A bionic controllable magnetic suction type unmanned aerial vehicle recovery device

Abstract

The application relates to a biomimetic controllable magnetic suction type unmanned aerial vehicle recovery device, and belongs to the technical field of unmanned aerial vehicle recovery.The device is used for solving the problem that the unmanned aerial vehicle is in a hovering or flying state during the recovery process, the recovery stability is poor when only the magnetic suction mode is adopted, and the recovery fails finally.The device comprises a magnetic capturing head and a magnetic suction type capturing mechanism, the magnetic capturing head is installed on the unmanned aerial vehicle, the magnetic suction 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, the electromagnet assembly is connected with a conveyer and can swing, the mechanical claw is opened, the magnetic suction type capturing mechanism is moved to the magnetic capturing head along the conveyer, the magnetic capturing head is located in a capturing area of the mechanical claw, the electromagnet assembly is electrified and generates a magnetic field, the magnetic capturing head is adsorbed into a clamping area of the mechanical claw, the mechanical claw is closed and clamps the magnetic capturing head, and the unmanned aerial vehicle is captured.The device is mainly used for the recovery of the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of drone recovery technology, and in particular to a biomimetic controllable magnetic drone recovery device. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are widely used in the military field due to their low cost, light weight, small size, high flexibility, and stealth, and are considered an important part of the battlefield worldwide. However, small UAVs are limited by their weight, resulting in limited endurance and making it difficult for them to independently complete long-duration combat missions. Their combat radius is also limited, necessitating recovery and recharging for subsequent missions. Current UAV recovery technology, limited by site and environmental constraints, generally opts for aerial recovery. Aerial recovery technology uses airborne motherships to retrieve and redeploy UAVs from deep within the battlefield. However, this method has lower precision, and the docking process between the mothership and the UAV requires complex position and attitude control; docking errors can easily damage the UAV. CN109552635A discloses an airborne electromagnetic UAV recovery method and device that uses magnetic attraction for recovery, eliminating the need for high-precision positioning and offering strong controllability. However, since the UAV is hovering or in flight during recovery, relying solely on magnetic attraction may lead to poor recovery stability, ultimately resulting in recovery failure. Summary of the Invention

[0003] In view of this, the present invention provides a biomimetic controllable magnetic drone recovery device, which adopts a biomimetic burr structure to achieve stable recovery of drones.

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

[0005] A biomimetic controllable magnetic drone recovery device includes:

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

[0007] The magnetic capture mechanism is equipped with a mechanical claw and an electromagnet assembly for generating a magnetic field. The mechanical claw is mounted on the electromagnet assembly and can open or close. The electromagnet assembly is connected to a conveyor and can swing.

[0008] The mechanical gripper opens, and the magnetic capture mechanism moves with the transport aircraft to the vicinity of the magnetic capture head. The magnetic capture head is located within the capture area of ​​the mechanical gripper. The electromagnet assembly is energized and generates a magnetic field, causing the magnetic capture head to be attracted to the gripping area of ​​the mechanical gripper. The mechanical gripper closes and clamps the magnetic capture head to achieve the capture of the drone.

[0009] Furthermore, the electromagnet assembly includes:

[0010] Electromagnet sleeve;

[0011] The electromagnet core is axially inserted through the electromagnet sleeve and is movable. The top of the electromagnet core is provided with an annular locking channel.

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

[0013] The mechanical gripper is equipped with gripping fingers, which are arranged circumferentially outside the electromagnet sleeve and can rotate. An elastic reset element is installed between the gripping fingers and the electromagnet sleeve. The tip of the gripping fingers can be locked into the annular locking channel of the electromagnet core to keep the mechanical gripper open.

[0014] When the electromagnet coil is energized, it generates a magnetic field. The magnetic capture head is attracted and moves toward the electromagnet core. The magnetic capture head squeezes the electromagnet core upward, and the annular locking channel of the electromagnet core releases the gripping finger. The bottom of the gripping finger is reset by the elastic reset element and gathers inward to achieve the closure of the mechanical gripper.

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

[0016] The extruded pipe is installed on the conveyor, and the cross-section of the extruded pipe gradually increases 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 tube. The tip of the grasping finger contacts the extrusion tube and is compressed to converge inward, while the bottom of the grasping finger expands outward to open the mechanical claw. The electromagnet core moves downward under the tension of the return spring, and the annular locking channel of the electromagnet core locks the tip of the grasping finger to keep the mechanical claw open.

[0019] Furthermore, the tip of the grasping finger is provided with a squeezing slope, and the edge of the annular locking channel of the electromagnet core is provided with a guide slope that matches the squeezing slope.

[0020] When the mechanical gripper is not fully open and releases the magnetic capture head, the electromagnet core moves down in advance under the tension of the return spring. The mechanical gripper moves into the extrusion channel, and the tip of the gripping finger gathers inward and squeezes the edge of the annular locking channel of the electromagnet core. The gripping finger slides into the annular locking channel through the cooperation of the extrusion slope and the guide slope and is locked to keep the mechanical gripper open.

[0021] Furthermore, a guide wheel is provided at the top of the grasping finger.

[0022] Furthermore, a honeycomb-shaped buffer layer is provided at the bottom of the electromagnet core to reduce 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 inside of the mechanical claw and unfolds 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 around and clamps the magnetic capture head to achieve soft capture of the magnetic capture head.

[0024] Furthermore, 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 around 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 napped fiber layer, and the second adhesive layer has hard barbs.

[0026] Furthermore, the top of the magnetic capture head is equipped with ball bearings.

[0027] The beneficial effects of this invention compared to the prior art are:

[0028] 1. This invention provides a biomimetic controllable magnetic drone recovery device. An electromagnet assembly generates a magnetic field to attract and connect the drone's magnetic capture head, and also limits and locks the mechanical claw, keeping it open. Simultaneously, movement of the magnetic capture head triggers the electromagnet assembly to release the mechanical claw. The claw closes under the return of a torsion spring, clamping the magnetic capture head and thus recovering the drone. Throughout the capture process, the opening of the mechanical claw is achieved by the compression of the release cover, and the closing is achieved by the return of the torsion spring. The recovery device eliminates the need for an additional power source to control the opening and closing of the mechanical claw, significantly reducing the weight and complexity of the device and improving its flexibility and reliability.

[0029] 2. The present invention incorporates a flexible buffer cover made in imitation of burdock at the mechanical claw. The opening and closing of the flexible buffer cover is achieved by the opening and closing of the mechanical claw. This not only changes the hard contact between the magnetic capture head and the mechanical claw into a soft contact, absorbing the collision energy during the recovery process, but also provides 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 attraction capture mechanism of the present invention deviate to different degrees during the docking process, the strength of the electromagnet's magnetic field can be controlled by adjusting the current, so as to adjust the direction of the magnetic attraction capture mechanism by magnetic attraction, thereby achieving precise docking between the magnetic capture head and the magnetic attraction capture mechanism.

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

[0032] 5. The present invention has a pressing slope at the tip of each gripping finger of the mechanical claw, and a guide slope at the edge of the annular locking channel of the electromagnet core. By cooperating with the pressing slope and the guide slope at the edge of the annular locking channel, the annular locking channel of the electromagnet core can lock the mechanical claw and keep it in the open state when the mechanical claw is opened to the position. Attached Figure Description

[0033] The accompanying drawings, which form part of this application, are provided to further illustrate the invention.

[0034] Figure 1 This is a three-dimensional structural diagram of an embodiment of this application.

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

[0036] Figure 3 This is a schematic diagram showing the state of a mechanical gripper capturing a magnetic capture head.

[0037] Figure 4 This is a cross-sectional view of an embodiment of this application.

[0038] Figure 5 for Figure 4 A magnified view of a portion of point A in the middle.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1-Magnetic capture head, 11-Ball bearing;

[0041] 2-Magnetic capture mechanism, 21-Mechanical claw, 211-Grasping finger, 2111-Clocking 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 Implementation

[0042] To make the objectives, 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 with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0043] like Figures 1 to 5This application provides a biomimetic controllable magnetic capture device for recovering unmanned aerial vehicles (UAVs), including a magnetic capture head 1 and a magnetic capture mechanism 2. The magnetic capture head 1 is made of permanent magnets and is installed at the top center of the UAV. The magnetic capture mechanism 2 has 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 open or close. The electromagnet assembly 22 is connected to the bottom of a transport vehicle via a cable and can swing. The UAV recovery device consists of two parts: the magnetic capture head 1 is installed on the UAV, and the magnetic capture mechanism 2 is installed on the transport vehicle. The UAV is recovered through the docking and cooperation of the magnetic capture head 1 and the magnetic capture mechanism 2. When a drone needs to be captured, the magnetic capture mechanism 2 moves with the transport aircraft until the magnetic capture head 1 enters the capture range of the mechanical gripper 21. The electromagnet assembly 22 is energized and generates a magnetic field. Since the magnetic capture head 1 may not be centered on the mechanical gripper 21, the current flowing through the electromagnet assembly 22 is adjusted according to the deviation between the mechanical gripper 21 and the magnetic capture head 1, thereby controlling the strength of the magnetic field. The electromagnet assembly 22 and the magnetic capture head 1 attract each other and generate an interaction force. Because the magnetic capture head 1 is mounted on the drone, and the drone is hovering or flying during capture, the magnetic capture head 1's attitude is consistent with the drone and difficult to control. The electromagnet assembly 22 is mounted on the transport aircraft via a cable and can swing freely. When the magnetic attraction between the electromagnet assembly 22 and the magnetic capture head 1 increases, the electromagnet assembly 22 experiences a reverse force, which can drive the mechanical gripper 21 to deflect towards the magnetic capture head 1, achieving alignment between the mechanical gripper 21 and the magnetic capture head 1. The mechanical gripper 21 closes, achieving capture of the magnetic capture head 1, thus realizing precise capture of the drone. The recovery device in this embodiment uses magnetic attraction to place the drone within the gripping area of ​​the mechanical claw 21. The magnetic attraction between the electromagnet component 22 and the magnetic capture head 1 is used to adjust the position of the mechanical claw 21 and the magnetic capture head 1, ensuring that the mechanical claw 21 and the magnetic capture head 1 are aligned. The mechanical claw 21 grips the magnetic capture head 1, achieving accurate and stable capture of the drone.

[0044] like Figures 2 to 4 As shown, when the magnetic capture mechanism 2 docks 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 between the mechanical claw 21 and the magnetic capture head 1. The swing of the electromagnet assembly 22 needs to overcome its own weight. If it is too heavy, it will be difficult to swing into place.

[0045] Therefore, 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 has an upper opening and a lower opening. The electromagnet core 222 has an "I"-shaped structure, which includes an upper circular plate, a middle core, and a lower circular plate arranged and connected sequentially from top to bottom. The electromagnet core 222 passes through the electromagnet sleeve 221, and its two ends extend out of the upper and lower openings of the electromagnet sleeve 221, respectively. That is, the upper circular plate of the electromagnet core 222 is above the electromagnet sleeve 221, and the lower circular plate is below the electromagnet core 222. The lower surface of the upper circular plate is provided with an annular locking track 2221, which is used for locking the mechanical gripper 21 in the open state. The outer diameter of the intermediate iron core is smaller than the inner diameter of the electromagnet sleeve 221, allowing the electromagnet core 222 to move along the axial direction of the electromagnet sleeve 221. The outer diameter of the intermediate iron core is larger than the diameters of the upper and lower openings of the electromagnet sleeve 221, limiting the axial movement space of the electromagnet core 222. The electromagnet coil 223 is wound around the intermediate iron core and forms an electromagnet with it. The electromagnet coil 223 is connected to a conveyor via a cable, and the conveyor supplies power to the electromagnet coil 223. When energized, the electromagnet coil 223 generates a magnetic field, which attracts the magnetic capture head 1. Figure 3 and Figure 4As shown, the mechanical gripper 21 is provided with at least three gripping fingers 211. The at least three gripping fingers 211 are evenly arranged around the outside of the electromagnet sleeve 221. The middle position of each gripping finger 211 is connected to the electromagnet sleeve 221 by a hinge and can rotate. An elastic reset element is installed between each gripping finger 211 and the electromagnet sleeve 221. The elastic reset element is a torsion spring. When the electromagnet coil 223 is energized, it generates a magnetic field. The magnetic field strength is enhanced by the electromagnet core 222. The magnetic capture head 1 is attracted to the gripping area of ​​the mechanical claw 21 and moves toward the electromagnet core 222. When the magnetic capture head 1 is in place, it squeezes the electromagnet core 222, causing the electromagnet core 222 to move upward. The annular locking channel 2221 of the electromagnet core 222 disengages from the locking block 2111 of each gripping finger 211 of the mechanical claw 21. Each gripping finger 211 of the mechanical claw 21 is released and rotates under the reset of the torsion spring. The bottom end of the gripping finger 211 converges inward to capture the magnetic capture head 1. When the drone is captured and needs to be released into the transport aircraft, the cable connecting the electromagnet assembly 22 is wound up, the mechanical claw 21 is opened to release the magnetic capture head 1, the electromagnet core 222 moves down, and the annular locking channel 2221 of the electromagnet core 222 locks the locking blocks 2111 of each grasping finger 211 of the mechanical claw 21 again to lock it in place, keeping the mechanical claw 21 open for the next capture of the drone. In this embodiment, the electromagnet assembly 22, in addition to generating a magnetic field to attract the magnetic capture head 1, also has a locking function to lock the mechanical claw 21, thus maintaining the open state of the mechanical claw 21. At the same time, a torsion spring is used to close the mechanical claw 21, so that the mechanical claw 21 does not need an additional power source to achieve the closing gripping action during the capture of the drone, simplifying the structure of the magnetic capture mechanism 2, reducing weight, and 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 the mechanical claw 21 to open. The release cover 23 is fixedly installed in the cabin of the transport aircraft. The release cover 23 has a funnel-shaped compression pipe 231, that is, the cross-sectional area of ​​the compression pipe 231 gradually increases from top to bottom, and the end with the larger diameter of the compression pipe 231 faces downward. The electromagnet assembly 22 also includes a return 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 upward, the electromagnet core 222 will not directly collide with the electromagnet sleeve 221, and at the same time, the return spring 224 is compressed and stores energy. Each grasping finger 211 of the mechanical claw 21 has a guide wheel 2112 at its tip near the compression pipe 231. After the magnetic capture head 1 is captured, the cable is wound up, pulling the electromagnet assembly 22 and the mechanical claw 21 into the compression pipe 231 and moving upward. The guide wheel 2112 at the tip of each grasping finger 211 in the mechanical claw 21 contacts the inner wall of the compression pipe 231 and is squeezed. The guide wheel 2112 drives the tip of the grasping finger 211 to converge inward. Based on the lever principle, when the tip of each grasping finger 211 converges inward, the bottom of each grasping finger 211 expands outward to open 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 return 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 open, the electromagnet core 222 may reset first under the tension of the return spring 224, causing the tip of each gripping finger 211 of the mechanical claw 21 to not be locked in the annular locking channel 2221 of the electromagnet core 222, thus causing the mechanical claw 21 to be unable to maintain the open state for the next drone recovery mission.

[0048] Therefore, in this embodiment, each grasping finger 211 has a locking block 2111 at its tip and near the electromagnet core 222. The locking block 2111 can be locked into the annular locking channel 2221 of the electromagnet core 222. The side of the locking block 2111 facing the electromagnet core 222 has a pressing slope 2113, and the edge of the annular locking channel 2221 of the electromagnet core 222 has a guide slope 2222 that cooperates with the pressing slope 2113 on the locking block 2111. When the mechanical claw 21 is not fully opened and releases the magnetic capture... When the first head is engaged, the electromagnet core 222 moves down in advance under the tension of the return spring 224 to continue winding the cable. The mechanical claw 21 continues to move into the compression channel 231 of the release cover 23. The tip of each gripping finger 211 of the mechanical claw 21 continues to be squeezed inward by the release cover 23 until the locking block 2111 at the tip of the gripping finger 211 squeezes the edge of the annular locking channel 2221 of the electromagnet core 222 and slides into the annular locking channel 2221 and is locked. At this time, the mechanical claw 21 is in the open state and remains so.

[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 it, the impact generated by the mechanical claw 21 and the magnetic capture head 1 during the recovery process cannot be absorbed, which may damage the internal instruments of the UAV and, in severe cases, affect the completion of the mission.

[0050] Therefore, the magnetic capture mechanism 2 of this embodiment also includes a flexible buffer cover 24. The flexible buffer cover 24 is disposed within the clamping area of ​​the mechanical claw 21. The top of the flexible buffer cover 24 is mounted on the bottom of the electromagnet core 222. The outer surface of the flexible buffer cover 24 is provided with a rubber ring fixing structure. The flexible buffer cover 24 is connected to the mechanical claw 21 through the rubber ring, and the flexible buffer cover 24 can expand as the mechanical claw 21 opens or retract as the mechanical claw 21 closes. When the electromagnet core 222 releases the mechanical claw 21, the flexible buffer cover 24 retracts as the mechanical claw 21 closes, and the flexible buffer cover 24 wraps around 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. The flexible buffer cover 24 is provided on the inner side of the mechanical claw 21, mimicking the capture structure of a burr, changing the rigid capture between the magnetic capture head 1 and the mechanical claw 21 into a flexible capture, so as to absorb the collision energy during the recovery process. Meanwhile, when the flexible buffer cover 24 is deployed, it covers a large area of ​​the magnetic capture head 1, which can smoothly capture the magnetic capture head 1 and increase the accuracy of capture. In addition, a honeycomb buffer layer 25 is provided at the bottom of the electromagnet core 222. The honeycomb buffer layer 25 has a honeycomb structure and is made of energy-absorbing material. 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 and 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 around the magnetic capture head 1, the flexible buffer cover 24 and the magnetic capture head 1 are bonded together to increase the capture force of the flexible buffer cover 24 on the magnetic capture head 1 and improve the reliability of the recovery device. At the same time, when the flexible buffer cover 24 comes into contact with the magnetic capture head 1, the magnetic capture head 1 will continue to move towards the electromagnet assembly 22 due to the magnetic attraction force of the electromagnet assembly 22. At this time, the flexible buffer cover 24 and the magnetic capture head 1 will experience frictional energy dissipation, causing the magnetic capture head 1 to decelerate and stop. Specifically, the first adhesive layer is a fine and soft fiber layer, such as the napped side of hook and loop fastener; the second adhesive layer has hard barbs, such as the hook side of hook and loop fastener. The deceleration of the magnetic capture head 1 is achieved based on the adhesive force between the hook side hook and loop side hook and loop fastener. The use of hook and loop fastener is low in cost and can be reused.

[0052] like Figure 4 As shown, when the positional 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 bearing 11 is provided at the top of the magnetic capture head 1. The ball bearing 11 rolls inside the flexible buffer cover 24. At this time, due to the movement of the ball bearing 11 at 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 achieving the alignment of the mechanical claw 21 and the magnetic capture head 1.

[0053] The following further explains the working process of the present invention to further demonstrate its working principle and advantages:

[0054] S1, When it is necessary to capture a drone, the magnetic capture mechanism 2 moves with the transport aircraft 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 strength. The electromagnet assembly 22 and the magnetic capture head 1 attract each other and generate an interaction force. The magnetic capture mechanism 2 tilts toward the magnetic capture head 1 and centers.

[0056] S3, the magnetic capture head 1 is attracted to the gripping area of ​​the mechanical claw 21 and moves toward the electromagnet core 222. When the magnetic capture head 1 is in place, it squeezes the electromagnet core 222, causing the electromagnet core 222 to move upward. The annular locking channel 2221 of the electromagnet core 222 disengages from the locking 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 close. The flexible buffer cover 24 wraps around the magnetic capture head 1. The flexible buffer cover 24 and the magnetic capture head 1 rub against each other, consuming energy and causing the magnetic capture head 1 to decelerate and stop.

[0057] S4, rewind the cable connecting the electromagnet assembly 22. The cable pulls the electromagnet assembly 22 and the mechanical claw 21 into the compression tube 231 of the release cover 23 and moves them upward. The guide wheel 2112 at the tip of each grasping finger 211 contacts the inner wall of the compression tube 231 and is squeezed. The guide wheel 2112 drives the tip of the grasping finger 211 to gather inward. Based on the lever principle, when the tip of each grasping finger 211 gathers inward, the bottom of each grasping finger 211 expands outward to open 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 stops squeezing the electromagnet core 222. The electromagnet core 222 moves downward and resets under the tension of the reset spring 224, continuing to wind up the cable. The mechanical claw 21 continues to move into the squeezing channel 231 of the release cover 23. The tip of each gripping finger 211 continues to be squeezed inward by the release cover 23 until the locking block 2111 at the tip of the gripping finger 211 squeezes the edge of the annular locking channel 2221 of the electromagnet core 222 and slides into the annular locking channel 2221 and is locked. At this time, the mechanical claw 21 is in the open state and remains so as to realize the next recovery of the drone.

[0059] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the concept of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A biomimetic controllable magnetic drone recovery device, characterized in that it comprises: Magnetic capture head, mounted on a drone; The magnetic capture mechanism is equipped with a mechanical claw and an electromagnet assembly for generating a magnetic field. The mechanical claw is mounted on the electromagnet assembly and can open or close. The electromagnet assembly is connected to a conveyor and can swing. The mechanical claw opens, and the magnetic capture mechanism moves with the transport aircraft to the vicinity of the magnetic capture head. The magnetic capture head is located in the capture area of ​​the mechanical claw. The electromagnet component is energized and generates a magnetic field. The magnetic capture head is attracted to the clamping area of ​​the mechanical claw. The mechanical claw closes and clamps the magnetic capture head to achieve the capture of the drone. The electromagnet assembly includes: Electromagnet sleeve; The electromagnet core is axially inserted through the electromagnet sleeve and is movable. The top of the electromagnet core is provided with an annular locking channel. An electromagnet coil, wound around an electromagnet core; The mechanical gripper is equipped with gripping fingers, which are arranged circumferentially outside the electromagnet sleeve and can rotate. An elastic reset element is installed between the gripping fingers and the electromagnet sleeve. The tip of the gripping fingers can be locked into the annular locking channel of the electromagnet core to keep the mechanical gripper open. When the electromagnet coil is energized, it generates a magnetic field. The magnetic capture head is attracted and moves toward the electromagnet core. The magnetic capture head squeezes the electromagnet core upward, and the annular locking channel of the electromagnet core releases the gripping finger. The bottom of the gripping finger is reset by the elastic reset element and gathers inward to achieve the closure of the mechanical gripper. The magnetic capture mechanism also includes: The extruded pipe is installed on the conveyor, and the cross-section of the extruded pipe gradually increases 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 tube. The tip of the grasping finger contacts the extrusion tube and is compressed to converge inward, while the bottom of the grasping finger expands outward to open the mechanical claw. The electromagnet core moves downward under the tension of the return spring, and the annular locking channel of the electromagnet core locks the tip of the grasping finger to keep the mechanical claw open.

2. The biomimetic controllable magnetic drone recovery device according to claim 1, characterized in that, The tip of the grasping finger is provided with a squeezing slope, and the edge of the annular locking channel of the electromagnet core is provided with a guide slope that matches the squeezing slope. When the mechanical gripper is not fully open and releases the magnetic capture head, the electromagnet core moves down in advance under the tension of the return spring. The mechanical gripper moves into the extrusion channel, and the tip of the gripping finger gathers inward and squeezes the edge of the annular locking channel of the electromagnet core. The gripping finger slides into the annular locking channel through the cooperation of the extrusion slope and the guide slope and is locked to keep the mechanical gripper open.

3. The biomimetic controllable magnetic drone recovery device according to claim 1, characterized in that, The top of the gripping finger is equipped with a guide wheel.

4. The biomimetic controllable magnetic drone recovery device according to claim 1, characterized in that, The bottom of the electromagnet core is provided with a honeycomb-shaped buffer layer to reduce the impact force of the magnetic capture head on the electromagnet core.

5. The biomimetic controllable magnetic drone recovery device according to claim 1, characterized in that, The magnetic capture mechanism also includes a flexible buffer cover, which is connected to the inside of the mechanical claw and unfolds 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 around and clamps the magnetic capture head to achieve soft capture of the magnetic capture head.

6. The biomimetic controllable magnetic drone recovery device according to claim 5, characterized in that, 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 around 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.

7. The biomimetic controllable magnetic drone recovery device according to claim 6, characterized in that, The first adhesive layer is a napped fiber layer, and the second adhesive layer has hard, barbed hairs.

8. The biomimetic controllable magnetic drone recovery device according to claim 6, characterized in that, The magnetic capture head has a ball bearing at the top.

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