WO2018110307A1

WO2018110307A1 - Flapping device

Info

Publication number: WO2018110307A1
Application number: PCT/JP2017/043166
Authority: WO
Inventors: 中村　和敬; 俊樹西脇; 濱本　将樹; 秀樹江藤
Original assignee: 株式会社村田製作所; シャープ株式会社
Priority date: 2016-12-15
Filing date: 2017-11-30
Publication date: 2018-06-21

Abstract

This flapping device (1A) is provided with: a skeletal body (10); a power source (20); a power transmission mechanism (30); and wing bodies (40R, 40L) driven by the power transmission mechanism (30). The power transmission mechanism (30) includes: a slider (35) which receives power transmitted from the power source (20) and linearly reciprocates in an X-axis direction; and rotating bodies (38R, 38L) which receive power transmitted from the slider (35) and reciprocate in a rotation direction centering on a rotation shaft extending in a Z-axis direction. The wing bodies (40R, 40L) swing by means of the rotating bodies (38R, 38L) reciprocating in the rotation direction. The skeletal body (10) includes a plurality of slide guides (16a, 16b) which guide the slider (35) in the X-direction. The external dimension of the slider (35) in a Y-axis direction is smaller than the external dimension of the slider (35) in the Z-axis direction, and the plurality of slide guides (16a, 16b) are arranged and disposed in the Z-axis direction.

Description

Flapping equipment

The present disclosure 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 to the base end of a mast to which a wing is attached, and a rotary motion output from a rotary motor as a power 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 order to increase the flight capability of the flapping apparatus 1A, it is necessary to make the flapping apparatus housing small and lightweight. In particular, the power transmission mechanism that transmits power from the power source to the wings is easy to increase in size due to the inclusion of various mechanisms, and accordingly, the frame tends to increase in size, and the downsizing thereof is required. By the way.

Therefore, the present disclosure has been made in view of the above-described problems, and an object thereof is to provide a flapping apparatus that can be configured more compactly than in the past.

A flapping apparatus according to a first aspect of the present disclosure is driven by a housing, a power source assembled to the housing, a power transmission mechanism that transmits power generated by the power source, and the power transmission mechanism. And wings. The power transmission mechanism is movably supported by the housing, and is reciprocally linearly moved in a first direction by receiving power from the power source, and is rotatably supported by the housing, And a rotating body that reciprocates in the rotational direction about a rotational axis that extends in a second direction orthogonal to the first direction upon receiving power transmission. When the base end of the wing body is fixed to the rotating body, the tip of the rotating body reciprocates in the rotational direction so that the tip of the wing body swings substantially along the first direction. . The housing includes a plurality of slide guides arranged in parallel with each other so as to penetrate the slider in the first direction so as to guide the slider along the first direction. The outer dimension of the slider in the third direction orthogonal to both the first direction and the second direction is smaller than the outer dimension of the slider in the second direction. The plurality of slide guides are arranged side by side along the second direction.

In the flapping apparatus according to the first aspect of the present disclosure, the housing may further include a rectangular frame-shaped support frame that supports the plurality of slide guides. It is preferable that a frame surrounds the slider and the plurality of slide guides in the first direction and the second direction.

In the flapping apparatus according to the first aspect of the present disclosure, the casing is disposed at a different position in the second direction and the plurality of stems arranged in parallel to each other extending along the second direction. And may further include a pair of base frames. In that case, each of the pair of base frames is preferably supported by the plurality of stems, and in that case, the support frame is sandwiched between the pair of base frames in the second direction. It is preferable to be fixed to the pair of base frames.

In the flapping apparatus according to the first aspect of the present disclosure, the power source may include an output shaft that outputs a rotational motion. In that case, the power transmission mechanism may include the output shaft. It is preferable to further include a crank mechanism for converting the rotary motion generated in the slider into the reciprocating linear motion of the slider. In that case, the crank mechanism straddles a part of the space surrounded by the support frame in the third direction. Therefore, it is preferable that the crank mechanism is disposed adjacent to the slider in the second direction.

In the flapping apparatus based on the first aspect of the present disclosure, the plurality of slide guides are unevenly distributed at positions near the end of the slider opposite to the end on the crank mechanism side. Is preferred.

In the flapping apparatus according to the first aspect of the present disclosure, the power transmission mechanism may further include an elastic belt that is partially fixed to the slider. It is preferable that the non-fixed portion of the elastic belt is wound or fixed on the rotating body, whereby the rotating body reciprocates in the rotational direction as the slider reciprocates linearly.

A flapping apparatus according to a second aspect of the present disclosure is driven by a housing, a power source assembled to the housing, a power transmission mechanism that transmits power generated by the power source, and the power transmission mechanism. A first wing and a second wing. The power transmission mechanism is movably supported by the housing, and is reciprocally linearly moved in a first direction by receiving power from the power source, and is rotatably supported by the housing, It includes a first rotating body and a second rotating body that reciprocate in the rotation direction around a rotation axis extending in a second direction orthogonal to the first direction upon receiving power transmission. The first rotating body and the second rotating body are arranged side by side so as to sandwich the slider in a third direction orthogonal to both the first direction and the second direction. The base end of the first wing body is fixed to the first rotating body so that the distal end of the first wing body is located on the side opposite to the side on which the second rotating body is positioned when viewed from the first rotating body. . The base end of the second wing body is fixed to the second rotating body so that the tip of the second wing body is located on the side opposite to the side on which the first rotating body is positioned when viewed from the second rotating body. . The first wing and the second wing are reciprocated in the rotation direction of the first rotator and the second rotator, so that the tips of the first wing and the second wing are moved substantially along the first direction. Oscillate to The housing includes a plurality of slide guides arranged in parallel with each other so as to penetrate the slider in the first direction so as to guide the slider along the first direction. The outer dimension of the slider in the third direction is smaller than the outer dimension of the slider in the second direction. The plurality of slide guides are arranged side by side along the second direction.

According to the present disclosure, it is possible to provide a flapping apparatus that can be configured smaller than conventional ones.

1 is a schematic perspective view of a flapping apparatus in Embodiment 1. FIG. It is a schematic perspective view of the principal part of the flapping apparatus shown in FIG. It is a perspective view of the power transmission mechanism of the flapping apparatus shown in FIG. It is a side view which shows the structure of the rotation motion transmission part of the flapping apparatus shown in FIG. 1, and the structure of the vicinity of a 1st motion conversion part, and the top view which shows the structure of a 1st motion conversion part. It is sectional drawing which shows the assembly structure of the 1st crank arm of the 1st motion conversion part of the flapping apparatus shown in FIG. 1, and a 2nd crank arm. FIG. 3 is a plan view showing a configuration in the vicinity of a right second motion conversion unit and a left second motion conversion unit of the flapping apparatus shown in FIG. 1 and behaviors of the right and left wings during hovering. It is a perspective view, a top view, and a side view showing the configuration and operation of the right roller control mechanism of the flapping apparatus shown in FIG. It is a perspective view, a top view, and a side view showing the configuration and operation of the left roller control mechanism of the flapping apparatus shown in FIG. It is a functional block diagram which shows the structure of the flapping control mechanism and flight mode control part of the flapping apparatus shown in FIG. It is the top view and side view for demonstrating operation | movement of the power transmission mechanism of the flapping apparatus shown in FIG. It is the top view and side view for demonstrating operation | movement of the power transmission mechanism of the flapping apparatus shown in FIG. It is the top view and side view for demonstrating operation | movement of the power transmission mechanism of the flapping apparatus shown in FIG. It is the top view and side view for demonstrating operation | movement of the power transmission mechanism of the flapping apparatus shown in FIG. It is a schematic diagram which shows the flapping operation of the right wing and the left wing during the hovering of the flapping apparatus shown in FIG. It is the typical graph which compared the speed change of the slider of the flapping apparatus in Embodiment 1, and the flapping apparatus which concerns on a comparison form. It is a schematic diagram which shows the behavior of the front side biasing member as a 1st biasing part of the flapping apparatus shown in FIG. It is the table | surface which showed the main flight aspect of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 1 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 3 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 5 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 8 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 11 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight aspect 14 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight aspect 17 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 20 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 23 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 26 of the flapping apparatus shown in FIG. It is the table | surface which showed the flight aspect which the flapping apparatus shown in FIG. 1 followed. It is a top view which shows the behavior of the right-side body and the left-side body in the flight mode 28 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 29 of the flapping apparatus shown in FIG. It is a top view which shows the behavior of the right side body and the left side body in the flight mode 32 of the flapping apparatus shown in FIG. It is a schematic diagram which shows the behavior of the front frame part of the support frame as a 1st biasing part of the flapping apparatus which concerns on the modification based on Embodiment 1. FIG. It is a top view which shows the relationship between the position of the right side roller of the flapping apparatus in Embodiment 2, and the behavior of a right side wing. It is a top view which shows the relationship between the position of the right side roller of the flapping apparatus shown in FIG. 33, and the behavior of a right side wing. It is a schematic perspective view of the principal part of the flapping apparatus in Embodiment 3. It is a top view which shows the structure of the roller position adjustment mechanism of the flapping apparatus shown in FIG.

Hereinafter, embodiments 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)
<Configuration of Flapping Device 1A>
FIG. 1 is a schematic perspective view of a flapping apparatus 1A according to Embodiment 1, and FIG. 2 is a schematic perspective view of a main part of the flapping apparatus 1A. 3A and 3B are perspective views of the power transmission mechanism 30. FIG. 4A is a side view showing a configuration in the vicinity of the rotary motion transmitting unit 30A and the first motion converting unit 30B, and FIG. 4B is a plan view showing the configuration of the first motion converting unit 30B. is there. FIG. 5A and FIG. 5B are cross-sectional views showing the assembly structure of the first crank arm 33A and the second crank arm 33B of the first motion converter 30B. FIG. 6 is a plan view showing the configuration in the vicinity of the right second motion conversion unit 30C1 and the left second motion conversion unit 30C2 and the behavior of the right wing 40R and the left wing 40L during hovering. FIGS. 7A and 7B are a perspective view showing a configuration of the right roller control mechanism 50A and a plan view showing a movable range of the right roller 37R. FIGS. 7C and 7D are FIGS. FIG. 10 is a side view showing the operation of the right roller control mechanism 50A. 8A and 8B are a perspective view showing the configuration of the left roller control mechanism 50B and a plan view showing the movable range of the left roller 37L. FIGS. 8C and 8D are views. FIG. 10 is a side view showing the operation of the left roller control mechanism 50B. FIG. 9 is a functional block diagram showing the configuration of the flapping control mechanism 50 and the flight mode control unit 80. First, with reference to these FIG. 1 thru | or FIG. 9, the structure of 1 A of flapping apparatuses in this Embodiment is demonstrated.

<Overall configuration of flapping apparatus 1A>
As shown in FIG. 1, the flapping apparatus 1 A includes a housing 10, a main rotary motor 20 as a power source assembled to the housing 10, and a power transmission mechanism 30 that transmits power generated by the main rotary motor 20. The flapping operation of the right wing 40R as the first wing and the left wing 40L as the second wing, and the right wing 40R and the left wing 40L as a pair of wings driven by the power transmission mechanism 30. Flapping control mechanism 50 for changing the above and a battery (not shown) for supplying electric power to main rotating motor 20 described above.

Here, as shown in FIG. 1, the X-axis, Y-axis, and Z-axis are respectively taken in front, back, left, and right of the flapping device 1A, and the directions toward the front side and the rear side viewed from the flapping device 1A are respectively set. The X1 direction and the X2 direction are defined, the directions toward the right side and the left side as viewed from the flapping device 1A are defined as the Y1 direction and the Y2 direction, respectively, and the upper side and the lower side as viewed from the flapping device 1A. The directing directions are defined as a Z1 direction and a Z2 direction, respectively, and in the following description, these axes and directions are used.

With reference to FIG. 2, the front-rear direction of the flapping apparatus 1A, which is the direction in which the X axis extends, corresponds to the first direction in which the slider 35 described later reciprocates linearly, and the Z axis described above extends. The up-and-down direction of the flapping apparatus 1A, which is the existing direction, corresponds to the second direction in which second

rotating shafts

102R and 102L (see FIG. 6) of the right-side rotating body 38R and the left-side rotating body 38L described later extend. Further, the left-right direction of the flapping apparatus 1A, which is the direction in which the Y axis extends, corresponds to a third direction, which is a direction in which a right-side rotating body 38R and a left-side rotating body 38L described later are arranged.

<Configuration of housing 10>
As shown in FIGS. 1 and 2, the housing 10 is a member that constitutes the main body of the flapping apparatus 1 A, and is assembled with the main rotating motor 20, the power transmission mechanism 30, the flapping control mechanism 50, and the battery described above. It will be. The casing 10 is configured by a framework in which a plurality of frame-shaped members are combined, and may include a cover (not shown) that covers the framework in addition to this.

Specifically, as shown in FIG. 2, the housing 10 includes a lower frame 11 and an upper frame 12 as a pair of substantially flat base frames, a support frame 13 having a rectangular frame shape, and a columnar frame 14 extending in a rod shape. And a plurality of stems 15.

Each of the plurality of stems 15 is arranged in parallel to each other so as to extend in the Z-axis direction. As shown in the figure, in the present embodiment, a total of four stems 15 are used, and these four stems 15 are respectively located on the right front, right rear, left front and left rear of the flapping apparatus 1A. Has been placed.

The lower frame 11 and the upper frame 12 are supported by the plurality of stems 15 by being installed on the plurality of stems 15. The lower frame 11 and the upper frame 12 are arranged at different positions in the Z-axis direction. Yes. More specifically, the lower frame 11 is disposed at a substantially central portion in the vertical direction of the flapping device 1A, and the upper frame 12 is disposed at a position near the upper end portion in the vertical direction of the flapping device 1A.

The support frame 13 is disposed between the lower frame 11 and the upper frame 12. More specifically, the support frame 13 is sandwiched between the lower frame 11 and the upper frame 12 in the Z-axis direction, and is fixed to the lower frame 11 and the upper frame 12. The support frame 13 is disposed such that the pair of opening surfaces face the Y1 direction and the Y2 direction.

The columnar frame 14 is fixed to the upper frame 12 and is erected so as to extend upward from the upper frame 12.

The plurality of stems 15 described above are preferably made of carbon fiber rod-shaped members, and the above-described lower frame 11, upper frame 12, support frame 13 and columnar frame 14 are all made of resin. It is preferable to be configured. By comprising in this way, flapping apparatus 1A can be reduced in weight, ensuring high rigidity. The lower frame 11, the upper frame 12, the support frame 13, and the columnar frame 14 are preferably provided with holes, cutouts, and the like while ensuring necessary rigidity for weight reduction.

Here, as described above, in the present embodiment, the support frame 13 is fixed to the lower frame 11 and the upper frame 12 while being sandwiched between the lower frame 11 and the upper frame 12 in the Z-axis direction. Yes. With this configuration, the lower frame 11, the upper frame 12, and the support frame that are arranged and fixed so as to be orthogonal to each other at a substantially central portion of the housing 10 configured by combining a plurality of frame-shaped members. 13 will be located, and the rigidity of the entire housing 10 will be dramatically increased. Therefore, by adopting this configuration, the flapping apparatus 1A can be prevented from being damaged.

<Configuration of main rotating motor 20>
As shown in FIGS. 1 and 2, the main rotary motor 20 is disposed at the lower part of the flapping apparatus 1 A and is assembled to the housing 10 by being fixed to the lower frame 11. As shown in FIGS. 2 to 4, the main rotary motor 20 includes an output shaft 20 a (see FIG. 4A) that outputs rotational motion, and the output shaft 20 a extends along the Z-axis direction. It is arranged to exist. A gear 20b is fixed to the tip of the output shaft 20a. The gear 20b rotates with the output shaft 20a as the output shaft 20a rotates about the axis.

The operation of the main rotary motor 20 is controlled by a user or a control unit to which a control instruction is given by an automated algorithm. Specifically, the control unit variably adjusts the electric power supplied from the above-described battery (not shown) to the main rotary electric motor 20, thereby controlling the output (that is, the rotation speed) of the main rotary electric motor 20. The above-described operation control of the main rotating motor 20 is a conventionally known general method, and thus detailed description thereof is omitted here.

<Overall configuration of power transmission mechanism 30>
As shown in FIGS. 2 and 3, the power transmission mechanism 30 includes a rotary motion transmission unit 30A, a first motion conversion unit 30B, a right second motion conversion unit 30C1 that is a pair of second motion conversion units, and a left side 2 motion conversion part 30C2. The rotary motion transmission unit 30A is a power transmission unit that transmits the rotary motion generated on the output shaft 20a of the main rotary motor 20 as it is as a rotary motion. The first motion conversion unit 30B is a power transmission unit that converts the rotational motion transmitted from the rotational motion transmission unit 30A into a reciprocating linear motion and transmits it. The right second motion conversion unit 30C1 is provided on the starboard of the flapping apparatus 1A, and converts the reciprocating linear motion transmitted from the first motion conversion unit 30B into a reciprocating motion along the rotational direction and transmits it. It is. The left second motion conversion unit 30C2 is provided on the port side of the flapping apparatus 1A, and converts the reciprocating linear motion transmitted from the first motion conversion unit 30B into a reciprocating motion along the rotation direction and transmits the power transmission unit. It is.

<Configuration of Rotating Motion Transmitter 30A>
As illustrated in FIGS. 2 to 4, the rotational motion transmission unit 30 A includes a first transmission member 31 and a second transmission member 32. The first transmission member 31 and the second transmission member 32 are both assembled to the housing 10 by being rotatably supported by the support frame 13.

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 at a predetermined position of the second connection rod 32a, a second connection rod 32a extending along the Z-axis direction, a gear 32b fixed at a predetermined position of the second connection rod 32a. And a disk 32c as a rotation transmitting member. Both the gear 32b and the disk 32c rotate around the axis of the second connecting rod 32a together with the second connecting rod 32a.

The gear 31b fixed to one end of the first connecting rod 31a meshes with the gear 20b fixed to the tip of the output shaft 20a. Further, the gear 32b fixed at a predetermined position of the second connecting rod 32a meshes with a gear 31c fixed to the other end of the first connecting rod 31a.

As described above, the rotational motion generated in the output shaft 20a of the main rotary electric motor 20 is transmitted to the first transmission member 31 and the second transmission member 32 as the rotational motion, and as a result, the rotational motion transmission unit 30A The disk 32c as a rotation transmission member, which is an output part, rotates around the axis of the second connecting rod 32a. That is, the disk 32c rotates around the first rotation shaft 101 (see FIG. 4B) extending in a direction parallel to the extending direction of the second connecting rod 32a (that is, the Z-axis direction). 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.

<Configuration of the first motion conversion unit 30B>
As shown in FIGS. 2 to 4, the first motion conversion unit 30B is disposed above the main rotary electric motor 20 and the rotational motion transmission unit 30A, and includes the first crank arm 33A, the second crank arm 33B, and the crankpin. A crank mechanism including 34a, 34b1, and 34b2 (see FIG. 4) and a slider 35 are included.

The slider 35 has a substantially flat shape in which the outer dimension in the Y-axis direction is smaller than both the outer dimension in the X-axis direction and the outer dimension in the Z-axis direction, and the second transmission member of the rotary motion transmission unit 30A. 32 is located above. The slider 35 is movably supported by the housing 10.

More specifically, the slider 35 is movably supported by a pair of slide guides 16 a and 16 b provided on the support frame 13. The slide guides 16a and 16b extend along the X-axis direction and are supported by the support frame 13 so as to be arranged side by side in the Z-axis direction. , 16b are provided with a plurality of through holes. As a result, the slide guides 16a and 16b are inserted through the plurality of through holes, whereby the slider 35 is guided by the pair of slide guides 16a and 16b along the X-axis direction that is the first direction. .

Here, the slider 35 and the pair of slide guides 16 a and 16 b are disposed inside the support frame 13. More specifically, the pair of slide guides 16a and 16b are provided so as to bridge the front frame portion and the rear frame portion of the support frame 13, and the slider 35 is movable by the pair of slide guides 16a and 16b. It is supported by. That is, the support frame 13 surrounds the slider 35 and the pair of slide guides 16a and 16b in the X-axis direction and the Z-axis direction.

With this configuration, the power transmission mechanism 30 where the slider 35 is disposed can be thinned as a whole, and the flapping apparatus 1A can be downsized. In addition, it is preferable that the slider 35 is provided with a hole, a notch, or the like while ensuring necessary rigidity for weight reduction.

Further, as described above, by providing the pair of slide guides 16a and 16b so as to bridge the support frame 13 having a rectangular frame shape, the support frame 13 is reinforced by the pair of slide guides 16a and 16b. An effect can be obtained.

In that case, as shown in the drawing, the pair of slide guides 16a and 16b is connected to the end portion (that is, the lower frame portion of the support frame 13) opposite to the end portion of the slider 35 where the crank mechanism is located (that is, the lower frame portion). Further, the reinforcing effect can be further enhanced by installing the support frame 13 so as to be unevenly distributed at a position near the upper frame portion). Therefore, the rigidity of the support frame 13 is increased, and as a result, the slider 35 is hardly deformed such as bending or twisting, and a stable operation of the slider 35 can be realized.

The crank mechanism including the first crank arm 33A and the second crank arm 33B is disposed below the slider 35 and above the second transmission member 32. More specifically, the crank mechanism is disposed adjacent to the slider 35 in the Z-axis direction so as to straddle a part of the space surrounded by the support frame 13 in the Y-axis direction. The first crank arm 33A and the second crank arm 33B are both arranged so that their extending directions are parallel to the XY plane.

As shown in FIG. 4, the first crank arm 33A has one end rotatably assembled to the eccentric position of the disk 32c of the second transmission member 32 by a crank pin 34a, and the other end is a slider by the crank pin 34b1. 35 is rotatably assembled at the front end position.

More specifically, as shown in FIG. 5, the one end of the first crank arm 33A is provided with a hole 33a1, and the crank pin 34a is attached to the disk 32c so as to be inserted into the hole 33a1. ing. Here, the hole 33a1 has a predetermined clearance for reducing friction so that the one end of the first crank arm 33A is rotatably assembled to the disk 32c. Is formed to be slightly larger than the crank pin 34a in the portion through which the shaft is inserted.

On the other hand, a hole 33a2 is provided at the other end of the first crank arm 33A, and a crank pin 34b1 is attached to the front end position of the lower surface of the slider 35 so as to be inserted into the hole 33a2. Here, the hole 33a2 is remarkably larger than the outer shape of the crank pin 34b1 at a portion through which the hole 33a2 is inserted at least along the direction in which the first crank arm 33A extends (that is, a predetermined value for reducing friction). For example, a long hole as shown in the figure. Thereby, the crank pin 34b1 is loosely fitted in the hole 33a2.

Therefore, the other end of the first crank arm 33A is not only rotatably attached to the slider 35, but is further attached so as to be slidable relative to the slider 35 in the XY plane direction.

As shown in FIG. 4, one end of the second crank arm 33B is rotatably assembled to the eccentric position of the disk 32c of the second transmission member 32 by a crank pin 34a, and the other end is a slider by the crank pin 34b2. 35 is rotatably assembled at the rear end position.

More specifically, as shown in FIG. 5, the one end of the second crank arm 33B is provided with a hole 33b1, and the crank pin 34a is attached to the disk 32c so as to be inserted into the hole 33b1. ing. Here, the hole 33b1 has a predetermined clearance for reducing friction so that the one end of the second crank arm 33B is rotatably assembled to the disk 32c. Is formed to be slightly larger than the crank pin 34a in the portion through which the shaft is inserted.

On the other hand, the other end of the second crank arm 33B is provided with a hole 33b2, and the crank pin 34b2 is attached to the rear end position of the lower surface of the slider 35 so as to be inserted into the hole 33b2. Here, the hole 33b2 is remarkably larger than the outer shape of the crank pin 34b2 in a portion through which the hole 33b2 is inserted at least along the direction in which the second crank arm 33B extends (that is, a predetermined value for reducing friction). For example, a long hole as shown in the figure. Thereby, the crank pin 34b2 is loosely fitted in the hole 33b2.

Therefore, the other end of the second crank arm 33B is not only rotatably attached to the slider 35, but is also attached so as to be slidable relative to the slider 35 in the XY plane direction.

Here, as described above, the one end of the first crank arm 33A and the one end of the second crank arm 33B are rotatably assembled to the disk 32c by the common crank pin 34a. Therefore, one end of each of the first crank arm 33A and the second crank arm 33B has a common rotating shaft extending in a direction parallel to the extending direction of the first rotating shaft 101 of the disk 32c (that is, the Z-axis direction). As a rotation center, the disk 32c is connected to an eccentric position so as to be rotatable.

On the other hand, the other end of the first crank arm 33A and the other end of the second crank arm 33B are assembled to the slider 35 so as to be rotatable and slidable by different crank pins 34b1 and 34b2, as described above. It has been. Therefore, the other end of each of the first crank arm 33A and the second crank arm 33B extends in a direction parallel to the extending direction (that is, the Z-axis direction) of the first rotating shaft 101 of the disk 32c and the slider 35 The rotary shafts that are different from each other in the X-axis direction, which is the moving direction, are connected to the slider 35 so as to be rotatable about different rotation axes, and the extending direction of the first rotary shaft 101 of the disk 32c (that is, the Z-axis). In the direction orthogonal to (direction), the slider 35 is connected to be slidable.

As described above, as shown in FIG. 4, the disk 32c as the rotation transmission member, which is the output part of the rotational movement transmission unit 30A, rotates about the first rotation shaft 101 in the direction indicated by the arrow DR0. The one end of the first crank arm 33A and the one end of the second crank arm 33B (that is, the end portion on the side where the crank pin 34a is located) assembled to the disk 32c are also arrows with the first rotation shaft 101 as the center of rotation. It will rotate in the DR0 direction. Accordingly, the slider 35 serving as the output unit of the first motion conversion unit 30B is periodically pushed and pulled by the first crank arm 33A and the second crank arm 33B, and the slide guides 16a and 16b are extended. A reciprocating linear motion is made along the X-axis direction.

As shown in FIGS. 2 to 4, the slider 35 includes a front urging member 60 A as a first urging member that is an elastic urging mechanism and a rear urging member 60 B as a second urging member. The details of the elastic biasing mechanism will be described later.

<Configuration of Right Second Motion Conversion Unit 30C1>
As shown in FIGS. 2, 3, and 6, the second right motion conversion unit 30 C 1 is disposed on the right side of the slider 35, and the right front elastic belt 36 R 1 and the right rear elastic belt as the first elastic belt. 36R2, a right roller 37R as a first hooked body, and a right rotating body 38R as a first rotating body are mainly included.

The right side rotating body 38R has a substantially columnar shape and is rotatably supported by the housing 10. More specifically, the right rotating body 38R is fixed to the lower frame 11 and the upper frame 12, and is rotatably attached to the right guide shaft 18R extending along the Z-axis direction. As a result, the right rotating body 38R is disposed so that its circumferential surface faces the right side 35R of the slider 35, and extends in a direction parallel to the extending direction of the right guide shaft 18R (that is, the Z-axis direction). The second rotary shaft 102R (see FIG. 6) is supported so as to be rotatable about the center of rotation.

The right front elastic belt 36R1 and the right rear elastic belt 36R2 are respectively suspended on the slider 35 and the right rotating body 38R. More specifically, one end of the right front elastic belt 36R1 is fixed to the front end portion of the right side surface 35R of the slider 35, and the other end corresponding to the non-fixed portion with respect to the slider 35 is the peripheral surface of the right side rotator 38R. It is fixed in place. Further, one end of the right rear elastic belt 36R2 is fixed to the rear end portion of the right side surface 35R of the slider 35, and the other end corresponding to an unfixed portion with respect to the slider 35 is a predetermined surface on the peripheral surface of the right side rotator 38R. Fixed in position.

Here, the right front elastic belt 36R1 and the right rear elastic belt 36R2 are arranged at positions shifted from each other in the Z-axis direction. More specifically, the right front elastic belt 36R1 is disposed at a position above the right rear elastic belt 36R2, and the right rear elastic belt 36R2 is disposed at a position below the right front elastic belt 36R1. ing. Thus, the right front elastic belt 36R1 and the right rear elastic belt 36R2 independently connect the slider 35 and the right rotating body 38R without interfering with each other.

Each of the right front elastic belt 36R1 and the right rear elastic belt 36R2 is a member for transmitting power from the slider 35 to the right rotating body 38R, and is made of a resin or rubber member having appropriate elasticity. ing. By configuring the right front elastic belt 36R1 and the right rear elastic belt 36R2 with members having moderate elasticity in this way, the right wing body 40R is applied to the main rotary motor 20 by performing a flapping operation. Is absorbed to a considerable extent by the expansion and contraction of the right front elastic belt 36R1 and the right rear elastic belt 36R2, and the fluctuation of the load can be suppressed, and the exercise efficiency of the flapping apparatus 1A is improved. .

The right roller 37R is disposed between the slider 35 and the right rotating body 38R, and is supported by the housing 10 so as to be rotatable about the second rotating shaft 102R of the right rotating body 38R described above. Specifically, a right upper arm 19R1 and a right lower arm, which are a pair of arms, are provided on the right guide shaft 18R that rotatably supports the right rotating body 38R described above so as to be rotatable with respect to the right guide shaft 18R. 19R2 is assembled, and the right roller 37R is rotatably attached to the right roller shaft 17R extending along the Z-axis direction by being fixed to the right upper arm 19R1 and the right lower arm 19R2. .

The right front elastic belt 36R1 and the right rear elastic belt 36R2 located between the slider 35 and the right rotating body 38R are respectively wound around the right roller 37R. In other words, the right roller 37R has the right front elastic belt 36R1 and the right rear side so that a predetermined amount of tension is applied to each of the right front elastic belt 36R1 and the right rear elastic belt 36R2. It is in contact with the elastic belt 36R2.

Here, when viewed along the Z-axis direction, each of the right front elastic belt 36R1 and the right rear elastic belt 36R2 extends in an S shape so that the slider 35, the right roller 37R, and the right rotation It spans over the body 38R and intersects at a position between the slider 35 and the right roller 37R and a position between the right roller 37R and the right rotating body 38R so as to overlap each other. Accordingly, the right roller 37R is sandwiched between the right front elastic belt 36R1 and the right rear elastic belt 36R2.

As described above, along with the reciprocating linear motion of the slider 35 along the X-axis direction, the right front elastic belt 36R1 and the right rear elastic belt 36R2 fixed to the right rotating body 38R rotate the right rotating body 38R. Accordingly, the right rotating body 38R as the output unit of the right second motion converting unit 30C1 reciprocates in the rotational direction with the second rotating shaft 102R as the rotation center. become.

As described above, since each of the right front elastic belt 36R1 and the right rear elastic belt 36R2 is wound around the right roller 37R, various flight modes can be realized. Will be described later.

Here, in the present embodiment, the right front elastic belt 36R1 and the right rear elastic belt 36R2 are configured by friction belts having no teeth, and the right roller 37R and the right rotating body 38R are both teeth. However, it is not always necessary to make such a configuration, and both the right front elastic belt 36R1 and the right rear elastic belt 36R2 are formed by toothed belts, and the right roller 37R. Each of the right-side rotating body 38R may be constituted by a toothed roller (gear).

In the present embodiment, the slider 35 and the right rotating body 38R are connected by using two elastic belts including the right front elastic belt 36R1 and the right rear elastic belt 36R2. It is also possible to connect with an elastic belt. In this case, one end of one elastic belt is fixed to the front end portion of the slider 35 and the other end is fixed to the rear end portion of the slider 35, and the non-fixed portion of the one elastic belt with respect to the slider 35 is set to the right side. What is necessary is just to wind or fix to the rotary body 38R.

<Configuration of Left Second Motion Conversion Unit 30C2>
As shown in FIGS. 2, 3, and 6, the second left motion conversion unit 30 C 2 is disposed on the left side of the slider 35, and the left front elastic belt 36 L 1 and the left rear elastic belt as the second elastic belt. 36L2, a left roller 37L as a second hooked body, and a left rotating body 38L as a second rotating body are mainly included.

The left side rotating body 38L has a substantially cylindrical shape and is rotatably supported by the housing 10. More specifically, the left rotation body 38L is rotatably attached to the left guide shaft 18L extending along the Z-axis direction by being fixed to the lower frame 11 and the upper frame 12. Thereby, the left rotating body 38L is disposed so that the peripheral surface thereof faces the left side surface 35L of the slider 35, and extends in a direction parallel to the extending direction of the left guide shaft 18L (that is, the Z-axis direction). The second rotary shaft 102L (see FIG. 6) is supported so as to be rotatable about the center of rotation.

The left front elastic belt 36L1 and the left rear elastic belt 36L2 are hung on the slider 35 and the left rotating body 38L. More specifically, one end of the left front elastic belt 36L1 is fixed to the front end portion of the left side surface 35L of the slider 35, and the other end corresponding to the non-fixed portion with respect to the slider 35 is the peripheral surface of the left rotating body 38L. It is fixed in place. Further, one end of the left rear elastic belt 36L2 is fixed to the rear end portion of the left side surface 35L of the slider 35, and the other end corresponding to an unfixed portion with respect to the slider 35 is a predetermined surface on the peripheral surface of the left rotating body 38L. Fixed in position.

Here, the left front elastic belt 36L1 and the left rear elastic belt 36L2 are arranged at positions shifted from each other in the Z-axis direction. More specifically, the left front elastic belt 36L1 is disposed at a position above the left rear elastic belt 36L2, and the left rear elastic belt 36L2 is disposed at a position below the left front elastic belt 36L1. ing. Thus, the left front elastic belt 36L1 and the left rear elastic belt 36L2 independently connect the slider 35 and the left rotating body 38L without interfering with each other.

Each of the left front elastic belt 36L1 and the left rear elastic belt 36L2 is a member for transmitting power from the slider 35 to the left rotating body 38L, and is configured by a resin or rubber member having appropriate elasticity. ing. By configuring the left front elastic belt 36L1 and the left rear elastic belt 36L2 with members having moderate elasticity in this way, the left wing body 40L is applied to the main rotary motor 20 by performing a flapping operation. Is absorbed to a considerable extent by the expansion and contraction of the left front elastic belt 36L1 and the left rear elastic belt 36L2, and the fluctuation of the load can be suppressed, and the exercise efficiency of the flapping apparatus 1A is improved. .

The left roller 37L is disposed between the slider 35 and the left rotating body 38L, and is supported by the housing 10 so as to be rotatable about the second rotating shaft 102L of the left rotating body 38L described above. Specifically, a left upper arm 19L1 and a left lower arm that are a pair of arms are provided on the left guide shaft 18L that rotatably supports the left rotating body 38L described above so as to be rotatable with respect to the left guide shaft 18L. 19L2 is assembled, and the left roller 37L is rotatably attached to the left roller shaft 17L extending along the Z-axis direction by being fixed to the left upper arm 19L1 and the left lower arm 19L2. .

The left front elastic belt 36L1 and the left rear elastic belt 36L2 of the portion located between the slider 35 and the left rotating body 38L are respectively wound around the left roller 37L. In other words, the left roller 37L is configured such that the left front elastic belt 36L1 and the left rear elastic belt 36L1 and the left rear elastic belt 36L2 are each given a predetermined magnitude of tension. It is in contact with the elastic belt 36L2.

Here, when viewed along the Z-axis direction, each of the left front elastic belt 36L1 and the left rear elastic belt 36L2 extends in an S shape so that the slider 35, the left roller 37L, and the left rotation It spans over the body 38L and intersects with each other at a position between the slider 35 and the left roller 37L and a position between the left roller 37L and the left rotating body 38L. Thereby, the left roller 37L is sandwiched between the left front elastic belt 36L1 and the left rear elastic belt 36L2.

As described above, along with the reciprocating linear motion of the slider 35 along the X-axis direction, the left front elastic belt 36L1 and the left rear elastic belt 36L2 fixed to the left rotating body 38L rotate the left rotating body 38L. Accordingly, the left rotating body 38L as the output unit of the left second motion conversion unit 30C2 reciprocates in the rotation direction around the second rotation shaft 102L as the rotation center. become.

As described above, each of the left front elastic belt 36L1 and the left rear elastic belt 36L2 is wound around the left roller 37L, so that various flight modes can be realized. Will be described later.

Here, in the present embodiment, both the left front elastic belt 36L1 and the left rear elastic belt 36L2 are constituted by friction belts having no teeth, and the left roller 37L and the left rotating body 38L are both teeth. However, the left and right elastic belts 36L1 and 36L2 are both constituted by toothed belts, and the left roller. Both 37L and left-hand side rotation body 38L are good also as comprising a toothed roller (gear).

In the present embodiment, the slider 35 and the left rotating body 38L are connected using two elastic belts including the left front elastic belt 36L1 and the left rear elastic belt 36L2. It is also possible to connect with an elastic belt. In this case, one end of one elastic belt is fixed to the front end portion of the slider 35 and the other end is fixed to the rear end portion of the slider 35, and the non-fixed portion of the one elastic belt with respect to the slider 35 is set to the left side. What is necessary is just to wind or fix to the rotary body 38L.

<Summary of power transmission mechanism 30>
By using the power transmission mechanism 30 described above, the power of the main rotary electric motor 20 is distributed and transmitted to the right side rotary body 38R and the left side rotary body 38L, and the right side rotary body 38R and the left side rotary body 38L are transmitted. The reciprocating motion is synchronously performed in the rotational direction with the

second rotation shafts

102R and 102L as the rotation centers.

<Configuration of right wing 40R and left wing 40L>
As shown in FIGS. 1, 2 and 6, the right wing 40R and the left wing 40L are respectively attached to a right mast 39R and a left mast 39L extending in a rod shape. More specifically, the upper edge of right wing 40R is fixed to right mast 39R, and the upper edge of left wing 40L is fixed to left mast 39L.

Here, as described above, the right rotator 38R and the left rotator 38L are arranged on the right and left sides of the slider 35. More specifically, the right rotating body 38R and the left rotating body 38L are arranged side by side in the Y-axis direction so as to sandwich the slider 35 therebetween.

The right mast 39R and the left mast 39L described above are assembled to the right rotator 38R and the left rotator 38L arranged side by side in the Y-axis direction, whereby the right wing 40R and the left wing 40L are Each is located on the starboard side and port side of the flapping apparatus 1A.

More specifically, a base end which is one end of the right mast 39R is fixed to an end of the right side rotator 38R opposite to the side where the slider 35 is located, and the slider 35 of the left side rotator 38L is fixed. A base end which is one end of the left mast 39L is fixed to an end opposite to the side on which it is positioned. As a result, the right wing 40R extends in the Y1 direction so that the tip of the right wing 40R is located on the side opposite to the side on which the left rotator 38L is located when viewed from the right rotator 38R. The body 40L extends in the Y2 direction so that the tip of the body 40L is positioned on the side opposite to the side on which the right rotating body 38R is positioned when viewed from the left rotating body 38L.

As described above, as shown in FIG. 6, the right side mast 39R and the left side mast 38R and the left side mast 38L reciprocate synchronously in the rotation direction around the

second rotation shafts

102R and 102L, respectively. 39L is driven by the right rotating body 38R and the left rotating body 38L, respectively, and swings synchronously.

At this time, the right wing 40R and the left wing 40L also reciprocate synchronously in the rotation direction around the

second rotation shafts

102R and 102L described above, respectively. 40L rocks synchronously so that its tip moves approximately along the X-axis direction.

Here, in FIG. 6, the range of movement of the center of gravity of the slider 35 during the reciprocating linear movement of the slider 35 is indicated by an arrow AR1, and the swing range of the right wing 40R and the left wing 40L is indicated by an arrow AR2. Respectively. Of the movable range of the slider 35, the position when the slider 35 is disposed at the foremost position is defined as the first position, and the position when the slider 35 is disposed at the most rearward is defined as the second position. In the description, the terms “first position” and “second position” are also used.

<Overall configuration of flapping control mechanism 50>
As shown in FIG. 2, the flapping control mechanism 50 includes a right roller control mechanism 50A for changing the flapping operation of the right wing 40R, and a left roller control mechanism 50B for changing the flapping operation of the left wing 40L. Is included.

<Configuration of Right Roller Control Mechanism 50A>
As shown in FIGS. 2 and 7, the right roller control mechanism 50A is disposed on the starboard side of the flapping device 1A where the right roller 37R is located, and is configured by various components assembled to the columnar frame 14. Yes. The right roller control mechanism 50A variably adjusts the position of the right roller 37R and variably adjusts the degree of shaft shake of the right roller 37R.

Specifically, the right roller control mechanism 50A includes a first stage 51a fixed to the columnar frame 14, a first sub-rotary motor 52a and a first feed mechanism unit 53a assembled to the first stage 51a, The connecting member 54a assembled to the first feeding mechanism 53a, the second stage 55a fixed to the connecting member 54a, the second sub-rotary motor 56a and the second feeding mechanism 57a assembled to the second stage 55a. And a guide member 58a assembled to the second feed mechanism portion 57a.

A pinion gear is assembled to the rotating shaft of the first auxiliary rotating motor 52a. The first feed mechanism 53a includes a gear box provided with a slit, a worm gear rotatably supported by the gear box, a spur gear assembled to the end of the worm gear, and a nut portion that meshes with the worm gear. And a movable body. The worm gear is arranged such that its axial direction is parallel to the X-axis direction.

The pinion gear assembled to the rotation shaft of the first sub-rotation motor 52a meshes with the spur gear assembled to the end of the worm gear, whereby the rotation shaft of the first sub-rotation motor 52a rotates. Along with this, the worm gear rotates. The movable body is arranged so that a part of the movable body is inserted into a slit provided in the gear box, and moves along the axial direction of the worm gear (that is, the X-axis direction) as the worm gear rotates.

A pinion gear is assembled to the rotating shaft of the second auxiliary rotating electric motor 56a. The second feed mechanism portion 57a includes a gear box provided with a slit, a worm gear rotatably supported by the gear box, a spur gear assembled to the end of the worm gear, and a nut portion that meshes with the worm gear. Includes a movable body. The worm gear is arranged so that its axial direction is parallel to the Z-axis direction.

The pinion gear assembled to the rotation shaft of the second sub-rotation motor 56a meshes with a spur gear assembled to the end of the worm gear, whereby the rotation shaft of the second sub-rotation motor 56a rotates. Along with this, the worm gear rotates. The movable body is arranged so that a part of the movable body is inserted into a slit provided in the gear box, and moves along the axial direction of the worm gear (that is, the Z-axis direction) as the worm gear rotates.

The guide member 58a has a guide portion 58a1 at its lower end. A groove extending along the Y-axis direction is formed on the lower surface of the guide portion 58a1. The distance between the pair of wall portions that define the groove portion of the guide portion 58a1 is configured to be different along the Z-axis direction. More specifically, the distance between the pair of wall portions is lower. It is comprised so that it may decrease gradually as it goes upwards.

The upper end of the right roller shaft 17R that rotatably supports the right roller 37R is accommodated in the groove. Thus, the upper end of the right roller shaft 17R is sandwiched between the pair of wall portions of the guide portion 58a1 in the X-axis direction.

Here, as described above, the connecting member 54a is assembled to the first feeding mechanism portion 53a. More specifically, one end of the connecting member 54a is fixed to the movable body of the first feeding mechanism portion 53a, and the other end is fixed to the second stage 55a as described above. As described above, the guide member 58a is assembled to the second feed mechanism portion 57a. More specifically, the upper end of the guide member 58a is fixed to the movable body of the second feed mechanism portion 57a, and the above-described guide portion 58a1 is provided at the lower end.

As described above, when the first sub-rotary motor 52a is driven, the guide portion 58a1 of the guide member 58a moves along the X-axis direction that is parallel to the axial direction of the worm gear of the first feed mechanism portion 53a. It moves in the direction (see FIG. 7A). Further, by driving the second auxiliary rotary motor 56a, the guide portion 58a1 of the guide member 58a is in the direction of the arrow DR32A along the Z-axis direction that is parallel to the axial direction of the worm gear of the second feed mechanism portion 57a. (See FIG. 7A).

Here, referring to FIG. 7A, when the first sub-rotary motor 52a is driven, the guide portion 58a1 moves in the direction of the arrow DR31A, thereby defining the pair of the above-described grooves that define the groove portion of the guide portion 58a1. The wall portion comes into contact with the upper end of the right roller shaft 17R, and the right roller shaft 17R moves.

At this time, referring to FIGS. 2 and 3, as described above, right roller shaft 17R is rotatably assembled to right guide shaft 18R via right upper arm 19R1 and right lower arm 19R2. The right roller shaft 17R rotates and moves around the second rotation shaft 102R of the right rotating body 38R. As a result, as shown in FIG. 7B, the right roller 37R rotates and moves in the direction of the arrow AR3 in the figure with the second rotation shaft 102R of the right rotating body 38R as the rotation center.

That is, among the above-described various components constituting the right roller control mechanism 50A, in particular, the first auxiliary rotary motor 52a and the first feed mechanism portion 53a variably adjust the position of the right roller 37R. Will function as.

On the other hand, referring to FIG. 7A, when the second auxiliary rotating motor 56a is driven, the guide portion 58a1 moves in the direction of the arrow DR32A, so that the upper end of the right roller shaft 17R with respect to the groove portion of the guide portion 58a1. The amount of insertion will change. Here, as described above, since the distance between the pair of wall portions defining the groove portion of the guide portion 58a1 is different along the Z-axis direction, the upper end of the right roller shaft 17R is inserted into the groove portion of the guide portion 58a1. As the amount changes, the distance between the pair of wall portions and the upper end of the right roller shaft 17R also changes.

As a result, a change occurs in the contact state of the guide portion 58a1 with the right roller shaft 17R, and accordingly, the restraining state of the right roller shaft 17R by the guide member 58a changes, resulting in the right roller shaft 17R. The magnitude of the shaft shake (that is, the shaft shake generated in the right roller 37R) is variably adjusted.

That is, among the various components described above that configure the right roller control mechanism 50A, the guide member 58a corresponds to a restricting portion that restricts the shaft shake of the right roller 37R, and also configures the right roller control mechanism 50A. Among the various parts described above, the second sub-rotary motor 56a and the second feed mechanism 57a particularly function as a shaft shake adjusting mechanism that variably adjusts the size of the shaft shake of the right roller 37R.

<Configuration of Left Roller Control Mechanism 50B>
As shown in FIGS. 2 and 8, the left roller control mechanism 50B is arranged on the port side of the flapping apparatus 1A where the left roller 37L is located, and is configured by various components assembled to the columnar frame 14. Yes. The left roller control mechanism 50B variably adjusts the position of the left roller 37L and variably adjusts the degree of shaft runout of the left roller 37L.

Specifically, the left roller control mechanism 50B includes a first stage 51b fixed to the columnar frame 14, a first auxiliary rotary motor 52b and a first feed mechanism 53b assembled to the first stage 51b, The connecting member 54b assembled to the first feed mechanism portion 53b, the second stage 55b fixed to the connecting member 54b, the second sub-rotary motor 56b and the second feed mechanism portion 57b assembled to the second stage 55b. And a guide member 58b assembled to the second feed mechanism portion 57b.

A pinion gear is assembled to the rotating shaft of the first auxiliary rotating motor 52b. The first feed mechanism portion 53b includes a gear box provided with a slit, a worm gear rotatably supported by the gear box, a spar gear assembled to an end portion of the worm gear, and a nut portion that meshes with the worm gear. And a movable body. The worm gear is arranged such that its axial direction is parallel to the X-axis direction.

The pinion gear assembled to the rotation shaft of the first sub-rotation motor 52b meshes with the spur gear assembled to the end of the worm gear, whereby the rotation shaft of the first sub-rotation motor 52b rotates. Along with this, the worm gear rotates. The movable body is arranged so that a part of the movable body is inserted into a slit provided in the gear box, and moves along the axial direction of the worm gear (that is, the X-axis direction) as the worm gear rotates.

A pinion gear is assembled to the rotation shaft of the second auxiliary rotary electric motor 56b. The second feed mechanism portion 57b includes a gear box provided with a slit, a worm gear rotatably supported by the gear box, a spar gear assembled to an end portion of the worm gear, and a nut portion that meshes with the worm gear. Includes a movable body. The worm gear is arranged so that its axial direction is parallel to the Z-axis direction.

The pinion gear assembled to the rotation shaft of the second sub-rotation motor 56b meshes with the spur gear assembled to the end of the worm gear, whereby the rotation shaft of the second sub-rotation motor 56b rotates. Along with this, the worm gear rotates. The movable body is arranged so that a part of the movable body is inserted into a slit provided in the gear box, and moves along the axial direction of the worm gear (that is, the Z-axis direction) as the worm gear rotates.

The guide member 58b has a guide portion 58b1 at its lower end. A groove portion extending along the Y-axis direction is formed on the lower surface of the guide portion 58b1. The distance between the pair of wall portions defining the groove portion of the guide portion 58b1 is configured to be different along the Z-axis direction. More specifically, the distance between the pair of wall portions is lower. It is comprised so that it may decrease gradually as it goes upwards.

The upper end of the left roller shaft 17L that rotatably supports the left roller 37L is accommodated in the groove. Accordingly, the upper end of the left roller shaft 17L is sandwiched between the pair of wall portions of the guide portion 58b1 in the X-axis direction.

Here, as described above, the connecting member 54b is assembled to the first feeding mechanism portion 53b. More specifically, one end of the connecting member 54b is fixed to the movable body of the first feed mechanism portion 53b, and the other end is fixed to the second stage 55b as described above. In addition, as described above, the guide member 58b is assembled to the second feed mechanism portion 57b. More specifically, the upper end of the guide member 58b is fixed to the movable body of the second feed mechanism portion 57b, and the above-described guide portion 58b1 is provided at the lower end.

As described above, when the first sub-rotation motor 52b is driven, the guide portion 58b1 of the guide member 58b moves along the arrow DR31B along the X-axis direction that is parallel to the axial direction of the worm gear of the first feed mechanism portion 53b. It moves in the direction (see FIG. 8A). Further, by driving the second sub-rotary motor 56b, the guide portion 58b1 of the guide member 58b is in the direction of the arrow DR32B along the Z-axis direction that is parallel to the axial direction of the worm gear of the second feed mechanism portion 57b. (See FIG. 8A).

Here, referring to FIG. 8 (A), when the first sub-rotary electric motor 52b is driven, the guide portion 58b1 moves in the direction of the arrow DR31B, thereby defining the pair of the above-mentioned grooves that define the groove portion of the guide portion 58b1. The wall portion comes into contact with the upper end of the left roller shaft 17L, and the left roller shaft 17L moves.

At that time, as described above with reference to FIGS. 2 and 3, the left roller shaft 17L is rotatably assembled to the left guide shaft 18L via the left upper arm 19L1 and the left lower arm 19L2. The left roller shaft 17L rotates around the second rotating shaft 102L of the left rotating body 38L. As a result, as shown in FIG. 8B, the left roller 37L rotates and moves in the direction of arrow AR3 in the drawing with the second rotation shaft 102L of the left rotating body 38L as the center of rotation.

That is, among the above-described various components constituting the left roller control mechanism 50B, in particular, the first auxiliary rotary motor 52b and the first feed mechanism portion 53b variably adjust the position of the left roller 37L. Will function as.

On the other hand, referring to FIG. 8A, when the second auxiliary rotating motor 56b is driven, the guide portion 58b1 moves in the direction of the arrow DR32B, so that the upper end of the left roller shaft 17L with respect to the groove portion of the guide portion 58b1 is moved. The amount of insertion will change. Here, as described above, since the distance between the pair of wall portions defining the groove portion of the guide portion 58b1 is different along the Z-axis direction, the upper end of the left roller shaft 17L is inserted into the groove portion of the guide portion 58b1. As the amount changes, the distance between the pair of wall portions and the upper end of the left roller shaft 17L also changes.

As a result, a change occurs in the contact state of the guide portion 58b1 with the left roller shaft 17L, and the constraining state of the left roller shaft 17L by the guide member 58b changes accordingly, resulting in the left roller shaft 17L. The size of the shaft shake (that is, the shaft shake generated in the left roller 37L) is variably adjusted.

That is, among the above-described various parts constituting the left roller control mechanism 50B, the guide member 58b corresponds to a restricting portion that restricts the shaft shake of the left roller 37L, and also constitutes the left roller control mechanism 50B. Among the various components described above, in particular, the second auxiliary rotary motor 56b and the second feed mechanism portion 57b function as a shaft shake adjusting mechanism that variably adjusts the size of the shaft shake of the left roller 37L.

<Operation control of flapping control mechanism 50>
As shown in FIG. 9, the flapping control mechanism 50 including the right roller control mechanism 50A and the left roller control mechanism 50B described above is operated by a flight mode control unit 80 to which a control instruction is given by a user or an automated algorithm. Be controlled. The flight mode control unit 80 includes a first control unit 81 that controls the operation of the engaged body position adjusting mechanism that variably adjusts the positions of the right roller 37R and the left roller 37L, and the shaft runout of the right roller 37R and the left roller 37L. And a second control unit 82 that controls the operation of the shaft shake adjusting mechanism that variably adjusts the size.

Specifically, the first control unit 81 variably adjusts the position of the right roller 37R by controlling the operation of the first sub-rotary motor 52a of the right roller control mechanism 50A, and also controls the left roller control mechanism 50B. By controlling the operation of the first auxiliary rotary motor 52b, the position of the left roller 37L is variably adjusted. Here, the first control unit 81 independently performs the operation control of the first sub-rotation motor 52a and the operation control of the first sub-rotation motor 52b, whereby the position of the right roller 37R and the position of the left roller 37L. And adjust separately.

Further, the second controller 82 controls the operation of the second auxiliary rotary motor 56a of the right roller control mechanism 50A to variably adjust the size of the shaft shake of the right roller 37R, and the left roller control mechanism 50B. By controlling the operation of the second auxiliary rotary motor 56b, the size of the shaft shake of the left roller 37L is variably adjusted. Here, the second control unit 82 independently performs the operation control of the second sub-rotation motor 56a and the operation control of the second sub-rotation motor 56b, so that the shaft roller size of the right roller 37R and the left roller The size of the 37L shaft runout is individually adjusted.

As described above, the operation of the flapping control mechanism 50 including the right roller control mechanism 50A and the left roller control mechanism 50B is controlled by the flight mode control unit 80 including the first control unit 81 and the second control unit 82. Various flight modes will be realized, and details thereof will be described later.

<Operation of Power Transmission Mechanism 30, Right Wing Body 40R, and Left Wing Body 40L>
10 to 13 are diagrams for explaining the operation of the power transmission mechanism 30 of the flapping apparatus 1A. Here, (A) and (B) in each figure are the top view and side view for demonstrating operation | movement of the 1st motion conversion part 30B, (C) in each figure is a right side 2nd motion conversion part. It is a top view for demonstrating operation | movement of 30C1 and left side 2nd motion conversion part 30C2. Next, the operation of the power transmission mechanism 30 of the flapping apparatus 1A will be described with reference to FIGS. 10 to 13 and FIG. 6 described above.

The operation of the power transmission mechanism 30 described below is an operation during a period in which the disk 32c as a rotation transmission member, which is an output part of the rotary motion transmission unit 30A, makes one counterclockwise rotation from the state shown in FIG. 10 to 13 illustrate this in time series. The period in which the disk 32c rotates once counterclockwise corresponds to one cycle of the synchronous flapping operation of the right wing 40R and the left wing 40L.

In the state shown in FIG. 6, the slider 35 is at the center position within the movable range of the reciprocating linear motion of the slider 35. In this case, the right wing 40R and the left wing 40L are located at the 3 o'clock position and the 9 o'clock position, respectively, and when viewed from above in the Z2 direction, the right wing body 40R and the left wing body 40L are Located on the same straight line. At this time, the one end of the first crank arm 33A and the one end of the second crank arm 33B (that is, the end on the side where the pin 34a is located) assembled to the disk 32c are at the 9 o'clock position. (See FIG. 4). Hereinafter, the one end of the first crank arm 33A and the one end of the second crank arm 33B assembled to the disk 32c are referred to as “connection points”.

First, as shown in FIG. 10, the disk 32c rotates 90 ° counterclockwise from the state shown in FIG. When reaching the hour position, the slider 35 moves in the DR11 direction shown in the figure, and accordingly, the position of the center of gravity of the slider 35 also moves in the X2 direction. Then, when the connection point reaches the 6 o'clock position, the slider 35 is disposed at the second position which is the last part within the movable range.

Further, at that time, the right wing 40R and the left wing 40L are directed toward the DR21 direction shown in the figure by rotating the right rotator 38R and the left rotator 38L clockwise and counterclockwise, respectively (that is, Each move toward the 6 o'clock position), but this movement is generally in the X2 direction.

Next, as shown in FIG. 11, when the power of the main rotary motor 20 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.

At that time, the right wing 40R and the left wing 40L are directed toward the direction DR22 shown in the drawing by rotating the right rotator 38R and the left rotator 38L counterclockwise and clockwise respectively (ie, The movement is toward the 3 o'clock position and 9 o'clock position, respectively, but this movement is generally toward the X1 direction.

Next, as shown in FIG. 12, 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 center of gravity of the slider 35 also moves in the X1 direction. Then, when the connection point reaches the 12 o'clock position, the slider 35 is arranged at the first position which is the foremost part within the movable range.

Further, at that time, the right wing 40R and the left wing 40L are directed toward the DR23 direction shown in the drawing by rotating the right rotator 38R and the left rotator 38L counterclockwise and clockwise respectively (ie, Each move toward the 12 o'clock position), but this movement is generally towards the X1 direction.

Next, as shown in FIG. 13, when the power of the main rotary motor 20 is transmitted, the disk 32c further rotates 90 ° counterclockwise from the state shown in FIG. When reaching the 9 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 right wing 40R and the left wing 40L are directed toward the DR24 direction shown in the drawing by rotating the right rotator 38R and the left rotator 38L clockwise and counterclockwise, respectively (that is, The movement is toward the 3 o'clock position and 9 o'clock position, respectively, but this movement is generally in the X2 direction.

As described above, in flapping apparatus 1A according to the present embodiment, the power generated in main rotating motor 20 as a power source is transmitted to right wing 40R and left wing 40L through power transmission mechanism 30. As a result, the right wing 40R and the left wing 40L swing in a predetermined cycle synchronously. Along with this, a predetermined lift described later is generated in the right wing 40R and the left wing 40L, thereby enabling the flight of the flapping apparatus 1A.

<Flapping operation of right wing 40R and left wing 40L>
FIG. 14 is a schematic diagram showing the flapping operation of the right wing 40R and the left wing 40L during the hovering of the flapping apparatus 1A. Next, the flapping operation of the right wing 40R and the left wing 40L during hovering of the flapping apparatus 1A will be described with reference to FIG.

Referring to FIG. 14, as described above, right wing 40R and left wing 40L are swung, so that right wing 40R and left wing 40L are moved in the rearward direction during one flapping operation. Four operations are continuously performed: flapping, flapping forward, flapping forward, flapping backward.

Here, in the upper part of FIG. 14, paying attention to the right wing 40R, these four operations are represented by a simple cross section showing the shape change of the right wing 40R in time series. In the lower part, the state of the flapping apparatus 1A during these four operations is shown in a simplified plan view. The cross section of the right wing 40R shown in the upper part of FIG. 14 shows a cross section in a direction orthogonal to the extending direction of the right wing 40R (that is, the extending direction of the right mast 39R). Corresponds to the front side of the flapping apparatus 1A, and the right side of the figure corresponds to the rear side of the flapping apparatus 1A.

The backward turn is an operation when the right wing 40R and the left wing 40L come to the end of the swing range (see arrow AR2 in the drawing) shown in FIG. 6 (that is, when they are in the state shown in FIG. 10). There is an operation in which the inclined postures of the right wing 40R and the left wing 40L are switched from a state in which the upper edge portion is behind the lower edge portion to a state in which the upper edge portion is in front of the lower edge portion. It is.

The forward flapping includes when the right wing 40R and the left wing 40L move from the rearmost part to the foremost part of the swing range shown in FIG. 6 (see arrow AR2 in the figure) (this includes the state shown in FIG. 11). The right wing 40R and the left wing 40L are maintained while the inclined postures of the right wing 40R and the left wing 40L are maintained in a state where the respective upper edges are in front of the lower edges. Is an operation of moving relatively forward.

The forward turning is an operation when the right wing 40R and the left wing 40L come to the forefront of the swing range (see arrow AR2 in the drawing) shown in FIG. 6 (that is, in the state shown in FIG. 12). There is an operation in which the inclined postures of the right wing 40R and the left wing 40L are switched from a state in which the lower edge portion is behind the upper edge portion to a state in which the lower edge portion is ahead of the upper edge portion. It is.

The back flapping includes the state shown in FIG. 13 when the right wing 40R and the left wing 40L move from the foremost part to the last part of the swinging range shown in FIG. 6 (see arrow AR2 in the figure). The right wing 40R and the left wing 40L are maintained while the inclined postures of the right wing 40R and the left wing 40L are maintained in a state in which the respective lower edges are in front of the upper edges. Is an operation of moving relatively backward.

Among the four operations of the above-described backward flapping, forward flapping, forward flapping, and backward flapping, particularly during the two operations of flapping forward and flapping, as shown by arrows F1 and F2 in the upper part of FIG. A fluid force is generated obliquely upward on the wing body 40R. Here, the horizontal component of the fluid force (corresponding to the arrow F1 shown in the figure) generated when flapping forward, and the horizontal component of the fluid force (corresponding to the arrow F2 shown in the figure) generated when flapping backward However, by balancing in the front-rear direction, upward lifting force is generated in the right wing 40R. In addition, although the description is omitted here, the same upward lifting force is generated in the left wing 40L.

As described above, the right wing 40R and the left wing 40L are driven so as to reciprocate synchronously in the front-rear direction. Therefore, the operation of each wing is a mirror surface as shown in the lower part of FIG. Due to the symmetry, the lifting force generated in the right wing 40R and the lifting force generated in the left wing 40L generate a lifting force upward in the flapping apparatus 1A. Thereby, the flight of the flapping apparatus 1A can be realized.

<Improvement of exercise efficiency by the first exercise conversion unit 30B>
FIG. 15 is a schematic graph comparing the slider speed changes of the flapping apparatus 1A according to the present embodiment and the flapping apparatus according to the comparative embodiment. Next, with reference to this FIG. 15, the effect by employ | adopting the 1st motion conversion part 30B as mentioned above in the flapping apparatus 1A is demonstrated.

As described above, in the present embodiment, unlike the general crank mechanism, the first motion conversion unit 30B includes two crank arms (that is, the first crank arm 33A and the second crank arm 33B). The crank mechanism used constitutes this, and the end portions of these two crank arms (that is, the other end of each of the first crank arm 33A and the second crank arm 33B) can be rotated with respect to the slider 35. The slider 35 is slidably connected to the slider 35 (see FIGS. 2 to 5). By configuring in this way, it is possible to obtain an effect that the exercise efficiency is significantly improved as compared with the conventional case.

In the graph shown in FIG. 15, the horizontal axis represents the crank rotation angle (that is, the disk rotation angle), and the vertical axis represents the slider 35 speed. Since the right wing 40R and the left wing 40L are both driven almost directly by the movement of the slider 35, the speed of the slider 35 is the same as that of the right wing 40R and the left wing 40L. You may think.

Here, the flapping apparatus according to the comparison mode differs from the flapping apparatus 1A according to the present embodiment in the configuration of the crank mechanism that connects the disk and the slider, and the general one crank described above. The disk and slider are connected using an arm.

Specifically, in the flapping apparatus according to the comparative embodiment, the second crank arm described above is not provided, and the disk and the slider are connected only by the first crank arm. Here, one end of the first crank arm is assembled at an eccentric position of the disk so that it can only be rotated relative to the disk, and the other end of the first crank arm is attached to the slider. On the other hand, it is assembled at the front end position of the slider so that it can be assembled only in a rotatable manner (that is, it is not assembled so as to be slidable relative to the slider).

As shown in FIG. 15, in the flapping apparatus according to the comparative embodiment, the change in the moving speed of the slider when the slider is near the foremost part in the movable range is near the rearmost part in the movable range of the slider. The degree of change is greater than the change in the moving speed of the slider. This is because the other end of one crank arm connecting the disk and the slider is connected to the front end position of the slider.

For this reason, the operation in which the wing is turned back by placing the slider near the rearmost portion (that is, the backward turning operation) is relatively smoothly performed according to the inertia due to the small speed change of the wing, When the slider is placed near the foremost part, the operation of turning the wings (ie, the front turning operation) becomes difficult to perform sufficiently smoothly due to the large speed change of the wings. May occur when the forward turning operation becomes incomplete.

If this forward turning operation is incomplete, the flapping operation of the wings will not be as intended, so the posture of the flapping device will become unstable, and as a result the output of the main rotating motor as the power source The fluctuation of the load applied to the shaft becomes large, leading to a decrease in exercise efficiency.

On the other hand, in the flapping apparatus 1A according to the present embodiment, the change in the moving speed of the slider 35 when the slider 35 is in the vicinity of the foremost part in the movable range of the slider 35 (that is, the vicinity of the first position) Changes in the moving speed of the slider 35 in the vicinity of the rearmost part (that is, in the vicinity of the second position) are almost the same, and the degree of the change is sufficiently small.

As described above, the other ends of the first crank arm 33A and the second crank arm 33B are not only rotatably connected to the slider 35 but also slidable relative to the slider 35. As a result, there is formed a state in which the slider 35 runs idle for a predetermined time at the timing when the slider 35 is located near the foremost part and the timing when the slider 35 is located near the rearmost part. Because.

More specifically, as shown in FIG. 5, the hole 33a2 provided at the other end of the first crank arm 33A and the hole 33b2 provided at the other end of the second crank arm 33B are both Since the corresponding crank pins 34b1 and 34b2 are configured to be larger than the size in the front-rear direction, the peripheral surface of the crank pin 34b1 that moves with the rotation of the disk 32c and the wall surface of the hole 33a2 at the two timings described above. And the contact between the peripheral surface of the crank pin 34b2 moving with the rotation of the disk 32c and the wall surface of the hole 33b2 are temporarily released. As a result, a state occurs in which the slider 35 is not temporarily driven by the first crank arm 33A and the second crank arm 33B.

Therefore, as shown in FIG. 15, immediately after the slider 35 is switched from the state driven by the first crank arm 33A and the second crank arm 33B to the above-described idle running state, the slider 35 is suddenly decelerated. As a result, a large inertial force is applied to the right wing 40R and the left wing 40L. As a result, the front turning operation and the rear turning operation of the right wing 40R and the left wing 40L are easily performed.

Accordingly, the state in which the slider 35 is idling is formed for a predetermined time at the predetermined timing described above, so that the vicinity of the frontmost portion (that is, the vicinity of the first position) and the vicinity of the rearmost portion (that is, the second position) within the movable range of the slider 35. The degree of change in the moving speed of the slider 35 in the case of the vicinity of the position is sufficiently reduced, and as a result, both the forward turning operation and the backward turning operation are performed more smoothly and stably. Become.

Thus, in the flapping apparatus 1A according to the present embodiment, it is possible to suppress the occurrence of a situation in which the turning operation of the right wing 40R and the left wing 40L is not complete as described above, and the flapping apparatus 1A. The posture is more stable, and an effect that the exercise efficiency is significantly improved as compared with the conventional case can be obtained.

Further, when the above configuration is adopted, as understood from FIG. 15, the state in which the slider 35 idles is formed over a predetermined time at a predetermined timing, so that the front turning operation is changed to the rear turning operation. Movement toward the rear of the wing (ie, flapping back), and movement toward the front of the wing from back turning to forward turning (ie, flapping forward) , The moving speed of the wings becomes larger (that is, faster), so that a greater levitation force can be obtained. Therefore, also in this sense, the exercise efficiency is greatly improved, and a flapping apparatus having excellent flight performance can be obtained.

In the flapping apparatus according to the comparative embodiment, since the slider as described above does not run idle, a load is always applied to the drive unit including the right wing and the left wing. The fluctuation of the load on the main rotary motor as the source becomes large. In particular, during the turning operation of the right and left wings, inertial force acts on the right and left wings and the slide, and a large load fluctuation is applied to the main rotating motor.

On the other hand, in the flapping apparatus 1A according to the present embodiment, at the timing when the maximum load is generated in the flapping apparatus according to the comparative mode (that is, when the right wing 40R and the left wing 40L are turned back), At the timing when there is almost no load applied to the main rotary motor 20 and the driving force by the main rotary motor 20 is transmitted to the slider 35, the reaction caused by the reversing operation of the right wing 40R and the left wing 40L is disc. It is in the state which does not prevent rotation of 32c. Therefore, by using the flapping apparatus 1A in the present embodiment, not only can the fluctuation of the load on the main rotary motor 20 be suppressed, but also the load itself applied to the main rotary motor 20 can be reduced, and the drive Efficiency will be dramatically improved.

In the present embodiment, the right wing 40R and the left wing 40L are connected to the discs 32c of the first crank arm 33A and the second crank arm 33B in a state where the right wing 40R and the left wing 40L are disposed at the 3 o'clock and 9 o'clock positions, respectively. An example is shown in which the one end (that is, 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 first rotation shaft 101 of the disk 32c. In this case, there is a strict difference between the swing range toward the front side and the swing range toward the rear side of the right wing 40R and the left wing 40L from the above state. Become.

Therefore, when the swing range toward the front side and the swing range toward the rear side of the right wing 40R and the left wing 40L from the above state are made the same size, the right wing 40R. When the left and right wings 40L are arranged at the 3 o'clock and 9 o'clock positions, respectively, the one end of the first crank arm 33A and the one end of the second crank arm 33B are in relation to the first rotating shaft 101 of the disk 32c. The first crank arm 33A and the second crank arm 33B are arranged on the front side (that is, on the 2 o'clock side as viewed from the 3 o'clock position and on the 10 o'clock side as viewed from the 9 o'clock position). What is necessary is just to adjust each length appropriately.

<Improvement of exercise efficiency by the front urging member 60A and the rear urging member 60B>
In the flapping apparatus 1A in the present embodiment, as described above, the front urging member 60A serving as the first urging member and the rear urging member serving as the second urging member, which are elastic urging mechanisms, are applied to the slider 35. 60B is provided (see FIGS. 2 to 4). By configuring in this way, it is possible to obtain an effect that the exercise efficiency is further greatly improved. The details will be described below.

As shown in FIGS. 2 to 4, the front urging member 60 A is assembled to the front end portion of the slider 35 so that a part of the slider 35 protrudes from the slider 35. In the present embodiment, the front urging member 60A is constituted by a so-called contact probe, and is arranged between the barrel, the plunger inserted through the barrel, and the barrel between the barrel and the plunger. And a spring as a first elastic body.

The front urging member 60A is assembled to the flapping apparatus 1A by fixing the barrel to the slider 35 so that the axial direction thereof matches the X-axis direction, and the plunger is attached to the barrel along the X-axis direction. It is comprised so that it can move relatively. Here, based on the elastic force of the spring described above, when the plunger is pushed into the barrel (that is, when the plunger moves relative to the barrel in the X2 direction), it resists the movement of the plunger. As a result, a biasing force in the X1 direction is generated on the plunger.

On the other hand, a rear urging member 60 B is assembled to the rear end portion of the slider 35 so that a part thereof protrudes from the slider 35. In the present embodiment, the rear urging member 60B is also constituted by a so-called contact probe, and a barrel, a plunger inserted through the barrel, and the inside of the barrel between the barrel and the plunger. And a spring as a second elastic body arranged.

The rear urging member 60B is assembled to the flapping apparatus 1A by fixing the barrel to the slider 35 so that the axial direction thereof matches the X-axis direction, and the plunger moves along the X-axis direction. It is comprised so that it can move relatively with respect to. Here, based on the elastic force of the spring described above, when the plunger is pushed into the barrel (that is, when the plunger moves in the X1 direction relative to the barrel), it resists the movement of the plunger. As a result, a biasing force in the X2 direction is generated on the plunger.

In the present embodiment, the front urging member 60A and the rear urging member 60B are each composed of two contact probes, and the front urging member 60A, the rear urging member 60B, A total of four are arranged in the order of the rear urging member 60B and the front urging member 60A. By configuring in this way, the front urging member 60A and the rear urging member 60B can be arranged inside the rectangular frame-like support frame 13, and as a result, the front urging member 60A is supported by the support frame. The rear urging member 60 B can be disposed to face the rear frame portion of the support frame 13.

Thus, as shown in FIG. 10, when the slider 35 is in the vicinity of the rearmost part within the movable range (that is, in the vicinity of the second position), the plunger of the rear biasing member 60 B is placed on the rear frame part of the support frame 13. By abutting, the slider 35 generates an elastic biasing force toward the front side (that is, the second position side) in the X1 direction.

On the other hand, as shown in FIG. 12, when the slider 35 is in the vicinity of the foremost part (that is, in the vicinity of the first position) within the movable range, the plunger of the front urging member 60 A contacts the front frame part of the support frame 13. As a result, an elastic biasing force toward the rear side (that is, the first position side) is generated in the slider 35 in the X2 direction.

FIG. 16 is a schematic diagram showing the behavior of the front urging member 60A as the first urging unit of the flapping apparatus 1A. Hereinafter, with reference to FIG. 16, the behavior of the front urging member 60A as the first urging portion will be described in detail. In FIG. 16, for ease of understanding, the front biasing member 60A is represented as a simple spring, and the behavior of the front biasing member 60A is shown in time series in the order of (A) to (E). It shows.

As shown in FIG. 16A, in the state in which the slider 35 is moving forward in the direction approaching the front frame portion of the support frame 13 (that is, in the direction of the arrow DR51 in the figure), the moving direction of the slider 35 The first crank arm 33A extends so as to intersect with. Here, in a state where the front biasing member 60A has not yet reached the front frame portion of the support frame 13, the external force applied to the slider 35 is basically transmitted by the first crank arm 33A and the second crank arm 33B. This is only the power of the main rotary motor 20 to be performed.

As shown in FIG. 16B, the slider 35 moves forward in the direction approaching the front frame portion of the support frame 13 (that is, the direction of the arrow DR51 in the figure), and the front biasing member 60A moves to the front of the support frame 13. In the state of contacting the frame portion, the front biasing member 60 A is sandwiched between the front frame portion of the support frame 13 and the slider 35. Therefore, the elastic urging force by the front urging member 60 A starts to be applied to the slider 35 so as to resist the forward movement of the slider 35.

As shown in FIG. 16C, the slider 35 moves further forward in the direction approaching the front frame portion of the support frame 13 (that is, the arrow DR51 direction in the figure), and the slider 35 moves to the foremost portion (in the movable range). That is, in the state reached to the first position), the front urging member 60A is compressed to the maximum by the front frame portion of the support frame 13 and the slider 35, and the moving direction of the slider 35 and the first crank arm 33A are The extending direction will overlap.

Here, during the period from the state shown in FIG. 16B to the state shown in FIG. 16C, the elastic biasing force that is applied to the slider 35 by the front biasing member 60A described above is This acts as a braking force for the slider 35. Therefore, it is possible to cause the slider 35 to decelerate more rapidly by appropriately overlapping the period in which the brake force is applied to the above-described period in which the slider 35 is idling. Large inertia force can be applied by the right wing 40R and the left wing 40L.

Therefore, the front turn-back operation of each of the right wing 40R and the left wing 40L is more reliably performed, and the occurrence of a situation in which the front turn-back operation is incomplete can be more reliably avoided. As a result, the posture of the flapping apparatus 1A is stabilized and the exercise efficiency is dramatically improved. The timing at which the front biasing member 60A starts to contact the front frame portion of the support frame 13 is such that the smaller one of the angles formed by the first crank arm 33A and the X axis is about 20 °. It is preferable to set the timing.

As shown in FIG. 16D, the slider 35 is moved away from the front frame portion of the support frame 13 from the state where the slider 35 is disposed at the foremost portion (that is, the first position) within the movable range (that is, in the direction of the arrow DR52 in the figure). In a state in which movement toward the rear is started, the first crank arm 33 A extends again so as to intersect the moving direction of the slider 35.

At that time, since the slider 35 is still idle, in this state, the slider 35 is elastically urged rearward based on the restoring force of the front urging member 60A in the compressed state. It will be. Therefore, the slider 35 is pushed backward based on the elastic biasing force of the front biasing member 60 A, and the elastic biasing force of the front biasing member 60 A acts as an acceleration force of the slider 35.

As a result, the slider 35 is accelerated rapidly, and the moving speed of the right wing 40R and the left wing 40L is sufficiently increased at the beginning of the rear flapping operation of the right wing 40R and the left wing 40L. can do. Therefore, a greater levitation force can be obtained in the backward flapping operation, and the motion efficiency of the flapping device 1A can be further improved.

As shown in FIG. 16E, the slider 35 moves further rearward in the direction away from the front frame portion of the support frame 13 (that is, the direction of the arrow DR52 in the figure), and the front urging member 60A moves to the support frame 13. In a state away from the front frame portion, the elastic biasing of the front biasing member 60A against the slider 35 is released, and the external force applied to the slider 35 is basically generated by the first crank arm 33A and the second crank arm 33B. Only the power of the main rotary motor 20 to be transmitted is provided.

Here, during the period in which the slider 35 is idling, the period in which the elastic biasing force of the front biasing member 60A acts as the acceleration force of the slider 35 is appropriately superimposed on the slider 35 to be applied to the slider 35. The driving force can be smoothly switched from driving by the front urging member 60A to driving by the first crank arm 33A and the second crank arm 33B. The timing at which the front urging member 60A moves away from the front frame portion of the support frame 13 is a timing at which the smaller one of the angles formed by the first crank arm 33A and the X axis is about 20 °. It is preferable that

As described above, by installing the above-described front urging member 60A, it is possible to dramatically improve the exercise efficiency of the flapping apparatus 1A during the period before and after the right wing 40R and the left wing 40L perform the front turning operation. Therefore, it is possible to provide a flapping apparatus with excellent flight capability.

In addition, although the detailed description is abbreviate | omitted here, the behavior of the rear side urging member 60B also conforms to the behavior of the front side urging member 60A. Therefore, by installing the rear side urging member 60B, it is possible to dramatically improve the exercise efficiency of the flapping apparatus 1A in the period before and after the right wing 40R and the left wing 40L perform the backward turning operation. It is possible to provide a flapping apparatus with excellent flight capability.

In the present embodiment, the first urging portion and the second urging portion constituting the elastic urging mechanism have been described by exemplifying the case where contact probes are used, but these are not necessarily the contact probes. It is not necessary to constitute in this, and it is also possible to constitute this with other members. For example, only a spring may be used as the first urging unit and the second urging unit, or a leaf spring, a rubber member, or the like may be used.

In the present embodiment, the case where the first urging portion and the second urging portion constituting the elastic urging mechanism are assembled to the slider so as to protrude from the front end portion and the rear end portion of the slider, respectively, is exemplified. However, the assembly position is not limited to this, and it may be assembled to another part.

Furthermore, in the present embodiment, the case where the first urging portion and the second urging portion constituting the elastic urging mechanism are assembled to the slider has been described as an example. It is good also as assembling | attaching to members other than a support frame among the members which comprise a support frame or a housing to perform.

<Flight mode of flapping apparatus 1A>
FIG. 17 is a table showing the main flight modes of the flapping apparatus 1A, and FIGS. 18 to 27 show the

flight modes

1, 3, 5, 8, 11, 14, 17, respectively shown in FIG. 17 of the flapping apparatus 1A. 20 is a plan view showing the behavior of the right wing 40R and the left wing 40L at 20, 23 and 26. FIG. FIG. 28 is a table showing the flight mode followed by the flapping apparatus 1A, and FIGS. 29 to 31 respectively show the right wing 40R and the right wing 40R in the

flight modes

28, 29, and 32 shown in FIG. 28 of the flapping apparatus 1A. It is a top view which shows the behavior of the left side wing 40L. Hereinafter, with reference to FIG. 6 described above and FIGS. 17 to 32, the flight mode of the flapping apparatus 1A in the present embodiment will be described in detail.

As described above, in the flapping apparatus 1A, the right second motion conversion unit 30C1 is provided with the right roller 37R, and the right front elastic belt 36R1 and the right rear elastic belt 36R2 are wound around the right roller 37R and the left first The two-motion converting unit 30C2 is provided with a left roller 37L, and the left front elastic belt 36L1 and the left rear elastic belt 36L2 are wound around the left roller 37L. Further, as described above, in the flapping apparatus 1A, the right roller control mechanism 50A for adjusting the position of the right roller 37R and the size of the shaft shake, and the left roller control for adjusting the position of the left roller 37L and the size of the shaft shake. A flapping control mechanism 50 including the mechanism 50B is provided, and a flight mode control unit 80 for controlling the operation of the flapping control mechanism 50 is provided.

Accordingly, the flapping apparatus 1A can fly in various flight modes based on the control operation of the flight mode control unit 80. In the following, the typical flight modes will be described in order. explain. The flight modes shown below are only a part of the flight modes that can be realized based on the above configuration, and various flight modes can be realized by variously changing the control operation of the flight mode control unit 80. it can.

As shown in FIG. 17 and FIG. 28, in order to realize various flight modes, in the flapping apparatus 1A in the present embodiment, the positions of the right roller 37R and the left roller 37L, the size of the shaft shake, and the flapping. Each frequency is variably adjusted. Note that the magnitude of the shaft runout of the right roller 37R and the left roller 37L is determined by whether or not the right roller shaft 17R and the left roller shaft 17L are fixed and the degree of fixing, as will be described later.

The position of the right roller 37R is configured to be adjustable to three positions of “front position”, “center position”, and “rear position” in the X-axis direction. Here, the “center position” is a position in a state where the central axis of the right roller 37R is arranged on a plane including the second rotation shaft 102R of the right rotation body 38R and the second rotation shaft 102L of the left rotation body 38L. The “front position” and the “rear position” are positions in a state where the right roller 37R has moved a predetermined distance in the X1 direction and the X2 direction from the center position, respectively.

By variably adjusting the position of the right roller 37R to the above-mentioned “front position”, “center position”, and “rear position”, the swing center of the right wing 40R is “rear position” and “center position”, respectively. , It will be changed to “front position”. This is because the state of the right front elastic belt 36R1 and the right rear elastic belt 36R2 installed between the slider 35 and the right rotating body 38R is changed by changing the position of the right roller 37R. To do.

Here, when the position of the right roller 37R is in the “center position”, for example, referring to FIG. 6, the swing center CR of the right wing body 40R is the second rotation shaft 102R of the right rotator 38R and the left side. The rotating body 38L is disposed on a plane including the second rotating shaft 102L, and this position corresponds to the “center position” of the swing center of the right wing body 40R.

On the other hand, when the position of the right roller 37R is in the “front position”, for example, referring to FIG. 20, the swing center CR of the right wing 40R is centered on the second rotation shaft 102R of the right rotator 38R. As a position rotated clockwise by a predetermined angle (angle β0 shown in the figure), and this position corresponds to the “rear position” of the swing center of the right wing 40R.

When the position of the right roller 37R is in the “rear position”, for example, referring to FIG. 21, the swing center CR of the right wing body 40R is centered on the second rotation shaft 102R of the right rotator 38R. As a position rotated by a predetermined angle (angle β0 shown in the drawing), and this position corresponds to the “front position” of the swing center of the right wing 40R.

The position of the left roller 37L is configured to be adjustable to three positions of “front position”, “center position”, and “rear position” in the X-axis direction. Here, the “center position” is a position in a state where the central axis of the left roller 37L is arranged on a plane including the second rotation shaft 102R of the right rotation body 38R and the second rotation shaft 102L of the left rotation body 38L. The “front position” and the “rear position” are positions in a state where the left roller 37L has moved by a predetermined distance in the X1 direction and the X2 direction from the center position, respectively.

By variably adjusting the position of the left roller 37L to the above-mentioned “front position”, “center position”, and “rear position”, the swing center of the left wing 40L is “rear position” and “center position”, respectively. , It will be changed to “front position”. This is because the state of the left front elastic belt 36L1 and the left rear elastic belt 36L2 installed between the slider 35 and the left rotating body 38L changes by changing the position of the left roller 37L. To do.

Here, when the position of the left roller 37L is in the “center position”, for example, referring to FIG. 6, the swing center CL of the left wing body 40L is the second rotation shaft 102R of the right rotator 38R and the left side. The rotating body 38L is disposed on a plane including the second rotating shaft 102L, and this position corresponds to the “center position” of the swing center of the left wing body 40L.

On the other hand, when the position of the left roller 37L is in the “front position”, for example, referring to FIG. 20, the swing center CL of the left wing body 40L is centered on the second rotation shaft 102L of the left rotator 38L. As a position rotated by a predetermined angle (angle β0 shown in the drawing), and this position corresponds to the “rear position” of the swing center of the left wing 40L.

When the position of the left roller 37L is in the “rear position”, for example, referring to FIG. 21, the swing center CL of the left wing body 40L is centered on the second rotation shaft 102L of the left rotator 38L. As a position rotated clockwise by a predetermined angle (angle β0 shown in the figure), and this position corresponds to the “front position” of the swing center of the left wing 40L.

The flapping frequency of the right wing 40R and the left wing 40L can be adjusted to three states of “high”, “medium”, and “low” by adjusting the output of the main rotating motor 20. This is because when the output of the main rotary motor 20 is relatively high, the rotational speed of the disk 32c increases and the flapping frequency of the right wing 40R and the left wing 40L increases, while the main rotary motor 20 increases. This is because the rotational speed of the disk 32c decreases and the flapping frequency of the right wing 40R and the left wing 40L decreases.

By variably adjusting the flapping frequency of the right wing 40R and the left wing 40L to the above three states of “high”, “medium”, and “low”, it corresponds to the swing range of the right wing 40R. The swing angle is changed to “large”, “medium”, and “small”. This is mainly due to an increase or decrease in the inertial force that is generated in the slider 35 when the slider 35 moves as the rotation speed of the main rotary motor 20 increases or decreases.

Here, when the flapping frequency of the right wing 40R and the left wing 40L is “medium”, for example, referring to FIG. 6, it corresponds to the swing range of the right wing 40R and the left wing 40L. The swing angle is an angle α0 each having a predetermined size, and this state corresponds to “medium” of the swing angles of the right wing 40R and the left wing 40L.

On the other hand, when the flapping frequency of the right wing 40R and the left wing 40L is “high”, for example, referring to FIG. 18, the swing corresponding to the swing range of the right wing 40R and the left wing 40L. The moving angle is an angle α1, which has a predetermined size larger than the angle α0 described above, and this state corresponds to “large” of the swing angle of the right wing 40R and the left wing 40L.

Further, when the flapping frequency of the right wing 40R and the left wing 40L is “low”, for example, referring to FIG. 19, the swing corresponding to the swing range of the right wing 40R and the left wing 40L. The moving angle is an angle α2 having a predetermined size smaller than the angle α0 described above, and this state corresponds to “small” of the swing angle of the right wing 40R and the left wing 40L.

The amount of shaft runout of the right roller 37R is determined by whether or not the guide member 58a is fixed to the right roller shaft 17R that rotatably supports the right roller 37R, and the degree of fixing (that is, in what restraint state the right roller shaft 17R is in) It is configured to be adjustable in three states. That is, the state in which the right side roller shaft 17R is firmly fixed by the guide member 58a so that the right side roller 37R is not substantially shaken is the state in which the right side roller shaft 17R is fixed. A state in which the right roller shaft 17R is lightly fixed by the guide member 58a so that a considerable degree of shaft runout occurs in the right roller 37R is a state in which the right roller shaft 17R is fixed to “present (lightly fixed)”. The state in which the right roller shaft 17R is not fixed by the guide member 58a so that the right roller shaft 37R is extremely shaken is the state in which the right roller shaft 17R is fixed.

By swinging the right roller shaft 17R in the three states of “presence”, “presence (lightly fixed)”, and “non-existence”, the swing range of the right wing 40R is fixed. In addition to the above-mentioned “large”, “medium”, and “small”, the swing angle corresponding to is changed to “significantly small” and “minimal”. This is because the transmission rate of the power by the right front elastic belt 36R1 and the right rear elastic belt 36R2 installed between the slider 35 and the right rotating body 38R as the size of the shaft shake of the right roller 37R changes. Due to the change.

Here, when the right roller shaft 17R is fixed to “present”, for example, referring to FIG. 6, FIG. 18, and FIG. 19, the swing angle corresponding to the swing range of the right wing 40R is described above. And the swing angle of the right wing 40R is one of the above-mentioned “large”, “medium”, and “small”.

On the other hand, when the right roller shaft 17R is fixed to “present (lightly fixed)”, the right roller 37R has a considerable amount of shaft runout, and the right front elastic belt 36R1 and the right rear elastic belt. The transmission ratio of power by 36R2 is considerably reduced. Therefore, in this case, for example, referring to FIG. 29, the swing angle corresponding to the swing range of right wing 40R is an angle α3 considerably smaller than angle α2, and swing of right wing 40R is performed. The angle is “substantially small” as described above.

Further, when the right roller shaft 17R is fixed to “None”, the right roller 37R is extremely shaken, and the power transmission rate by the right front elastic belt 36R1 and the right rear elastic belt 36R2 is extremely high. To decrease. Therefore, in this case, for example, referring to FIG. 30, the swing angle corresponding to the swing range of right wing 40R is an angle α4 smaller than angle α3, and the swing angle of right wing 40R is The “minimum” described above.

The size of the shaft runout of the left roller 37L is determined by whether or not the guide roller 58b is fixed to the left roller shaft 17L that rotatably supports the left roller 37L and the degree of fixing (that is, in what constraint state the left roller shaft 17L is It is configured to be adjustable in three states. That is, the state where the left roller shaft 17L is firmly fixed by the guide member 58b so that the left roller 37L is not substantially shaken is the state where the left roller shaft 17L is fixed. The state in which the left roller shaft 17L is slightly fixed by the guide member 58b so that a considerable degree of shaft runout occurs in the left roller 37L is the state in which the left roller shaft 17L is fixed as “present (lightly fixed)”. The state where the left roller shaft 17L is not fixed by the guide member 58b so that the left roller 37L is extremely shaken is the state where the left roller shaft 17L is fixed.

The swinging range of the left wing 40L can be adjusted by variably adjusting the presence / absence and degree of fixation of the left roller shaft 17L to the above-mentioned three states of “present”, “present (lightly fixed)”, and “none”. In addition to the above-mentioned “large”, “medium”, and “small”, the swing angle corresponding to is changed to “significantly small” and “minimal”. This is because the transmission rate of the power by the left front elastic belt 36L1 and the left rear elastic belt 36L2 provided between the slider 35 and the left rotating body 38L is changed with the change of the shaft shake of the left roller 37L. Due to the change.

Here, when the left roller shaft 17L is fixed to “present”, for example, referring to FIG. 6, FIG. 18, and FIG. 19, the swing angle corresponding to the swing range of the left wing 40L is described above. One of the angles α0, α1, and α2 is set, and the swing angle of the left wing 40L is one of the above-described “large”, “medium”, and “small”.

On the other hand, when the left roller shaft 17L is fixed to “present (lightly fixed)”, the left roller 37L will have a considerable amount of shaft runout, and the left front elastic belt 36L1 and the left rear elastic belt The transmission ratio of power by 36L2 is considerably reduced. Therefore, in this case, the swing angle corresponding to the swing range of the right wing 40R is an angle α3 (equivalent to the swing angle of the right wing 40R in FIG. 29) that is considerably smaller than the angle α2. The swing angle of the left wing 40L is “significantly small” as described above.

Further, when the left roller shaft 17L is fixed to “None”, the left roller 37L is extremely shaken, and the power transmission ratio of the left front elastic belt 36L1 and the left rear elastic belt 36L2 is extremely high. To decrease. Therefore, in this case, the swing angle corresponding to the swing range of the left wing 40L is an angle α4 that is smaller than the angle α3 (equivalent to the swing angle of the right wing 40R in FIG. 30). The swing angle of the body 40L is the “minimum” described above.

<Flight modes 1 to 3>
Referring to FIG. 17, the position of right roller 37R is “center position”, the position of left roller 37L is “center position”, right roller shaft 17R is fixed “present”, and left roller shaft 17L is fixed. In the flight modes 1 to 3 in which “present” is set, the flapping apparatus 1A takes one of the flight modes of vertical ascending, hovering, and vertical descending.

First, taking flight mode 2 as a representative example of flight modes 1 to 3, as shown in FIGS. 17 and 6, in flight mode 2, the position of the swing center CR of the right wing 40R is “center”. The left wing body 40L is at the center position, and the flapping frequency of the right wing body 40R and the left wing body 40L is “medium”. The rocking angle of 40R is “medium” at an angle α0, and the rocking angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 2, the right wing 40R swings to generate a thrust toward the left (that is, in the Y2 direction), and the left wing 40L swings to the right. Thrust is generated toward (i.e., in the Y1 direction), but these cancel each other, so that the thrust does not work on the flapping apparatus 1A in any direction in the XY plane.

Further, in the flight mode 2, the lift generated on the right wing 40R and the left wing 40L is adjusted upward by adjusting the flapping frequency of the right wing 40R and the left wing 40L. The gravity applied to the flapping apparatus 1A is configured to balance each other.

Therefore, in the flight mode 2, the flapping apparatus 1A is stationary in the air without moving in any direction and hovering.

On the other hand, referring to FIG. 17 and FIG. 18, in flight mode 1, the flapping frequency of right wing 40R and left wing 40L is “high” as compared to flight mode 2 described above. Accordingly, the swing angle of the right wing 40R becomes “large” at an angle α1, and the swing angle of the left wing 40L becomes “large” at an angle α1.

In the flight mode 1, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, the lift generated upward on the right wing 40R and the left wing 40L is generated by the flapping apparatus. It becomes larger than the gravity applied to 1A.

Therefore, in the flight mode 2, the flapping apparatus 1A moves upward (that is, in the Z1 direction) and rises vertically.

Referring to FIGS. 17 and 19, in flight mode 3, when compared with flight mode 2 described above, the flapping frequency of right wing 40R and left wing 40L is “low”. Accordingly, the swing angle of the right wing 40R becomes “small” with an angle α2, and the swing angle of the left wing 40L becomes “small” with an angle α2.

In the flight mode 3, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, the lift generated upward on the right wing 40R and the left wing 40L is generated by the flapping apparatus. It becomes smaller than the gravity applied to 1A.

Therefore, in the flight mode 3, the flapping device 1A moves downward (that is, in the Z2 direction) and vertically descends.

<Flight modes 4 to 6>
Referring to FIG. 17, the position of the right roller 37R is “front position”, the position of the left roller 37L is “front position”, the right roller shaft 17R is fixed “present”, and the left roller shaft 17L is fixed. In the flight modes 4 to 6 with “present”, the flapping apparatus 1A takes one of the flight modes of ascending forward, horizontal forward, and descending forward.

First, taking flight mode 5 as a representative example of flight modes 4 to 6, as shown in FIGS. 17 and 20, in the flight mode 5, the position of the swing center CR of the right wing 40R is “rearward”. The left wing body 40L is at the “rear position”, and the flapping frequency of the right wing body 40R and the left wing body 40L is “medium”. The rocking angle of 40R is “medium” at an angle α0, and the rocking angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 5, the right wing 40R swings to generate a thrust toward the left front (that is, in the X1 direction and the Y2 direction), and the left wing 40L swings. Generates a thrust toward the right front (that is, in the X1 direction and the Y1 direction). As a result, the flapping device 1A is directed forward (that is, in the direction of the arrow DR101 shown in FIG. 20). Thrust will work.

Further, in the flight mode 5, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, lift generated upward on the right wing 40R and the left wing 40L; The gravity applied to the flapping apparatus 1A is configured to balance each other.

Therefore, in the flight mode 5, the flapping apparatus 1A moves forward (that is, in the X1 direction), and moves horizontally.

On the other hand, referring to FIG. 17, flight mode 4 differs only in that the flapping frequency of right wing 40R and left wing 40L is “high” as compared to flight mode 5 described above. Accordingly, the swing angle of the right wing 40R becomes “large” at an angle α1, and the swing angle of the left wing 40L becomes “large” at an angle α1.

In the flight mode 4, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, the lift generated upward on the right wing 40R and the left wing 40L is applied to the flapping apparatus. It becomes larger than the gravity applied to 1A.

Therefore, in the flight mode 4, the flapping apparatus 1A moves forward and upward (that is, in the X1 direction and the Z1 direction), and moves upward.

Referring to FIG. 17, flight mode 6 differs only in that the flapping frequency of right wing 40R and left wing 40L is “low” as compared to flight mode 5 described above. Accordingly, the swing angle of the right wing 40R becomes “small” at an angle α2, and the swing angle of the left wing 40L becomes “small” at an angle α2.

In the flight mode 6, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, the lift generated upward on the right wing 40R and the left wing 40L is generated by the flapping apparatus. It becomes smaller than the gravity applied to 1A.

Therefore, in the flight mode 6, the flapping device 1A moves forward and downward (that is, in the X1 direction and the Z2 direction), and moves downward.

<Flight modes 7 to 9>
Referring to FIG. 17, the position of right roller 37R is “rear position”, the position of left roller 37L is “rear position”, right roller shaft 17R is fixed “present”, and left roller shaft 17L is fixed. In the flight modes 7 to 9 with “present”, the flapping apparatus 1A takes one of the flight modes of ascending / retreating, horizontal retreating, and descending / retreating.

First, taking flight mode 8 as a representative example of flight modes 7 to 9, as shown in FIGS. 17 and 21, in the flight mode 8, the position of the swing center CR of the right wing 40R is “front”. The position of the swing center CL of the left wing 40L is “front position”, and the flapping frequency of the right wing 40R and the left wing 40L is “medium”. The rocking angle of 40R is “medium” at an angle α0, and the rocking angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 8, when the right wing 40R swings, thrust is generated toward the left rear (that is, in the X2 direction and the Y2 direction), and the left wing 40L swings. Generates a thrust toward the right rear (that is, in the X2 direction and the Y1 direction), and as a result, the flapping device 1A is directed rearward (that is, in the direction of the arrow DR102 shown in FIG. 21). Thrust will work.

Further, in the flight mode 8, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, lift generated upward on the right wing 40R and the left wing 40L; The gravity applied to the flapping apparatus 1A is configured to balance each other.

Therefore, in the flight mode 8, the flapping device 1A moves backward (that is, in the X2 direction), and retreats horizontally.

On the other hand, referring to FIG. 17, flight mode 7 is different only in that the flapping frequency of right wing 40R and left wing 40L is “high” as compared to flight mode 8 described above. Accordingly, the swing angle of the right wing 40R becomes “large” at an angle α1, and the swing angle of the left wing 40L becomes “large” at an angle α1.

In the flight mode 7, the lift generated upward in the right wing 40 R and the left wing 40 L is adjusted by adjusting the flapping frequency of each of the right wing 40 R and the left wing 40 L. It becomes larger than the gravity applied to 1A.

Therefore, in the flight mode 7, the flapping device 1A moves backward and upward (that is, in the X2 direction and the Z1 direction), and moves up and backwards.

Referring to FIG. 17, flight mode 9 differs only in that the flapping frequency of right wing 40R and left wing 40L is “low” as compared to flight mode 8 described above. Accordingly, the swing angle of the right wing 40R becomes “small” at an angle α2, and the swing angle of the left wing 40L becomes “small” at an angle α2.

In the flight mode 9, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, the lift generated upward on the right wing 40R and the left wing 40L is generated by the flapping apparatus. It becomes smaller than the gravity applied to 1A.

Therefore, in the flight mode 9, the flapping device 1A moves backward and downward (that is, in the X2 direction and the Z2 direction), and moves downward.

<Flight modes 10 to 12>
Referring to FIG. 17, the position of the right roller 37R is “front position”, the position of the left roller 37L is “center position”, the right roller shaft 17R is fixed “present”, and the left roller shaft 17L is fixed. In the flight modes 10 to 12 that are “present”, the flapping apparatus 1A takes one of the flight modes of ascending right diagonal advance, horizontal right diagonal advance, and descending right diagonal advance.

First, taking the flight mode 11 as a representative example of the flight mode 10 to 12, as shown in FIGS. 17 and 22, in the flight mode 11, the position of the swing center CR of the right wing 40R is “rearward”. The left wing body 40L is at the center position, and the flapping frequency of the right wing body 40R and the left wing body 40L is “medium”. The rocking angle of 40R is “medium” at an angle α0, and the rocking angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 11, when the right wing 40R swings, thrust is generated toward the left front (that is, in the X1 direction and the Y2 direction), and the left wing 40L swings. Generates a thrust toward the right (that is, in the Y1 direction). As a result, the flapping device 1A has a thrust toward the right front (that is, toward the arrow DR103 shown in FIG. 22). Will work.

Further, in the flight mode 11, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, lift force generated upward on the right wing 40R and the left wing 40L; The gravity applied to the flapping apparatus 1A is configured to balance each other.

Therefore, in the flight mode 11, the flapping device 1A moves toward the right front (that is, toward the X1 direction and the Y1 direction), and moves forward diagonally to the right.

On the other hand, referring to FIG. 17, flight mode 10 differs only in that the flapping frequency of right wing 40R and left wing 40L is “high” as compared to flight mode 11 described above. Accordingly, the swing angle of the right wing 40R becomes “large” at an angle α1, and the swing angle of the left wing 40L becomes “large” at an angle α1.

In the flight mode 10, the lift generated on the right wing 40 R and the left wing 40 L is adjusted by adjusting the flapping frequency of each of the right wing 40 R and the left wing 40 L. It becomes larger than the gravity applied to 1A.

Therefore, in the flight mode 10, the flapping device 1A moves to the right front and upward (that is, in the X1 direction, the Y1 direction, and the Z1 direction), and moves up diagonally to the right.

Referring to FIG. 17, flight mode 12 is different only in that the flapping frequency of right wing 40R and left wing 40L is “low” as compared to flight mode 11 described above. Accordingly, the swing angle of the right wing 40R becomes “small” at an angle α2, and the swing angle of the left wing 40L becomes “small” at an angle α2.

In the flight mode 12, the lift generated on the right wing 40 R and the left wing 40 L is adjusted by adjusting the flapping frequency of each of the right wing 40 R and the left wing 40 L. It becomes smaller than the gravity applied to 1A.

Therefore, in the flight mode 12, the flapping apparatus 1A moves forward right and downward (that is, in the X1, Y1, and Z2 directions), and moves downward diagonally to the right.

<Flight modes 13 to 15>
Referring to FIG. 17, the position of the right roller 37R is “center position”, the position of the left roller 37L is “front position”, the right roller shaft 17R is fixed “present”, and the left roller shaft 17L is fixed. In the flight modes 13 to 15 with “present”, the flapping apparatus 1A takes one of the flight modes of ascending left diagonal advance, horizontal left diagonal advance, and descending left diagonal advance.

First, taking the flight mode 14 as a representative example of the flight mode 13 to 15, as shown in FIGS. 17 and 23, in the flight mode 14, the position of the swing center CR of the right wing 40R is “center”. The left wing body 40L is at the “rear position”, and the flapping frequency of the right wing body 40R and the left wing body 40L is “medium”. The rocking angle of 40R is “medium” at an angle α0, and the rocking angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 14, a thrust is generated toward the left (that is, in the Y2 direction) when the right wing 40R swings, and a right front is generated when the left wing 40L swings. As a result, a thrust is generated in the flapping device 1A toward the left front (that is, in the direction of the arrow DR104 shown in FIG. 23). Will work.

Further, in the flight mode 14, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, lift generated upward on the right wing 40R and the left wing 40L; The gravity applied to the flapping apparatus 1A is configured to balance each other.

Therefore, in the flight mode 14, the flapping device 1A moves toward the left front (that is, toward the X1 direction and the Y2 direction), and moves forward diagonally to the left.

On the other hand, referring to FIG. 17, flight mode 13 is different only in that the flapping frequency of right wing 40R and left wing 40L is “high” as compared to flight mode 14 described above. Accordingly, the swing angle of the right wing 40R becomes “large” at an angle α1, and the swing angle of the left wing 40L becomes “large” at an angle α1.

In the flight mode 13, by adjusting the flapping frequency of each of the right roller 37R and the left roller 37L, the lift generated upward on the right flute 40R and the left flute 40L is applied to the flapping apparatus 1A. It becomes larger than the added gravity.

Therefore, in the flight mode 13, the flapping device 1A moves left frontward and upward (that is, in the X1 direction, the Y2 direction, and the Z1 direction), and moves up diagonally to the left.

Referring to FIG. 17, flight mode 15 is different only in that the flapping frequency of right wing 40R and left wing 40L is “low” as compared to flight mode 14 described above. Accordingly, the swing angle of the right wing 40R becomes “small” at an angle α2, and the swing angle of the left wing 40L becomes “small” at an angle α2.

In the flight mode 15, by adjusting the flapping frequency of the right wing 40R and the left wing 40L, the lift generated upward on the right wing 40R and the left wing 40L is applied to the flapping apparatus. It becomes smaller than the gravity applied to 1A.

Therefore, in the flight mode 15, the flapping device 1A moves left forward and downward (that is, in the X1 direction, the Y2 direction, and the Z2 direction), and moves downward diagonally to the left.

<Flight modes 16 to 18>
Referring to FIG. 17, the position of the right roller 37R is “rear position”, the position of the left roller 37L is “center position”, the right roller shaft 17R is fixed “present”, and the left roller shaft 17L is fixed. In the flight modes 16 to 18 with “present”, the flapping apparatus 1A takes one of the flight modes of ascending right diagonal retreat, horizontal right diagonal retreat, and descending right diagonal retreat.

First, as a representative example of the flight modes 16 to 18, when the flight mode 17 is taken up, as shown in FIGS. 17 and 24, in the flight mode 17, the position of the swing center CR of the right wing body 40R is “front”. The left wing body 40L is at the center position, and the flapping frequency of the right wing body 40R and the left wing body 40L is “medium”. The rocking angle of 40R is “medium” at an angle α0, and the rocking angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 17, the right wing 40R swings to generate a thrust toward the right rear (that is, in the X2 direction and the Y1 direction), and the left wing 40L swings. Generates a thrust toward the right (that is, in the Y1 direction). As a result, the flapping device 1A has a thrust toward the right rear (that is, toward the arrow DR105 shown in FIG. 24). Will work.

Further, in the flight mode 17, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, lift generated upward on the right wing 40R and the left wing 40L; The gravity applied to the flapping apparatus 1A is configured to balance each other.

Therefore, in the flight mode 17, the flapping apparatus 1A moves toward the right rear (that is, in the X2 direction and the Y1 direction), and moves backward in the horizontal right direction.

On the other hand, referring to FIG. 17, flight mode 16 is different only in that the flapping frequency of right wing 40R and left wing 40L is “high” as compared to flight mode 17 described above. Accordingly, the swing angle of the right wing 40R becomes “large” at an angle α1, and the swing angle of the left wing 40L becomes “large” at an angle α1.

In the flight mode 16, by adjusting the flapping frequency of each of the right roller 37R and the left roller 37L, the lift generated upward on the right flute 40R and the left flute 40L is applied to the flapping apparatus 1A. It becomes larger than the added gravity.

Therefore, in the flight mode 16, the flapping device 1 A moves to the right rear and upward (that is, in the X2 direction, the Y1 direction, and the Z1 direction), and ascends to the right.

Referring to FIG. 17, flight mode 18 differs only in that the flapping frequency of right wing 40R and left wing 40L is “low” as compared to flight mode 17 described above. Accordingly, the swing angle of the right wing 40R becomes “small” at an angle α2, and the swing angle of the left wing 40L becomes “small” at an angle α2.

In the flight mode 18, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, the lift generated upward on the right wing 40R and the left wing 40L is applied to the flapping apparatus. It becomes smaller than the gravity applied to 1A.

Therefore, in the flight mode 18, the flapping device 1A moves rearward rightward and downward (ie, in the X2, Y1, and Z2 directions), and descends diagonally to the right.

<Flight modes 19 to 21>
Referring to FIG. 17, the position of right roller 37R is “center position”, the position of left roller 37L is “rear position”, right roller shaft 17R is fixed “present”, and left roller shaft 17L is fixed. In the flight modes 19 to 21 that are “present”, the flapping apparatus 1A takes any one of the flight modes of ascending left diagonal receding, horizontal left diagonal receding, and descending left diagonal receding.

First, taking the flight mode 20 as a representative example of the flight modes 19 to 21, as shown in FIGS. 17 and 25, in the flight mode 20, the position of the swing center CR of the right wing 40R is “center”. The position of the swing center CL of the left wing 40L is “front position”, and the flapping frequency of the right wing 40R and the left wing 40L is “medium”. The rocking angle of 40R is “medium” at an angle α0, and the rocking angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 20, thrust is generated in the left direction (that is, in the Y2 direction) by swinging the right wing 40R, and the right rearward is performed by swinging the left wing 40L. As a result, a thrust is generated in the flapping device 1A toward the left rear (that is, in the direction of the arrow DR106 shown in FIG. 25). Will work.

Further, in the flight mode 20, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, lift generated upward on the right wing 40R and the left wing 40L; The gravity applied to the flapping apparatus 1A is configured to balance each other.

Therefore, in the flight mode 20, the flapping device 1A moves toward the left rear (that is, in the X2 direction and the Y2 direction), and moves backward in the horizontal left direction.

On the other hand, referring to FIG. 17, flight mode 19 differs only in that the flapping frequency of right wing 40R and left wing 40L is “high” as compared to flight mode 20 described above. Accordingly, the swing angle of the right wing 40R becomes “large” at an angle α1, and the swing angle of the left wing 40L becomes “large” at an angle α1.

In the flight mode 19, by adjusting the flapping frequency of each of the right roller 37R and the left roller 37L, the lift generated upward on the right flute 40R and the left flute 40L is applied to the flapping apparatus 1A. It becomes larger than the added gravity.

Therefore, in the flight mode 19, the flapping device 1A moves left rearward and upward (that is, in the X2, Y2, and Z1 directions), and ascends to the left diagonally.

Referring to FIG. 17, flight mode 21 is different only in that the flapping frequency of right wing 40R and left wing 40L is “low” as compared to flight mode 20 described above. Accordingly, the swing angle of the right wing 40R becomes “small” at an angle α2, and the swing angle of the left wing 40L becomes “small” at an angle α2.

In the flight mode 21, by adjusting the flapping frequency of the right wing 40R and the left wing 40L, the lift generated upward on the right wing 40R and the left wing 40L is applied to the flapping apparatus. It becomes smaller than the gravity applied to 1A.

Therefore, in the flight mode 21, the flapping device 1A moves left rearward and downward (that is, in the X2, Y2, and Z2 directions), and descends diagonally to the left.

<Flight modes 22 to 24>
Referring to FIG. 17, the position of the right roller 37R is “front position”, the position of the left roller 37L is “rear position”, the right roller shaft 17R is fixed “present”, and the left roller shaft 17L is fixed. In the flight modes 22 to 24 with “present”, the flapping apparatus 1A takes one of the flight modes of ascending right rotation, horizontal right rotation, and descending right rotation.

First, taking the flight mode 23 as a representative example of the flight modes 22 to 24, as shown in FIGS. 17 and 26, in the flight mode 23, the position of the swing center CR of the right wing 40R is “rearward”. The position of the swing center CL of the left wing 40L is “front position”, and the flapping frequency of the right wing 40R and the left wing 40L is “medium”. The rocking angle of 40R is “medium” at an angle α0, and the rocking angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 23, the right wing 40R swings to generate a thrust toward the left front (that is, in the X1 direction and the Y2 direction), and the left wing 40L swings. As a result, thrust is generated toward the right rear (that is, in the X2 direction and the Y1 direction), and as a result, the flapping apparatus 1A has a clockwise rotation direction (that is, in the direction of the arrow DR107 shown in FIG. 26). The thrust) will work.

Further, in the flight mode 23, the lift generated on the right wing 40R and the left wing 40L upward by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L; The gravity applied to the flapping apparatus 1A is configured to balance each other.

Therefore, in the flight mode 23, the flapping apparatus 1A rotates clockwise on the spot, and rotates horizontally right.

On the other hand, referring to FIG. 17, flight mode 22 is different only in that the flapping frequency of right wing 40R and left wing 40L is “high” as compared to flight mode 23 described above. Accordingly, the swing angle of the right wing 40R becomes “large” at an angle α1, and the swing angle of the left wing 40L becomes “large” at an angle α1.

In the flight mode 22, by adjusting the flapping frequency of each of the right roller 37R and the left roller 37L, the lift generated upward on the right flute 40R and the left flute 40L is applied to the flapping apparatus 1A. It becomes larger than the added gravity.

Therefore, in the flight mode 22, the flapping device 1 A moves upward while rotating clockwise (that is, in the Z 1 direction), and rotates to the right.

Referring to FIG. 17, flight mode 24 is different only in that the flapping frequency of right wing 40R and left wing 40L is “low” as compared to flight mode 23 described above. Accordingly, the swing angle of the right wing 40R becomes “small” at an angle α2, and the swing angle of the left wing 40L becomes “small” at an angle α2.

In the flight mode 24, the lift generated upward in the right wing 40 R and the left wing 40 L is adjusted by adjusting the flapping frequency of each of the right wing 40 R and the left wing 40 L. It becomes smaller than the gravity applied to 1A.

Therefore, in the flight mode 24, the flapping apparatus 1A moves downward (that is, in the Z2 direction) while rotating clockwise, and rotates downward to the right.

<Flight modes 25 to 27>
Referring to FIG. 17, the position of the right roller 37R is “rear position”, the position of the left roller 37L is “front position”, the right roller shaft 17R is fixed “present”, and the left roller shaft 17L is fixed. In the flight modes 25 to 27 with “present”, the flapping apparatus 1A takes one of the flight modes of ascending left rotation, horizontal left rotation, and descending left rotation.

First, taking the flight mode 26 as a representative example of the flight modes 25 to 27, as shown in FIGS. 17 and 27, in the flight mode 26, the position of the swing center CR of the right wing 40R is “front”. The left wing body 40L is at the “rear position”, and the flapping frequency of the right wing body 40R and the left wing body 40L is “medium”. The rocking angle of 40R is “medium” at an angle α0, and the rocking angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 26, the right wing 40R swings to generate a thrust toward the left rear (that is, in the X2 direction and the Y2 direction), and the left wing 40L swings. As a result, thrust is generated toward the right front (that is, in the X1 direction and the Y1 direction). ) Will work.

Further, in the flight mode 26, the lift generated on the right wing 40R and the left wing 40L upward by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L; The gravity applied to the flapping apparatus 1A is configured to balance each other.

Therefore, in the flight mode 26, the flapping device 1A rotates counterclockwise on the spot, and rotates horizontally to the left.

On the other hand, referring to FIG. 17, flight mode 25 is different only in that the flapping frequency of right wing 40R and left wing 40L is “high” as compared to flight mode 26 described above. Accordingly, the swing angle of the right wing 40R becomes “large” at an angle α1, and the swing angle of the left wing 40L becomes “large” at an angle α1.

In the flight mode 25, by adjusting the flapping frequency of each of the right roller 37R and the left roller 37L, lift force generated upward on the right flute 40R and the left flute 40L is applied to the flapping apparatus 1A. It becomes larger than the added gravity.

Therefore, in the flight mode 25, the flapping apparatus 1A moves upward (that is, in the Z1 direction) while rotating counterclockwise, and rotates counterclockwise.

Referring to FIG. 17, flight mode 27 is different only in that the flapping frequency of right wing 40R and left wing 40L is “low” as compared to flight mode 26 described above. Accordingly, the swing angle of the right wing 40R becomes “small” at an angle α2, and the swing angle of the left wing 40L becomes “small” at an angle α2.

In the flight mode 27, by adjusting the flapping frequency of each of the right wing 40R and the left wing 40L, the lift generated upward on the right wing 40R and the left wing 40L is applied to the flapping apparatus. It becomes smaller than the gravity applied to 1A.

Therefore, in the flight mode 27, the flapping device 1A moves downward (that is, in the Z2 direction) while rotating counterclockwise, and rotates downward to the left.

<Flight mode 28>
Referring to FIG. 28, the position of the right roller 37R is “center position”, the position of the left roller 37L is “center position”, and the right roller shaft 17R is fixed “present (lightly fixed)”. In the flight mode 28 in which the fixing of 17L is “present”, the flapping apparatus 1A takes a flight mode of moving toward the lower right while tilting to the right.

As shown in FIGS. 28 and 29, in the flight mode 28, the position of the swing center CR of the right wing 40R is in the “center position”, and the position of the swing center CL of the left wing 40L is “center”. Although the flapping frequency of the right wing 40R and the left wing 40L is “medium”, the fixing of the right roller shaft 17R is “present (lightly fixed)” as described above. The swing angle of the wing 40R is “significantly small”, which is an angle α3, and the swing angle of the left wing 40L is “medium”, which is an angle α0.

Therefore, in this flight mode 28, the thrust generated toward the left when the right wing 40R swings (that is, in the Y2 direction) is shifted to the right when the left wing 40L swings. As a result, thrust toward the right side (that is, in the Y1 direction) acts on the flapping apparatus 1A.

Further, in the flight mode 28, the lift generated upward on the right wing 40R and the left wing 40L is smaller than the gravity applied to the flapping apparatus 1A.

Therefore, in the flight mode 28, the flapping device 1A moves toward the lower right (ie, in the Y1 direction and the Z2 direction) while tilting to the right.

<Flight mode 29>
Referring to FIG. 28, the position of right roller 37R is “center position”, the position of left roller 37L is “center position”, right roller shaft 17R is fixed “none”, and left roller shaft 17L is fixed. In the flight mode 28 with “present”, the flapping apparatus 1 A takes a flight mode in which it vertically descends while tilting to the right.

As shown in FIGS. 28 and 30, in the flight mode 29, the position of the swing center CR of the right wing 40R is at the “center position”, and the position of the swing center CL of the left wing 40L is “center”. Although the flapping frequency of the right wing 40R and the left wing 40L is “medium”, the fixing of the right roller shaft 17R is “none” as described above. The swing angle is “minimum” at an angle α4, and the swing angle of the left wing 40L is “medium” at an angle α0.

Therefore, in this flight mode 29, the thrust generated toward the left when the right wing 40R swings (that is, in the Y2 direction) is shifted to the right when the left wing 40L swings. As a result, thrust toward the right side (that is, in the Y1 direction) acts on the flapping device 1A.

On the other hand, in the flight mode 29, the lift generated upward on the right wing 40R and the left wing 40L is extremely smaller than the gravity applied to the flapping apparatus 1A. As a result, the flapping apparatus 1A does not substantially have a sufficient levitation force.

Therefore, in the flight mode 29, gravity acts more dominantly on the flapping device 1A than the thrust acting toward the right as described above, and as a result, the flapping device 1A is tilted to the right. It descends vertically (that is, moves in the Z2 direction).

<Flight mode 30>
Referring to FIG. 28, the position of right roller 37R is “center position”, the position of left roller 37L is “center position”, right roller shaft 17R is fixed “present”, and left roller shaft 17L is fixed. In the flight mode 30 that is “present (lightly fixed)”, the flapping apparatus 1 A takes a flight mode that moves toward the lower left while tilting to the left.

As shown in FIG. 28, in the flight mode 30, the position of the swing center CR of the right wing 40R is at the “center position”, and the position of the swing center CL of the left wing 40L is at the “center position”. Further, although the flapping frequency of the right wing 40R and the left wing 40L is “medium”, the fixing of the left roller shaft 17L is “present (lightly fixed)” as described above, and therefore the right wing 40R. The swing angle of the left wing 40L is “medium”, and the swing angle of the left wing 40L is “significantly small”.

Therefore, in this flight mode 30, the thrust generated toward the right when the left wing 40L swings (that is, toward the Y1 direction) is moved to the left when the right wing 40R swings. As a result, thrust toward the left side (that is, in the Y2 direction) acts on the flapping apparatus 1A.

Further, in the flight mode 30, the lift generated upward on the right wing 40R and the left wing 40L is smaller than the gravity applied to the flapping device 1A.

Therefore, in the flight mode 30, the flapping apparatus 1A moves toward the lower left (that is, in the Y2 direction and the Z2 direction) while tilting to the left.

<Flight mode 31>
Referring to FIG. 28, the position of right roller 37R is “center position”, the position of left roller 37L is “center position”, right roller shaft 17R is fixed “present”, and left roller shaft 17L is fixed. In the flight mode 31 in which “nothing” is set, the flapping apparatus 1 A takes a flight mode in which it vertically descends while tilting to the left.

As shown in FIG. 28, in the flight mode 31, the position of the swing center CR of the right wing 40R is at the “center position”, and the position of the swing center CL of the left wing 40L is at the “center position”. In addition, although the flapping frequency of the right wing 40R and the left wing 40L is “medium”, the left roller shaft 17L is fixed to “none” as described above. Becomes “medium” at an angle α0, and the swing angle of the left wing 40L becomes “minimum” at an angle α4.

Therefore, in this flight mode 31, the thrust generated toward the right (ie, in the Y1 direction) when the left wing 40L swings is moved to the left when the right wing 40R swings. As a result, thrust toward the left side (that is, in the Y2 direction) acts on the flapping device 1A.

On the other hand, in the flight mode 31, the lift generated upward on the right wing 40R and the left wing 40L is extremely smaller than the gravity applied to the flapping apparatus 1A. As a result, the flapping apparatus 1A does not substantially have a sufficient levitation force.

Therefore, in the flight mode 31, gravity acts more dominantly on the flapping apparatus 1A than the thrust acting toward the left as described above, and as a result, the flapping apparatus 1A is tilted to the left. It descends vertically (that is, moves in the Z2 direction).

<Flight mode 32>
Referring to FIG. 28, the position of right roller 37R is “center position”, the position of left roller 37L is “center position”, right roller shaft 17R is fixed “none”, and left roller shaft 17L is fixed. In the flight mode 32 in which “nothing” is set, the flapping apparatus 1A takes a flight mode of gliding depending on conditions.

As shown in FIGS. 28 and 31, in the flight mode 31, the position of the swing center CR of the right wing 40R is at the “center position”, and the position of the swing center CL of the left wing 40L is “center”. Although the flapping frequency of the right wing 40R and the left wing 40L is “medium”, the fixing of the right roller shaft 17R and the left roller shaft 17L is “none” as described above. Therefore, the swing angle of the right wing 40R becomes “minimum” at an angle α4, and the swing angle of the left wing 40L becomes “minimum” at an angle α4.

Therefore, in this flight mode 32, the right wing 40R swings to generate a thrust toward the left (that is, in the Y2 direction), and the left wing 40L swings to the right. Thrust is generated toward (i.e., in the Y1 direction), but these cancel each other, so that the thrust does not work on the flapping apparatus 1A in any direction in the XY plane.

On the other hand, in the flight mode 32, the lift generated upward on the right wing 40R and the left wing 40L is extremely smaller than the gravity applied to the flapping apparatus 1A. As a result, the flapping apparatus 1A does not substantially have a sufficient levitation force.

Therefore, in the flight mode 32, gravity acts dominantly on the flapping apparatus 1A, but depending on the flight mode before the flight mode 32 is taken, it will glide depending on the conditions. .

<Summary of Flight Mode of Flapping Device 1A>
As described above, the flapping apparatus 1A according to the present embodiment performs various flight operations by variably adjusting the position, the size of the axial shake, and the flapping frequency of each of the right roller 37R and the left roller 37L. Aspect can be realized. Therefore, by using the flapping apparatus 1A, it is possible to obtain a flapping apparatus having excellent flight capability.

(Modification)
The flapping apparatus 1A ′ (see FIG. 32) according to this modification described below is different only in the configuration of the elastic biasing mechanism when compared with the flapping apparatus 1A described above. Specifically, the flapping device 1A ′ includes a front urging member 60A as a first urging member and a rear urging member 60B as a second urging member (FIG. 2) that the fluttering device 1A described above includes. (Refer to FIG. 4 etc.), and instead of this, the front frame portion of the support frame 13 is used as the first biasing portion, and the rear frame portion of the support frame 13 is used as the second biasing portion. By using it, an elastic urging mechanism is constituted by the support frame 13.

As described above, the support frame 13 has a rectangular frame shape, and is formed of, for example, a resin member. Therefore, the support frame 13 has flexibility, and can be appropriately bent and deformed when an external force is applied. Therefore, in the flapping apparatus 1A ′, by utilizing the flexibility of the support frame 13, the front frame portion of the support frame 13 as the first frame portion and the rear frame portion as the second frame portion are respectively used. The first urging unit and the second urging unit are configured.

FIG. 32 is a schematic diagram showing the behavior of the front frame portion of the support frame 13 as the first urging portion of the flapping apparatus 1A ′ according to the present modification. Hereinafter, the behavior of the front frame portion of the support frame 13 as the first urging portion will be described in detail with reference to FIG. In FIG. 32, the behavior of the front frame portion of the support frame 13 is shown in time series in the order of (A) to (E).

As shown in FIGS. 32A and 32B, in a state where the slider 35 is moving forward in the direction approaching the front frame portion of the support frame 13 (that is, in the direction of the arrow DR51 in the figure). The first crank arm 33 A extends so as to intersect the moving direction of the slider 35. Here, when the slider 35 has not yet reached the front frame portion of the support frame 13, the external force applied to the slider 35 is basically transmitted by the first crank arm 33A and the second crank arm 33B. Only the power of the rotary motor 20 is provided.

As shown in FIG. 32C, the slider 35 moves further forward in the direction approaching the front frame portion of the support frame 13 (that is, in the direction of arrow DR51 in the figure), and the slider 35 moves to the foremost portion (in the movable range). That is, the slider 35 contacts the front frame portion of the support frame 13 in the state of reaching the first position). Due to the contact of the slider 35, the front frame portion of the support frame 13 is bent and deformed.

Due to the bending deformation of the front frame portion of the support frame 13, an elastic urging force is applied to the slider 35 so as to resist the movement toward the front thereof. In the state where the slider 35 reaches the foremost portion (that is, the first position) within the movable range, the front frame portion of the support frame 13 is maximally bent and deformed, and the moving direction of the slider 35 and the first direction. The extending direction of the crank arm 33A overlaps.

Here, when the slider 35 comes into contact with the front frame portion of the support frame 13, a braking force acts on the slider 35. Therefore, it is possible to cause the slider 35 to decelerate more rapidly by appropriately overlapping the period in which the brake force is applied to the above-described period in which the slider 35 is idling. Large inertia force can be applied by the right wing 40R and the left wing 40L.

Therefore, the front turn-back operation of each of the right wing 40R and the left wing 40L is more reliably performed, and the occurrence of a situation in which the front turn-back operation is incomplete can be more reliably avoided. As a result, the posture of the flapping apparatus 1A ′ is stabilized and the exercise efficiency is dramatically improved. The timing at which the slider 35 starts to contact the front frame portion of the support frame 13 is such that the smaller one of the angles formed by the first crank arm 33A and the X axis is about 5 °. It is preferable to use timing.

As shown in FIG. 32D, the slider 35 is moved away from the front frame portion of the support frame 13 from the state where the slider 35 is disposed at the foremost portion (that is, the first position) within the movable range (that is, in the direction indicated by the arrow DR52). In a state in which movement toward the rear is started, the first crank arm 33 A extends again so as to intersect the moving direction of the slider 35.

At this time, since the slider 35 is still idle, in this state, the slider 35 is elastically biased rearward based on the restoring force of the front frame portion of the support frame 13 in the deformed state. Will be. Therefore, the slider 35 is pushed backward based on the elastic biasing force of the front frame portion of the support frame 13, and the elastic biasing force of the front frame portion of the support frame 13 acts as an acceleration force of the slider 35. .

As a result, the slider 35 is accelerated rapidly, and the moving speed of the right wing 40R and the left wing 40L is sufficiently increased at the beginning of the rear flapping operation of the right wing 40R and the left wing 40L. can do. Therefore, a greater levitation force can be obtained in the backward flapping operation, and the motion efficiency of the flapping device 1A 'can be further improved.

As shown in FIG. 32 (E), the slider 35 moves further rearward in the direction away from the front frame portion of the support frame 13 (that is, the arrow DR52 direction in the figure), and the slider 35 moves to the front frame portion of the support frame 13. In the state away from the elastic force of the front frame portion of the support frame 13 with respect to the slider 35 is released, the external force applied to the slider 35 is basically transmitted by the first crank arm 33A and the second crank arm 33B. It becomes only the motive power of the main rotary motor 20 to be performed.

Here, during the period in which the slider 35 is idling, the period in which the elastic biasing force of the front frame portion of the support frame 13 acts as the acceleration force of the slider 35 is appropriately superimposed on the slider 35 to be applied to the slider 35. The driving force to be applied can be smoothly switched from driving by the front frame portion of the support frame 13 to driving by the first crank arm 33A and the second crank arm 33B. Note that the timing at which the slider 35 moves away from the front frame portion of the support frame 13 is the timing at which the smaller one of the angles formed by the first crank arm 33A and the X axis is approximately 10 °. Is preferred.

As described above, by using the front frame portion of the support frame 13 as the first urging portion, the motion efficiency of the flapping device 1A ′ can be increased in the period before and after the right wing 40R and the left wing 40L perform the front turning operation. It can be improved dramatically, and a flapping apparatus with excellent flight capability can be obtained.

Although the detailed description is omitted here, the behavior of the rear frame portion of the support frame 13 as the second urging portion is also the behavior of the front frame portion of the support frame 13 as the first urging portion described above. It becomes the thing according to. Therefore, by using the rear frame portion of the support frame 13 as the second urging portion, the motion efficiency of the flapping device 1A ′ jumps in the period before and after the right wing 40R and the left wing 40L perform the backward turning operation. Therefore, it is possible to provide a flapping apparatus with excellent flight capability.

(Embodiment 2)
33 and 34 are plan views showing the relationship between the position of the right roller 37R and the behavior of the right wing body 40R of the flapping apparatus 1B in the second embodiment. Here, FIGS. 33 (A) to 33 (C) show changes in the behavior of the right wing 40R when the position of the right roller 37R is changed along the X-axis direction. FIG. 34B shows a change in behavior of the right wing 40R when the position of the right roller 37R is changed along the Y-axis direction. Hereinafter, flapping apparatus 1B according to the present embodiment will be described with reference to FIG. 33 and FIG.

The flapping device 1B differs in the movable range of the right roller 37R and the left roller 37L when compared with the flapping device 1A in the first embodiment described above. Specifically, in the flapping apparatus 1A in the first embodiment described above, the right roller 37R and the left roller 37L respectively move the second rotating shaft 102R of the right rotating body 38R and the second rotating shaft 102L of the left rotating body 38L. In the flapping apparatus 1B, the right roller 37R and the left roller 37L are configured to be individually movable in the X-axis direction and the Y-axis direction, respectively. It can be placed at any position on the plane.

When the position of the right roller 37R is changed along the X-axis direction while maintaining the position of the right roller 37R in the Y-axis direction, as shown in FIGS. The position of the swing center CR of the right wing 40R can be variously changed while generally maintaining the swing angle α corresponding to the swing range of 40R.

Specifically, the swing center CR of the right wing 40R is determined by the position of the right wing 40R in a state where the slider 35 is disposed at the center of the movable range. In other words, the swing center CR of the right wing 40R is the same as the center axis of the right roller 37R and the second rotation shaft 102R of the right rotator 38R in a state where the slider 35 is disposed at the center of the movable range. It is arranged on a plane that includes the plane and is parallel to the Z-axis direction.

On the other hand, the swing angle α of the right wing 40R is determined by the size of the movable range of the slider 35 if the position of the right roller 37R in the Y-axis direction is the same. Here, as the slider 35 and the right rotating body 38R are connected by the right front elastic belt 36R1 and the right rear elastic belt 36R2 having appropriate elasticity, the position of the right roller 37R along the X-axis direction is changed. Even if they are different, if the movable range of the slider 35 is the same, the swing angle α of the right wing 40R does not substantially change.

Therefore, as shown in FIG. 33A, when the right roller 37R is disposed on the YZ plane including the second rotation shaft 102R of the right rotating body 38R, the swing center CR of the right blade 40R is , It is arranged on the YZ plane.

On the other hand, as shown in FIG. 33 (B), the right roller 37R is disposed at a position separated by a distance D1 on the front side (ie, in the X1 direction) side from the YZ plane including the second rotation shaft 102R of the right rotating body 38R. In this case, the swing center CR of the right wing body 40R is clockwise by a predetermined angle (angle β1 shown in the figure) corresponding to the distance D1 clockwise around the second rotation shaft 102R of the right rotator 38R. It will be placed at the rotated position. Note that the swing angle α of the right wing 40R in that case is substantially the same as that in the case of FIG.

In addition, as shown in FIG. 33C, when the right roller 37R is disposed at a distance D2 behind (ie, in the X2 direction) the YZ plane including the second rotating shaft 102R of the right rotating body 38R. First, the swing center CR of the right wing 40R rotates counterclockwise about the second rotation shaft 102R of the right rotator 38R by a predetermined angle (angle β2 shown in the drawing) according to the distance D2. It will be arranged at the position. Note that the swing angle α of the right wing 40R in that case is substantially the same as that in the case of FIG.

Thus, by changing the position of the right roller 37R along the X-axis direction, the position of the swing center CR of the right wing 40R can be changed variously. Therefore, the X-axis of the right roller 37R can be changed. Various flapping modes can be realized by adjusting the position along the direction.

Although explanation thereof is omitted here, even when the position of the left roller 37L is changed along the X-axis direction, the position of the swing center CL of the left wing body 40L can be variously changed similarly. With this, various flapping modes can be realized.

As shown in FIGS. 34 (A) and 34 (B), by changing the position of the right roller 37R along the Y-axis direction while maintaining the position of the right roller 37R in the X-axis direction, the right wing 40R. The swing angle α corresponding to the swing range of the right wing 40R can be variously changed while maintaining the position of the swing center CR.

Specifically, as described above, the swing center CR of the right wing 40R is determined by the position of the right wing 40R in a state where the slider 35 is disposed at the center of the movable range, The swing angle α of the wing body 40R is determined by the position of the right roller 37R in the Y-axis direction if the size of the movable range of the slider 35 is the same.

This is because the angle between the right side surface 35R of the slider 35 and the right front elastic belt 36R1 and the right rear elastic belt 36R2 by changing the position of the right roller 37R in the Y-axis direction (angle θ shown in the figure). As a result, the ratio of the size of the rotation range of the right rotating body 38R to the size of the movable range of the slider 35 changes.

Therefore, as shown in FIGS. 34 (A) and 34 (B), when the position of the right roller 37R changes by a distance D3 along the Y-axis direction, the right wing body corresponds to the distance D3. The swing angle α of 40R changes. In this case, if there is no change in the position along the X-axis direction of the right roller 37R, the position of the swing center CR of the right wing body 40R is maintained.

In this way, by changing the position of the right roller 37R along the Y-axis direction, the swing angle α of the right wing 40R can be variously changed. Therefore, the right roller 37R can be changed in the Y-axis direction. Various flapping modes can be realized by adjusting the position along the line.

Although the explanation is omitted here, even when the position of the left roller 37L is changed along the Y-axis direction, the swing angle α of the left wing 40L can be changed variously in the same manner. Thereby, various flapping modes can be realized.

In particular, in the present embodiment, the right roller 37R and the left roller 37L are configured to be individually movable in the X-axis direction and the Y-axis direction, respectively, so that the right roller can be placed at an arbitrary position on the XY plane. 37R and left roller 37L can be arranged. For this reason, by configuring in this way, the positions of the swing centers CR and CL and the swing angle α of the right wing 40R and the left wing 40L can be changed in various ways. An aspect can be realized.

In the present embodiment, the right roller 37R and the left roller 37L are each configured to be movable to an arbitrary position in the Y-axis direction at an arbitrary position in the X-axis direction. The swing angle α of the right wing 40R and the left wing 40L can be variously changed without providing the shaft shake adjustment mechanism provided in the flapping apparatus 1A.

Further, in the present embodiment, the case where the right roller 37R and the left roller 37L are configured to be individually movable in the X-axis direction and the Y-axis direction, respectively, is illustrated, but it is not always necessary to configure as such. Instead, the right roller 37R and the left roller 37L may be configured to be movable only in either the X-axis direction or the Y-axis direction. Even in such a case, it is possible to realize flight modes that are considerably rich in variations.

Here, flapping apparatus 1B in the present embodiment has basically the same configuration as flapping apparatus 1A in the above-described first embodiment except for the configuration described above, and thus adopts these configurations. The effect obtained by this can also be obtained in the flapping apparatus 1B in the present embodiment.

(Embodiment 3)
FIG. 35 is a schematic perspective view of a main part of the flapping apparatus 1C according to the third embodiment, and FIG. 36 is a plan view showing a configuration of a roller position adjusting mechanism in the flapping apparatus 1C. Hereinafter, flapping apparatus 1C according to the present embodiment will be described with reference to FIG. 35 and FIG.

As shown in FIG. 35, the flapping device 1C has a common configuration in that it includes a right roller 37R and a left roller 37L as an engaged body when compared with the flapping device 1A in the first embodiment described above. However, the flapping control mechanism 50 including the right roller control mechanism 50A and the left roller control mechanism 50B is not provided. Instead, the roller including the right roller position adjustment mechanism 70A and the left roller position adjustment mechanism 70B is provided. The configuration is basically different in that the position adjusting mechanism 70 is provided.

Therefore, in the flapping device 1C, the flapping operation of the right wing 40R and the left wing 40L is not variably controlled by the positions of the right roller 37R and the left roller 37L and the size of the shaft shake, and the roller position adjustment is performed. By operating the mechanism 70, the positions of the right roller 37R and the left roller 37L are adjusted, so that the assembly position accuracy of the right blade 40R and the left blade 40L with respect to the housing can be adjusted with high accuracy. It is configured.

Specifically, as shown in FIGS. 35 and 36, the roller position adjusting mechanism 70 includes a right roller position adjusting mechanism 70A for adjusting the assembly position of the right wing 40R and an assembly of the left wing 40L. And a left roller position adjusting mechanism 70B for adjusting the position.

More specifically, the right roller position adjustment mechanism 70A includes a feed screw 71a and a guide member 72a. The feed screw 71a has a screw head at one end thereof, and is rotatably assembled to the upper frame 12 so as to bridge the front frame portion and the rear frame portion of the upper frame 12 of the housing 10. The guide member 72a includes a nut portion that meshes with the feed screw 71a, and is screwed to a portion of the feed screw 71a located between the front frame portion and the rear frame portion of the upper frame 12.

The guide member 72a has a groove portion extending in the Z-axis direction on the right side surface thereof, and the vicinity of the upper end of the right roller shaft 17R that rotatably supports the right roller 37R is inserted into the groove portion. Yes. Thereby, the vicinity of the upper end of the right roller shaft 17R is in a state of being sandwiched in the X-axis direction by the pair of wall portions that define the groove portion of the guide member 72a. The rotation of the guide member 72a is restricted by being sandwiched in the Y-axis direction by a part of the upper frame 12 and the right roller shaft 17R.

On the other hand, the left roller position adjusting mechanism 70B includes a feed screw 71b and a guide member 72b. The feed screw 71b has a screw head at one end thereof, and is rotatably assembled to the upper frame 12 so as to bridge the front frame portion and the rear frame portion of the upper frame 12 of the housing 10. The guide member 72b includes a nut portion that meshes with the feed screw 71b, and is screwed into a portion of the feed screw 71b located between the front frame portion and the rear frame portion of the upper frame 12.

The guide member 72b is formed with a groove portion extending in the Z-axis direction on the left side surface thereof, and the vicinity of the upper end of the left roller shaft 17L that rotatably supports the left roller 37L is inserted into the groove portion. Yes. Thereby, the vicinity of the upper end of the left roller shaft 17L is sandwiched in the X-axis direction by the pair of wall portions that define the groove portion of the guide member 72b. The guide member 72b is restricted in rotation by being sandwiched in the Y-axis direction by a part of the upper frame 12 and the left roller shaft 17L.

With this configuration, the guide member 72a moves relative to the feed screw 71a by rotating the feed screw 71a with a tool, and accompanying this, the arrow shown in FIG. The guide member 72a moves in the DR41 direction (that is, the X-axis direction). Therefore, the position of the right roller shaft 17R can be adjusted, and the position of the swing center CR of the right wing body 40R can be adjusted with high accuracy.

Similarly, by rotating the feed screw 71b with a tool, the guide member 72b moves relative to the feed screw 71b, and accordingly, in the direction of the arrow DR42 shown in FIG. The guide member 72b moves in the direction (X-axis direction). Therefore, the position of the left roller shaft 17L can be adjusted, and the position of the swing center CL of the left wing body 40L can be adjusted with high accuracy.

That is, the roller position adjusting mechanism 70 including the right roller position adjusting mechanism 70A and the left roller position adjusting mechanism 70B described above functions as an engaged body position adjusting mechanism that variably adjusts the positions of the right roller 37R and the left roller 37L. become.

Therefore, at the time of manufacturing, the positions of the right roller 37R and the left roller 37L are adjusted by using the roller position adjusting mechanism 70, so that the swing center CR of the right blade 40R and the swing center of the left blade 40L are adjusted. The position of CL can be adjusted individually and easily with high accuracy. Further, during maintenance, the positions of the right roller 37R and the left roller 37L are adjusted using the roller position adjusting mechanism 70, so that the swing center CR of the right blade 40R and the left blade 40L can be adjusted. The positional deviation of the swing center CL can be corrected individually and easily.

In addition, flapping apparatus 1C in the present embodiment has basically the same configuration as flapping apparatus 1A in the above-described first embodiment except for the configuration described above, and therefore adopts these configurations. The effect obtained by the above can also be obtained in the flapping apparatus 1C in the present embodiment.

In the first to third embodiments and the modifications described above, the power generated by a single power source is distributed by the power transmission mechanism, so that the wings provided on the starboard of the chassis and the port on the chassis The case where the provided wings 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 separately provided. You may comprise so that it may drive with the power source provided independently.

Further, in the above-described first to third embodiments and the modifications thereof, the case where one wing is provided on each of the starboard of the casing and the port of the casing has been described as an example. A plurality of wings may be provided on the left side of the casing.

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 disclosure, and the above-described first to third embodiments and The characteristic configurations disclosed in the modified examples can be combined with each other without departing from the spirit of the present disclosure.

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 priority based on Japanese Patent Application No. 2016-242948, which is a Japanese patent application filed on December 15, 2016. All the descriptions described in the Japanese patent application are incorporated herein by reference.

1A to 1C, 1A 'flapping apparatus, 10 housing, 11 lower frame, 12 upper frame, 13 support frame, 14 columnar frame, 15 stem, 16a, 16b slide guide, 17R right roller shaft, 17L left roller shaft, 18R right guide Shaft, 18L left guide shaft, 19R1 right upper arm, 19R2 right lower arm, 19L1 left upper arm, 19L2 left lower arm, 20 main rotating motor, 20a output shaft, 20b gear, 30 power transmission mechanism, 30A rotational motion transmission unit, 30B 1st motion conversion part, 30C1 Right side 2nd motion conversion part, 30C2 Left side 2nd motion conversion part, 31 1st transmission member, 31a 1st connection rod, 31b, 31c gear, 32 2nd transmission member, 32a 2nd connection B 32b gear, 32c disc, 33A first crank arm, 33B second crank arm, 33a1, 33a2, 33b1, 33b2 hole, 34a, 34b1, 34b2 crank pin, 35 slider, 35R right side, 35L left side, 36R1 Right front elastic belt, 36R2, right rear elastic belt, 36L1, left front elastic belt, 36L2, left rear elastic belt, 37R right roller, 37L left roller, 38R right rotating body, 38L left rotating body, 39R right mast, 39L left mast , 40R right wing, 40L left wing, 50 flapping control mechanism, 50A right roller control mechanism, 50B left roller control mechanism, 51a, 51b first stage, 52a, 52b first subrotary motor, 53a, 53b first feed Structure part, 54a, 54b connecting member, 55a, 55b second stage, 56a, 56b second auxiliary rotating motor, 57a, 57b second feed mechanism part, 58a, 58b guide member, 58a1, 58b1 guide part, 60A front side bias Member, 60B rear biasing member, 70 roller position adjusting mechanism, 70A right roller position adjusting mechanism, 70B left roller position adjusting mechanism, 71a, 71b feed screw, 72a, 72b guide member, 80 flight mode control unit, 81 1st Control unit, 82, second control unit, 101, first rotation axis, 102R, 102L, second rotation axis.

Claims

The body,
A power source assembled to the housing;
A power transmission mechanism for transmitting power generated by the power source;
A wing driven by the power transmission mechanism,
The power transmission mechanism is
A slider that is movably supported by the housing and that reciprocates linearly in a first direction in response to transmission of power from the power source;
A rotating body that is rotatably supported by the housing and that reciprocates in the rotation direction around a rotation axis that receives a transmission of power from the slider and extends in a second direction orthogonal to the first direction. Including
When the base end of the wing body is fixed to the rotating body, the rotating body reciprocates in the rotating direction, so that the tip of the wing body swings so as to move substantially along the first direction. ,
The housing includes a plurality of slide guides arranged in parallel with each other and penetrating the slider in the first direction so as to guide the slider along the first direction;
An outer dimension of the slider in a third direction orthogonal to both the first direction and the second direction is smaller than an outer dimension of the slider in the second direction;
The flapping apparatus in which the plurality of slide guides are arranged side by side along the second direction.
The housing further includes a rectangular frame-shaped support frame that supports the plurality of slide guides,
The flapping apparatus according to claim 1, wherein the support frame surrounds the slider and the plurality of slide guides in the first direction and the second direction.
The housing further includes a plurality of stems arranged in parallel to each other extending along the second direction, and a pair of base frames arranged at different positions in the second direction,
Each of the pair of base frames is supported by the plurality of stems,
The flapping apparatus according to claim 2, wherein the support frame is fixed to the pair of base frames in a state of being sandwiched by the pair of base frames in the second direction.
The power source includes an output shaft that outputs rotational motion;
The power transmission mechanism further includes a crank mechanism that converts a rotary motion generated in the output shaft into a reciprocating linear motion of the slider,
The crank mechanism is disposed adjacent to the slider in the second direction so as to straddle a part of the space surrounded by the support frame in the third direction. Or the flapping apparatus of 3.
The flapping apparatus according to claim 4, wherein the plurality of slide guides are unevenly distributed at positions near the end of the slider opposite to the end on the crank mechanism side.
The power transmission mechanism further includes an elastic belt partially fixed to the slider;
The non-fixed portion of the elastic belt with respect to the slider is wound or fixed on the rotating body, so that the rotating body reciprocates in the rotation direction when the slider reciprocates linearly. The flapping apparatus according to any one of the above.
The body,
A power source assembled to the housing;
A power transmission mechanism for transmitting power generated by the power source;
A first wing and a second wing driven by the power transmission mechanism;
The power transmission mechanism is
A slider that is movably supported by the housing and that reciprocates linearly in a first direction in response to transmission of power from the power source;
A first rotating body that is rotatably supported by the housing and that reciprocates in a rotational direction around a rotational axis that receives a transmission of power from the slider and extends in a second direction orthogonal to the first direction; A second rotating body,
The first rotating body and the second rotating body are arranged side by side so as to sandwich the slider in a third direction orthogonal to both the first direction and the second direction,
The base end of the first wing body is fixed to the first rotating body so that the tip of the first wing body is positioned on the side opposite to the side on which the second rotating body is positioned when viewed from the first rotating body.
The base end of the second wing body is fixed to the second rotating body so that the tip of the second wing body is located on the side opposite to the side where the first rotating body is positioned when viewed from the second rotating body.
The first wing and the second wing are moved substantially along the first direction synchronously as the first rotator and the second rotator reciprocate in the rotation direction. Rocks like
The housing includes a plurality of slide guides arranged in parallel with each other and penetrating the slider in the first direction so as to guide the slider along the first direction;
An outer dimension of the slider in the third direction is smaller than an outer dimension of the slider in the second direction;
The flapping apparatus in which the plurality of slide guides are arranged side by side along the second direction.