KR102629636B1 - Drone platform that can mount various mission equipment on the center of gravity of the drone - Google Patents

Abstract

According to the present invention, even when mission equipment is installed, the center of gravity of the drone does not change and the flight attitude of the aircraft itself can be immediately changed to ensure smooth functioning of the drone platform and mission equipment that can provide stable flight capabilities, and the mission equipment can be immediately changed. It is a versatile drone platform that can maintain a stable flight attitude without changing the center of gravity before and after adding equipment. It is characterized by providing stable attitude control ability even under sudden external factors during flight. Various mission equipment can be installed on the center of gravity line. drone platform

Description

A drone platform that can mount various mission equipment on the center of gravity of the drone}

The present invention relates to a drone platform that improves the usability of various mission equipment mounted on drones.

In general, due to the location and structure of various mission equipment mounted on drones, the thrust point of the propeller and the center of gravity (CG) are spaced apart, resulting in rapid flight and unstable control, resulting in a fall and safety of the drone. Threatening situations occur frequently.

In the case of drones used for aerial photography, the center of gravity of the drone is located at the bottom due to the structure of mounting a gimbal that maintains the camera posture at the bottom of the drone's main frame. This causes the CG to be spaced out during rapid maneuvers and stops. During flight, a sudden load of flight control and power due to inertia is generated, causing loss of control ability of the controller, which poses a risk of falling and safety.

Even in the case of agricultural drones used for aerial pest control, a chemical container heavier than the weight of the drone is mounted at the bottom of the drone's main frame and operated. Due to the nature of the pest control drone, CG is used in the process of implementing flight routines such as repetitive stopping and moving left and right. Control efficiency is reduced due to frequent crashes due to flight conditions such as the drone's flight stability and rapid load that occur when it is tilted to the bottom.

Even in the case of drones used for national defense, shooting rifles, grenade launchers, reconnaissance cameras, and gimbals are mounted and operated at the bottom of the main frame. The operating environment for military drones is more serious than that of general drones. The mission equipment of a typical drone cannot escape from the fixed form at the bottom of the main frame, so the momentary and repetitive recoil that occurs when shooting military drones such as rifles or grenade launchers becomes a factor that threatens the flight stability of the drone, reducing the accuracy of shooting. It is an impossible structure.

It is necessary to provide optimal flight conditions by eliminating the factors that account for the largest proportion of the various factors that impede flight safety and control stability among the drone's components. Even if the drone is equipped with mission equipment, the thrust point and CG are consistent. A flying vehicle (drone platform) with a structure that does this is needed.

Republic of Korea Patent Application No. 10-2018 -0108055 (2018.10.04.)

In order to solve the problems of the prior art described above, the present invention ensures optimal flight stability and control stability due to the main frame in which the thrust point of the propeller and the CG position of the entire aircraft do not deviate from the same point even when mission equipment is installed. do.

In the prior art, in the case of drones, only the unique frame structure of the drone excluding the mission equipment does not cause any unique problems in maintaining the flight attitude, but with the installation of the mission equipment, the most important CG in the aircraft deviates from the vehicle's unique thrust point, which causes the flight When loading is imbalanced in the aircraft itself, problems arise where the flight controller exceeds controllable limits. Therefore, we provide an optimal main frame where the thrust point and CG match even when various types of mission equipment are installed. In order to implement smooth functions, we aim to provide a drone platform that doubles the utilization and efficiency of mission equipment by having the aircraft itself tilted upward and downward while maintaining the motor and propeller horizontally.

As an embodiment of the present invention, a drone platform capable of mounting various mission equipment on the center of gravity includes a main frame of an aircraft, a side frame; Frame supports that support the side frames from the front and rear; Front and rear frames supported on frame supports; Front and rear tilting axes; and front and rear tilting devices; It is characterized in that it includes a mission equipment mounting guide supported by the side frame.

There are 4 side frames (top, bottom, left, and right), 4 front and rear frames (top, bottom, front, and back), 4 frame supports (front, back, left, and right), and 2 tilting devices (front and rear). The mission equipment installation guide is characterized by being composed of two parts, left and right.

The tilting device includes a driving gear; The tilting axis is a driven gear; The tilting device and the driven gear are connected and operated by a timing belt, and the interior of the tilting device includes a servo motor and a sensor.

Front and rear folding arms supported on the left and right by front and rear tilting axes, respectively; and motor boom; It includes a gimbal supported by left and right mission equipment installation guides, and the gimbal is characterized by supporting various mission equipment.

The gimbal includes a bracket for holding a rifle that mounts and secures the rifle; It is characterized by including a shock absorber that alleviates the shock and recoil that occurs when shooting a rifle.

Front and rear motor booms have upper and lower motors, respectively; Upper and lower propellers; It is characterized by including a carbon pipe.

A portion of the forward tilting axis includes an FC (Flight Controller) that includes a gyro, acceleration sensor, and pressure sensor; The gimbal has a pitch axis motor; Yaw axis motor; It is characterized by including a shock absorber.

The gimbal that supports the mission equipment is installed on the center of gravity of the main frame, and space is secured to mount various mission equipment at the thrust point that matches the vertical height of the propeller responsible for thrust, thereby establishing the thrust point and center of gravity of the drone. It is characterized by this coincidence.

The motor and gimbal are operated by an FC (Flight Controller), the forward and backward tilting devices are operated by a remote controller, and the gimbal is also operated by a remote controller.

Therefore, the present invention is a frame in which the motor, propeller, and FC are tilted by a remote control and a tilting device based on the front and rear tilting axes of the frame (carrying courier, delivery, event supplies, etc.) and safely riding on a large number of spectators. Entertainment drone fields that drop non-violating items, fields that require stable flight by carrying heavy objects on the center of gravity such as pest control drones, police drones that require various mission equipment, beach life-saving drones, and robot arms. Fields requiring stable flight, environmental monitoring and prediction-related fields, forest fire prevention and early extinguishing, insect killing and poaching drones, medical supply delivery, mail delivery, banquet feasts, construction monitoring, fireworks drop drones, opposing LEDs It can be used in a variety of ways, such as advertising and multimedia drones using displays and seed-seeding drones. For military purposes, the thrust of the drone can be increased to use it to launch missiles, and it is necessary to implement the functions of mission equipment (dropping bombs, supplying battlefield medical supplies, etc.) It is easy to secure visibility and space, and even when equipped with mission equipment, the main frame with the same thrust point and CG allows for stable flight posture and smooth control even under rapid flight conditions.

In addition, by designing the mission equipment to be placed on the drone's center of gravity, it is possible to implement an optimal gimbal with the best attitude control ability even during aggressive flight or imbalance in the drone's attitude. Optimal flight can be achieved with smooth operation without loss of control.

Figure 1 is a perspective view showing a frame structure in which the center of gravity (CY) is formed at a position spaced apart from the thrust point (TP) of the propeller when mission equipment is mounted on a drone of a conventional invention.
Figure 2 is a combined perspective view showing the overall appearance of the drone platform that allows mission equipment to be mounted on the center of gravity of the drone of the present invention.
Figure 3 is a perspective view showing a frame structure in which space for mounting mission equipment is secured in the middle of the main frame of the present invention.
Figure 4 is a perspective view of the motor and propeller maintaining a horizontal state even when the front of the frame of the present invention is tilted upward clockwise to ensure visibility of the space in front and below the aircraft.
Figure 5 is a perspective view of the motor and propeller maintaining a horizontal state even when the front of the aircraft of the present invention is tilted downward and the space in front and above the aircraft is clearly visible.
Figure 6 is a perspective view showing a state in which the front of the aircraft of the present invention is tilted upward based on the center of gravity and a shooting rifle, which is mission equipment, is attached to the gimbal to ensure visibility of the space in front and below the mission equipment to aim at a ground target. .
Figure 7 is a perspective view of the present invention in which the motor boom and propeller are folded to minimize the volume of the drone and improve portability.
Figure 8 is a perspective view showing in detail the folding arm structure for folding the motor boom of the present invention.
Figure 9 is a perspective view showing FC mounted in the middle of the front tilting axis of the present invention.
Figure 10 is a perspective view showing the main frame of the present invention.
Figure 11 is a perspective view showing in detail the tilting device for tilting the motor boom of the present invention.
Figure 12 is a perspective view of the motor, propeller, carbon pipe, etc. of the present invention combined.
Figure 13 is a perspective view of the gimbal of the present invention.
Figure 14 is a perspective view showing a shooting rifle, which is the mission equipment of the present invention, mounted on a gimbal.

Below are preferred embodiments of the present invention in which the object of the present invention can be concretely realized.

The description will be made with reference to the attached drawings. In describing embodiments of the present invention, the same names and the same symbols are used for the same components, and additional description accordingly will be omitted.

Figure 1 is a perspective view showing a frame structure that implies a poor drone control environment because the center of gravity (CG) is formed at a location spaced apart from the thrust point of the propeller when mission equipment is mounted on a drone of a prior invention.

Here, when attaching mission equipment to a conventional drone, the mission equipment (T) is installed to align the center of gravity (CG) of the completed drone as much as possible on the center line (C) corresponding to the Z-axis of the drone. Although the installation location of the aircraft cannot be considered, the expandability of the existing aircraft and the space for installing the mission equipment (T) cannot be considered, so when installing the mission equipment (T), the thrust point (TP) and mission equipment (T) coincide with the horizontal axis of the propeller (430). ) After the addition, the center of gravity (CG) of the drone moved rapidly, so there was a limit to mounting the mission equipment (T) on the center of gravity line (C), and as a result, the drone was faced with a dangerous situation of flying in an unstable state.

This problem is caused by changing the PID (Proportinal Integral Differential) control value, which calculates the roll, picth, and yaw values using the gyro and acceleration sensor, which are the core sensors of the drone, to induce the FC to control its attitude. However, due to changes in the weight of the mission equipment (T), PID control depending on the mounting location requires complex calculations, and for general users, it is difficult to obtain accurate control values, which makes it difficult to implement a normal flight attitude.

In addition, in the case of a conventional rifle shooting drone, the gimbal (300) and rifle (T) are mounted on the bottom of the drone and operated.

When firing while deviating from the aircraft's unique center of gravity (C), shock waves are transmitted to the aircraft at a distance from the center of gravity (CG), causing the drone to lose its attitude control ability, and the alignment of the aiming line, which is most important when shooting, is disturbed. There was a problem with losing.

In order to solve this problem, the present invention implements a frame-based platform that secures space for mounting mission equipment (T) at a location where the thrust point (TP) and center of gravity (CG) coincide with the basic structure of the aircraft. . Considering the structure of various mission equipment (T), a mainframe structure is provided that provides space for mounting module-type mission equipment (T) at the center of the aircraft.

In addition, in order to double the function and usability of the mission equipment (T), the forward tilting axis (130) is tilted upward and the rear tilting axis (131) is tilted upward based on the horizontal line forming the center of gravity (C) corresponding to the transverse axis of the aircraft during flight. ) is operated in a downward tilting manner so that when mounting a camera, the angle of the camera can be secured in the desired direction up or down, or in the case of a rifle shooting drone, to prevent the frame of the drone from interfering with the aiming line of the rifle facing forward. It is possible to double the usability of various mission equipment (T). In addition, during the process of tilting the aircraft, the motor 410 and the propeller 430 have a structure that tilts simultaneously so that they can remain horizontal.

Using this driving mechanism, it is possible to comfortably secure the field of view and operating space for the mission equipment (T) in conventional drones that cannot tilt, providing an optimal environment for driving camera gimbals (300) corresponding to video equipment. In the case of a defense rifle shooting drone, the rifle is placed on the gimbal (300), which includes a shock absorber (330), on the center line of gravity (C) of the aircraft, and the rifle can be freely aimed using a remote control, or the shock generated when firing can be used. It has been possible to implement an optimal mechanism that prevents situations where the aiming line is disturbed. When shooting, the actions of the bolt retraction and advance, safety lever, and trigger are each operated by a servo motor (not shown) attached to the body of the rifle by a remote control.

In the case of general drones used for maritime rescue, in the process of throwing rescue tubes, etc., anxiety factors such as changes in the drone's flight performance due to changes in the center of gravity (CG) before and after throwing are suppressed or the camera's field of view is secured to confirm rescue points. For this purpose, functions such as changing the tilting angle (a) of the frame to the optimal state according to the flight situation can be implemented with a remote controller. After throwing the tube, it guides the tube to the rescuer's location and rescues the rescuer holding the tube. By fixing the towing line on the center of gravity (C), it provides a drone platform structure that does not affect the flight stability of the drone.

For this purpose, the front and rear motor booms (400, 411) must be able to tilt in the desired direction by a remote control, and the FC (500) is mounted at the middle position of the front tilting axis (130) to control the motor (410), propeller (430), and FC. (500) has a structure that allows the lights to tilt at the same angle so that the sensors needed to control the drone's attitude can operate smoothly.

In addition, in the case of marine rescue, when a general drone performs the role of towing a rescued person by linking it with a tube, the center of gravity (CG) of the drone changes drastically due to the position where the tow line is fixed, so the center of gravity (C) of the aircraft A frame structure to which the tow line can be secured must be provided. At this time, the motor 410, propeller 430, and FC 500 mounted on the frame perform a stationary hovering flight while being horizontal to the ground.

Figure 2 is a combined perspective view showing the overall appearance of the drone platform that allows mounting mission equipment (T) on the center line of gravity (C) of the drone of the present invention, and Figure 3 is a combined perspective view showing the mission equipment in the middle of the main frame of the present invention. (T) is a perspective view showing a frame structure with space for mounting (T), and Figure 4 shows that the front of the frame of the present invention is tilted upward clockwise so that the motor and propeller are horizontal even when the space in front and below the aircraft is visible. It is a perspective view of maintaining the state, and Figure 5 is a perspective view of the motor and propeller maintaining a horizontal state even in a state where the front of the aircraft of the present invention is tilted downward and the space in front and above the aircraft is visible, and Figure 6 is a perspective view of the aircraft of the present invention. By tilting the front of the aircraft upward based on the center of gravity (C), a shooting rifle, which is mission equipment (T), is attached to the gimbal (300) to secure front and downward visibility of the mission equipment (T) in order to aim at a ground target. This is a perspective view showing the condition.

First, in Figure 2, in the case of a conventional rifle shooting drone, in the process of operating a gimbal 300 and a rifle (T) mounted on the bottom of the drone, the center of gravity ( There is a problem in that the aircraft must be made larger than necessary to compensate for the loss of the drone's attitude control ability due to the CG being transmitted as a shock wave to a spaced aircraft.

In a typical rifle shooting, when a bullet is fired from the muzzle, the recoil from the impact is transmitted through the muzzle to the barrel and stock, causing the muzzle to temporarily deviate from the correct aiming state and the aiming line to deviate upward depending on the state in which the rifle is held. This phenomenon occurs because the bullet's recoil is transmitted in a straight line in the order of the muzzle, barrel, and stock, but since the hand that holds the rifle and the shoulder that holds the butt plate are located lower than the barrel, the muzzle is lifted upward and the aiming line is aligned. I feel disheveled.

As shown in Figure 3, the present invention secures a space for mounting various mission equipment (T) of the drone at the thrust point (TP) that matches the vertical height of the propeller (430) responsible for the thrust of the drone. The thrust point (TP) and the center of gravity (CG) point coincide, and the flight attitude of the drone can be changed for flight and function of the mission equipment (T), doubling the performance of the mission equipment (T) and providing optimal performance. It is possible to secure flight stability, and by improving control stability, the flight time can be increased compared to existing aircraft, and the size of the aircraft can also be reduced in weight.

In addition, in order to avoid situations where the aiming line alignment is disturbed due to the impact and recoil that occurs when shooting a rifle, the mission equipment (T) is mounted on a gimbal (300) with pitch, roll, and yaw axes and then placed at the center of gravity (CG) of the frame. Inside the gimbal (300) to which the rifle is attached, a shock absorber (330) is mounted on the YAW axis to alleviate the impact and recoil caused by the rifle's shooting, minimizing recoil, and the YAW axis on which the rifle is mounted is surrounded by the pitch axis. It is fixed to the main frame (100) in the state, and the horizontal line of the muzzle and barrel of the rifle is aligned with the center line of gravity (C) of the aircraft, so that the recoil that occurs when shooting is pushed in a straight line with the muzzle without disturbing the alignment of the aiming line. It can be positioned so that the muzzle and aiming line can be maintained in the correct aiming state even during continuous shooting, and the drone's FC (500) enables smooth flight control.

In Figure 6, if the rifle, which is the mission equipment (T), is removed and the camera is mounted on the gimbal 300, it becomes suitable for shooting subjects on the ground, and the front tilting axis ( By mounting the camera gimbal 300 on 130 and operating the main frame 100 by tilting it, a shooting angle of more than 300 degrees can be secured.

However, when the camera gimbal 300 is mounted on the front tilting axis 130, it is limited to small cameras and the center of gravity (C) moves slightly forward on the horizontal axis, so this problem is solved by PID control by FC (500).

In order to implement this function, it must first be possible to tilt the frame in the desired direction with the center line of gravity (C) of the aircraft as the axis. This function involves rotating the front and rear tilting axes (130, 131) in the opposite direction to the direction in which the frame is to be rotated. When rotated, the FC (500) equipped with a gyro and acceleration sensor controls its attitude so that it can fly while maintaining a tilted state. In addition, when the motor 410 and propeller 430 tilt based on the front and rear tilting axes 130 and 131, the FC 500 is also mounted on the tilting axis 130 so that it rotates at the same angle or is rotated at the center of gravity (C) of the aircraft. Attach FC (500) to the upper frame.

When the motor 410, the propeller 430, and the FC 500 are in a horizontal state, the propeller 430 maintains a stable flight state of stationary hovering while maintaining a horizontal state with the ground due to the attitude control function of the FC 500. You can.

That is, in the present invention, the front and rear tilting axes 130 and 131 fixed to the main frame 100 are weighted by a remote controller to secure the field of view and space necessary to implement the functions of the mission equipment (T) mounted on the frame. In order to tilt at the same angle around the center line (C) and support the stable attitude control ability of the FC (500), space is secured to install mission equipment (T) on the center line (C) of various mission equipment. Equipped with (T), it flies stably and demonstrates optimal flight ability even in the event of aggressive flight or sudden external factors.

Even when a camera for video shooting is mounted on the gimbal 300, the main frame 100 is tilted upward or downward toward the front of the drone to prevent the drone frame or propeller 430 from interfering with the angle of the camera. (T) enables smooth operation, and by mounting and operating the camera gimbal 300 on the center of gravity (C), the drone's attitude control ability is maintained even during sudden starts and stops of the aircraft, resulting in stable video shooting. possible.

In this way, the mission equipment (T) that increases the load of the drone can be seated on the center line (C), so the motor 410 and propeller 430 mounted on the motor boom stand 400 are perpendicular to the direction of gravity. It maintains a horizontal state and enables optimal and safe flight even during sudden starts and stops.

Figure 7 is a perspective view of improving portability by minimizing the volume of the drone by folding the motor boom and propeller of the present invention, and Figure 8 is a perspective view showing in detail the folding arm structure for folding the motor boom of the present invention. 9 is a perspective view showing the structure of mounting FC in the middle of the front tilting axis of the present invention.

In Figures 7 and 8, the front and rear motor booms (400, 411) and propellers (430) are manually folded to improve portability or minimize the loading space by minimizing the volume of the drone when carrying and moving the drone. can be conveniently reduced.

In Figure 9, the FC 500 is mounted on the tilting axis so as to tilt at the same angle as the motor 410 and the propeller 430. When installing the FC (500) on the front tilting axis (130), consider the moving center of gravity (CG) and move the position of the mission equipment (T) to the rear tilting axis (131) to adjust the center of gravity (CG). . That is, the FC (500) has a built-in gyro, acceleration, and pressure sensor to control the flight attitude.

Figure 10 is a perspective view showing the main frame of the drone of the present invention, Figure 11 is a perspective view showing in detail a tilting device (servomotor) for tilting the motor boom of the present invention, and Figure 12 is a motor, propeller, and carbon of the present invention. It is a perspective view of pipes, etc. combined, and Figure 13 is a perspective view of the gimbal of the present invention. Figure 14 is a perspective view showing the shooting rifle, which is the mission equipment of the present invention, mounted on a gimbal.

In Figure 10, the main frame 100 of the aircraft consists of four basic side frames 110 and four front and rear frames 120, four front and rear frame supports 140 that support the frame, and , 2 front and rear tilting axes (130, 131), 2 front and rear tilting devices (210), 2 left and right mission equipment (T) installation guides (150) and 4 folding arms (160). Here, the quantity of basic components of the main frame 100 may change depending on needs such as visibility and space security, mission equipment (T), and flight status.

The front and rear tilting axes 130 and 131 inserted into the frame support 140 can perform smooth rotation due to the bearings inserted into the frame support 140, and the tilting device 210 that rotates the tilting axis 130 is It is mounted on the frame support 140 and operates the front tilting shaft 130 by connecting the drive gear 211 and the driven gear 132 with a timing belt 212. The rear tilting axis 131 also operates by the same action.

In Figure 11, the tilting device can be controlled with a remote controller to achieve a desired tilting angle, and includes a servo motor and a sensor inside.

In Figure 12, the motor boom 400 inserted into the folding arm 160 of Figure 8 is composed of a motor 410, a propeller 430, and a carbon boom, and is connected to the tilting axis 130 so that it can rotate at an arbitrary angle. As can be seen, the rotation directions of the upper and lower motors 410 and 420 are operated in opposite directions, and due to this upper and lower symmetrical structure, the center line of the carbon pipe becomes the thrust point (TP) of the upper and lower propellers 430 and 440. , coincides with the horizontal center of gravity (Cy).

In Figures 13 (a) and 14, the gimbal 300 includes a pitch axis housing 301 operated by the pitch axis motor 310 and a yaw axis housing 302 operated by the yaw axis motor 320. Including, the shooting rifle (T) is yawed by the left and right clamps (340a, b) and bolts (341) that rotate around the hinge (343) of the clamp support (342) and form the muzzle hole (344). It can be mounted on the axis housing (320) to control the desired angle of the PITCH/YAW axis, and a gimbal (with a built-in gyro, acceleration sensor, etc.) to accurately implement the function of the shooting rifle (T), which is mission equipment, according to the movement of the drone. Automatic posture control is possible by the controller of 300). In addition, manual control in the desired direction is possible by linking with a remote controller, and a shock absorber (330) to cushion the shock generated when shooting a rifle is also installed on the body of the Yaw axis housing (302).

In Figure 13 (b), the gimbal 300 can be used by mounting necessary mission equipment such as a video camera.

100: mainframe
150: Mission equipment installation guide
210: Tilting device
300: Gimbal
400: Motor boom
500: FC(Flight Controller)
CG: Center of gravity
A: Yaw axis
B: Roll axis
C: Center of gravity
a: frame tilting angle
T: Mission equipment
TP: thrust point

Claims (7)

Up and down motors symmetrical around the motor boom stand; In the main frame of the aircraft formed with upper and lower propellers,
side frame;
Frame supports supporting the side frames from front and rear;
a frame supported on the frame support; Front and rear tilting axes; and tilting device;
Left and right mission equipment mounting guides supported by the side frames;
The tilting device includes a driving gear;
The tilting axis includes a driven gear;
The driving gear and the driven gear are connected and operated by a timing belt,
Inside the tilting device is a servomotor and a sensor;
Front and rear folding arms supported on the left and right by the front and rear tilting axes, respectively; and motor boom;
A drone platform capable of mounting various mission equipment on the center of gravity, including a gimbal supported by the left and right mission equipment installation guides, wherein the gimbal supports various mission equipment. According to paragraph 1,
The side frames are four, top, bottom, left, and right,
The front and rear frames are four, top, bottom, front, and rear,
There are four frame supports front, rear, left, and right,
There are four motor booms, front, rear, left, and right,
There are two tilting devices, front and rear,
A drone platform capable of mounting various mission equipment on the center of gravity, characterized in that the mission equipment installation guide consists of two left and right sides. According to paragraph 2,
A portion of the front tilting axis includes an FC including a gyro, an acceleration sensor, and a pressure sensor;
The motor boom is a drone platform capable of mounting various mission equipment on the center of gravity line, characterized in that it is a carbon pipe. According to paragraph 3,
The gimbal supporting the various mission equipment is installed on the center of gravity of the main frame, and secures a space for mounting the various mission equipment at the thrust point that matches the vertical height of the propeller responsible for thrust, thereby securing the drone. A drone platform that can be equipped with various mission equipment on the center of gravity line, characterized by the thrust point and the center of gravity being aligned. According to paragraph 4,
The motor and gimbal are operated by FC, the front and rear tilting devices are operated by a remote controller, and the gimbal is also operated by a remote controller. A drone capable of mounting various mission equipment on the center of gravity. platform According to clause 5,
The gimbal includes a pitch axis motor; Yaw axis motor;
Pitch axis housing operated by the pitch axis motor;
Yaw axis housing operated by the Yaw axis motor;
Left and right clamps that rotate around the hinge of the clamp support axis and form a muzzle hole; and bolts;
A rifle holding bracket for mounting and fixing a rifle;
A shock absorber that alleviates the impact and recoil that occurs when shooting the rifle;
A drone platform capable of mounting various mission equipment on the center of gravity, comprising:
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