Accurate strike launching load device for unmanned aerial vehicle

Abstract

The utility model provides an accurate strike launch load device for an unmanned aerial vehicle, which comprises a launch control system, the launch control system comprises a resolving control panel used for receiving target information and a control instruction, a tracking and aiming structure used for receiving a tracking instruction and aiming a target, and a percussion assembly used for finishing percussion action, the resolving control panel is connected with the tracking and pointing structure and the percussion assembly, and the tracking and pointing structure is fixedly connected to the percussion assembly; the tracking and aiming structure comprises a driving part and a servo mechanism, and the firing assembly comprises a control part and a firing mechanism; the communication module is used for communicating with flight control of the unmanned aerial vehicle and is connected with the launch control system. According to the precise strike launching load device for the unmanned aerial vehicle, a rocket barrel can be hung on the small unmanned aerial vehicle, the fire strike capacity is improved, and the precise strike launching load device has the advantage of being flexible of the small unmanned aerial vehicle.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned aerial vehicle (UAV) system technology, specifically relating to a precision strike launch payload device for UAVs. Background Technology

[0002] Small drones, when equipped with light weapons, combine the precise firepower of light weapons with the maneuverability of small drones, making them suitable for special operations, urban warfare, counter-terrorism, and counter-drone operations. Small drones carrying rocket launchers, leveraging their maneuverability and the ease of operation and low cost of individual rocket launchers, can effectively destroy personnel, light armor, and fortifications. However, current drone-mounted launch systems are often rigidly connected; for example, rocket launchers often cannot automatically adjust the launch system's angle, requiring adjustments to the drone itself to align the target. Since drones vibrate continuously during operation, this reduces efficiency and accuracy. Therefore, how to automatically control the launch system and achieve precise strikes without controlling the drone's movement is the technical problem this solution needs to solve. Utility Model Content

[0003] The purpose of this invention is to provide a precision strike launch payload device for unmanned aerial vehicles (UAVs), which solves the technical problem of how to mount a rocket launcher on a small UAV and achieve automatic control and precision launch. It eliminates the need to adjust the UAV and directly and automatically controls the launch system, greatly improving firepower.

[0004] A precision strike launch payload device for unmanned aerial vehicles (UAVs) includes a launch control system. The launch control system includes a calculation control board for receiving target information and control commands, a tracking and aiming structure for receiving tracking commands and aiming at the target, and a firing component for completing the firing action. The calculation control board is connected to the tracking and aiming structure and the firing component, and the tracking and aiming structure is fixedly connected to the firing component.

[0005] The aiming structure includes a drive component and a servo mechanism, and the firing assembly includes a control component and a firing mechanism;

[0006] It also includes a communication module for communicating with the UAV flight control system, the communication module being connected to the launch control system.

[0007] The transmitting mechanism in this solution can be pneumatic, and the communication module can adopt Wi-Fi or radio protocol types.

[0008] The drive component includes a bracket, a motor driver connected to the bracket, and an encoder connected to the motor driver;

[0009] The servo mechanism includes a servo control module and a control board connected to the servo control module, and the control board is connected to the motor controller.

[0010] It enables position control of the servo mechanism and position information feedback.

[0011] The mount can pitch and rotate horizontally, with a pitch range of -90° to 0° and a horizontal range of -5° to +5°.

[0012] The firing assembly includes, in sequence, a gas cylinder for storing high-pressure gas, an accumulator for short-term gas supply and shock absorption, a speed regulating structure for controlling gas flow rate and initial velocity of projectile launch, a valve opening structure for controlling gas flow in the pipeline, an in-situ structure for monitoring whether the launch tube is loaded with projectiles, a clamping structure for confining the projectile inside the launch tube, and a launch tube for guiding the launch.

[0013] The valve opening structure is provided with an outer shell, and the clamping structure is connected to the shot.

[0014] The clamping structure is connected to the downward pressure of the projectile, which is existing technology. For example, it can be electromagnetic clamping, which will not be described in detail here.

[0015] The accumulator is fixed to the mounting plate via its own flange, the speed regulating structure is fixed to the mounting plate via an adapter, the valve opening structure is fixed to the mounting plate via an adapter, the in-position structure is fixed below the mounting plate via a structural component, and the clamping structure clamps the ammunition via a compression spring.

[0016] The accumulator's function is to store compressed gas and provide instantaneous gas supply, quickly replenishing the insufficient flow rate of the gas cylinder when a large flow rate is needed at the moment of firing. The speed regulation structure controls the gas flow rate by controlling the size of the cross-sectional area. The valve opening structure controls the valve core based on electromagnetic force, thereby opening or closing the fluid passage. When the internal coil is energized, the electromagnetic coil generates electromagnetic force, which overcomes the internal spring force and lifts the valve core from the valve seat, opening the valve. The positioning structure controls the on / off of the circuit through minute mechanical movements, determining whether the ammunition is in position based on the circuit's on / off status. The clamping structure uses a spring to clamp the ammunition; the frictional force generated by the spring pressure is greater than the ammunition's own weight, keeping the ammunition in the chamber.

[0017] The launching mechanism is positioned and connected to the aiming structure, and the launching mechanism is fixed on the mounting plate.

[0018] The accumulator is connected to the mounting plate via a mounting flange.

[0019] The speed control structure is positioned and connected to the mounting plate via mounting holes.

[0020] The valve opening structure is symmetrically distributed and fixed on the carbon plate. The carbon plate is designed with multiple mounting holes and is fixed to the mounting plate by stainless steel columns.

[0021] The bottom of the in-situ structure is designed with multiple mounting holes, through which it is fixed to the mounting plate. The structure of the mounting plate is not limited, as long as it serves the purpose of fixing and connecting. In addition, the mounting plate and the UAV body can be fixedly connected by bolts.

[0022] The upper plate and the bottom mounting bracket of the clamping structure are designed with a snap-fit ​​mechanism. This snap-fit ​​mechanism is existing technology and its structure is not limited. For example, it can be a hook structure similar to that used for connection on a car seat belt, as long as it serves the function of snap-fit ​​connection. A compression spring is fixed on the upper plate, which restricts the projectile inside the launching tube.

[0023] It should be noted that the launching mechanism, aiming structure, valve opening structure, in-situ structure, and clamping structure in this solution can all adopt existing mechanical structures, and the purpose of precision strike launch can be achieved through the combination of mechanical equipment and control system.

[0024] Furthermore, it should be noted that ensuring the drone's attitude stability is not an innovative aspect of this solution; conventional techniques, such as using gyroscopes and accelerometers, can maintain stability. This solution automatically adjusts the angle of the launch system to ensure the strike point is aligned with the target, taking into account the possibility of the drone being impacted.

[0025] Finally, the drone in this solution has a balance design to prevent the drone from losing control due to a shift in the center of gravity. This is achieved using existing technology, which will not be described in detail here.

[0026] The technical features not described in detail in this solution can be understood and operated by those skilled in the art, and will not be elaborated here.

[0027] This utility model achieves the following significant effects:

[0028] (1) In this scheme, a solution control board, a tracking and aiming structure and a firing assembly are designed. The three work together to mount the rocket launcher on the small UAV. Without adjusting the control of the UAV, the automatic control system can be used to strike the target smoothly. In the end, it will not cause a large impact on the small UAV. The configuration of the tracking and aiming structure ensures the accuracy of the strike.

[0029] (2) The tracking and aiming structure 8 consists of a drive component and a servo mechanism. It can be equipped with a launch mechanism and has tracking and aiming functions in both azimuth and pitch directions. Through the pitch and horizontal rotation of the mounting bracket, the pitch rotation range is -90° to 0° and the horizontal rotation range is -5° to +5°. Under the control of the calculation control board, precise aiming is achieved.

[0030] (3) This scheme fully considers the impact of the overall device shaking when launching shells. Under the action of the calculation control board, the calculation control board software, based on the embedded real-time operating system, establishes multiple tasks such as communication, fire control calculation, data acquisition, and status monitoring, based on the algorithm library such as coordinate system transformation, solving differential equation system, and filtering estimation, ensuring that the firing control system can respond quickly and stably to the target aiming, tracking and striking process. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the workflow of the control system in this utility model.

[0032] Figure 2 This is a schematic diagram of the system interface in this utility model.

[0033] Figure 3 This is a schematic diagram of the hardware components in this utility model.

[0034] Figure 4 This is a schematic diagram of the weapon firing control system of this utility model.

[0035] Figure 5 This is a schematic diagram of the external structure of the strike launching payload device in this utility model.

[0036] Figure 6 This is a schematic diagram of the internal structure of the strike launching payload device in this utility model.

[0037] Figure 7 This is a schematic diagram of the aiming structure in this utility model.

[0038] The attached diagram is labeled as follows: 1. Gas cylinder; 2. Accumulator; 3. Speed ​​regulating structure; 4. Outer shell; 41. Valve opening structure; 5. Pressing structure; 51. Projectile; 6. Launch tube; 7. In-situ structure; 8. Tracking and aiming structure; 81. Motor 1; 82. Motor 2. Detailed Implementation

[0039] To more clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0040] See Figures 1-7 A precision strike launch payload device for unmanned aerial vehicles includes a launch control system. The launch control system includes a calculation control board for receiving target information and control commands, a tracking and aiming structure 8 for receiving tracking commands and aiming at the target, and a firing component for completing the firing action. The calculation control board is connected to the tracking and aiming structure 8 and the firing component. The tracking and aiming structure 8 is fixedly connected to the firing component.

[0041] The aiming structure 8 includes a drive component and a servo mechanism, and the firing assembly includes a control component and a firing mechanism;

[0042] It also includes a communication module for communicating with the UAV flight control system, which is connected to the launch control system.

[0043] The solution control board, communication module and power control system can be installed in the appropriate locations according to the actual situation. There is no limit to the specific location, as long as their functions can be realized.

[0044] The drive components include a mounting bracket, a motor driver connected to the mounting bracket, and an encoder connected to the motor driver;

[0045] The servo mechanism includes a servo control module and a control board connected to the servo control module. The control board is connected to the motor controller to realize the position control of the servo mechanism and the feedback of position information.

[0046] The mount can pitch and rotate horizontally, with a pitch range of -90° to 0° and a horizontal range of -5° to +5°.

[0047] The motor driver includes a first motor 81, a first drive shaft connected to the first motor 81, a second motor 82, and a second drive shaft connected to the second motor 82. The bracket includes a first bracket and a second bracket rotatably connected to the first bracket. The first drive shaft is fixedly connected to the first bracket, and the second drive shaft is fixedly connected to the second bracket. The pitch and horizontal rotation operations are realized by the first drive shaft and the second drive shaft, respectively. This is easily implemented by those skilled in the art and will not be described in detail here.

[0048] The firing assembly includes, in sequence, a gas cylinder 1 for storing high-pressure gas, an accumulator 2 for short-term gas supply and shock absorption, a speed regulating structure for controlling the gas flow rate and the initial velocity of the projectile 51, an opening valve structure 41 for controlling the gas flow in the pipeline, an in-situ structure 7 for monitoring whether the launch tube 6 is loaded with the projectile 51, a clamping structure for confining the projectile 51 inside the launch tube 6, and a launch tube 6 for guiding the launch.

[0049] The valve opening structure 41 is provided with a housing 4 on the outside, and the pressing structure 5 is electromagnetically adsorbed and connected to the projectile 51.

[0050] For example, the accumulator is an air-filled accumulator, and the speed regulation structure and valve opening structure are essentially valves. A pressure sensor is installed on the in-position structure to detect whether a projectile is loaded. The clamping structure can be a cylinder structure, a compression spring, or a motor-driven clamping structure.

[0051] The accumulator 2 is fixed to the mounting plate via its own flange, the speed regulating structure 3 is fixed to the mounting plate via an adapter, the valve opening structure 41 is fixed to the mounting plate via an adapter, the in-position structure 7 is fixed below the mounting plate via a structural component, and the clamping structure 5 clamps the ammunition via a compression spring.

[0052] The accumulator 2 stores compressed gas to provide instantaneous gas supply, quickly replenishing the insufficient flow of gas cylinder 1 when a large flow rate is needed at the moment of launch. The speed regulation structure 3 controls the gas flow rate by controlling the size of its cross-sectional area. The valve opening structure 41 controls the valve core based on electromagnetic force, thereby opening or closing the fluid passage. When the internal coil is energized, the electromagnetic coil generates electromagnetic force, which overcomes the internal spring force and lifts the valve core from the valve seat, thus opening the valve. The position structure 7 controls the on / off of the circuit through minute mechanical movements, and determines whether the ammunition is in place by checking the circuit's on / off state. The clamping structure 5 clamps the ammunition with a spring. The frictional force generated by the spring pressure is greater than the weight of the ammunition itself, keeping the ammunition in the chamber.

[0053] The launching mechanism is positioned and connected to the aiming structure 8, and the launching mechanism is fixed on the mounting plate.

[0054] The accumulator 2 is connected to the mounting plate via a mounting flange.

[0055] The speed control structure 3 is positioned and connected to the mounting plate via mounting holes.

[0056] The valve opening structure 41 is symmetrically distributed and fixed on the carbon plate. The carbon plate is designed with multiple mounting holes and is fixed to the mounting plate by stainless steel columns.

[0057] The bottom of the in-situ structure 7 has multiple mounting holes 2, which are used to fix it to the mounting plate.

[0058] The upper plate of the clamping structure 5 and the bottom mounting bracket are designed with a snap-fit ​​mechanism. A compression spring is fixed on the upper plate to restrict the projectile 51 inside the launching tube 6.

[0059] The specific working process of this utility model is as follows:

[0060] The calculation and control board is the core control module of the launch control system. It is responsible for receiving target information and control commands, controlling the launch control system to track and aim at the target according to the commands, and completing the firing action at the appropriate time. This board has built-in coordinate transformation, filtering and stabilization algorithms, and certain logic processing mechanisms to ensure the safety and accuracy of firing.

[0061] The tracking and aiming structure 8 consists of a drive component and a servo mechanism, and can be equipped with a launching mechanism, providing tracking and aiming functions in both azimuth and elevation directions.

[0062] The firing assembly consists of a control unit and a firing mechanism. It uses a high-pressure gas firing method and can be equipped with non-lethal ammunition such as fire extinguishing shells and repellent shells.

[0063] The aiming structure 8 and firing assembly are made of aerospace aluminum, and the overall system weight is ≤7.8kg.

[0064] The firing control system interacts with the outside world via RS422, receives target information and control commands, and sends tracking commands to the aiming structure 8 after processing by the control board. At the same time, it sends control commands to the firing assembly.

[0065] The hardware board in this solution mainly consists of a CPU computing unit, power supply module, interface circuit, memory chip, and onboard sensors. The CPU computing unit is an STM32F4 series. The power supply module will use a combination of DC-DC and LDO devices. The fire control board operates at 3.3V / 5V, with an external input voltage of 24V (12V). For reliability, a DC-DC step-down converter is used first, followed by an LDO regulator. The power supply module design and selection consider overvoltage, overcurrent, reverse connection, and overheat protection functions, and assess the potential power consumption of the hardware board. The preliminary estimate for normal operating current is <0.5A; however, for a conservative approach, a maximum current of 1A is considered, prioritizing low thermal resistance devices. The interface conversion will use a compliant RS232 / 422 level converter chip to convert UART / USART levels to meet usage requirements. The memory chip uses FRAM devices, which have the advantages of fast write / erase speed and long lifespan. It has 5 serial communication ports, with 2 additional spare ports mainly for possible testing and debugging.

[0066] Based on an embedded real-time operating system, the solution control board software uses a library of algorithms such as coordinate system transformation, solving differential equations, and filtering estimation to establish multiple tasks including communication, fire control calculation, data acquisition, and status monitoring, ensuring that the launch control system can respond quickly and stably to the target aiming, tracking, and strike process.

[0067] The communication module is responsible for communicating with the flight controller, receiving control commands issued by the flight controller, providing feedback on the current status and relevant information of the launch control system, and forwarding control commands and status of the detection, servo, and firing components.

[0068] It receives information such as the current attitude and status of the carrier, and performs stabilization control on the aiming structure 8 according to the platform status. It forwards control commands sent from the ground to the aiming structure 8, receives the current pointing and status of the system, and sends firing data control commands when aiming.

[0069] The system forwards control commands from the ground to the firing assembly, receives the current status of the receiving device, and sends firing commands. The flight control system and the ground transmit target information back to the ground in real time via a link. After the ground operator confirms the target, they issue a tracking command. The flight control system sends the target parameters to the calculation control board, drives the tracking and aiming structure 8 to aim at the target, and after receiving confirmation of the firing command from the ground operator, the firing assembly controls the weapon to fire, completing the firing action.

[0070] The aiming structure 8 is the execution mechanism of the launch control system for aiming at targets. Primarily, under the control of the calculation control board, it adjusts the launch angle of the ammunition mounted on it to achieve aiming at targets within the strike range. It can receive target information captured by the UAV, possesses target tracking and aiming capabilities, and ensures a single-shot hit probability of ≥50% against the humanoid target. Specific functional requirements are as follows:

[0071] While the drone is in flight, it can achieve high-precision adjustment of the ammunition launch angle within a certain angular range;

[0072] It receives control commands from the calculation control board in real time, feeds back the position information of the two axes of the current tracking and aiming structure (drive shaft one and drive shaft two mentioned above), and performs real-time closed-loop control of the ammunition firing angle.

[0073] Based on the working process and functional requirements of the launch control system, and taking into account all factors, the tracking and aiming structure 8 adopts a two-axis (drive shaft one and drive shaft two) design. The end of drive shaft two is connected to the firing assembly. At the same time, this module structure can be mounted on a designated rotary-wing UAV platform. This layout design will make the center of gravity of the entire system more stable, which is conducive to improving the flight safety of the carrier aircraft and reducing the weight of the system.

[0074] The tracking and aiming structure 8 mainly consists of a servo control module, a motor driver, a mounting bracket, an encoder, and a drive motor. It can realize position control of the servo mechanism and position information feedback.

[0075] The servo control system designed in this scheme has five working states: initialization (including initialization and zero-finding functions), locking, tracking, debugging, and stopping. The software will run automatically after power-on. Once initialization is successful and the programmable data enters the navigation calculation, program tracking begins. Simultaneously, it processes various instructions and data received from external interfaces.

[0076] The firing assembly adopts a cold-firing method using air cannons. Its working principle is to use compressed air to store energy, converting a portion of the internal energy stored in the gas chamber into the kinetic energy of the projectile 51 in the firing tube 6 to complete the firing mission. The projectile 51 is divided into a destructive projectile and a fire extinguishing projectile, which are respectively arranged in two firing tubes 6. The initial velocity of the projectile 51 is adjusted by the speed regulation structure 3.

[0077] The firing assembly mainly consists of a gas cylinder 1, an accumulator 2, a speed regulating structure 3, a valve opening structure 41, a positioning structure 7, a clamping structure 5, and a firing tube 6. The gas cylinder 1 primarily stores high-pressure gas; the accumulator 2 can supply the gas required for firing in a short time and can mitigate the impact of high-pressure gas on key components; the speed regulating structure 3 can control the gas flow rate by adjusting the cross-sectional area, thereby regulating the initial firing velocity of the projectile 51; the valve opening structure 41 controls the flow of gas in the pipeline, and the firing of the projectile 51 can be achieved by controlling the opening and closing of the valve opening structure 41; the clamping structure 5 can confine the projectile 51 inside the firing tube 6, and when the aiming structure 8 rotates the firing assembly, it ensures that the projectile 51 will not slip out of the firing tube 6; the positioning structure 7 can be used to monitor whether the firing tube 6 is loaded with the projectile 51; the firing tube 6 can restrict the firing of the projectile 51 within the firing tube 6, serving as a guiding function for firing.

[0078] The mounting plate connects to the launching mechanism at the top and to the tracking and aiming structure 8 at the bottom, and is made of aerospace-grade aluminum. It can be positioned with the tracking and aiming structure 8 through the central hole and fixed to the tracking and aiming structure 8 through the holes around its perimeter. The launching mechanism can be installed on the top of the mounting plate.

[0079] The accumulator 2 is designed with a mounting flange, which can be used to fix the accumulator 2 to the mounting plate. In order to enhance the connection rigidity between the accumulator 2 and the mounting plate, support ribs are symmetrically distributed on the sides of the mounting plate and the mounting flange, which connect the mounting flange and the mounting plate respectively, thus strengthening the structure.

[0080] The speed control structure 3 is fixed with aviation aluminum material. The bottom of the structure is designed with 4 mounting holes for fixing to the mounting plate. The side of the structure is designed with 2 threaded holes for installing the speed control structure 3 from both sides.

[0081] The valve opening structure 41 is symmetrically distributed and fixed on the carbon plate. The carbon plate is designed with 6 mounting holes and is fixed to the mounting plate by stainless steel columns.

[0082] The in-situ structure 7 is made of aerospace aluminum. The bottom of the structure has two mounting holes for fixing to the mounting plate, and the side of the structure has two holes for mounting in the in-situ structure 7.

[0083] The launch tube 6 is made of aviation aluminum material and is designed with two launch tubes 6, which are respectively loaded with fire extinguishing shells and destructive shells. The bottom of the launch tube 6 is designed with threads for connecting pipelines, and the middle area of ​​the launch tube 6 is designed with slots for loading projectiles 51.

[0084] The clamping structure 5 is made of aerospace-grade aluminum, and the upper plate and bottom mounting bracket are designed with a snap-fit ​​mechanism for easy replacement of the projectile 51. A compression spring is fixed on the upper plate, which can restrain the projectile 51 inside the launch tube 6. The required friction force is calculated based on the weight of the projectile 51, the pressure generated by the compression spring is calculated, and then the performance parameters of the compression spring are calculated.

[0085] The technical features of this utility model not described can be implemented by or by using existing technology, and will not be repeated here. Of course, the above description is not a limitation of this utility model, and this utility model is not limited to the examples above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model should also be within the protection scope of this utility model.

Claims

1. A precision strike launch payload device for unmanned aerial vehicles (UAVs), characterized in that, The system includes a firing control system, which includes a calculation control board for receiving target information and control commands, a tracking and aiming structure (8) for receiving tracking commands and aiming at the target, and a firing assembly for completing the firing action. The calculation control board is connected to the tracking and aiming structure (8) and the firing assembly, and the tracking and aiming structure (8) is fixedly connected to the firing assembly. The tracking and aiming structure (8) includes a drive component and a servo mechanism, and the firing assembly includes a control component and a firing mechanism; It also includes a communication module for communicating with the UAV flight control system, the communication module being connected to the launch control system.

2. The precision strike launch payload device for unmanned aerial vehicles according to claim 1, characterized in that, The drive component includes a bracket, a motor driver connected to the bracket, and an encoder connected to the motor driver; The servo mechanism includes a servo control module and a control board connected to the servo control module, and the control board is connected to a motor controller.

3. The precision strike launch payload device for unmanned aerial vehicles according to claim 2, characterized in that, The firing assembly includes a gas cylinder (1) connected in sequence for storing high-pressure gas, an accumulator (2) for short-term gas supply and shock absorption, a speed regulating structure (3) for controlling the gas flow rate and the initial velocity of the projectile (51), a valve opening structure (41) for controlling the gas flow in the pipeline, an in-situ structure (7) for monitoring whether the firing tube (6) is loaded with a projectile (51), a clamping structure (5) for confining the projectile (51) inside the firing tube (6), and a firing tube (6) for guiding the firing. The valve opening structure (41) is provided with a shell (4) on the outside, and the clamping structure (5) is connected to the projectile (51).

4. The precision strike launch payload device for unmanned aerial vehicles according to claim 3, characterized in that, The launching mechanism is positioned and connected to the tracking and aiming structure (8), and the launching mechanism is fixed on the mounting plate.

5. A precision strike launch payload device for unmanned aerial vehicles according to claim 4, characterized in that, The accumulator (2) is connected to the mounting plate via a mounting flange.

6. A precision strike launch payload device for unmanned aerial vehicles according to claim 5, characterized in that, The speed regulating structure (3) is positioned and connected to the mounting plate through mounting holes.

7. A precision strike launch payload device for unmanned aerial vehicles according to claim 6, characterized in that, The valve opening structure (41) is symmetrically distributed and fixed on the carbon plate. The carbon plate is designed with multiple mounting holes and is fixed to the mounting plate by stainless steel columns.

8. A precision strike launch payload device for unmanned aerial vehicles according to claim 7, characterized in that, The bottom of the in-situ structure (7) is designed with multiple mounting holes, which are used to fix it to the mounting plate.

9. A precision strike launch payload device for unmanned aerial vehicles according to claim 8, characterized in that, The upper plate and the bottom mounting bracket of the clamping structure (5) are designed to be snap-fit. A compression spring is fixed on the upper plate, which restricts the projectile (51) inside the launching tube (6).

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