CN115031574A - Rope net capturing device based on electromagnetic ejection and working method thereof - Google Patents

Abstract

The invention discloses a rope net capturing device based on electromagnetic ejection and a working method thereof. The rope net capturing device based on electromagnetic ejection comprises a base, an emitting frame, a net bin, a rope net, an electromagnetic coil emitting barrel, an emitting direction adjusting mechanism and an emitting range adjusting mechanism. The n electromagnetic coil launching cylinders surround the net bin, and the inner ends of the n electromagnetic coil launching cylinders are connected with the support. Each launcher inclines towards one side far away from the net bin. The launching range adjusting mechanism controls the unfolding degree of the n electromagnetic coil launching tubes and adjusts the covering range of the launched rope net. The rope net is arranged in the net bin. N connecting ropes are arranged at different positions of the edge of the rope net. The inner end of the connecting rope is fixed with the rope net. The outer end of the connecting rope is fixed with an ejection block. The ejection block adopts a permanent magnet. The invention realizes the launching of the rope net by utilizing the principle of electromagnetic launching, and after the rope net covers the target object, the magnetic launching blocks can be adsorbed together, thereby realizing the closing of the rope net and improving the difficulty of getting rid of the target object.

Description

A rope net capture device based on electromagnetic ejection and its working method

technical field

The invention relates to the field of flexible rope net launch, in particular to a rope net capture device based on electromagnetic ejection and a working method thereof.

Background technique

Wild animals pose a threat to us and need to be captured and subdued safely. The status quo often requires manual subduing, but this method has certain security risks for itself and the target. At the same time, the existing net guns have a capture range. Small, the target object should not be too large, the load capacity is limited, the degree of intelligence is not high, and the launch power source causes great environmental pollution.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, aiming at the large environmental pollution, small capture range, uncontrollable launch speed, large damage to the target object, and low degree of intelligence for the launch power source of the existing non-injury capture device. The problem is to provide a rope net capture device based on electromagnetic ejection and its working method.

A rope net capture device based on electromagnetic ejection, comprising a base, a launch frame, a net warehouse, a rope net, an electromagnetic coil launch cylinder, a launch direction adjustment mechanism and a launch range adjustment mechanism. The launch frame is installed on the base through the launch direction adjustment mechanism; the launch direction adjustment mechanism is used to adjust the orientation of the bracket. The cage is fixed to the front of the launcher. The n electromagnetic coil transmitting cylinders surround the mesh warehouse, and the inner ends are all connected with the bracket. Each electromagnetic coil emitting cylinder is inclined towards the side away from the net warehouse. The launch range adjustment mechanism controls the unfolding degree of the n electromagnetic coil launch tubes, and adjusts the coverage range of the rope net after launch. The rope net is set in the net warehouse. Different positions on the edge of the rope net are provided with n connecting ropes. The inner end of the connecting rope is fixed with the rope net. The outer end of the connecting rope is fixed with an ejection block. The ejection block uses permanent magnets. Before the net rope is launched, the n ejection blocks are respectively arranged in the n electromagnetic coil launching cylinders.

Preferably, the firing range adjustment mechanism includes a motor, a lower screw support, a connecting rod, a nut block, a screw and an upper screw support. The lower screw support is installed in the front center of the bracket. The upper screw support is installed in the center position of the back of the screen cage. Both ends of the lead screw are rotatably connected to the upper lead screw support and the lower lead screw support respectively. The nut block and the lead screw constitute a screw pair. One end of the n connecting rods forms a rotating pair with the side surface of the nut block. The other ends of the n connecting rods are respectively rotatably connected with the middle parts of the n electromagnetic coil transmitting cylinders. The lead screw is selected by the motor drive.

Preferably, the power supply interface of the electromagnetic coil transmitting tube is connected to the power supply through a relay.

Preferably, the launch direction adjustment mechanism includes a rocker arm and a steering gear. The bottom of the rocker arm is rotatably connected to the base. The steering gear is fixed on the base, and the output shaft is fixed with the rocker arm. The bracket is fixed on the top of the rocker arm;

Preferably, a camera module is installed on the top of the bracket.

Preferably, the base is mounted on an electric slewing platform that rotates around a vertical axis.

The working method of the rope net capture device based on electromagnetic ejection is as follows:

The electric swivel platform and the launch direction adjustment mechanism adjust the orientation of the camera module; the camera module continuously captures images and transmits them to the controller. The controller recognizes the image; when the target object appears in the image, the height h of the target object and the horizontal distance l to the rope net capture device are obtained by means of image recognition.

The controller calculates the launching direction of the net rope and the thrust of the electromagnetic ejection according to the height h and the horizontal distance l; the electric slewing platform and the launching direction adjusting mechanism control the net warehouse towards the launching direction. According to the size of the target object, the launch range adjustment mechanism controls the expansion degree of each electromagnetic coil launch tube. After that, each electromagnetic coil launch tube is energized, so that each ejection block is launched; each ejection block carries the rope net to fly out and covers the target object. When the rope net touches the target object, each catapult block is adsorbed under the action of inertia and magnetic force. Together, complete the capture of the target object.

The beneficial effects of the present invention are:

1. the present invention utilizes the principle of electromagnetic ejection to realize the launch of the rope net, after the rope net covers the target object, there is a magnetic ejection block that can be adsorbed together, realizes the closing of the rope net, and improves the difficulty of the target object getting out of trouble.

2. The present invention realizes the expansion and contraction of the launching directions of multiple ejection blocks through the lead screw nut structure, thereby realizing the automatic adjustment of the coverage of the rope net.

3. The present invention drives the rope net to fly out through the electromagnetic coil launching the ejection block, realizes the capture of the target object, and causes less environmental pollution.

Description of drawings

FIG. 1 is a perspective view of the overall structure of the present invention.

FIG. 2 is a perspective view of the structure of the launcher and the bracket of the present invention.

FIG. 3 is a schematic diagram of the adjustment of the emission angle and the elevation angle of the present invention.

In the picture: 1- base; 2- rocker arm; 3- bracket; 4- launcher; 5- camera module; 6- net warehouse; 7- rope net; 8- steering gear; 9- nut; 10- installation platform; 11-bolt; 12-motor; 13-motor fixing frame; 14-lower screw support; 15-electromagnetic coil launch cylinder; 16-ejection block; 17-connecting rod; 18-nut block; 19-lead screw; 20 - Upper screw support; 21 - Mounting seat.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and examples.

As shown in Figures 1, 2 and 3, an electromagnetic catapult-based rope net capture device includes a base 1, a bracket 3, a launcher 4, a camera module 5, a net warehouse 6, a rope net 7, a launch direction adjustment mechanism and a launcher. Range adjustment mechanism. The launch direction adjustment mechanism is installed on the base 1 and is used to adjust the pitch angle of the rope net launch. The launch range adjustment mechanism is installed on the launch direction adjustment mechanism through the bracket 3, and is used to adjust the coverage range of the rope net 7 after launch.

The launch direction adjustment mechanism includes a rocker arm 2 and a steering gear 8 . The bottom of the rocker arm 2 is rotatably connected to the base 1 . The two steering gears 8 are fixed on the base 1 , and the output shafts are coaxially arranged; the output shafts of the two steering gears 8 are both fixed to the rocker arm 2 . The bracket 3 is fixed on the top of the rocker arm 2 by bolts and nuts; the camera module 5 is fixed on the top of the bracket 3 by bolts and nuts. The launch frame 4 is fixed on the bracket 3; the inner ends of the four electromagnetic coil launch cylinders 15 are connected with the front of the launch frame 4 through the mounting seat 21 in rotation, and the inner end of the electromagnetic coil launch cylinder 15 and the launch frame are controlled by the launch range adjustment mechanism. The size of the included angle between 4. The outer ends of the four electromagnetic coil emitting barrels 15 are all inclined toward the side away from the center position of the emitting frame 4 .

The mesh cage 6 is fixed on the front surface of the launch frame 4 at intervals through a plurality of support rods. The rope net 7 is arranged in the net warehouse 6 . The four corners of the rope net 7 are provided with connecting ropes. The inner end of the connecting rope is fixed with the rope net. An ejection block 16 is fixed to the outer end of the connecting rope. The ejection block 16 adopts a permanent magnet and is arranged in the electromagnetic coil launching cylinder 15; when the electromagnetic coil launching cylinder 15 is energized, it can generate a propulsion force on the ejecting block 16, and the ejecting block 16 is ejected by electromagnetic ejection. The four ejection blocks 16 will throw the carrying rope net 7 together; since the outer ends of the four electromagnetic coil launch cylinders 155 are all inclined toward the side away from the center of the launcher 4, the distance of the four ejection blocks 16 in the air increases. , unfold the rope net 7.

The firing range adjustment mechanism includes a mounting platform 10 , a motor 12 , a motor fixing frame 13 , a lower screw support 14 , a connecting rod 17 , a nut block 18 , a screw 19 and an upper screw support 20 . The installation platform 10 is fixed on the back of the bracket 3 ; the motor fixing frame 13 is fixed on the installation platform 10 by bolts 11 and nuts 9 ; the motor 12 is fixed on the motor fixing frame 13 . The lower screw support 14 is installed at the front center position of the launch frame 4 . The upper screw support 20 is installed at the center position of the back of the mesh cage 6 . Both ends of the lead screw 19 are rotatably connected to the upper lead screw support 20 and the lower lead screw support 14 with coaxial bearings, respectively. The nut block 18 and the lead screw 19 constitute a screw pair. One end of the four connecting rods 17 forms a rotating pair with the side surface of the nut block 18 . The other ends of the four connecting rods 17 are rotatably connected to the middle of the electromagnetic coil emitting cylinder 15. The output shaft of the motor 12 is fixed to the end of the lead screw 19 . By driving the lead screw 19 to rotate by the motor 12, the four electromagnetic coil launching cylinders 15 can be controlled to expand or collapse, so as to change the dispersion degree of the four ejection blocks 16 after launching, so as to adjust the coverage area of the rope net.

As a further optimized option, the base is mounted on a motorized slewing platform that rotates around a vertical axis to adjust the azimuth angle of the rope net launch.

The electromagnetic coil emitting tube 15 is connected to the power supply through a relay; the camera module 5 is connected to the controller for capturing images and automatically identifying the target object. Each relay, steering gear and motor are controlled and rotated by the controller.

The working method of the rope net capture device based on electromagnetic ejection is as follows:

After the controller receives the rope net capture command, the electric rotary platform and the launch direction adjustment mechanism adjust the orientation of the camera module 5; the camera module 5 continuously captures images and transmits them to the controller. The controller recognizes the image; when the target object appears in the image, the height h of the target object and the horizontal distance l to the rope net capture device are obtained by means of image recognition.

The controller calculates the launch direction of the net rope and the magnitude of the electromagnetic ejection thrust according to the height h and the horizontal distance l; the electric rotary platform and the launch direction adjustment mechanism control the net warehouse 6 toward the launch direction (above the target object). According to the size of the target, the firing range adjustment mechanism controls the degree of deployment of each electromagnetic coil firing tube 15. After that, each electromagnetic coil launching tube 15 is energized, so that each ejection block 16 is launched; each ejection block 16 flies out carrying the rope net and covers the target object. They are adsorbed together under the action of their own magnetic force to realize the automatic closing of the rope net 7 and complete the capture of the target object.

The above examples are only illustrative of the present invention, and not intended to limit the present invention. The present invention has been described in detail above with reference to the accompanying drawings. Those skilled in the art should understand that, within the core principle of the present invention, any modification, replacement, improvement, etc. of the present invention should be included within the protection scope of the present invention. Inside.

Claims (7)

1. A rope net capture device based on electromagnetic ejection, comprising a base (1), a launcher (4), a net warehouse (6) and a rope net (7); it is characterized in that: it also comprises an electromagnetic coil launcher (15) ), a launch direction adjustment mechanism and a launch range adjustment mechanism; the launch frame (4) is installed on the base (1) through the launch direction adjustment mechanism; the launch direction adjustment mechanism is used to adjust the orientation of the bracket (3); The front side of the launch frame (4); n electromagnetic coil launch cylinders (15) surround the net warehouse (6), and the inner ends are all connected with the bracket (3); each electromagnetic coil launch cylinder (15) is inclined to face away from one side of the net warehouse (6); the emission range adjustment mechanism controls the unfolding degree of the n electromagnetic coil launching cylinders (15), and adjusts the coverage range after the rope net (7) is launched; the rope net (7) is arranged in the net warehouse (6) n connecting ropes are arranged at different positions on the edge of the rope net (7); the inner end of the connecting rope is fixed with the rope net; the outer end of the connecting rope is fixed with an ejection block (16); the ejection block (16) adopts a permanent magnet ; Before the net rope is launched, the n ejection blocks are respectively arranged in the n electromagnetic coil launch tubes (15). 2. A rope net capture device based on electromagnetic ejection according to claim 1, characterized in that: the launch range adjustment mechanism comprises a motor (12), a lower screw support (14), a connecting rod (17) ), the nut block (18), the lead screw (19) and the upper screw support (20); the lower screw support (14) is installed in the front center of the bracket (3); the upper screw support (20) It is installed at the center position of the back of the mesh silo (6); the two ends of the lead screw (19) are respectively connected to the upper screw support (20) and the lower screw support (14) in rotation; the nut block (18) is connected with the screw The lever (19) constitutes a screw pair; one end of the n connecting rods (17) forms a rotating pair with the side surface of the nut block (18); the other end of the n connecting rods (17) is connected with the n electromagnetic coil transmitting cylinders (15) The middle parts of the two are respectively connected in rotation; the lead screw (19) is driven and selected by the motor (12). 3. A rope net capture device based on electromagnetic ejection according to claim 1, characterized in that: the power supply interface of the electromagnetic coil launcher (15) is connected to the power supply through a relay. 4. A rope net capture device based on electromagnetic ejection according to claim 1, characterized in that: the launch direction adjustment mechanism comprises a rocker arm (2) and a steering gear (8); The bottom is rotatably connected to the base (1); the steering gear (8) is fixed to the base (1), and the output shafts are fixed to the rocker arm (2); the bracket (3) is fixed to the top of the rocker arm (2). 5 . The rope net capture device based on electromagnetic ejection according to claim 1 , wherein a camera module ( 5 ) is installed on the top of the bracket ( 3 ). 6 . 6 . The rope net capturing device based on electromagnetic ejection according to claim 5 , wherein the base is mounted on an electric slewing platform that rotates around a vertical axis. 7 . 7. The working method of a rope net capture device based on electromagnetic ejection as claimed in claim 1, characterized in that: the electric rotating platform and the launching direction adjusting mechanism adjust the orientation of the camera module (5); the camera module (5) continues The image is captured and transmitted to the controller; the controller recognizes the image; when the target object appears in the image, the height h of the target object and the horizontal distance l to the rope net capture device are obtained by means of image recognition; The controller calculates the launching direction of the net rope and the thrust of the electromagnetic ejection according to the height h and the horizontal distance l; the electric slewing platform and the launching direction adjusting mechanism control the net warehouse (6) towards the launching direction; according to the size of the target object, the launching range adjusting mechanism Control the degree of deployment of each electromagnetic coil launch tube (15); after that, each electromagnetic coil launch tube (15) is energized, so that each ejection block (16) is launched; each ejection block (16) carries a rope net and flies out, covering the target object On the other hand, when the rope net touches the target object, each ejection block (16) is adsorbed together under the action of inertia and magnetic force to complete the capture of the target object.

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