A multi-directional buffering unmanned aerial vehicle recovery system based on magneto-rheological damping

Abstract

The application relates to a multi-directional buffering unmanned aerial vehicle recovery system based on magneto-rheological damping, which comprises a horizontal buffering assembly and a grabbing assembly. The horizontal buffering assembly comprises a base, a horizontal moving frame and a plurality of horizontal magneto-rheological dampers. The horizontal moving frame is arranged on the base and is slidably connected with the horizontal moving frame in the horizontal direction. The plurality of horizontal magneto-rheological dampers are uniformly arranged in the circumferential direction of the horizontal moving frame, one end of the plurality of horizontal magneto-rheological dampers is hinged to the base, and the other end of the plurality of horizontal magneto-rheological dampers is hinged to the horizontal moving frame. The grabbing assembly is installed on the horizontal moving frame and has a grabber for grabbing the unmanned aerial vehicle. When the grabbing assembly recovers the unmanned aerial vehicle, the unmanned aerial vehicle will exert impact forces in different directions on the horizontal moving frame. The horizontal moving frame can slide on the base in any horizontal direction and absorb the impact forces in any horizontal direction under the action of the plurality of horizontal magneto-rheological dampers, thereby improving the recovery safety, system reliability and equipment life under complex impact working conditions.

Description

Technical Field

[0001] This invention relates to the field of drone recovery technology, and in particular to a multi-directional buffer drone recovery system based on magnetorheological damping. Background Technology

[0002] With the continuous expansion of drone application scenarios, the accurate and safe recovery of drones, especially on dynamic platforms such as ships and mobile vehicles, has become a key technological challenge.

[0003] Existing robotic arm-based recovery systems often employ linear guides and single or symmetrically arranged magnetorheological dampers to form a one-dimensional buffer system. The buffering direction is constrained to a single axis. When a drone impacts the recovery mechanism in a non-axial direction, the impact force can be decomposed into axial and lateral components. However, existing one-dimensional buffer systems can only effectively dissipate axial impact energy, lacking effective active buffering capability for the lateral impact component. This forces the lateral stiffness of the robotic arm structure itself or the guide rail pair to bear this energy, potentially leading to the following problems: Question 1: Unexpected torsional and lateral bending moments are applied to the joints of the robotic arm, accelerating structural fatigue; Question 2: The linear guide pair is subjected to lateral force, which may cause the slider to jam, wear to accelerate or lose accuracy; Question 3: The overall stability of the system decreases, which may amplify the risk of overturning in the context of a dynamic platform. Question 4: Uneven buffering process affects the stability of the UAV's final attitude and positioning accuracy.

[0004] Therefore, there is an urgent need for a buffer system that can adaptively dissipate multi-directional impact kinetic energy in space to improve recovery safety, system reliability and equipment lifespan under complex impact conditions. Summary of the Invention

[0005] In view of this, it is necessary to provide a multi-directional buffer drone recovery system based on magnetorheological damping to solve the problem that the existing one-dimensional buffer system can only effectively dissipate axial impact energy and cannot effectively buffer the multi-directional impact force of drones.

[0006] This invention provides a multi-directional buffered drone recovery system based on magnetorheological damping, including a horizontal buffer assembly and a gripping assembly. The horizontal buffer assembly includes a base, a translational frame, and multiple horizontal magnetorheological dampers. The translational frame is mounted on the base and slidably connected to the base in the horizontal direction. The multiple horizontal magnetorheological dampers are evenly arranged circumferentially along the translational frame, with one end of each damper hinged to the base plate and the other end hinged to the translational frame. The gripping assembly is mounted on the translational frame and has a gripping end for gripping the drone.

[0007] Furthermore, all of the aforementioned horizontal magnetorheological dampers are positioned towards the center of the translational frame.

[0008] Furthermore, it also includes a slider disposed at the bottom of the translational frame, the slider slidingly abutting against the base.

[0009] Furthermore, the sliding element includes a plurality of balls, which are fixedly arranged in an array at the bottom of the translational frame.

[0010] Furthermore, the horizontal buffer assembly includes a plurality of first damper sensors respectively mounted on the plurality of horizontal magnetorheological dampers, the plurality of first damper sensors being electrically connected to the plurality of horizontal magnetorheological dampers for monitoring the operating status of the horizontal magnetorheological dampers.

[0011] Furthermore, the horizontal buffer assembly includes a first displacement and velocity sensor mounted on the translational frame.

[0012] Furthermore, the grasping assembly includes a connecting frame, a robotic arm, a robotic claw, and a recovery cylinder connected in sequence. The connecting frame is connected to the translational frame, and the recovery cylinder is used to connect with the drone.

[0013] Furthermore, it also includes a vertical buffer assembly, through which the translational frame is connected to the gripping assembly.

[0014] Furthermore, the vertical buffer assembly includes a vertical platform and multiple vertical magnetorheological dampers. The bottoms of the multiple vertical magnetorheological dampers are fixedly connected to the translational frame, and the tops of the multiple vertical magnetorheological dampers are fixedly connected to the vertical platform. The gripping assembly is fixedly disposed on the top of the vertical platform.

[0015] Furthermore, the vertical buffer assembly also includes multiple limiting components, each of which includes a limiting block and a limiting spring. The limiting block is fixedly mounted on the translational frame, and the limiting spring is vertically mounted. The bottom end of the limiting spring is fixedly connected to the limiting block, and the top end of the limiting spring is fixedly connected to the vertical platform.

[0016] Compared with existing technologies, when the grasping component grasps and recovers the drone, the drone will apply impact forces in different directions to the translational frame. The translational frame can slide on the base in any horizontal direction and absorb the impact forces in any horizontal direction under the action of multiple horizontal magnetorheological dampers, thereby improving the recovery safety, system reliability and equipment life under complex impact conditions. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the overall structure of the multi-directional buffer UAV recovery system based on magnetorheological damping provided in an embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of the intermediate horizontal buffer assembly; Figure 3 for Figure 2 A schematic diagram of the sliding component setup; Figure 4 for Figure 1 A schematic diagram of the vertical buffer assembly. Detailed Implementation

[0018] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0019] like Figure 1 and Figure 2 As shown in the figure, an embodiment of the present invention provides a multi-directional buffered UAV recovery system based on magnetorheological damping, including a horizontal buffer assembly 100 and a gripping assembly 200. The horizontal buffer assembly 100 includes a base 110, a translational frame 120, and a plurality of horizontal magnetorheological dampers 130. The translational frame 120 is disposed on the base 110 and slidably connected to the base 110 in the horizontal direction. The plurality of horizontal magnetorheological dampers 130 are evenly arranged circumferentially along the translational frame 120, and one end of the plurality of horizontal magnetorheological dampers 130 is hinged to the base plate, and the other end of the plurality of horizontal magnetorheological dampers 130 is hinged to the translational frame 120. The gripping assembly 200 is mounted on the translational frame 120 and has a gripping end for gripping the UAV.

[0020] During implementation, when the grabbing component 200 grabs and recovers the drone, the drone will apply impact forces in different directions to the translational frame 120. The translational frame 120 can slide on the base 110 in any horizontal direction and absorb the impact forces in any horizontal direction under the action of multiple horizontal magnetorheological dampers 130, thereby improving the recovery safety, system reliability and equipment life under complex impact conditions.

[0021] The horizontal buffer assembly 100 in this embodiment includes a base 110, a translational frame 120, and a plurality of horizontal magnetorheological dampers 130. The translational frame 120 is disposed on the base 110 and is slidably connected to the base 110 in the horizontal direction. The plurality of horizontal magnetorheological dampers 130 are evenly arranged around the translational frame 120, and one end of the plurality of horizontal magnetorheological dampers 130 is hinged to the base plate, and the other end of the plurality of horizontal magnetorheological dampers 130 is hinged to the translational frame 120.

[0022] The base 110 serves as the support and force distribution structure for the entire recycling system. In one embodiment, it can be fixed to the final mounting base by bolts or welding. Of course, in other preferred embodiments, it can also be fixed to the final mounting base by other means.

[0023] The translational frame 120 is connected to the grasping component 200. During the process of grasping and recovering the drone, the impact force of the drone is transmitted to the translational frame 120, causing the translational frame 120 to slide on the base 110. In one embodiment, the translational frame 120 is disc-shaped to facilitate the arrangement of multiple horizontal magnetorheological dampers 130 along the circumference of the translational frame 120. Of course, in other preferred embodiments, other shapes such as square or triangular can also be used.

[0024] It should be noted that the dimensions of the translation frame 120 and the base 110 should meet the installation requirements of multiple horizontal magnetorheological dampers 130.

[0025] The magnetorheological damper in this embodiment is an intelligent vibration reduction device. Utilizing the property of magnetorheological fluid to transform from a liquid to a solid-like state within milliseconds under the influence of a magnetic field (magnetorheological effect), the damping force is continuously adjustable under the control of an external magnetic field, a structure readily conceived by those skilled in the art.

[0026] In actual operation, depending on the direction of movement of the translational frame 120, the horizontal magnetorheological dampers 130 in different directions have different amounts of extension and contraction. The damping force of the horizontal magnetorheological damper 130 with the larger amount of extension and contraction is adjusted to absorb the impact kinetic energy in that direction.

[0027] In one embodiment, multiple horizontal magnetorheological dampers 130 are all positioned towards the center of the translational frame 120. This arrangement facilitates the analysis of the force on each horizontal magnetorheological damper 130, specifically, it facilitates the calculation of the offset angle and movement distance of each horizontal magnetorheological damper 130. Of course, in a preferred embodiment, the multiple horizontal magnetorheological dampers 130 can also be arranged in other ways; for example, each horizontal magnetorheological damper 130 may have an angle with the line connecting its end to the center of the translational frame 120.

[0028] In this embodiment, there are eight horizontal magnetorheological dampers 130. Each horizontal magnetorheological damper 130 is allocated a relatively small impact force. Of course, a larger number of horizontal magnetorheological dampers 130 will lead to higher costs and other issues. Therefore, the number of horizontal magnetorheological dampers 130 should be determined based on the impact kinetic energy during the drone recovery process, and more is not necessarily better.

[0029] like Figure 3As shown, in order to avoid hard friction between the bottom of the translation frame 120 and the base 110, in one embodiment, a slider 121 is also provided at the bottom of the translation frame 120, and the slider 121 slides against the base 110.

[0030] In this embodiment, the sliding member 121 includes multiple balls, which are fixedly arranged in an array at the bottom of the translational frame 120. It is understood that the size of the multiple balls should ensure that they always abut against the base 120. Simultaneously, multiple horizontal magnetorheological dampers 130 are arranged parallel to the base 110 to prevent the balls from being too small or too large, which would cause the multiple horizontal magnetorheological dampers 130 to have an offset angle in the vertical direction. Of course, in other preferred embodiments, structures such as casters can also be used.

[0031] The tops of all the balls are flat to ensure they fit snugly against the bottom surface of the translation frame 120. During connection, connecting screws can pass through the translation frame 120 from above and engage with the threaded holes on the top of the balls. Alternatively, welding or other methods can be used, prioritizing a secure connection.

[0032] To facilitate monitoring the real-time output of each horizontal magnetorheological damper 130, in one embodiment, the horizontal buffer assembly 100 includes a plurality of first damper sensors 140 respectively mounted on the plurality of horizontal magnetorheological dampers 130. The plurality of first damper sensors 140 are electrically connected to the plurality of horizontal magnetorheological dampers 130 respectively, and are used to monitor the working status of the horizontal magnetorheological dampers 130.

[0033] To facilitate the estimation of the impact kinetic energy and direction of the UAV in the horizontal direction, in one embodiment, the horizontal buffer assembly 100 includes a first displacement and velocity sensor 150 mounted on the translational frame 120. The first displacement and velocity sensor 150 can monitor the movement direction, speed, and distance of the translational frame 120 in real time.

[0034] By receiving force information (first damper sensor 140) and movement information (movement direction, movement speed, and movement distance), the direction angle of the impact force and the total estimated kinetic energy are calculated in real time, thereby independently and quickly adjusting the input current of the corresponding damper coil to achieve the desired damping effect in any direction in the plane.

[0035] To achieve the above functions, this embodiment also includes a controller, which is electrically connected to the first damper sensor 140 and the first displacement and velocity sensor 150 to receive force information and movement information, and to calculate the direction angle of the impact force and the total estimated kinetic energy. The controller is electrically connected to multiple horizontal magnetorheological dampers 130 and adjusts the horizontal magnetorheological dampers 130 in real time according to the direction angle of the impact force and the total estimated kinetic energy.

[0036] The grasping component 200 in this embodiment is used to grasp and retrieve the drone. Specifically, the grasping component 200 is mounted on the translational frame 120 and has a grasping end for grasping the drone. Specifically, when the drone lands, the grasping end of the grasping component 200 connects to the drone to achieve drone retrieval.

[0037] like Figure 1 As shown, in one embodiment, the gripping component 200 includes a connecting frame 210, a robotic arm 220, a robotic claw 230, and a recovery cylinder 240 connected in sequence. The connecting frame 210 is connected to the translational frame 120, and the recovery cylinder 240 is used to connect with a drone.

[0038] The connecting frame 210 can be made of an I-beam frame or other structure to connect the robotic arm 220 and the translational frame 120. A stable connection is preferred. It is connected to the translational frame 120 by means of screws or welding.

[0039] The robotic arm 220 is a structure that is readily apparent to those skilled in the art. In this embodiment, a three-axis robotic arm is used. The end effector of the robotic arm 220 is connected to the recovery cylinder 240 to move the recovery cylinder 240 for precise capture of the drone. Specifically, the end effector of the robotic arm 220 is connected to the robotic gripper 230 to control the robotic gripper 230 to perform a biting motion, thereby adapting to recovery cylinders 240 of different sizes.

[0040] Understandably, the robotic arm 220 should be of a suitable length. Specifically, the length of the robotic arm 220 should not be too long to avoid breakage at the connection between the robotic arm 220 and the connecting frame 210 during the drone retrieval process; of course, the length of the robotic arm 220 should not be too short, so as to result in a smaller capture range for the drone.

[0041] The mechanical gripper 230 includes two clamping plates, one end of which is hinged to the end effector of the mechanical arm 220. The two clamping plates are arc-shaped plates, and a clamping gap is formed between the two clamping plates. The size and shape of the clamping gap are adapted to the outer wall dimensions of the recovery cylinder 240.

[0042] It is understood that the recovery cylinder 240 in this embodiment is used to be fitted onto the wing of the fixed-wing UAV to achieve connection with the UAV. Specifically, after the recovery cylinder 240 is fitted onto the wing of the fixed-wing UAV, the friction between the recovery cylinder 240 and the wing enables the UAV to be grasped.

[0043] In one embodiment, the inner wall of the recovery cylinder 240 is provided with a plurality of limiting grooves arranged sequentially along its length to improve the recovery cylinder 240's ability to grasp the wings of the drone.

[0044] Of course, in other preferred embodiments, when recovering the rotor drone, the recovery cylinder 240 can be replaced with a support platform or other structure for connecting to the drone, which will not be elaborated or explained in detail here.

[0045] During the recovery of the drone, in addition to the horizontal impact force exerted on the system, the drone also exerts a vertical impact force on the system. Therefore, this embodiment also includes a vertical buffer component 300, and the translational frame 120 is connected to the gripping component 200 via the vertical buffer component 300.

[0046] like Figure 4 As shown, in one embodiment, the vertical buffer assembly 300 includes a vertical platform 310 and a plurality of vertical magnetorheological dampers 320. The bottom of the plurality of vertical magnetorheological dampers 320 is fixedly connected to the translational frame 120, and the top of the plurality of vertical magnetorheological dampers 320 is fixedly connected to the vertical platform 310. The gripping assembly 200 is fixedly disposed on the top of the vertical platform 310.

[0047] In one embodiment, the vertical platform 310 is a disc, which is arranged parallel above the translational frame 120. Of course, in its preferred embodiment, the vertical platform 310 can also adopt a structure in the form of a square plate, etc., and there is no limitation thereto.

[0048] In this embodiment, multiple vertical magnetorheological dampers 320 are arranged in a direction perpendicular to the translational frame 120 to absorb the impact kinetic energy of the UAV in the vertical direction.

[0049] After the drone is captured, it will exert a vertical downward pressure on the vertical platform 310. To buffer the impact kinetic energy, multiple vertical magnetorheological dampers 320 are set up. The controller can be connected to multiple vertical magnetorheological dampers 320 and adjust the vertical magnetorheological dampers 320 in real time according to the magnitude of the vertical impact kinetic energy, thereby efficiently absorbing the impact kinetic energy of the drone in the vertical direction.

[0050] In one embodiment, the vertical buffer assembly 300 further includes multiple limiting members 330. Each limiting member 330 includes a limiting block 331 and a limiting spring 332. The limiting block 331 is fixedly mounted on the translational frame 120, and the limiting spring 332 is vertically mounted. The bottom end of the limiting spring 332 is fixedly connected to the limiting block 331, and the top end of the limiting spring 332 is fixedly connected to the vertical platform 310. The limiting spring 332 provides a pre-support force to the vertical platform 310, ensuring the reference height of the recovery assembly.

[0051] In this embodiment, there are four vertical magnetorheological dampers 320 and four limiting members 330, which are arranged alternately along the axial direction of the vertical platform 310. Of course, in other preferred embodiments, the number and arrangement of the vertical magnetorheological dampers 320 and the limiting members 330 can be configured in other ways, and this is not limited.

[0052] To facilitate monitoring the real-time output of each vertical magnetorheological damper 320, in one embodiment, the vertical buffer assembly 300 includes a plurality of second damper sensors 340 respectively mounted on the plurality of vertical magnetorheological dampers 320. The plurality of second damper sensors 340 are electrically connected to the plurality of vertical magnetorheological dampers 320 respectively and are used to monitor the working status of the vertical magnetorheological dampers 320.

[0053] To facilitate the estimation of the impact kinetic energy of the drone in the vertical direction, in one embodiment, the vertical buffer assembly 300 includes a second displacement and velocity sensor 350 mounted on the vertical platform. The second displacement and velocity sensor 350 enables real-time monitoring of the vertical platform's movement speed and distance.

[0054] In this embodiment, the second damper sensor 340 and the second displacement and velocity sensor 350 are both installed at the bottom of the vertical platform 310 to avoid affecting them when the robotic arm 220 moves.

[0055] In this embodiment, both the horizontal magnetorheological damper 130 and the vertical magnetorheological damper 320 (hereinafter collectively referred to as magnetorheological dampers) are externally powered. When the electromagnetic coil inside the magnetorheological damper is not energized, no magnetic field is generated, and the magnetic particles in the liquid are randomly and disordered. At this time, the magnetorheological fluid behaves as a normal Newtonian fluid with low viscosity, and the damper provides a small damping force. When the coil inside the magnetorheological damper is energized, a magnetic field is generated. The magnetic particles in the liquid rapidly align along the direction of the magnetic field lines, forming chain-like or columnar structures, causing the liquid to transform into a viscoplastic body similar to a solid in an instant (usually only a few milliseconds). The fluidity decreases, thereby hindering piston movement and generating a larger damping force. At the same time, by changing the current, any size of damping force can be obtained between the minimum and maximum values, with a wide dynamic range.

[0056] However, when a magnetorheological damper malfunctions, phenomena such as decreased or uncontrolled damping force, slowed response, abnormal noise, or oil leakage may occur. The root cause is usually the performance degradation or sealing failure of the internal magnetorheological fluid. Therefore, this implementation scheme also includes an anomaly monitoring module, which is electrically connected to multiple first damper sensors 140 and multiple second damper sensors 340 to monitor the operating status of multiple translational and vertical magnetorheological dampers 320. Specifically, the anomaly monitoring module can determine whether the corresponding damper is working properly based on the data fed back from the damper sensors. If one damper fails, the controller removes that damper and redistributes the damping force of the remaining dampers to compensate for the failed damper.

[0057] If the impact kinetic energy of the drone is large, it may cause some damage to the drone recovery system. To facilitate timely inspection of the drone recovery system's operational status, one embodiment also includes an alarm module, which is electrically connected to the controller. When the values ​​received by the controller from the first displacement and velocity sensor 150 and / or the second displacement and velocity sensor 350 exceed a threshold, the controller activates the alarm module to sound an alarm, reminding personnel to check the drone recovery system's status. It is understandable that the alarm module mentioned above can be implemented using a buzzer, warning light, or other similar structure.

[0058] Workflow: Phase 1, Standby Phase: A small current is applied to all horizontal magnetorheological dampers 130 and vertical magnetorheological dampers 320 to maintain low base damping, and the translational frame 120 is locked in the initial position of the base 110.

[0059] Phase Two, Collision Detection: The drone collides with the recovery cylinder 240, and the impact force is transmitted to the vertical platform 310 and the translational frame 120. The first displacement and velocity sensor 150 and the second displacement and velocity sensor 350 instantly detect the sudden change in force and velocity, and the controller receives the aforementioned signals.

[0060] Phase 3, Direction Identification and Force Distribution: The controller calculates the impact direction and magnitude within milliseconds and solves for the target force of each damper.

[0061] Phase 4, Adaptive buffer execution: The current of each horizontal magnetorheological damper 130 and vertical magnetorheological damper 320 is rapidly adjusted according to the allocation result. The vertical platform 310 moves in the vertically downward direction, and as the translational frame 120 moves in the horizontal impact direction, the impact kinetic energy is dissipated by each horizontal magnetorheological damper 130 and vertical magnetorheological damper 320 with a damping force curve close to the optimal one.

[0062] Phase 5, End-of-Line Holding and Evaluation: When the velocity of the translational frame 120 drops to near zero, the horizontal magnetorheological damper 130 is controlled to maintain a moderate damping force to stabilize the platform.

[0063] Phase Six, Automatic Unloading: The multi-degree-of-freedom robotic arm 220, according to instructions, transfers the drone in the recovery bin 240 to the designated parking area; Phase 7, System Reset: The controller significantly reduces or cuts off the current to each horizontal magnetorheological damper 130 and vertical magnetorheological damper 320, and the translational frame 120 returns to the initial position of the base 110.

[0064] Compared with existing technologies: When the grasping component 200 grasps and recovers the drone, the drone will apply impact forces in different directions to the translational frame 120. The translational frame 120 can slide on the base 110 in any horizontal direction and absorb the impact forces in any horizontal direction under the action of multiple horizontal magnetorheological dampers 130, thereby improving the recovery safety, system reliability and equipment life under complex impact conditions.

[0065] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-directional buffered UAV recovery system based on magnetorheological damping, characterized in that, include: A horizontal buffer assembly includes a base, a translational frame, and multiple horizontal magnetorheological dampers. The translational frame is disposed on the base and slidably connected to the base in the horizontal direction. The multiple horizontal magnetorheological dampers are evenly arranged around the circumference of the translational frame, and one end of each horizontal magnetorheological damper is hinged to the base plate, while the other end of each horizontal magnetorheological damper is hinged to the translational frame. The grasping component is mounted on the translational frame and has a grasping end for grasping the drone.

2. The multi-directional buffered UAV recovery system based on magnetorheological damping according to claim 1, characterized in that, All of the horizontal magnetorheological dampers are positioned towards the center of the translational frame.

3. The multi-directional buffered UAV recovery system based on magnetorheological damping according to claim 1, characterized in that, It also includes a slider disposed at the bottom of the translational frame, the slider slidingly abutting against the base.

4. The multi-directional buffered UAV recovery system based on magnetorheological damping according to claim 3, characterized in that, The sliding component includes multiple balls, which are fixedly arranged in an array at the bottom of the translational frame.

5. The multi-directional buffered UAV recovery system based on magnetorheological damping according to claim 1, characterized in that, The horizontal buffer assembly includes multiple first damper sensors respectively mounted on multiple horizontal magnetorheological dampers. The multiple first damper sensors are electrically connected to the multiple horizontal magnetorheological dampers respectively and are used to monitor the working status of the horizontal magnetorheological dampers.

6. The multi-directional buffered UAV recovery system based on magnetorheological damping according to claim 1, characterized in that, The horizontal buffer assembly includes a first displacement and velocity sensor mounted on the translational frame.

7. The multi-directional buffered UAV recovery system based on magnetorheological damping according to claim 1, characterized in that, The grasping assembly includes a connecting frame, a robotic arm, a robotic claw, and a recovery cylinder connected in sequence. The connecting frame is connected to the translational frame, and the recovery cylinder is used to connect with the drone.

8. The multi-directional buffered UAV recovery system based on magnetorheological damping according to claim 1, characterized in that, It also includes a vertical buffer assembly, through which the translational frame is connected to the gripping assembly.

9. The multi-directional buffered UAV recovery system based on magnetorheological damping according to claim 8, characterized in that, The vertical buffer assembly includes a vertical platform and multiple vertical magnetorheological dampers. The bottoms of the multiple vertical magnetorheological dampers are fixedly connected to the translational frame, and the tops of the multiple vertical magnetorheological dampers are fixedly connected to the vertical platform. The gripping assembly is fixedly disposed on the top of the vertical platform.

10. The multi-directional buffered UAV recovery system based on magnetorheological damping according to claim 9, characterized in that, The vertical buffer assembly also includes multiple limiting components, each of which includes a limiting block and a limiting spring. The limiting block is fixedly mounted on the translational frame, and the limiting spring is vertically mounted. The bottom end of the limiting spring is fixedly connected to the limiting block, and the top end of the limiting spring is fixedly connected to the vertical platform.

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