Black flight unmanned aerial vehicle capturing device

Abstract

The invention relates to a black flight unmanned aerial vehicle capturing device, and belongs to the technical field of capturing devices.The black flight unmanned aerial vehicle capturing device comprises a fixing frame, a steering engine, a plurality of transmission assemblies, a plurality of trigger lines and a plurality of mechanical fingers. One ends of two tension springs are respectively fixed on the first-section grabbing plate and the second-section grabbing plate, and the other ends of the two tension springs are respectively fixed on the corresponding hinge points of the third connecting rod and the fourth connecting rod, so that a plurality of trigger lines can be pulled and a plurality of four-connecting-rod mechanisms can be pulled while the steering wheel rotates, and the mechanical fingers are promoted to be bent; and meanwhile, the first grabbing plate and the second grabbing plate which are opposite are opened, so that the device is suitable for quickly intercepting high-speed flying targets (such as black flying unmanned aerial vehicles) in a dynamic airspace, and the interception success rate and the system reaction efficiency are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of capture devices, and in particular to a capture device for illegal unmanned aerial vehicles (UAVs). Background Art

[0002] With the booming low-altitude economy, drones are increasingly being used in logistics, surveying and mapping, agriculture, security, and other fields. However, the security risks posed by "illegal" drones (drones operating without authorization or in violation of regulations) are becoming increasingly prominent, such as privacy violations, disruptions to aviation order, and even terrorist threats. Therefore, developing efficient and reliable aerial capture technologies to rapidly dispose of illegal drones has become a critical requirement for ensuring low-altitude safety.

[0003] However, existing devices for capturing aerial targets, particularly those targeting high-speed, highly maneuverable small drones, face significant technical bottlenecks. First, response speed is generally insufficient. Conventional robotic fingers, which rely on direct motor or servo drive, have joint motion speeds (typically in the hundreds of milliseconds to seconds) that struggle to keep up with high-speed relative motion (target speeds can reach 10-20 m / s) in aerial scenarios. This often results in delayed grasping, resulting in missed attempts, or contact failures. While pneumatic / hydraulic solutions may be slightly faster, their complex and cumbersome systems make them poorly suited for lightweight aerial interception platforms. Second, high energy consumption is a significant issue. Maintaining the open or grasping state of conventional actuated grippers typically requires a continuous power supply, especially for multi-actuator systems, which consume even more energy. This severely limits the endurance and mission capabilities of the platform (especially the interceptor drone). Third, structural complexity and excessive weight are key limitations. The multiple actuator systems or complex mechanisms employed to achieve these functions result in a bulky device, significantly reducing the interceptor drone's maneuverability and payload capacity, and thus hindering its high-speed pursuit effectiveness. Fourth, poor synchronization of multi-finger movements is an obstacle to reliable capture. Using multiple independently controlled actuators makes it difficult to achieve absolute physical synchronization on a millisecond timescale. This can easily lead to uneven grasping force, target offset, and even "bounce" during high-speed capture of irregular targets, severely impacting the success rate and reliability of mid-air capture. Finally, existing designs generally lack specific optimization for high-speed collision capture. Their structural strength, cushioning mechanisms, and gripping surface characteristics fail to fully account for the risks of target rebound, slippage, or structural damage caused by high-speed impacts.

[0004] Therefore, the current technology lacks a specialized gripper device that simultaneously delivers millisecond-level response speed, ultra-low energy consumption, a compact and lightweight structure, high synchronization, and optimization for high-speed mid-air capture and impact. This has become a key bottleneck hindering the efficient and reliable interception and capture of illegal drones. The success of this research will effectively resolve these technical challenges, bringing breakthrough technological advancements and widespread application value to related fields. Summary of the Invention

[0005] This invention provides a device for capturing unauthorized drones to overcome these shortcomings. Its core principle is to utilize the instantaneous switching characteristics of a bistable structure, combined with a synchronous linkage mechanism driven by a single servo, to enable the three fingers to synchronize from fully open to closed in a very short time (<100ms). This device is particularly suitable for reliably capturing high-speed drone targets in dynamic airspace.

[0006] The present invention solves the above technical problems with the following technical solutions: a device for capturing illegal drones, comprising: a fixing frame, a steering gear, a plurality of transmission components, a plurality of trigger wires, and a plurality of mechanical fingers.

[0007] The servo is fixed on the fixing frame and its output shaft rotates with the vertical line of the fixing frame as the axis, and a steering wheel is fixed on the output shaft of the servo; a plurality of transmission assemblies are distributed at intervals along the circumference of the fixing frame on the outer periphery of the fixing frame, and each of the transmission assemblies includes two symmetrically distributed four-bar linkages, each of the four-bar linkages includes a first link, a second link, a third link and a fourth link hingedly connected end to end in sequence, and the free ends of the first link and the fourth link are hingedly connected to the fixing frame at intervals; one end of a plurality of trigger lines is fixed at intervals along the circumference on the outer edge of the steering wheel and the other end thereof is fixed to a plurality of the second On the connecting rod; multiple mechanical fingers are arranged opposite to multiple transmission assemblies and each of the mechanical fingers includes a bendable first-section grab plate, a bendable second-section grab plate and two tension springs, one side of the first-section grab plate and one side of the second-section grab plate are hingedly connected to each other and are fixed to the fixing frame at a hinge point close to the fixing frame; one end of the two tension springs is respectively fixed to the first-section grab plate and the second-section grab plate, and the other end thereof is respectively fixed to the corresponding hinge points of the third connecting rod and the fourth connecting rod, so as to open the relative first-section grab plate and the second-section grab plate when the multiple mechanical fingers are bent as a whole.

[0008] The beneficial effects of the present invention are: an innovative design of an illegal drone capture device, using a steering wheel to pull multiple trigger lines, since the other ends of the trigger lines are respectively fixed on multiple second connecting rods, and since one end of the two tensioning springs is respectively fixed on the first and second grab plates, and the other ends are respectively fixed on the corresponding hinge points of the third and fourth connecting rods, the steering wheel can be rotated to pull multiple trigger lines and pull multiple four-bar linkages, causing the mechanical fingers to bend and at the same time open the relative first and second grab plates. It is suitable for rapid interception of high-speed flying targets (such as illegal drones) in dynamic airspace, greatly improving the interception success rate and system response efficiency.

[0009] On the basis of the above technical solution, the present invention can also be improved as follows.

[0010] Furthermore, each of the four-bar linkages further includes a first magnet and a second magnet, wherein the first magnet is fixed on the third link; and the second magnet is fixed on the fourth link and can be magnetically attracted to the first magnet.

[0011] A further beneficial effect of the above-mentioned method is that when the trigger line pulls multiple four-bar linkages, the first magnet and the second magnet on the first link and the second link attract each other, so that multiple mechanical fingers can bend continuously without the servo outputting power, grasping high-speed flying targets, reducing kinetic energy output, and significantly improving flight time.

[0012] Furthermore, each of the four-bar linkages further includes a buffer spring, with two ends of the buffer spring respectively fixed to ends of the second link and the third link that are away from each other.

[0013] A further beneficial effect of the above-mentioned method is that the two ends of the buffer spring are respectively fixed at the ends of the second link and the third link that are away from each other, so that the robotic finger has good impact resistance and target buffering protection characteristics when facing high-speed targets (such as flying drones) for collision capture. This not only reduces the risk of damage to the device structure, but also effectively reduces the probability of the target object rebounding, breaking or flying again due to strong collision.

[0014] Furthermore, each of the robotic fingers includes a flexible film sensor, and the flexible film sensor is fixed on the first gripping plate or the second gripping plate.

[0015] Furthermore, it also includes a plurality of side cameras, which are fixed on the outer edge of the fixing frame at intervals along the circumference of the fixing frame.

[0016] Furthermore, it also includes a bottom camera, which is fixed to the bottom end of the fixing frame.

[0017] Further beneficial effects of adopting the above are: multiple side cameras, bottom cameras and flexible film sensors can be used in conjunction with image recognition, intelligent control, grasping feedback and other systems to support multiple sensing and control modes; in addition, finger materials and elastic elements can be customized and replaced according to specific application scenarios, with strong environmental adaptability and functional scalability, and are suitable for rapid interception applications in a variety of complex scenarios.

[0018] Furthermore, wire holes are provided on the steering wheel, the fixing frame and the plurality of second connecting rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the expanded three-dimensional structure of a device for capturing illegal drones according to the present invention;

[0020] Figure 2This is a schematic structural diagram of the transmission assembly and the open mechanical fingers in a device for capturing illegal drones of the present invention;

[0021] Figure 3 for Figure 2 A is an enlarged structural diagram;

[0022] Figure 4 This is a schematic diagram of the closed three-dimensional structure of a device for capturing illegal flying drones according to the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the transmission assembly and the closed mechanical fingers in a device for capturing illegal UAVs of the present invention;

[0024] Figure 6 for Figure 5 Enlarged structural diagram at point B.

[0025] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0026] 1. Fixed frame, 2. Servo, 3. First connecting rod, 4. Second connecting rod, 5. Third connecting rod, 6. Fourth connecting rod, 7. First grab plate, 8. Second grab plate, 9. Tension spring, 10. Steering wheel, 11. First magnet, 12. Second magnet, 13. Buffer spring, 14. Side camera. DETAILED DESCRIPTION

[0027] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0028] like Figure 1 and Figure 4 As shown, a device for capturing illegal drones includes: a fixing frame 1, a steering gear 2, multiple transmission components, multiple trigger wires and multiple mechanical fingers.

[0029] The servo 2 is fixed on the fixing frame 1 and its output shaft rotates about the vertical line of the fixing frame 1 as the axis. A steering wheel 10 is fixed on the output shaft of the servo 2; a plurality of transmission components are distributed along the circumference of the fixing frame 1 at intervals, and each transmission component includes two symmetrically distributed four-bar linkages, each of which includes a first link 3, a second link 4, a third link 5 and a fourth link 6 that are hingedly connected end to end in sequence. The free ends of the first link 3 and the fourth link 6 are hingedly connected to the fixing frame 1 at intervals; one end of a plurality of trigger wires is fixed to the steering wheel 1 at intervals along the circumference. 0 outer edge and the other ends thereof are respectively fixed on the plurality of second connecting rods 4; the plurality of mechanical fingers are respectively arranged opposite to the plurality of transmission assemblies and each mechanical finger comprises a bendable first-section grab plate 7, a bendable second-section grab plate 8 and two tension springs 9, one side of the first-section grab plate 7 and one side of the second-section grab plate 8 are hingedly connected to each other and the hinge points thereof close to the fixing frame 1 are fixed on the fixing frame 1; one end of the two tension springs 9 are respectively fixed on the first-section grab plate 7 and the second-section grab plate 8, and the other ends thereof are respectively fixed to the hinge points of the corresponding third connecting rod 5 and the fourth connecting rod 6.

[0030] like Figure 3 and Figure 6 As shown, in some specific embodiments, each four-bar linkage may further include a first magnet 11 and a second magnet 12 , wherein the first magnet 11 is fixed on the third link 5 ; the second magnet 12 is fixed on the fourth link 6 and can be magnetically attracted to the first magnet 11 .

[0031] like Figure 3 and Figure 6 As shown, in some specific embodiments, each four-bar linkage further includes a buffer spring 13 , and both ends of the buffer spring 13 are respectively fixed to ends of the second link 4 and the third link 5 that are away from each other.

[0032] Specifically, each robotic finger includes a flexible film sensor, which is fixed on the first gripping plate 7 or the second gripping plate 8 .

[0033] like Figure 1 and Figure 4 As shown, in some specific embodiments, a plurality of side cameras 14 may be further included, and the plurality of side cameras 14 are fixed to the outer edge of the fixing frame 1 at intervals along the circumference of the fixing frame 1 .

[0034] like Figure 1 and Figure 4 As shown, in some specific embodiments, a bottom camera is also included, and the bottom camera is fixed at the bottom end of the fixing frame 1.

[0035] In some specific embodiments, wire holes are provided on the steering wheel 10 , the fixing frame 1 , and the plurality of second connecting rods 4 .

[0036] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for capturing illegal drones, characterized in that: include: Fixed bracket (1), A steering gear (2), the steering gear (2) being fixed on the fixing frame (1) and having an output shaft thereof rotating about a vertical line of the fixing frame (1) as an axis, and a steering wheel (10) being fixed on the output shaft of the steering gear (2); A plurality of transmission assemblies, wherein the plurality of transmission assemblies are distributed at intervals along the circumference of the fixing frame (1) and each of the transmission assemblies comprises two symmetrically distributed four-bar linkages, each of the four-bar linkages comprises a first link (3), a second link (4), a third link (5) and a fourth link (6) which are hingedly connected end to end in sequence, and the free ends of the first link (3) and the fourth link (6) are hingedly connected to the fixing frame (1) at intervals; a plurality of trigger wires, one end of each of the trigger wires being fixed to the outer edge of the steering wheel (10) at intervals along the circumferential direction and the other end of each of the trigger wires being fixed to the plurality of second connecting rods (4); A plurality of mechanical fingers are respectively arranged relative to the plurality of transmission assemblies and each of the mechanical fingers comprises a bendable first-section grab plate (7), a bendable second-section grab plate (8) and two tension springs (9), one side of the first-section grab plate (7) and one side of the second-section grab plate (8) are hingedly connected to each other and are fixed to the fixing frame (1) at a hinge point close to the fixing frame (1); one end of the two tension springs (9) is respectively fixed to the first-section grab plate (7) and the second-section grab plate (8), and the other end thereof is respectively fixed to the hinge point of the corresponding third connecting rod (5) and the fourth connecting rod (6).

2. The device for capturing illegal drones according to claim 1, characterized in that: Each of the four-bar linkages further comprises a first magnet (11) and a second magnet (12), wherein the first magnet (11) is fixed on the third link (5); and the second magnet (12) is fixed on the fourth link (6) and can be magnetically attracted to the first magnet (11).

3. The device for capturing an illegal drone according to claim 1, characterized in that: Each of the four-link mechanisms further comprises a buffer spring (13), with both ends of the buffer spring (13) respectively fixed to ends of the second link (4) and the third link (5) that are away from each other.

4. The device for capturing an illegal drone according to claim 1, characterized in that: Each of the mechanical fingers comprises a flexible film sensor, and the flexible film sensor is fixed on the first gripping plate (7) or the second gripping plate (8).

5. The device for capturing an illegal drone according to claim 1, characterized in that: It also includes a plurality of side cameras (14), which are fixed on the outer edge of the fixing frame (1) at intervals along the circumference of the fixing frame (1).

6. The device for capturing an illegal drone according to claim 1, characterized in that: It also includes a bottom camera, which is fixed to the bottom end of the fixing frame (1).

7. The device for capturing an illegal drone according to claim 1, characterized in that: Wire holes are provided on the steering wheel (10), the fixing frame (1) and the plurality of second connecting rods (4).

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