Load-carrying unmanned aerial vehicle device capable of adjusting load-carrying gravity center in real time based on graphene tension sensing composite rope

Abstract

The invention discloses a loading unmanned aerial vehicle device based on a graphene tension sensing composite rope and capable of adjusting the loading gravity center in real time, relates to the technical field of loading balance of unmanned aerial vehicles, and solves the technical problems that an existing device is redundant in structure, smooth in sliding, loose in limiting and low in detection precision. The device comprises an unmanned aerial vehicle main body, a planar parallel mechanism, a tension sensing mechanism, a loading mechanism and a single-chip microcomputer control circuit board, the plane parallel mechanism is of an integrated structure of hemisphere-rail groove matching and rotatable circular ring limiting and is driven and adjusted through a penetrating type lead screw stepping motor. The tension sensing mechanism collects tension signals through four graphene tension sensing composite ropes, and gravity center closed-loop dynamic adjustment is achieved after the tension signals are processed by a single-chip microcomputer. The device is light in structure, smooth in operation, reliable in limiting, accurate in detection, and suitable for logistics transportation and material delivery scenes of 10-50kg civil and industrial loading unmanned aerial vehicles.

Description

Technical Field

[0001] This invention relates to the field of drone payload balance technology, specifically to a payload drone device based on a graphene tension sensing composite rope that can adjust the payload center of gravity in real time. It is suitable for civilian and industrial payload drones weighing 10-50kg that require precise control of the center of gravity and can be applied to scenarios such as logistics transportation and material delivery. Technical Background

[0002] The flight safety and control precision of heavy-duty drones directly depend on the stability of their center of gravity. As the application scenarios of civilian and industrial heavy-duty drones continue to expand, higher requirements are being placed on the accuracy of their center of gravity adjustment, response speed, and lightweight structure.

[0003] Currently, Chinese utility model patent with publication number CN216805937U discloses an automatic center of gravity adjustment device for a heavy-duty unmanned aerial vehicle (UAV). It uses a guide rail slider combined with multiple sets of connecting rods to achieve center of gravity adjustment, which is the closest existing technology in this field. The proposed solution suffers from the following key shortcomings: First, its structure is redundant and bulky: the combined structure of "guide rail + slider + multiple sets of connecting rods" results in a large axial space occupation and a high overall weight, which conflicts with the lightweight design requirements of drones and seriously affects the drone's endurance and maneuverability. Second, its motion response is sluggish: the slider and guide rail have planar contact with a friction coefficient ≥0.15, which can easily lead to delays in center of gravity adjustment due to mechanical jamming and wear, failing to meet the real-time adjustment requirements under dynamic load scenarios. Third, its limit reliability is low: relying on detachable limit components such as bolts and retaining rings, these components are prone to loosening and falling off after long-term flight vibration, posing a risk of component derailment and failure, affecting the reliability of the device's operation. Fourth, its detection accuracy is insufficient: using traditional pressure or tension sensors, the signal is significantly affected by electromagnetic interference, and the electrical parameter consistency error of the four detection channels is ≥±5%, resulting in a center of gravity offset judgment deviation of more than 1mm, making precise adjustment impossible.

[0004] In summary, existing center of gravity adjustment devices for heavy-duty drones cannot simultaneously achieve lightweight structure, smooth movement, reliable limit positioning, and accurate detection, making it difficult to meet the practical application requirements of 10-50kg class heavy-duty drones. Summary of the Invention 1. Technical problems to be solved

[0005] To address the shortcomings of existing payload drone center of gravity adjustment technologies, such as structural redundancy, slippage, easy loosening of limiters, and low detection accuracy, this invention provides a payload drone device based on a graphene tension-sensing composite rope that can adjust the payload center of gravity in real time. The aim is to fundamentally solve the technical problems of unstable center of gravity, adjustment lag, structural redundancy, low detection accuracy, and poor limiter reliability during payload drone flight through integrated optimization of mechanical structure, high-sensitivity sensor design, and the construction of a closed-loop control system. This will meet the practical needs of civilian and industrial-grade payload drones. 2. Technical Solution

[0006] To address the aforementioned technical problems, this invention proposes a load-bearing unmanned aerial vehicle (UAV) device based on a graphene tension-sensing composite rope, which allows for real-time adjustment of the load center of gravity. The device includes a UAV body, a planar parallel mechanism, a tension-sensing mechanism, a load-carrying mechanism, and a microcontroller control circuit board.

[0007] Furthermore, the main body of the drone adopts a multi-rotor reconfiguration type, which is a 10~50kg class payload drone. The lower part of the fuselage is provided with a horizontal mounting reference surface, and the interior is reserved with space for the installation of power supply modules and control circuit boards, providing an installation foundation and power support for the overall device.

[0008] Furthermore, the planar parallel mechanism is the core execution component, fixed to the horizontal mounting reference plane of the UAV body. It includes a horizontal fixed platform, two mutually perpendicular horizontal support rods, four through-type lead screw stepper motors, and a horizontal moving platform. The horizontal fixed platform has a cuboid cavity, and four horizontally extending rectangular grooves are symmetrically machined on the vertical inner walls of the cavity. Each groove has a track groove on its lower surface and a locking groove at its bottom, providing sliding guidance and limiting for the horizontal support rods. The two ends of the horizontal support rods are integrally formed cylindrical sections with hemispherical structures. The cylindrical sections are fitted with rotatable PEEK rings to achieve radial positioning and axial limiting. The through-type lead screw stepper motors and the horizontal support rods form a threaded transmission pair, converting rotational motion into linear displacement, providing precise power for the movement of the horizontal support rods.

[0009] Furthermore, the tension sensing mechanism is the core tension detection component, used to collect load tension signals in real time. It has high sensitivity and anti-interference capabilities, providing accurate data support for center of gravity detection. It includes a graphene tension sensing composite rope and a tension sensing plate. The tension sensing plate integrates four constant current sources and four metal film sampling resistors. There are four graphene tension sensing composite ropes with identical structural parameters. The upper end is connected to the horizontal moving platform, and the lower end is connected to the tension sensing plate. Together with the constant current sources and metal film sampling resistors, they form an independent detection circuit.

[0010] Furthermore, the loading mechanism includes four load-bearing ropes, which are evenly distributed at the four corners of the tension sensing plate to suspend the goods to be transported, ensuring that the tension of the goods is evenly transmitted to the graphene tension sensing composite ropes.

[0011] Furthermore, the microcontroller control circuit board is fixed at the center of the UAV body as the core control unit, including a microcontroller main control circuit, a stepper motor drive circuit, a voltage acquisition circuit, and a power module; the voltage acquisition circuit is electrically connected to the graphene tension sensing composite rope, the stepper motor drive circuit is electrically connected to the through-type lead screw stepper motor, and the power module provides stable power to each component.

[0012] Furthermore, this invention provides a method for real-time adjustment of the center of gravity of a payload-carrying unmanned aerial vehicle (UAV) based on the aforementioned device, comprising four steps: signal acquisition, center of gravity calculation, drive adjustment, and closed-loop feedback. Through independent detection loops corresponding to four graphene tension-sensing composite ropes, voltage signals corresponding to the load tension are acquired in real time and transmitted to a microcontroller control circuit board. The microcontroller main control circuit converts the voltage signals into real-time tension values ​​using a 24-bit analog-to-digital converter, compares the differences between the four tension values, and calculates the offset coordinates and amount of the load center of gravity. Based on the center of gravity offset parameters, the microcontroller main control circuit sends drive commands to the corresponding through-type lead screw stepper motor, driving the horizontal support rod and the horizontal moving platform to move horizontally, adjusting the position of the load-carrying mechanism. The above four steps are continuously executed until the four tension values ​​tend to be balanced, and the center of gravity returns to the preset center position, completing the dynamic adjustment. 3. Beneficial effects

[0013] Compared with the prior art, the present invention has the following outstanding substantive features and significant progress: Firstly, it boasts a high degree of lightweight structure: it adopts an integrated mechanical structure of "hemisphere + integrated cylinder + rotatable ring" to replace the traditional complex design of "guide rail + slider + multiple sets of connecting rods", which significantly reduces the axial dimension and overall weight, meeting the lightweight requirements of drones and effectively improving the drone's endurance. Secondly, it has good smoothness and fast response speed: the friction coefficient is greatly reduced by the arc surface of the hemispherical-rail groove, and the assembly error compensation function of the rotatable ring avoids mechanical jamming and wear, ensuring that the center of gravity adjustment response is rapid and adaptable to the real-time adjustment needs of dynamic load scenarios. Third, the limiting reliability is high: axial limiting is achieved through the gap fit between the ring and the slot, and radial positioning is achieved through the fit between the hemisphere and the arc surface of the rail groove. The double limiting structure eliminates the need for detachable limiting parts, thus eliminating the risk of loosening and derailment caused by long-term vibration and improving the long-term operational reliability of the device. Fourth, it has strong detection accuracy and anti-interference ability: It adopts a graphene tension sensing composite rope to integrate load-bearing and sensing functions, and is equipped with four independent constant current source detection circuits. Combined with high-precision analog-to-digital conversion chip and shielded wire design, it effectively reduces the influence of electromagnetic interference. The electrical parameter consistency error of the four detection channels is ≤±2%, and the center of gravity calculation error is controlled within 0.2mm. Fifth, it is economical to maintain: vulnerable parts (such as graphene tension sensing composite rope and rings) can be disassembled and replaced individually, eliminating the need for the entire device to be scrapped, which greatly reduces maintenance costs and maintenance cycle and improves the practicality of the device. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings: Figure 1 is an oblique top view of the overall structure of the present invention; Figure 2 is a top-view oblique view of the overall structure of the present invention; Figure 3 is a schematic diagram of the main body of the UAV of the present invention; Figure 4 is a bottom view of a planar parallel mechanism diagram; Figure 5 is an oblique elevation view of the planar parallel mechanism; Figure 6 is an oblique elevation view of a horizontal fixed platform; Figure 7 is a horizontal sectional view of the horizontal platform; Figure 8 is a vertical sectional view of the horizontal fixed platform; Figure 9 is a schematic diagram of the horizontal support rod; Figure 10 is a schematic diagram of a through-type lead screw stepper motor; Figure 11 is a schematic diagram of the horizontal moving platform; Figure 12 is a schematic diagram of the tension sensing mechanism; In the diagram: 1. UAV body; 2. Planar parallel mechanism; 21. Horizontal fixed platform; 211. Track groove; 212. Slot; 213. Mounting hole; 22. Horizontal support rod; 221. Hemispherical structure; 222. Cylindrical section; 223. Ring; 23. Horizontal moving platform; 231. Through hole; 232. Connecting hole; 24. Through-type lead screw stepper motor; 241. Lead screw; 242. Stepper motor; 3. Tension sensing mechanism; 31. Graphite tensile force sensing composite rope; 32. Tension sensing plate; 321. Constant current source; 322. Metal film sampling resistor; 323. Connecting hole; 4. Carrying mechanism; 5. Microcontroller control circuit board; Detailed Implementation

[0015] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0016] First, assemble the planar parallel mechanism: fix the deep groove ball bearing into the mounting holes at both ends of the rectangular groove of the horizontal fixed platform using a press-fit process, ensuring that the outer ring of the bearing fits tightly with the inner wall of the mounting hole without any looseness; connect the lead screw of the through-type lead screw stepper motor to the inner ring of the bearing with an interference fit, manually rotate the lead screw to verify that it rotates smoothly without jamming and without axial movement. Next, a PEEK ring is fitted onto the cylindrical section of the horizontal support rod, ensuring that the ring can rotate freely around the cylindrical section without jamming. The hemispherical structures at both ends of the horizontal support rod are aligned with the grooves of the horizontal fixed platform and embedded. At the same time, the horizontal support rod is rotated to ensure that the lead screw and the internal thread of the horizontal support rod are precisely engaged. The through hole of the horizontal moving platform is aligned with the horizontal support rod, and it is slowly slid to the center position of the horizontal fixed platform. The horizontal moving platform is pushed back and forth to test the sliding resistance. After ensuring that there is no jamming, the through-type lead screw stepper motor is fixed to the cylindrical section of the horizontal support rod with an M4 threaded bolt and locked with a lock nut. The locking torque is controlled at 5 N·m to ensure that the coaxiality deviation between the motor body and the cylindrical section does not exceed 0.02 mm.

[0017] Next, the sensing and control components were assembled: the lower end of the graphene tension sensing composite rope was fixed to the four corner connection holes of the tension sensing plate using stainless steel crimp fittings. The crimping pressure was controlled at 6MPa to ensure a secure connection and prevent the risk of detachment. The upper end was soldered to the voltage acquisition circuit interface of the microcontroller control circuit board using RVVP 2×0.12 shielded wires. The solder joint was wrapped with insulating tape for protection, and the shielding layer was reliably grounded to enhance anti-interference capabilities. The microcontroller control circuit board was installed in the reserved space inside the drone body using four M3 fixing bolts. Rubber shock-absorbing pads were added between the circuit board and the fuselage to reduce the impact of flight vibrations on the circuit modules. Then, the wires of the four through-type lead screw stepper motors were connected to the stepper motor drive circuit interface of the control circuit board. The connection used a quick-connect connector design for easy subsequent maintenance and component replacement. Finally, the power module was connected to the power supply system of the drone body. The power module output voltages of 3.3V, 5V, and 12V were tested and found to be stable with ripple ≤50mV. All circuit modules were powered normally and there was no abnormal overheating.

[0018] Finally, the entire assembly is performed: the assembled planar parallel mechanism is fixed to the horizontal mounting reference surface of the drone body using M5×16 hexagonal socket head cap screws, with the bolt spacing evenly distributed and a tightening torque of 8 N·m, ensuring a stable and secure connection between the planar parallel mechanism and the drone body. The tension sensor plate is suspended below the horizontal moving platform by four graphene tension sensor composite ropes. The length of the graphene tension sensor composite ropes is adjusted to ensure that the tension sensor plate remains horizontal and that the graphene tension sensor composite ropes are vertical, without twisting or additional stress. After assembly, all connection points are checked for looseness. The device is started under no-load conditions, and the tension signal difference of the four graphene tension sensor composite ropes is tested to be ≤0.05N, confirming that the assembly accuracy meets the design requirements.

[0019] In practical applications, the device underwent multi-condition performance verification: Under normal operating conditions, a 10kg standard weight was suspended from the loading mechanism, and the weight was artificially offset by 10mm. The total response time from detecting the offset to completing the adjustment was 420ms, and the center of gravity adjustment error was ≤±0.15mm. After 24 hours of continuous operation and 100 reciprocating adjustment cycles, the horizontal support rod's moving resistance remained at approximately 4.2N, and the wear on the hemispherical structure and track groove was only 0.008mm. There were no loosening of any components or abnormal overheating, demonstrating stable and reliable operation. Under simulated complex field conditions (including electromagnetic interference and slight vibration), the device still operated stably, with minimal interference affecting the tension detection signal, and the center of gravity adjustment accuracy remained within ±0.2mm, meeting the usage requirements of civilian and industrial-grade heavy-duty drones for logistics transportation and material delivery in various scenarios.

[0020] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the protection scope of the claims and specification of the present invention.

Claims

1. A load-bearing unmanned aerial vehicle (UAV) device based on a graphene tension-sensing composite rope, characterized in that, It includes the main body of the drone (1), the planar parallel mechanism (2), the tension sensing mechanism (3), the cargo-carrying mechanism (4), and the microcontroller control circuit board (5); The main body of the UAV (1) adopts a multi-rotor reconfiguration type, with a horizontal mounting reference surface on the lower part of the fuselage, and reserved space for the installation of power supply modules and control circuit boards inside; The planar parallel mechanism (2) is fixed to the horizontal mounting reference surface at the lower end of the UAV body (1), including a horizontal fixed platform (21), two horizontal support rods (22) arranged perpendicularly to each other, a horizontal moving platform (23), and four through-type lead screw stepper motors (24); the rectangular groove of the horizontal fixed platform (21) is provided with a rail groove (211) and a slot (212); the two ends of the horizontal support rods (22) are provided with integrally formed cylindrical sections (222), the ends of the cylindrical sections (222) are integrally formed with a hemispherical structure (221), and a flexible structure that can rotate freely around its axis is fitted on the cylindrical sections (222). A rotating ring (223); the hemispherical structure (221) and the rail groove (211) are fitted together to form a sliding fit, and the ring (223) and the slot (212) are fitted together to form axial and radial limiting; the horizontal support rod (22) is mounted below the horizontal fixed platform (21) and can move in the horizontal direction, and the cylindrical sections (222) at both ends of each horizontal support rod (22) are fixedly connected to the through-type lead screw stepper motor (24), and the horizontal moving platform (23) passes through the horizontal cylindrical through hole (231) on the side and moves synchronously with it; The tension sensing mechanism (3) includes a graphene tension sensing composite rope (31) and a tension sensing plate (32); the tension sensing plate (32) integrates four constant current sources (321) and four metal film sampling resistors (322); the graphene tension sensing composite rope (31) consists of four ropes with identical structural parameters, which are fixed at the four corners of the lower surface of the horizontal moving platform (23) respectively. The upper end of each rope is electrically connected to the single-chip microcomputer control circuit board (5) through the signal transmission wires built into the rope body, and the lower end is fixed at the four corners of the upper surface of the tension sensing plate (32) respectively. Each graphene tension sensing composite rope (31) is connected in series with the corresponding constant current source (321) and metal film sampling resistor (322) to form an independent detection circuit; The carrying mechanism (4) includes a carrying rope, the upper end of which is fixedly connected to the four corners of the lower surface of the tension sensing plate (32), and the lower end of which is used to suspend the load. The single-chip microcomputer control circuit board (5) is located at the center of the UAV body (1) and is electrically connected to four through-type lead screw stepper motors (24) and four graphene tension sensing composite ropes (31).

2. The payload unmanned aerial vehicle (UAV) device based on graphene tension sensing composite rope with real-time adjustable load center of gravity as described in claim 1, characterized in that: The horizontal fixed platform (21) is a cuboid base, and its lower surface is recessed inward to form a cuboid cavity. The four vertical inner walls of the cuboid cavity are provided with rectangular grooves extending in the horizontal direction. The rail groove (211) is provided on the lower surface of the rectangular groove and is consistent with the extension direction of the groove. The slot (212) is provided at the bottom of the rectangular groove and is consistent with the extension direction of the groove. The inner arc surface of the rail groove (211) adopts a circular arc transition structure. The rectangular grooves arranged opposite each other are flush with the height direction of the horizontal fixed platform (21), and the adjacent rectangular grooves are staggered vertically along the height direction of the horizontal fixed platform (21). The two horizontal support rods (22) have the same structural parameters and the rod body is cylindrical; the radius of the hemispherical structure (221) is the same as the radius of the cylindrical segment (222); the end face of the ring (223) is perpendicular to the axis of the cylindrical segment (222), its inner wall is cylindrical and its radius is 0.03~0.08 mm larger than the cross-sectional radius of the cylindrical segment (222), and its outer wall is an arc surface with a radius 1.5 times its inner diameter; The horizontal moving platform (23) is a cuboid base. The two horizontal cylindrical through holes (231) on its side are perpendicular to each other and are staggered up and down along the height direction of the horizontal moving platform (23). The two through holes (231) correspond one-to-one with the two horizontal support rods (22) and the gaps are matched. The through-type lead screw stepper motor (24) is fixed at one end of the cylindrical section (222) away from the hemispherical structure (221), and its body is coaxially arranged with the cylindrical section (222).

3. The load-bearing unmanned aerial vehicle (UAV) device based on graphene tension-sensing composite rope with real-time adjustable load center of gravity as described in claim 2, characterized in that: The outer arc surface of the ring (223) and the upper surface of the inner wall of the slot (212) are reserved with a gap of 0.1~0.15 mm, which forms a limit with the upper and lower surfaces of the inner wall of the slot (212) to restrict the horizontal support rod (22) from moving along its own axis and vertically. The two ends of the lead screw (241) of the through-type lead screw stepper motor (24) are rotatably connected to the two ends of the cross-section of the rectangular groove of the horizontal fixed platform (21) through deep groove ball bearings. The inner ring of the deep groove ball bearing is interference-fitted with the shaft head of the lead screw (241), and the outer ring is transition-fitted with the mounting holes (213) at both ends of the cross-section of the rectangular groove, so that the lead screw (241) can rotate freely around its own axis and the axial displacement is limited. The axial direction of the lead screw (241) is horizontally perpendicular to the axial direction of the horizontal support rod (22) and forms a threaded transmission adaptation. Its rotational motion around the axis is converted into linear displacement of the through-type lead screw stepper motor (24) along the lead screw axis through thread meshing, thereby driving the horizontal support rod (22) fixedly connected to the motor body to move horizontally in sync, and the direction of movement is consistent with the transmission direction of the lead screw (241).

4. The payload unmanned aerial vehicle (UAV) device based on graphene tension sensing composite rope with real-time adjustable load center of gravity as described in claim 1, characterized in that: The graphene tensile sensing composite rope (31) is made of graphene and high-strength fiber matrix, with a tensile strength ≥500 MPa; the upper ends of the four graphene tensile sensing composite ropes (31) are electrically connected to the four voltage acquisition circuits of the single-chip microcomputer control circuit board (5) one by one through shielded wires, and the lower ends are fixed to the connection hole (323) of the tensile sensing plate (32) through metal crimping parts; Each graphene tension sensing composite rope (31) has an independent detection circuit with an output voltage signal range of 0.3~3.0V, which is compatible with the 3.3V voltage acquisition range of the microcontroller control circuit board (5). The electrical parameter consistency error of the four detection circuits is ≤±2%.

5. The payload unmanned aerial vehicle (UAV) device based on graphene tension sensing composite rope with real-time adjustable load center of gravity according to claim 1, characterized in that: The microcontroller control circuit board (5) includes a microcontroller main control circuit, two sets of stepper motor drive circuits, four voltage acquisition circuits and a power supply module; The input terminals of the four voltage acquisition circuits are electrically connected one-to-one to the two ends of the four graphene tension sensing composite ropes (31), with an acquisition frequency ≥200Hz. The two sets of stepper motor drive circuits are electrically connected to the four through-type lead screw stepper motors (24) one by one, and each set of drive circuits drives two motors on the same side, outputting PWM drive signals adapted to the through-type lead screw stepper motors (24), with a drive voltage of 12~24V and a step angle control accuracy of ≤0.9°. The power module is electrically connected to the microcontroller main control circuit, the stepper motor drive circuit, and the voltage acquisition circuit, respectively, to provide a stable working voltage with multiple output levels of 3.3V / 5V / 12V, and the power ripple is ≤50 mV.

6. The payload unmanned aerial vehicle device based on graphene tension sensing composite rope with real-time adjustable load center of gravity according to claim 4, characterized in that: The graphene tension sensing composite rope (31) has a length of 2~5 cm, a nominal internal resistance of 200~500 Ω, a tension sensitivity of 0.5~2Ω / N, and a repeatability error ≤±1%; The resistance of the metal film sampling resistor (322) is 1 to 1.5 times the nominal internal resistance of the corresponding graphene tension sensing composite rope (31), the rated power is ≥1 / 4W, the accuracy class is ±0.1%, and the resistance consistency error of the four metal film sampling resistors (322) is ≤±0.5%. The constant current source (321) has an output current range of 0.8~1.2mA, an output internal resistance ≥330kΩ, and a current accuracy of ±1%. The output current consistency error of the four constant current sources (321) is ≤±0.5%, and it has short-circuit protection function.

7. A method for real-time adjustment of the center of gravity of a heavy-duty unmanned aerial vehicle based on the device described in any one of claims 1-6, characterized in that, Includes the following steps: S1 signal acquisition: The voltage signal corresponding to the load tension is acquired in real time through the independent detection loops corresponding to the four graphene tension sensing composite ropes (31) and transmitted to the microcontroller control circuit board (5). S2 Center of Gravity Calculation: The microcontroller main control circuit converts the voltage signal into a real-time tensile force value through a 24-bit analog-to-digital converter, compares the differences between the four tensile force values, and calculates the offset coordinates and offset amount of the load center of gravity. S3 drive adjustment: The microcontroller main control circuit sends a drive command to the corresponding through-type lead screw stepper motor (24) according to the center of gravity offset parameter, and drives the horizontal support rod (22) and the horizontal moving platform (23) to move horizontally through the lead screw transmission, thereby adjusting the position of the loading mechanism; S4 closed-loop feedback: Continuously execute steps S1-S3, correct drive commands in real time until the four tension values ​​tend to be balanced, the center of gravity returns to the preset center position, and the dynamic adjustment is completed.

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