Telescopic arm type capturing device for air-based unmanned aerial vehicle recovery

Abstract

The invention discloses a telescopic arm type capturing device for air-based unmanned aerial vehicle recovery, and relates to the field of air unmanned aerial vehicle recovery, the telescopic arm type capturing device comprises an airborne platform, the airborne platform is provided with a first hooke joint and a second hooke joint, the airborne platform is provided with a root horizontal hooke joint, and the root horizontal hooke joint is rotatably connected with a basic arm; a first hooke joint and a second hooke joint are arranged on the base arm, a third hooke joint and a fourth hooke joint are arranged on the base arm, a first hydraulic cylinder is arranged between the first hooke joint and the third hooke joint, a second hydraulic cylinder is arranged between the second hooke joint and the fourth hooke joint, an extending arm is slidably connected into the base arm, and a tail end capturing mechanism is arranged at the tail end of the extending arm and used for capturing the recycled unmanned aerial vehicle. The problems that an existing flexible control mode is poor in stability, long in control period and low in control efficiency are solved, and the working efficiency of the air-based platform during air control tasks is effectively improved.

Description

Technical Field

[0001] The invention relates to the field of air-based unmanned aerial vehicle recovery, and in particular to a telescopic arm capture device for air-based unmanned aerial vehicle recovery. Background Art

[0002] Aerial drone recovery technology uses large aircraft such as transport aircraft as carriers to operate and control the target drone through direct or non-contact methods to complete tasks such as safe recovery, troubleshooting, repair, refueling, etc. of the target drone, hoping to extend the working time of the target drone, improve its working efficiency and enhance its working performance.

[0003] Aerial drone recovery technology is a typical aerial control technology. Due to the advantages of aerial drone recovery technology such as non-destructive, precise, fast, and maneuverable, institutions and scholars from various countries have conducted a lot of theoretical research and practical applications on it. According to the classification of recovery scenarios, drone recovery technology can be divided into land-based, sea-based, and air-based recovery technologies. Compared with the two land-based and sea-based recovery modes, the air-based recovery method can more effectively expand the combat range and endurance of drones, allowing drones with high-performance and high-value mission payloads to be reused, thereby comprehensively improving the mission flexibility and combat effectiveness of drones. As drones develop in the direction of clustering and distribution, air-based recovery technology has become a hot spot and difficult problem for research at home and abroad in recent years.

[0004] The implementation platform for aerial drone recovery missions is usually a mother aircraft with a long range and strong carrying capacity. The recovery methods can be divided into two types: flexible recovery and rigid recovery. The flexible recovery method has poor stability, a long recovery cycle, and low recovery efficiency. Therefore, there is an urgent need to study a rigid aerial drone recovery and its docking and capture device. Summary of the invention

[0005] The purpose of the present invention is to provide a telescopic arm capture device for air-based UAV recovery, so as to solve the problems of poor stability, long control cycle and low control efficiency of the existing flexible recovery method.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a telescopic arm capture device for air-based UAV recovery, comprising an airborne platform connected to an aircraft, a first Hooke's hinge and a second Hooke's hinge being symmetrically provided on one side of the airborne platform, a root horizontal Hooke's hinge being provided at the bottom of the airborne platform, a basic arm being rotatably connected to the root horizontal Hooke's hinge, a third Hooke's hinge and a fourth Hooke's hinge being symmetrically provided on the basic arm, a first hydraulic cylinder being provided between the first Hooke's hinge and the third Hooke's hinge, a second hydraulic cylinder being provided between the second Hooke's hinge and the fourth Hooke's hinge, an extension arm being slidably connected in the basic arm, an end capture mechanism being provided at the end of the extension arm, and the end capture mechanism being used to capture the recovered UAV.

[0007] Principle and effect of the technical solution: In this solution, the UAV recovery work is carried out with the help of a rigid basic arm and an outrigger arm. The two hydraulic cylinders arranged on the basic arm can realize the pitch and roll operations of the telescopic arm, which can effectively improve the efficiency of aerial operations. The telescopic hydraulic cylinder arranged between the basic arm and the outrigger arm expands the working space of the telescopic arm, and the load capacity of the control device can be improved with the help of the driving method of the hydraulic cylinder. The end capture mechanism arranged at the end of the outrigger arm improves the accuracy and reliability of the UAV recovery and docking process.

[0008] Furthermore, the basic arm includes a first head frame beam and a second head frame beam which are distributed at intervals, and a basic arm lower beam, a basic arm upper beam, a first basic arm side beam and a second basic arm side beam are commonly arranged circumferentially on the first head frame beam and the second head frame beam, and a plurality of basic arm ribs are arranged at intervals in the space enclosed by the basic arm lower beam, the basic arm upper beam, the first basic arm side beam and the second basic arm side beam, and a basic arm tail frame beam is arranged on one side of the space enclosed by the basic arm lower beam, the basic arm upper beam, the first basic arm side beam and the second basic arm side beam, and a first hydraulic cylinder mounting rib plate and a second hydraulic cylinder mounting rib plate are arranged on the basic arm tail frame beam, and the first hydraulic cylinder mounting rib plate and the second hydraulic cylinder mounting rib plate are rotatably connected to the first hydraulic cylinder and the second hydraulic cylinder respectively through a third Hooke's hinge and a fourth Hooke's hinge, and the basic arm lower beam, the basic arm upper beam, the first basic arm side beam, the second basic arm side beam and the basic arm tail frame beam are commonly covered with a skin.

[0009] Furthermore, a telescopic hydraulic cylinder is provided in the basic arm, one end of the telescopic hydraulic cylinder is connected to the basic arm, and the other end is connected to the extension arm.

[0010] Furthermore, the cantilever arm includes a cantilever arm head frame beam, and the cantilever arm head frame beam is circumferentially provided with a cantilever arm upper beam, a first cantilever arm side beam, a cantilever arm lower beam and a second cantilever arm side beam, and a plurality of cantilever arm ribs are arranged at intervals in the space enclosed by the cantilever arm upper beam, the first cantilever arm side beam, the cantilever arm lower beam, the second cantilever arm side beam and the cantilever arm ribs, the outer sides of the cantilever arm upper beam, the first cantilever arm side beam, the cantilever arm lower beam, the second cantilever arm side beam and the cantilever arm ribs are jointly covered with a skin, and the cross-sectional profile of the skin is an ellipse, and the ends of the space enclosed by the cantilever arm upper beam, the first cantilever arm side beam, the cantilever arm lower beam and the second cantilever arm side beam are jointly connected to the cantilever arm tail frame beam, and the cantilever arm tail frame beam is symmetrically provided with a first winglet mounting rib plate and a second winglet mounting rib plate, and one side of the cantilever arm tail frame beam is fixedly connected to an end joint, and an end of the end joint close to the cantilever arm tail frame beam is provided with a pitch hinge, and the pitch hinge is rotatably connected to the end capture mechanism.

[0011] Furthermore, a pneumatic stabilization mechanism is provided on the outrigger, and the pneumatic stabilization mechanism includes a winglet mounting bracket, and a winglet driving motor and a pneumatic winglet body are provided on the winglet mounting bracket, the winglet driving motor is connected to the winglet mounting bracket, and the pneumatic winglet body is rotatably connected to the winglet mounting bracket, and the winglet driving motor is connected to the corresponding pneumatic winglet body through a bevel gear set, and the end of the outrigger is rotatably connected to the end capture mechanism.

[0012] Furthermore, a pitch hydraulic cylinder is rotatably connected between the lower side of the extension arm and the end capture mechanism.

[0013] Furthermore, the end capture mechanism includes a pitch mounting plate, on which a first hinge and a second hinge are spaced apart, the first hinge being rotatably connected to the extension arm, the second hinge being rotatably connected to the pitch hydraulic cylinder, a roll axis being rotatably connected to the pitch mounting plate, the roll axis being connected to a drive motor located outside the roll axis through a gear set, the drive motor being connected to the pitch mounting plate, and a capture plate located outside the pitch mounting plate being further provided at the end of the roll axis.

[0014] Furthermore, a capture cone body is provided on the roll axis, and the capture cone body includes a capture cone front cover. A sliding groove is provided on the pitch mounting plate for the capture cone front cover to rotate. A capture cylinder is provided on the capture cone front cover, and a capture cone end cover is provided on the other end of the capture cylinder. Four limiting grooves are provided circumferentially on the capture cylinder, and a capture locking hook is slidably connected in each of the limiting grooves. A reset spring with one end fixedly connected to the limiting groove is provided outside the capture locking hook, and the other end of the reset spring is fixedly connected to the capture locking hook.

[0015] Furthermore, the capture plate is Y-shaped, and electromagnets are installed on two branches of the capture plate. The electromagnets are electrically connected to a power supply arranged on the aircraft, and the power supply is electrically connected to a pressure sensor. The pressure sensor is arranged in the capture cylinder.

[0016] Furthermore, the airborne platform is a truss structure, and connecting plates are provided on both the front and rear sides of the airborne platform.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention uses an air base as a carrying platform and utilizes a hydraulic cylinder to realize the telescopic arm's telescopic, pitching, and yaw movements in three degrees of freedom. The movement space is large and the load capacity is strong. The end capture mechanism has high-precision capture functions in two degrees of freedom, namely pitching and rolling, which expands the operating range of the control device and effectively improves the operating efficiency of aerial control.

[0019] 2. The present invention adopts a hydraulic cylinder as a driving method, and utilizes a pneumatic stabilization mechanism and hydraulic coordinated control, which greatly improves the load capacity of the control device.

[0020] 3. In the present invention, the terminal capture mechanism has two degrees of freedom of pitch and roll, and the capture cone body adopts a self-locking design that cooperates with the docking rod on the drone, and is locked after the docking rod is inserted, thereby improving the success rate of docking and capture.

[0021] 4. The profile of the telescopic arm and the pitch plate of the terminal capture mechanism in the present invention adopt a drag-reducing and lift-increasing design, thereby improving the stability of the control device.

[0022] 5. The combination of mechanical capture and electromagnetic capture improves the reliability of docking capture. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of a telescopic arm capture device for air-based UAV recovery of the present invention;

[0024] Figure 2 Schematic diagram of the structure of the basic arm in this embodiment;

[0025] Figure 3 This is a schematic diagram of the structure of the extension arm in this embodiment;

[0026] Figure 4 Schematic diagram of the structure of the pneumatic stabilization mechanism in this embodiment;

[0027] Figure 5 Schematic diagram of the structure of the end capture mechanism in this embodiment;

[0028] Figure 6 It is a schematic diagram of a telescopic arm capture device for air-based UAV recovery of the present invention in a folded state after capturing the UAV;

[0029] Figure 7 A schematic diagram of the left-right swing of a telescopic arm capture device for air-based UAV recovery according to the present invention;

[0030] Figure 8 The present invention is a schematic diagram of the connection relationship between a telescopic arm capture device for air-based UAV recovery and an aircraft.

[0031] In the figure:

[0032] The reference numerals in the drawings of the specification include: airborne platform 1, root horizontal Hook's hinge 2, basic arm 3, first head frame beam 301, second head frame beam 302, basic arm rib 303, basic arm lower beam 304, basic arm upper beam 305, first basic arm side beam 306, second basic arm side beam 307, first hydraulic cylinder mounting rib plate 308, second hydraulic cylinder mounting rib plate 309, basic arm tail frame beam 310, first Hook's hinge 4, first hydraulic cylinder 5, third Hook's hinge 6, second Hook's hinge 7, second hydraulic cylinder 8, fourth Hook's hinge 9, boom 10, boom head frame beam 1001, boom rib 1002, boom upper beam 1003, boom lower beam 1004, first boom side beam 1005, second boom side beam 1006, first winglet mounting rib plate 1007, second winglet mounting rib plate 1008. 8. The tail frame beam of the boom 1009, the pitch hinge 1010, the end joint 1011, the pneumatic winglet body 11, the winglet mounting bracket 12, the winglet drive motor 13, the pitch hydraulic cylinder 14, the end capture mechanism 15, the capture plate 1501, the first hinge 1502, the drive motor 1503, the motor bracket 1504, the second gear 1505, the second hinge 1506, the pitch mounting plate 1507, the roll axis 1508, the first roll axis sleeve 1509, the first gear 1510, the capture cone front cover 1511, the first rubber buffer pad 1512, the capture cylinder 1513, the capture cone end cover 1514, the second rubber buffer pad 1515, the return spring 1516, the capture lock hook 1517, the second roll axis sleeve 1518, the third roll axis sleeve 1519, and the electromagnet 1520. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example

[0035] See also Figure 1-Figure 8 The present invention provides a technical solution: a telescopic arm capture device for air-based UAV recovery, comprising an airborne platform 1 connected to an aircraft. In this embodiment, the airborne platform 1 is a truss structure, and connecting plates are provided on both the front and rear sides of the airborne platform 1. By adopting a lightweight design, it is easy to install on the aircraft. The front and rear sides of the left side of the airborne platform 1 are respectively provided with a first Hooke's hinge 4 and a second Hooke's hinge 7. A root horizontal Hooke's hinge 2 is bolted to the bottom wall of the middle part of the right side of the airborne platform 1, and the root horizontal Hooke's hinge 2 has two degrees of freedom of roll and pitch relative to the airborne platform 1.

[0036] The free end of the root horizontal Hook's hinge 2 is rotatably connected to the basic arm 3 through a pin shaft. The outer surface of the basic arm 3 is also symmetrically provided with a third Hook's hinge 6 and a fourth Hook's hinge 9. A first hydraulic cylinder 5 is provided between the third Hook's hinge 6 and the first Hook's hinge 4. A second hydraulic cylinder 8 is provided between the fourth Hook's hinge 9 and the second Hook's hinge 7. In this embodiment, the first Hook's hinge 4, the second Hook's hinge 7, the third Hook's hinge 6 and the fourth Hook's hinge 9 all adopt cross Hook's hinges. In this embodiment, the basic arm 3 includes a first head frame beam 301 and a second head frame beam 302 distributed at intervals, and a basic arm lower beam 304, a basic arm upper beam 305, a first basic arm side beam 306 and a second basic arm side beam 307 are commonly arranged on the first head frame beam 301 and the second head frame beam 302 in the circumferential direction. A plurality of basic arm ribs 303 are arranged at intervals in the space enclosed by the basic arm lower beam 304, the basic arm upper beam 305, the first basic arm side beam 306 and the second basic arm side beam 307. A basic arm tail frame beam 310 is arranged on one side of the space enclosed by the basic arm lower beam 304, the basic arm upper beam 305, the first basic arm side beam 306 and the second basic arm side beam 307, and a first hydraulic cylinder mounting rib plate 308 and a second hydraulic cylinder mounting rib plate 309 are arranged on the basic arm tail frame beam 310. The first hydraulic cylinder mounting rib plate 308 and the second hydraulic cylinder mounting rib plate 309 are rotatably connected to the first hydraulic cylinder 5 and the second hydraulic cylinder 8 through a third Hooke's hinge 6 and a fourth Hooke's hinge 9, respectively. The basic arm lower beam 304, the basic arm upper beam 305, the first basic arm side beam 306, the second basic arm side beam 307 and the basic arm tail frame beam 310 are covered with a skin, and the cross-sectional profile of the skin is an ellipse. A telescopic hydraulic cylinder is arranged in the basic arm 3, and one end of the telescopic hydraulic cylinder is connected to the basic arm 3, and the other end is connected to the extension arm 10.

[0037] The interior of the basic arm 3 is nested with an arm extension 10 which is slidably connected to the basic arm 3. In the present embodiment, the arm extension 10 comprises an arm extension head frame beam 1001, and an arm extension upper beam 1003, a first arm extension side beam 1005, an arm extension lower beam 1004 and a second arm extension side beam 1006 are welded to the circumference of the arm extension head frame beam 1001 respectively. A plurality of arm extension ribs 1002 are arranged at intervals in the space enclosed by the arm extension upper beam 1003, the first arm extension side beam 1005, the arm extension lower beam 1004 and the second arm extension side beam 1006. The outer sides of the arm extension upper beam 1003, the first arm extension side beam 1005, the arm extension lower beam 1004, the second arm extension side beam 1006 and the arm extension ribs 1002 are covered with a skin, and the cross-sectional profile of the skin is an ellipse. The right side of the space enclosed by the boom upper beam 1003, the first boom side beam 1005, the boom lower beam 1004 and the second boom side beam 1006 is welded with a boom tail frame beam 1009. The boom tail frame beam 1009 is symmetrically provided with a first winglet mounting rib 1007 and a second winglet mounting rib 1008. One side of the boom tail frame beam 1009 is fixedly connected with an end joint 1011, and a pitch hinge 1010 is provided on the end of the end joint 1011 close to the boom tail frame beam 1009.

[0038] In this embodiment, the basic arm 3 and the extension arm 10 themselves have high rigidity and strength while having low mass. Both sides of the cross-sectional profile of the basic arm 3 and the extension arm 10 are elliptical structures, so that the basic arm 3 and the extension arm 10 have smaller aerodynamic resistance in the air.

[0039] The end of the boom 10 is equipped with a pneumatic stabilization mechanism and an end capture mechanism 15. The pneumatic stabilization mechanism is located on a side away from the end of the boom 10 and is fixedly connected to the boom 10. The pneumatic stabilization mechanism includes a winglet mounting bracket 12, which is arranged on a first winglet mounting rib 1007 and a second winglet mounting rib 1008. The winglet mounting bracket 12 is provided with two symmetrically arranged winglet drive motors 13 and a pneumatic winglet body 11, and the two winglet drive motors 13 are bolted to the winglet mounting bracket 12, and the pneumatic winglet body 11 is rotatably connected to the winglet mounting bracket 12, and each winglet drive motor 13 is connected to the corresponding pneumatic winglet body 11 through a bevel gear set. In this embodiment, the bevel gear set is a pair of mutually meshing bevel gears, and the two bevel gears are respectively arranged on the winglet drive motor 13 and the corresponding pneumatic winglet body 11. The end of the boom 10 is rotatably connected to the end capture mechanism 15, and a pitch hydraulic cylinder 14 is rotatably connected between the lower side of the boom 10 and the end capture mechanism 15. In this embodiment, the pneumatic winglet body can rotate around the axis of its extension direction, and at the same time, the pneumatic winglet body cooperates with the first hydraulic cylinder 5 and the second hydraulic cylinder 8 to assist in controlling the posture of the basic arm 3 and the boom 10, while reducing the load of the first hydraulic cylinder 5 and the second hydraulic cylinder 8, and improving the load capacity of the boom 10.

[0040] The end capture mechanism 15 includes a pitch mounting plate 1507 , on which a first hinge 1502 and a second hinge 1506 are spaced apart. The first hinge 1502 is rotatably connected to the pitch hinge 1010 , and the second hinge 1506 is rotatably connected to the pitch hydraulic cylinder 14 . A rolling groove is passed through one side of the pitch mounting plate 1507, and a second rolling axis sleeve 1518 and a third rolling axis sleeve 1519 are arranged at intervals in the rolling groove. A rolling axis 1508 is passed through the second rolling axis sleeve 1518 and the third rolling axis sleeve 1519. A first rolling axis sleeve 1509 is arranged outside the roll axis 1508. A first gear 1510 is arranged outside the first roll axis sleeve 1509. The first gear 1510 is meshed with a second gear 1505. A driving motor 1503 is arranged on the second gear 1505. The driving motor 1503 is fixedly connected to the pitch mounting plate 1507 through a motor bracket 1504. The end of the roll axis 1508 is also provided with a capture plate 1501 located outside the pitch mounting plate 1507. The capture plate 1501 is threadedly connected to the roll axis 1508 by screws. In this embodiment, the capture plate 1501 is Y-shaped, and its two lower branches have a certain elasticity. An electromagnet 1520 is installed on each branch of the capture plate 1501. The electromagnet 1520 is electrically connected to a power supply arranged on the aircraft, and the power supply is electrically connected to a pressure sensor. The pressure sensor is embedded in the first rubber buffer pad 1512 in the capture cylinder 1513. A weight reduction hole is opened on the upper side of the capture plate 1501.

[0041] In this embodiment, the roll axis 1508 is provided with a second roll axis sleeve 1518, and the second roll axis sleeve 1518 is provided with a capture cone body, which includes a capture cone front cover 1511, and a slide groove for the capture cone front cover 1511 to rotate is provided on the pitch mounting plate 1507, and the capture cone front cover 1511 is provided with a first rubber buffer pad 1512 and a capture cylinder 1513 covered outside the first rubber buffer pad 1512, and the capture cylinder 1513 is bolted to the capture cone front cover 1511, and the other end of the capture cylinder 1513 is provided with a capture cone end cover, and the capture cone end cover is installed with a second rubber buffer pad 1515. Four limiting grooves are provided on the capture cylinder 1513 in the circumferential direction, and a capture lock hook 1517 is slidably connected in each limiting groove, and a return spring 1516 is provided outside the capture lock hook 1517 with one end fixedly connected to the limiting groove, and the other end of the return spring 1516 is fixedly connected to the capture lock hook 1517.

[0042] The working process of this embodiment:

[0043] When the capture device is extended, the first hydraulic cylinder 5 and the second hydraulic cylinder 8 are extended at the same time, so that the pitch angle of the extension arm 10 becomes larger, and at the same time the pneumatic winglet body 11 adjusts the angle of attack to stabilize the posture of the extension arm 10. The pneumatic winglet body 11 cooperates with the first hydraulic cylinder 5 and the second hydraulic cylinder 8 to jointly adjust the posture of the extension arm 10. The pneumatic winglet body 11 can provide a certain aerodynamic lift, thereby enhancing the load capacity of the extension arm 10.

[0044] When the aerial control area is not on the platform axis, the first hydraulic cylinder 5 and the second hydraulic cylinder 8 can be controlled to extend to different lengths to make the arm 10 swing left and right, and further expand the working range of the basic arm 3 and the arm 10. The pitch hydraulic cylinder 14 can make the plane where the pitch mounting plate 1507 is located parallel to the flight plane where the recovered drone is located, and the drive motor 1503 drives the first gear 1510 and the second gear 1505 to rotate the roll axis 1508, so that the plane where the capture cone body and the capture plate 1501 are located is perpendicular to the flight plane where the recovered drone is located. After the terminal capture mechanism 15 gradually approaches the recovered drone until the docking rod on the top of the recovered drone, the docking rod is inserted into the capture cone body to complete mechanical automatic locking. At the same time, after the docking rod touches the pressure sensor, the electromagnet 1520 on the capture plate 1501 completes electromagnetic locking with the corresponding position of the recovered drone.

[0045] When the capture device is retracted, first, the length of the first hydraulic cylinder 5 and the second hydraulic cylinder 8 are adjusted to return the basic arm 3 and the extension arm 10 to the centerline position, and then the telescopic hydraulic cylinder between the basic arm 3 and the extension arm 10 is retracted, and finally the first hydraulic cylinder 5 and the second hydraulic cylinder 8 are started to shorten and reset them at the same time. At this time, the pitch angle of the telescopic arm becomes smaller, and at the same time, the pneumatic winglet body 11 rotates along the axis to adjust the angle of attack so that the postures of the basic arm 3 and the extension arm 10 remain stable, the pitch hydraulic cylinder 14 adjusts the pitch mounting plate 1507, and the drive motor 1503 drives the capture cone body and the capture plate 1501 to keep the terminal capture mechanism 15 stable, and finally the capture device is retracted to the initial state.

[0046] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A telescopic arm capture device for air-based UAV recovery, characterized in that: It comprises an airborne platform connected to an aircraft, wherein a first Hooke's hinge and a second Hooke's hinge are symmetrically arranged on one side of the airborne platform, a root horizontal Hooke's hinge is arranged at the bottom of the airborne platform, a basic arm is rotatably connected to the root horizontal Hooke's hinge, a third Hooke's hinge and a fourth Hooke's hinge are symmetrically arranged on the basic arm, a first hydraulic cylinder is arranged between the first Hooke's hinge and the third Hooke's hinge, a second hydraulic cylinder is arranged between the second Hooke's hinge and the fourth Hooke's hinge, an extension arm is slidably connected in the basic arm, an end capture mechanism is arranged at the end of the extension arm, and the end capture mechanism is used to capture the recovered UAV.

2. A telescopic arm capture device for air-based UAV recovery according to claim 1, characterized in that: The basic arm includes a first head frame beam and a second head frame beam which are distributed at intervals, and a basic arm lower beam, a basic arm upper beam, a first basic arm side beam and a second basic arm side beam are commonly arranged on the first head frame beam and the second head frame beam in a circumferential direction, and a plurality of basic arm ribs are arranged at intervals in the space enclosed by the basic arm lower beam, the basic arm upper beam, the first basic arm side beam and the second basic arm side beam, and a basic arm tail frame beam is arranged on one side of the space enclosed by the basic arm lower beam, the basic arm upper beam, the first basic arm side beam and the second basic arm side beam, and a first hydraulic cylinder mounting rib plate and a second hydraulic cylinder mounting rib plate are arranged on the basic arm tail frame beam, and the first hydraulic cylinder mounting rib plate and the second hydraulic cylinder mounting rib plate are rotatably connected to the first hydraulic cylinder and the second hydraulic cylinder respectively through a third Hooke's hinge and a fourth Hooke's hinge, and the basic arm lower beam, the basic arm upper beam, the first basic arm side beam, the second basic arm side beam and the basic arm tail frame beam are commonly covered with a skin.

3. A telescopic arm capture device for air-based UAV recovery according to claim 2, characterized in that: A telescopic hydraulic cylinder is arranged in the basic arm, one end of the telescopic hydraulic cylinder is connected to the basic arm, and the other end is connected to the extension arm.

4. The telescopic arm capture device for air-based UAV recovery according to claim 1, characterized in that: The arm extension comprises an arm extension head frame beam, and an arm extension upper beam, a first arm extension side beam, an arm extension lower beam and a second arm extension side beam are arranged circumferentially of the arm extension head frame beam, and a plurality of arm extension ribs are arranged at intervals in a space enclosed by the arm extension upper beam, the first arm extension side beam, the arm extension lower beam and the second arm extension side beam, and the outer sides of the arm extension upper beam, the first arm extension side beam, the arm extension lower beam, the second arm extension side beam and the arm extension ribs are jointly covered with a skin, and the cross-sectional profile of the skin is an ellipse, and the ends of the space enclosed by the arm extension upper beam, the first arm extension side beam, the arm extension lower beam and the second arm extension side beam are jointly connected to the arm extension tail frame beam, and the arm extension tail frame beam is symmetrically provided with a first winglet mounting rib plate and a second winglet mounting rib plate, and one side of the arm extension tail frame beam is fixedly connected to an end joint, and an end of the end joint close to the arm extension tail frame beam is provided with a pitch hinge, and the pitch hinge is rotatably connected to the end capture mechanism.

5. A telescopic arm capture device for air-based UAV recovery according to any one of claims 1 to 4, characterized in that: The outrigger is provided with a pneumatic stabilization mechanism, which includes a winglet mounting bracket, on which a winglet drive motor and a pneumatic winglet body are provided, the winglet drive motor is connected to the winglet mounting bracket, the pneumatic winglet body is rotatably connected to the winglet mounting bracket, the winglet drive motor is connected to the corresponding pneumatic winglet body through a bevel gear set, and the end of the outrigger is rotatably connected to the end capture mechanism.

6. The telescopic arm capture device for air-based UAV recovery according to claim 5, characterized in that: A pitch hydraulic cylinder is rotatably connected between the lower side of the extension arm and the end capture mechanism.

7. The telescopic arm capture device for air-based UAV recovery according to claim 6 is characterized in that: The end capture mechanism includes a pitch mounting plate, on which a first hinge and a second hinge are spaced apart, the first hinge being rotatably connected to the extension arm, the second hinge being rotatably connected to the pitch hydraulic cylinder, a roll axis being rotatably connected to the pitch mounting plate, the roll axis being connected to a drive motor located outside the roll axis via a gear set, the drive motor being connected to the pitch mounting plate, and a capture plate located outside the pitch mounting plate being further provided at the end of the roll axis.

8. The telescopic arm capture device for air-based UAV recovery according to claim 6, characterized in that: A capture cone body is provided on the roll axis, and the capture cone body includes a capture cone front cover. A sliding groove for the capture cone front cover to rotate is provided on the pitch mounting plate. A capture cylinder is provided on the capture cone front cover, and a capture cone end cover is provided on the other end of the capture cylinder. Four limiting grooves are provided circumferentially on the capture cylinder, and a capture locking hook is slidably connected in each of the limiting grooves. A reset spring with one end fixedly connected to the limiting groove is provided outside the capture locking hook, and the other end of the reset spring is fixedly connected to the capture locking hook.

9. The telescopic arm capture device for air-based UAV recovery according to claim 8, characterized in that: The capture plate is Y-shaped, and electromagnets are installed on two branches of the capture plate. The electromagnets are electrically connected to a power supply arranged on the aircraft, and the power supply is electrically connected to a pressure sensor. The pressure sensor is arranged in the capture cylinder.

10. The telescopic arm capture device for air-based UAV recovery according to claim 1, characterized in that: The airborne platform is a truss structure, and connecting plates are provided on both the front and rear sides of the airborne platform.

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