A telescopic arm capture device for air-based drone recovery

Abstract

This invention discloses a telescopic arm capture device for recovering airborne unmanned aerial vehicles (UAVs), relating to the field of UAV recovery. It includes an airborne platform with a first and second Hooke hinge, a root horizontal Hooke hinge, a base arm rotatably connected to the root horizontal Hooke hinge, a third and fourth Hooke hinge on the base arm, a first hydraulic cylinder between the first and third Hooke hinges, and a second hydraulic cylinder between the second and fourth Hooke hinges. An extension arm is slidably connected within the base arm, and a terminal capture mechanism is located at the end of the extension arm for capturing the recovered UAV. This invention solves the problems of poor stability, long control cycles, and low control efficiency of existing flexible control methods, effectively improving the working efficiency of airborne platforms during aerial control missions.

Description

Technical Field

[0001] This invention relates to the field of airborne drone recovery, specifically to a telescopic arm capture device for airborne drone recovery. Background Technology

[0002] Aerial drone recovery technology uses large aircraft such as transport planes as carriers to operate and control target drones through direct or non-contact methods in order to complete tasks such as safe recovery, troubleshooting and maintenance, and refueling of target drones. It aims to extend the working time of target drones, improve their working efficiency, and enhance their working performance.

[0003] Aerial drone recovery technology is a typical aerial control technology. Due to its advantages such as being non-destructive, precise, rapid, and maneuverable, aerial drone recovery technology has attracted extensive theoretical research and practical applications from institutions and scholars worldwide. Based on the recovery scenario, drone recovery technology can be categorized into land-based, sea-based, and air-based recovery technologies. Compared to land-based and sea-based recovery modes, air-based recovery can more effectively extend the operational range and endurance of drones, enabling the reuse of drones with high-performance, high-value payloads, thereby comprehensively improving the mission flexibility and combat effectiveness of drones. With the development of drones towards swarming and distributed deployment, air-based recovery technology has become a research hotspot and challenge both domestically and internationally in recent years.

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

[0005] The purpose of this invention is to provide a telescopic arm capture device for the recovery of airborne unmanned aerial vehicles (UAVs) to solve the problems of poor stability, long operation cycle and low operation efficiency of existing flexible recovery methods.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a telescopic arm capture device for recovering airborne unmanned aerial vehicles (UAVs), comprising an airborne platform connected to the aircraft, a first Hooke hinge and a second Hooke hinge symmetrically arranged on one side of the airborne platform, a root horizontal Hooke hinge at the bottom of the airborne platform, a base arm rotatably connected to the root horizontal Hooke hinge, a third Hooke hinge and a fourth Hooke hinge symmetrically arranged on the base arm, a first hydraulic cylinder between the first and third Hooke hinges, a second hydraulic cylinder between the second and fourth Hooke hinges, an extension arm slidably connected within the base arm, and an end-capture mechanism at the end of the extension arm for capturing the recovered UAV.

[0007] Technical Solution Principles and Effects: This solution utilizes a rigid base arm and an extension arm for drone recovery. Two hydraulic cylinders mounted on the base arm enable pitch and roll operations of the extension arm, effectively improving aerial operation efficiency. The telescopic hydraulic cylinder positioned between the base arm and the extension arm expands the working space of the extension arm, and the hydraulic cylinder drive method enhances the load capacity of the control device. The end-capture mechanism at the end of the extension arm improves the accuracy and reliability of the drone recovery docking process.

[0008] Furthermore, the basic arm includes a first head frame beam and a second head frame beam distributed at intervals. The first head frame beam and the second head frame beam are circumferentially provided with a basic arm lower beam, a basic arm upper beam, a first basic arm side beam, and a second basic arm side beam. Multiple basic arm ribs are spaced apart within 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. A basic arm tail frame beam is provided 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. A first hydraulic cylinder mounting rib and a second hydraulic cylinder mounting rib are provided on the basic arm tail frame beam. The first hydraulic cylinder mounting rib and the second hydraulic cylinder mounting rib are rotatably connected to the first hydraulic cylinder and the second hydraulic cylinder through a third Hooke hinge and a fourth Hooke hinge, respectively. 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 all covered with a skin.

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

[0010] Furthermore, the extender arm includes an extender arm head frame beam. The extender arm head frame beam is circumferentially provided with an extender arm upper beam, a first extender arm side beam, an extender arm lower beam, and a second extender arm side beam. Multiple extender arm ribs are spaced apart within the space enclosed by the extender arm upper beam, the first extender arm side beam, the extender arm lower beam, the second extender arm side beam, and the extender arm ribs. The outer sides of the extender arm upper beam, the first extender arm side beam, the extender arm lower beam, the second extender arm side beam, and the extender arm ribs are all covered with a skin. The cross-sectional profile of the skin is elliptical. The ends of the space enclosed by the extender arm upper beam, the first extender arm side beam, the extender arm lower beam, and the second extender arm side beam are all connected to an extender arm tail frame beam. The extender arm tail frame beam is symmetrically provided with a first small wing mounting rib and a second small wing mounting rib. An end connector is fixedly connected to one side of the extender arm tail frame beam. A pitch hinge is provided on the end connector near the end of the extender arm tail frame beam. The pitch hinge is rotatably connected to the end capture mechanism.

[0011] Furthermore, the extender arm is equipped with an aerodynamic stabilization mechanism, which includes a winglet mounting bracket. The winglet mounting bracket is equipped with a winglet drive motor and an aerodynamic winglet body. The winglet drive motor is connected to the winglet mounting bracket, and the aerodynamic winglet body is rotatably connected to the winglet mounting bracket. The winglet drive motor and the corresponding aerodynamic winglet body are connected through a bevel gear set, and the end of the extender arm 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-capturing 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 is rotatably connected to the extension arm, and the second hinge is rotatably connected to the pitch hydraulic cylinder. A roll shaft is rotatably connected to the pitch mounting plate, and the roll shaft is connected to a drive motor located outside the roll shaft via a gear set. The drive motor is connected to the pitch mounting plate, and a capture plate located outside the pitch mounting plate is also provided at the end of the roll shaft.

[0014] Furthermore, the rolling shaft is provided with a capture cone body, the capture cone body includes a capture cone front cover, the pitch mounting plate is provided with a sliding groove for the capture cone front cover to rotate, the capture cone front cover is provided with a capture cylinder, the other end of the capture cylinder is provided with a capture cone end cover, the capture cylinder is provided with four limiting grooves circumferentially, each limiting groove is slidably connected with a capture locking hook, each capture locking hook is provided with a return spring with one end fixedly connected to the limiting groove, and the other end of the return spring is fixedly connected to the capture locking hook.

[0015] Furthermore, the capture plate is Y-shaped, and electromagnets are installed on both branches of the capture plate. The electromagnets are electrically connected to a power source installed on the aircraft. The power source is electrically connected to a pressure sensor, which is installed inside 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 beneficial effects of the present invention are:

[0018] 1. This invention uses an airborne base as a platform and utilizes hydraulic cylinders to achieve three degrees of freedom of movement for the telescopic boom: extension, pitch, and yaw. It has a large movement space and strong load capacity. The end-capture mechanism has a high-precision capture function with two degrees of freedom of pitch and roll, which expands the working range of the control device and effectively improves the efficiency of aerial control.

[0019] 2. This invention uses a hydraulic cylinder as the driving method and utilizes a pneumatic stabilizing mechanism and hydraulic coordinated control to greatly improve the load capacity of the control device.

[0020] 3. In this invention, the end-capture mechanism has two degrees of freedom: pitch and roll. The capture cone body adopts a self-locking design that cooperates with the docking rod on the UAV. After the docking rod is inserted, it locks in place, which improves the success rate of docking and capture.

[0021] 4. In this invention, the outline of the telescopic arm and the pitch plate of the end-capture mechanism adopt a drag-reducing and lift-enhancing design, which improves the stability of the control device.

[0022] 5. The combination of mechanical and electromagnetic capture methods improves the reliability of docking capture. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a telescopic arm capture device for recovering airborne unmanned aerial vehicles according to the present invention;

[0024] Figure 2 This is a schematic diagram of the basic arm in this embodiment;

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

[0026] Figure 4 This is a schematic diagram of the pneumatic stabilization mechanism in this embodiment;

[0027] Figure 5 This is a schematic diagram of the end-capture mechanism in this embodiment;

[0028] Figure 6 This is a schematic diagram of the retractable arm capture device for recovering airborne unmanned aerial vehicles (UAVs) according to the present invention, showing the UAV in its retracted state after capture.

[0029] Figure 7 This is a schematic diagram of the left-right oscillation of a telescopic arm-type capture device for recovering airborne unmanned aerial vehicles according to the present invention.

[0030] Figure 8 This is a schematic diagram showing the connection relationship between a telescopic arm-type capture device for recovering an airborne unmanned aerial vehicle (UAV) according to the present invention and the aircraft.

[0031] In the picture:

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

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Example

[0035] Please see Figures 1-8 This invention provides a technical solution: a telescopic arm-type capture device for recovering airborne unmanned aerial vehicles (UAVs), comprising an airborne platform 1 connected to the aircraft. In this embodiment, the airborne platform 1 is a truss structure, with connecting plates on both the front and rear sides. A lightweight design facilitates installation onto the aircraft. A first Hooke hinge 4 and a second Hooke hinge 7 are respectively located on the front and rear sides of the left side of the airborne platform 1. A root horizontal Hooke hinge 2 is bolted to the bottom wall in the middle of the right side of the airborne platform 1. The root horizontal Hooke hinge 2 has two degrees of freedom relative to the airborne platform 1: roll and pitch.

[0036] The free end of the horizontal Hooke hinge 2 at the root is rotatably connected to the basic arm 3 via a pin. The outer surface of the basic arm 3 is also symmetrically provided with a third Hooke hinge 6 and a fourth Hooke hinge 9. A first hydraulic cylinder 5 is provided between the third Hooke hinge 6 and the first Hooke hinge 4, and a second hydraulic cylinder 8 is provided between the fourth Hooke hinge 9 and the second Hooke hinge 7. In this embodiment, the first Hooke hinge 4, the second Hooke hinge 7, the third Hooke hinge 6 and the fourth Hooke hinge 9 are all cross Hooke hinges. In this embodiment, the basic arm 3 includes a first head frame beam 301 and a second head frame beam 302 spaced apart. The first head frame beam 301 and the second head frame beam 302 are circumferentially provided with 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. Multiple basic arm ribs 303 are spaced apart within 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 provided 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. A first hydraulic cylinder mounting rib 308 and a second hydraulic cylinder mounting rib 309 are provided on the basic arm tail frame beam 310. The first hydraulic cylinder mounting rib 308 and the second hydraulic cylinder mounting rib 309 are rotatably connected to the first hydraulic cylinder 5 and the second hydraulic cylinder 8 through the third Hooke hinge 6 and the fourth Hooke hinge 9, respectively. The lower beam 304, upper beam 305, first side beam 306, second side beam 307, and tail beam 310 of the basic boom are all covered with a skin, the cross-sectional profile of which is elliptical. A telescopic hydraulic cylinder is installed inside the basic boom 3, with one end connected to the basic boom 3 and the other end connected to the extension boom 10.

[0037] The basic arm 3 is nested inside an extension arm 10 that is slidably connected to the basic arm 3. In this embodiment, the extension arm 10 includes an extension arm head frame beam 1001. The extension arm head frame beam 1001 is welded circumferentially with an extension arm upper beam 1003, a first extension arm side beam 1005, an extension arm lower beam 1004, and a second extension arm side beam 1006. Multiple extension arm ribs 1002 are spaced apart within the space enclosed by the extension arm upper beam 1003, the first extension arm side beam 1005, the extension arm lower beam 1004, and the second extension arm side beam 1006. The outer sides of the extension arm upper beam 1003, the first extension arm side beam 1005, the extension arm lower beam 1004, the second extension arm side beam 1006, and the extension arm ribs 1002 are covered with a skin, and the cross-sectional profile of the skin is elliptical. The space enclosed by the upper beam 1003, the first side beam 1005, the lower beam 1004, and the second side beam 1006 of the outrigger is welded together on the right side with a tail beam 1009 for the outrigger. The tail beam 1009 for the outrigger is symmetrically provided with a first wing mounting rib 1007 and a second wing mounting rib 1008. An end connector 1011 is fixedly connected to one side of the tail beam 1009 for the outrigger, and a pitch hinge 1010 is provided on the end connector 1011 near the tail beam 1009 for the outrigger.

[0038] In this embodiment, the basic arm 3 and the extension arm 10 have high rigidity and strength while having low mass. The two sides of the cross-sectional profile of the basic arm 3 and the extension arm 10 are elliptical structures, which makes the basic arm 3 and the extension arm 10 have low aerodynamic drag in the air.

[0039] An aerodynamic stabilization mechanism and an end-capturing mechanism 15 are installed at the end of the extender arm 10. The aerodynamic stabilization mechanism is located on the side away from the end of the extender arm 10 and is fixedly connected to the extender arm 10. The aerodynamic stabilization mechanism includes a winglet mounting bracket 12, which is disposed on a first winglet mounting rib 1007 and a second winglet mounting rib 1008. Two symmetrically arranged winglet drive motors 13 and aerodynamic winglets 11 are provided on the winglet mounting bracket 12. Both winglet drive motors 13 are bolted to the winglet mounting bracket 12, and the aerodynamic winglets 11 are rotatably connected to the winglet mounting bracket 12. Each winglet drive motor 13 and the corresponding aerodynamic winglet 11 are connected through a bevel gear set. In this embodiment, the bevel gear set is a pair of meshing bevel gears, and the two bevel gears are respectively disposed on the winglet drive motor 13 and the corresponding aerodynamic winglet 11. The end of the extender arm 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 extender arm 10 and the end-capture mechanism 15. In this embodiment, the pneumatic winglet body can rotate about the axis of its span direction. 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 attitude of the basic arm 3 and the extender arm 10, while reducing the load on the first hydraulic cylinder 5 and the second hydraulic cylinder 8 and improving the load capacity of the extender arm 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 roll groove runs through one side of the pitch mounting plate 1507. A second roll shaft sleeve 1518 and a third roll shaft sleeve 1519 are spaced apart in the roll groove. A roll shaft 1508 is installed inside both the second roll shaft sleeve 1518 and the third roll shaft sleeve 1519. A first roll shaft sleeve 1509 is fitted over the roll shaft 1508. A first gear 1510 is installed outside the first roll shaft sleeve 1509. A second gear 1505 meshes with the first gear 1510. A drive motor 1503 is installed on the second gear 1505. The drive motor 1503 is fixedly connected to the pitch mounting plate 1507 through a motor bracket 1504. The end of the roll shaft 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 shaft 1508 by screws. In this embodiment, the capture plate 1501 is Y-shaped, and its two lower branches have a certain elasticity. Each branch of the capture plate 1501 is equipped with an electromagnet 1520. The electromagnet 1520 is electrically connected to a power source installed on the aircraft. The power source is electrically connected to a pressure sensor. The pressure sensor is embedded in the first rubber buffer pad 1512 inside the capture cylinder 1513. A weight reduction hole is opened on the upper side of the capture plate 1501.

[0041] In this embodiment, a second rolling shaft sleeve 1518 is fitted over the rolling shaft 1508. A capture cone body is mounted on the second rolling shaft sleeve 1518. The capture cone body includes a capture cone front cover 1511. A sliding groove for the capture cone front cover 1511 to rotate is provided on the pitch mounting plate 1507. A first rubber buffer pad 1512 and a capture cylinder 1513 covering the first rubber buffer pad 1512 are provided on the capture cone front cover 1511. The capture cylinder 1513 is bolted to the capture cone front cover 1511. A capture cone end cap is provided at the other end of the capture cylinder 1513, and a second rubber buffer pad 1515 is installed on the capture cone end cap. Four limiting grooves are circumferentially provided on the capture cylinder 1513. A capture locking hook 1517 is slidably connected in each limiting groove. A return spring 1516 is provided on the outside of each capture locking hook 1517, with one end fixedly connected to the limiting groove. The other end of the return spring 1516 is fixedly connected to the capture locking hook 1517.

[0042] The working process of this embodiment:

[0043] When the capture device extends, the first hydraulic cylinder 5 and the second hydraulic cylinder 8 extend simultaneously, increasing the depression angle of the extension arm 10. At the same time, the aerodynamic wing body 11 adjusts the angle of attack to stabilize the attitude of the extension arm 10. The aerodynamic wing body 11 works in conjunction with the first hydraulic cylinder 5 and the second hydraulic cylinder 8 to adjust the attitude of the extension arm 10. The aerodynamic wing body 11 can provide a certain amount of aerodynamic lift, enhancing the load capacity of the extension arm 10.

[0044] When the aerial control area is not on the platform axis, the extension arm 10 can be tilted left and right by controlling the first hydraulic cylinder 5 and the second hydraulic cylinder 8 to make their extension lengths different, thereby further expanding the working range of the basic arm 3 and the extension arm 10. The pitch hydraulic cylinder 14 can keep the plane of the pitch mounting plate 1507 parallel to the flight plane of the recovered UAV. The drive motor 1503 drives the first gear 1510 and the second gear 1505 to rotate the rolling shaft 1508, thereby keeping the plane of the capture cone body and the capture plate 1501 perpendicular to the flight plane of the recovered UAV. After the end-capture mechanism 15 gradually approaches the recovered UAV until it reaches the docking rod on the top of the recovered UAV, the docking rod inserts into the capture cone body and completes 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 UAV.

[0045] When this capture device is retracted, firstly, the lengths of the first hydraulic cylinder 5 and the second hydraulic cylinder 8 are adjusted to bring the basic arm 3 and the extension arm 10 back to the centerline position. Then, the telescopic hydraulic cylinder between the basic arm 3 and the extension arm 10 retracts. Finally, the first hydraulic cylinder 5 and the second hydraulic cylinder 8 are activated to shorten and reset simultaneously. At this time, the depression angle of the telescopic arm decreases, and the aerodynamic winglet body 11 rotates along the axis to adjust the angle of attack so that the attitude of the basic arm 3 and the extension arm 10 remains 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 end capture mechanism 15 stable, so that the capture device is finally retracted to the initial state.

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

Claims

1. A telescopic arm-type capture device for recovering airborne unmanned aerial vehicles, characterized in that: The system includes an airborne platform connected to an aircraft. A first Hooke hinge and a second Hooke hinge are symmetrically arranged on one side of the airborne platform. A root horizontal Hooke hinge is provided at the bottom of the airborne platform. A basic arm is rotatably connected to the root horizontal Hooke hinge. A third Hooke hinge and a fourth Hooke hinge are symmetrically arranged on the basic arm. A first hydraulic cylinder is provided between the first Hooke hinge and the third Hooke hinge. A second hydraulic cylinder is provided between the second Hooke hinge and the fourth Hooke hinge. An extension arm is slidably connected inside the basic arm. An end-capture mechanism is provided at the end of the extension arm. The end-capture mechanism is used to capture the recovered UAV. The extender arm is equipped with an aerodynamic stabilization mechanism, which includes a winglet mounting bracket. The winglet mounting bracket is equipped with a winglet drive motor and an aerodynamic winglet body. The winglet drive motor is connected to the winglet mounting bracket, and the aerodynamic winglet body is rotatably connected to the winglet mounting bracket. The winglet drive motor and the corresponding aerodynamic winglet body are connected through a bevel gear set, and the end of the extender arm is rotatably connected to the end-capture mechanism. A pitching hydraulic cylinder is rotatably connected between the lower side of the extension arm and the end-capturing mechanism; The end-capture mechanism includes a pitch mounting plate, on which a first hinge and a second hinge are spaced apart. The first hinge is rotatably connected to the extension arm, and the second hinge is rotatably connected to the pitch hydraulic cylinder. A roll shaft is rotatably connected to the pitch mounting plate, and the roll shaft is connected to a drive motor located outside the roll shaft via a gear set. The drive motor is connected to the pitch mounting plate, and a capture plate located outside the pitch mounting plate is also provided at the end of the roll shaft. The rolling shaft is provided with a capture cone body, the capture cone body includes a capture cone front cover, the pitch mounting plate is provided with a sliding groove for the capture cone front cover to rotate, the capture cone front cover is provided with a capture cylinder, the other end of the capture cylinder is provided with a capture cone end cover, the capture cylinder is provided with four limiting grooves circumferentially, each limiting groove is slidably connected with a capture locking hook, each capture locking hook is provided with a return spring with one end fixedly connected to the limiting groove, and the other end of the return spring is fixedly connected to the capture locking hook; The capture plate is Y-shaped, and electromagnets are installed on both branches of the capture plate. The electromagnets are electrically connected to a power source installed on the aircraft. The power source is electrically connected to a pressure sensor, which is installed inside the capture cylinder.

2. The telescopic arm capture device for recovering airborne unmanned aerial vehicles according to claim 1, characterized in that: The basic arm includes a first head frame beam and a second head frame beam spaced apart. The first head frame beam and the second head frame beam are circumferentially provided with a basic arm lower beam, a basic arm upper beam, a first basic arm side beam, and a second basic arm side beam. Multiple basic arm ribs are spaced apart within 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. A basic arm tail frame beam is provided 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. The basic arm tail frame beam is provided with a first hydraulic cylinder mounting rib and a second hydraulic cylinder mounting rib. The first hydraulic cylinder mounting rib and the second hydraulic cylinder mounting rib are rotatably connected to the first hydraulic cylinder and the second hydraulic cylinder respectively through a third Hooke hinge and a fourth Hooke hinge. 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 all covered with a skin.

3. A telescopic arm capture device for recovering airborne unmanned aerial vehicles according to claim 2, characterized in that: The basic arm is equipped with a telescopic hydraulic cylinder, one end of which is connected to the basic arm and the other end of which is connected to the extension arm.

4. A telescopic arm capture device for recovering airborne unmanned aerial vehicles according to claim 1, characterized in that: The extendable arm includes an extendable arm head frame beam. The circumferential arrangement of the extendable arm head frame beam includes an upper extendable arm beam, a first extendable arm side beam, a lower extendable arm beam, and a second extendable arm side beam. Multiple extendable arm ribs are spaced apart within the space enclosed by the upper extendable arm beam, the first extendable arm side beam, the lower extendable arm beam, the second extendable arm side beam, and the extendable arm ribs. A skin with an elliptical cross-sectional profile is commonly covered on the outer sides of the space enclosed by the upper extendable arm beam, the first extendable arm side beam, the lower extendable arm beam, and the second extendable arm side beam. A tail extendable arm frame beam is connected to one side of the tail extendable arm frame beam. A pitch hinge is symmetrically arranged on the tail extendable arm frame beam, and the end of the tail extendable arm frame beam near the tail extendable arm frame beam. The pitch hinge is rotatably connected to the end-capture mechanism.

5. A telescopic arm capture device for recovering airborne unmanned aerial vehicles 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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