KR102602552B1 - Grenade launcher and a grenade-launched drone including the same - Google Patents

Abstract

The present invention relates to a grenade launcher for a drone that corrects the launch angle and a grenade launcher drone. The purpose of the present invention is to increase the hit rate by correcting the launch angle considering the characteristics of the grenade launcher and drone mounting.
A grenade launcher for a drone that corrects the launch angle according to the present invention includes a swing part swingably connected to the drone; a tilting part tiltably connected to the swing part; a grenade launcher connected to the tilting part, loaded with a grenade, and firing a grenade; A camera that photographs a target; A launch angle correction device for a grenade launcher for a drone that calculates the launch angle using the altitude value and the aiming angle and then corrects the grenade launcher; It includes a main controller that communicates with the ground controller and controls the swing unit, the tilting unit, the grenade launcher, and the camera, and the launch angle correction device of the grenade launcher for the drone is configured to reflect angle correction values for various aiming angles of the grenade launcher. A database that builds launch angle data, a launch angle adjuster that adjusts the launch angle by rotating the grenade launcher up and down, extracts the launch angle corresponding to the current altitude and aiming angle from the launch angles built in the database, and launches the grenade through the launch angle adjuster. It includes a controller that adjusts the launch angle of the unit to the extracted launch angle, and the grenade launch unit includes a grenade launch main body, a magazine part in which a plurality of grenades are loaded and connected to the grenade launch main body, and is installed in the grenade launch main body and moves forward. A strike unit that strikes and fires a grenade loaded in the magazine unit, a percussion unit that advances the strike unit of the strike unit by operation of a ground controller, a ball locking unit that prevents the strike unit from advancing, and a gun fired from the magazine unit. It includes a barrel that guides the grenade.

Description

Grenade launcher and a grenade-launched drone including the same}

The present invention relates to a grenade launcher for a drone and a grenade-launching drone including the same. More specifically, it relates to a grenade launcher for a drone and a grenade-launching drone that corrects the launch angle in the launch mechanism of the drone and the grenade launcher to increase accuracy. It's about.

This part only provides background information related to the content of this application and does not necessarily constitute prior art.

A grenade launcher is a type of military weapon that fires grenades (high explosives, for example, 40mm) to kill people or destroy light armored vehicles and positions.

Meanwhile, military weapons using drones (unmanned flying vehicles) have recently been developed, and as an example, a grenade-launching drone has been proposed.

For example, Patent Publication No. 10-2023-0013775 discloses a balsa housing; A first rotation drive unit that is coupled to a military drone and adjusts the grenade launch angle with respect to the X-axis direction; A support frame on which the launching housing is rotatably connected to both inner surfaces and on which the first rotation driving unit is mounted at the top; A second rotation drive unit coupled to a side of the support frame and controlling a grenade launch angle with respect to the Y-axis direction of the launch housing; A rotation guide frame that connects the support frame and the firing housing and guides the rotational operation of the firing housing; and an upper rebound control device connected to the first rotation drive unit to control the rotation operation, and a side rebound control device coupled to the side of the rotation guide frame and controlling the rotation operation of the second rotation drive unit. The upper repulsion control device and the side repulsion control device are each coupled by magnetic force under the control of the control unit of the military drone, suppressing the rotational operation of the first and second rotation drives, thereby reducing the repulsion force of the launch housing. A control device; a grenade launch rebound control device for a drone including a control device, wherein the second rotation drive unit is connected to a rotation means coupled to a side support frame formed on the other side of the upper support frame to launch the grenade in the Y-axis direction of the launch housing. It is configured to adjust the angle, and at this time, the rotation means is described only as being configured to rotate by a certain angle under the control of the control unit in conjunction with the control unit of the drone, and the normal angle adjustment, that is, altitude and distance, is described. The aiming angle is extracted using only the angle and this aiming angle is used as the launch angle.

In the case of a conventional grenade launcher for a drone, as shown in Figure 1, when firing at an aiming angle (α) according to the characteristics of the grenade launcher and the characteristics of firing from the air toward a target on the ground using a drone, the actual launch angle (β) is This will change, so the actual impact point will have an error with the target. Since these errors can vary greatly depending on altitude and aiming angle, they greatly reduce the accuracy.

Publication Patent No. 10-2023-0013775

The present invention is intended to solve the problems described above, and its purpose is to provide a grenade launcher and a grenade launcher for drones that correct the launch angle to increase accuracy by correcting the launch angle in consideration of the characteristics of the grenade launcher and drone mounting. .

A grenade launcher for a drone that corrects the launch angle according to the present invention includes a swing part swingably connected to the drone; a tilting part tiltably connected to the swing part; a grenade launcher connected to the tilting part, loaded with a grenade, and firing a grenade; A camera that photographs a target; A launch angle correction device for a grenade launcher for a drone that calculates the launch angle using the altitude value and the aiming angle and then corrects the grenade launcher; It includes a main controller that communicates with the ground controller and controls the swing unit, the tilting unit, the grenade launcher, and the camera, and the launch angle correction device for the grenade launcher for the drone is a launch angle that reflects the angle correction value for various aiming angles of the grenade launcher. A database that builds data; A launch angle adjuster that adjusts the launch angle by rotating the grenade launcher up and down, extracts the launch angle corresponding to the current altitude and aiming angle from the launch angles built in the database, and adjusts the launch angle of the grenade launcher to the extracted launch angle through the launch angle adjuster. It includes a controller, wherein the grenade launcher includes a grenade launch main body, a magazine part loaded with a plurality of grenades and connected to the grenade launch main body, and a grenade installed in the grenade launch main body and loaded into the magazine through forward movement. It includes a strike unit that hits and fires the strike unit, a percussion unit that advances the strike unit by operation of the ground controller, a ball lock unit that prevents the strike unit from advancing, and a barrel unit that guides the grenade fired from the magazine unit. It is characterized by

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According to the grenade launcher for drones and the grenade launching drone that corrects the launch angle according to the present invention, the launch mechanism of the conventional grenade launcher for drones is used as is, that is, the accuracy is improved by correcting the launch angle using the aiming angle determined through the launch mechanism. This has the effect of improving the reliability of drone grenade launchers.

In addition, by loading multiple grenades, you can reduce the inconvenience of loading after returning the drone grenade launcher to the ground and respond quickly to battle. The loading mechanism of the rotary magazine and magazine rotation controller is structurally simple and allows for accurate control. This has the effect of reducing misfires.

Figure 1 is a diagram showing the positional relationship between the aiming angle and the actual impact point of a conventional grenade launcher for a drone.
Figure 2 is a block diagram showing the configuration of a launch angle correction device for a grenade launcher for a drone according to Embodiment 1 of the present invention.
Figure 3 is a block diagram showing the configuration of a launch angle correction device for a grenade launcher for a drone according to Example 2 of the present invention.
Figure 4 is a block diagram showing the configuration of a grenade launcher for a drone according to the present invention.
Figure 5 is an external perspective view of a grenade launcher drone according to the present invention.
Figure 6 is an external perspective view of a grenade launcher for a drone according to the present invention.
Figure 7 is a front view of a grenade launcher for a drone according to the present invention.
Figure 8 is a perspective view of the grenade launcher applied to the grenade launcher for drones according to the present invention.
Figure 9 is a perspective view showing a magazine rotation means applied to the grenade launcher of the grenade launcher for a drone according to the present invention.
Figures 10 and 11 are perspective views showing the magazine rotation controller applied to the grenade launcher of the grenade launcher for drones according to the present invention.
Figure 12 is a perspective view of the ball lock applied to the grenade launcher of the grenade launcher for drones according to the present invention.

In the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. The terms described below are defined in consideration of the functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definition should be made based on the contents throughout this specification.

Examples 1 and 2 below use the conventional method of determining the aiming angle by altitude and correct the launch angle based on altitude and aiming angle, and in the process, Example 1 uses the database to correct the aiming angle. The launch angle is provided as a result of reflecting the angle, and the difference in Example 2 is that the database provides correction angles for each aiming angle.

<Example 1>

As shown in FIG. 2, the launch angle correction device 10 of the grenade launcher for a drone according to this embodiment is adjusted for each altitude/aiming angle (generated using the angle of the camera facing the target, altitude, and distance to the target). A database 11 that builds launch angle data reflecting the angle correction value to correct the error between the target and impact point, extracts a launch angle matching the altitude and aiming angle from the database 11, and uses the angle adjuster to send the grenade launcher 20. It includes a controller 12 that adjusts the launch angle to the extracted launch angle.

Even if the aiming angle is the same, the distance to the target varies depending on the altitude, so the launch angle must be corrected using both the aiming angle and the altitude (or distance).

In the database 11, various aiming angles are classified according to various altitudes, and the launch angle results are reflected with angle correction values for each altitude/aiming angle. An example of this is in the form of a table, with altitudes in the horizontal direction and aiming angles in the vertical direction. It may be in the form of a corrected launch angle where there are angles and the altitude and aiming angle match.

The controller 12 receives the distance and aiming angle through the sensor 1 (distance and aiming angle), extracts a launch angle matching these values, and adjusts the angle of the grenade launcher 20 with the extracted launch angle, The angle of the grenade launcher (20) can be adjusted through the launch angle adjuster (13).

Among the sensing values of the sensor (1), altitude can be calculated using a distance sensor and an angle sensor, and the aiming angle is not a sensing angle but an angle calculated using altitude and distance.

Meanwhile, a goniometer that measures the angle of the grenade launcher 20 may be included in order to verify the launch angle of the grenade launcher 20 and confirm the aiming angle. At this time, the angle of the grenade launcher 20 sets the vertical line perpendicular to the ground to “0” degrees.

The launch angle correction method according to the launch angle correction device of the drone grenade launcher of this embodiment is as follows.

1. Check the aiming angle.

During the flight of the grenade launcher, the camera's shooting direction is changed up, down, left, and right to find the target, and at this time, the grenade launcher also changes direction. Once a target is selected, the drone is stopped and the grenade launcher (20) is used to aim at the target. At this time, the aiming angle of the grenade launcher 20 is obtained. For example, the aiming angle is calculated using the altitude value and distance value.

2. Launch angle extraction.

The altitude and aiming angle are input to the controller 12, and the controller 12 compares the input value with the data stored in the database 11, extracts the altitude and aiming angle that match the altitude and aiming angle of the input value, and extracts the extracted altitude and aiming angle. Extract the launch angle corresponding to the aiming angle.

3. Launch angle adjustment.

The controller 12 controls the angle adjuster 13 using the extracted launch angle to adjust the angle of the grenade launcher 20.

For example, if the launch angle is stored as 55 degrees in the database 11 under the condition that the altitude is 100m and the aiming angle is 50 degrees, when the controller 12 receives the altitude value as 100m and the aiming angle as 50 degrees, the launch angle is extracted as 55 degrees. And, the grenade launcher 20 is controlled to 55 degrees using the launch angle adjuster 13.

<Example 2>

As shown in FIG. 3, the launch angle correction device 10 of the grenade launcher for a drone according to this embodiment includes a database 11 that constructs data of angle correction values for each altitude/aiming angle, and the aiming angle and the aiming angle in the database 11. A correction value extraction unit 14 that extracts data of the matching angle correction value, a controller that adjusts the launch angle of the grenade launcher 20 through an angle adjuster by reflecting the correction value extracted from the correction value extraction unit 14 ( 12) Includes.

In this embodiment, the database 11 categorizes various aiming angles for various altitudes and stores angle correction value data for each altitude/aiming angle.

The correction value extraction unit 14 receives altitude and aiming angle through sensors (altitude sensor and aiming angle sensor) and extracts an angle correction value matching the input value from the data in the database 11.

The controller 12 determines the launch angle using the aiming angle and the angle correction value. For example, if the aiming angle is 50 degrees and the angle correction value is +5 degrees, the controller 12 determines the launch angle at 55 degrees using these two values, and then sends the grenade launcher to the grenade launcher. Control the angle of (20).

Embodiment 2 also includes a goniometer to verify the launch angle of the grenade launcher 20 and check the aiming angle.

As shown in FIGS. 4 to 7, the grenade launcher 100 including a launch angle correction device for a grenade launcher for a drone according to the present invention, the launch angle correction device for a grenade launcher for a drone described above (hereinafter abbreviated as 'compensation device') ) (10), grenade launcher (20), swing part (30), tilting part (40), distance sensor (50), camera (60), main controller (launch angle correction device (10) of the grenade launcher for drones) (separated from the controller 12), a ground controller (200) including a communication unit, which is mounted on the drone (300) and fires grenades while flying, and which the driver can check on the ground and coordinate the flight of the drone (300) and the launch of grenades It is used with.

The grenade launcher 20 can be applied to various specifications by firing a grenade and hitting the target by operating the ground controller 200, and its location is centered at the center of the swing frame 32 and the tilting frame 42. It is a location that matches .

The swing unit 30 includes a swing motor 31 and a swing frame 32.

The swing motor 31 is a gimbal motor that absorbs the vibration that occurs during flight and the vibration that occurs when firing, and is fixed to the drone.

The swing frame 32 swings (rotates left and right in the X-axis direction) by the swing motor 31 to change the direction of the muzzle of the grenade launcher 20 to the left and right.

The swing frame 32 is a structure that includes a ceiling to which the swing motor 31 is connected, and left and right side walls extending in parallel toward the bottom on both left and right sides of the ceiling.

The tilting unit 40 includes a tilting motor 41 and a tilting frame 42.

For example, the tilting motor 41 is fixed to one of the two side walls of the swing frame 32 and is connected to the grenade launcher 20 to tilt the grenade launcher 20 (rotation in the Y-axis direction). It is a gimbal motor that rotates up and down (up and down) and absorbs the vibration that occurs during flight and the vibration that occurs when firing. The grenade launcher 20 is connected to the tilting frame 42 through an angle adjuster 13.

The structure of the tilting frame 42 is similar to the swing frame 32 in that it has a structure of the ceiling and the left and right side walls, but is smaller than the swing frame 32 so that it is placed inside the swing frame 32, and is adjusted through the angle adjuster 13. It is connected to the grenade launcher 20 and can rotate idly on the axis of the tilting motor 41, so that it tilts together with the grenade launcher 20 when the tilting motor 41 rotates.

According to this structure, the tilting frame (42) and the grenade launcher (20) tilt together, and while the tilting frame (42) is fixed, only the grenade launcher (20) is tilted independently through the angle adjuster (13) to adjust the launch angle. It is configured so that it can be adjusted.

The swing motor 31 and the tilting motor 41 are driven through the driver's manipulation based on the image confirmed through the display of the ground controller.

The distance sensor 50 is used to measure the distance between the grenade launcher 20 and the target, and this distance is used as information for adjusting the launch angle, for example, a laser range finder.

Although the angle sensor is not shown in the drawing, it is used to measure the camera angle with respect to the ground, and this angle is used as information for adjusting the launch angle. The angle sensor is configured together in a case where the distance sensor 50 and camera 60 of FIG. 7 are installed.

The camera 60 captures the target and supports the image of the target as well as aiming at the target. For example, an EO camera (60-1) with 30x optical zoom and specifications that recognizes a target over 1.2 km ), an IR (infrared thermal imaging) camera 60-2 that supports infrared thermal imaging for night mission performance can be configured together.

The distance sensor 50, the camera 60, and the angle sensor are cased and installed on the ceiling of the tilting frame 42.

The main controller and the communication unit transmit information such as the image captured by the camera 60 and the distance value of the distance sensor 50 to the ground controller 200, and receive commands from the ground controller 200 to send the grenade launcher 20 ) and the swing unit 30, tilting unit 40, distance sensor 50, and camera 60 are controlled.

In the above configuration, the correction device 10 photographs the target with the camera 60 and adjusts the launch angle of the grenade launcher 20 while checking the target with the ground controller 200, and the grenade launcher 20 tilts. It is connected to the frame 42 through the launch angle adjuster 13 and tilts together with the tilting frame 42, and rotates in the Y-axis direction independently of the tilting frame 42 to adjust the angle, and the camera 60 is tilted with the tilting frame 42. ) and tilts only by the tilting frame (42).

The launch angle adjuster 13 is, for example, a cylinder (hydraulic, pneumatic, etc.) in which the cylinder is fixed to the tilting frame and the rod is connected to the grenade launcher 20, and the rod is pulled out or inserted to the grenade launcher 20. Adjust (tilt) the angle.

A method of launching a grenade using a grenade launcher 100 including a launch angle correction device for a grenade launcher for a drone according to the present invention is as follows.

1. Drone flight.

The drone (300) is controlled and flown by operating the ground controller (200) or the drone controller.

2. Target aim.

The image captured by the camera 60 during the flight of the drone 300 is displayed on the display of the ground controller 200, a target is selected while looking at the display, and after selecting the target, the drone 300 is stopped and controlled to launch a grenade launcher. Stop (100), measure the distance to the target using the distance sensor 50, and measure the angle using the angle sensor. The aiming angle is extracted using the altitude and distance values of the grenade launcher 100.

3. Launch angle correction.

The launch angle is corrected using the altitude and aiming angle using the method described above. Although the firing state of the grenade launcher 20 changes through correction of the launch angle, the camera 60 maintains the position for shooting the target (maintains aiming), so there is no change in the target displayed on the display.

4. Launch.

When the trigger switch is selected on the ground controller 200, the grenade launcher 20 fires a grenade. Through the launch angle correction step, the grenade lands at the target location and strikes the target.

Hereinafter, a preferred embodiment of the grenade launcher will be described.

As shown in Figure 8, the grenade launcher 20 is installed in the grenade launcher main body 21, the rotary magazine part 22 loaded with a plurality of grenades, and the grenade launcher main body 21, and moves forward to rotate the grenade launcher. A striking unit (23) that strikes and fires a grenade loaded in the magazine unit (22), a percussion unit (24) that advances the striking unit (23) by operation of the ground controller (200), and a striking unit (23) It includes a ball locking portion (25) and a barrel portion (26) that prevents the ball from advancing.

The main body 21 is equipped with a striking unit 23, a percussion unit 24, and a striking locking unit 25, and is connected to the magazine unit 22 to enable striking of a grenade by the striking unit 23 and the magazine ( One side opening of 10) is closed, and the outer shape is circular to match the magazine portion 22.

The main body portion 21 must open one side of the magazine portion 22 so that grenades can be loaded into the loading portion of the magazine portion 22 and the loading portion can be cleaned. For this purpose, the main body portion 21 is hingedly connected to the magazine portion 22 so that the loading portion can be cleaned. Open or close the loading part of part 22.

The main body 21 and the magazine 22 are fixed through the cover 28.

The magazine unit 22 is configured to be loaded with a plurality of grenades and rotate so that the next grenade is loaded to the firing position after the grenade is fired, and the magazine 22-1 and the magazine rotation controller 22-2 are applied together.

The magazine 22-1 is cylindrical with a plurality of loading parts (loading holes) that are open at the rear and front, and is rotatably connected to one or more between the rear main body part 21 and the front barrel part 26. , It is configured to rotate by 1 click, so after one grenade is launched, the next grenade moves to the firing position.

For example, as shown in FIG. 9, the magazine rotation means 27 for rotating the magazine 22-1 includes a guide shaft 27-1 and a guide shaft 27 inserted into the center of the magazine 22-1. It is inserted between -1) and the magazine (22-1) and includes an elastic member (27-2) that supports the magazine (22-1) through elastic force.

The guide shaft 27-1 may be fixed to the barrel portion 26.

The elastic member (27-2) is a coil spring or spiral spring, and both sides are fixed to the guide shaft (27-1) and the magazine (22-1) (using a cover coupled to the magazine, etc.), respectively, and are fixed to the guide shaft (27-2), which is a fixed body. The magazine (22-1) is rotated based on -1).

The rotation mechanism of the magazine 22-1 using these configurations rotates the magazine 22-1 when loading so that the elastic member 27-2 is wound, and the magazine 22-1 is operated by the magazine rotation controller 22-1. It is fixed in the rotated state by 1). At this time, the elastic member 27-2 has an elastic restoring force that rotates the magazine 22-1 in a direction opposite to the rotation direction.

Such a rotation configuration of the magazine 22-1 can be implemented through prior art, etc.

When one grenade is fired, the restraint on the magazine (22-1) is released by the magazine rotation controller (22-1), and thus the elastic member (27-2) is released by the restoring force to rotate the magazine (22-1), When the grenade at the next position arrives at the firing position, the rotation of the magazine (22-1) is restricted by the magazine rotation controller (22??1), and the grenade at the next position waits at the firing position.

As shown in Figures 10 and 11, the magazine rotation controller 22-2 is formed in the barrel 26 in front of the magazine 22-1 so that the inside and outside communicate, and has a gas pressure discharge hole 22 for discharging the internal gas pressure. -1a), an operating rod (22-2a), which is installed around the magazine (22-1) to be able to move forward and backward on the barrel portion (26), and whose end is movably inserted into the gas pressure discharge hole (22-1a), A plurality of locking bars (22-1b) are formed along the circumferential direction of the magazine (22-1) to fit the loading section, and are coupled to the locking bars (22-1b) to restrict the rotation of the magazine (22-1) and operate. It includes a rotation control latch (22-2b) spaced apart from the stopping bar (22-1b) by the bar (22-2a) and allowing the magazine (22-1) to rotate.

The gas pressure discharge hole 22-1a may include a structure that amplifies the gas pressure inside the barrel 26 and transmits it to the operating rod 22-2a, for example, an orifice structure.

The operating rod (22-2a) is installed in the barrel portion (26), which is a fixed body, through a bracket to enable forward (rising) and reverse (lowering) movement toward the gas pressure discharge hole (22-1a), and when advancing, the gas pressure discharge hole (22-1a) is installed. It is inserted into -1a) and set in a position to receive gas pressure, and when moving backwards due to gas pressure, it falls out of the gas pressure discharge hole (22-1a) and opens the gas pressure discharge hole (22-1a). In this way, by opening the gas pressure discharge hole (22-1a), gas pressure is discharged to the outside, thereby preventing damage to the operating rod (22-2a), etc.

The locking bar (22-1b) is formed in the center of the loading part of the magazine (22-1) so that the detonator of the grenade matches the pestle when caught by the rotation control latch (22-2b).

The rotation control latch (22-2b) is rotatably mounted on a bracket whose center is fixed to the barrel portion 26 through an axle pin, and is attached to the stopping bar (22-1b) via an elastic member (torsion coil spring, etc.). It is elastically supported in the insertion direction to restrict the rotation of the magazine (22-1) in normal times, and the bottom includes a latch groove that surrounds and secures the circumference of the stopping bar (22-1b).

The rotation control latch (22-2b) must be connected to the operating rod (22-2a) so that it can be removed from the stopping rod (22-1b) in conjunction with the retraction of the operating rod (22-2a). For example, the operating rod (22-2a) A long hole is formed in (22-2a), and the rotation control latch (22-2b) includes a protrusion fitted into the long hole.

In addition, the rotation control latch (22-2b) is pushed when the next position latch bar (22-1b) comes, and is pushed by the latch bar (22-1b) so that the latch bar (22-1b) can be inserted into the latch groove. In order to rotate naturally, an inclined portion is formed at the tip.

In addition, the rotation control latch 22-2b includes a lever portion so that the user can arbitrarily operate it regardless of the grenade launch.

On the other hand, in order to force the operating rod (22-2a) to move backwards in case the rotation control latch (22-2b) cannot be operated with the operating rod (22-2a) due to weak gas pressure, an actuator, for example, a solenoid (22-22), is used. -2c) may be included. The solenoid (22-2c) is a one-way solenoid that retracts the operating rod (22-2a) in conjunction with the launch of a grenade through the operation of the ground controller 200. In this process, the magazine (22-1) rotates one click and then Ensure that the operating rod (22-2a) is inserted into the gas discharge hole (22-1a).

According to this configuration, in normal times (when not firing), the operating rod (22-2a) is inserted into the gas discharge hole (22-1a), and therefore the rotation control latch (22-2b) is connected to the magazine (22-1). Because it is hung on the locking bar (22-1b), the magazine (22-1) cannot rotate and remains fixed.

When one grenade is fired, the gas pressure is discharged through the gas pressure discharge hole (22-1a) and the operating rod (22-2a) is pushed backwards, and this movement causes the rotation control latch (22-2b) to rotate to move the locking rod. It falls out at (22-1b), and the magazine (22-1) rotates in one direction through the elastic member.

Afterwards, the rotation control latch (22-2b) is rotated to its original position through the elastic member, and in conjunction with this, the operating rod (22-2a) advances and is inserted into the gas pressure discharge hole (22-1a), and the other window ( As 22-1) rotates, the locking rod (22-1b) at the next position is caught by the rotation control latch (22-2b) and the rotation of the magazine (22-1) is stopped.

Accordingly, the grenade at the next position moves to the front of the strike unit 23 and waits for launch.

The striking unit 23 is installed in a striking block 23-1 mounted on the main body 21, movable in the front and rear directions inside the striking block 23-1, and moves toward the front magazine unit 22. It includes a striker (23-2) that moves forward and hits the grenade in the magazine section (22) and an elastic member that moves the striker (23-2) backward.

The percussion unit 24 moves the strike 23-2 of the strike unit 23 forward (or forward and backward is also possible) so that the strike strikes the detonator of the grenade, and the percussion case 24-1, solenoid or motor The striking hammer (24-2) moves forward (or forward and backward) through the actuator to strike the ball (23-2), and is installed in the percussion case (24-1) and returns the striking hammer (24-2). The member includes, for example, a hammer turn spring.

As shown in FIG. 9, the ball locking portion 25 is installed on the periphery of the strike 23-2 to enable forward and backward movement toward the strike 23-2, and is inserted into the perimeter of the strike 23-2 to allow the ball to move forward and backward. It includes a locking pin (25-1) that prevents the forward movement of (23-2), a locking pin driving means (25-2) that moves the locking pin (25-1) forward and backward, and a locking pin driving means (25-2) includes a motor, a locking lever that is connected to the motor and the locking pin (25-1) and moves the locking pin (25-1) forward and backward by the rotational force of the motor.

The barrel portion 26 supports the magazine portion 22 on the opposite side, that is, the front, of the main body portion 21 and provides a launch path for grenades fired from the magazine portion 22.

The process of launching a grenade by the grenade launcher of the present invention is as follows.

1. Loading.

The magazine 22-1 of the magazine section 22 is loaded with grenades. At this time, the striker 23-1 of the striker unit 23 maintains a position retracted backward from the detonator of the grenade.

2. Grenade launch.

When the driver selects the trigger switch at the ground controller 200, the striking hammer 24-2 advances through the actuator of the trigger unit 24, thereby advancing the striking hammer 23-2 of the striking unit 23.

As Gong-i (23-2) advances, Gong-i (23-2) hits the detonator of the grenade and the grenade is launched.

3. 1-click loading.

When one grenade is fired, the magazine 22-1 of the magazine part 22 rotates and the grenade at the next position moves to the firing position (1 click loading). At this time, the rotation of the magazine 22-1 is carried out by the magazine 22-1. This is achieved by the rotational force of (22-1) and the magazine rotation controller (22-2), and the driver operates the loading switch at the ground controller (200) or the magazine rotation controller (22-2) operates the magazine (22-2) immediately after firing one grenade. By releasing the rotation restraint of 22-1), the magazine (22-1) rotates, and through this rotation, when the next grenade moves to the firing position, the magazine rotation controller (22-2) rotates the magazine (22-1). It is restrained and the grenade waits at the firing position.

1: sensor,
10: Launch angle correction device for drone grenade launcher
11: Database, 12: Controller
13: Launch angle adjuster, 14: Correction value extractor
20: grenade launcher, 21: main body
22: Magazine section, 23: Ball section
24: percussion part, 25: ball lock part
26: gun barrel,
30: swing part, 31: swing motor
32: swing frame,
40: tilting unit, 41: tilting motor
42: tilting frame,
50: Distance sensor, 60: Camera
60-1: EO camera, 60-2: IR camera

Claims (11)

A swing unit swingably connected to the drone;
a tilting part tiltably connected to the swing part;
a grenade launcher connected to the tilting part, loaded with a grenade, and firing a grenade;
A camera that photographs a target;
A launch angle correction device for a grenade launcher for a drone that calculates the launch angle using the altitude value and the aiming angle and then corrects the grenade launcher;
It includes a main controller that communicates with the ground controller and controls the swing unit, tilting unit, grenade launcher, and camera,
The launch angle correction device for the drone grenade launcher is,
A database that constructs launch angle data reflecting angle correction values for various aiming angles of the grenade launcher, a launch angle adjuster that adjusts the launch angle by rotating the grenade launcher in the up and down directions, and a launch angle adjuster that adjusts the launch angle by rotating the grenade launcher in the up and down directions. Among the launch angles built in the database, the current altitude and aiming angle are It includes a controller that extracts the corresponding launch angle and adjusts the launch angle of the grenade launcher to the extracted launch angle through the launch angle adjuster,
The grenade launcher includes a grenade launch main body part, a magazine part in which a plurality of grenades are loaded and connected to the grenade launch main body part, and a ball installed in the grenade launch main body part and moving forward to strike and fire a grenade loaded in the magazine part. A launch angle, characterized in that it includes a percussion unit that advances the strike unit of the strike unit by operation of a ground controller, a ball locking unit that prevents the strike unit from advancing, and a barrel unit that guides a grenade fired from the magazine unit. A grenade launcher for drones that compensates. A swing unit swingably connected to the drone;
a tilting part tiltably connected to the swing part;
a grenade launcher connected to the tilting part, loaded with a grenade, and firing a grenade;
A camera that photographs a target;
A launch angle correction device for a grenade launcher for a drone that calculates the launch angle using the altitude value and the aiming angle and then corrects the grenade launcher;
It includes a main controller that communicates with the ground controller and controls the swing unit, tilting unit, grenade launcher, and camera,
The launch angle correction device for the drone grenade launcher is,
A database that constructs angle correction value data for various aiming angles of the grenade launcher, a correction value extractor that extracts an angle correction value corresponding to the current aiming angle from the angle correction values built in the database, and an upward and downward direction of the grenade launcher. It includes a launch angle adjuster that adjusts the launch angle by rotating it, and a controller that adjusts the launch angle of the grenade launcher through the launch angle adjuster by reflecting the angle correction value extracted from the correction value extractor,
The grenade launcher includes a grenade launch main body part, a magazine part loaded with a plurality of grenades and connected to the grenade launch main body part, and a ball installed in the grenade launch main body part and moving forward to strike and fire a grenade loaded in the magazine part. A launch angle, characterized in that it includes a percussion unit that advances the strike unit of the strike unit by operation of a ground controller, a ball locking unit that prevents the strike unit from advancing, and a barrel unit that guides the grenade fired from the magazine unit. A grenade launcher for drones that compensates. The grenade launcher for a drone according to claim 1, wherein the launch angle is determined by using various altitude values for each aiming angle. The grenade launcher for a drone that corrects the launch angle of claim 2, wherein the angle correction value is determined by using various altitude values for each aiming angle. The grenade launcher for a drone that corrects the launch angle of claim 1 or 2, comprising a goniometer for determining the aiming angle of the grenade launcher. delete The method according to claim 1 or 2, wherein the camera is fixed to the tilting unit, and the grenade launcher is capable of adjusting an angle independently of the camera with respect to the tilting unit through a launch angle adjuster configured in a launch angle correction device of the grenade launcher for the drone. A grenade launcher for drones that corrects the launch angle and is characterized by being connected in a straight line. delete The method according to claim 1 or 2, wherein the magazine portion is made of a cylindrical shape with a plurality of charging portions communicating with the barrel portion and the barrel portion between the barrel portion and the barrel portion, and the magazine is rotated in at least one of the main body portion and the barrel portion. A magazine (22-1) rotatably connected through a means, a magazine rotation means for rotating the magazine, and a magazine rotation controller for controlling the rotation of the magazine in conjunction with the magazine rotation means so that the magazine rotates by one click. 22-2) A grenade launcher for a drone that corrects the launch angle, comprising: The method according to claim 9, wherein the magazine rotation controller includes a plurality of locking rods formed at equal intervals along the circumferential direction of the magazine, a gas pressure discharge hole formed on the periphery of the gun barrel to communicate between the inside and the outside, and the barrel portion. A launch angle characterized in that it is mounted to move forward and backward toward the gas pressure discharge hole and includes an operating rod inserted into the gas pressure discharge hole, and a rotation control latch that releases the restraint of the magazine in conjunction with the backward movement of the operating rod. A grenade launcher for drones that compensates. A drone that flies under the control of a ground controller;
A grenade launcher, which is mounted on the drone and flies, and includes a grenade launcher for the drone that corrects the launch angle according to claim 1 or claim 2, which fires grenades through manipulation of the ground controller.

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