WO2019198393A1

WO2019198393A1 - Anti-vibration device for unmanned aircraft

Info

Publication number: WO2019198393A1
Application number: PCT/JP2019/009364
Authority: WO
Inventors: 俊介露木; 達希楠田
Original assignee: Nok株式会社
Priority date: 2018-04-13
Filing date: 2019-03-08
Publication date: 2019-10-17
Also published as: JP7153065B2; JPWO2019198393A1

Abstract

This anti-vibration device for an unmanned aircraft is configured by an anti-vibration rubber being interposed between the airframe body and legs of the unmanned aircraft which are connected to each other, the anti-vibration rubber being fixed to the airframe body and the legs by means of fixing members. As one example of the anti-vibration rubber, an anti-vibration mount having a rubber elastic body interposed between a plate provided on the airframe body and plates provided on legs may be used. As another example, an anti-vibration bushing having a cylindrical rubber elastic body interposed between an outer cylinder and an inner cylinder may be used. As yet another example, an anti-vibration grommet having an annular mounting groove provided in the outer peripheral surface of a cylindrical rubber elastic body may be used. The fixing members position the anti-vibration rubber in, for example, a direction which receives a vertical load component by shear deformation and a horizontal load component by compression/tensile deformation.

Description

Anti-vibration device for unmanned aircraft

The present invention relates to a vibration isolator for an unmanned aerial vehicle.

Recently, small unmanned aerial vehicles called so-called drones have been developed and used in the fields of pesticide spraying and aerial photography. Development of new applications such as inspection and surveying in the field of construction and civil engineering is also progressing, and related technologies such as aircraft control are improving daily. The market for unmanned aerial vehicles is expanding.

An unmanned aerial vehicle consists of a fuselage body and legs. The fuselage itself is equipped with equipment for flying and controlling unmanned aerial vehicles such as receivers, flight controllers, propellers, motors, and batteries. The fuselage body plays the role of the brain in unmanned aerial vehicles. In the fields of pesticide spraying and aerial photography, application equipment such as pumps and cameras are installed on the body. The legs are provided for the purpose of protecting the fuselage body during takeoff and landing of unmanned aerial vehicles.

JP 2017-193208 A

In unmanned aerial vehicles, there is a concern that during flight, vibrations may be transmitted from the legs to the fuselage body due to the influence of wind or the like, thereby affecting the operation of the application equipment. For example, it may occur that the video to be photographed is blurred or the agricultural chemical spraying area is shifted. One of the concerns is that the aircraft will fall due to the impact of landing and the aircraft will fall, causing damage to the propellers and equipment.

As a countermeasure against these concerns, it is conceivable to install metal coil springs and laminated dampers on the legs of unmanned aerial vehicles. However, installation of coil springs and laminated dampers leads to an extreme increase in the weight of the unmanned aircraft. If this type of measure is adopted, new inconveniences may arise, such as the need to review the balance of the aircraft weight.

An object of the present invention is to provide a vibration isolator for an unmanned aerial vehicle that can suppress vibration from being transmitted from a leg portion to an airframe body.

Another object of the present invention is to provide an anti-vibration device for an unmanned aerial vehicle that can alleviate the impact at the time of landing.

Still another object of the present invention is to provide a vibration isolator for an unmanned aerial vehicle that does not extremely increase the weight of the aircraft.

One aspect of the vibration isolator of the present invention includes a vibration isolating rubber interposed between a fuselage main body and legs of an unmanned aerial vehicle, and the anti-vibration rubber on the airframe main body side and the leg side. A fixing part for fixing.

According to one aspect of the present invention, it is possible to suppress vibration from being transmitted from the leg portion to the main body. According to one embodiment of the present invention, impact at the time of landing can be reduced. According to one embodiment of the present invention, it is possible to prevent the body weight from being extremely increased.

Explanatory drawing which looked at the vibration isolator which concerns on 1st Embodiment from the front direction. The principal part enlarged view of FIG. The partial exploded perspective view of the vibration isolator. (A) is explanatory drawing which shows the planar arrangement | positioning of the vibration isolator, (B) is explanatory drawing which shows the other example of planar arrangement | positioning of the vibration isolator. Explanatory drawing which shows the other example of plane arrangement | positioning of the vibration isolator. Explanatory drawing which shows the spring arrangement | positioning in the vibration isolator. (A) is a side view of the rubber elastic body with which the vibration isolator is equipped, (B) is a side view which shows the other example of a rubber elastic body. Explanatory drawing which looked at the vibration isolator which concerns on 2nd Embodiment from the front direction Sectional drawing of the vibration isolator. Explanatory drawing which shows the planar arrangement | positioning of the vibration isolator. Explanatory drawing which shows the other example of plane arrangement | positioning of the vibration isolator. The side view which shows the other example of the vibration isolating bush with which the vibration isolator is equipped. Explanatory drawing which looked at the vibration isolator which concerns on 3rd Embodiment from the front direction. Sectional drawing of the vibration isolator. The perspective view of the rubber elastic body with which the vibration isolator is equipped. Explanatory drawing which shows the planar arrangement | positioning of the vibration isolator. Explanatory drawing which shows the other example of plane arrangement | positioning of the vibration isolator.

[First Embodiment]
1st Embodiment is described based on FIG. 1 thru | or FIG. 7 (A) (B).

As shown in FIG. 1, the unmanned aerial vehicle 1 according to the present embodiment is a small unmanned aerial vehicle including a body body 11 and leg portions 21 connected to the body body 11. The airframe body 11 is equipped with equipment for flying and controlling an unmanned aerial vehicle such as a receiver, a flight controller, a propeller, a motor, and a battery. FIG. 1 shows a propeller 12 and a frame 13 of the fuselage main body 11. The legs 21 stably support the airframe body 11 in order to protect the airframe body 11 when the unmanned aircraft 1 takes off and landing. FIG. 1 shows the frame 23 and the grounding portion 24. The unmanned aerial vehicle 1 is also referred to as an unmanned multicopter or an unmanned rotorcraft, and is also referred to as a so-called drone.

The machine body 11 and the leg 21 are not directly connected but elastically connected to each other via a vibration isolating rubber 31 included in the vibration isolating apparatus 101. The anti-vibration rubber 31 is interposed between the fuselage body 11 and the legs 21 of the unmanned aerial vehicle 1 connected to each other. The vibration isolator 101 has a fixing member 111. The fixing member 111 fixes the anti-vibration rubber 31 to the body body 11 side and the leg portion 21 side.

As shown in FIG. 2, the anti-vibration rubber 31 has cylindrical rubber

elastic bodies

32, 33 interposed between a plurality of plates (mounting plates) 15, 16, 25 made of a rigid material (metal or hard resin). The anti-vibration mount 121 is configured. The anti-vibration mount 121 is relatively lightweight because the rubber

elastic bodies

32 and 33 are made of a rubber material.

The plurality of

plates

15, 16, 25 are a first plate 15 and a second plate 16 provided in parallel to each other on the lower surface of the frame 13 of the body body 11, and a third plate provided on the upper surface of the frame 23 of the leg portion 21. It is a combination with the plate 25. These

plates

15, 16, 25 are arranged in parallel along the vertical direction when the unmanned aerial vehicle 1 is in the landing posture. Accordingly, the two types of

plates

15, 16 and 25, which are the first plate 15 and the second plate 16 on the body body 11 side and the plate 25 on the leg portion 21 side, are perpendicular to the horizontal landing surface of the unmanned aircraft 1. Make.

Hereinafter, in this specification, the term “vertical” is used in the same meaning as vertical to the horizontal landing surface of the unmanned aerial vehicle 1, that is, vertical.

The third plate 25 on the leg 21 side is disposed between the first plate 15 and the second plate 16 on the machine body 11 side. The rubber

elastic bodies

32 and 33 are interposed between the first plate 15 and the third plate 25 and between the second plate 16 and the third plate 25, respectively. The rubber

elastic bodies

32 and 33 are disposed coaxially with the central axis O in the horizontal direction and are pre-compressed in the axial direction.

The vibration isolator 101 of this embodiment is provided with a mounting bolt 35 and a nut 36 as a fixing member 111 for fixing the vibration isolating rubber 31 to the body body 11 side and the leg 21 side. The

plates

15, 16, 25 and the rubber

elastic bodies

32, 33 are fixed by allowing the mounting bolt 35 to be inserted, screwing the nut 36 into the inserted mounting bolt 35, and tightening the nut 36.

As shown in FIG. 3, the cylindrical rubber

elastic bodies

32 and 33 are respectively provided with

shaft holes

32a and 33a through which the mounting bolts 35 are inserted. Each of the first plate 15 and the second plate 16 includes

shaft holes

15a and 16a through which the mounting bolts 35 are inserted. The third plate 25 is also provided with a shaft hole 25a through which the mounting bolt 35 is inserted. The shaft hole 25a of the third plate 25 is radially between the mounting bolt 35 so that the third plate 25 can be displaced relative to the first plate 15 and the second plate 16 in the horizontal and vertical directions. Set the gap. The mounting bolt 35 is fitted in the shaft hole 25a of the third plate 25 with play. The three

plates

15, 16, 25 and the two rubber

elastic bodies

32, 33 constitute a set of elastic body units 32A.

A plurality of elastic body units 32 </ b> A that are vibration-proof rubbers 31 are arranged on the plane of the unmanned aerial vehicle 1, and a plurality of sets are arranged along the periphery of the unmanned aircraft 1.

In the example shown in FIG. 4A, the

frames

13 and 23 have a rectangular plane, and four sets of elastic body units 32A are arranged along the four sides, and are arranged in directions parallel to the four sides. Yes. Each elastic body unit 32A is arranged at the center position in the longitudinal direction of each of the four sides.

As shown in FIG. 4B, each elastic body unit 32A may be arranged in the vicinity of one end in the longitudinal direction of each of the four sides depending on the weight balance of the machine body 11, the rotation direction of the propeller 12, and the like.

As shown in FIG. 5, when one or both of the

frames

13 and 23 have a circular shape, as an example, a plurality of sets (three sets in FIG. 5) of elastic body units 32 </ b> A have a circular shape. It arrange | positions at equal intervals toward the direction parallel to a tangent along a tangent.

According to the vibration isolator 101 of the unmanned aerial vehicle 1 having the above-described configuration, the vibration isolating / buffering action of the anti-vibration rubber 31 disposed between the airframe body 11 and the leg portion 21 is exhibited. The transmission of vibration from the leg portion 21 to the body body 11 can be suppressed. It is also possible to suppress the impact at the time of landing of the unmanned aircraft 1 from the leg portion 21 to the body body 11.

In the present embodiment, the anti-vibration rubber 31 is formed by an anti-vibration mount 121 including cylindrical rubber

elastic bodies

32 and 33. The anti-vibration rubber 31 having such a structure is lighter than a coil spring or a laminated damper, and suppresses an excessive increase in the weight of the unmanned aircraft 1.

As shown in FIG. 6, the rubber elasticity by anti-vibration rubber 31 is divided into a vertical component D ₁ and the horizontal component D _2. The vertical component D ₁ preferably has a relatively low spring characteristic in order to insulate vibration caused by the leg due to the influence of wind or the like during the flight of the unmanned aircraft 1. That for the horizontal component D _2, during landing of the unmanned aerial vehicle 1, in order to achieve both anti-tip and shock inputs relaxation to machine body 11 in the horizontal component or the like flying an inertial force, which is characteristic of relatively high spring preferable.

In this respect, the anti-vibration rubber 31 having the above configuration receives the load component in the vertical direction in the unmanned aerial vehicle 1 due to the shear deformation of the anti-vibration rubber 31 when the central axis O is arranged in the horizontal direction. 1 is arranged to receive the horizontal load component in 1 by compression / tensile deformation of the vibration-proof rubber 31. As a result, the load in the vertical direction is received with the characteristics of a relatively low spring due to the shear deformation of the vibration-proof rubber 31. The load in the horizontal direction is received with a relatively high spring characteristic due to the compression / tensile deformation of the vibration-proof rubber 31.

Accordingly, the vibration isolating rubber 31 receives the load in the vertical direction with a relatively low spring characteristic due to the shear deformation of the vibration isolating rubber 31, so that when the unmanned aerial vehicle 1 flies, the leg 21 is affected by wind and the like from the leg 21 to the body body 11. Insulates vibrations. On the other hand, the anti-vibration rubber 31 receives a load in the horizontal direction with a relatively high spring characteristic due to the compression / tensile deformation of the anti-vibration rubber 31. Mitigates and prevents the unmanned aircraft 1 from being overturned by the action of the horizontal component of the flight inertia force.

For the vertical component D _1, during landing of the unmanned aircraft 1, in order to ensure cushioning to reduce impact is input to the machine body 11, a relatively low spring characteristics the spring characteristics at the initial stage of load is applied It is preferable that With respect to this point, by adding a protrusion to the inner peripheral surface of the cylindrical rubber

elastic bodies

32 and 33 and receiving the initial load with this protrusion, it is possible to realize the characteristics of a low spring in the initial stage where the load is applied. Is possible.

As shown in FIG. 7A, the inner

peripheral surfaces

32c and 33c of the cylindrical rubber

elastic bodies

32 and 33 are generally cylindrical. In the present embodiment, as shown in FIG. 7B, protrusions 37 are added to the inner

peripheral surfaces

32c and 33c of the cylindrical rubber elastic body 32. More specifically, a plurality of circular arc-shaped projections 37 (eight in FIG. 7B) projecting radially inward from the inner

peripheral surfaces

32c and 33c of the cylindrical rubber elastic body 32 are equally spaced. Are arranged in The anti-vibration rubber 31 also has a low spring characteristic at the initial stage where a load is applied, even with the structure having the protrusion 37.

The anti-vibration device 101 having the above-described configuration combines the

plates

15 and 16 on the body body 11 side and the plate 25 on the leg 21 side via bolts 35 and nuts 36. Such a coupling structure constitutes a fail-safe mechanism 131. The fail-safe mechanism 131 maintains the connection between the main body 11 and the leg 21 even if the vibration isolating rubber 32 is broken, and prevents the leg 21 from falling off the main body 11.

[Second Embodiment]
A second embodiment will be described with reference to FIGS. The same parts as those of the first embodiment are appropriately denoted by the same reference numerals, and the description thereof is also omitted.

As shown in FIG. 8, the unmanned aerial vehicle 1 according to the present embodiment is a small unmanned aerial vehicle including a body body 11 and leg portions 21 connected to the body body 11. The airframe body 11 is equipped with equipment for flying and controlling an unmanned aerial vehicle such as a receiver, a flight controller, a propeller, a motor, and a battery. FIG. 1 shows a propeller 12 and a frame 13 of the fuselage main body 11. The legs 21 stably support the airframe body 11 in order to protect the airframe body 11 when the unmanned aircraft 1 takes off and landing. FIG. 1 shows the frame 23 and the grounding portion 24. The unmanned aerial vehicle 1 is also referred to as an unmanned multicopter or an unmanned rotorcraft, and is also referred to as a so-called drone.

As shown in FIG. 9, the anti-vibration rubber 31 includes an anti-vibration bush in which a cylindrical rubber elastic body 44 is interposed between an outer cylinder 42 and an inner cylinder 43 made of a rigid material (metal or hard resin). 41 is constituted. The rubber elastic body 44 is bonded (vulcanized) to the inner peripheral surface of the outer cylinder 42 and the outer peripheral surface of the inner cylinder 43. The anti-vibration bush 41 is relatively lightweight because the cylindrical rubber elastic body 44 is made of a rubber material.

The anti-vibration bush 41 is interposed between the airframe body 11 and the leg portion 21 with the central axis O directed in the vertical direction.

The anti-vibration bush 41 is fixed to the frame 13 by fitting the outer cylinder 42 into the mounting hole 17 provided in the frame 13 of the main body 11. The outer cylinder 42 constitutes a fixing member 111. The anti-vibration bush 41 can be fixed to the frame 13 by a technique such as press fitting of the outer cylinder 42 into the mounting hole 17 or welding. The anti-vibration bush 41 has the inner cylinder 43 bolted to the frame 23 of the leg portion 21 using a combination of a bolt 45 and a nut 46. The bolt 45 and the nut 46 constitute a fixing member 111. With such a structure, the anti-vibration bush 41 is fixed to each of the main body 11 and the legs 21.

A plurality of anti-vibration bushes 41 that are anti-vibration rubbers 31 are arranged on the plane of the unmanned aerial vehicle 1 and are arranged along the periphery of the unmanned aerial vehicle 1.

In the example shown in FIG. 10, the

frames

13 and 23 have a rectangular planar shape, and four sets of anti-vibration bushes 41 are arranged at each of the four corners. In one example shown in FIG. 11, one or both of the

frames

13 and 23 have a circular planar shape, and a plurality of sets (three sets in FIG. 11) of anti-vibration bushes 41 are arranged at equal intervals on the circumference. ing.

According to the vibration isolator 101 provided in the unmanned aerial vehicle 1 having the above-described configuration, the rubber elastic body 44 having a rubber elastic body 44 included in the vibration isolating bush 41 disposed between the airframe main body 11 and the leg portion 21 is provided with a rubber material. Since the vibration / buffer action is exhibited, the transmission of vibration from the leg portion 21 to the body body 11 can be suppressed. It is also possible to suppress the impact at the time of landing of the unmanned aircraft 1 from the leg portion 21 to the body body 11.

Since the anti-vibration bush 41 has a cylindrical shape, it is possible to receive inputs with the same rigidity for all inputs in the horizontal direction. Since the anti-vibration bush 41 has high radial elasticity, it is advantageous for mitigating horizontal impacts. Therefore, when the unmanned aerial vehicle 1 is landed, the attitude of the unmanned aerial vehicle 1 is easily stabilized, and it is possible to avoid breakage of each part due to a fall.

The anti-vibration rubber 31 of the present embodiment is formed by an anti-vibration bush 41 that combines an outer cylinder 42 and an inner cylinder 43 and a cylindrical rubber elastic body 44. The anti-vibration bush 41 having such a structure is lighter than a coil spring or a laminated damper, and suppresses an excessive increase in the weight of the unmanned aircraft 1.

The anti-vibration rubber 31 of the present embodiment receives a load in the vertical direction with a relatively low spring characteristic due to shear deformation of the rubber elastic body 44. For this reason, during the flight of the unmanned aerial vehicle 1, vibration from the leg portion 21 to the body body 11 due to the influence of wind or the like is easily insulated. On the other hand, the anti-vibration rubber 31 receives a load in the horizontal direction with a relatively high spring characteristic due to compression / tensile deformation of the rubber elastic body 44. For this reason, when the unmanned aerial vehicle 1 is landed, the impact input to the fuselage main body 11 is mitigated, and the unmanned aircraft 1 is prevented from falling due to the action of the horizontal component of the flight inertia force.

FIG. 12 shows a modification of the second embodiment. In this example, a flange-like engagement portion 47 is provided at the upper end portion of the inner cylinder 43, and its outer diameter is set larger than the inner diameter of the outer cylinder 42. This structure constitutes a fail-safe mechanism 132. When the rubber elastic body 44 is broken, the fail-safe mechanism 132 engages the flange-shaped engaging portion 47 with the outer cylinder 42 and stops the fall of the leg portion 21 from the body body 11. The fail-safe mechanism 132 exhibits a fail-safe function that maintains the connection between the main body 11 and the leg portion 21 and prevents the leg portion 21 from falling off the main body 11.

As another modification of the second embodiment, the vibration isolating bush 41, which is the vibration isolating rubber 31, may be arranged in a state rotated by 90 degrees. As described above, in the second embodiment, the anti-vibration bush 41 is interposed between the body body 11 and the leg portion 21 with the central axis O directed in the vertical direction. On the other hand, as in the first embodiment, the center axis O of the anti-vibration bush 41 may be interposed between the body body 11 and the leg portion 21 in the horizontal direction.

[Third Embodiment]
A third embodiment will be described with reference to FIGS. The same parts as those in the first and second embodiments are appropriately denoted by the same reference numerals, and description thereof is also omitted.

As shown in FIG. 13, the unmanned aerial vehicle 1 according to the present embodiment is a small unmanned aerial vehicle including a body body 11 and leg portions 21 connected to the body body 11. The airframe body 11 is equipped with equipment for flying and controlling an unmanned aerial vehicle such as a receiver, a flight controller, a propeller, a motor, and a battery. FIG. 1 shows a propeller 12 and a frame 13 of the fuselage main body 11. The legs 21 stably support the airframe body 11 in order to protect the airframe body 11 when the unmanned aircraft 1 takes off and landing. FIG. 1 shows the frame 23 and the grounding portion 24. The unmanned aerial vehicle 1 is also referred to as an unmanned multicopter or an unmanned rotorcraft, and is also referred to as a so-called drone.

14 and 15, the anti-vibration rubber 31 constitutes an anti-vibration grommet 51 in which an annular mounting groove 53 is provided on the outer peripheral surface of a cylindrical rubber elastic body 52. The grommet 51 is assembled between the body body 11 and the leg portion 21 together with the collar 54 and the washer 55. The collar 54 is disposed at the lower end of the rubber elastic body 52 and is inserted into the inner periphery. The washer 55 is disposed at the upper end of the rubber elastic body 52. The washer 55 is pressed against the collar 54 inserted into the inner periphery of the rubber elastic body 52.

The anti-vibration grommet 51 is fixed to the main body 11 and the leg 21 with the central axis O directed in the vertical direction, and is interposed between the main body 11 and the leg 21.

The fixing member 111 for fixing the vibration isolating grommet 51 to the main body 11 is the mounting groove 53. The anti-vibration grommet 51 engages an opening peripheral portion 17 a of the mounting hole 17 provided in the frame 13 of the machine body 11 with an annular mounting groove 53 provided on the outer peripheral surface of the rubber elastic body 52. This engagement fixes the main body 11 and the vibration isolating grommet 51.

The fixing member 111 that fixes the vibration isolating grommet 51 to the leg portion 21 is a bolt 56. The anti-vibration grommet 51 fastens the collar 54 and the washer 55 together with the anti-vibration bush 41 to the frame 23 of the leg portion 21 with bolts 56.

A plurality of anti-vibration grommets 51 that are anti-vibration rubbers 31 are arranged on the plane of the unmanned aerial vehicle 1 and are arranged along the periphery of the unmanned aerial vehicle 1.

In the example shown in FIG. 16, the

frames

13 and 23 have a rectangular planar shape, and four sets of anti-vibration grommets 51 are arranged at each of the four corners. In one example shown in FIG. 17, one or both of the

frames

13 and 23 have a circular planar shape, and a plurality of sets (three sets in FIG. 17) of anti-vibration grommets 51 are arranged at equal intervals on the circumference. ing.

According to the vibration isolator 101 provided in the unmanned aerial vehicle 1 having the above-described configuration, the rubber elastic body 52 of the rubber elastic body 52 included in the vibration isolating grommet 51 disposed between the airframe main body 11 and the leg portion 21 is prevented by the rubber material. Since the vibration / buffer action is exhibited, the transmission of vibration from the leg portion 21 to the body body 11 can be suppressed. It is also possible to suppress the impact at the time of landing of the unmanned aircraft 1 from the leg portion 21 to the body body 11.

Since the anti-vibration grommet 51 has a cylindrical shape, it is possible to receive inputs with the same rigidity for all inputs in the horizontal direction. Since the vibration-proof grommet 51 has high radial elasticity, it is advantageous for mitigating horizontal impact. Therefore, when the unmanned aerial vehicle 1 is landed, the attitude of the unmanned aerial vehicle 1 is easily stabilized, and it is possible to avoid breakage of each part due to a fall.

The anti-vibration rubber 31 of the present embodiment is formed by an anti-vibration grommet 51 in which an annular mounting groove 53 is provided on the outer peripheral surface of a cylindrical rubber elastic body 52. The anti-vibration grommet 51 having such a structure is lighter than a coil spring or a laminated damper, and suppresses an excessive increase in the weight of the unmanned aircraft 1.

The anti-vibration rubber 31 according to the present embodiment receives a load in the vertical direction with a relatively low spring characteristic due to shear deformation of the rubber elastic body 52. For this reason, during the flight of the unmanned aerial vehicle 1, vibration from the leg portion 21 to the body body 11 due to the influence of wind or the like is easily insulated. On the other hand, the anti-vibration rubber 31 receives the load in the horizontal direction with a relatively high spring characteristic due to the compression / tensile deformation of the rubber elastic body 52. For this reason, when the unmanned aerial vehicle 1 is landed, the impact input to the fuselage main body 11 is mitigated, and the unmanned aircraft 1 is prevented from falling due to the action of the horizontal component of the flight inertia force.

As shown in FIG. 14, in the vibration isolator 101 of the present embodiment, the outer diameter of the washer 55 of the vibration isolating grommet 51 is the inner diameter of the mounting groove 53, that is, the mounting hole 17 provided in the frame 13 of the body body 11. It is set larger than the inner diameter. This dimension setting constitutes a fail-safe mechanism 133. When the rubber elastic body 52 is broken, the fail-safe mechanism 133 engages the opening peripheral edge portion 17a of the mounting hole 17 with the washer 55, and stops the fall of the leg portion 21 from the body body 11. The fail-safe mechanism 133 maintains a connection between the body body 11 and the leg portion 21 and exhibits a fail-safe function that prevents the leg portion 21 from falling off the body body 11.

As a modification of the third embodiment, the anti-vibration grommet 51 that is the anti-vibration rubber 31 may be arranged in a state rotated by 90 degrees. As described above, in the third embodiment, the anti-vibration grommet 51 is interposed between the body body 11 and the leg portion 21 with the central axis O directed in the vertical direction. On the other hand, similarly to the first embodiment, the vibration isolation grommet 51 may be interposed between the main body 11 and the leg portion 21 with the central axis O of the antivibration grommet 51 oriented in the horizontal direction.

DESCRIPTION OF SYMBOLS 1 Unmanned aerial vehicle 11 Airframe body 12

Propeller

13, 23

Frame

15, 16, 25

Plate

15a, 16a, 25a Shaft hole 17 Mounting hole 17a Opening peripheral part 21 Leg part 24 Grounding part 31

Anti-vibration rubber

32, 33, 44, 52 Rubber Elastic body 32A

Elastic body unit

32a,

33a Shaft hole

32c, 33c Inner

peripheral surface

35, 45, 56 Mounting bolt (fixing member)
36, 46 Nut (fixing member)
37 Projection 41 Anti-vibration bush 42 Outer cylinder 43 Inner cylinder 47 Engagement part 51 Anti-vibration grommet 53 Mounting groove 54 Collar 55 Washer 101 Anti-vibration device 111 Fixing member 121

Anti-vibration mount

131, 132, 133 Fail-safe mechanism O Center Axis D ₁ Vertical component D ₂ Horizontal component

Claims

Anti-vibration rubber interposed between the fuselage body and legs of the unmanned aerial vehicle connected to each other;
A fixing member for fixing the anti-vibration rubber to the main body side and the leg side;
Anti-vibration device for unmanned aerial vehicles.
The fixing member receives the load component in the vertical direction by shear deformation and arranges the anti-vibration rubber in a direction to receive the load component in the horizontal direction by compression / tensile deformation.
The vibration isolator for an unmanned aerial vehicle according to claim 1.
The anti-vibration rubber is an anti-vibration mount in which a rubber elastic body is interposed between a plate provided on the main body and a plate provided on the leg,
The fixing member integrally fixes the two types of plates and the rubber elastic body.
The vibration isolator for an unmanned aerial vehicle according to claim 2.
The anti-vibration mount has the two types of plates arranged in parallel in the vertical direction.
A vibration isolator for an unmanned aerial vehicle according to claim 3.
The fixing member forms a fail-safe mechanism for fastening a mounting bolt that penetrates the two types of plates and the cylindrical rubber elastic body positioned between these plates with a nut.
A vibration isolator for an unmanned aerial vehicle according to claim 3.
The rubber elastic body has a protrusion on its inner peripheral surface that contacts the outer peripheral surface of the mounting bolt.
The vibration isolator for an unmanned aerial vehicle according to claim 5.
The anti-vibration rubber is an anti-vibration bush in which a cylindrical rubber elastic body is interposed between the outer cylinder and the inner cylinder.
The fixing member fixes two types of cylinders including the outer cylinder and the inner cylinder to the main body and the leg, respectively.
The vibration isolator for an unmanned aerial vehicle according to claim 1.
The anti-vibration bushing is arranged with the axial direction of the two types of cylinders oriented vertically.
The vibration isolator for an unmanned aerial vehicle according to claim 7.
The anti-vibration rubber has a fail-safe mechanism for preventing the two types of cylinders from coming off,
The vibration isolator for an unmanned aerial vehicle according to claim 7.
The anti-vibration rubber is an anti-vibration grommet provided with an annular mounting groove on the outer peripheral surface of a cylindrical rubber elastic body,
The fixing member fixes the anti-vibration rubber to the body main body side and the leg side by means of a mounting bolt and the mounting groove penetrating the rubber elastic body.
The vibration isolator for an unmanned aerial vehicle according to claim 1.
The anti-vibration grommet is arranged with the axial direction penetrating the mounting bolt oriented in the vertical direction.
The vibration isolator for an unmanned aerial vehicle according to claim 10.
The anti-vibration rubber has a fail-safe mechanism that prevents any one member of the machine body and the leg fitted in the mounting groove from the anti-vibration grommet.
The vibration isolator for an unmanned aerial vehicle according to claim 10.