Vibration isolation structure

Abstract

The present disclosure is related to a vibration isolation structure that makes it possible to improve a vibration isolation capability with higher certainty. This vibration isolation structure is provided with a gimbal on which a camera is mountable, and a fixation member which is fixed to and attached to a vibration body and is connected to the gimbal via at least three dampers. The dampers are disposed in such a manner that virtual extension lines of central axes of at least two of the dampers overlap with or are in proximity to the center of gravity of the gimbal in a camera-mounted state. The present disclosure is applicable, for example, to gimbals to be attached to a drone.

Description

Anti-vibration structure

[0001] The present disclosure relates to a vibration-isolating structure, and more particularly to a vibration-isolating structure that more reliably improves vibration-isolating performance.

[0002] Conventionally, when a gimbal capable of mounting a camera is attached to an unmanned aircraft for aerial photography, techniques have been proposed to suppress vibrations transmitted from the unmanned aircraft to the camera. For example, Patent Document 1 discloses a structure in which a drone connected to a pan head via damping balls is configured so that multiple damping balls are arranged to reduce rotational vibrations around the center of gravity of the pan head that are caused when the drone is subjected to vibrations in the horizontal movement direction.

[0003] Special Publication No. 2020-526784

[0004] On the other hand, depending on the placement of the dampers that attenuate vibrations from the vibration source, there is a risk that the origin of the gimbal vibrations may become complex.

[0005] The present disclosure has been made in view of such circumstances, and aims to more reliably improve vibration isolation performance.

[0006] The vibration-proof structure disclosed herein includes a gimbal capable of carrying a payload, and a fixed member that is fixedly attached to a vibrating body and connected to the gimbal via at least three dampers, the dampers being arranged so that imaginary extension lines of the central axes of at least two of the dampers overlap or are close to the center of gravity of the gimbal when the payload is loaded.

[0007] In the present disclosure, in a vibration-proof structure including a gimbal capable of carrying a payload, and a fixed member fixedly attached to a vibrating body and connected to the gimbal via at least three dampers, the dampers are arranged so that imaginary extension lines of central axes of at least two of the dampers overlap or are close to the center of gravity of the gimbal when the payload is loaded.

[0008] 1 is a side view showing an example configuration of a vibration-proof structure according to an embodiment of the present disclosure; FIG. 2 is a front view showing an example configuration of a vibration-proof structure; FIG. 3 is a rear view showing an example configuration of a vibration-proof structure; FIG. 4 is a view showing an example configuration of a damper; FIG. 5 is a view showing another example configuration of a damper; FIG. 6 is a view showing another example configuration of a damper; FIG. 7 is a view explaining the amount of deviation between the intersection of the axes of the damper and the center of gravity of the gimbal; FIG. 8 is a view showing an example gimbal employing a conventional damper arrangement; FIG. 9 is a view showing another example gimbal employing a conventional damper arrangement; FIG. 10 is a view comparing vibration characteristics; FIG. 11 is a view showing an example gimbal employing a damper arrangement in which one of the intersections is offset; FIG. 12 is a view comparing vibration characteristics; FIG. 13 is a view showing an example gimbal in which the number of dampers is reduced; FIG. 14 is a view comparing vibration characteristics; FIG. 15 is a view showing an example gimbal employing a damper arrangement in which one of the axes is offset; FIG. 16 is a view comparing vibration characteristics.

[0009] Modes for carrying out the present disclosure (hereinafter referred to as embodiments) will be described below. The description will be made in the following order.

[0010] 1. Overall structure of the vibration isolation structure 2. Other examples of damper structures 3. Displacement between the intersection of the damper axis and the center of gravity of the gimbal 4. Comparison of vibration characteristics

[0011] 1. Overall Configuration of Vibration-Isolating Structure The overall configuration of a vibration-isolating structure 1 according to an embodiment of the present disclosure will be described with reference to Figures 1 to 3. Figure 1 is a side view showing an example configuration of the vibration-isolating structure 1. Figure 2 is a front view showing an example configuration of the vibration-isolating structure 1. Figure 3 is a rear view showing the example configuration of the vibration-isolating structure 1.

[0012] The vibration-isolating structure 1 is used when a camera CAM as a payload is attached to a vibrating body. By using the vibration-isolating structure 1, it is possible to sufficiently suppress vibration of the camera CAM when the vibrating body vibrates. In the following, the vibrating body is described as an unmanned aerial vehicle (a so-called drone), but the vibrating body is not limited to an unmanned aerial vehicle and may be any mobile device, such as a car or a bicycle. In the following, the payload attached to the vibrating body is described as a camera CAM including an RGB camera, but the payload attached to the vibrating body may be any sensor device including other optical sensors or distance sensors such as LiDAR.

[0013] 1 to 3, the photographing direction when the camera CAM is mounted on the vibration isolation structure 1 with its optical axis horizontal is the front (forward) side of the vibration isolation structure 1 or the camera CAM.

[0014] The vibration isolation structure 1 is composed of a gimbal 10 on which a camera CAM can be mounted, a fixed member 20 fixed to the vibrating body and connected to the gimbal 10, and four dampers 30.

[0015] The gimbal 10 is composed of a holding member 11 that holds the left and right sides of the camera CAM with an arm portion, a support member 12 that supports the holding member 11 on the back side (rear) of the camera CAM and extends diagonally upward and rearward from the camera CAM, and a connecting member 13 that is connected to the support member 12 diagonally upward and rearward from the camera CAM.

[0016] As shown in FIG. 1 , the holding member 11 uses its arm portion to hold the left and right sides of the camera CAM so that the camera CAM can rotate in the pitch direction. In the example shown in FIGS. 1 to 3 , both the left and right sides of the camera CAM are held by the arm portion of the holding member 11, but only one of the left and right sides of the camera CAM may be held. As shown in FIG. 2 , the joint between the holding member 11 and the support member 12 is configured to allow the camera CAM to rotate together with the holding member 11 in the roll direction. As shown in FIG. 2 , the joint between the support member 12 and the connecting member 13 is configured to allow the camera CAM to rotate together with the support member 12 approximately in the yaw direction. As such, in the example shown in FIGS. 1 to 3 , the gimbal 10 is configured as a three-axis gimbal, but the gimbal 10 may be a two-axis gimbal or a single-axis gimbal. In addition, in the examples of Figures 1 to 3, the gimbal 10 is configured so that the order of the three axes (yaw axis, roll axis, pitch axis) from the vibrating body to the camera CAM is yaw, roll, pitch, but this order is not limitative and the gimbal 10 may be configured so that, for example, it is roll, yaw, pitch by changing the joints of the respective members that make up the gimbal 10.

[0017] The connecting member 13 has extending portions that extend in four directions, upper left, upper right, lower left, and lower right, when viewed from the front of the vibration-isolating structure 1. The fixing member 20 also has extending portions that extend in four directions, upper left, upper right, lower left, and lower right, when viewed from the front of the vibration-isolating structure 1, corresponding to the fixing member 20. The tip of each extending portion of the connecting member 13 is connected to the tip of each extending portion of the fixing member 20 via dampers 30. In other words, the fixing member 20 is connected to the gimbal 10 via the four dampers 30. Each of the four dampers 30 is disposed at a position that is symmetrical left and right, when viewed from the front from the shooting direction of the camera CAM mounted on the gimbal 10. Hereinafter, the four dampers 30 will also be referred to as the upper left damper 30, the upper right damper 30, the lower left damper 30, the lower right damper 30, etc.

[0018] In the examples of Figures 1 to 3, the tips of the upper left and upper right extension portions of the fixing member 20 are positioned closer to the camera CAM than the tips of the corresponding extension portions of the connecting member 13, but the relative positions are not limited to this.

[0019] The fixing member 20 is fixed to the unmanned aerial vehicle so that the gimbal 10 hangs down from the unmanned aerial vehicle. That is, the camera CAM is mounted on the underside (ventral side) of the body of the unmanned aerial vehicle. However, the fixing member 20 may fix the gimbal 10 so that it is placed on the top surface of the body of the unmanned aerial vehicle, so that the camera CAM is mounted on the upper side of the body of the unmanned aerial vehicle. Furthermore, the fixing member 20 may fix the gimbal 10 to the front end of the body of the unmanned aerial vehicle, so that the camera CAM is mounted on the front side of the body of the unmanned aerial vehicle.

[0020] In the vibration isolation structure 1 configured in this manner, vibrations transmitted from the unmanned airplane to the camera CAM can be attenuated by the damper 30 arranged between the fixed member 20 and the gimbal 10 (connecting member 13).

[0021] Each damper 30 is made of rubber dampers (vibration-isolating rubber) of the same shape. Note that each damper 30 does not necessarily have to be rubber dampers of the same shape, and may be rubber dampers of different shapes.

[0022] Here, the dampers 30 are arranged so that imaginary extension lines (hereinafter also referred to as axes) of the central axes of at least two dampers 30 overlap or are close to the center of gravity of the gimbal 10 when the camera CAM is mounted. In the example of FIGS. 1 and 3 , the four dampers 30 are arranged so that the position of the intersection CP of the axes EL of all four dampers 30 is approximately the same as the position of the center of gravity GR of the gimbal 10 when the camera CAM is mounted. Here, each of the dampers 30 is arranged in positions that are symmetrical with respect to the center of gravity GR. Specifically, of the four dampers 30, the two dampers 30 on the upper left and upper right are arranged diagonally above and behind the camera CAM when viewed from the center of gravity GR of the gimbal 10, and the two dampers 30 on the lower left and lower right are arranged behind and approximately directly in front of the camera CAM when viewed from the center of gravity GR of the gimbal 10. In the following, not only the point where the axes EL of two or more dampers 30 intersect, but also the range where the axes EL of two or more dampers 30 intersect spatially at an extremely close distance, such as 1 mm, will be considered to be the intersection of the axes EL.

[0023] The configuration of the damper 30 will be described with reference to Fig. 4. Fig. 4A is a perspective view showing the external configuration of the damper 30, and Fig. 4B is a cross-sectional view showing the internal configuration of the damper 30.

[0024] The damper 30 has a shape of a rotating body with a central axis CA as its center of rotation. Specifically, the damper 30 has two flange-shaped flange portions 31, 32 that protrude outward relative to the central axis CA, and a damping portion 33 that bulges outward relative to the central axis CA between the flange portions 31 and 32. In other words, the central axis CA can be considered a line connecting the centers of the flange portions 31 and 32. A protrusion that protrudes in a direction along the central axis CA is formed on one end of the damper 30 on the flange portion 31 side. In the damper 30, the flange portions 31 and 32, including the protrusion, function as fixed ends that are fixed to the vibration source and the object to be vibration-damped. Note that in the example shown in FIG. 4, the flange portion 31 is formed to have a smaller diameter than the flange portion 32.

[0025] 4B, oil 41 and air 42 are sealed inside the damping section 33. This allows the damping section 33 to generate a damping force against vibrations transmitted to the camera CAM. Here, the size of the damping section 33 when no load is applied to the damper 30 is referred to as the damper size DS. The damper size DS can also be said to be the distance between the flanges 31 and 32 as fixed ends.

[0026] In the damper 30 having such a structure, a damping force can be applied mainly in the direction of the central axis CA.

[0027] In the vibration-isolating structure 1, the intersection CP of the imaginary extension lines (axis EL) of the central axes CA of the four dampers 30 faces the center of gravity GR of the gimbal 10 with the camera CAM mounted thereon, so that tension is evenly applied toward the center of gravity GR. As a result, even when subjected to vibrations from an external force such as an unmanned aerial vehicle, the gimbal 10 with the camera CAM mounted thereon will vibrate around the center of gravity GR. As a result, the starting point of vibration of the camera CAM (gimbal 10) is simplified rather than complicated, making it possible to more reliably improve vibration-isolating performance.

[0028] 2. Other Configuration Examples of Damper The damper applied to the vibration-proof structure 1 is not limited to the damper having the configuration described with reference to FIG.

[0029] Fig. 5 is a diagram showing an example of the configuration of a damper 30A that can be applied to the vibration-proof structure 1. Fig. 5A is a perspective view showing the external configuration of the damper 30A, and Fig. 5B is a side view showing the external configuration of the damper 30A.

[0030] The damper 30A is made of a rubber damper (vibration-isolating rubber).

[0031] The damper 30A has the shape of a rotating body with a central axis CA as its center of rotation. Specifically, the damper 30A has two flange-shaped flange portions 31, 32 that protrude outward relative to the central axis CA, and a damping portion 33 that bulges outward relative to the central axis CA between the flange portions 31 and 32. The damper 30A differs from the damper 30 in FIG. 4 in that the damper 30A does not have a protrusion at one end on the flange portion 31 side, and that the flange portion 31 has the same diameter as the flange portion 32.

[0032] Although not shown, oil and air are sealed inside the damping portion 33 .

[0033] The damper 30A having such a structure can also exert a damping force mainly in the direction of the central axis CA, and its arrangement in the vibration-isolating structure 1 can improve the vibration-isolating performance.

[0034] Fig. 6 is a diagram showing an example of the configuration of a damper 30B that can be applied to the vibration-proof structure 1. Fig. 6A is a perspective view showing the external configuration of the damper 30B, and Fig. 6B is a side view showing the external configuration of the damper 30B.

[0035] The damper 30B is made of a rubber damper (vibration-isolating rubber).

[0036] The damper 30B has the shape of a rotating body with a central axis CA as its center of rotation. Specifically, the damper 30B has two flange-shaped flange portions 31, 32 that protrude outward with respect to the central axis CA, and two damping portions 33-1, 33-2 that bulge outward with respect to the central axis CA between the flange portions 31 and 32. An opening that protrudes in a direction along the central axis CA is formed at one end of the damper 30B on the flange portion 31 side.

[0037] Although not shown, the damping portions 33-1 and 33-2 are hollow, and the center of the flange 32 is open. That is, the damper 30B is formed in a cylindrical shape that penetrates from the opening on the flange 31 side to the flange 32.

[0038] In the damper 30B having such a structure, the damping portions 33-1 and 33-2 expand and contract in the direction of the central axis CA due to their elastic force, thereby allowing a damping force to act mainly in the direction of the central axis CA, and the arrangement of these portions in the vibration-proof structure 1 can improve the vibration-proof performance. Note that in the damper 30B, the size of the damping portions 33-1 and 33-2 when no load is applied to the damper 30B is the damper size DS.

[0039] Furthermore, the damper applied to the vibration-isolation structure 1 is not limited to rubber dampers in the form of the above-described dampers 30A and 30B. In other words, the damper applied to the vibration-isolation structure 1 may be a rubber damper of another form, or may be a damper made of a material other than rubber, such as a spring or metal wire, as long as it is capable of applying a damping force in the direction of the central axis CA.

[0040] <3. Deviation Amount Between Intersection of Damper Axes and Center of Gravity of Gimbal> In the vibration-isolating structure 1, it is ideal that the intersection CP of the axes EL of the four dampers 30 and the center of gravity GR of the gimbal 10 with the camera CAM mounted thereon are in the same position, but vibration-isolating performance can be maintained even if they are not in the same position.

[0041] Specifically, in the vibration-proof structure 1, the deviation between the intersection CP of the axes EL of the four dampers 30 and the center of gravity GR of the gimbal 10 with the camera CAM mounted thereon may be less than or equal to the size of the damping section 33 when no load is applied to the dampers 30 (i.e., the damper size DS).

[0042] 7, a three-dimensional space is defined with the center of gravity GR of the gimbal 10 as its center. In this case, if the intersection CP of the axes EL of the four dampers 30 exists inside a sphere of radius DS centered at the center of gravity GR, the amount of deviation M between the intersection CP of the center of gravity GR and the axes EL is equal to or less than the damper size DS.

[0043] <4. Comparison of Vibration Characteristics> Below, the vibration characteristics of the vibration-isolation structure 1 to which the technology according to the present disclosure is applied are compared with the vibration characteristics of a vibration-isolation structure equipped with a gimbal that employs a damper arrangement different from that of the vibration-isolation structure 1.

[0044] Comparative Example 1 FIG. 8 is a diagram showing an example of a gimbal employing a conventional damper arrangement.

[0045] 8A shows a front view of the gimbal 10a, FIG. 8B shows a side view of the gimbal 10a, and FIG. 8C shows a perspective view of the gimbal 10a. Both FIG. 8A and FIG. 8B show the center of gravity GR of the gimbal 10a when a camera CAM (not shown) is mounted.

[0046] In the gimbal 10a (support member) shown in Figure 8, of the four dampers 30, the upper left damper 30 and the upper right damper 30 are arranged so that their axes point vertically downward. In addition, the lower left damper 30 and the lower right damper 30 are arranged so that their axes point horizontally forward. In other words, in the gimbal 10a, the axes of the four dampers 30 do not intersect with each other.

[0047] FIG. 9 is a diagram showing another example of a gimbal employing a conventional damper arrangement.

[0048] 9A shows a front view of the gimbal 10b, FIG. 9B shows a side view of the gimbal 10b, and FIG. 9C shows a perspective view of the gimbal 10b. Both FIG. 9A and FIG. 9B show the center of gravity GR of the gimbal 10b when a camera CAM (not shown) is mounted.

[0049] In the gimbal 10b (support member) shown in Figure 9, of the four dampers 30, the upper left damper 30 and the upper right damper 30 are disposed so that their respective axes intersect at a position away from the center of gravity GR (a position farther from the center of gravity GR). In addition, the lower left damper 30 and the lower right damper 30 are disposed so that their respective axes intersect at a position away from the center of gravity GR (a position closer to the center of gravity GR). In other words, in the gimbal 10b, neither of the intersections of the axes of the two pairs of dampers 30 is close to the center of gravity GR.

[0050] Figure 10 is a diagram comparing simulation results of the vibration characteristics Ch of the vibration-proof structure 1 to which the technology disclosed herein is applied, the vibration characteristics Ch_a of the vibration-proof structure equipped with the gimbal 10a of Figure 8, and the vibration characteristics Ch_b of the vibration-proof structure equipped with the gimbal 10b of Figure 9.

[0051] 10A shows the vibration frequency-gain characteristics for vibration in the roll direction, FIG. 10B shows the vibration frequency-gain characteristics for vibration in the pitch direction, and FIG. 10C shows the vibration frequency-gain characteristics for vibration in the yaw direction. The vibration frequency is set to 30 Hz to 100 Hz.

[0052] As shown in Figure 10, the vibration characteristic Ch of the vibration-isolating structure 1 to which the technology according to the present disclosure is applied has the smallest gain and exhibits good vibration-isolating performance with respect to vibrations in the roll, pitch, and yaw directions. On the other hand, the vibration characteristic Ch_a of the vibration-isolating structure including the gimbal 10a in Figure 8 has the largest gain and exhibits poor vibration-isolating performance with respect to vibrations in the roll, pitch, and yaw directions.

[0053] Comparative Example 2 FIG. 11 is a diagram showing an example of a gimbal in which a damper is arranged such that one of the intersections is off.

[0054] 11A shows a perspective view of the gimbal 10c, and FIG. 11B shows a side view of the gimbal 10c. Both FIG. 11A and FIG. 11B show the center of gravity GR of the gimbal 10c with a camera CAM (not shown) mounted thereon.

[0055] In the gimbal 10c (support member) shown in Figure 11, of the four dampers 30, the upper left damper 30 and the upper right damper 30 are disposed so that their respective axes intersect with the center of gravity GR at the same position. Furthermore, the lower left damper 30 and the lower right damper 30 are disposed so that their respective axes intersect with the center of gravity GR at a position that is farther away from the center of gravity GR than the damper size DS (for example, a position 30 mm vertically below the center of gravity GR). In other words, in the gimbal 10c, the intersection of the axes of two of the four dampers 30 coincides with the center of gravity GR.

[0056] Figure 12 is a diagram comparing simulation results of the vibration characteristics Ch of the vibration-proof structure 1 to which the technology disclosed herein is applied, the vibration characteristics Ch_b of the vibration-proof structure equipped with the gimbal 10b of Figure 9, and the vibration characteristics Ch_c of the vibration-proof structure equipped with the gimbal 10c of Figure 11.

[0057] 12A shows the vibration frequency-gain characteristics for vibration in the roll direction, FIG. 12B shows the vibration frequency-gain characteristics for vibration in the pitch direction, and FIG. 12C shows the vibration frequency-gain characteristics for vibration in the yaw direction. The vibration frequency is set to 30 Hz to 100 Hz.

[0058] As shown in Fig. 12, with respect to vibrations in each of the roll, pitch, and yaw directions (particularly the pitch and yaw directions), the vibration characteristic Ch_c of the vibration-isolating structure equipped with gimbal 10c in Fig. 11 has a smaller gain than the vibration characteristic Ch_b of the vibration-isolating structure equipped with gimbal 10b in Fig. 9, and sufficient vibration-isolating performance is obtained. In other words, if two of the four dampers 30 are arranged so that the intersection of their axes overlaps with or is close to the center of gravity GR, sufficient vibration-isolating performance can be obtained even if the intersection of the axes of the other two dampers 30 is shifted from the center of gravity GR by the damper size DS.

[0059] Comparative Example 3 FIG. 13 is a diagram showing an example of a gimbal in which the number of dampers is reduced.

[0060] 13A shows a perspective view of the gimbal 10d, and FIG. 13B shows a side view of the gimbal 10d. Both FIG. 13A and FIG. 13B show the center of gravity GR of the gimbal 10d with a camera CAM (not shown) mounted thereon.

[0061] 13 is provided with three dampers 30. Specifically, in the gimbal 10d, instead of the lower-left and lower-right dampers 30 of the four dampers 30 provided in the vibration-proof structure 1 to which the technology according to the present disclosure is applied, a lower-center damper 30 is provided behind and substantially directly in front of the camera CAM when viewed from the center of gravity GR of the gimbal 10d. The three dampers 30 are provided in the gimbal 10d so that the position of the intersection of the axes of all three dampers 30 is the same as the position of the center of gravity GR of the gimbal 10d.

[0062] Figure 14 is a diagram comparing simulation results of the vibration characteristics Ch of the vibration-proof structure 1 to which the technology disclosed herein is applied, the vibration characteristics Ch_b of the vibration-proof structure equipped with the gimbal 10b of Figure 9, and the vibration characteristics Ch_d of the vibration-proof structure equipped with the gimbal 10d of Figure 13.

[0063] 14A shows the vibration frequency-gain characteristics for vibration in the roll direction, FIG. 14B shows the vibration frequency-gain characteristics for vibration in the pitch direction, and FIG. 14C shows the vibration frequency-gain characteristics for vibration in the yaw direction. The vibration frequency is set to 30 Hz to 100 Hz.

[0064] As shown in Figure 14, for vibrations in the roll, pitch, and yaw directions, the vibration characteristic Ch_d of the vibration-isolating structure including the gimbal 10d in Figure 14 has a smaller gain than the vibration characteristic Ch_b of the vibration-isolating structure including the gimbal 10b in Figure 9, and sufficient vibration-isolating performance is obtained. In particular, for vibrations in the roll and yaw directions, vibration-isolating performance is shown that is approximately equivalent to the vibration characteristic Ch of the vibration-isolating structure 1 including the gimbal 10 in which four dampers 30 are arranged. In other words, sufficient vibration-isolating performance can be obtained if three dampers 30, rather than four, are arranged so that the intersection of their axes overlaps with or is close to the center of gravity GR.

[0065] Comparative Example 4 FIG. 15 is a diagram showing an example of a gimbal in which a damper is arranged so that one of the axes is offset.

[0066] 15A shows a perspective view of the gimbal 10e, and FIG. 15B shows a side view of the gimbal 10e. Both FIG. 15A and FIG. 15B show the center of gravity GR of the gimbal 10e with a camera CAM (not shown) mounted thereon.

[0067] 15, of the three dampers 30, the upper left damper 30 and the upper right damper 30 are disposed so that their axes intersect with the center of gravity GR at the same position. The lower center damper 30 is disposed so that its axis passes through a position that is farther from the center of gravity GR than the damper size DS (for example, a position 30 mm vertically below the center of gravity GR). In other words, in the gimbal 10e, the intersection of the axes of two of the three dampers 30 coincides with the center of gravity GR.

[0068] Figure 16 is a diagram comparing simulation results of the vibration characteristics Ch of the vibration-proof structure 1 to which the technology disclosed herein is applied, the vibration characteristics Ch_b of the vibration-proof structure equipped with the gimbal 10b of Figure 9, and the vibration characteristics Ch_e of the vibration-proof structure equipped with the gimbal 10e of Figure 15.

[0069] 16, with respect to vibrations in the roll and yaw directions, the vibration characteristic Ch_e of the vibration-isolating structure including the gimbal 10e of FIG. 15 has a smaller gain than the vibration characteristic Ch_b of the vibration-isolating structure including the gimbal 10b of FIG. 9, and sufficient vibration-isolating performance is obtained. In particular, with respect to vibrations in the pitch direction, the vibration-isolating performance is approximately equivalent to the vibration characteristic Ch_b of the vibration-isolating structure including the gimbal 10b of FIG. 9, but with respect to vibrations in the roll direction, the vibration-isolating performance is approximately equivalent to the vibration characteristic Ch of the vibration-isolating structure 1 including the gimbal 10 in which four dampers 30 are arranged. In other words, if the intersection of the axes of two of the three dampers 30 overlaps or is close to the center of gravity GR, sufficient vibration-isolating performance can be obtained even if the axis of the remaining damper 30 is deviated from the center of gravity GR by the damper size DS.

[0070] The embodiments of the present disclosure are not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present disclosure.

[0071] The effects described in this specification are merely examples and are not limiting, and other effects may also be present.

[0072] Furthermore, the present disclosure can take the following configurations: (1) A vibration-isolating structure comprising: a gimbal capable of carrying a payload; and a fixed member fixedly attached to a vibrating body and connected to the gimbal via at least three dampers, wherein the dampers are arranged so that imaginary extension lines of central axes of at least two of the dampers overlap with or are close to the center of gravity of the gimbal when the payload is carried. (2) The vibration-isolating structure described in (1), wherein the fixed member is connected to the gimbal via four of the dampers. (3) The vibration-isolating structure described in (2), wherein the dampers are arranged so that imaginary extension lines of central axes of all four of the dampers overlap with or are close to the center of gravity. (4) The vibration-isolating structure described in any of (1) to (3), wherein each of the dampers is arranged at a position symmetrical with respect to the center of gravity. (5) The vibration-isolating structure according to (4), wherein two of the dampers are disposed obliquely above and rearward of the payload when viewed from the center of gravity, and the other damper is disposed rearward and substantially in front of the payload when viewed from the center of gravity. (6) The vibration-isolating structure according to any of (1) to (5), wherein the damper has a damping section that generates a damping force against vibrations transmitted to the payload, and wherein the deviation between the intersection of imaginary extension lines of the central axes of the dampers and the center of gravity is equal to or less than the size of the damping section when no load is applied to the damper. (7) The vibration-isolating structure according to any of (1) to (6), wherein the damper is constituted by a rubber damper. (8) The vibration-isolating structure according to any of (1) to (7), wherein the fixing member is fixed to the vibrating body so that the gimbal hangs down from the vibrating body. (9) The vibration-isolating structure according to any of (1) to (8), wherein the vibrating body includes a moving device. (10) The vibration-isolating structure according to (9), wherein the moving device includes an unmanned aerial vehicle. (11) The vibration isolation device according to any one of (1) to (10), in which the payload is a sensor device. (12) The vibration isolation device according to (11), in which the sensor device includes a camera or a distance sensor.

[0073] REFERENCE SIGNS LIST 1 vibration isolation structure, 10 gimbal, 11 holding member, 12 support member, 13 connecting member, 20 fixing member, 30 damper

Claims

1. A vibration-proof structure comprising: a gimbal capable of carrying a payload; and a fixed member fixedly attached to a vibrating body and connected to the gimbal via at least three dampers, wherein the dampers are arranged so that imaginary extensions of the central axes of at least two of the dampers overlap with or are close to the center of gravity of the gimbal when the payload is loaded.

2. The vibration-proof structure according to claim 1, wherein the fixed member is connected to the gimbal via four of the dampers.

3. The vibration-proof structure according to claim 2, wherein the dampers are arranged so that imaginary extensions of the central axes of all four dampers overlap or are close to the center of gravity.

4. The vibration-proof structure according to claim 1, wherein each of the dampers is disposed at a position symmetrical to the left and right with respect to the center of gravity.

5. A vibration isolation structure as set forth in claim 4, wherein two of the dampers are disposed diagonally above and rearward of the payload when viewed from the center of gravity, and the other damper is disposed rearward and substantially in front of the payload when viewed from the center of gravity.

6. A vibration-proof structure according to claim 1, wherein the damper has a damping section that generates a damping force against vibrations transmitted to the payload, and the deviation between an imaginary extension of the central axis of the damper and the center of gravity is equal to or less than the size of the damping section when no load is applied to the damper.

7. The vibration-proof structure according to claim 1, wherein the damper is a rubber damper.

8. The vibration-proof structure according to claim 1, wherein the fixing member is fixed to the vibrating body so that the gimbal hangs down from the vibrating body.

9. The vibration isolation structure according to claim 1, wherein the vibrating body includes a moving device.

10. The vibration isolation structure of claim 9, wherein the mobile device includes an unmanned aerial vehicle.

11. The vibration isolation device according to claim 1, wherein the payload is a sensor device.

12. The vibration isolation device according to claim 11, wherein the sensor device includes a camera or a distance sensor.

Images