Bionic controllable magnetic type unmanned aerial vehicle recovery device

Abstract

The invention discloses a bionic controllable magnetic attraction type unmanned aerial vehicle recycling device, belongs to the technical field of unmanned aerial vehicle recycling, and aims to solve the problems that the recycling stability is poor and finally the recycling fails due to the fact that an unmanned aerial vehicle is in a hovering or flying state and is recycled only in a magnetic attraction mode in the recycling process. The device comprises a magnetic capturing head and a magnetic type capturing mechanism, wherein the magnetic capturing head is mounted on the unmanned aerial vehicle; the magnetic attraction type capturing mechanism is provided with a mechanical claw and an electromagnet assembly used for generating a magnetic field, the mechanical claw is installed on the electromagnet assembly and can be opened or closed, and the electromagnet assembly is connected with the conveyor and can swing. The mechanical claw is opened, the magnetic attraction type capturing mechanism moves to the magnetic capturing head along with the conveyor, the magnetic capturing head is located in a capturing area of the mechanical claw, the electromagnet assembly is powered on and generates a magnetic field, the magnetic capturing head is attracted into a clamping area of the mechanical claw, and the mechanical claw is closed and clamps the magnetic capturing head, so that capturing of the unmanned aerial vehicle is achieved. The unmanned aerial vehicle recycling device is mainly used for recycling unmanned aerial vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of drone recovery, and in particular to a bionic controllable magnetic suction type drone recovery device. Background Art

[0002] Unmanned aerial vehicles (UAVs) have the characteristics of low cost, light weight, small size, high flexibility and concealment. They are widely used in the military field and have been regarded as an important part of the battlefield worldwide. However, small UAVs are limited by their own weight, and their endurance is limited. They are difficult to complete long-term combat missions independently, and their combat radius is limited. Therefore, they need to be recovered and charged to perform the next mission. At present, the UAV recovery technology is generally selected for aerial recovery due to the limitations of the site and environment. The aerial recovery technology uses an air-based mother aircraft to go deep into the battlefield to recover and re-deploy the UAV, but the accuracy of this recovery method is low. The docking process between the mother aircraft and the UAV requires more complex position and attitude control. Docking errors are very likely to cause damage to the UAV. CN109552635A discloses an airborne electromagnetic UAV recovery method and recovery device, which can be recovered by magnetic suction, does not require high-precision positioning, and has strong controllability. However, since the UAV is in a hovering or flying state during the recovery process, only using magnetic suction to recover it may result in poor recovery stability and ultimately lead to recovery failure. Summary of the invention

[0003] In view of this, the present invention provides a bionic controllable magnetic suction type UAV recovery device, which adopts a bionic cocklebur structure to achieve stable recovery of the UAV.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] A bionic controllable magnetic suction type drone recovery device, comprising:

[0006] Magnetic capture head, mounted on the drone;

[0007] A magnetic capture mechanism is provided with a mechanical claw and an electromagnet assembly for generating a magnetic field, the mechanical claw is mounted on the electromagnet assembly and can be opened or closed, and the electromagnet assembly is connected to the conveyor and can swing;

[0008] The mechanical claw opens, and the magnetic capture mechanism moves with the conveyor to the vicinity of the magnetic capture head. The magnetic capture head is in the capture area of ​​the mechanical claw. The electromagnet assembly is energized and generates a magnetic field. The magnetic capture head is adsorbed into the clamping area of ​​the mechanical claw. The mechanical claw closes and clamps the magnetic capture head to capture the drone.

[0009] Further, the electromagnet assembly comprises:

[0010] Electromagnet sleeve;

[0011] The electromagnet core axially penetrates the electromagnet sleeve and is movable, and a ring lock track is provided on the top of the electromagnet core;

[0012] An electromagnet coil is wound around an electromagnet core;

[0013] The mechanical claw is provided with grasping fingers, which are arranged circumferentially outside the electromagnet sleeve and can rotate, and an elastic reset element is installed between the grasping fingers and the electromagnet sleeve; the top of the grasping finger can be stuck in the annular lock of the electromagnet core and keep the mechanical claw open;

[0014] The electromagnet coil is energized and generates a magnetic field. The magnetic capture head is adsorbed and moves toward the electromagnet core. The magnetic capture head squeezes the electromagnet core upward, and the annular lock track of the electromagnet core releases the grasping finger. The bottom end of the grasping finger gathers inward under the reset of the elastic reset element to achieve the closure of the mechanical claw.

[0015] Furthermore, the magnetic capture mechanism also includes:

[0016] An extrusion pipe is installed on the conveyor, and the cross section of the extrusion pipe increases gradually from top to bottom;

[0017] The electromagnet assembly also includes a return spring, which is installed between the electromagnet core and the electromagnet sleeve. When the electromagnet core moves upward, the return spring is compressed;

[0018] After the magnetic capture head is captured, the electromagnet assembly drives the mechanical claw to move into the extrusion pipe, the top of the grasping finger contacts the extrusion pipe and is compressed to gather inward, and the bottom of the grasping finger expands outward to achieve the opening of the mechanical claw; the electromagnet core moves downward under the tension of the return spring, and the annular lock of the electromagnet core clamps the top of the grasping finger to keep the mechanical claw open.

[0019] Furthermore, the top of the grasping finger is provided with an extrusion slope, and the edge of the annular locking track of the electromagnet core is provided with a guide slope matching the extrusion slope;

[0020] When the mechanical claw has not opened into place and released the magnetic capture head, the electromagnet core moves downward in advance under the tension of the reset spring, the mechanical claw moves into the extrusion pipe, the top of the grasping fingers gather inward and squeeze the edge of the annular lock track of the electromagnet core, and the grasping fingers slide into the annular lock track through the cooperation of the extrusion slope and the guide slope and are stuck to keep the mechanical claw open.

[0021] Furthermore, a guide wheel is provided on the top of the grabbing finger.

[0022] Furthermore, a honeycomb buffer layer is provided at the bottom end of the electromagnet core to mitigate the impact force of the magnetic capture head on the electromagnet core.

[0023] Furthermore, the magnetic capture mechanism also includes a flexible buffer cover, which is connected to the inner side of the mechanical claw and expands as the mechanical claw opens or retracts as the mechanical claw closes; when the electromagnet core releases the mechanical claw, the flexible buffer cover retracts as the mechanical claw closes, and the flexible buffer cover wraps and clamps the magnetic capture head to achieve soft capture of the magnetic capture head.

[0024] Furthermore, a first adhesive layer is provided on the inner surface of the flexible buffer cover, and a second adhesive layer is provided on the outer surface of the magnetic capture head; when the flexible buffer cover wraps the magnetic capture head, the flexible buffer cover and the magnetic capture head are bonded to each other to increase the capture force of the flexible buffer cover on the magnetic capture head.

[0025] Furthermore, the first adhesive layer is a fleece fiber layer, and the second adhesive layer has hard barbed bristles.

[0026] Furthermore, a ball is provided on the top of the magnetic capture head.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention provides a bionic controllable magnetic suction type drone recovery device. The electromagnet assembly can be powered on to generate a magnetic field to absorb and connect the magnetic capture head of the drone, and also limit and lock the mechanical claw to keep the mechanical claw open. At the same time, the movement of the magnetic capture head is used to trigger the electromagnet assembly to release the mechanical claw. The mechanical claw closes and clamps the magnetic capture head under the rebound of the torsion spring to achieve the recovery of the drone. During the entire capture process of the magnetic capture head, the opening of the mechanical claw is achieved by squeezing the release cover, and the closing of the mechanical claw is achieved under the rebound of the torsion spring. The recovery device does not need to set up an additional power source to control the opening and closing of the mechanical claw, which greatly reduces the weight and complexity of the device and improves the flexibility and reliability of the device.

[0029] 2. The present invention adds a flexible buffer cover made by imitating cocklebur to the mechanical claw, and uses the opening and closing of the mechanical claw to realize the opening and closing of the flexible buffer cover. It can not only change the hard contact between the magnetic capture head and the mechanical claw into soft contact and absorb the collision energy during the recovery process, but also provide adhesion when the magnetic capture head contacts the flexible buffer cover, thereby improving the reliability of the recovery device.

[0030] 3. When the magnetic capture head and the magnetic capture mechanism of the present invention have different degrees of deviation during the docking process, the strength of the electromagnet magnetic field can be controlled by adjusting the current to adjust the direction of the magnetic capture mechanism through magnetic attraction, thereby achieving precise docking of the magnetic capture head and the magnetic capture mechanism.

[0031] 4. The head of the magnetic capture head of the present invention is provided with a ball. When a large deviation occurs between the magnetic capture head and the magnetic capture mechanism, the position of the magnetic capture head can be adjusted by utilizing the movement between the ball and the release cover to ensure that the magnetic capture head can still move to the center position of the mechanical claw to trigger the electromagnet assembly and complete the recovery of the drone.

[0032] 5. The present invention provides an extrusion slope at the top of each grasping finger of the mechanical claw, and a guide slope is provided at the edge of the annular locking track of the electromagnet core. Through the cooperation of the extrusion slope and the guide slope at the edge of the annular locking track, it is ensured that when the mechanical claw is opened to the full extent, the annular locking track of the electromagnet core can lock the mechanical claw and keep it in an open state. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are incorporated as part of this application and are used to provide a further understanding of the present invention.

[0034] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present application.

[0035] Figure 2 This is an exploded view of an embodiment of the present application.

[0036] Figure 3 Schematic diagram of the state when the mechanical claw captures the magnetic capture head.

[0037] Figure 4 It is a cross-sectional view of an embodiment of the present application.

[0038] Figure 5 for Figure 4 A partial enlarged view of point A in the middle.

[0039] Description of reference numerals:

[0040] 1-magnetic capture head, 11-ball;

[0041] 2-magnetic capture mechanism, 21-mechanical claw, 211-grasping finger, 2111-block, 2112-guide wheel, 2113-extrusion slope, 22-electromagnet assembly, 221-electromagnet sleeve, 222-electromagnet core, 2221-annular lock track, 2222-guide slope, 223-electromagnet coil, 224-reset spring, 23-release cover, 231-extrusion pipe, 24-flexible buffer cover. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0043] like Figures 1 to 5The embodiment of the present application provides a bionic controllable magnetic suction type UAV recovery device, including a magnetic capture head 1 and a magnetic suction type capture mechanism 2. The magnetic capture head 1 is made of a permanent magnet and installed in the middle of the top of the UAV. The magnetic suction type capture mechanism 2 is provided with a mechanical claw 21 and an electromagnet assembly 22 for generating a magnetic field. The mechanical claw 21 is installed on the electromagnet assembly 22 and can be opened or closed. The electromagnet assembly 22 is connected to the bottom of the conveyor via a cable and can swing. The UAV recovery device is composed of two parts, wherein the magnetic capture head 1 is installed on the UAV, and the magnetic suction type capture mechanism 2 is installed on the conveyor. The recovery of the UAV is achieved through the docking and cooperation between the magnetic capture head 1 and the magnetic suction type capture mechanism 2. When it is necessary to capture the drone, the magnetic capture mechanism 2 moves with the conveyor until the magnetic capture head 1 enters the capture range of the mechanical claw 21, and the electromagnet assembly 22 is energized to generate a magnetic field. Since the magnetic capture head 1 may not be at the center of the mechanical claw 21, the current passed through the electromagnet assembly 22 is adjusted according to the deviation between the mechanical claw 21 and the magnetic capture head 1, so as to control the magnetic field size, and the electromagnet assembly 22 and the magnetic capture head 1 attract each other and generate an interaction force. Since the magnetic capture head 1 is installed on the drone, the drone is in a hovering or flying state during the capture, and the posture of the magnetic capture head 1 is consistent with the drone and is not easy to control. The electromagnet assembly 22 is installed on the conveyor via a cable and can swing at will. When the magnetic attraction between the electromagnet assembly 22 and the magnetic capture head 1 increases, the electromagnet assembly 22 is subjected to a reverse force and can drive the mechanical claw 21 to deflect in the direction of the magnetic capture head 1, so as to achieve the purpose of aligning the mechanical claw 21 with the magnetic capture head 1. The mechanical claw 21 is closed to achieve the capture of the magnetic capture head 1, that is, to achieve the precise capture of the drone. The recovery device of this embodiment uses magnetic attraction to place the drone within the clamping area of ​​the mechanical claw 21, and uses the magnetic attraction force between the electromagnet assembly 22 and the magnetic capture head 1 to adjust the position of the mechanical claw 21 and the magnetic capture head 1, ensuring that the mechanical claw 21 is aligned with the magnetic capture head 1, and the mechanical claw 21 clamps the magnetic capture head 1, thereby achieving accurate and stable capture of the drone.

[0044] like Figures 2 to 4 As shown, when the magnetic capture mechanism 2 is docked with the magnetic capture head 1, the alignment between the mechanical claw 21 and the magnetic capture head 1 is achieved by the magnetic attraction between the electromagnet assembly 22 and the magnetic capture head 1, that is, the electromagnet assembly 22 drives the mechanical claw 21 to swing under the magnetic attraction to achieve the alignment of the mechanical claw 21 and the magnetic capture head 1. The swing of the electromagnet assembly 22 needs to overcome its own gravity. If it is heavy, it is difficult to swing into place.

[0045] To this end, the electromagnet assembly 22 described in this embodiment includes an electromagnet sleeve 221, an electromagnet core 222 and an electromagnet coil 223. The electromagnet sleeve 221 is provided with an upper opening and a lower opening. The electromagnet core 222 is an "I"-shaped structure, which includes an upper circular plate, an intermediate core and a lower circular plate arranged and connected in sequence from top to bottom. The electromagnet core 222 runs through the electromagnet sleeve 221, and the two ends of the electromagnet core 222 extend out of the upper opening and the lower opening of the electromagnet sleeve 221 respectively, that is, the upper circular plate of the electromagnet core 222 is located above the electromagnet sleeve 221, and the lower circular plate is located below the electromagnet core 222. The lower surface of the upper circular plate is provided with an annular lock 2221, and is used to lock the mechanical claw 21 in an open state. The outer diameter of the middle core is smaller than the inner diameter of the electromagnet sleeve 221, so that the electromagnet core 222 can move along the axial direction of the electromagnet sleeve 221. The outer diameter of the middle core is larger than the diameter of the upper opening and the lower opening of the electromagnet sleeve 221, so that the electromagnet sleeve 221 can limit the axial movement space of the electromagnet core 222. The electromagnet coil 223 is wound around the middle core and forms an electromagnet with the middle core. The electromagnet coil 223 is connected to the conveyor through a cable, and the electromagnet coil 223 is powered by the conveyor. The electromagnet coil 223 is energized and generates a magnetic field to generate suction to the magnetic capture head 1. Figure 3 and Figure 4As shown, the mechanical claw 21 is provided with at least three grasping fingers 211, and at least three grasping fingers 211 are evenly arranged outside the electromagnet sleeve 221 in the circumferential direction, and the middle position of each grasping finger 211 is connected to the electromagnet sleeve 221 through a hinge and can rotate, and an elastic reset element is installed between each grasping finger 211 and the electromagnet sleeve 221, and the elastic reset element is a torsion spring. The electromagnet coil 223 is energized and generates a magnetic field, and the strength of the magnetic field is enhanced through the electromagnet core 222. The magnetic capture head 1 is adsorbed into the clamping area of ​​the mechanical claw 21 and moves toward the side of the electromagnet core 222. When the magnetic capture head 1 moves into place, the magnetic capture head 1 squeezes the electromagnet core 222, the electromagnet core 222 moves up, and the annular lock track 2221 of the electromagnet core 222 disengages from the block 2111 of each grasping finger 211 of the mechanical claw 21. Each grasping finger 211 of the mechanical claw 21 is released and rotates under the reset of the torsion spring, and the bottom end of the grasping finger 211 gathers inward to achieve the capture of the magnetic capture head 1. When the drone is captured and needs to be released into the transporter, the cable connected to the electromagnet assembly 22 is reeled up, the mechanical claw 21 is opened to release the magnetic capture head 1, the electromagnet core 222 moves down, and the annular lock 2221 of the electromagnet core 222 locks the block 2111 of each grasping finger 211 of the mechanical claw 21 again to lock it, and the mechanical claw 21 remains in an open state to facilitate the capture of the drone next time. In addition to generating a magnetic field to absorb the magnetic capture head 1, the electromagnet assembly 22 of this embodiment also has a locking function to lock the mechanical claw 21 to maintain the open state of the mechanical claw 21, and at the same time, a torsion spring is used to close the mechanical claw 21, so that the mechanical claw 21 does not need to be additionally provided with a power source to achieve a closed clamping action during the capture of the drone, which simplifies the structure of the magnetic capture mechanism 2 and reduces the weight, thereby improving the flexibility and reliability of the device.

[0046] like Figure 2 and Figure 4As shown, the magnetic capture mechanism 2 of this embodiment also includes a release cover 23 for opening the mechanical claw 21. The release cover 23 is fixedly installed in the cabin of the transport aircraft. The release cover 23 is provided with a funnel-shaped extrusion pipe 231, that is, the cross-sectional area of ​​the extrusion pipe 231 gradually increases from top to bottom, and the end of the extrusion pipe 231 with a larger diameter faces downward. The electromagnet assembly 22 also includes a reset spring 224, which is installed between the electromagnet core 222 and the electromagnet sleeve 221. When the magnetic capture head 1 squeezes the electromagnet core 222 to move upward, the electromagnet core 222 will not directly collide with the electromagnet sleeve 221, and the reset spring 224 is compressed and stores energy. A guide wheel 2112 is provided at the top of each gripping finger 211 of the mechanical claw 21 and near the side of the extrusion pipe 231. After the magnetic capture head 1 is captured, the cable is reeled, and the cable pulls the electromagnet assembly 22 and the mechanical claw 21 into the extrusion pipe 231 and moves upward. The guide wheel 2112 at the top of each gripping finger 211 in the mechanical claw 21 contacts the inner wall of the extrusion pipe 231 and is squeezed. The guide wheel 2112 drives the top of the gripping finger 211 to gather inward. Based on the principle of lever, when the top of each gripping finger 211 gathers inward, the bottom of each gripping finger 211 expands outward to realize the opening of the mechanical claw 21; the mechanical claw 21 releases the magnetic capture head 1, and the drone is retracted into the cabin of the transport aircraft. The magnetic capture head 1 no longer squeezes the electromagnet core 222, and the electromagnet core 222 moves downward under the tension of the reset spring 224.

[0047] like Figure 2 and Figure 4 As shown, when the mechanical claw 21 releases the magnetic capture head 1, if the mechanical claw 21 is not fully opened, the electromagnet core 222 may be reset first under the tension of the reset spring 224, resulting in the top of each grasping finger 211 of the mechanical claw 21 not being stuck in the annular lock 2221 of the electromagnet core 222, thereby causing the mechanical claw 21 to be unable to remain in the open state for the next UAV recovery mission.

[0048] To this end, in this embodiment, a clamping block 2111 is provided at the top of each grasping finger 211 and close to the electromagnet core 222, and the clamping block 2111 can be clamped into the annular locking track 2221 of the electromagnet core 222; an extrusion slope 2113 is provided on the side of the clamping block 2111 facing the electromagnet core 222, and a guide slope 2222 that matches the extrusion slope 2113 on the clamping block 2111 is provided on the edge of the annular locking track 2221 of the electromagnet core 222; when the mechanical claw 21 is not opened in place and the magnetic capture is released, the mechanical claw 21 is not opened in place and the magnetic capture is released. When the head 1 is obtained, the electromagnet core 222 moves down in advance under the tension of the return spring 224, and the cable continues to be reeled in. The mechanical claw 21 continues to move into the extrusion pipe 231 of the release cover 23, and the top of each grasping finger 211 of the mechanical claw 21 continues to be squeezed by the release cover 23 and gathered inward until the block 2111 at the top of the grasping finger 211 squeezes the edge of the annular lock track 2221 of the electromagnet core 222 and slides into the annular lock track 2221 and is stuck. At this time, the mechanical claw 21 is in an open state and remains.

[0049] like Figures 1 to 4 As shown, since the mechanical claw 21 is in rigid contact with the magnetic capture head 1 when capturing the magnetic capture head 1, the impact generated by the mechanical claw 21 and the magnetic capture head 1 during the recovery process cannot be absorbed, which may cause damage to the internal instruments of the drone, and in serious cases affect the completion of the mission.

[0050] To this end, the magnetic capture mechanism 2 of the present embodiment further includes a flexible buffer cover 24, which is arranged in the clamping area of ​​the mechanical claw 21, and the top of the flexible buffer cover 24 is installed at the bottom of the electromagnet core 222. The outer surface of the flexible buffer cover 24 is provided with a rubber ring fixing structure, and the flexible buffer cover 24 is connected to the mechanical claw 21 through the rubber ring, and the flexible buffer cover 24 can be expanded with the opening of the mechanical claw 21 or retracted with the closing of the mechanical claw 21. When the electromagnet core 222 releases the mechanical claw 21, the flexible buffer cover 24 retracts with the closing of the mechanical claw 21, and the flexible buffer cover 24 wraps the magnetic capture head 1 to achieve soft capture of the magnetic capture head 1. The flexible buffer cover 24 is made of flexible material, and the flexible buffer cover 24 is arranged on the inner side of the mechanical claw 21, imitating the capture structure of the cocklebur, and the rigid capture between the magnetic capture head 1 and the mechanical claw 21 is changed into a flexible capture to absorb the collision energy during the recovery process. At the same time, when the flexible buffer cover 24 is unfolded, the coverage area of ​​the magnetic capture head 1 is relatively large, which can smoothly realize the capture of the magnetic capture head 1 and increase the accuracy of the capture. In addition, a honeycomb buffer layer 25 is provided at the bottom end of the electromagnet core 222. The honeycomb buffer layer 25 is a honeycomb structure and is made of energy-absorbing materials; without affecting the magnetic field of the electromagnet, when the magnetic capture head 1 collides with the electromagnet core 222, the honeycomb buffer layer 25 can reduce the impact force of the magnetic capture head 1 on the electromagnet core 222, improve the buffering energy absorption effect, and ensure the safety of the magnetic capture head 1 and the electromagnet core 222.

[0051] like Figure 4 As shown, in this embodiment, the inner surface of the flexible buffer cover 24 is provided with a first adhesive layer, and the outer surface of the magnetic capture head 1 is provided with a second adhesive layer; when the flexible buffer cover 24 wraps the magnetic capture head 1, the flexible buffer cover 24 and the magnetic capture head 1 are bonded to each other to increase the capture force of the flexible buffer cover 24 on the magnetic capture head 1, thereby improving the reliability of the recovery device. At the same time, when the flexible buffer cover 24 contacts the magnetic capture head 1, the magnetic capture head 1 will continue to move toward the electromagnet assembly 22 due to the magnetic attraction of the electromagnet assembly 22. At this time, the flexible buffer cover 24 and the magnetic capture head 1 will generate friction energy consumption, causing the magnetic capture head 1 to slow down and stop. Specifically, the first adhesive layer is a fine and soft fiber layer, such as the fur surface of Velcro; the second adhesive layer has hard barbed hairs, such as the hook surface of Velcro, and the deceleration of the magnetic capture head 1 is achieved based on the adhesion between the hook surface Velcro and the fur surface Velcro. The Velcro form is adopted, which is low in cost on the one hand and can be reused on the other hand.

[0052] like Figure 4 As shown, when the position deviation between the magnetic capture head 1 and the mechanical claw 21 is large, the top of the magnetic capture head 1 will abut against the inner surface of the flexible buffer cover 24 and move along the inner surface of the flexible buffer cover 24 toward the electromagnet assembly 22. A ball 11 is arranged at the top of the magnetic capture head 1, and the ball 11 rolls in the flexible buffer cover 24. At this time, due to the movement of the ball 11 on the top of the magnetic capture head 1, the magnetic capture head 1 will be moved toward the center of the magnetic capture mechanism 2, thereby realizing the centering of the mechanical claw 21 and the magnetic capture head 1.

[0053] The working process of the present invention is further described below to further demonstrate the working principle and advantages of the present invention:

[0054] S1, when it is necessary to capture the drone, the magnetic capture mechanism 2 moves with the transporter until the magnetic capture head 1 enters the capture range of the mechanical claw 21;

[0055] S2, the electromagnet coil 223 is energized and the current is adjusted to control the magnetic field. The electromagnet assembly 22 and the magnetic capture head 1 attract each other and generate interaction force. The magnetic capture mechanism 2 is swung toward the magnetic capture head 1 and centered.

[0056] S3, the magnetic capture head 1 is adsorbed into the clamping area of ​​the mechanical claw 21 and moves toward the side of the electromagnet core 222. When the magnetic capture head 1 moves into place, the magnetic capture head 1 squeezes the electromagnet core 222, the electromagnet core 222 moves upward, and the annular lock track 2221 of the electromagnet core 222 disengages from the block 2111 of the grasping finger 211. The grasping finger 211 is released and rotates under the reset of the torsion spring. The bottom end of the grasping finger 211 gathers inward and drives the flexible buffer cover 24 to retract. The flexible buffer cover 24 wraps the magnetic capture head 1. The flexible buffer cover 24 and the magnetic capture head 1 generate friction energy consumption, causing the magnetic capture head 1 to slow down and stop.

[0057] S4, reel in the cable connected to the electromagnet assembly 22, the cable pulls the electromagnet assembly 22 and the mechanical claw 21 into the extrusion pipe 231 of the release cover 23 and moves upward, the guide wheel 2112 at the top of each grasping finger 211 contacts the inner wall of the extrusion pipe 231 and is squeezed, the guide wheel 2112 drives the top of the grasping finger 211 to gather inward, based on the lever principle, when the top of each grasping finger 211 gathers inward, the bottom of each grasping finger 211 expands outward to realize the opening of the mechanical claw 21; the mechanical claw 21 releases the magnetic capture head 1, and the drone is retracted into the cabin of the transport aircraft;

[0058] S5, the magnetic capture head 1 no longer squeezes the electromagnet core 222, and the electromagnet core 222 moves downward and resets under the tension of the reset spring 224, and continues to reel in the cable. The mechanical claw 21 continues to move into the extrusion pipe 231 of the release cover 23, and the top of each grasping finger 211 continues to be squeezed by the release cover 23 and gathers inward until the block 2111 at the top of the grasping finger 211 squeezes the edge of the annular lock track 2221 of the electromagnet core 222 and slides into the annular lock track 2221 and is stuck. At this time, the mechanical claw 21 is in an open state and remains in place to achieve the next recovery of the drone.

[0059] The embodiments described above are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A bionic controllable magnetic suction type drone recovery device, Its characteristics include: Magnetic capture head, mounted on the drone; A magnetic capture mechanism is provided with a mechanical claw and an electromagnet assembly for generating a magnetic field, the mechanical claw is mounted on the electromagnet assembly and can be opened or closed, and the electromagnet assembly is connected to the conveyor and can swing; The mechanical claw opens, and the magnetic capture mechanism moves with the conveyor to the vicinity of the magnetic capture head. The magnetic capture head is in the capture area of ​​the mechanical claw. The electromagnet assembly is energized and generates a magnetic field. The magnetic capture head is adsorbed into the clamping area of ​​the mechanical claw. The mechanical claw closes and clamps the magnetic capture head to capture the drone.

2. A bionic controllable magnetic suction type drone recovery device according to claim 1, Its characteristic is that the electromagnet Components include: Electromagnet sleeve; The electromagnet core axially penetrates the electromagnet sleeve and is movable, and a ring lock track is provided on the top of the electromagnet core; An electromagnet coil is wound around an electromagnet core; The mechanical claw is provided with grasping fingers, which are arranged circumferentially outside the electromagnet sleeve and can rotate, and an elastic reset element is installed between the grasping fingers and the electromagnet sleeve; the top of the grasping finger can be stuck in the annular lock of the electromagnet core and keep the mechanical claw open; The electromagnet coil is energized and generates a magnetic field. The magnetic capture head is adsorbed and moves toward the electromagnet core. The magnetic capture head squeezes the electromagnet core upward, and the annular lock track of the electromagnet core releases the grasping finger. The bottom end of the grasping finger gathers inward under the reset of the elastic reset element to achieve the closure of the mechanical claw.

3. A bionic controllable magnetic suction type drone recovery device according to claim 2, Its characteristics are: The magnetic capture mechanism also includes: An extrusion pipe is installed on the conveyor, and the cross section of the extrusion pipe increases gradually from top to bottom; The electromagnet assembly also includes a return spring, which is installed between the electromagnet core and the electromagnet sleeve. When the electromagnet core moves upward, the return spring is compressed; After the magnetic capture head is captured, the electromagnet assembly drives the mechanical claw to move into the extrusion pipe, the top of the grasping finger contacts the extrusion pipe and is compressed to gather inward, and the bottom of the grasping finger expands outward to achieve the opening of the mechanical claw; the electromagnet core moves downward under the tension of the return spring, and the annular lock of the electromagnet core clamps the top of the grasping finger to keep the mechanical claw open.

4. A bionic controllable magnetic suction type drone recovery device according to claim 3, Its characteristics are: The top of the grasping finger is provided with an extrusion slope, and the edge of the annular locking track of the electromagnet core is provided with a guide slope matching the extrusion slope; When the mechanical claw has not opened into place and released the magnetic capture head, the electromagnet core moves downward in advance under the tension of the reset spring, the mechanical claw moves into the extrusion pipe, the top of the grasping fingers gather inward and squeeze the edge of the annular lock track of the electromagnet core, and the grasping fingers slide into the annular lock track through the cooperation of the extrusion slope and the guide slope and are stuck to keep the mechanical claw open.

5. A bionic controllable magnetic suction type drone recovery device according to claim 3, Its characteristics are: A guide wheel is provided on the top of the gripping finger.

6. A bionic controllable magnetic suction type drone recovery device according to claim 2, Its characteristics are: A honeycomb buffer layer is provided at the bottom end of the electromagnet core to mitigate the impact force of the magnetic capture head on the electromagnet core.

7. A bionic controllable magnetic suction type drone recovery device according to claim 1 or 2, Its characteristics are: The magnetic capture mechanism also includes a flexible buffer cover, which is connected to the inner side of the mechanical claw and expands as the mechanical claw opens or retracts as the mechanical claw closes; when the electromagnet core releases the mechanical claw, the flexible buffer cover retracts as the mechanical claw closes, and the flexible buffer cover wraps and clamps the magnetic capture head to achieve soft capture of the magnetic capture head.

8. A bionic controllable magnetic suction type drone recovery device according to claim 7, Its characteristics are: The inner surface of the flexible buffer cover is provided with a first adhesive layer, and the outer surface of the magnetic capture head is provided with a second adhesive layer; when the flexible buffer cover wraps the magnetic capture head, the flexible buffer cover and the magnetic capture head are bonded to each other to increase the capture force of the flexible buffer cover on the magnetic capture head.

9. A bionic controllable magnetic suction type drone recovery device according to claim 8, Its characteristics are: The first adhesive layer is a fleece fiber layer, and the second adhesive layer has hard barbed bristles.

10. The bionic controllable magnetic suction type drone recovery device according to claim 7, Its characteristics are: The magnetic catch head has a ball on top.

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