of the motion conversion part of the flapping apparatus in Embodiment 1 of this invention. It is a schematic top view for demonstrating the detail of operation | movement of the motion conversion part of the flapping apparatus in Embodiment 1 of this invention. It is a schematic top view for demonstrating the detail of operation | movement of the motion conversion part of the flapping apparatus in Embodiment 1 of this invention. It is a schematic top view for demonstrating the structure and operation | movement of the motion conversion part of the flapping apparatus which concern on the modification based on Embodiment 1 of this invention. It is a schematic perspective view of the principal part of the flapping apparatus in Embodiment 2 of this invention. It is a schematic perspective view of the principal part of the flapping apparatus in Embodiment 3 of this invention. It is a schematic top view for demonstrating the structure and operation | movement of the motion conversion part of the flapping apparatus in Embodiment 3 of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following embodiments, the same or common parts are denoted by the same reference numerals in the drawings, and description thereof will not be repeated.

(Embodiment 1)
FIG. 1 is a schematic perspective view of a main part of the flapping apparatus according to Embodiment 1 of the present invention, and FIG. 2 is a schematic perspective view of the main part in which a housing is not shown. 3 is a schematic front view for explaining the configuration and operation of the rotational motion transmitting unit shown in FIG. 2, and FIG. 4 is a schematic diagram for explaining the configuration and operation of the motion converting unit shown in FIG. It is a top view. First, with reference to these FIG. 1 thru | or FIG. 4, the structure and schematic operation | movement of 1 A of flapping apparatuses in this Embodiment are demonstrated.

As shown in FIG. 1, a flapping apparatus 1 A includes a casing 100, a rotary motor 2 as a power source assembled to the casing 100, a power transmission mechanism 3 that transmits power generated by the rotary motor 2, It mainly includes a first wing body 4A and a second wing body 4B as a pair of wings driven by the transmission mechanism 3, and a battery (not shown) for supplying electric power to the rotary electric motor 2 described above. As shown in FIG. 2, the power transmission mechanism 3 includes a rotary motion transmission unit 3A and a motion conversion unit 3B.

Here, as shown in FIG. 1 and FIG. 2, the X-axis, Y-axis, and Z-axis are respectively taken on the front, rear, left, and right of the flapping device 1A, and the directions toward the front side and the rear side of the flapping device 1A are set. The X1 direction and the X2 direction are defined respectively, the directions toward the right side and the left side of the flapping device 1A are defined as the Y1 direction and the Y2 direction, respectively, and the flapping device 1A is directed toward the upper side and the lower side. The directions are defined as the Z1 direction and the Z2 direction, respectively, and the following description will be made using these directions.

As shown in FIG. 1, the casing 100 is a member constituting the main body of the flapping apparatus 1A, and is formed by assembling the rotary motor 2, the power transmission mechanism 3, and the battery described above. The casing 100 is configured by, for example, a frame-shaped framework, and may be provided with a cover that covers the framework in addition to this.

As shown in FIGS. 1 to 3, the rotary electric motor 2 is disposed at the lower part of the flapping apparatus 1A and is assembled to the housing 100 as described above. The rotary electric motor 2 includes an output shaft 2a that outputs a rotational motion, and the output shaft 2a is configured by a metal shaft. The output shaft 2a extends along the Z-axis direction, and a gear 2b is fixed to the tip of the output shaft 2a. The gear 2b rotates together with the output shaft 2a as the output shaft 2a rotates around the axis.

Normally, the rotary motor 2 is controlled by a user or a control device to which a control instruction is given by an automated algorithm, but the details of the control are not directly related to the contents of the present invention, so the description is simplified. Therefore, the details are omitted here, and in the present embodiment, the description will be given on the assumption that the rotary motor 2 is directly driven by receiving the electric power from the battery (not shown). Further, the presence / absence of the control device and the specific control method in the case where the control device is provided do not have any influence when the present invention is applied.

Rotational motion transmission unit 3A includes a first transmission member 31 and a second transmission member 32. Both the first transmission member 31 and the second transmission member 32 are rotatably supported by the housing 100.

The first transmission member 31 is fixed to the first connection rod 31a extending along the Z-axis direction, the gear 31b fixed to one end of the first connection rod 31a, and the other end of the first connection rod 31a. And a gear 31c. Both the gear 31b and the gear 31c rotate around the axis of the first connecting rod 31a together with the first connecting rod 31a.

The second transmission member 32 is fixed to the second connection rod 32a extending along the Z-axis direction, the gear 32b fixed to one end of the second connection rod 32a, and the other end of the second connection rod 32a. A disk 32c. Both the gear 32b and the disk 32c rotate around the axis of the second connection rod 32a together with the second connection rod 32a.

The gear 31b fixed to one end of the first connecting rod 31a meshes with the gear 2b fixed to the tip of the output shaft 2a. Further, the gear 32b fixed to one end of the second connection rod 32a meshes with the gear 31c fixed to the other end of the first connection rod 31a.

As described above, the rotational motion generated in the output shaft 2a of the rotary electric motor 2 is transmitted to the first transmission member 31 and the second transmission member 32 as the rotational motion, and as a result, the output of the rotational motion transmission unit 3A. The disk 32c as a part rotates around the axis of the second connecting rod 32a. The first transmission member 31 and the second transmission member 32 function as a speed reducer by adjusting the number of teeth of the

gears

31b, 31c, and 32b.

Here, the first connection rod 31a of the first transmission member 31 and the second connection rod 32a of the second transmission member 32 are both constituted by carbon fiber rods. As a result, load fluctuation suppression portions A1 and A2 (see FIG. 3) described later are configured by each of the first connecting rod 31a and the second connecting rod 32a, and details thereof will be described later. .

Further, the meshing portion of the gear 2b of the rotary motor 2 and the gear 31b of the first transmission member 31 and the meshing portion of the gear 31c of the first transmission member 31 and the gear 32b of the second transmission member 32 are respectively predetermined. Has a large backlash. Thereby, load fluctuation suppression units B1 and B2 (see FIG. 3), which will be described later, are configured by each of these meshing portions, and details thereof will be described later.

As shown in FIGS. 1, 2, and 4, the motion conversion unit 3 B is disposed above the rotary motor 2 and the rotary motion transmission unit 3 A, and includes a crank including a crank arm 33 and crank

pins

34 a and 34 b. The slider 35, the elastic belt 36, the first rotating body 37, and the second rotating body 38 are mainly provided.

The slider 35 is configured by a rectangular frame-shaped member, and is located above the second transmission member 32 of the rotational motion transmission unit 3A. The slider 35 is movably supported by a pair of slide guides 5 a and 5 b provided on the housing 100. More specifically, the pair of slide guides 5a and 5b are arranged side by side in the Y-axis direction so as to extend along the X-axis direction, and the slide guide 5a, A plurality of through holes through which 5b is inserted are provided. As a result, the slide guides 5a and 5b are inserted through the plurality of through holes, so that the slider 35 is configured to be movable along the X-axis direction that is the first direction.

A crank arm 33 is disposed below the slider 35 and above the second transmission member 32. The crank arm 33 is disposed so that its extending direction is parallel to the XY plane, and one end of the crank arm 33 is rotatably assembled to the eccentric position of the disk 32c of the second transmission member 32 by the crank pin 34a. The other end is rotatably assembled to a predetermined position of the slider 35 by a crank pin 34b.

As a result, as shown in FIG. 4, the disk 32c as the output section of the rotational movement transmitting section 3A rotates about the rotation shaft 200, whereby the one end of the crank arm 33 assembled to the disk 32c ( That is, the end portion on the side where the crank pin 34a is located also rotates about the rotation shaft 200 as a rotation center. Accordingly, the slider 35 is periodically pushed and pulled by the crank arm 33, and reciprocates linearly along the X-axis direction that is the extending direction of the slide guides 5a and 5b. In FIG. 4, the movement range of the gravity center position of the slider 35 during the reciprocating linear movement of the slider 35 is indicated by an arrow AR1.

As shown in FIGS. 1 and 4, a first rotating body 37 and a second rotating body 38 are disposed on the right and left sides of the slider 35, respectively. More specifically, the first rotating body 37 and the second rotating body 38 are arranged side by side in the Y-axis direction that is the third direction so as to sandwich the slider 35. The first rotator 37 and the second rotator 38 are each formed of a substantially cylindrical member, and are arranged so that the peripheral surfaces thereof face the slider 35.

More specifically, the first rotating body 37 is fixed to a guide shaft 6a provided in the housing 100 and extending in the Z-axis direction. The guide shaft 6a is rotatably supported by the housing 100. Yes. As a result, as shown in FIG. 4, on the right side surface 35 a side of the slider 35, the first rotating body 37 is positioned so as to be rotatable about the rotating shaft 201 extending in the Z-axis direction that is the second direction. It will be.

The second rotating body 38 is fixed to a guide shaft 6b provided in the housing 100 and extending in the Z-axis direction, and the guide shaft 6b is rotatably supported by the housing 100. As a result, as shown in FIG. 4, on the left side surface 35 b side of the slider 35, the second rotating body 38 is positioned so as to be rotatable about the rotating shaft 202 extending in the Z-axis direction that is the second direction. It will be.

Note that gear grooves are provided on the peripheral surfaces of the portions of the first rotating body 37 and the second rotating body 38 facing the slider 35 so as to circulate on the peripheral surfaces. The gear grooves are provided with

teeth

37a and 38a, respectively, whereby the first rotating body 37 and the second rotating body 38 also function as gears.

An elastic belt 36 is wound around the outer circumferential surface of the slider 35, the circumferential surface of the first rotating body 37, and the circumferential surface of the second rotating body 38. The elastic belt 36 includes a toothed belt provided with teeth 36a at a predetermined position on one main surface thereof. The elastic belt 36 may be made of any material as long as it exhibits elasticity, but is preferably made of resin or rubber. The elastic belt 36 needs to be designed based on the viewpoint of suppressing the fluctuation of the load described later.

A portion of the elastic belt 36 wound around the outer circumferential surface of the slider 35 is fixed to the slider 35 in a portion of the outer circumferential surface of the slider 35 except for the right side surface 35a and the left side surface 35b described above. Further, in the portion of the elastic belt 36 that is wound around the outer peripheral surface of the slider 35, the above-described teeth 36a face outward.

Further, in the elastic belt 36, the portion wound around the outer peripheral surface of the slider 35 and the portion wound around the outer peripheral surface of the first rotating body 37 form the slider 35 and the first rotation so as to draw a figure eight. It is wound around the body 37. Here, in the portion of the elastic belt 36 that is wound around the circumferential surface of the first rotating body 37, the above-described teeth 36 a face inward, and the gear provided on the circumferential surface of the first rotating body 37. It meshes with the teeth 37a of the groove.

Further, in the elastic belt 36, the portion wound around the outer peripheral surface of the slider 35 and the portion wound around the outer peripheral surface of the second rotating body 38 form the slider 35 and the second rotation so as to draw a figure eight. It is wound around the body 38. Here, in the portion of the elastic belt 36 that is wound around the circumferential surface of the second rotating body 38, the above-described teeth 36 a face inward, and the gear provided on the circumferential surface of the second rotating body 38. It meshes with the tooth 38a of the groove.

Accordingly, the non-fixed portion of the elastic belt 36 is wound around the first rotating body 37 on the right side surface 35a side of the slider 35, and the non-fixed portion of the elastic belt 36 is wound on the left side surface 35b side of the slider 35. The fixed portion is wound around the second rotating body 38.

Therefore, the elastic belt 36 of the portion wound around the first rotating body 37 and the second rotating body 38 with the reciprocating linear motion along the X-axis direction of the slider 35 described above causes the first rotating body 37 and the second rotating body 38 to be respectively. Accordingly, the first rotating body 37 and the second rotating body 38 reciprocate in the rotating direction around the rotating

shafts

201 and 202 described above, respectively. It will be. Here, the rotating direction of the first rotating body 37 and the rotating direction of the second rotating body 38 are always opposite to each other.

As described above, in the motion conversion unit 3B, the rotary motion transmitted through the rotary motion transmission unit 3A is converted into a reciprocating motion, and the first rotary body 37 and the second rotary body 38 as output units of the motion conversion unit 3B. However, they will reciprocate synchronously in the direction of rotation.

Here, as described above, the motion transmission between the slider 35 and the first rotating body 37 and the second rotating body 38 is realized by the elastic belt 36. As a result, load fluctuation suppression units C1 and C2 (see FIG. 4) described later are configured by the elastic belt 36, and details thereof will be described later.

As shown in FIGS. 1 and 4, the first wing body 4A and the second wing body 4B are assembled to the first rotator 37 and the second rotator 38, respectively. More specifically, a base end that is one end of the mast 4a of the first wing body 4A is fixed to a predetermined position on the circumferential surface opposite to the side on which the slider 35 of the first rotating body 37 is located, A base end, which is one end of the mast 4b of the second wing body 4B, is fixed at a predetermined position on the peripheral surface opposite to the side where the slider 35 of the second rotating body 38 is located.

As a result, the first wing 4A is positioned in the Y1 direction so that the tip of the first wing body 4A is located on the starboard side of the flapping device 1A, and the tip of the first wing body 4A is opposite to the side where the second rotator 38 is located. The second wing body 4B is located on the port side of the flapping device 1A on the side opposite to the side where the first rotator 37 is located when viewed from the second rotator 38. Thus, it extends toward the Y2 direction.

As described above, as shown in FIG. 4, the first rotating body 37 and the second rotating body 38 as the output section of the motion converting section 3 B reciprocate synchronously in the rotation direction around the

rotation shafts

201 and 202. Thus, the first wing body 4A and the second wing body 4B are driven by the first rotator 37 and the second rotator 38, respectively, and swing synchronously.

At that time, the first wing 4A and the second wing 4B also reciprocate synchronously in the rotation direction around the

rotation shafts

201 and 202 described above, respectively. The wings 4B swing synchronously so that their tips move approximately along the X-axis direction, which is the first direction. In FIG. 4, the swing range of the first wing 4A and the second wing 4B is indicated by an arrow AR2.

As described above, in the flapping apparatus 1A according to the present embodiment, the rotary motion generated in the rotary motor 2 as the drive source is converted into the reciprocating motion when transmitted by the power transmission mechanism 3, The first wing 4A and the second wing 4B are configured to swing upon receiving the reciprocating motion. As a result, the first wing body 4A and the second wing body 4B are swung synchronously, so that the flapping device 1A flutters continuously, and a levitation force is obtained accordingly.

Here, as described above, in the flapping apparatus 1A according to the present embodiment, the first wing body 4A and the first wing body 4A and the first wing body 4A and the second wing body 38 are reciprocated in the rotation direction during operation. Not only does the two wings 4B swing, but the slider 35 also performs a reciprocating linear motion. At that time, the reciprocating linear motion of the slider 35 and the swing of the first wing body 4A and the second wing body 4B are always in opposite directions. Hereinafter, this point will be described in detail.

5 to 8 are schematic top views for explaining the details of the operation of the motion conversion unit of the flapping apparatus in the present embodiment described above. Here, FIGS. 5 to 8 show that the slider 35, the first body 4A and the second body 4B are synchronized with the first body 4A and the second body 4B from the state where the flapping apparatus 1A is shown in FIG. It is the figure which showed how it moved during one period of typical flapping operation | movement in time series.

In the state shown in FIG. 4, the slider 35 is at a substantially central position within the movable range of the reciprocating linear motion of the slider 35. In this case, the first wing 4A and the second wing 4B are at the 3 o'clock position and the 9 o'clock position, respectively, and when viewed from above in the Z2 direction, the first wing body 4A and the second wing body 4B The wings 4B are located on the same straight line. At that time, the one end of the crank arm 33 (that is, the end portion on the side where the pin 34a is located) assembled to the disk 32c, which is a connecting portion between the rotational motion transmitting portion 3A and the motion converting portion 3B, is 9 It is in the hour position.

First, as shown in FIG. 5, the disk 32c is rotated 90 ° counterclockwise from the state shown in FIG. 4 in response to the transmission of power from the rotary motor 2, so that the connecting portion is moved from the 9 o'clock position to 6 o'clock. When reaching this position, the slider 35 moves in the DR11 direction shown in the figure, and accordingly, the center of gravity of the slider 35 also moves in the X2 direction.

Further, at that time, the first wing body 4A and the second wing body 4B are directed toward the DR21 direction shown in the drawing by the first rotator 37 and the second rotator 38 rotating counterclockwise and clockwise, respectively. (That is, each toward the 12 o'clock position), this movement is generally in the X1 direction.

Therefore, during this time, the moving direction of the slider 35 and the moving directions of the first wing 4A and the second wing 4B are approximately opposite to each other along the X-axis direction. Therefore, when the gravity center position of the slider 35 moves backward in the X2 direction, the slider 35 acts as a counterweight, and the movement of the first wing 4A and the second wing 4B in the X1 direction is accompanied. The acceleration generated by the movement of the slider 35 and the acceleration generated by the movement of the slider 35 in the X2 direction are opposite to each other. As a result, the inertial force is canceled.

Next, as shown in FIG. 6, when the power of the rotary motor 2 is transmitted, the disk 32c further rotates 90 ° counterclockwise from the state shown in FIG. When reaching the 3 o'clock position, the slider 35 moves in the DR12 direction shown in the figure, and accordingly, the center of gravity of the slider 35 also moves in the X1 direction.

Further, at that time, the first wing body 4A and the second wing body 4B are directed in the direction of DR22 shown in the figure by the clockwise rotation and counterclockwise rotation of the first rotating body 37 and the second rotating body 38, respectively. (That is, toward the 3 o'clock position and 9 o'clock position, respectively), this movement is generally in the X2 direction.

Therefore, also during this period, the moving direction of the slider 35 and the moving directions of the first wing 4A and the second wing 4B are approximately opposite to each other along the X-axis direction. Therefore, the slider 35 acts as a counterweight when the position of the center of gravity of the slider 35 moves forward in the X1 direction, and as the first wing 4A and the second wing 4B move in the X2 direction. Thus, the acceleration caused by the movement of the slider 35 in the X1 direction is reversed, and as a result, the inertial force is canceled.

Next, as shown in FIG. 7, the disk 32c is further rotated 90 ° counterclockwise from the state shown in FIG. When reaching the 12 o'clock position, the slider 35 moves in the DR13 direction shown in the figure, and accordingly, the position of the center of gravity of the slider 35 also moves in the X1 direction.

Further, at that time, the first wing body 4A and the second wing body 4B are directed toward the DR23 direction shown in the drawing by the first rotator 37 and the second rotator 38 rotating clockwise and counterclockwise, respectively. (That is, toward the 6 o'clock position), this movement is generally in the X2 direction.

Next, as shown in FIG. 8, the disc 32c is further rotated 90 ° counterclockwise from the state shown in FIG. When reaching the 3 o'clock position, the slider 35 moves in the DR14 direction shown in the figure, and accordingly, the center of gravity of the slider 35 also moves in the X2 direction.

Further, at that time, the first wing body 4A and the second wing body 4B are directed toward the DR24 direction shown in the drawing by the first rotator 37 and the second rotator 38 rotating counterclockwise and clockwise, respectively. (I.e., toward the 3 o'clock position and 9 o'clock position, respectively), this movement is generally toward the X1 direction.

Therefore, also during this period, the moving direction of the slider 35 and the moving directions of the first wing 4A and the second wing 4B are approximately opposite to each other along the X-axis direction. Therefore, when the gravity center position of the slider 35 moves backward in the X2 direction, the slider 35 acts as a counterweight, and the movement of the first wing 4A and the second wing 4B in the X1 direction is accompanied. The acceleration generated by the movement of the slider 35 and the acceleration generated by the movement of the slider 35 in the X2 direction are opposite to each other. As a result, the inertial force is canceled.

As described above, in the flapping apparatus 1A according to the present embodiment, during the operation, the reciprocating linear motion of the slider 35 and the swing of the first wing body 4A and the second wing body 4B are always in opposite directions. Become.

Therefore, when the slider 35 acts as a counterweight, the inertial force generated by the swinging of the first wing body 4A and the second wing body 4B is always canceled, and periodic vibration is generated in the casing 100. This is suppressed, and the posture of the flapping apparatus 1A is stabilized.

At the same time, the first body 4A and the second body 4B are smoothly swung, so that fluctuations in the load applied to the output shaft 2a of the rotary motor 2 as a power source are greatly suppressed. It will be possible.

Therefore, by adopting the above configuration, the exercise efficiency is greatly improved as compared with the conventional one, and a flapping apparatus having excellent flight capability can be obtained.

In the present embodiment, one end of the crank arm 33 connected to the disk 32c (that is, the first wing 4A and the second wing 4B are arranged at the 3 o'clock and 9 o'clock positions, respectively) An example is shown in which the end on the side where the crank pin 34a is located) is arranged at the 3 o'clock or 9 o'clock position with respect to the rotary shaft 200 of the disk 32c. There is a difference between the swing range toward the front side and the swing range toward the rear side of the wing body 4A and the second wing body 4B. Therefore, in order to make the swing range toward the front side and the swing range toward the rear side of the first wing body 4A and the second wing body 4B the same size, In a state where the second wings 4B are arranged at the 3 o'clock and 9 o'clock positions, respectively, the one end of the crank arm 33 is in front of the rotating shaft 200 of the disk 32c (that is, 2 as viewed from the 3 o'clock position). The length of the crank arm 33 may be appropriately adjusted so that the crank arm 33 is disposed on the hour side and the 10 o'clock side when viewed from the 9 o'clock position.

Further, as described above, in the flapping apparatus 1A in the present embodiment, the power transmission mechanism 3 is provided with a plurality of load fluctuation suppression units A1, A2, B1, B2, C1, and C2. The load fluctuation suppression units A1, A2, B1, B2, C1, and C2 are all configured such that when the first body 4A and the second body 4B swing, the first body 4A and the second body 4B The fluctuation of the load that is generated by receiving the air resistance and is transmitted to the output shaft 2a of the rotary electric motor 2 through the power transmission mechanism 3 is suppressed. Hereinafter, details of the load fluctuation suppression units A1, A2, B1, B2, C1, and C2 will be described.

As shown in FIG. 3, the load fluctuation suppressing portions A 1 and A 2 are configured by a first connection rod 31 a of the first transmission member 31 and a second connection rod 32 a of the second transmission member 32, respectively. Here, as described above, the first connection rod 31 a and the second connection rod 32 a are both made of carbon fiber and are more easily twisted than the metal output shaft 2 a of the rotary electric motor 2. More specifically, the first connecting rod 31a and the second connecting rod 32a are made of, for example, carbon fiber reinforced plastic (CFRP) having a fiber orientation in the axial direction of the rod, so that an appropriate elasticity against twisting is achieved. And a member having moderate rigidity against bending. Therefore, the first connecting rod 31a and the second connecting rod 32a can absorb the fluctuation of the load to a considerable extent by being twisted during the transmission of the load described above.

Here, when the first connecting rod 31a and the second connecting rod 32a are easily twisted, the first connecting rod 31a and the second connecting rod 32a are subjected to load fluctuations, so that a slight phase shift occurs in the transmission of the rotational motion. Will be generated. However, if this phase shift is sufficiently small, this does not give a large loss to the movement transmission, and conversely, the effect of absorbing the load fluctuation described above can be obtained remarkably.

Therefore, the first wing body 4A and the second wing body 4B are transmitted from the first wing body 4A and the second wing body 4B to the output shaft 2a of the rotary electric motor 2 through the power transmission mechanism 3 as the first wing body 4A and the second wing body 4B swing. Load fluctuations are leveled by being absorbed by the load fluctuation suppression units A1 and A2. Therefore, the fluctuation of the load applied to the output shaft 2a of the rotary electric motor 2 can be greatly suppressed.

Further, as shown in FIG. 3, the load fluctuation suppressing portions B1 and B2 are respectively in meshing portions between the gear 2b of the rotary motor 2 and the gear 31b of the first transmission member 31 and the gear 31c of the first transmission member 31 and the first gear 31c. 2 It is comprised by the meshing part with the gear 32b of the transmission member 32. FIG. Here, as described above, each of the meshing portions has a gap of a predetermined size, so-called backlash. That is, when these meshing portions have sufficient backlash, the load fluctuation can be absorbed to a considerable extent due to the presence of the backlash when the load is transmitted.

Here, if these meshing portions have an excessively large backlash, there is a risk of loss of motion transmission or shortening of the gear life. However, if the size of the backlash is optimized, this does not have a great influence on the motion transmission and the life of the gear, and conversely, the effect of absorbing the load fluctuation described above can be obtained remarkably.

Therefore, the first wing body 4A and the second wing body 4B are transmitted from the first wing body 4A and the second wing body 4B to the output shaft 2a of the rotary electric motor 2 through the power transmission mechanism 3 as the first wing body 4A and the second wing body 4B swing. Load fluctuations are leveled by being absorbed by the load fluctuation suppression units B1 and B2. Therefore, the fluctuation of the load applied to the output shaft 2a of the rotary electric motor 2 can be greatly suppressed. Note that the amount of backlash described above is preferably set as large as possible within a range in which the transmission of the rotational motion between the gears is not hindered.

Further, as shown in FIG. 4, the load fluctuation suppressing portions C 1 and C 2 are each constituted by an elastic belt 36. Here, as described above, the elastic belt 36 exhibits good elasticity. Therefore, when the load described above is transmitted from the first rotating body 37 and the second rotating body 38 to the slider 35, the elastic belt 36. When 36 is elastically deformed (extended exclusively), this load fluctuation can be absorbed to a considerable extent.

Here, by using the elastic belt 36, a slight transmission delay occurs during the movement transmission. However, if the transmission delay is sufficiently small, this does not give a large loss to the motion transmission, and conversely, the effect of absorbing the load fluctuation described above can be obtained remarkably.

Therefore, the first wing body 4A and the second wing body 4B are transmitted from the first wing body 4A and the second wing body 4B to the output shaft 2a of the rotary electric motor 2 through the power transmission mechanism 3 as the first wing body 4A and the second wing body 4B swing. Load fluctuations are leveled by being absorbed by the load fluctuation suppression units C1 and C2. Therefore, the fluctuation of the load applied to the output shaft 2a of the rotary electric motor 2 can be greatly suppressed.

As described above, in the flapping apparatus 1A according to the present embodiment, the first wing body 4A and the first wing body 4A and the first wing body 4A are separated by the load fluctuation suppression units A1, A2, B1, B2, C1, C2 provided in the power transmission mechanism 3. Since the fluctuation of the load that is transmitted from the two wings 4B to the output shaft 2a of the rotary electric motor 2 through the power transmission mechanism 3 can be greatly suppressed, the exercise efficiency is greatly improved as compared with the conventional case. Therefore, it is possible to provide a flapping apparatus having excellent flight capability.

In the present embodiment, the first connection rod 31a and the second connection rod 32a made of a member that is more easily twisted than the metal output shaft 2a of the rotary electric motor 2 are used as the load fluctuation suppression portions A1 and A2. The first connection rod 31a and the second connection made of a member that is more flexible than the metal output shaft 2a of the rotary electric motor 2 are used as the load fluctuation suppression portions A1 and A2 instead. It is also possible to use the rod 32a.

More specifically, the first connecting rod 31a and the second connecting rod 32a are subjected to, for example, shape processing (for example, shape processing for making a cut on the surface of the metal rod) on a metal member that is difficult to deform. Therefore, the member can be made to have a moderate elasticity with respect to bending and a moderate rigidity with respect to torsion. For this reason, when the first connecting rod 31a and the second connecting rod 32a are formed of such members, the bending of the load when transmitting the load described above absorbs the load fluctuation to a considerable extent. can do.

Here, when the first connecting rod 31a and the second connecting rod 32a are easily bent, the first connecting rod 31a and the second connecting rod 32a receive a change in load and cause a slight axial deviation. . However, if this axial deviation is sufficiently small, this does not give a large loss to the motion transmission, and conversely, the effect of absorbing the load fluctuation described above can be obtained remarkably.

Also, the first connecting rod 31a and the second connecting rod 32a can be made of a member that is more easily twisted and bent than the metal output shaft 2a of the rotary electric motor 2. In that case, the first connecting rod 31a and the second connecting rod 32a are made of resin, rubber, metal that is relatively easily deformed, or metal that is not easily deformed, or the like. What is necessary is just to comprise by what made this relatively easy to deform | transform by giving (for example, spring-shaped thing). Even in such a configuration, the load variation applied to the output shaft 2a of the rotary electric motor 2 can be significantly suppressed.

In the flapping apparatus 1A in the present embodiment, a plurality of load fluctuation suppression units A1, A2, B1, B2, C1, and C2 are provided, but at least one of them is provided in the power transmission mechanism 3. If so, the exercise efficiency can be improved considerably. For example, in the above-described embodiment, only one of the first connecting rod 31a and the second connecting rod 32a may be made of carbon fiber reinforced plastic.

FIG. 9 is a schematic top view for explaining the configuration and operation of the motion conversion unit of the flapping apparatus according to the modification based on the above-described embodiment of the present invention. Since the operation of the flapping apparatus according to this modification is the same as that of the above-described embodiment, the description thereof will not be repeated here.

As shown in FIG. 9, in the flapping apparatus 1 A 1 according to this modification, the distance between the slider 35 and the first rotating body 37 and the second rotating body 38 is adjusted, so that it is wound around the slider 35. A gap G is formed between the elastic belt 36 and the right side surface 35 a and the left side surface 35 b of the slider 35.

When configured in this manner, the elastic belt 36 is easily deformed by expansion and contraction as much as the gap G exists, and the deformation such as expansion and contraction is caused by the slider 35, the first rotating body 37, and the second rotating body 38. Therefore, the load fluctuation described above can be absorbed more remarkably. Therefore, the exercise efficiency is further greatly improved, and a flapping apparatus having particularly excellent flight performance can be obtained.

The gap G has a size between the slider 35 and the portion of the elastic belt 36 that meshes with the first rotating body 37 and the portion of the elastic belt 36 that meshes with the second rotating body 38 based on the thickness of the elastic belt 36. It is preferable to be configured to be larger.

(Embodiment 2)
FIG. 10 is a schematic perspective view of a main part of the flapping apparatus according to Embodiment 2 of the present invention. Hereinafter, the flapping apparatus 1B according to the present embodiment will be described with reference to FIG.

As shown in FIG. 10, flapping apparatus 1 B according to the present embodiment has a layout of rotary electric motor 2 as a drive source and rotation of power transmission mechanism 3 when compared with flapping apparatus 1 A according to the first embodiment described above. Only the configuration of the motion transmitting unit 3A is different.

Specifically, the rotary electric motor 2 is disposed in the lower part of the flapping apparatus 1A so that the output shaft 2a extends along the X-axis direction. Accordingly, the first transmission member 31 is disposed such that the first connecting rod 31a extends along the X-axis direction. Further, the gear 32b fixed to one end of the second connecting rod 32a is constituted by a bevel gear, whereby the rotational movement around the X axis of the first transmission member 31 is caused by the Z of the second transmission member 32. It is converted into a rotational motion around the axis and transmitted.

Even when configured in this manner, the same effect as that described in the first embodiment can be obtained, and a flapping apparatus excellent in flight ability with improved exercise efficiency can be obtained. .

It should be noted that the configuration of the rotational motion transmitting unit 3A is not limited to the configuration as in the first embodiment and the configuration as in the present embodiment, and various modifications can be made.

(Embodiment 3)
FIG. 11: is a schematic perspective view of the principal part of the flapping apparatus in Embodiment 3 of this invention. FIG. 12 is a schematic top view for explaining the configuration and operation of the motion converter shown in FIG. Hereinafter, the flapping apparatus 1C in the present embodiment will be described with reference to FIG. 11 and FIG.

As shown in FIGS. 11 and 12, flapping apparatus 1 C according to the present embodiment has a configuration of motion conversion unit 3 B in power transmission mechanism 3 when compared with flapping apparatus 1 A according to the above-described first embodiment. Only the difference.

Specifically, the motion conversion unit 3B mainly includes a crank including a crank arm 33 and crank

pins

34a and 34b, a slider 35, a first rotating body 37, and a second rotating body 38, and is described above. The elastic belt 36 as shown in the first embodiment is not provided. Here, the slider 35 is constituted by a toothed slider, and more specifically, teeth 35c are provided on the right side surface 35a and the left side surface 35b of the slider 35, respectively.

The first rotator 37 and the second rotator 38 are arranged so that their circumferential surfaces are in contact with the right side surface 35a and the left side surface 35b of the slider 35, respectively, whereby the right side surface 35a and the left side surface 35b of the slider 35 are arranged. The teeth 35c provided in the gears respectively mesh with the gear groove teeth 37a provided on the circumferential surface of the first rotating body 37 and the gear groove teeth 38a provided on the circumferential surface of the second rotating body 38, respectively. Yes.

That is, the flapping apparatus 1C according to the present embodiment is configured such that the motion transmission between the slider 35 and the first rotating body 37 and the second rotating body 38 is configured by a so-called rack and pinion. The first and second

rotating bodies

37 and 38 made of gears mesh with each other to realize motion transmission between them.

In this case, as shown in FIG. 12, with the reciprocating linear motion of the slider 35 along the X-axis direction, the first rotating body 37 and the second rotating body 38 rotate about the rotating

shafts

201 and 202, respectively. Will reciprocate in the rotational direction. Note that the rotation direction of the first rotating body 37 and the rotating direction of the second rotating body 38 are always opposite to each other.

As a result, the first rotating body 37 and the second rotating body 38 as the output unit of the motion converting unit 3B reciprocate synchronously in the rotation direction with the

rotation shafts

201 and 202 as the rotation centers, respectively. 4A and the second wing body 4B are driven by the first rotating body 37 and the second rotating body 38, respectively, and swing in a synchronous manner.

At that time, although detailed description thereof is omitted here, as in the case of the above-described first embodiment, the reciprocating linear motion of the slider 35 and the swing of the first wing body 4A and the second wing body 4B are as follows. Since the direction is always reversed, the slider 35 acts as a counterweight, so that the inertia force generated by the swing of the first wing 4A and the second wing 4B is always canceled.

Therefore, even when configured in this manner, the same effect as that described in the first embodiment can be obtained, and a flapping apparatus with excellent flight ability and improved exercise efficiency can be obtained. Can do.

In the above-described first to third embodiments of the present invention and the modifications thereof, the power generated by a single power source is distributed by the power transmission mechanism, so that the wings and the chassis provided on the starboard of the chassis The case where the wings provided on the port side of the case are configured to be driven at the same time has been described as an example, but the wings provided on the starboard side of the case and the wings provided on the port side of the case are Alternatively, each may be configured to be driven by a drive source provided independently.

In the above-described first to third embodiments of the present invention and the modifications thereof, the case where one wing is provided on each of the starboard and the port on the casing has been described as an example. You may comprise so that several wings may be provided in the starboard side of a housing and the port side of a housing, respectively.

In the above-described first and second embodiments of the present invention and modifications thereof, an annular (that is, endless) elastic belt made of a single member is wound around the slider, the first rotating body, and the second rotating body. The case of being rotated has been described as an example. However, this may be replaced by a non-circular elastic belt having an end, or an elastic belt wound only on the slider and the first rotating body. Alternatively, this may be replaced by an elastic belt wound only on the slider and the second rotating body.

In the above-described first and second embodiments of the present invention and modifications thereof, the first rotating body and the second rotating body are configured by gears, and the elastic belt is configured by a toothed belt. As described above, the first rotating body and the second rotating body are constituted by friction rollers having no teeth, and the elastic belt is constituted by a friction belt having no teeth. Good.

In the above-described third embodiment of the present invention, the first rotating body and the second rotating body are configured with gears, and the slider is configured with a toothed slider. The first rotating body and the second rotating body may be configured by a friction roller having no teeth, and the slider may be configured by a friction slider having no teeth.

Furthermore, the specific configuration of the power source and the specific configuration of the power transmission mechanism can be changed as appropriate without departing from the spirit of the present invention, and the features disclosed in the above-described embodiments. The specific configurations can be combined with each other without departing from the spirit of the present invention.

As described above, the above-described embodiment and modifications thereof disclosed herein are illustrative in all respects and are not restrictive. The technical scope of the present invention is defined by the scope of the claims, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

This application claims the benefit of priority based on Japanese Patent Application No. 2015-216607, which was filed on November 4, 2015, and is incorporated herein by reference. All described contents are incorporated.

1A, 1A1, 1B, 1C Flapping device, 2 Rotating motor, 2a Output shaft, 2b Gear, 3 Power transmission mechanism, 3A Rotational motion transmission unit, 3B Motion conversion unit, 31 1st transmission member, 31a 1st connecting rod, 31b , 31c gear, 32 second transmission member, 32a second connecting rod, 32b gear, 32c disk, 33 crank arm, 34a, 34b crank pin, 35 slider, 35a right side, 35b left side, 35c teeth, 36 elastic belt, 36a tooth, 37 first rotating body, 37a tooth, 38 second rotating body, 38a tooth, 4A first blade, 4B second blade, 4a, 4b mast, 5a, 5b slide guide, 6a, 6b guide shaft, 100 enclosure, 200-202 rotation axis, A1, A2, B1, B2, C1 C2 load variation suppressing section, G gap.

Claims

The body,
A power source assembled to the housing;
With the wings,
A power transmission mechanism that transmits power generated by the power source to the wings,
The wing is driven by the power transmission mechanism,
The power source includes an output shaft that outputs rotational motion,
The power transmission mechanism includes a rotational motion transmission unit and a motion conversion unit,
The rotational motion transmission unit transmits the rotational motion generated in the output shaft to the motion conversion unit,
The motion converter converts the rotational motion transmitted from the rotational motion transmitter into a reciprocating motion,
The wing is swung in response to transmission of the reciprocating motion output from the motion converter,
The rotational motion transmission unit includes a load fluctuation suppression unit that suppresses fluctuations of a load transmitted from the wing body to the output shaft through the power transmission mechanism as the wing body swings. Flapping device.
The flapping apparatus according to claim 1, wherein the rotational movement transmission unit includes a connecting rod that is more easily twisted than the output shaft and transmits rotational movement by rotating as the load fluctuation suppression unit.
The flapping apparatus according to claim 1 or 2, wherein the rotational motion transmission unit includes a connecting rod that is more flexible than the output shaft and transmits rotational motion by rotating as the load fluctuation suppression unit.
The output shaft is made of metal;
The flapping apparatus according to claim 2 or 3, wherein the connecting rod is made of carbon fiber.
The flapping apparatus according to any one of claims 1 to 4, wherein the rotational motion transmission unit includes a pair of gears having a backlash and transmitting a rotational motion by meshing as the load fluctuation suppressing unit. .
The flapping apparatus according to any one of claims 1 to 5, wherein the power source is a rotary electric motor including the output shaft.