CN115031574A - Rope net capturing device based on electromagnetic ejection and working method thereof - Google Patents
Rope net capturing device based on electromagnetic ejection and working method thereof Download PDFInfo
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- CN115031574A CN115031574A CN202210587142.7A CN202210587142A CN115031574A CN 115031574 A CN115031574 A CN 115031574A CN 202210587142 A CN202210587142 A CN 202210587142A CN 115031574 A CN115031574 A CN 115031574A
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- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000009471 action Effects 0.000 claims description 3
- 230000007480 spreading Effects 0.000 claims description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
- F41B6/00—Electromagnetic launchers ; Plasma-actuated launchers
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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
Technical Field
The invention relates to the field of flexible rope net launching, in particular to a rope net capturing device based on electromagnetic ejection and a working method thereof.
Background
Wild animal threatens us, need catch it safely and suppress the volt, and the current situation often needs the manual work to suppress the volt, but this kind of mode no matter is to self or all have certain potential safety hazard to the target, and current net rifle exists simultaneously and catches the scope little, requires that the target should not be too big, and load capacity is limited, and intelligent degree is not high, launches the power source to pollute great scheduling problem to the environment.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a rope net capturing device based on electromagnetic ejection and a working method thereof aiming at the problems that the existing damage-free capturing device has large environmental pollution caused by a power source, a small capturing range, uncontrollable transmitting speed, large damage to a target, low intelligent degree and the like.
A rope net capturing device based on electromagnetic ejection comprises a base, an ejection frame, a net bin, a rope net, an electromagnetic coil ejection barrel, an ejection direction adjusting mechanism and an ejection range adjusting mechanism. The launching frame is arranged on the base through the launching direction adjusting mechanism; the launching direction adjusting mechanism is used for adjusting the orientation of the bracket. The net cabin is fixed on the front side of the launching frame. 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 electromagnetic coil launching tube inclines towards one side far away from the net bin. The launching range adjusting mechanism controls the spreading degree of the n electromagnetic coil launching cylinders and adjusts the coverage 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. Before the net rope is launched, the n ejection blocks are respectively arranged in the n electromagnetic coil launching tubes.
Preferably, the emission range adjusting mechanism comprises a motor, a lower screw rod support, a connecting rod, a nut block, a screw rod and an upper screw rod support. The lower lead screw support is arranged in the center of the front surface of the bracket. The upper screw rod support is arranged at the center of the back of the net bin. Two ends of the lead screw are respectively and rotatably connected to the upper lead screw support and the lower lead screw support. The nut block and the screw rod form a screw pair. One end of each of the n connecting rods and the side surface of the nut block form a revolute pair. The other ends of the n connecting rods are respectively connected with the middle parts of the n electromagnetic coil launching tubes in a rotating way. The lead screw is driven by a motor for selection.
Preferably, the power supply interface of the electromagnetic coil launching tube is connected with a power supply through a relay.
Preferably, the launching direction adjusting mechanism comprises a rocker arm and a steering engine. The bottom of the rocker arm is rotatably connected to the base. The steering wheel is fixed on the base, and the output shaft is all fixed with the rocking arm. The bracket is fixed on the top of the rocker arm;
preferably, a camera module is mounted on the top of the bracket.
Preferably, the base is mounted on an electric rotating platform which rotates around a vertical axis.
The working method of the rope net capturing device based on the electromagnetic ejection specifically comprises the following steps:
the electric rotary platform and the transmitting direction adjusting mechanism adjust the orientation of the camera module; the camera module continuously takes images and transmits the images to the controller. The controller identifies the image; and when the target object appears in the image, acquiring the height h of the target object and the horizontal distance l from the rope net capturing device in an image recognition mode.
The controller calculates the launching direction of the net rope and the magnitude of the electromagnetic launching pushing force according to the height h and the horizontal distance l; the electric rotary platform and the launching direction adjusting mechanism control the net cabin to face the launching direction. And the launching range adjusting mechanism controls the unfolding degree of each electromagnetic coil launching tube according to the size of the target object. Then, energizing each electromagnetic coil launching tube to enable each ejection block to launch; each ejection block carries the rope net to fly out and covers the target object, and after the rope net touches the target object, each ejection block is attracted together under the action of inertia and magnetic force to complete the capture of the target object.
The invention has the beneficial effects that:
1. 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.
2. The invention realizes the expansion and the contraction of a plurality of ejection blocks in the emission direction through the screw nut structure, thereby realizing the automatic adjustment of the coverage range of the rope net.
3. The invention drives the rope net to fly out by the electromagnetic coil launching ejection block, realizes the capture of the target object and has less environmental pollution.
Drawings
Fig. 1 is a perspective view of the overall structure of the present invention.
Fig. 2 is a perspective view of the launcher and support structure of the present invention.
FIG. 3 is a schematic diagram of the adjustment of the emitting angle and the elevation angle according to the present invention.
In the figure: 1-a base; 2-a rocker arm; 3-a scaffold; 4-a launcher; 5-a camera module; 6-a net bin; 7-rope net; 8-a steering engine; 9-a nut; 10-mounting a platform; 11-a bolt; 12-a motor; 13-motor fixing frame; 14-lower screw support; 15-a solenoid launch canister; 16-an ejection block; 17-a connecting rod; 18-nut block; 19-a lead screw; 20-mounting a lead screw support; 21-mounting seat.
Detailed Description
The invention is explained in further detail below with reference to the figures and examples.
As shown in fig. 1, 2 and 3, a rope net capturing device based on electromagnetic ejection comprises a base 1, a support 3, an emitting frame 4, a camera module 5, a net bin 6, a rope net 7, an emitting direction adjusting mechanism and an emitting range adjusting mechanism. The launching direction adjusting mechanism is arranged on the base 1 and used for adjusting the pitching angle of the rope net launching. The launching range adjusting mechanism is arranged on the launching direction adjusting mechanism through the bracket 3 and is used for adjusting the coverage range of the launched rope net 7.
The launching direction adjusting mechanism comprises a rocker arm 2 and a steering engine 8. The bottom of the rocker arm 2 is rotatably connected to the base 1. The two steering engines 8 are fixed on the base 1, and output shafts are coaxially arranged; the output shafts of the two steering engines 8 are fixed with the rocker arm 2. The bracket 3 is fixed on the top of the rocker arm 2 through a bolt nut; the camera module 5 is fixed on the top of the bracket 3 through bolts and nuts. The launching frame 4 is fixed on the bracket 3; the inner ends of the four electromagnetic coil launching tubes 15 are rotatably connected with the front surface of the launching frame 4 through the mounting seat 21, and the size of an included angle between the inner end of the electromagnetic coil launching tube 15 and the launching frame 4 is controlled through the launching range adjusting mechanism. The outer ends of the four electromagnetic coil launching cylinders 15 are all inclined towards one side far away from the central position of the launcher 4.
The net bin 6 is fixed on the front of the launching frame 4 at intervals through a plurality of support rods. The rope net 7 is arranged in the net bin 6. Four angles 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 at the outer end of the connecting rope. The ejection block 16 adopts a permanent magnet and is arranged in the electromagnetic coil ejection barrel 15; when the electromagnetic coil launching tube 15 is electrified, a propelling force can be generated on the ejection block 16, and the ejection block 16 can be ejected in an electromagnetic ejection mode. The four ejection blocks 16 eject the carrying rope net 7 together; because the outer ends of the four electromagnetic coil launching cylinders 155 are all inclined towards one side far away from the center position of the launching frame 4, the distance of the four launching blocks 16 in the air is increased, and the rope net 7 is unfolded.
The emission range adjusting mechanism comprises a mounting platform 10, a motor 12, a motor fixing frame 13, a lower screw rod support 14, a connecting rod 17, a nut block 18, a screw rod 19 and an upper screw rod support 20. The mounting platform 10 is fixed on the back of the bracket 3; the motor fixing frame 13 is fixed on the mounting platform 10 through a bolt 11 and a nut 9; the motor 12 is fixed on the motor fixing frame 13. The lower lead screw support 14 is installed at the front center position of the launcher 4. The upper screw support 20 is mounted in the central position on the back of the net bin 6. Two ends of the screw rod 19 are respectively and coaxially connected with the upper screw rod support 20 and the lower screw rod support 14 in a rotating way through bearings. The nut block 18 and the lead screw 19 form a screw pair. One end of each of the four connecting rods 17 and the side surface of the nut block 18 form a revolute pair. The other ends of the four connecting rods 17 are rotatably connected with the middle part of the electromagnetic coil transmitting tube 15. The output shaft of the motor 12 is fixed to the end of the lead screw 19. The motor 12 drives the screw rod 19 to rotate, and the four electromagnetic coil launching cylinders 15 can be controlled to be unfolded or folded so as to change the dispersion degree of the four launching blocks 16 after launching, thereby adjusting the coverage area of the rope net.
As a further preferred alternative, the base is mounted on an electrically powered rotary platform that rotates about a vertical axis to adjust the azimuth angle of the net launch.
The electromagnetic coil launching tube 15 is connected with a power supply through a relay; the camera module 5 is connected with the controller and is used for shooting images and automatically identifying the target object. Each relay, the steering engine and the motor are controlled by the controller to rotate.
The working method of the rope net capturing device based on the electromagnetic ejection specifically comprises the following steps:
after the controller receives a rope net capturing instruction, the electric rotary platform and the transmitting direction adjusting mechanism adjust the direction of the camera module 5; the camera module 5 continuously takes images and transmits them to the controller. The controller identifies the image; and when the target object appears in the image, acquiring the height h of the target object and the horizontal distance l from the rope net capturing device in an image recognition mode.
The controller calculates the launching direction of the net rope and the magnitude of the electromagnetic launching pushing force according to the height h and the horizontal distance l; the motorized rotary platform and launch direction adjustment mechanism control the net house 6 towards the launch direction (above the target object). The emission range adjusting mechanism controls the degree of expansion of each solenoid emission tube 15 according to the size of the target. Then, each electromagnetic coil launching tube 15 is electrified, so that each launching block 16 is launched; each ejection block 16 carries the rope net to fly out and covers the target object, and after the rope net touches the target object, the four ejection blocks 16 are attracted together under the action of inertia and self-magnetic force, so that the rope net 7 is automatically closed, and the target object is captured.
The above examples are merely illustrative of the present invention and are not intended to be limiting thereof. While the invention has been described in detail in connection with the drawings, those skilled in the art should understand that the core principles of the invention include modifications, substitutions, improvements, etc. all of which are intended to be within the scope of the invention.
Claims (7)
1. A rope net capturing device based on electromagnetic ejection comprises a base (1), a launching frame (4), a net bin (6) and a rope net (7); the method is characterized in that: the device also comprises an electromagnetic coil launching tube (15), a launching direction adjusting mechanism and a launching range adjusting mechanism; the launching frame (4) is arranged on the base (1) through a launching direction adjusting mechanism; the emission direction adjusting mechanism is used for adjusting the orientation of the bracket (3); the net bin (6) is fixed on the front surface of the launching frame (4); the n electromagnetic coil launching cylinders (15) surround the net bin (6), and the inner ends of the n electromagnetic coil launching cylinders are connected with the support (3); each electromagnetic coil launching tube (15) inclines towards one side far away from the net bin (6); the launching range adjusting mechanism controls the spreading degree of the n electromagnetic coil launching cylinders (15) and adjusts the covering range of the launched rope net (7); the rope net (7) is arranged in the net bin (6); n connecting ropes are arranged at different positions of the edge of the rope net (7); the inner end of the connecting rope is fixed with the rope net; an ejection block (16) is fixed at the outer end of the connecting rope; 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 launching barrels (15).
2. The rope net capturing device based on the electromagnetic ejection as claimed in claim 1, wherein: the launching range adjusting mechanism comprises a motor (12), a lower screw rod support (14), a connecting rod (17), a nut block (18), a screw rod (19) and an upper screw rod support (20); the lower lead screw support (14) is arranged at the center of the front surface of the bracket (3); the upper lead screw support (20) is arranged at the central position of the back of the net bin (6); two ends of the lead screw (19) are respectively and rotatably connected to the upper lead screw support (20) and the lower lead screw support (14); the nut block (18) and the lead screw (19) form a screw pair; one ends of the n connecting rods (17) and the side surface of the nut block (18) form a revolute pair; the other ends of the n connecting rods (17) are respectively and rotatably connected with the middle parts of the n electromagnetic coil launching cylinders (15); the screw rod (19) is driven and selected by the motor (12).
3. The rope net capturing device based on the electromagnetic ejection as claimed in claim 1, wherein: and a power supply interface of the electromagnetic coil emission barrel (15) is connected with a power supply through a relay.
4. The rope net capturing device based on the electromagnetic ejection as claimed in claim 1, wherein: the launching direction adjusting mechanism comprises a rocker arm (2) and a steering engine (8); the bottom of the rocker arm (2) is rotatably connected to the base (1); the steering engine (8) is fixed on the base (1), and output shafts are fixed with the rocker arm (2); the bracket (3) is fixed on the top of the rocker arm (2).
5. The rope net capturing device based on the electromagnetic ejection as claimed in claim 1, wherein: and a camera module (5) is installed at the top of the support (3).
6. The rope net capturing device based on the electromagnetic ejection as claimed in claim 5, wherein: the base is arranged on an electric rotary platform rotating around a vertical axis.
7. The working method of the rope net capturing device based on the electromagnetic ejection as claimed in claim 1, characterized in that: the electric rotary platform and the transmitting direction adjusting mechanism adjust the orientation of the camera module (5); the camera module (5) continuously shoots images and transmits the images to the controller; the controller identifies the image; when a target object appears in the image, acquiring the height h of the target object and the horizontal distance l from the rope net capturing device in an image recognition mode;
the controller calculates the launching direction of the net rope and the magnitude of the electromagnetic launching pushing force according to the height h and the horizontal distance l; the electric rotary platform and the launching direction adjusting mechanism control the net cabin (6) to face the launching direction; according to the size of the target object, the launching range adjusting mechanism controls the unfolding degree of each electromagnetic coil launching tube (15); then, energizing each electromagnetic coil launching tube (15) to enable each launching block (16) to launch; each ejection block (16) carries the rope net to fly out and covers the target object, and after the rope net touches the target object, each ejection block (16) is attracted together under the action of inertia and magnetic force to finish the capture of the target object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210587142.7A CN115031574A (en) | 2022-05-26 | 2022-05-26 | Rope net capturing device based on electromagnetic ejection and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210587142.7A CN115031574A (en) | 2022-05-26 | 2022-05-26 | Rope net capturing device based on electromagnetic ejection and working method thereof |
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| CN115031574A true CN115031574A (en) | 2022-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210587142.7A Pending CN115031574A (en) | 2022-05-26 | 2022-05-26 | Rope net capturing device based on electromagnetic ejection and working method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103587728A (en) * | 2013-10-23 | 2014-02-19 | 北京空间飞行器总体设计部 | Rope net type space debris capturing and cleaning system |
| CN113277129A (en) * | 2021-05-31 | 2021-08-20 | 北京理工大学 | Net shooting device flies of adjustable launch angle |
| CN214701926U (en) * | 2021-04-25 | 2021-11-12 | 广东先进动力科技有限公司 | Electromagnetic net catcher |
| CN114034208A (en) * | 2021-11-22 | 2022-02-11 | 陕西大工旭航电磁科技有限公司 | Coil bottom pushing type electromagnetic gun and pitching adjusting device thereof |
| CN114132506A (en) * | 2021-12-31 | 2022-03-04 | 长春长光博翔无人机有限公司 | Target capture device and method of airborne anti-unmanned aerial vehicle |
-
2022
- 2022-05-26 CN CN202210587142.7A patent/CN115031574A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103587728A (en) * | 2013-10-23 | 2014-02-19 | 北京空间飞行器总体设计部 | Rope net type space debris capturing and cleaning system |
| CN214701926U (en) * | 2021-04-25 | 2021-11-12 | 广东先进动力科技有限公司 | Electromagnetic net catcher |
| CN113277129A (en) * | 2021-05-31 | 2021-08-20 | 北京理工大学 | Net shooting device flies of adjustable launch angle |
| CN114034208A (en) * | 2021-11-22 | 2022-02-11 | 陕西大工旭航电磁科技有限公司 | Coil bottom pushing type electromagnetic gun and pitching adjusting device thereof |
| CN114132506A (en) * | 2021-12-31 | 2022-03-04 | 长春长光博翔无人机有限公司 | Target capture device and method of airborne anti-unmanned aerial vehicle |
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Application publication date: 20220909 |
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