Drone docking platform with automatic retractable propellers

Abstract

The present invention discloses a docking platform for an unmanned aerial vehicle capable of automatically retracting propellers, comprising: a docking platform for docking an unmanned aerial vehicle, a plurality of retracting propeller devices installed on the docking platform, the retracting propeller devices each comprising a retracting propeller mechanism, a paddle mechanism, and a lifting and lowering driving module for driving the retracting propeller mechanism to perform lifting and lowering movements, the retracting propeller mechanism comprising two retracting propeller plates and a retracting propeller driving device connected to the two retracting propeller plates, the retracting propeller driving device being used to drive one of the two retracting propeller plates to rotate clockwise and the other to rotate counterclockwise, so as to retract the propeller blades of the corresponding propeller group within the angle region formed between the two retracting propeller plates; the region where the two retracting propeller plates interfere with the propeller blades when they rise is defined as an interference region, and the paddle mechanism is used to paddle the propeller blades in the interference region to rotate and leave the interference region. The present invention can prevent the retracting propeller device from interfering with the propeller blades, ensure the reliable operation of the retracting propeller device, and avoid damage to the propeller blades.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) landing pads, and in particular to an unmanned aerial vehicle (UAV) landing platform capable of automatically retracting propellers. Background Art

[0002] With the continuous innovation and rapid development of science and technology, drone technology has made great progress, and its application areas are also constantly expanding and deepening. Today, drones have been widely integrated into the logistics industry, efficiently undertaking cargo transportation and distribution tasks; in the agricultural field, drones help precision agriculture and are used for crop monitoring, pesticide spraying, irrigation management, etc.; in the field of public safety, drones have become a powerful assistant for reconnaissance, emergency rescue and security monitoring, greatly improving the efficiency and effectiveness of security work; in terms of power inspection, drones rely on their excellent maneuverability and data collection capabilities to accurately detect and maintain power lines and facilities, effectively ensuring the stable operation of the power system.

[0003] When faced with some complex terrains, deploying a drone hangar has significant advantages over dispatching manpower, so drone hangars came into being. Due to the differences in the size of aircraft produced by different drone manufacturers, and the drone hangar needs to be able to accommodate a variety of aircraft, some drones with larger blade sizes are beyond the specification range of general drone hangars. If the drone hangar is operated directly, these oversized blades are very likely to be damaged.

[0004] In the early stage, drone hangars generally lacked a propeller retraction mechanism. This situation caused companies to design drone hangars based on larger drones of the same type. As a result, the designed drone hangars were not only large in size and weight, but also had a relatively long design cycle, which undoubtedly brought many inconveniences and challenges to companies in terms of resource investment, project progress control, and site planning.

[0005] In order to solve the above problems, retracting the propeller blades of the drone is an effective solution. At present, the existing helipads with propeller retraction function generally have a propeller retraction lever on the centering pole. In the initial state, the propeller retraction lever is in a horizontal state. When the propeller blades need to be retracted after the drone lands, the propeller retraction lever rotates to a vertical state and moves with the centering pole. The propeller blades are moved to the designated area by the propeller retraction lever to achieve retraction. Since the propeller blades of the drone are randomly placed 360 degrees, once the position of the propeller blade is on the path of the propeller retraction lever, interference will occur, causing the propeller retraction mechanism to fail to operate, and even damage the propeller blades. Summary of the invention

[0006] The problem to be solved by the present invention is to provide a UAV docking platform with automatic retractable propellers, so as to overcome the defect that the existing helipad with propeller retracting function may interfere with the propeller blades during the retracting process, resulting in unreliable retracting of the propellers or even damage to the propeller blades.

[0007] The technical solution adopted by the present invention to solve its technical problems is: a drone docking platform with automatic propeller folding, comprising: a docking platform for docking a drone, wherein the drone is provided with a plurality of propeller groups, and each of the propeller groups includes at least two relatively rotatable blades, and the docking platform is provided with a plurality of propeller folding devices which are the same in number and correspond to the propeller groups; the propeller folding devices each include a propeller returning mechanism, a propeller shifting mechanism, and a lifting drive module for driving the propeller returning mechanism to perform lifting and lowering movements, the propeller returning mechanism includes two propeller returning plates and a propeller returning driving device which is transmission-connected to the two propeller returning plates, the propeller returning driving device is used to drive one of the two propeller returning plates to rotate clockwise and the other to rotate counterclockwise, so that the blades of the corresponding propeller group are folded into the angle area formed between the two propeller returning plates; the area where the two propeller returning plates interfere with the blades when they rise is defined as an interference area, and the propeller shifting mechanism is used to shift the blades in the interference area to rotate so as to leave the interference area.

[0008] As a further improvement of the present invention, the paddle return driving device is provided as one, and the paddle return driving device can simultaneously drive the two paddle return plates to perform rotational motion around the same vertical axis.

[0009] As a further improvement of the present invention, the oar returning mechanism also includes an oar returning bracket, an inner rotating shaft, an outer rotating shaft and a transmission mechanism. The inner rotating shaft is rotatably installed on the oar returning bracket along the vertical direction and is fixedly connected to the oar returning drive device. The outer rotating shaft is rotatably sleeved on the outside of the inner rotating shaft and is connected to the oar returning drive device through the transmission mechanism. The two oar returning plates are respectively fixedly installed on the inner rotating shaft and the outer rotating shaft. While the oar returning drive device drives the inner rotating shaft to rotate, it drives the outer rotating shaft to rotate in a direction opposite to the rotation direction of the inner rotating shaft through the transmission mechanism.

[0010] As a further improvement of the present invention, the transmission mechanism includes a driving gear shaft and two transmission gear shafts, the two transmission gear shafts are rotatably mounted on the return propeller bracket and mesh with each other, the driving gear shaft is fixedly mounted on the output shaft of the return propeller drive device and meshes with one of the transmission gear shafts, and a driven gear is provided on the outer rotating shaft, and the driven gear meshes with the other transmission gear shaft.

[0011] As a further improvement of the present invention, a shaft sleeve is fixedly installed on the propeller return bracket, and the shaft sleeve is sleeved on the outer rotating shaft; the propeller return drive device includes a propeller return drive motor and a reducer, the reducer is fixed at the bottom of the propeller return bracket, and the propeller return drive motor is fixedly connected to the reducer.

[0012] As a further improvement of the present invention, the paddle mechanism includes a paddle board and a paddle driving device, the paddle board is installed on the paddle driving device, the paddle driving device is used to drive the paddle board to rotate in a vertical plane, and the paddle board can pass through the interference area during the rotation process.

[0013] As a further improvement of the present invention, the paddle mechanism further includes a sensor, which is arranged opposite to the interference area and is used to detect whether the paddle blade stays in the interference area.

[0014] As a further improvement of the present invention, the paddle mechanism also includes a paddle bracket, which is fixed to the docking platform in a vertical direction; the paddle drive device includes a paddle drive motor, which is fixed to the paddle bracket in a horizontal direction, and the paddle plate is fixedly mounted on the motor shaft of the paddle drive motor; the sensor is fixedly mounted on the paddle bracket via a sensor bracket, and the sensor is located directly below the interference area.

[0015] As a further improvement of the present invention, the lifting drive module adopts any one of a ball screw linear module, a synchronous belt linear module, a gear rack linear module, a linear motor module, and an electric push rod.

[0016] As a further improvement of the present invention, a centering mechanism for returning the drone to a designated position is also installed on the docking platform.

[0017] The beneficial effects of the present invention are as follows: the present invention provides a UAV docking platform with automatic propeller folding, and the propeller blades placed in the interference area are pushed by the propeller pushing mechanism to make the propeller blades leave the interference area, thereby avoiding interference with the two propeller return plates performing an ascending motion, ensuring that the propeller return mechanism can operate reliably, and preventing damage to the propeller blades; at the same time, the present invention drives one of the two propeller return plates to rotate clockwise and the other to rotate counterclockwise through the propeller return driving device, and the two propeller return plates cooperate with each other to achieve a synchronous and coordinated propeller folding process, which can quickly and accurately fold the propeller blades into a specific angle area, avoiding the situation where the propellers are not folded into place, and can optimize space utilization to the greatest extent, reduce the space occupied by the UAV, save propeller folding time, and improve operating efficiency, and can be applicable to UAVs of different types and sizes to meet the folding needs of various propeller blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of a docking platform for a drone capable of automatically retracting propellers according to the present invention;

[0019] Figure 2 It is a three-dimensional diagram of the paddle returning mechanism and the lifting drive module in the present invention;

[0020] Figure 3 It is a cross-sectional view of the paddle returning mechanism and the lifting drive module in the present invention;

[0021] Figure 4 It is a three-dimensional diagram of the propeller return mechanism in the present invention without the propeller return bracket;

[0022] Figure 5 is a three-dimensional diagram of the paddle mechanism of the present invention;

[0023] Figure 6 It is a front view of the paddle mechanism in the present invention;

[0024] Figure 7 A top view of the propeller blades of the UAV on the docking platform of the present invention in the interference area;

[0025] Figure 8 This is a top view of the UAV with automatically retractable propellers after the propellers are retracted when docking on a platform.

[0026] Combined with the attached drawings, the following description is given:

[0027] 1. UAV; 11. Paddles; 2. Docking platform; 3. Paddle return mechanism; 31. Paddle return board; 32. Paddle return drive device; 321. Paddle return drive motor; 322. Reducer; 33. Paddle return bracket; 34. Inner shaft; 35. Outer shaft; 351. Driven gear; 36. Driving gear shaft; 37. Transmission gear shaft; 38. Bushing; 4. Paddle mechanism; 41. Paddle return board; 42. Paddle return drive motor; 43. Sensor; 44. Paddle return bracket; 45. Sensor bracket; 5. Lifting drive module; 6. Centering mechanism. DETAILED DESCRIPTION

[0028] A preferred embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.

[0029] The present invention provides a drone docking platform with automatically retractable blades, which is used for docking a drone 1 and can automatically retract the blades 11 of the drone 1.

[0030] The drone 1 is provided with a plurality of arms, each of which is equipped with a propeller group, and each propeller group includes at least two relatively rotatable blades 11. In order to facilitate understanding of the present technical solution, the following specifically describes four propeller groups, each of which includes two blades 11.

[0031] See also Figures 1 to 8 The unmanned aerial vehicle docking platform capable of automatically retracting propellers of the present invention comprises: a docking platform 2 for docking the unmanned aerial vehicle 1, and four propeller retracting devices having the same number and one-to-one correspondence with the propeller groups of the unmanned aerial vehicle 1 are installed on the docking platform 2. The four propeller retracting devices are respectively arranged at the four corners of the docking platform 2. Each propeller retracting device comprises a propeller returning mechanism 3, a propeller shifting mechanism 4, and a lifting driving module 5 for driving the propeller returning mechanism 3 to perform lifting and lowering motions.

[0032] The return propeller mechanism 3 includes two return propeller plates 31 and a return propeller driving device 32. The two return propeller plates 31 are at the same height and are distributed in the vertical direction. The two return propeller plates are also distributed at a certain angle. The return propeller driving device 32 is connected to the two return propeller plates 31 by transmission. The return propeller driving device 32 is used to drive one of the two return propeller plates 31 to rotate clockwise and the other to rotate counterclockwise, so that the two blades 11 in the corresponding propeller group are folded into the angle area formed between the two return propeller plates 31, thereby realizing automatic retraction of the propellers of the drone 1.

[0033] Furthermore, since the propeller blades 11 of the drone 1 are randomly placed 360°, when the propeller blades 11 are placed in a certain area, they will interfere with the two return paddle plates 31 that are performing an ascending motion. Therefore, the area where the two return paddle plates 31 interfere with the propeller blades 11 when they rise is defined as an interference area, and the paddle mechanism 4 is used to move the propeller blades 11 in the interference area to rotate and leave the interference area.

[0034] It should be noted that, in the initial state, the height of the propeller return mechanism 3 is lower than the height of the blades 11. When the UAV 1 needs to retract the blades 11 after landing on the docking platform 2, the propeller mechanism 4 is first used to rotate the blades 11 in the interference area to make the blades 11 leave the interference area; then the lifting drive module 5 drives the propeller return mechanism 3 to rise, so that the two propeller return plates 31 reach a position horizontally opposite to the blades 11, and then the propeller return drive device 32 drives one of the two propeller return plates 31 to rotate clockwise and the other to rotate counterclockwise, so that the two propeller return plates 31 move closer to each other, so that the two blades 11 in the corresponding propeller group are retracted in the angle area formed between the two propeller return plates 31, thereby realizing automatic retraction of the UAV 1.

[0035] It can be seen that the present invention uses the paddle mechanism 4 to push the blades 11 placed in the interference area, so that the blades 11 leave the interference area, thereby avoiding interference with the two paddle return plates 31 performing an upward motion, ensuring that the paddle return mechanism 3 can operate reliably, and preventing damage to the blades 11; at the same time, the present invention drives one of the two paddle return plates 31 to rotate clockwise and the other to rotate counterclockwise through the paddle return drive device 32, and the two paddle return plates 31 cooperate with each other to achieve a synchronous and coordinated paddle retraction process, which can quickly and accurately retract the blades 11 into a specific angle area, avoiding the situation where the paddles are not retracted in place, and can optimize space utilization to the greatest extent, reduce the occupied space of the drone 1, save paddle retraction time, and improve operating efficiency, and can be applicable to drones 1 of different types and sizes to meet the retraction requirements of various blades 11.

[0036] Preferably, the paddle return drive device 32 in the present invention is provided as one, and the paddle return drive device 32 can simultaneously drive the two paddle return plates 31 to rotate around the same vertical axis. The present invention uses one paddle return drive device 32 to simultaneously drive the two paddle return plates 31 to rotate, and its structure is relatively simple, which reduces the complexity of design and manufacturing, and also reduces the possibility of failure, and is easy to maintain and repair.

[0037] Of course, in other embodiments of the present invention, two return paddle driving devices 32 can be provided, which are used to drive two return paddle boards 31 separately, so that one of them rotates clockwise and the other rotates counterclockwise.

[0038] See also Figure 2 and Figure 3 The paddle returning mechanism 3 also includes a paddle returning bracket 33, an inner shaft 34, an outer shaft 35 and a transmission mechanism. The inner shaft 34 is rotatably mounted on the paddle returning bracket 33 in the vertical direction and is fixedly connected to the paddle returning driving device 32; the outer shaft 35 is rotatably mounted on the outer side of the inner shaft 34 and is connected to the paddle returning driving device 32 through the transmission mechanism. The two paddle returning plates 31 are respectively fixedly mounted on the upper end of the inner shaft 34 and the upper end of the outer shaft 35. While the paddle returning driving device 32 drives the inner shaft 34 to rotate, it drives the outer shaft 35 to rotate in the direction opposite to the rotation direction of the inner shaft 34 through the transmission mechanism. The present invention adopts this driving mode to make the two paddle returning plates 31 rotate at the same time, realize the synchronous and coordinated paddle retracting process, reduce the jamming or errors caused by asynchronism, and improve the stability of the paddle retracting action.

[0039] See also Figure 2 and Figure 4The transmission mechanism includes a driving gear shaft 36 and two transmission gear shafts 37, and the two transmission gear shafts 37 are both rotatably mounted on the return propeller bracket 33 and meshed with each other. In this embodiment, both transmission gear shafts 37 have double gears. The driving gear shaft 36 is fixedly mounted on the output shaft of the return propeller drive device 32, and the inner shaft 34 is fixedly connected to the output shaft of the return propeller drive device 32 through the driving gear shaft 36, and the driving gear shaft 36 meshes with one of the transmission gear shafts 37; the lower end of the outer shaft 35 is provided with a driven gear 351, and the driven gear 351 meshes with the other transmission gear shaft 37, and then when the return propeller drive device 32 drives the inner shaft 34 to rotate, it is transmitted through the driving gear shaft 36 and the two transmission gear shafts 37 to drive the outer shaft 35 to rotate in the direction opposite to the rotation direction of the inner shaft 34.

[0040] In addition, a shaft sleeve 38 is fixedly mounted on the return propeller bracket 33 , and the shaft sleeve 38 is sleeved on the outer rotating shaft 35 to improve the rotation stability of the outer rotating shaft 35 and the inner rotating shaft 34 .

[0041] In the present invention, the propeller return drive device 32 includes a propeller return drive motor 321 and a reducer 322. The reducer 322 is fixed to the bottom of the propeller return bracket 33. The propeller return drive motor 321 is fixedly connected to the reducer 322. The propeller return drive motor 321 drives the inner rotating shaft 34 and the outer rotating shaft 35 to rotate through the reducer 322.

[0042] In the present invention, a profile is fixed at the bottom of the docking platform 2, the lifting drive module 5 is installed on the profile, and the return propeller bracket 33 is installed on the lifting drive module 5 through a fixing block. Among them, the lifting drive module 5 adopts any one of a ball screw linear module, a synchronous belt linear module, a gear rack linear module, a linear motor module, and an electric push rod. The present embodiment specifically adopts a ball screw linear module.

[0043] See also Figure 5 and Figure 6 The paddle mechanism 4 includes a paddle plate 41 and a paddle driving device. The paddle plate 41 is installed on the paddle driving device and is distributed in the vertical direction. The paddle driving device is used to drive the paddle plate 41 to rotate in a vertical plane, and the paddle plate 41 can pass through the interference area during the rotation, so that the paddle blade 11 in the interference area can be pushed to make the paddle blade 11 leave the interference area.

[0044] Preferably, the paddle plate 41 in this embodiment is fan-shaped.

[0045] The paddle mechanism 4 further includes a paddle bracket 44, which is fixed vertically at a corner of the docking platform 2. The paddle drive device includes a paddle drive motor 42, which is fixed horizontally on the paddle bracket 44, and the paddle plate 41 is fixedly mounted on the motor shaft of the paddle drive motor 42.

[0046] It is worth mentioning that the paddle mechanism 4 further includes a sensor 43, which is fixedly mounted on the paddle bracket 44 via a sensor bracket 45, and the sensor 43 is located directly below the interference area. The sensor 43 is arranged directly opposite to the interference area to detect whether a paddle 11 is staying in the interference area.

[0047] In this embodiment, the sensor 43 is a diffuse reflection sensor, and two sensors are configured to increase the detection range.

[0048] Furthermore, the docking platform 2 in the present invention is also equipped with a centering mechanism 6 for returning the drone 1 to a designated position. It should be noted that the centering mechanism 6 is not what the present application intends to improve, but belongs to the existing conventional technology and has a variety of implementation structures.

[0049] Specifically, in this embodiment, the centering mechanism 6 includes two first centering rods arranged parallel to the X-axis on the docking platform 2, two second centering rods arranged parallel to the Y-axis on the docking platform 2, and a centering drive device for driving the two first centering rods and the two second centering rods to move closer to or away from each other.

[0050] The working principle of the drone docking platform capable of automatically retracting propellers of the present invention is as follows:

[0051] In the initial state, the paddle plate 41 rotates to be vertically distributed downward, and the two paddle return plates 31 are directly below the interference area;

[0052] When the UAV 1 lands on the docking platform 2, the centering driving device first drives the two first centering rods and the two second centering rods to move toward the middle and toward each other. The two first centering rods and the two second centering rods drive the UAV 1 to return to the designated position during the process of moving toward each other.

[0053] Next, the sensor 43 detects whether the blade 11 is located in the upper interference region. Figure 7 As shown), the corresponding paddle driving motor 42 starts to drive the paddle plate 41 to rotate around the motor axis for one circle, and paddles the paddle 11 in the interference area to make it leave the interference area;

[0054] Then, the lifting drive module 5 drives the paddle return mechanism 3 to rise, so that the two paddle return plates 31 reach a position horizontally opposite to the paddle blades 11;

[0055] Finally, the return propeller driving motor 321 drives the inner shaft 34 to rotate through the reducer 322, and at the same time drives the outer shaft 35 through the driving gear shaft 36 and the two transmission gear shafts 37 to rotate in the direction opposite to the rotation direction of the inner shaft 34, so that the two return propeller plates 31 move closer to each other until the set rotation angle is reached, so that the two blades 11 in the propeller group are both retracted in the angle area formed between the two return propeller plates 31 (such as Figure 8 As shown), the propellers of the drone 1 can be automatically retracted.

[0056] It can be seen that the drone docking platform with automatic paddle folding of the present invention can push the blades 11 placed in the interference area through the paddle pushing mechanism 4, so that the blades 11 leave the interference area, thereby avoiding interference with the two paddle return plates 31 performing an upward motion, ensuring that the paddle return mechanism 3 can operate reliably, and preventing damage to the blades 11; at the same time, the present invention drives one of the two paddle return plates 31 to rotate clockwise and the other to rotate counterclockwise through the paddle return driving device 32, and the two paddle return plates 31 cooperate with each other to achieve a synchronous and coordinated paddle folding process, which can quickly and accurately fold the blades 11 into a specific angle area, avoiding the situation where the paddles are not folded into place, and can optimize space utilization to the greatest extent, reduce the occupied space of the drone 1, save paddle folding time, and improve operating efficiency, and can be applicable to drones 1 of different types and sizes to meet the folding needs of various blades 11.

[0057] Many specific details are described in the above description to facilitate a full understanding of the present invention. However, the above description is only a preferred embodiment of the present invention. The present invention can be implemented in many other ways different from those described herein, so the present invention is not limited to the specific implementation disclosed above. At the same time, any person familiar with the art can make many possible changes and modifications to the technical solution of the present invention using the methods and technical contents disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. A drone docking platform capable of automatically retracting propellers, comprising a docking platform (2) for docking a drone (1), wherein the drone (1) is provided with a plurality of propeller groups, and each of the propeller groups comprises at least two relatively rotatable blades (11), and the docking platform (2) is provided with a plurality of propeller retracting devices, the number of which is the same as that of the propeller groups and which correspond one to one; characterized in that: The paddle folding device comprises a paddle returning mechanism (3), a paddle shifting mechanism (4) and a lifting drive module (5) for driving the paddle returning mechanism (3) to perform lifting movement. The paddle returning mechanism (3) comprises two paddle returning plates (31) and a paddle returning drive device (32) which is transmission-connected to the two paddle returning plates (31). The paddle returning drive device (32) is used to drive one of the two paddle returning plates (31) to rotate clockwise and the other to rotate counterclockwise, so that the blades (11) of the corresponding propeller group are all folded into the angle area formed between the two paddle returning plates (31); the area where the two paddle returning plates (31) interfere with the blades (11) when they rise is defined as an interference area, and the paddle shifting mechanism (4) is used to shift the blades (11) in the interference area to rotate so as to leave the interference area.

2. The UAV docking platform with automatic propeller retraction according to claim 1 is characterized in that: The paddle return driving device (32) is provided as one, and the paddle return driving device (32) can simultaneously drive the two paddle return plates (31) to perform rotational motion around the same vertical axis.

3. The UAV docking platform with automatic propeller retraction according to claim 1 is characterized in that: The paddle returning mechanism (3) further comprises a paddle returning bracket (33), an inner rotating shaft (34), an outer rotating shaft (35) and a transmission mechanism, wherein the inner rotating shaft (34) is rotatably mounted on the paddle returning bracket (33) along a vertical direction and is fixedly connected to the paddle returning driving device (32), the outer rotating shaft (35) is rotatably sleeved on the outer side of the inner rotating shaft (34) and is connected to the paddle returning driving device (32) through the transmission mechanism, and the two paddle returning plates (31) are respectively fixedly mounted on the inner rotating shaft (34) and the outer rotating shaft (35), and while the paddle returning driving device (32) drives the inner rotating shaft (34) to rotate, it drives the outer rotating shaft (35) to rotate in a direction opposite to the rotation direction of the inner rotating shaft (34) through the transmission mechanism.

4. The UAV docking platform with automatic propeller retraction according to claim 3 is characterized in that: The transmission mechanism comprises a driving gear shaft (36) and two transmission gear shafts (37), the two transmission gear shafts (37) are rotatably mounted on the return paddle bracket (33) and meshed with each other, the driving gear shaft (36) is fixedly mounted on the output shaft of the return paddle drive device (32) and meshed with one of the transmission gear shafts (37), and a driven gear (351) is provided on the outer rotating shaft (35), and the driven gear (351) meshes with the other transmission gear shaft (37).

5. The UAV docking platform with automatic propeller retraction according to claim 3 is characterized in that: A shaft sleeve (38) is fixedly mounted on the return propeller bracket (33), and the shaft sleeve (38) is sleeved on the outer rotating shaft (35); the return propeller drive device (32) comprises a return propeller drive motor (321) and a reducer (322), the reducer (322) is fixed on the bottom of the return propeller bracket (33), and the return propeller drive motor (321) is fixedly connected to the reducer (322).

6. The UAV docking platform with automatic propeller retraction according to claim 1 is characterized in that: The paddle mechanism (4) comprises a paddle plate (41) and a paddle driving device, wherein the paddle plate (41) is mounted on the paddle driving device, and the paddle driving device is used to drive the paddle plate (41) to perform rotational motion in a vertical plane, and the paddle plate (41) can pass through the interference area during the rotation process.

7. The UAV docking platform with automatic propeller retraction according to claim 6 is characterized in that: The paddle mechanism (4) further comprises a sensor (43), wherein the sensor (43) is arranged opposite to the interference region and is used to detect whether the paddle (11) is located in the interference region.

8. The UAV docking platform with automatic propeller retraction according to claim 7 is characterized in that: The paddle mechanism (4) further comprises a paddle bracket (44), wherein the paddle bracket (44) is fixed on the docking platform (2) in a vertical direction; the paddle driving device comprises a paddle driving motor (42), wherein the paddle driving motor (42) is fixed on the paddle bracket (44) in a horizontal direction, and the paddle plate (41) is fixedly mounted on the motor shaft of the paddle driving motor (42); the sensor (43) is fixedly mounted on the paddle bracket (44) via a sensor bracket (45), and the sensor (43) is located directly below the interference area.

9. The UAV docking platform with automatic propeller retraction according to claim 1 is characterized in that: The lifting drive module (5) adopts any one of a ball screw linear module, a synchronous belt linear module, a gear rack linear module, a linear motor module, and an electric push rod.

10. The UAV docking platform with automatic propeller retraction according to claim 1 is characterized in that: The docking platform (2) is also provided with a centering mechanism (6) for returning the drone (1) to a designated position.

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