Wing folding device, unmanned aerial vehicle storage warehouse and unmanned aerial vehicle wing folding method

Abstract

The invention discloses a wing folding device, an unmanned aerial vehicle storage warehouse and an unmanned aerial vehicle wing folding method, and belongs to the technical field of aircraft guarantee, and the wing folding device comprises a base, a lifting structure, a supporting arm, a joint module and a rocker. The lifting structure is installed on the base. The supporting arm is installed on the top of the lifting structure, and an installation hole is formed in the supporting arm. The joint module is mounted in the mounting hole, the rocker is in transmission connection with the joint module, and the rocker is provided with at least one control groove. The lifting structure is used for driving the supporting arm to move up and down. The joint module is used for driving the rocker to rotate to adjust the orientation of the control groove. The wing folding device has the advantages of being compact in structure, multiple in degree of freedom, high in control precision and the like, the problems existing in an existing wing folding mechanism can be effectively solved, the storage utilization rate and the performance index of the unmanned aerial vehicle are improved, and the risk of manual operation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft support, and in particular to a wing folding device, a drone storage warehouse and a drone wing folding method. Background Art

[0002] When small fixed-wing drones are stored in warehouses, they are limited by the high-density storage requirements of warehouses and need to minimize the physical size of the drones in storage. To achieve the above goals, small fixed-wing drones need to fold their wings when they are stored. There are two main ways to fold the wings: one is to set a wing folding mechanism on the drone wings to fold them automatically; the other is to set a wing folding mechanism in the warehouse to assist the drone in folding its wings. In order to maximize the performance indicators of drones, setting up a wing folding mechanism in the warehouse is an effective measure.

[0003] The existing wing folding mechanism has the disadvantages of large space occupation, low degree of freedom and low control accuracy due to the limitation of installation space and working conditions. Large space occupation will occupy the storage space of the UAV and reduce the storage utilization rate; fewer degrees of freedom will increase the complexity of the execution trajectory of the actuator; low control accuracy will cause large errors in the process of interface docking. Summary of the invention

[0004] The invention discloses a wing folding device, a drone storage warehouse and a drone wing folding method to improve the above-mentioned problems.

[0005] The technical solution adopted to achieve the purpose of the present application is that, in the first aspect of the present application, the present invention discloses a wing folding device, comprising:

[0006] Base;

[0007] A lifting structure, wherein the lifting structure is installed on the base;

[0008] A support arm, the support arm is installed on the top of the lifting structure, and a mounting hole is provided on the support arm;

[0009] A joint module, wherein the joint module is installed in the installation hole;

[0010] A rocker, the rocker is transmission-connected to the joint module and is provided with at least one control slot;

[0011] Among them, the lifting structure is used to drive the support arm to move up and down, and the joint module is used to drive the rocker to rotate to adjust the direction of the control slot.

[0012] Optionally: the lifting structure includes a mounting seat, a first lifting rod and a second lifting rod, the mounting seat is installed on the base, the first lifting rod is slidably matched with the mounting seat, the second lifting rod is matched with the first lifting rod, and the moving direction of the second lifting rod is parallel to the moving direction of the first lifting rod, and the support arm is connected to the second lifting rod.

[0013] Optionally, the mounting seat is cylindrical, the first lifting rod is sleeved in the mounting seat, the first lifting rod is tubular, and the second lifting rod is sleeved in the first lifting rod.

[0014] Optionally: the control groove is arranged at the first end of the rocker, the second end of the control groove is provided with a hemispherical connecting block, the connecting block is connected to the joint module, and the joint module drives the rocker to rotate through the connecting block.

[0015] Optionally, the rocker is bent, the first end of the rocker is arranged at an angle to the second end thereof, and the control groove is arranged along the first end of the rocker.

[0016] Optionally, two shifting rods parallel to each other are arranged at the first end of the rocker, the two shifting rods are arranged along the first end of the rocker, and the two shifting rods are arranged at intervals to form the control groove between the two shifting rods.

[0017] Optionally, the first end of the rocker is vertically arranged to the second end of the rocker.

[0018] The technical solution adopted to achieve the purpose of this application is that, in the second aspect of this application, the present invention also discloses a drone storage warehouse, which includes a warehouse body and the folding wing device described in the first aspect above, and the base is slidably matched with the warehouse body.

[0019] The technical solution adopted to achieve the purpose of the present application is that, in the third aspect of the present application, the present invention also discloses a method for folding the wings of a drone based on the drone storage warehouse described in the second aspect, characterized in that it includes the following steps:

[0020] The controller obtains the drone’s location information;

[0021] The controller controls the wing-folding device to move under the wing of the UAV;

[0022] The controller controls the lifting structure to drive the rocker to move under the wing of the UAV;

[0023] The controller controls the joint module to drive the rocker to rotate and make the rocker engage with the wing;

[0024] The controller controls the joystick to rotate so that the wings of the drone can be folded.

[0025] Optionally, the step of unfolding the wings is also included, and the step of unfolding the wings is as follows:

[0026] The controller obtains the drone’s location information;

[0027] The controller controls the wing-folding device to move under the wing of the UAV;

[0028] The controller controls the lifting structure to drive the rocker to move under the wing of the UAV;

[0029] The controller controls the joint module to drive the rocker to rotate and make the rocker engage with the wing;

[0030] The controller controls the joystick to rotate to unfold the wings of the drone.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The folding wing device disclosed in the embodiment of the present invention includes a base, a lifting structure, a support arm, a joint module and a rocker. The lifting structure is installed on the base. The support arm is installed on the top of the lifting structure, and a mounting hole is provided on the support arm. The joint module is installed in the mounting hole, the rocker is connected to the joint module by transmission, and the rocker is provided with at least one control slot. The lifting structure is used to drive the support arm to move up and down, and the joint module is used to drive the rocker to rotate to adjust the direction of the control slot.

[0033] The wing folding device disclosed in the present application can realize the folding and unfolding of the wings through three-degree-of-freedom movements, and can realize docking with the wings and rockers of the drone through the linear motion and rotational motion of the wing folding device itself, and finally realize the auxiliary folding of the drone wings. When the wing folding device is performing the wing folding and unfolding movements, the drone wings have no dead points, and the rockers of the wing folding device can realize docking with the drone wing struts through the adjustment of its own linear and rotational motions. The wing folding device disclosed in the present application has the advantages of compact structure, multiple degrees of freedom, and high control accuracy. It can effectively solve the problems existing in the existing wing folding mechanism, improve the storage utilization rate and performance indicators of the drone, and reduce the risk of manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a folding wing device disclosed in an embodiment of the present invention is shown;

[0035] Figure 2 A front schematic view of a folding wing device disclosed in an embodiment of the present invention is shown.

[0036] In the figure:

[0037] 100-base, 200-lifting structure, 210-mounting seat, 220-first lifting rod, 230-second lifting rod, 300-support arm, 310-mounting hole, 400-joint module, 500-rocker, 510-control slot, 520-connecting block, 530-shift lever. DETAILED DESCRIPTION

[0038] In order to make the technical personnel in the technical field to which the present application belongs to understand the present application more clearly, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0039] In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides various specific examples of processes and materials, but those of ordinary skill in the art may recognize the application of other processes and / or the use of other materials.

[0040] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0041] The present invention is further described in detail below through specific implementation examples in conjunction with the accompanying drawings.

[0042] Example:

[0043] See also Figure 1 and Figure 2 The embodiment of the present invention discloses a wing folding device, which includes a base 100, a lifting structure 200, a support arm 300, a joint module 400 and a rocker 500. The lifting structure 200 is installed on the base 100. The support arm 300 is installed on the top of the lifting structure 200, and a mounting hole 310 is provided on the support arm 300. The joint module 400 is installed in the mounting hole 310, the rocker 500 is transmission-connected with the joint module 400, and the rocker 500 is provided with at least one control slot 510 for cooperating with the unmanned wing, and the control slot 510 can be used to fold or unfold the wing of the unmanned aircraft when the rocker 500 rotates. The lifting structure 200 is used to drive the support arm 300 to move up and down, and the joint module 400 is used to drive the rocker 500 to rotate to adjust the direction of the control slot 510.

[0044] The base 100 is used to fix the wing folding device, and the lifting structure 200 is installed on the base 100 to drive the support arm 300 to move up and down. The support arm 300 is the end component of the lifting structure 200, which is connected to the top of the lifting structure 200. The support arm 300 is used to support the joint module 400 and the rocker 500, and ensure that they can operate at the required height and position. A mounting hole 310 is provided on the support arm 300, and the joint module 400 is installed in the mounting hole 310 to drive the rocker 500 to rotate. At least one control groove 510 is provided on the rocker 500 for clamping with the wing of the drone. Through the lifting and lowering of the lifting structure 200 and the rotation of the joint module 400, the position and orientation of the rocker 500 can be adjusted, thereby realizing the folding and unfolding of the wings of the drone.

[0045] The wing folding device disclosed in the present application can realize the folding and unfolding of the wing through three-degree-of-freedom movements, and can realize docking with the wing of the drone and the rocker 500 through the linear motion and rotational motion of the wing folding device itself, and finally realize the auxiliary folding of the wing of the drone. When the wing folding device is performing the wing folding and unfolding movements, the wing of the drone has no dead point, and the rocker 500 of the wing folding device can realize docking with the wing support rod of the drone through the adjustment of its own linear and rotational motion. The wing folding device disclosed in the present application has the advantages of compact structure, multiple degrees of freedom, and high control accuracy. It can effectively solve the problems existing in the existing wing folding mechanism, improve the storage utilization rate and performance indicators of the drone, and reduce the risk of manual operation.

[0046] In one embodiment, the lifting structure 200 includes a mounting seat 210, a first lifting rod 220 and a second lifting rod 230. The mounting seat 210 is installed on the base 100, the first lifting rod 220 is slidably matched with the mounting seat 210, the second lifting rod 230 is matched with the first lifting rod 220, and the moving direction of the second lifting rod 230 is parallel to the moving direction of the first lifting rod 220, and the support arm 300 is connected to the second lifting rod 230.

[0047] The mounting base 210 is a fixed part of the lifting structure 200, which is firmly mounted on the base 100 and serves as a supporting base for the entire lifting structure 200. The mounting base 210 is designed to ensure stability to withstand all forces and pressures generated during the lifting process.

[0048] The first lifting rod 220 is the first level moving part of the lifting structure 200, and it is slidably matched with the mounting seat 210. The first lifting rod 220 can slide up and down along a certain track or path in the mounting seat 210. In order to achieve such sliding match, the mounting seat 210 may be designed with a slide rail or a guide groove inside, and the first lifting rod 220 is equipped with a matching slider or guide wheel.

[0049] The second lifting rod 230 is a second-level moving component of the lifting structure 200, which cooperates with the first lifting rod 220, and its moving direction is parallel to the moving direction of the first lifting rod 220. This design enables the lifting structure 200 to achieve more precise height adjustment, while also increasing the stability and load-bearing capacity of the structure. The second lifting rod 230 may be connected to the first lifting rod 220 through some form of connection mechanism (such as threaded connection, snap connection, etc.) so that it can be extended or retracted when needed.

[0050] When the height of the support arm 300 needs to be adjusted, the lifting structure 200 will start the corresponding driving mechanism (such as a motor, a cylinder, etc.). The driving mechanism transmits power to the first lifting rod 220 through a certain transmission method (such as gear transmission, screw transmission, etc.), so that it slides up and down in the mounting seat 210. As the first lifting rod 220 moves, the second lifting rod 230 will also extend or contract accordingly, thereby driving the support arm 300 and the joint module 400 and the rocker 500 thereon to reach the required height.

[0051] In one embodiment, the mounting seat 210 is cylindrical, the first lifting rod 220 is sleeved in the mounting seat 210 , the first lifting rod 220 is tubular, and the second lifting rod 230 is sleeved in the first lifting rod 220 .

[0052] In the lifting structure 200 of the wing-folding device, the combined design of the mounting seat 210, the first lifting rod 220 and the second lifting rod 230 is crucial, and they together determine the stability and flexibility of the lifting structure 200. The cylindrical structure provides a larger support area, which helps to install and fix other components on the mounting seat 210, such as the first lifting rod 220 and possible driving mechanisms. This design increases the stability of the entire lifting structure 200, enabling it to withstand a larger load. The inner wall of the cylindrical mounting seat 210 can be used as a track for the first lifting rod 220 to slide. By designing an appropriate sliding surface or adding lubricating materials, the friction and wear of the first lifting rod 220 during the sliding process can be reduced, and the smoothness and durability of the lifting can be improved. The cylindrical structure allows the first lifting rod 220 to move up and down inside it without the need for additional space to accommodate such movement. This helps to optimize the overall size and layout of the wing-folding device, making it more compact and efficient.

[0053] The first lifting rod 220 is designed as a tubular structure, which allows the second lifting rod 230 to be sleeved inside the first lifting rod 220, thereby realizing the function of two-stage lifting. The second lifting rod 230 is designed to be tightly sleeved in the internal space of the first lifting rod 220. This sleeve design not only provides additional stability and load-bearing capacity, but also allows the second lifting rod 230 to move relatively independently inside the first lifting rod 220. This design enables the lifting structure 200 to adjust the height more finely to meet the needs of different application scenarios. In order to achieve the relative movement of the first lifting rod 220 and the second lifting rod 230, it may be necessary to design a telescopic mechanism. This mechanism may include threaded connection, snap connection, hydraulic or pneumatic drive, etc.

[0054] The cylindrical mounting seat 210 and the sleeve design make the lifting structure 200 more compact and efficient. This design helps to optimize the overall size and layout of the folding wing device, making it more suitable for installation in limited spaces such as drone storage warehouses. The cylindrical structure and the sleeve design together enhance the stability and load-bearing capacity of the lifting structure 200. This enables the lifting structure 200 to withstand greater loads without deformation or damage, thereby ensuring the reliability and safety of the folding wing device when folding or unfolding the drone wings. By adjusting the relative positions of the first lifting rod 220 and the second lifting rod 230, the lifting structure 200 can achieve more precise height adjustment. This flexibility enables the folding wing device to adapt to the folding or unfolding requirements of drone wings of different models and sizes.

[0055] In one embodiment, the control slot 510 is disposed at the first end of the rocker 500 , and a hemispherical connecting block 520 is disposed at the second end of the control slot 510 . The connecting block 520 is connected to the joint module 400 , and the joint module 400 drives the rocker 500 to rotate via the connecting block 520 .

[0056] In the complex mechanical structure of the wing folding device, the connection mechanism between the rocker 500 and the joint module 400 is the key to ensure that the wing can be folded and unfolded smoothly and accurately. The control groove 510 is cleverly set at the first end of the rocker 500, and its shape and size are carefully designed to ensure perfect matching with the hemispherical connection block 520. The control groove 510 may have a specific profile, such as an arc, a groove or other shape, to adapt to the movement trajectory of the connection block 520. The main function of the control groove 510 is to provide a precise guide path in which the hemispherical connection block 520 can move smoothly. This design ensures that the rocker 500 can rotate according to a predetermined trajectory under the drive of the joint module 400, thereby realizing the folding and unfolding of the wing. The matching design of the control groove 510 and the hemispherical connection block 520 ensures that the rocker 500 can rotate accurately according to the predetermined trajectory. This precise control is crucial for the folding and unfolding of the wing, and helps to achieve efficient and safe operation of the drone.

[0057] In one embodiment, the rocker 500 is bent, the first end of the rocker 500 is arranged at an angle to the second end thereof, and the control slot 510 is arranged along the first end of the rocker 500 .

[0058] The rocker 500 is designed to be bent, that is, there is a certain angle between its first end and the second end. This design enables the rocker 500 to achieve greater displacement or rotation within a limited space, thereby meeting the complex movement requirements during the wing folding and unfolding process. The design of the bent rocker 500 enables the wing folding device to achieve more complex movements within a limited space. This helps to optimize the overall layout and size of the drone and improve space utilization.

[0059] The rocker 500 is usually made of high-strength, lightweight materials, such as aluminum alloy, titanium alloy or carbon fiber, etc. These materials not only have sufficient strength and rigidity to ensure that the rocker 500 will not be deformed or damaged when subjected to load, but also have good corrosion resistance and durability.

[0060] The control slot 510 is arranged along the first end of the rocker 500, and its shape and size are designed according to the motion trajectory of the rocker 500 and the required control accuracy. The control slot 510 may be in an arc shape, a groove shape or other complex shapes to ensure that the wings of the drone can be stably guided to fold or unfold.

[0061] In one embodiment, two levers 530 parallel to each other are disposed at the first end of the rocker 500 . The two levers 530 are disposed along the first end of the rocker 500 , and the two levers 530 are spaced apart to form a control slot 510 between the two levers 530 .

[0062] The lever 530 may be in the shape of a bar, a sheet, or other shapes to suit different application scenarios and requirements. The control slot 510 is formed by the interval between the two levers 530. This design allows the shape and size of the control slot 510 to be adjusted and optimized according to actual needs to meet different drone sizes.

[0063] In one embodiment, the first end of the rocker 500 is vertically arranged with the second end of the rocker 500. The first end and the second end of the rocker 500 are designed to be perpendicular to each other. This vertical arrangement allows the rocker 500 to form a right-angle turn in space, thereby allowing a more complex motion path to be achieved within a limited space. The diversity of this motion path allows the folding device to adapt to more complex folding and unfolding requirements, thereby improving the flexibility and stability of the folding device.

[0064] Of course, setting the first end of the rocker 500 and the second end of the rocker 500 vertically is only one implementation in this embodiment. In other implementations, it is also possible to set the first end of the rocker 500 and the second end of the rocker 500 at other non-parallel angles.

[0065] Based on the same inventive concept, the second aspect of the present application discloses a drone storage warehouse, which includes a warehouse body and a folding wing device of any embodiment of the first aspect, and the base 100 is slidably matched with the warehouse body.

[0066] The drone storage warehouse disclosed in the present application optimizes the wing folding device to make the wing folding device more compact, with more degrees of freedom and higher control accuracy, so that the drone storage warehouse has more storage space, improves the storage utilization rate and performance indicators of the drones, and the wing folding device can move freely within the warehouse body, making it convenient to fold or unfold the wings of drones at various locations in the drone storage warehouse.

[0067] Based on the same inventive concept, the third aspect of the present application discloses a drone wing folding method for the drone storage warehouse based on the second aspect, comprising the following steps:

[0068] The controller obtains the drone’s location information;

[0069] The controller controls the wing-folding device to move under the wing of the UAV;

[0070] The controller controls the lifting structure 200 to drive the rocker 500 to move under the wing of the UAV;

[0071] The controller controls the joint module 400 to drive the rocker 500 to rotate, and makes the rocker 500 engage with the wing;

[0072] The controller controls the rocker 500 to rotate so that the wings of the drone are folded.

[0073] When the drone needs to fold its wings, the controller first obtains the precise location information of the drone through built-in sensors or external positioning systems. This includes key data such as the three-dimensional coordinates and orientation of the drone. According to the acquired drone location information, the controller controls the folding wing device to move inside the warehouse through a driving mechanism (such as a motor, a cylinder, etc.) until it accurately reaches the bottom of the drone's wing. This process may require precise path planning and obstacle avoidance algorithms to ensure safety. After the folding wing device reaches the specified position, the controller further controls the lifting structure 200 (such as a hydraulic lifting platform, an electric lifting column, etc.) to perform a lifting operation to drive the rocker 500 and the lever 530 and the control slot 510 thereon to move to the bottom of the drone's wing. The movement of the lifting structure 200 also needs to be precisely controlled to ensure that the appropriate distance and angle are maintained with the drone's wing. When the rocker 500 moves to the appropriate position, the controller controls the rocker 500 to rotate through the joint module 400 (such as a rotating joint, a translation joint, etc.). During the rotation process, the lever 530 and the control slot 510 on the rocker 500 contact and gradually engage with the drone's wing. After the rocker 500 is successfully engaged with the wing, the controller continues to control the rocker 500 to rotate. As the rocker 500 rotates, the control slot 510 guides the wing to fold along a predetermined trajectory. This process requires smooth and continuous rotation control to ensure the accuracy and stability of the wing folding.

[0074] The drone wing folding method disclosed in the present application folds the wings of the drones at various positions by moving the wing folding device. Compared with the existing wing folding method that requires a wing folding mechanism to be set at each position, it only requires one or a small number of wing folding devices to complete the folding of the wings of all drones in the drone storage warehouse, effectively solving the problems existing in the existing wing folding mechanism and improving the storage utilization rate and performance indicators of the drones.

[0075] In one embodiment, the drone wing folding method further includes the step of unfolding the wings, and the steps of unfolding the wings are as follows:

[0076] The controller obtains the drone’s location information;

[0077] The controller controls the wing-folding device to move under the wing of the UAV;

[0078] The controller controls the lifting structure 200 to drive the rocker 500 to move under the wing of the UAV;

[0079] The controller controls the joint module 400 to drive the rocker 500 to rotate, and makes the rocker 500 engage with the wing;

[0080] The controller controls the rocker 500 to rotate so that the wings of the drone are unfolded.

[0081] When the drone needs to unfold its wings, the controller first obtains the precise location information of the drone through the built-in sensor or external positioning system. This includes key data such as the three-dimensional coordinates and orientation of the drone. According to the acquired drone location information, the controller controls the wing folding device to move inside the warehouse through the driving mechanism until it accurately reaches the bottom of the drone's wing. After the wing folding device reaches the specified position, the controller further controls the lifting structure 200 to perform a lifting operation to drive the rocker 500 and the lever 530 and control slot 510 thereon to move to the bottom of the drone's wing. When the rocker 500 moves to the appropriate position, the controller controls the rocker 500 to rotate through the joint module 400. During the rotation process, the lever 530 and the control slot 510 on the rocker 500 contact and gradually engage with the drone's wing. After the rocker 500 is successfully engaged with the wing, the controller continues to control the rocker 500 to rotate. As the rocker 500 rotates, the control slot 510 guides the wing to unfold according to a predetermined trajectory. In contrast to the folding step, the unfolding process requires ensuring that the wings can be unfolded smoothly and continuously to the predetermined position and maintain a stable posture.

[0082] Through high-precision sensors, controllers and actuators, precise control of the wing folding and spreading process is achieved, ensuring the accuracy and stability of wing unfolding and folding. The entire wing folding and spreading process is automated without manual intervention, greatly improving the efficiency of storage, transportation and maintenance.

[0083] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described above in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0084] Therefore, the above detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0085] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0086] In the description of the present invention, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the wearable anti-thrombotic pressure pump detection system or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0087] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] In the present invention, unless otherwise clearly specified and limited, a first feature being above or below a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, a first feature being above, above, and above a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being below, below, and below a second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0089] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0090] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A wing folding device, characterized in that: include: Base; A lifting structure, wherein the lifting structure is installed on the base; A support arm, the support arm is installed on the top of the lifting structure, and a mounting hole is provided on the support arm; A joint module, wherein the joint module is installed in the installation hole; A rocker, the rocker is transmission-connected to the joint module and is provided with at least one control slot; Among them, the lifting structure is used to drive the support arm to move up and down, and the joint module is used to drive the rocker to rotate to adjust the direction of the control slot.

2. The folding wing device according to claim 1, characterized in that: The lifting structure includes a mounting seat, a first lifting rod and a second lifting rod. The mounting seat is installed on the base. The first lifting rod is slidably matched with the mounting seat. The second lifting rod is matched with the first lifting rod, and the moving direction of the second lifting rod is parallel to the moving direction of the first lifting rod. The support arm is connected to the second lifting rod.

3. The folding wing device according to claim 2, characterized in that: The mounting seat is cylindrical, the first lifting rod is sleeved in the mounting seat, the first lifting rod is tubular, and the second lifting rod is sleeved in the first lifting rod.

4. The folding wing device according to any one of claims 1 to 3, characterized in that: The control slot is arranged at the first end of the rocker, and a hemispherical connecting block is arranged at the second end of the control slot. The connecting block is connected to the joint module, and the joint module drives the rocker to rotate through the connecting block.

5. The folding wing device according to claim 4, characterized in that: The rocker is bent, the first end of the rocker and the second end of the rocker are arranged at an angle, and the control groove is arranged along the first end of the rocker.

6. The folding wing device according to claim 5, characterized in that: The first end of the rocker is provided with two shifting rods parallel to each other, the two shifting rods are both arranged along the first end of the rocker, and the two shifting rods are arranged at intervals to form the control slot between the two shifting rods.

7. The folding wing device according to claim 5, characterized in that: The first end of the rocker is vertically arranged with respect to the second end of the rocker.

8. A drone storage warehouse, characterized in that: It comprises a warehouse body and a folding-wing device as described in any one of claims 1 to 7, wherein the base is slidably matched with the warehouse body.

9. A method for folding the wings of a drone based on the drone storage warehouse of claim 8, characterized in that: The steps include: The controller obtains the drone’s location information; The controller controls the wing-folding device to move under the wing of the UAV; The controller controls the lifting structure to drive the rocker to move under the wing of the UAV; The controller controls the joint module to drive the rocker to rotate and make the rocker engage with the wing; The controller controls the joystick to rotate so that the wings of the drone can be folded.

10. The drone wing folding method according to claim 9, characterized in that: The steps of unfolding the wings are as follows: The controller obtains the drone’s location information; The controller controls the wing-folding device to move under the wing of the UAV; The controller controls the lifting structure to drive the rocker to move under the wing of the UAV; The controller controls the joint module to drive the rocker to rotate and make the rocker engage with the wing; The controller controls the joystick to rotate to unfold the wings of the drone.

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