A launching mechanism suitable for a gimbal of a UAV

Abstract

The application provides a launching mechanism suitable for a unmanned aerial vehicle holder, a carbon plate and a friction wheel constitute a bullet accelerating system, the carbon plate is used as a supporting structure of the accelerating device, carbon fiber material is adopted, good strength and light weight characteristics are achieved, the weight of the whole device can be reduced, and the convenience of carrying and operation is improved; the friction wheel is used as a key component of the bullet accelerating, friction force is generated through high-speed rotation, the bullet is quickly accelerated and pushed out of the barrel, and the friction wheel has the characteristics of high efficiency, precision and stability; the steering wheel and the bullet rod constitute a launching control system, the steering wheel is used as a driving device, the action of the bullet rod can be accurately controlled, and the accurate launching of the bullet is ensured; the bullet rod can quickly and accurately send the bullet into the barrel and complete the launching action under the control of the steering wheel, so that the whole launching process has high controllability and stability.

Description

Technical Field

[0001] This invention belongs to the fields of architecture, mechanical engineering and electronic technology, and in particular relates to a launching mechanism suitable for unmanned aerial vehicle (UAV) gimbals. Background Technology

[0002] In the field of construction engineering, construction site markings refer to marks made on the ground by architects, engineers, and construction workers to indicate the specific location, dimensions, and other necessary information of a building. These markings are usually temporary and are used to help workers carry out construction accurately, ensuring that the building's dimensions and location meet design requirements.

[0003] Markings on construction sites typically include, but are not limited to, the following:

[0004] Foundation markings: Used to indicate the location, dimensions, and elevation of a building's foundation. These markings include the location of the building's exterior walls, interior walls, and columns, as well as the height of the floors and ceilings.

[0005] Pipe markings: Used to indicate the location and direction of pipes, including water supply pipes, drainage pipes, electrical conduits, etc. These markings help workers avoid damaging pipes and ensure the accuracy of pipe layout.

[0006] Equipment markings: These are used to indicate the location and dimensions of equipment, such as air conditioning units, elevator shafts, and fire-fighting equipment. These markings help workers avoid the equipment during construction, ensuring accurate installation.

[0007] Safety signs: used to indicate the location of safety exits, emergency exits, fire-fighting equipment, etc., to ensure that workers and passersby can evacuate quickly in an emergency.

[0008] These markings are typically made using colored spray paint, stickers, or other removable materials. The placement of these markings must comply with relevant specifications and requirements to ensure they are clearly visible, do not interfere with construction, and can be easily removed after construction is completed.

[0009] Markings on construction sites are very important. They help workers carry out construction accurately, ensure that the size and location of buildings meet design requirements, and also help managers better understand the site conditions, identify problems in a timely manner, and resolve them.

[0010] Using drones for marking on construction sites can offer many benefits, including but not limited to the following:

[0011] High efficiency: Drones can quickly and efficiently complete the marking task at construction sites. Compared with traditional manual marking or measurement methods, drones can complete large-area marking work much faster, saving a significant amount of time and labor costs.

[0012] Accuracy: The drone is equipped with a precise positioning system and laser ranging technology, enabling high-precision ground marking. This ensures the accuracy of the location, dimensions, and other necessary information of buildings, reducing the possibility of construction errors.

[0013] Safety: Using drones for marking reduces the time workers spend at heights or in hazardous areas, lowering safety risks. Drones can also complete marking tasks in complex or dangerous environments, reducing potential hazards to workers.

[0014] Wide coverage: Drones can easily cover large construction sites, including high-rise buildings and large structures. This makes marking large construction sites more efficient and convenient.

[0015] Data recording and management: Drones can be equipped with various sensors and cameras to record data and images of construction sites in real time. This data can be used for subsequent construction supervision, progress management, and quality control, and can also establish a digital archive of the construction site.

[0016] Environmental adaptability: Drones can operate in various environmental conditions, including severe weather and complex terrain. This means that drones can complete marking tasks in a variety of challenging environments, improving the flexibility and adaptability of construction.

[0017] Cost savings: Although the investment cost of drone equipment may be high, in the long run, using drones for marking can save labor costs, reduce waste, improve work efficiency, and thus reduce overall construction costs.

[0018] In conclusion, using drones for marking on construction sites can improve work efficiency, accuracy, and safety, while also providing greater convenience for construction management and data recording. These advantages make drones a promising application in construction site marking.

[0019] However, using drones for marking, compared to traditional manual methods, requires a device capable of stably and accurately marking the desired locations. This invention is a marking and launching device suitable for drone gimbals, capable of launching circular projectiles containing ink. After launch, the projectiles leave ink traces at the designated locations, thus serving as markings. Summary of the Invention

[0020] To address the issues of insufficient payload and inability to mark objects on drones, this invention provides a launching mechanism suitable for drone gimbals, capable of quickly and accurately launching ink-filled bullets, making the entire launching process highly controllable and stable.

[0021] A launching mechanism suitable for UAV gimbals includes a carbon plate and a servo motor, a trigger lever, a friction wheel assembly, a friction wheel motor assembly, a gun barrel, and a control module mounted on the carbon plate.

[0022] The barrel is provided with a feed rod slot for mounting the feed rod, a bullet groove for placing the bullet to be fired, and an acceleration groove for accelerating the bullet, wherein the feed rod slot, the bullet groove, and the acceleration groove are interconnected.

[0023] The bullet-deploying lever is a V-shaped structure consisting of a first lever and a second lever, and the connection point of the two levers is fixed to the rotating end of the servo motor. It is used to rotate in the slot of the bullet-deploying lever under the drive of the servo motor, so as to block the bullet to be fired in the bullet slot or push the bullet to be fired from the bullet slot into the acceleration slot for firing.

[0024] The friction wheel assembly consists of two friction wheels, which rotate in opposite directions under the drive of the friction wheel motor assembly. At the same time, the two friction wheels are installed on both sides of the acceleration groove and clamp the bullet to be fired in the acceleration groove, so that the bullet to be fired is pushed out of the barrel by the friction force generated by the rotation of the two friction wheels, thus realizing the firing.

[0025] The control module is used to send rotation commands to the servo motor and the friction wheel motor;

[0026] The launching mechanism is mounted on the drone gimbal via a carbon plate.

[0027] Furthermore, when the servo motor does not receive a rotation command from the control module, the bullet release lever remains vertically stationary in the bullet slot, and the lever located on the side of the bullet slot blocks the bullet in the slot. When the servo motor receives a rotation command from the control module, the servo motor controls the bullet release lever to rotate first towards the bullet slot, so that a bullet to be fired enters the V-shaped slot formed between the two levers. The servo motor then controls the bullet release lever to rotate towards the acceleration slot, so that the bullet to be fired in the V-shaped slot enters the acceleration slot. At this time, the lever located on the side of the bullet slot is used to block subsequent bullets to be fired in the bullet slot.

[0028] When the friction wheel motor does not receive a rotation command from the control module, the two friction wheels stop rotating; when the friction wheel motor receives a rotation command from the control module, the friction wheel motor unit drives the two friction wheels to rotate in opposite directions, and the friction between the two friction wheels and the bullet to be fired in the acceleration groove pushes the bullet out of the barrel.

[0029] Furthermore, the control module uses PWM control technology to control the rotational speed of the friction wheel motor, thereby adjusting the firing speed of the bullet to be fired.

[0030] Furthermore, the control module uses PWM control technology to adjust the rotation angle of the servo motor, thereby adjusting the angle of the bullet release lever and controlling the firing and locking of the bullet.

[0031] Furthermore, the gun barrel is manufactured using 3D photopolymerization printing.

[0032] Furthermore, the two friction wheel motors in the friction wheel motor assembly are respectively installed in the two friction wheels, and the friction wheels and friction wheel motors are axially limited by screws, so that the friction wheel motors drive the friction wheels to rotate coaxially.

[0033] Furthermore, the gun barrel is rectangular in shape, with arc-shaped grooves on both sides for placing friction wheels.

[0034] Beneficial effects:

[0035] 1. This invention provides a launching mechanism suitable for UAV gimbals. A carbon plate and a friction wheel constitute a bullet acceleration system. The carbon plate, as the supporting structure of the acceleration device, is made of carbon fiber material, which has good strength and lightweight characteristics, reducing the weight of the entire device and improving the convenience of carrying and operation. The friction wheel, as a key component for bullet acceleration, generates friction through high-speed rotation, rapidly accelerating the bullet and ejecting it from the barrel, exhibiting high efficiency, precision, and stability. A servo motor and a bullet release lever constitute a launching control system. The servo motor, as a drive device, can precisely control the movement of the bullet release lever, ensuring accurate bullet launch. Under the control of the servo motor, the bullet release lever can quickly and accurately feed the bullet into the barrel and complete the launching action, making the entire launching process highly controllable and stable.

[0036] 2. This invention provides a launching mechanism suitable for UAV gimbals. The main body of the launching mechanism consists of a 3D-printed magazine and a gun barrel. The magazine is manufactured using 3D printing technology and can be customized according to different types of bullets, providing good storage and feeding functions. The gun barrel is also manufactured using 3D printing technology and can be customized according to needs, ensuring the lightweight and high strength of the gun barrel, thereby improving the portability and durability of the device. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure;

[0038] Figure 2 This is a schematic diagram of the launch system;

[0039] Figure 3 This is a schematic diagram of the launch control system;

[0040] Figure 4 This is a diagram illustrating the plucking method;

[0041] Figure 5 This is a schematic diagram of a gun barrel;

[0042] Figure 6 Electrical system architecture diagram;

[0043] Figure 7 Pin definition diagram for the development board;

[0044] Figure 8 Here is the flowchart of the host computer algorithm;

[0045] Figure 9 This is a schematic diagram of the barrel mounting plate. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0047] This invention addresses the problem of using drones for marking on construction sites by proposing a launch mechanism suitable for drone gimbals. The launch mechanism comprises hardware, circuit design, and software design. The hardware design mainly includes the design of the launch mechanism mounting plate, launch pipe, friction wheel acceleration mechanism, and servo-driven projectile ejection structure. The circuit design mainly includes the control unit circuit design, friction wheel power supply device design, and infrared aiming circuit design. The software design mainly includes the launch logic design and friction wheel control algorithm design.

[0048] like Figure 1 As shown, a launching mechanism suitable for a drone gimbal includes a carbon plate and a servo motor, a trigger lever, a friction wheel assembly, a friction wheel motor assembly, a gun barrel, and a control module mounted on the carbon plate.

[0049] The barrel is provided with a feed rod slot for mounting the feed rod, a bullet groove for placing the bullet to be fired, and an acceleration groove for accelerating the bullet, wherein the feed rod slot, the bullet groove, and the acceleration groove are interconnected.

[0050] The bullet-deploying lever is a V-shaped structure consisting of a first lever and a second lever, and the connection point of the two levers is fixed to the rotating end of the servo motor. It is used to rotate in the slot of the bullet-deploying lever under the drive of the servo motor, so as to block the bullet to be fired in the bullet slot or push the bullet to be fired from the bullet slot into the acceleration slot for firing.

[0051] The friction wheel assembly consists of two friction wheels, which rotate in opposite directions under the drive of the friction wheel motor assembly. At the same time, the two friction wheels are installed on both sides of the acceleration groove and clamp the bullet to be fired in the acceleration groove, so that the bullet to be fired is pushed out of the barrel by the friction force generated by the rotation of the two friction wheels, thus realizing the firing.

[0052] The control module sends rotation commands to the servo motor and the friction wheel motor. When the servo motor does not receive a rotation command from the control module, the ejector lever remains vertically stationary in the cartridge slot, and the bullet is blocked in the cartridge slot by a lever located on the cartridge slot side. When the servo motor receives a rotation command from the control module, it controls the ejector lever to rotate first towards the cartridge slot, causing a bullet to enter the V-shaped groove formed between the two levers. The servo motor then controls the ejector lever to rotate towards the acceleration groove, causing the bullet in the V-shaped groove to enter the acceleration groove. At this time, the lever located on the cartridge slot side is used to block subsequent bullets in the cartridge slot. When the friction wheel motor does not receive a rotation command from the control module, the two friction wheels stop rotating. When the friction wheel motor receives a rotation command from the control module, the friction wheel motor assembly drives the two friction wheels to rotate in opposite directions. The friction between the two friction wheels and the bullet entering the acceleration groove pushes the bullet out of the barrel.

[0053] The launching mechanism is mounted on the drone gimbal via a carbon plate.

[0054] In other words, the entire firing structure of this invention can be divided into three parts: the main body (such as the barrel), the friction wheel and its motor, and the trigger lever and servo motor. The barrel is primarily produced using 3D photopolymerization printing, such as... Figure 5 As shown, it can hold three round bullets containing ink, and the barrel shape can be freely designed using photopolymerization printing. The barrel is mainly rectangular in shape, with circular slots on both sides to accommodate the size of the selected friction wheel, thereby accelerating the bullets. Square slots are present on the upper and lower surfaces of the barrel to facilitate the ejection lever. The barrel is mainly fixed to the drone gimbal via two carbon fiber plates, the shape of which is shown in the image. Figure 9 As shown. Suitable holes were also drilled in the plate to facilitate the fixing of the friction wheel motor.

[0055] A schematic diagram of the trigger mechanism is shown below. Figure 4 As shown in the diagram. The firing mechanism mainly consists of a six-sided nut, carbon fiber sheet, servo motor, and firing lever. The servo motor and firing lever constitute the launch control system, the specific structure of which is shown in the diagram. Figure 3 As shown, the servo motor is fixed to a carbon fiber plate and connected to the main structure, including the barrel, via a six-sided nut. The feed lever is fixed to the rotating end of the servo motor. When the projectile rolls into the barrel, the feed lever is vertical, blocking the projectile and preventing it from contacting the friction wheel, thus controlling the firing. When the servo motor receives a firing command, the feed lever rotates at an angle, releasing the first projectile and locking the second projectile with its rear side. Upon receiving another firing command, the feed lever rotates again, firing the second projectile.

[0056] The friction wheel launching mechanism mainly consists of a friction wheel, a friction wheel motor, and an electronic speed controller, as shown in the following figure. Figure 2The inner diameter of the friction wheel matches the outer diameter of the motor, allowing it to be securely fixed to the friction wheel motor. A screw at the top provides axial positioning of the friction wheel and motor, enabling the motor to rotate and drive the friction wheel to rotate coaxially. An electronic speed controller (ESC) controls the rotation of the friction wheel motor to launch projectiles at different speeds.

[0057] Furthermore, the hardware system design mainly includes the design of the brushless motor and ESC, servo motor, and infrared module. The software system design mainly includes the design of the lower-level software system and the upper-level software system.

[0058] Specifically, the hardware used in this invention includes a brushless motor and its matching ESC, a 180-degree servo motor, a high-precision infrared elevation measurement module, and the electrical architecture diagram is shown below. Figure 6 As shown.

[0059] The brushless motor and matching ESC used in this invention are a C615 ESC paired with a Snail2305 motor. The C615 brushless motor speed controller uses a 32-bit custom motor driver chip with a main frequency of up to 100MHz and supports a maximum output PWM frequency of 48kHz, achieving precise and sensitive control. The ESC's stall protection function ensures that the ESC automatically shuts off the phase current output when the motor stalls, preventing damage to the ESC. The ESC adopts a high-level anti-static design, ensuring stable and reliable operation. Combined with the Snail2305 DC brushless motor, it forms a high-performance power kit. The Snail2305 is a sensorless external rotor DC brushless motor with characteristics such as high speed, low noise, good heat dissipation, and high power density.

[0060] For brushless motors and their matching ESCs, this invention employs PWM control. PWM control technology, or Pulse Width Modulation, modulates the width of a series of pulses to equivalently obtain the desired waveform (including shape and amplitude). PWM control technology is mainly used in the power electronics industry, including motor speed control and DC power supply. Through PWM control technology, waveforms with different pulse widths can be modulated to precisely control the motor speed, thereby controlling the landing accuracy of the dotting mechanism.

[0061] For the 180-degree servo, this invention adopts PWM control. By adjusting the servo angle position through different pulse widths, multiple different angles can be set to adjust the angle of the trigger lever, thereby controlling the firing and locking of the bullets. Combined with the hardware structure, multiple projectiles can be launched in a time-sharing manner while saving as much space as possible.

[0062] To address the need for elevation measurement, this invention utilizes a high-precision infrared elevation measurement module, which employs the UART communication protocol to achieve high-precision elevation value readings, thereby fulfilling the functional requirements of auxiliary measurement and transmission positioning.

[0063] For the lower-level software system, this invention uses a high-performance development board based on the STM32F407IGHx for software system development, integrates and controls the aforementioned electrical hardware devices, and communicates with the upper-level computer to complete the overall system functions. The pin diagram of the development board is shown below. Figure 7 As shown.

[0064] The software system development of this invention uses the KeilMDKV5.32 editor and CUBEMXV6.50 underlying configuration generation software in a development environment for code generation, breakpoint debugging, register viewing, memory viewing and modification; the software system uses the STM32HAL library driver for development; during the development process, the debugging function of KeilMDK5 is used to monitor the program data and modify memory data in real time, and to perform breakpoint step-by-step debugging.

[0065] The specific software environment configuration is as follows:

[0066] Toolchain / IDE: MDK-ARM V5

[0067] STM32F4xx_DFP Packs:2.13.0

[0068] STM32CubeMx:5.2.1

[0069] package version:STM32Cube FW_F4 V1.21.1

[0070] FreeRTOS version: 10.0.1

[0071] CMSIS-RTOS version: 1.02

[0072] In terms of hardware control, this invention uses the PWM control function of STM32F405RGT6 to remap external user-defined pins and connect them to the PWM control interface of the hardware device to complete the control of motor speed and servo position.

[0073] In terms of hardware communication, this invention utilizes UART functionality to communicate with a high-precision infrared elevation measurement module to read elevation values. A Universal Asynchronous Receiver / Transmitter (UART) is a serial, asynchronous, full-duplex communication protocol. When correctly configured, UART can work with many different types of serial protocols involving the transmission and reception of serial data. In serial communication, data is transmitted bit-by-bit through a single line or wire. In bidirectional communication, two wires are used for continuous serial data transmission. Depending on the application and system requirements, serial communication requires fewer circuits and wires, reducing implementation costs. Here, only unidirectional communication is used to receive data returned from the elevation module.

[0074] For controlling the host computer, this invention uses the USB virtual serial port communication protocol built into the STM32 microcontroller. USB (Universal Serial Bus) is a commonly used digital communication interface widely used for data transmission between computers and peripheral devices. In embedded systems, the USB interface enables high-speed data transmission and communication, facilitating connection and control with a computer. The USB virtual serial port, abbreviated as VCP, is a communication interface implemented using the USB CDC class. This project utilizes the built-in USB function of the STM32 microcontroller; connecting it to the host computer's USB port creates a virtual USB serial port, enabling data communication between the host computer and the control board.

[0075] For the host computer software system, the host computer of this invention uses the Manifold 2 high-performance airborne computer, which has excellent processing power and response speed, and flexible expansion. It is developed using ROS (Robot Operating System) ros-python, and uses communication nodes to connect to the host computer flight control program control commands, and uses the Python serial communication function to communicate with the lower computer, thereby realizing the host computer program controlling the lower computer hardware and completing the intelligent autonomous precision bomb marking function.

[0076] The flowchart of the host computer algorithm is as follows Figure 8 As shown. First, the program initializes GPIO, TIM8, USART1, USART6, and TIM1. Then, it starts the basic timer for TIM8 and enables PWM channels 1 and 3 of TIM8. Next, it sets the compare value of TIM8 channel 1 to 1500. This value will determine the duty cycle of the PWM, thereby controlling the motor speed.

[0077] Next, the program starts the TIM1's basic timer and enables TIM1's PWM channels 1 and 4. Then, it sets the comparison value of TIM1 channels 1 and 4 to 1000. This value will determine the PWM duty cycle, thereby controlling the servo's rotation angle. Then, the program delays for 3000 milliseconds, which allows the motor and servo sufficient time to complete startup and initialization.

[0078] After completing all initialization tasks, the program begins an infinite loop. In this loop, the program first receives a character via USART6, then delays for 100 milliseconds. If the received character is 'x', 'y', or 'z', the program changes the comparison value of TIM8 channel 1, using PWM control to change the servo motor's rotation angle. If the received character is 'f' or 's', the program changes the comparison values ​​of TIM1 channels 1 and 4, thereby controlling the motor's speed.

[0079] The program's workflow can be summarized as follows: upon receiving a signal, control the motor to rotate; upon receiving a signal, control the servo motor to rotate and fire a bullet; upon receiving a signal, control the servo motor to rotate and fire a bullet. This process will repeat indefinitely until the program is stopped.

[0080] In summary, this invention is a bullet-firing device manufactured based on advanced technology and materials. It employs a 3D-printed magazine and barrel, a firing unit composed of carbon plates and friction wheels, a firing control unit composed of a servo motor and a bullet release lever, as well as hardware such as a main control circuit board and an infrared aiming device. The combination of these components gives this invention the characteristics of high performance, portability, and precision. In addition, this invention can also use infrared sensors and the main control circuit board to form the aiming and control system of the device. The infrared sensor can be used for target sensing and aiming to ensure the accuracy and precision of shooting. The main control circuit board integrates the control and coordination functions of various components, enabling overall control and management of the device, including bullet acceleration and firing control functions, making the entire device highly intelligent and automated.

[0081] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A launching mechanism suitable for a drone gimbal, characterized in that, Includes carbon plates and the servo motor, trigger lever, friction wheel assembly, friction wheel motor assembly, gun barrel, and control module mounted on the carbon plates; The barrel is provided with a feed rod slot for mounting the feed rod, a bullet groove for placing the bullet to be fired, and an acceleration groove for accelerating the bullet, wherein the feed rod slot, the bullet groove, and the acceleration groove are interconnected. The bullet-deploying lever is a V-shaped structure consisting of a first lever and a second lever, and the connection point of the two levers is fixed to the rotating end of the servo motor. It is used to rotate in the slot of the bullet-deploying lever under the drive of the servo motor, so as to block the bullet to be fired in the bullet slot or push the bullet to be fired from the bullet slot into the acceleration slot for firing. The friction wheel assembly consists of two friction wheels, which rotate in opposite directions under the drive of the friction wheel motor assembly. At the same time, the two friction wheels are installed on both sides of the acceleration groove and clamp the bullet to be fired in the acceleration groove, so that the bullet to be fired is pushed out of the barrel by the friction force generated by the rotation of the two friction wheels, thus realizing the firing. The control module is used to send rotation commands to the servo motor and the friction wheel motor; The launching mechanism is mounted on the UAV gimbal via a carbon plate; When the servo motor does not receive a rotation command from the control module, the bullet release lever is in a vertical position and stationary in the bullet slot, and the lever located on the side of the bullet slot blocks the bullet in the bullet slot; when the servo motor receives a rotation command from the control module, the servo motor controls the bullet release lever to rotate first towards the bullet slot, so that a bullet to be fired enters the V-shaped slot formed between the two levers. The servo motor then controls the bullet release lever to rotate towards the acceleration slot, so that the bullet to be fired in the V-shaped slot enters the acceleration slot. At this time, the lever located on the side of the bullet slot is used to block subsequent bullets to be fired in the bullet slot; When the friction wheel motor does not receive a rotation command from the control module, the two friction wheels stop rotating; when the friction wheel motor receives a rotation command from the control module, the friction wheel motor unit drives the two friction wheels to rotate in opposite directions, and the friction between the two friction wheels and the bullet to be fired in the acceleration groove pushes the bullet out of the barrel.

2. The launching mechanism for a UAV gimbal as described in claim 1, characterized in that, The control module uses PWM control technology to control the rotational speed of the friction wheel motor, thereby adjusting the launch speed of the bullet to be fired.

3. A launching mechanism suitable for a UAV gimbal as described in claim 1, characterized in that, The control module uses PWM control technology to adjust the rotation angle of the servo motor, thereby adjusting the angle of the bullet release lever and controlling the firing and locking of the bullet.

4. A launching mechanism suitable for a UAV gimbal as described in claim 1, characterized in that, The gun barrel is printed using 3D photopolymerization.

5. A launching mechanism suitable for a UAV gimbal as described in claim 1, characterized in that, The two friction wheel motors in the friction wheel motor unit are respectively installed in the two friction wheels, and the axial positioning of the friction wheels and the friction wheel motors is achieved by screws, so that the friction wheel motors drive the friction wheels to rotate coaxially.

6. A launching mechanism suitable for a UAV gimbal as described in claim 1, characterized in that, The gun barrel is rectangular in shape, with arc-shaped grooves on both sides for placing friction wheels.

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