An unmanned aerial multi-tube liquid tear-gas grenade mechanical launching device and a synchronous interlocking control method

Abstract

The present application relates to tear bomb launching technical field, especially in unmanned aerial vehicle multi-tube liquid tear bomb mechanical launching device and synchronous interlock control method, launching device includes: including quick release module, cartridge fixed part and rudder mechanical firing device; Cartridge fixed part is equipped with a plurality of cartridge containing tear bomb, drive rudder through index cam transmission mechanism connecting firing pin; Drive rudder rotates along the direction of making firing pin move away from cartridge direction, index cam transmission mechanism drives firing pin to move to the position of being in contact with firing pin limit protection block; Drive rudder rotates along the direction of making firing pin move close to cartridge direction, index cam transmission mechanism drives firing pin to be in contact with firing pin limit protection block, and firing pin moves close to cartridge direction under the action of its elastic force and hits the primer in the tear bomb in cartridge.This application can realize the automatic homing of firing pin and cartridge synchronous index adjustment, and improve the alignment accuracy of unmanned aerial vehicle tear bomb launching.

Description

Technical Field

[0001] This invention relates to the field of tear gas launch technology, and in particular to a mechanical launcher and synchronous interlocking control method for a UAV-borne multi-tube liquid tear gas canister. Background Technology

[0003] The existing firing pin reset system of most firing mechanisms is a passive structure. After a single firing, the firing pin cannot autonomously and accurately complete the full action of resetting and locking into a ready-to-fire state, making it impossible to form a cyclical ready-to-fire state. At the same time, the indexing rotation adjustment of the magazine mostly adopts an independent control mode, which makes it difficult to achieve precise linkage and matching with the movement sequence of the firing mechanism. Under batch and continuous firing conditions, the structural problems of delayed firing pin reset and misaligned magazine indexing sequence will cause deviations between the loading position of the projectile and the firing point. The operating rhythms of various components of the mechanism will be disconnected and the coordination will be out of sync, which will greatly affect the overall working performance of the launching device. This will not only cause large positioning deviations in tear gas launches and insufficient accuracy, but also lead to frequent failures such as linkage jamming and firing failures during continuous operation, significantly reducing the collaborative working accuracy and operational reliability of the entire launching system.

[0004] Chinese Patent Publication No. CN112504028B discloses a drone tear gas launcher, including a magazine fixing part with multiple firing ports along its length and trigger slots corresponding to the firing ports; a magazine, placed inside the magazine fixing part, with receiving cavities corresponding to the firing ports; and a firing part that can move along the length of the magazine fixing part, with a firing tube fixed at one end and a trigger unit fixed at the other end. The trigger unit includes a firing pin and a hammer, the hammer striking the firing pin, and the tip of the firing pin entering the receiving cavity. This drone tear gas launcher relies solely on a rigid firing structure where the firing part moves using a gear and rack system and the hammer strikes the firing pin. It cannot achieve automatic firing pin return to its ready position and synchronized magazine indexing adjustment, resulting in tear gas launch alignment misalignment and inconsistent firing actions, thus reducing the alignment accuracy and operational stability of the drone-borne tear gas launch. Summary of the Invention

[0005] To address this issue, the present invention provides a mechanical launching device and synchronous interlocking control method for UAV-borne multi-tube liquid tear gas grenades, which overcomes the problem in the prior art that the firing pin cannot be automatically returned to its ready position and the magazine can be synchronously indexed and adjusted, resulting in tear gas grenades being misaligned during launch and firing actions being out of sync, thus reducing the alignment accuracy and action linkage stability of UAV-borne tear gas grenades.

[0006] To achieve the above objectives, the present invention provides a mechanical launching device for multiple liquid tear gas grenades carried by an unmanned aerial vehicle (UAV), comprising a quick-release module detachably connected to the UAV fuselage, a magazine fixing part, and a servo-driven mechanical firing device; the magazine fixing part is provided with multiple magazines for accommodating tear gas grenades, the servo-driven mechanical firing device includes a trigger unit, the trigger unit including a drive servo, a guide groove, a firing pin, and a firing pin limiting protection block, the drive servo being connected to the firing pin via an indexing cam transmission mechanism, and the drive servo also being connected to the magazine fixing part via a transmission linkage mechanism, the guide groove being used to guide and limit the movement of the firing pin, the firing pin limiting protection block being used to limit the firing position of the firing pin, and the firing pin being made of an elastic material; When the drive servo rotates in the direction that moves the firing pin away from the magazine, the indexing cam transmission mechanism drives the firing pin to a firing position that abuts against the firing pin limiting protection block. At the same time, the transmission linkage mechanism drives the magazine fixing part to rotate by a preset angle. When the drive servo rotates in the direction that moves the firing pin closer to the magazine, the indexing cam transmission mechanism drives the firing pin to disengage from the firing pin limiting protection block. Under the action of its own elastic force, the firing pin moves closer to the magazine and strikes the tear gas primer inside the magazine.

[0007] The technical principle of this application lies in the following: by simultaneously controlling the indexing cam transmission mechanism and the transmission linkage mechanism through a drive servo motor, the firing pin's power storage and the magazine's rotation are synchronized. The output shaft of the drive servo motor is connected to the indexing cam transmission mechanism, which converts the rotational motion of the drive servo motor into the linear reciprocating motion of the firing pin. Simultaneously, the drive servo motor is connected to the magazine fixing part through the transmission linkage mechanism, driving the magazine fixing part to rotate in an indexing manner. When the drive servo motor rotates in the direction that moves the firing pin away from the magazine, the indexing cam transmission mechanism pushes the firing pin backward. The firing pin, made of elastic material, undergoes elastic deformation and stores elastic potential energy during its backward movement. When the firing pin reaches the ready-to-fire position, it abuts against the firing pin limit protection block, which restricts the firing pin from rebounding forward under the elastic force, keeping the firing pin in a ready-to-fire state. At the same time, the transmission linkage mechanism, driven by the servo motor, rotates the magazine fixing part by a preset angle, aligning the primer of the next tear gas grenade in the magazine with the firing pin axis. When the drive servo rotates in the direction that moves the firing pin closer to the magazine, the indexing cam transmission mechanism moves in the opposite direction, driving the firing pin to break free from the constraint of the firing pin limit protection block. After losing its limit, the firing pin is rapidly ejected towards the magazine under the action of its stored elastic force, moving at high speed along a straight trajectory defined by the guide groove, and finally impacting the primer of the tear gas grenade in the magazine, completing the firing. The guide groove provides guidance and limit throughout the firing pin's movement, ensuring that the firing pin impact point is aligned with the center of the primer.

[0008] Compared with existing technologies, the advantages of this application are as follows: By linking the drive servo motor with the indexing cam transmission mechanism and the transmission linkage mechanism, the synchronous and coordinated action of the firing pin's ready-to-fire positioning and the fixed part of the magazine's indexing rotation is achieved, effectively solving the problems of misalignment and inconsistent action coordination among magazines, and significantly improving the alignment accuracy of continuous firing of multiple magazines. The guide groove guides and limits the firing pin's movement throughout its entire range, avoiding firing pin displacement, jamming, and misalignment, ensuring the stability of the firing pin's trajectory. The firing pin limit protection block precisely limits the firing pin's ready-to-fire position, achieving precise locking before firing, avoiding accidental firing and premature displacement, and improving the safety of the device operation. The use of an elastic material firing pin that relies on its own elasticity to complete firing replaces the traditional rigid impact structure, weakening the firing impact force, reducing mechanical vibration during device operation, further ensuring the stability of UAV-borne launch operations, while simplifying the firing transmission structure and ensuring the operational effectiveness of continuous and orderly firing of multiple tear gas canisters.

[0009] Furthermore, the quick-release module includes a quick-release buckle, which is used for detachable connection with a pre-set interface on the drone body.

[0010] In this solution, the quick-release buckle and the detachable connection to the drone body interface enable the rapid installation and removal of the ammunition magazine. The operation can be completed without tools, which greatly improves the convenience of maintenance and the efficiency of replacement.

[0011] Furthermore, the indexing cam transmission mechanism includes a bearing rotatably mounted on the output shaft of the drive servo motor, and an indexing gear that cooperates with the bearing. When the drive servo motor rotates, the firing pin is driven to move along the guide groove through the cam transmission of the bearing and the indexing gear.

[0012] In this solution, the rotational motion of the drive servo motor is converted into the linear movement of the firing pin along the guide groove through the cam transmission of the bearing and the indexing gear, thereby achieving precise indexing and smooth transmission.

[0013] Furthermore, the multiple magazines in the magazine fixing part are evenly distributed at equal angles along the circumferential direction, and the axes of each magazine are parallel to each other.

[0014] In this solution, by arranging multiple magazines evenly along the circumference at equal angles within the magazine fixing section and keeping the axes of each magazine parallel to each other, the magazines can be arranged in a regular manner, with balanced force distribution, improving the overall structural stability, while ensuring the consistency of feeding action and smooth operation.

[0015] Furthermore, the transmission linkage mechanism drives the magazine fixing part to rotate by a predetermined angle of 90 degrees each time, so that the magazine of the next tear gas grenade to be fired is aligned with the movement path of the firing pin.

[0016] In this design, by rotating 90 degrees each time, the magazine of the next tear gas grenade is accurately aligned with the firing pin's movement path, achieving precise step-by-step feeding, ensuring orderly firing of each grenade, avoiding misalignment or jamming, and significantly improving the reliability and hit rate of continuous firing.

[0017] Furthermore, it also includes a status detection circuit and a remote controller with a screen. The status detection circuit is used to detect the electrical connection status of the tear gas mechanical launching device and the UAV, as well as the firing pin's ready-to-fire status. The remote controller with a screen is communicatively connected to the status detection circuit and the UAV. The remote controller with a screen is used to display the UAV's flight status, electrical connection status, and firing pin's ready-to-fire status, and to send a launch command to the drive servo motor.

[0018] In this solution, the status detection circuit detects the mechanical launching device of tear gas, the electrical connection of the UAV, and the firing pin standby status. The remote controller with a screen displays the flight status, electrical connection status, and standby status in real time, and sends the launch command to the drive servo motor. This achieves comprehensive system status monitoring and remote precise control, ensuring launch safety and operational convenience.

[0019] Furthermore, the servo mechanical firing device controls the independent firing of tear gas grenades in a single magazine, or controls the sequential firing of tear gas grenades in multiple magazines in a preset order.

[0020] In this solution, the tear gas firing mode can be flexibly controlled through the servo mechanical firing device. It can achieve independent firing of a single ammunition or drive multiple ammunition to be fired in a predetermined order. The firing control method is diverse, adaptable to different usage scenarios, and improves the operational flexibility of the device.

[0021] Furthermore, the firing pin limiting protection block is fixed at the end of the guide groove away from the magazine. When the firing pin is in the ready-to-fire position, the firing pin abuts against the firing pin limiting protection block.

[0022] In this solution, by fixing the firing pin limiting protection block to the end of the guide groove away from the magazine, the firing pin in the ready-to-fire position abuts against the limiting protection block, forming a physical limiting constraint on the firing pin, regulating the position of the firing pin in the ready-to-fire state, avoiding the firing pin from deviating or malfunctioning, and ensuring the stability and safety of the overall structure.

[0023] This invention also provides a method for synchronous interlocking control of mechanical launch of multiple liquid tear gas grenades carried by unmanned aerial vehicles, comprising the following steps: S1. After the tear gas mechanical launching device is powered on, it acquires the flight platform parameters and the remote control platform parameters, and performs fault diagnosis on the flight platform and the remote control platform based on the flight platform parameters and the remote control platform parameters to obtain the fault diagnosis results. When the fault diagnosis results indicate that there is a fault, it outputs a lockout command and alarms. When the fault diagnosis results indicate that there is no fault, it enters the standby state. The flight platform parameters include the remaining battery voltage, flight attitude tilt angle and received signal strength. The remote control platform parameters include the launching module operating current, button circuit status and battery power. The remote control platform includes a remote control with a screen. S2. In standby mode, the interlocking conditions of the tear gas mechanical launching device are checked based on communication link status information, airborne power supply voltage, mechanical connection confirmation signal and flight attitude information. When the interlocking conditions are not met, the interlocking is maintained. When the interlocking conditions are met, an authorized standby signal is generated. S3. In response to the authorized standby signal, after detecting the first authorization command and the second confirmation command, the launch operation permission lock is released; S4. After unlocking, the conduction time of the launch button is collected, and the conduction time is compared with the first time threshold and the second time threshold. The launch mode of the tear gas mechanical launcher is determined according to the comparison result. When the conduction time reaches the first time threshold but does not reach the second time threshold, the launch mode of the tear gas mechanical launcher is determined to be the single-tube launch mode. When the conduction time reaches the second time threshold, the launch mode of the tear gas mechanical launcher is determined to be the multi-tube sequential launch mode. The first time threshold is less than the second time threshold. S5. When the firing mode of the tear gas mechanical launcher is determined to be single-tube firing mode, a set of forward rotation signals and reverse rotation signals are generated. The forward rotation signal is used to drive the servo motor to rotate in the direction that moves the firing pin away from the magazine, and drives the firing pin to move to the ready-to-fire position abutting against the firing pin limit protection block through the indexing cam transmission mechanism. At the same time, it drives the magazine fixing part to rotate by a preset angle through the transmission linkage mechanism. The reverse rotation signal is used to drive the servo motor to rotate in the direction that moves the firing pin closer to the magazine, so that the firing pin disengages from the firing pin limit protection block. Under the action of its own elastic force, the firing pin moves towards the magazine and strikes the tear gas primer in the magazine. S6. When the firing mode of the tear gas mechanical launcher is determined to be a multi-tube sequential firing mode, the forward rotation signal and the reverse rotation signal are generated alternately. Each time a forward rotation signal is generated, the servo motor is driven to rotate in the direction that moves the firing pin away from the magazine. The indexing cam transmission mechanism drives the firing pin to move to the ready-to-fire position where it abuts against the firing pin limit protection block. At the same time, the magazine fixing part is driven to rotate by a preset angle through the transmission linkage mechanism. Each time a reverse rotation signal is generated, the servo motor is driven to rotate in the direction that moves the firing pin closer to the magazine. The firing pin disengages from the firing pin limit protection block. Under the action of its own elastic force, the firing pin moves towards the magazine and strikes the primer until all the ammunition in the magazine is fired. S7. During the execution of steps S1 to S6, continuously acquire the flight platform parameters and remote control platform parameters, and perform fault diagnosis on the flight platform and remote control platform. When a fault is diagnosed, output a lockout command and terminate the launch process. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a mechanical launching device for a UAV-borne multi-tube liquid tear gas canister according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the trigger unit in the servo mechanical firing device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the magazine structure in an embodiment of the present invention; Reference numerals: 1. UAV fuselage; 2. Quick-release module; 3. Bomb magazine fixing part; 4. Bomb magazine; 5. Transmission linkage mechanism; 6. Drive servo motor; 7. Servo motor mechanical firing device; 8. Guide groove; 9. Firing pin; 10. Firing pin limit protection block. Detailed Implementation

[0025] The following detailed description illustrates the specific implementation method: like Figure 1 , Figure 2 and Figure 3 As shown, a mechanical launching device for multi-tube liquid tear gas grenades carried by an unmanned aerial vehicle (UAV) includes a quick-release module 2 detachably connected to the UAV fuselage 1, a magazine fixing part 3, and a servo-driven mechanical firing device. The magazine fixing part 3 is provided with multiple magazines 4 for accommodating tear gas grenades. The servo-driven mechanical firing device includes a trigger unit, which includes a drive servo, a guide groove, a firing pin 9, and a firing pin limiting protection block 10. The drive servo is connected to the firing pin 9 through an indexing cam transmission mechanism and is also connected to the magazine fixing part 3 through a transmission linkage mechanism. The guide groove is used to guide and limit the movement of the firing pin 9, and the firing pin limiting protection block 10 is used to limit the firing position of the firing pin 9. The firing pin 9 is made of an elastic material. When the drive servo rotates in the direction that moves the firing pin 9 away from the magazine 4, the indexing cam transmission mechanism drives the firing pin 9 to move to the firing position where it abuts against the firing pin limiting protection block 10. At the same time, the transmission linkage mechanism drives the magazine fixing part 3 to rotate by a preset angle. When the drive servo rotates in the direction that moves the firing pin 9 closer to the magazine 4, the indexing cam transmission mechanism drives the firing pin 9 to disengage from the firing pin limiting protection block 10. Under the action of its own elastic force, the firing pin 9 moves closer to the magazine 4 and strikes the tear gas primer in the magazine 4.

[0026] Specifically, the quick-release module 2 includes a quick-release buckle, which is used to detachably connect to a preset interface on the drone body 1.

[0027] Furthermore, the quick-release module 2 also includes a base, which is bolted to the top of the housing of the tear gas mechanical launcher and the magazine fixing part 3. The quick-release latch specifically adopts a spring-loaded plunger type latch, which includes a latching pin, a compression spring, and a lever. The pre-installed interface on the UAV fuselage 1 is a mounting plate with a locking hole, which engages with the latching pin. The latching pin extends under spring force and inserts into the interface locking hole to form a lock, achieving a reliable mechanical connection. The lever is linked to the latching pin; moving the lever compresses the spring, causing the latching pin to retract, thus enabling quick disassembly. The end of the latching pin has a guide bevel, which automatically yields to the interface pressure during installation and springs into the locking hole. The base also has a limiting boss that fits against the edge of the interface to prevent circumferential rotation.

[0028] Specifically, the indexing cam transmission mechanism includes a bearing rotatably mounted on the output shaft of the drive servo motor, and an indexing gear that cooperates with the bearing. When the drive servo motor rotates, the firing pin 9 is driven to move along the guide groove through the cam transmission of the bearing and the indexing gear.

[0029] Furthermore, the indexing cam transmission mechanism adopts a cylindrical indexing cam and indexing gear meshing transmission structure. Deep groove ball bearings are used, with the inner ring of the bearing interference-fitted with the output shaft of the drive servo motor, and the outer ring interference-fitted with the center hole of the cylindrical indexing cam. The indexing gear is connected to the rear end shaft of the firing pin 9 via a flat key, and the tooth surface of the indexing gear maintains contact with the cam surface of the cylindrical indexing cam. When the drive servo motor rotates, it drives the cylindrical indexing cam to rotate synchronously. The cam surface of the cylindrical indexing cam pushes the indexing gear to move axially, thereby driving the firing pin 9 to perform linear reciprocating motion along the guide groove. The cam transmission curve adopts a modified sine acceleration curve, the mathematical expression of which is: In the formula, This indicates the axial displacement of firing pin 9, in millimeters. This indicates the maximum travel of firing pin 9, in millimeters. For example, [the maximum travel of firing pin 9 is indicated by the following text]. Set to 15 mm. This indicates the rotation angle of a cylindrical indexing cam, expressed in radians. This represents the push angle of a cylindrical indexing cam, expressed in radians. For example, [the following text is incomplete and likely refers to a different topic:] Set as Radius. This modified sinusoidal acceleration curve represents the relationship between the axial displacement of the firing pin 9 and the rotation angle of the cylindrical indexing cam, ensuring that the acceleration of the firing pin 9 is continuous and impact-free during its movement.

[0030] Specifically, the multiple magazines 4 in the magazine fixing part 3 are evenly distributed at equal angles along the circumferential direction, and the axes of each magazine 4 are parallel to each other.

[0031] Furthermore, the magazine fixing part 3 is a rotary assembly, including an upper disc, a lower disc, and a central rotating shaft. The upper and lower discs are coaxially fixed to the central rotating shaft by bolts. Multiple cylindrical through holes are opened at equal angles along the circumference between the two discs, and a magazine 4 is fixedly installed in each through hole. In this embodiment, there are 4 magazines 4, and the central angle between adjacent magazines 4 is 90°. Each magazine 4 is an independent thin-walled cylinder, and the inner diameter of the cylinder is clearance-fitted with the outer diameter of the tear gas grenade. A primer firing hole is opened on the lower end face of the cylinder. The axes of each magazine 4 are parallel to each other and parallel to the axis of the central rotating shaft. To ensure parallelism, the mounting holes on the upper and lower discs are machined in one clamping operation using a CNC machine tool. A special positioning mandrel is used for calibration during assembly. The magazines 4 are made of 6061-T6 aluminum alloy, and the inner wall is coated with polytetrafluoroethylene to reduce friction. A limiting step is provided at the lower end of the magazine 4. This limiting step is used to restrict the axial position of the tear gas canister in the magazine 4, so that the primer of the tear gas canister is exactly at the end of the movement path of the firing pin 9.

[0032] Specifically, the transmission linkage mechanism drives the magazine fixing part 3 to rotate by a predetermined angle of 90 degrees each time, so that the magazine 4 of the next tear gas grenade to be fired is aligned with the movement path of the firing pin 9.

[0033] Furthermore, the transmission linkage mechanism adopts a planar four-bar linkage, including an active rocker arm, a connecting rod, a driven rocker arm, and a frame. One end of the active rocker arm is fixedly connected to the output shaft of the drive servo motor via a spline, and the other end of the active rocker arm is hinged to one end of the connecting rod via a spherical bearing. The other end of the connecting rod is hinged to the driven rocker arm via a spherical bearing. The driven rocker arm is fixedly connected to the central rotating shaft of the magazine fixing part 3 via a flat key. The frame is the housing of the launching device. Each time the drive servo motor receives a magazine rotation command, the output shaft of the drive servo motor rotates 90 degrees clockwise from the initial position. The active rocker arm swings 90 degrees with the output shaft of the drive servo motor, driving the driven rocker arm to rotate via the connecting rod. The driven rocker arm drives the central rotating shaft of the magazine fixing part 3 and the magazine fixing part 3 to rotate 90 degrees synchronously. By optimizing the rod length dimensions (active rocker arm length 15mm, connecting rod length 40mm, driven rocker arm length 15mm, frame distance 42mm), the output rotation angle is exactly 90 degrees when the input swing angle is 90 degrees. When the drive servo motor rotates to its final position, the connecting rod and the driven rocker arm are collinear, and the transmission linkage mechanism is in a self-locking state to prevent the magazine fixing part 3 from rotating under external force. When the drive servo motor reverses to its original position, the one-way bearing installed on the central shaft of the magazine fixing part 3 isolates the reverse movement, ensuring that the magazine fixing part 3 only moves in one direction.

[0034] Specifically, it also includes a status detection circuit and a remote controller with a screen. The status detection circuit is used to detect the electrical connection status of the tear gas mechanical launching device and the UAV, and the firing status of the firing pin 9. The remote controller with a screen is communicatively connected to the status detection circuit and the UAV. The remote controller with a screen is used to display the flight status of the UAV, the electrical connection status of the UAV, and the firing status of the firing pin 9, and to send a launch command to the drive servo motor.

[0035] Furthermore, the status detection circuit is based on an STM32 microcontroller and includes an electrical connection detection module and a firing pin 9 position detection module. The electrical connection detection module utilizes two redundant pins within the quick-release aviation connector: one pin detects the +5V power supply voltage, and the other pin detects the terminating resistance (120Ω) of the CAN communication bus. The STM32 microcontroller uses an ADC to acquire the voltage value and determine if the electrical connection is normal. The firing pin 9 position detection module uses a reflective photoelectric sensor (model ITR20001 / T) installed at the firing position at the rear of the guide slot. A reflector is fixed to the tail of firing pin 9. When firing pin 9 moves to the firing position, the photoelectric sensor receives the reflected light and outputs a low level. The remote controller with a screen is an industrial-grade rugged remote controller that communicates with the UAV flight controller via a 2.4GHz digital image transmission link. The flight controller then connects to the status detection circuit via a CAN bus. The remote controller's display screen shows the UAV's altitude, speed, battery level, electrical connection status (green "connected" or red "disconnected"), and firing pin 9 status ("ready to fire" or "fired") in sections. When the transmit button on the remote controller with screen is pressed, a PWM command is generated. This command is then forwarded by the flight controller to the status detection circuit. Once the circuit confirms that the electrical connection is normal and that the firing pin 9 is in a ready-to-fire state, it outputs a PWM signal to the drive servo to control the servo's movement.

[0036] Specifically, the servo mechanical firing device controls the independent firing of a single tear gas grenade in a single magazine 4, or controls the sequential firing of tear gas grenade in multiple magazines 4 in a preset order.

[0037] Furthermore, in independent firing mode, by selecting "single fire" via the remote control with a screen and pressing the fire button, the status detection circuit outputs a complete PWM pulse sequence to the drive servo motor (the pulse width jumps from 1.5ms to 2.0ms and then back to 1.5ms, with a total duration of 0.5s). The drive servo motor completes one push stroke and one return stroke, and the firing pin 9 fires the tear gas grenade currently in magazine 4 and then returns to the ready-to-fire position. At this time, the transmission linkage mechanism does not move. If it is necessary to fire the next tear gas grenade in the same magazine 4 (which can hold multiple grenades), a manual transfer command must be sent first. In multi-barrel sequential firing mode, the user sets the number of consecutive fires (e.g., 4 grenades) and the firing interval (e.g., 0.5s). The status detection circuit automatically cycles through the following steps: sending the firing command → delaying the set firing interval → controlling the transmission linkage mechanism to rotate 90 degrees → detecting the magazine 4 rotation into position signal (using a Hall switch) → sending the firing command again. The cycle stops after reaching the set number (e.g., 10 times). If any step fails (such as firing pin 9 not resetting or magazine 4 not rotating into position), the circuit will immediately stop firing and upload the fault code to the remote control for display.

[0038] Specifically, the firing pin limiting protection block 10 is fixed at one end of the guide groove away from the magazine 4. When the firing pin 9 is in the ready-to-fire position, the firing pin 9 abuts against the firing pin limiting protection block 10.

[0039] Furthermore, the guide groove is a straight slide groove machined from the firing device housing, with a cylindrical countersunk hole at the end furthest from the magazine 4 (i.e., the rear end). The firing pin limiting protection block 10 is a two-section stepped cylinder, with the smaller diameter section embedded in the countersunk hole and the larger diameter section facing the tail of the firing pin 9. The firing pin limiting protection block 10 is molded from polyurethane elastomer (Shore A 70 hardness), and a metal threaded seat is pre-embedded inside the firing pin limiting protection block 10. A countersunk screw passes through the center of the firing pin limiting protection block 10 and fixes the firing pin limiting protection block 10 to the bottom of the countersunk hole. A gap is left between the screw and the firing pin limiting protection block 10, allowing the firing pin limiting protection block 10 to be elastically compressed axially. A preloaded spring (0.5 mm wire diameter, 6 mm outer diameter, 10 mm free length) is installed between the rear end of the firing pin limiting protection block 10 and the bottom of the countersunk hole. One end of the preloaded spring abuts against the firing pin limiting protection block 10, and the other end abuts against the bottom of the countersunk hole, ensuring that the firing pin limiting protection block 10 is always subjected to a forward thrust. When the firing pin 9 moves backward to the ready-to-fire position under the drive of the indexing cam transmission mechanism, the tail end face of the firing pin 9 first contacts the front end face of the protection block and pushes the firing pin limiting protection block 10 backward to compress the spring by about 0.5 mm. At this time, the tail baffle of the firing pin 9 just triggers the photoelectric sensor of the ready-to-fire position, and the status detection circuit determines that it is in the ready-to-fire state. The elastic deformation of the firing pin limiting protection block 10 absorbs the residual kinetic energy when the firing pin 9 returns to its original position, avoiding metal impact noise. If the drive servo motor overshoots, the firing pin limiting protection block 10 can provide a maximum compression stroke of 1.5 mm, which serves as a limit and buffer. The firing pin is made of one of the following elastic materials: spring steel (such as 60Si2Mn), beryllium bronze, or polyurethane elastomer.

[0040] This invention also provides a method for synchronous interlocking control of mechanical launch of multiple liquid tear gas grenades carried by unmanned aerial vehicles, comprising the following steps: S1. After the tear gas mechanical launching device is powered on, it acquires the flight platform parameters and the remote control platform parameters, and performs fault diagnosis on the flight platform and the remote control platform based on the flight platform parameters and the remote control platform parameters to obtain the fault diagnosis results. When the fault diagnosis results indicate that there is a fault, it outputs a lockout command and alarms. When the fault diagnosis results indicate that there is no fault, it enters the standby state. The flight platform parameters include the remaining battery voltage, flight attitude tilt angle and received signal strength. The remote control platform parameters include the launching module operating current, button circuit status and battery power. The remote control platform includes a remote control with a screen. S2. In standby mode, the interlocking conditions of the tear gas mechanical launching device are checked based on communication link status information, airborne power supply voltage, mechanical connection confirmation signal and flight attitude information. When the interlocking conditions are not met, the interlocking is maintained. When the interlocking conditions are met, an authorized standby signal is generated. S3. In response to the authorized standby signal, after detecting the first authorization command and the second confirmation command, the launch operation permission lock is released; S4. After unlocking, the conduction time of the launch button is collected, and the conduction time is compared with the first time threshold and the second time threshold. The launch mode of the tear gas mechanical launcher is determined according to the comparison result. When the conduction time reaches the first time threshold but does not reach the second time threshold, the launch mode of the tear gas mechanical launcher is determined to be the single-tube launch mode. When the conduction time reaches the second time threshold, the launch mode of the tear gas mechanical launcher is determined to be the multi-tube sequential launch mode. The first time threshold is less than the second time threshold. S5. When the firing mode of the tear gas mechanical launcher is determined to be single-tube firing mode, a set of forward rotation signals and reverse rotation signals are generated. The forward rotation signal is used to drive the servo motor to rotate in the direction that moves the firing pin 9 away from the magazine 4. The firing pin 9 is driven to move to the ready-to-fire position abutting against the firing pin limit protection block 10 through the indexing cam transmission mechanism. At the same time, the magazine fixing part 3 is driven to rotate by a preset angle through the transmission linkage mechanism. The reverse rotation signal is used to drive the servo motor to rotate in the direction that moves the firing pin 9 closer to the magazine 4. The firing pin 9 is disengaged from the firing pin limit protection block 10. Under the action of its own elastic force, the firing pin 9 moves towards the magazine 4 and strikes the tear gas primer in the magazine 4. S6. When the firing mode of the tear gas mechanical launcher is determined to be a multi-tube sequential firing mode, the forward rotation signal and the reverse rotation signal are generated alternately. Each time a forward rotation signal is generated, the servo motor is driven to rotate in the direction that moves the firing pin 9 away from the magazine 4. The indexing cam transmission mechanism drives the firing pin 9 to move to the ready-to-fire position that abuts against the firing pin limit protection block 10. At the same time, the magazine fixing part 3 is driven to rotate by a preset angle through the transmission linkage mechanism. Each time a reverse rotation signal is generated, the servo motor is driven to rotate in the direction that moves the firing pin 9 closer to the magazine 4. The firing pin 9 is disengaged from the firing pin limit protection block 10. Under the action of its own elastic force, the firing pin 9 moves towards the magazine 4 and strikes the primer until all the ammunition in the magazine 4 is fired. S7. During the execution of steps S1 to S6, continuously acquire the flight platform parameters and remote control platform parameters, and perform fault diagnosis on the flight platform and remote control platform. When a fault is diagnosed, output a lockout command and terminate the launch process.

[0041] Further, in step S1, the tear gas mechanical launcher obtains regulated power from the dedicated 12V mounting circuit of the Matek PDB-HEX 2-12S power distribution board through the integrated electrical interface of the quick-release interface on the bottom of the drone, thus completing the power-on process. The Yunzhuo S1-4G flight controller collects the remaining battery voltage from the flight platform parameters in real time from the power distribution board voltage sampling interface, calculates the flight attitude tilt angle using the built-in inertial measurement unit, and obtains the received signal strength through the Yunzhuo R12 Pro receiver. Simultaneously, the Yunzhuo H12 Pro remote controller with screen uses an internal sampling resistor to detect the operating current of the transmitter module in the remote control platform parameters, detects the button circuit status through IO levels, and calls the fuel gauge to monitor the battery level. The flight controller and the remote controller with screen compare all collected parameters with the corresponding preset fault thresholds to achieve fault diagnosis. The fault diagnosis rules are determined based on the system safety boundaries. For example, the safe return-to-home threshold for remaining battery voltage is set to 21.0V, the flight attitude tilt protection threshold is set to 45 degrees, the received signal strength disconnection threshold is set to -95dBm, the abnormal operating current threshold for the transmitter module is set to ±20% of the rated value, the normal button circuit status characteristic is set to high impedance, and the battery power alarm threshold is set to 15% of the full charge. When any parameter exceeds the corresponding preset fault threshold, the fault diagnosis result indicates a fault, the flight controller outputs a lockout command and triggers a red alarm pop-up window and a continuous buzzer alarm on the remote controller with a screen. When all parameters are within the corresponding preset fault thresholds, the fault diagnosis result indicates no fault, and the tear gas mechanical launcher enters standby mode.

[0042] In step S2, in standby mode, the interlocking conditions of the tear gas mechanical launcher are verified. The Yunzhuo S1-4G flight controller acquires communication link status information via the Yunzhuo R12 Pro receiver. This information includes a link continuity flag and received signal strength. The airborne power supply voltage is provided by the voltage sampling interface of the Matek PDB-HEX 2-12S power distribution board. The mechanical connection confirmation signal is generated by a mechanical microswitch mounted on the quick-release female mount base plate. When the aluminum alloy quick-release male mount is pushed into the female mount and locked in place, the male mount triggers the microswitch to output a high level, which is used as the mechanical connection confirmation signal. Flight attitude information is calculated by the flight controller's built-in inertial measurement unit. The flight controller compares the parameters of the communication link status information, airborne power supply voltage, mechanical connection confirmation signal, and flight attitude information with the interlocking conditions one by one. The criteria for meeting the interlocking conditions are determined based on safe launch requirements. For example, the communication link status information requirement is set to a received signal strength greater than -95dBm with no data packet loss; the normal range of the airborne power supply voltage is set to 22.2V to 25.2V; the effective level of the mechanical connection confirmation signal is set to high; and the tilt angle limit in the flight attitude information is set to less than 10 degrees. If any parameter fails to meet the interlocking conditions, the interlock remains in place; when all interlocking conditions are met, the Yunzhuo S1-4G flight controller generates an authorized standby signal.

[0043] In step S3, after the Yunzhuo S1-4G flight controller responds to the authorization standby signal, it immediately activates the dual-person voice authorization detection process built into the Yunzhuo H12 Pro screen-equipped remote controller. The screen-equipped remote controller has a built-in microphone and an offline voice recognition engine, which is built based on a convolutional neural network model and used to recognize preset authorization command keywords in real time. In the detection process, the screen-equipped remote controller first detects the first authorization command, which is the "authorize launch" voice command issued by the on-site commander. After the microphone captures and recognizes the first authorization command, the screen-equipped remote controller starts a timer window and then waits to detect the second confirmation command. The second confirmation command is the "confirm launch" voice command repeated by the professional pilot. The preset time window is determined based on the operation response time and human-computer interaction efficiency; for example, the preset time window is set to 5 seconds. When the first authorization command and the second confirmation command are detected sequentially within the preset time window, and the voice feature matching is successful, the screen-equipped remote controller unlocks the launch operation permission and enables the launch button. If no second confirmation command is detected within the timeout period or the command content does not match, the launch operation permission will remain locked, and an authorization failure message will pop up on the screen.

[0044] In step S4, after the launch operation permission is unlocked, the Yunzhuo S1-4G flight controller begins to collect the launch button's conduction duration through the launch button circuit. The launch button circuit is equipped with an RC debounce circuit and a 200ms hardware anti-accidental touch filter circuit to eliminate button bounce and momentary accidental touch interference. The Yunzhuo S1-4G flight controller uses an internal timer to capture the effective conduction duration of the continuously pressed button with millisecond-level precision. Subsequently, the Yunzhuo S1-4G flight controller compares this effective conduction duration with a preset first duration threshold and a second duration threshold to determine the launch mode of the tear gas mechanical launcher. The first duration threshold and the second duration threshold are determined based on operating habits and the need to differentiate launch modes. For example, the first duration threshold is set to 3 seconds, and the second duration threshold is set to 5 seconds. When the effective conduction duration reaches 3 seconds but does not reach 5 seconds, the flight controller determines the launch mode of the tear gas mechanical launcher as a single-barrel launch mode; when the effective conduction duration reaches 5 seconds, the flight controller determines the launch mode of the tear gas mechanical launcher as a multi-barrel sequential launch mode. If the effective conduction time is less than 3 seconds or the button is released midway, it is determined to be an invalid command, the flight controller will not trigger subsequent launch actions and will return to the pending state.

[0045] In step S5, when the firing mode of the tear gas mechanical launcher is determined to be single-tube firing mode, the Yunzhuo S1-4G flight controller generates a set of forward rotation signals and reverse rotation signals. The forward rotation signal is a set of standard PWM pulses, driving the servo to rotate 360 ​​degrees in the direction that moves the firing pin 9 away from the magazine 4. The servo coaxially drives the cam gear of the indexing cam transmission mechanism to rotate, and the linkage bearing pulls the firing pin 9 to slide smoothly along the horizontal guide structure to accumulate power until the tail end of the firing pin 9 abuts against the firing pin limit protection block 10, reaching the ready-to-fire position. At the same time, the cam gear profile is tangent to the right pressure bearing of the lever mechanism, forcing the lever to press down, and the left push rod of the transmission linkage mechanism pushes the four-axis turntable, driving the magazine fixing part 3 to rotate by a preset angle. This preset angle is determined according to the equal division of the positions of the cross-shaped four-round magazine 4. For example, the preset angle is set to 90 degrees, so that the magazine 4 rotates 90 degrees to align with the next ready-to-fire ammunition position. The subsequently generated reverse rotation signal drives the servo to reverse in the direction that moves the firing pin 9 closer to the magazine 4. The cam gear disengages from the lever, which moves upward under the action of the bottom return spring. The locking component presses down and embeds into the positioning groove of the magazine 4 to lock the magazine 4. After the firing pin 9 disengages from the firing pin limiting protection block 10, it moves at high speed towards the magazine 4 under its own elastic force, impacting the matching tear gas primer inside the magazine 4 to complete the single-tube firing.

[0046] In step S6, when the firing mode of the tear gas mechanical launcher is determined to be a multi-tube sequential firing mode, the Yunzhuo S1-4G flight controller alternately generates forward and reverse rotation signals, with the number of cycles matching the number of rounds loaded in the cross-shaped four-round magazine 4, for a total of four cycles. Each time a forward rotation signal is generated, the Yunzhuo S1-4G flight controller outputs a PWM pulse to drive the servo motor to rotate 360 ​​degrees in the direction that moves the firing pin 9 away from the magazine 4. This, in turn, drives the firing pin 9 to move to the firing position where it abuts against the firing pin limit protection block 10 via the indexing cam transmission mechanism. Simultaneously, it drives the magazine fixing part 3 to rotate 90 degrees via the transmission linkage mechanism, switching the magazine 4 to the next position. Each time a reverse rotation signal is generated, the servo motor rotates in the direction that moves the firing pin 9 closer to the magazine 4, causing the firing pin 9 to disengage from the firing pin limit protection block 10. Under its own elastic force, the firing pin 9 moves towards the magazine 4 and strikes the primer, completing the firing of a single tear gas grenade. During the alternating signal generation process, after each firing action corresponding to a reverse rotation signal is completed, the Yunzhuo S1-4G flight controller inserts a mechanical buffer reset interval. The mechanical buffer reset interval is determined based on the sum of the servo return time and the mechanism's rebound reset time; for example, it can be set to 0.5 seconds. This mechanical buffer reset interval ensures that the transmission linkage mechanism, levers, and locking components are fully reset and locked in magazine 4 before the next forward rotation signal begins. This continues until all four tear gas grenades in magazine 4 have been fired sequentially, at which point the Yunzhuo S1-4G flight controller stops alternating signal output, the servo returns to center, and the entire mechanism returns to its self-locking standby position.

[0047] In step S7, during the execution of steps S1 to S6, the Yunzhuo S1-4G flight controller and the Yunzhuo H12 Pro screen-equipped remote controller work together to continuously perform fault diagnosis. Flight platform parameters are acquired in real-time by the Yunzhuo S1-4G flight controller, which collects the remaining battery voltage, flight attitude tilt angle, and received signal strength. Remote control platform parameters are acquired in real-time by the screen-equipped remote controller, which self-checks the transmitter module's operating current, button circuit status, and battery level. The fault diagnosis rules are consistent with those in step S1. When any parameter exceeds the corresponding preset fault threshold, the Yunzhuo S1-4G flight controller immediately outputs a lockout command and terminates the current launch process. This lockout command forcibly cuts off the servo power supply circuit, stops all PWM signal output, and simultaneously triggers a red alarm pop-up, a continuous buzzer sound, and a vibrator-linked alarm on the screen-equipped remote controller, ensuring the mission is safely terminated.

[0048] The above are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A mechanical launching device for multiple liquid tear gas canisters carried by an unmanned aerial vehicle (UAV), characterized in that: The device includes a quick-release module detachably connected to the drone fuselage, a magazine fixing part, and a servo-driven mechanical firing device. The magazine fixing part has multiple magazines for accommodating tear gas grenades. The servo-driven mechanical firing device includes a trigger unit, which includes a drive servo, a guide groove, a firing pin, and a firing pin limiting protection block. The drive servo is connected to the firing pin via an indexing cam transmission mechanism and is also connected to the magazine fixing part via a transmission linkage mechanism. The guide groove is used to guide and limit the movement of the firing pin, and the firing pin limiting protection block is used to limit the firing position of the firing pin. The firing pin is made of an elastic material. When the drive servo rotates in the direction that moves the firing pin away from the magazine, the indexing cam transmission mechanism drives the firing pin to a firing position that abuts against the firing pin limiting protection block. At the same time, the transmission linkage mechanism drives the magazine fixing part to rotate by a preset angle. When the drive servo rotates in the direction that moves the firing pin closer to the magazine, the indexing cam transmission mechanism drives the firing pin to disengage from the firing pin limiting protection block. Under the action of its own elastic force, the firing pin moves closer to the magazine and strikes the tear gas primer inside the magazine.

2. The mechanical launching device for a UAV-borne multi-tube liquid tear gas canister according to claim 1, characterized in that: The quick-release module includes a quick-release buckle, which is used for detachable connection with a pre-set interface on the drone body.

3. The mechanical launching device for a UAV-borne multi-tube liquid tear gas canister according to claim 1, characterized in that: The indexing cam transmission mechanism includes a bearing rotatably mounted on the output shaft of the drive servo motor, and an indexing gear that cooperates with the bearing. When the drive servo motor rotates, the firing pin is driven to move along the guide groove through the cam transmission between the bearing and the indexing gear.

4. The mechanical launching device for a UAV-borne multi-tube liquid tear gas canister according to claim 1, characterized in that: The multiple magazines in the magazine fixing part are evenly distributed at equal angles along the circumference, and the axes of each magazine are parallel to each other.

5. The mechanical launching device for a UAV-borne multi-tube liquid tear gas canister according to claim 1, characterized in that: The transmission linkage mechanism drives the magazine fixing part to rotate by a predetermined angle of 90 degrees each time, so that the magazine of the next tear gas grenade to be fired is aligned with the movement path of the firing pin.

6. The mechanical launching device for a UAV-borne multi-tube liquid tear gas canister according to claim 1, characterized in that: It also includes a status detection circuit and a remote controller with a screen. The status detection circuit is used to detect the electrical connection status of the tear gas mechanical launching device and the UAV, as well as the firing pin's ready-to-fire status. The remote controller with a screen is communicatively connected to the status detection circuit and the UAV. The remote controller with a screen is used to display the UAV's flight status, electrical connection status, and firing pin's ready-to-fire status, and to send a launch command to the drive servo motor.

7. The mechanical launching device for a UAV-borne multi-tube liquid tear gas canister according to claim 1, characterized in that: The servo mechanical firing device controls the independent firing of tear gas grenades in a single magazine, or controls the sequential firing of tear gas grenades in multiple magazines in a preset order.

8. The mechanical launching device for a UAV-borne multi-tube liquid tear gas canister according to claim 1, characterized in that: The firing pin limiting protection block is fixed at the end of the guide groove away from the magazine. When the firing pin is in the ready-to-fire position, the firing pin abuts against the firing pin limiting protection block.

9. A method for synchronous interlocking control of mechanical launch of unmanned aerial vehicle (UAV) multi-barrel liquid tear gas grenades, applicable to the mechanical launch device for UAV multi-barrel liquid tear gas grenades as described in any one of claims 1-8, characterized in that: Includes the following steps: S1. After the tear gas mechanical launching device is powered on, it acquires the flight platform parameters and the remote control platform parameters, and performs fault diagnosis on the flight platform and the remote control platform based on the flight platform parameters and the remote control platform parameters to obtain the fault diagnosis results. When the fault diagnosis results indicate that there is a fault, it outputs a lockout command and alarms. When the fault diagnosis results indicate that there is no fault, it enters the standby state. The flight platform parameters include the remaining battery voltage, flight attitude tilt angle and received signal strength. The remote control platform parameters include the launching module operating current, button circuit status and battery power. The remote control platform includes a remote control with a screen. S2. In standby mode, the interlocking conditions of the tear gas mechanical launching device are checked based on communication link status information, airborne power supply voltage, mechanical connection confirmation signal and flight attitude information. When the interlocking conditions are not met, the interlocking is maintained. When the interlocking conditions are met, an authorized standby signal is generated. S3. In response to the authorized standby signal, after detecting the first authorization command and the second confirmation command, the launch operation permission lock is released; S4. After unlocking, the conduction time of the launch button is collected, and the conduction time is compared with the first time threshold and the second time threshold. The launch mode of the tear gas mechanical launcher is determined according to the comparison result. When the conduction time reaches the first time threshold but does not reach the second time threshold, the launch mode of the tear gas mechanical launcher is determined to be the single-tube launch mode. When the conduction time reaches the second time threshold, the launch mode of the tear gas mechanical launcher is determined to be the multi-tube sequential launch mode. The first time threshold is less than the second time threshold. S5. When the firing mode of the tear gas mechanical launcher is determined to be single-tube firing mode, a set of forward rotation signals and reverse rotation signals are generated. The forward rotation signal is used to drive the servo motor to rotate in the direction that moves the firing pin away from the magazine, and drives the firing pin to move to the ready-to-fire position abutting against the firing pin limit protection block through the indexing cam transmission mechanism. At the same time, it drives the magazine fixing part to rotate by a preset angle through the transmission linkage mechanism. The reverse rotation signal is used to drive the servo motor to rotate in the direction that moves the firing pin closer to the magazine, so that the firing pin disengages from the firing pin limit protection block. Under the action of its own elastic force, the firing pin moves towards the magazine and strikes the tear gas primer in the magazine. S6. When the firing mode of the tear gas mechanical launcher is determined to be a multi-tube sequential firing mode, the forward rotation signal and the reverse rotation signal are generated alternately. Each time a forward rotation signal is generated, the servo motor is driven to rotate in the direction that moves the firing pin away from the magazine. The indexing cam transmission mechanism drives the firing pin to move to the ready-to-fire position where it abuts against the firing pin limit protection block. At the same time, the magazine fixing part is driven to rotate by a preset angle through the transmission linkage mechanism. Each time a reverse rotation signal is generated, the servo motor is driven to rotate in the direction that moves the firing pin closer to the magazine. The firing pin disengages from the firing pin limit protection block. Under the action of its own elastic force, the firing pin moves towards the magazine and strikes the primer until all the ammunition in the magazine is fired. S7. During the execution of steps S1 to S6, continuously acquire the flight platform parameters and remote control platform parameters, and perform fault diagnosis on the flight platform and remote control platform. When a fault is diagnosed, output a lockout command and terminate the launch process.

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