Highly-integrated unmanned aerial vehicle cluster receiving and transmitting device

Abstract

The invention relates to the technical field of unmanned aerial vehicle receiving and transmitting, and particularly discloses a highly-integrated unmanned aerial vehicle cluster receiving and transmitting device. The top and the side faces of the movable cabin body can be opened and closed, the partition plate is arranged in the movable cabin body and divides the movable cabin body into an upper installation space and a lower installation space, and the lifting mechanisms are arranged in the upper installation space and the lower installation space. The lifting mechanism comprises a first lifting device which moves in the X-axis direction and can be charged, and a second lifting device which moves in the Z-axis direction and can be charged. The first lifting device is arranged in the upper mounting space and the lower mounting space and is in sliding fit with the movable cabin body, and the second lifting device is arranged in the upper mounting space and is in sliding fit with the movable cabin body. Transmitting and receiving of multiple unmanned aerial vehicles can be achieved, and the transmitting and receiving efficiency is high; the device can be arranged on a vehicle for road transportation, can also meet railway transportation and air transportation, and has very high maneuverability.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV transceiver, and more specifically, to a highly integrated UAV cluster transceiver device. Background Art

[0002] With the increasingly wide application of UAVs, the automation requirements for the takeoff, landing, storage and charging of UAV clusters are becoming increasingly urgent.

[0003] Most of the existing UAV cluster transceiver devices are realized in the top space or on one side of the cabin body. The number of UAVs that can be accommodated is small, and the space utilization efficiency is low.

[0004] The device has a low compactness. Due to the low space utilization rate of the above device, when facing the demand of UAV clusters, the device space is relatively large, and the device structure compactness is low, which cannot meet the transceiver requirements of different models of UAVs;

[0005] The deployment time is long and the implementation efficiency is low; for the requirements of simultaneous takeoff, landing, storage and transportation of cluster UAVs, a multi-batch processing method is adopted, that is, the requirements of a single UAV are realized each time, resulting in a long deployment time and low implementation efficiency.

[0006] The UAV cluster transceiver device in the prior art cannot realize the integrated design of centering, locking and charging, and cannot perform separate operations on the UAVs in a storage position, and the work is more flexible. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a highly integrated UAV cluster transceiver device;

[0008] The solution adopted by the present invention to solve the technical problem is:

[0009] A highly integrated UAV cluster transceiver device, including a mobile cabin body that can be opened and closed at the top and side, a partition board arranged in the mobile cabin body and dividing the mobile cabin body into an upper installation space and a lower installation space, and a takeoff and landing mechanism arranged in the upper installation space and the lower installation space;

[0010] The takeoff and landing mechanism includes a first takeoff and landing device that moves along the X-axis direction and can realize charging, and a second takeoff and landing device that moves along the Z-axis direction and can realize charging;

[0011] The first takeoff and landing device is arranged in the upper installation space and the lower installation space and is slidably matched with the mobile cabin body, and the second takeoff and landing device is arranged in the upper installation space and is slidably matched with the mobile cabin body.

[0012] In some possible embodiments, the second take-off and landing device includes a Z-axis take-off and landing platform installed in the upper installation space and moving in the Z-axis direction, and a Z-axis take-off and landing device installed in the upper installation space and used to control the movement of the Z-axis take-off and landing platform.

[0013] In some possible embodiments, the Z-axis take-off and landing device includes a fixed plate installed in the upper installation space, a plurality of screw jacks installed on the fixed plate and in transmission cooperation with the Z-axis take-off and landing platform, and a Z-axis driving member installed on the fixed plate and in transmission connection with the screw jacks.

[0014] In some possible embodiments, the first take-off and landing device includes a support mechanism provided with an installation cavity, two X-axis lifting platforms slidably matched with the installation cavity and moving linearly in the X-axis direction, and two X-axis driving mechanisms installed in the installation cavity and arranged corresponding to the two X-axis lifting platforms one by one; the two X-axis lifting platforms are arranged vertically in the Z-axis direction; when the two lifting platforms are in the retracted state, one of the lower lifting platforms is partially blocked by the upper lifting platform.

[0015] In some possible embodiments, the two X-axis lifting platforms include an upper lifting platform and a lower lifting platform located below the upper lifting platform and having the same structure; the X-axis driving mechanism includes an upper driving component installed in the installation cavity and used in cooperation with the upper lifting platform, and a lower driving component installed in the installation cavity and used in cooperation with the lower lifting platform;

[0016] When the unmanned aerial vehicle takes off and lands, the two driving mechanisms respectively control the X-axis lifting platforms in transmission cooperation with them to move in the direction away from each other along the X-axis direction;

[0017] When retracting, the two driving mechanisms respectively control the X-axis lifting platforms in transmission cooperation with them to move in the direction close to each other along the X-axis direction.

[0018] In some possible embodiments, the Z-axis take-off and landing platform, the upper lifting platform, and the lower lifting platform have the same structure; including a bottom plate, and a centering mechanism installed on the bottom plate and used for centering and locking the unmanned aerial vehicle;

[0019] The centering mechanism includes a centering component one installed on the bottom plate and used to control the movement of the unmanned aerial vehicle, and a centering component two installed on the bottom plate and used to control the movement and locking of the unmanned aerial vehicle; when the centering component one and the centering component two control the movement of the unmanned aerial vehicle, the movement direction of the unmanned aerial vehicle is perpendicular to each other on the horizontal plane;

[0020] The centering component one includes two parallel centering beams, and a centering driving component one in transmission cooperation with the two centering beams and used to control the two centering beams to approach or move away from each other;

[0021] The centering component II is located between the two centering beams and is equidistant from the two centering beams;

[0022] The centering component II includes two locking components with the same structure and symmetrically arranged along the Y-axis direction, a centering drive component II that is in transmission cooperation with the two locking components and is used to control the two locking components to approach or move away from each other, and a plug component that is arranged on one of the locking components and is used in cooperation with the socket component arranged on the landing gear of the drone; the plug component is located above the bottom plate.

[0023] In some possible implementation manners, the centering drive component I includes two bidirectional lead screws I that are symmetrically arranged and rotatably cooperate with the bottom plate, screw A nuts that are sleeved outside the bidirectional lead screws I and are respectively connected to both ends of each centering beam, and a drive device I that is in transmission cooperation with the two bidirectional lead screws I; the two bidirectional lead screws I and the two centering beams cooperate to form a takeoff and landing area; the centering component II is located in the takeoff and landing area.

[0024] In some possible implementation manners, two upper plates that divide the upper installation space into three upper chambers along the Y-axis direction are arranged in the upper installation space; in the upper installation space, one of the first takeoff and landing devices is located in the middle upper chamber of the three upper chambers, and the two second takeoff and landing devices are located in the other two upper chambers;

[0025] One lower plate that divides the lower installation space into two lower chambers along the Y-axis direction is arranged in the lower installation space; the two first takeoff and landing devices are located in the lower chambers;

[0026] A top cover for opening and closing the upper chamber corresponding to the second takeoff and landing device is arranged on the top of the mobile cabin; side cabin doors for opening and closing the upper chambers and lower chambers corresponding to the first takeoff and landing device are arranged on both side surfaces of the mobile cabin along the X-axis direction.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] The present invention can simultaneously realize the receiving and sending of 8 or more drones, and has high receiving and sending efficiency; this device can be configured on a vehicle for road transportation, and also meets railway transportation and air transportation, and has strong mobility;

[0029] The present invention realizes the lifting of the platform by adopting a screw elevator, and reasonably utilizes the space at the top of the shelter; the top lifting form can also include a gear and rack method, a linear module method, an electric cylinder method, etc.;

[0030] The present invention realizes the functions of moving, centering and locking of the drone, the upper lifting platform or the lower lifting platform with a very small space occupation by a drive motor, and has a simple structure and high reliability; the bevel gear transmission and the lead screw transmission realize the front and back centering of the drone, which is stable and reliable;

[0031] The present invention realizes charging through the flexible and tight contact between the plug and the socket, ensuring the reliability of the charging connection;

[0032] The structure of the present invention is simple, realizing the integrated design of centering, locking and charging for the unmanned aerial vehicle (UAV), with high transmission efficiency, which can significantly improve the one-key deployment and one-key retraction time of the entire system; in addition, through the design of independent hatches (side hatches, top covers), the UAVs in each storage position can be operated separately, making the work more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of the present invention;

[0034] Figure 2 is a schematic structural diagram of the present invention when transporting the UAV;

[0035] Figure 3 is a schematic structural diagram of the top cover, Z-direction takeoff and landing platform, Z-direction takeoff and landing device, and UAV in the present invention;

[0036] Figure 4 is a schematic structural diagram of the Z-direction takeoff and landing platform, Z-direction takeoff and landing device, and UAV in the present invention;

[0037] Figure 5 is a schematic structural diagram of the support mechanism, X-direction lifting platform, first driving mechanism, and UAV in the present invention;

[0038] Figure 6 is a usage state diagram of the present invention when the upper lifting platform and the lower lifting platform lift the UAV;

[0039] Figure 7 is a schematic structural diagram of the upper driving assembly, lower driving assembly, and support mechanism of the present invention;

[0040] Figure 8 is Figure 7 an enlarged view of part A in

[0041] Figure 9 is Figure 7 an enlarged view of part B in

[0042] Figure 10 is a schematic structural diagram of the Z-direction takeoff and landing platform, upper lifting platform, and lower lifting platform in the present invention;

[0043] Figure 11 is Figure 10 an enlarged view of part C in

[0044] Figure 12 is a schematic structural diagram of the bottom plate and the second centering driving assembly in the present invention;

[0045] Figure 13 is Figure 12 an enlarged view of part D in

[0046] Figure 14 It is a schematic structural diagram of the locking component in the present invention;

[0047] Figure 15 It is a usage state diagram of using a Z-direction takeoff and landing platform, an upper lifting platform, and a lower lifting platform for UAV transceiver;

[0048] Figure 16 It is a schematic structural diagram of the socket component in the present invention;

[0049] Figure 17 It is a schematic structural diagram of the plug component and the locking claw in the present invention;

[0050] Figure 18 It is Figure 17 explosion diagram;

[0051] Figure 19 It is a schematic diagram of the connection relationship among the top cover, the Y-direction lead screw, the connecting shaft, and the Y-direction driving motor in the present invention;

[0052] Wherein: 100, drone; 10, mobile cabin; 10-1, upper space; 10-2, lower space; 10-3, top cover; 10-4, side cabin door; 10-5, Y-direction lead screw; 10-6, connecting shaft; 10-7, Y-direction driving motor; 20, first takeoff and landing device; 4, support mechanism; 41, support plate; 42, vertical plate; 5, X-direction lifting platform; 51, upper lifting platform; 52, lower lifting platform; 6, first driving mechanism; 61, upper driving component; 611, upper X-direction guide rail; 612, upper X-direction rack; 613, upper gear; 614, upper driving member; 6141, upper driving motor; 6142, upper transmission shaft; 6143, synchronous belt drive structure; 62, lower driving component; 621, lower X-direction guide rail; 622, lead screw A; 6221, lead screw A nut; 623, lower driving member; 6231, lower driving motor; 6232, lower transmission shaft; 30, second takeoff and landing device; 7, Z-direction takeoff and landing platform; 8, Z-direction takeoff and landing device; 81, fixing plate; 82, screw jack; 83, Z-direction driving member; 1, bottom plate; 11, chute; 2, centering component one; 21, centering beam; 22, centering driving component one; 221, bidirectional lead screw one; 222, lead screw nut; 223, driving device one; 2231, transmission shaft; 2232, driving member; 22321, driving motor one; 22322, main straight gear; 22323, driven straight gear; 22324, coupling one; 224, transmission structure; 2241, bevel gear one; 2242, bevel gear two; 3, centering component two; 31, locking component; 311, locking slider; 312, locking claw; 3121, arc groove; 3122, guide rail; 31221, concave cavity; 32, centering driving component two; 321, lead screw two; 322, centering reversing component; 3221, centering reverser; 3222, output shaft A; 323, driving motor two; 324, linear guide rail; 325, coupling two; 326, coupling three; 33, plug component; 331, plug housing; 332, plug insulator; 333, plug spring pin; 34, convex block; 101, vertical rod; 102, horizontal rod; 1021, socket component; 10211, socket housing; 1022, socket insulator; 1023, socket female pin. Detailed implementation manners

[0053] In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection", "fixation" and the like shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside two components or the interaction relationship between two components. The "first", "second" and similar terms mentioned in this application do not represent any order, quantity or importance, but are only used to distinguish different components.

[0054] The present invention will be described in detail below.

[0055] As Figures 1 - 19 shown, a highly integrated transceiver device for a UAV 100 cluster includes a mobile cabin 10 capable of opening and closing at the top and side, a partition plate disposed in the mobile cabin 10 and separating the mobile cabin 10 into an upper installation space 10-1 and a lower installation space 10-2, and a takeoff and landing mechanism disposed in the upper installation space 10-1 and the lower installation space 10-2; when in use, the mobile cabin 10 can move along the Y-axis direction;

[0056] The takeoff and landing mechanism includes a first takeoff and landing device 20 that moves along the X-axis direction and can be charged, and a second takeoff and landing device 30 that moves along the Z-axis direction and can be charged;

[0057] The first takeoff and landing device 20 is disposed in the upper installation space 10-1 and the lower installation space 10-2 and is slidably engaged with the mobile cabin 10 along the X-axis direction;

[0058] The second takeoff and landing device 30 is disposed in the upper installation space 10-1 and is slidably engaged with the mobile cabin 10 along the Z-axis direction; two upper plates that divide the upper installation space 10-1 into three upper chambers along the Y-axis direction are disposed in the upper installation space 10-1; in the upper installation space 10-1, one group of the first takeoff and landing devices 20 is located in the middle upper chamber of the three upper chambers, and two groups of the second takeoff and landing devices 30 are located in the other two upper chambers;

[0059] One lower plate that divides the lower installation space 10-2 into two lower chambers along the Y-axis direction is disposed in the lower installation space 10-2; the other two groups of the first takeoff and landing devices 20 are respectively located in the two lower chambers;

[0060] A top cover 10-3 for opening and closing the upper chamber corresponding to the second takeoff and landing device 30 is disposed on the top of the mobile cabin 10, and the top cover 10-3 moves along the Y-axis direction; side cabin doors 10-4 for opening and closing the upper chamber and the lower chamber corresponding to the first takeoff and landing device 20 are disposed on both side surfaces of the mobile cabin 10 along the X-axis direction.

[0061] Specifically, the top cover 10-3 is slidably disposed on the top of the mobile cabin 10 along the Y-axis direction, and it is provided in one-to-one correspondence with the upper chambers corresponding to the two groups of the second takeoff and landing devices 30. Each group of the top cover 10-3 is opened or closed by a Y-direction driving mechanism installed on the mobile cabin 10;

[0062] Specifically, the Y-direction driving mechanism includes two sets of Y-direction lead screws 10-5 arranged along the Y-axis direction and installed on the top of the mobile cabin 10, and a Y-direction driving member that is in transmission cooperation with the two sets of Y-direction lead screws 10-5 and is located between the two sets of Y-direction lead screws 10-5; the Y-direction driving member includes a connecting shaft 10-6 that is in transmission cooperation with the two sets of Y-direction lead screws 10-5 and is arranged along the X-axis direction, a top cover driving motor 10-7 that is located between the two sets of connecting shafts and is connected to each other through a coupling, and a Y-direction slide rail that is arranged on the mobile cabin 10 and is arranged along the Y-axis direction; a Y-direction chute that is in sliding cooperation with the Y-direction slide rail is arranged on the top cover 10-3; the top cover 10-3 is in transmission connection with the Y-direction lead screw through a Y-direction lead screw nut; the top cover driving motor 10-7 is a double-output shaft driving motor, and the two output shafts of the top cover driving motor 10-7 are on the same straight line and are arranged along the X-axis direction; the connecting shaft 10-6 and the Y-direction lead screw 10-7 are in transmission connection through a commutator.

[0063] During use, the top cover driving motor 10-7 controls the synchronous rotation of the two sets of connecting shafts. The ends of the connecting shafts that are away from each other realize the transmission connection with the Y-direction lead screw 10-5 through a commutator, driving the Y-direction lead screw 10-5 to rotate around its axis, and then realizing the control of the Y-direction lead screw nut and the top cover 10-3 connected to the Y-direction lead screw nut to move along the Y-axis direction, realizing the opening or closing of the top cover 10-3; when the top cover 10-3 is opened, it will move along the Y-axis direction to the side away from the other set of top covers 10-3; when it is closed, the top cover 10-3 will move towards the side close to the other set of top covers 10-3; the thread directions of the two sets of Y-direction lead screws 10-5 are opposite;

[0064] There are two sets of side cabin doors 10-4, which are arranged on both sides along the Y-axis direction. Each set of side cabin doors 10-4 consists of three pieces. Each piece of side cabin door 10-4 is hinged to the mobile cabin 10. An electric cylinder is installed in the mobile cabin 10. One end of the electric cylinder is hinged to the mobile cabin 10 and the other end is hinged to the inner side of the side cabin door 10-4. The upper chamber or the lower chamber corresponding to the first lifting device 20 is opened or closed through the electric cylinder.

[0065] When the drone 100 is retracted, the top cover 10-3 and the side hatch 10-4 are opened. The first landing gear 20 moves along the X-axis direction and is located outside the mobile cabin 10, and the second landing gear 30 moves along the Z-axis direction and is located above the mobile cabin 10. After the first landing gear 20 and the second landing gear 30 move to the designated positions, the drone 100 lands. Subsequently, the first landing gear 20 and the second landing gear 30 center the drone, so that the drone 100 moves to the designated position and then is locked. Then, the first landing gear 20 and the second landing gear 30 return to the mobile cabin 10, realizing the storage and collection of the drone 100. When the locking is in place, the charging operation of the drone 100 will be realized, and there is no need for manual secondary charging operation of the drone 100. Each chamber (upper chamber or lower chamber) for receiving and sending drones corresponds to a set of top cover or side hatch, and can be received and sent independently.

[0066] In some possible implementation manners, in order to effectively enable the second landing gear 30 to realize the receiving and sending of the drone 100, the second landing gear 30 includes a Z-direction landing platform 7 installed in the upper installation space 10-1 and moving along the Z-axis direction, and a Z-direction landing device 8 installed in the upper installation space 10-1 and used to control the movement of the Z-direction landing platform 7.

[0067] In some possible implementation manners, the Z-direction landing device 8 includes a fixing plate 81 installed in the upper installation space 10-1, a plurality of screw jacks 82 installed on the fixing plate 81 and in transmission cooperation with the Z-direction landing platform 7, and a Z-direction driving member 83 installed on the fixing plate 81 and in transmission connection with the screw jacks 82.

[0068] Preferably, the Z-direction driving member 83 includes a double-output shaft driving motor installed on the fixing plate 81, a first commutator respectively connected to the output shafts of the double-output shaft driving motor, and a transmission connection shaft connected to the first commutator and the screw jacks 82.

[0069] Specifically, there are four screw jacks 82, which are respectively installed on the fixing plate 81. The four screw jacks 82 share a set of double-output shaft driving motors to realize driving. The first commutator is a T-shaped structure, including a set of input ends and two sets of output ends. The axis of the set of input ends is perpendicular to the axes of the two sets of output ends. The two sets of output ends coaxially arranged with the first commutator are respectively connected to the two sets of transmission connection shafts, and the other ends of the two sets of transmission connection shafts are in transmission connection with the screw jacks 82. Each output shaft of the double-output shaft driving motor is connected to an input end of a set of first commutators, so as to realize driving the four screw jacks 82 to move synchronously.

[0070] Further, through holes are provided on the Z-direction takeoff and landing platform 7. The Z-direction takeoff and landing platform 7 is sleeved outside the lead screws in each set of screw jacks 82 through the through holes, and is connected to the lead screw nuts sleeved on the lead screws and in screw-threaded engagement with the lead screws. The lead screw nuts are located below the Z-direction takeoff and landing platform 7. By driving the four sets of lead screws to rotate, the four sets of lead screw nuts are driven to move linearly along the Z-axis, so as to realize the lifting of the Z-direction takeoff and landing platform 7 along the Z-axis.

[0071] The screw jack 82 is a prior art, and its internal structure is not an improvement point of the present invention, so it will not be described in detail here.

[0072] In some possible implementation manners, in order to effectively enable the first takeoff and landing device 20 to receive and send the unmanned aerial vehicle 100; the first takeoff and landing device 20 includes a support mechanism 4 installed in the lower installation space 10-2 or the upper installation space 10-1 in the middle of the installation and provided with an installation cavity, two X-direction lifting platforms 5 slidably matched with the installation cavity and moving linearly along the X-axis direction, and two X-direction driving mechanisms 6 installed in the installation cavity and arranged in one-to-one correspondence with the two X-direction lifting platforms 5; the two X-direction lifting platforms 5 are arranged vertically along the Z-axis direction; when the two lifting platforms 5 are in the retracted state, one of the two lifting platforms 5 located below is partially blocked by the other lifting platform 5 located above.

[0073] Specifically, after the unmanned aerial vehicle 100 takes off or docks in place, when the two X-direction lifting platforms 5 are retracted, the two X-direction driving mechanisms 6 control the two X-direction lifting platforms 5 to move closer to each other along the X-axis direction. One of the two lifting platforms 5 located below is partially blocked by the upper lifting platform 5, and the unmanned aerial vehicles 100 on the two lifting platforms 5 do not interfere with each other. Through the above settings, after the two X-direction lifting platforms 5 are retracted, the occupied space is less, and the space utilization rate is greatly improved.

[0074] In some possible implementation manners, the two X-direction lifting platforms 5 include an upper lifting platform 51 and a lower lifting platform 52 located below the upper lifting platform 51 and having the same structure; the X-direction driving mechanism 6 includes an upper driving component 61 installed in the installation cavity and cooperating with the upper lifting platform 51, and a lower driving component 62 installed in the installation cavity and cooperating with the lower lifting platform 52.

[0075] When the unmanned aerial vehicle 100 is lifted or lowered, the two driving components (the upper driving component 61 or the lower driving component 62) respectively control the upper lifting platform 51 or the lower lifting platform 52 in transmission cooperation with them to move in the direction away from each other along the X-axis direction.

[0076] When retracting, the two driving components respectively control the upper lifting platform 51 or the lower lifting platform 52 in transmission cooperation with them to move in the direction close to each other along the X-axis direction.

[0077] Specifically, when the UAV 100 takes off, the upper lifting platform 51 moves synchronously away from each other along the X-axis direction under the control of the upper driving component 61, and the lower lifting platform 52 moves synchronously away from each other along the X-axis direction under the control of the lower driving component 62 to be unfolded; thus, the two UAVs 100 move along the X-axis direction under the control of the driving mechanism until reaching the specified position, and then take off;

[0078] When the UAV 100 lands, the upper lifting platform 51 moves synchronously away from each other along the X-axis direction under the control of the upper driving component 61, and the lower lifting platform 52 moves synchronously away from each other along the X-axis direction under the control of the lower driving component 62 to be unfolded. The two UAVs 100 land at the specified positions of the corresponding lifting platforms 5. Subsequently, the two upper lifting platforms 51 or the two lower lifting platforms 52 will be controlled by the upper driving component 61 or the lower driving component 62 to move towards each other, and then the retraction is completed.

[0079] In order to effectively realize the sliding of the upper lifting platform 51 along the X-axis direction; the upper driving component 61 includes two upper X-axis guide rails 611 located in the installation cavity and slidably matched with the inner side surface of the installation cavity, upper X-axis racks 612 arranged in one-to-one correspondence with the two upper X-axis guide rails 611 and connected to each other, upper gears 613 rotatably installed on the inner side surface of the installation cavity and meshed with the upper X-axis racks 612, and an upper driving member 614 installed in the installation cavity and used to control the two upper gears 613 to rotate synchronously in the same direction; the upper lifting platform 51 is installed on the two upper X-axis guide rails 611; the upper X-axis racks 612 are installed at the bottom of the upper X-axis guide rails 611;

[0080] The support mechanism 4 includes a support plate 41 installed in the mobile cabin 10 and two vertical plates 42 arranged in parallel along the X-axis direction and installed on the support plate 41; the upper gears 613 are rotatably installed on the vertical plates 42 and are located below the upper X-axis guide rails 611; the two vertical plates 42 and the support plate 41 cooperate to form an installation cavity; the two vertical plates 42 are slidably matched with the lifting platform; the axis of the upper gears 613 is arranged along the Y-axis direction;

[0081] Furthermore, the cross-section of the installation cavity is of a U-shaped structure; the upper lifting platform 51 is located in the installation cavity and installed on the two upper X-axis guide rails 611, and a cavity is formed between the bottom of the upper lifting platform 51 and the top surface of the support plate 41; the upper driving component 61, the lower lifting platform 52, and the lower driving component 62 are located in this cavity;

[0082] Specifically, two sets of upper X-direction guide rails 611 are installed on the sides of two sets of vertical plates 42 close to each other; two sets of upper X-direction racks 612 are installed on the upper X-direction guide rails 611 and are in transmission cooperation with an upper driving member 614 through upper gears 613; during use, the upper driving member 614 controls the two sets of upper gears 613 to rotate synchronously and in the same direction, thereby driving the two sets of upper X-direction racks 612 to move along the X-axis direction; since the upper X-direction racks 612 are installed on the upper X-direction guide rails 611, the upper X-direction guide rails 611 are driven to move along the X-axis direction, and finally the lifting platform 51 installed on the two sets of upper X-direction guide rails 611 realizes the movement along the X-axis direction.

[0083] In some possible implementation manners, the upper driving member 614 includes an upper driving motor 6141 installed in the installation cavity, and two sets of upper transmission shafts 6142 installed in the installation cavity and respectively connected to the output shaft of the upper driving motor 6141 through a commutator A; the two sets of upper transmission shafts 6142 are coaxially arranged along the Y-axis direction and are respectively in transmission connection with the two sets of upper gears 613; the commutator A is a T-shaped commutator, including a set of input ends and two sets of output ends, and the axis of the set of input ends is perpendicular to the axes of the two sets of output ends; the input end is connected to the upper driving motor 6141, and the other two coaxially arranged output ends are respectively connected to the upper transmission shafts 6142 through couplings;

[0084] Specifically, the two sets of upper transmission shafts 6142 are arranged along the Y-axis direction and are respectively connected to the output ends of the commutator A; the commutator A drives the two sets of upper transmission shafts 6142 to rotate synchronously and in the same direction, thereby driving the two sets of upper gears 613 to rotate synchronously and in the same direction;

[0085] Furthermore, a support bearing for supporting the upper transmission shaft 6142 and enabling the upper transmission shaft 6142 to rotate in cooperation with the support plate 41 is provided on the support plate 41.

[0086] Synchronous belt transmission structures 6143 in transmission cooperation with the upper gears 613 are respectively arranged at the ends of the two sets of upper transmission shafts 6142 away from each other.

[0087] In order to effectively realize the transmission cooperation between the upper transmission shaft 6142 and the upper gear 613 through the synchronous belt transmission structure 6143; the synchronous belt transmission structure 6143 includes a main pulley installed on the upper transmission shaft 6142 and coaxially arranged with the upper transmission shaft 6142, a driven pulley installed on the upper gear 613 and coaxially arranged with the upper gear 613, and a synchronous belt in transmission connection with the main pulley and the driven pulley;

[0088] Main pulleys are coaxially installed at the ends of the two sets of upper transmission shafts 6142 away from each other, driven pulleys are coaxially installed on the upper gears 613, and when the main pulley rotates, the synchronous belt will drive the driven pulley to rotate, thereby realizing the rotation of the upper gear 613 around the Y-axis direction and enabling the upper X-direction rack 612 to move along the X-axis direction.

[0089] In some possible embodiments, in order to effectively achieve the sliding of the lower lifting platform 52 in the X-axis direction; the lower driving assembly 62 includes two groups of lower X-axis guide rails 621 respectively located below the upper X-axis guide rails 611 and slidably engaged with the inner side of the installation cavity, two groups of lead screws A 622 arranged along the X-axis direction and rotatably installed in the installation cavity, and a lower driving member 623 installed in the installation cavity and drivingly engaged with the two groups of lead screws A 622; the lead screw A 622 and the lower X-axis guide rail 621 are connected by a lead screw A nut 6221 sleeved on the lead screw A;

[0090] The two groups of lead screws A 622 are rotated to the support plate 41 through bearings. The two groups of lower X-axis guide rails 621 are respectively installed on the two vertical plates 42 and located below the corresponding upper X-axis guide rails 611; the lead screw A nut 6221 is sleeved on the outside of the lead screw A 622 and is in screw fit with the lead screw A 622. When the lower driving member 623 drives the two groups of lead screws A 622 to rotate synchronously and in the same direction around the X-axis direction, the two groups of lead screw A nuts 6221 will move along the length direction of the lead screw A 622, thereby causing the lower lifting platform 52 installed on the lower X-axis guide rail 621 to move in the X-axis direction.

[0091] In some possible embodiments, the lower driving member 623 includes a lower driving motor 6231 installed in the installation cavity, two groups of lower transmission shafts 6232 installed in the installation cavity and respectively connected to the output shaft of the lower driving motor 6231 through a commutator B, a driving wheel arranged at the mutually remote ends of the two groups of lower transmission shafts 6232, and a driven wheel arranged at one end of the lead screw A 622 and meshed with the driving wheel; the two groups of lower transmission shafts 6232 are coaxially arranged along the Y-axis direction;

[0092] The commutator B has the same structure as the commutator A and is also a T-shaped commutator. One of the input ends is connected to the lower driving motor 6231, and the other two coaxially arranged shaft output ends are respectively connected to the lower transmission shafts 6232 through couplings. The axis of one input end is perpendicular to the axes of the two output ends; through the cooperation of the lower driving motor 6231 and the commutator B, the two groups of lower transmission shafts 6232 are synchronously rotated in the same direction, thereby driving the driving wheel to rotate, so that the driven wheel meshed with the driving wheel drives the lead screw A 622 to rotate, realizing the movement of the lead screw A nut 6221 along the length direction of the lead screw A 622 to drive the lower lifting platform to move in the X-axis direction.

[0093] The upper X-axis guide rail 611 and the lower X-axis guide rail 621 have the same structure and are both multi-stage guide rails; specifically, the upper X-axis guide rail 611 includes an upper slide plate arranged on the vertical plate 42 and slidably engaged with the upper X-axis guide rail 611, an upper slide rail 1 arranged along the X-axis direction with the upper slide plate, and an upper slide rail 2 slidably engaged with the upper slide rail 1; chute A is respectively arranged on both sides of the upper slide rail 1 close to the upper slide plate and the upper slide rail 2; the upper slide rail 2 is connected to the upper X-axis rack 612;

[0094] The lower X-direction guide rail 621 includes a lower slide plate disposed on the vertical plate 42 and slidably engaged with the lower X-direction guide rail 621, a first lower slide rail disposed along the X-axis direction with the lower slide plate, and a second lower slide rail slidably engaged with the first lower slide rail; chutes B are respectively disposed on both sides of the first lower slide rail close to the lower slide plate and the second lower slide rail; the second lower slide rail is connected to the lead screw A nut 6221.

[0095] The upper X-direction guide rail 611 and the lower X-direction guide rail 621 are arranged as a multi-stage guide rail 3122, so that the moving distance along the X-axis direction is longer, which is more conducive to the lifting of the drone 100.

[0096] In some possible implementation manners, the Z-direction takeoff and landing platform 7, the upper lifting platform 51, and the lower lifting platform 52 have the same structure; including a bottom plate 1, and a centering mechanism installed on the bottom plate 1 and used for centering and locking the drone 100.

[0097] The centering mechanism includes a first centering component 2 installed on the bottom plate 1 and used for controlling the movement of the drone 100, and a second centering component 3 installed on the bottom plate 1 and used for controlling the movement and locking of the drone 100; when the first centering component 2 and the second centering component 3 control the movement of the drone 100, the moving directions of the drone 100 are perpendicular to each other in the horizontal plane.

[0098] As Figure 10 shown, the first centering component 2 includes two groups of centering beams 21 arranged in parallel with each other, and a first centering drive component 22 in transmission cooperation with the two groups of centering beams 21 and used for controlling the two groups of centering beams 21 to approach or move away from each other; the second centering component 3 is located between the two groups of centering beams 21 and is equidistant from the two groups of centering beams 21.

[0099] The second centering component 3 includes two groups of locking components 31 with the same structure and arranged symmetrically, a second centering drive component 32 in transmission cooperation with the two groups of locking components 31 and used for controlling the two groups of locking components 31 to approach or move away from each other, and a plug component 33 disposed on one of the two groups of locking components 31 and used in cooperation with a socket component 1021 disposed on the landing gear of the drone 100; the plug component 33 is located above the bottom plate 1.

[0100] When the drone 100 is not docked on the bottom plate 1, the two groups of centering beams 21 and the two groups of locking components 31 cooperate to form a large area, the locking components 31 will be located within the large area, and the distances from the two groups of centering beams 21 are equal.

[0101] As Figure 1 shown, the centering beams 21 in the first takeoff and landing device 20 are arranged parallel to each other along the Y-axis direction and slide along the X-axis direction, and the centering beams 21 in the second takeoff and landing device 00 are arranged parallel to each other along the X-axis direction and slide along the Y-axis direction.

[0102] As shown Figure 10 in the figure, in the first landing and takeoff device 20, the locking components 31 are symmetrically arranged along the X-axis direction and slide along the Y-axis direction; specifically as follows: after the drone 100 lands in a large area, first, the centering drive component one 22 controls the two centering beams 21 to move linearly synchronously along the X-axis direction and approach each other until the inner sides of the two centering beams 21 respectively contact and abut against the landing gear of the drone 100, realizing the centering of the drone 100 in the X-axis direction; subsequently, the centering drive component two 32 controls the two locking components 31 to move linearly synchronously along the Y-axis direction and approach each other until the inner sides of the two locking components 31 respectively contact and abut against the landing gear of the drone 100, realizing the centering and locking of the drone 100 in the Y-axis direction; through the centering in the X-axis direction and the Y-axis direction, the centering docking and locking of the drone 100 on the bottom plate 1 are further realized;

[0103] Furthermore, the landing gear of the drone 100 includes a vertical rod 101 located at the bottom of the fuselage of the drone 100, and a cross rod 102 connected to the vertical rod 101 and arranged along the X-axis direction;

[0104] There are two cross rods 102. After docking on the bottom plate 1, the two cross rods 102 are arranged along the X-axis direction. Each cross rod 102 is connected to the bottom of the fuselage of the drone 100 through two vertical rods 101; when centering in the X-axis direction, the two centering beams 21 will contact and abut against the outer side surface of the vertical rod 101 and be located above the cross rod 102; when centering in the Y-axis direction, the two locking components 31 will contact and abut against the mutually away sides of the two cross rods 102.

[0105] Conversely, the centering drive component one 22 controls the two centering beams 21 to move away from each other along the X-axis direction; the centering drive component two 32 controls the two locking components 31 to move away from each other along the Y-axis direction, so that the drone 100 is no longer locked, and the takeoff operation can be carried out.

[0106] The centering drive component two 32 realizes the centering of the drone 100 in the Y-axis direction on the one hand and simultaneously realizes the fixation of the drone 100, making the operation simpler and more convenient.

[0107] To effectively achieve charging of the drone 100 through the centering component two 32 after the drone 100 docks in the centered position, the plugging and unplugging operation of secondary charging is avoided, and the plugging force is prevented from affecting the docking position of the drone 100; the socket component 1021 is installed on the crossbar 102 and located outside the crossbar 102, and the socket component 1021 is connected to the inside of the drone 100 fuselage; the plug component 33 is located above the bottom plate 1 and is in sliding fit with the bottom plate 1. When the two locking components 31 approach each other along the Y-axis direction, the plug component 33 will be inserted into the socket component 1021. After centering and locking, the plug component 33 is completely inserted into the socket component 1021; the plug component 33 is externally connected to a charger to achieve charging of the drone 100;

[0108] Further, the socket component 1021 includes a socket housing 10211 installed on the crossbar 102, a socket insulator 1022 installed in the socket housing 10211, and socket female pins 1023 installed on the socket insulator 1022; the socket female pins 1023 are connected to the battery on the drone 100 fuselage through a cable;

[0109] The plug component 33 includes a plug housing 331 installed between and connected to the two locking claws 312, a plug insulator 332 installed in the plug housing 331, and plug spring male pins 333 installed on the plug insulator 332 and inserted and mated with the socket female pins 1023; the plug spring male pins 333 are connected to the charger through a cable;

[0110] Further, to facilitate the guiding and docking of the locking claws 312 and the plug component 33; a guide rail 3122 is provided on one side of the locking claw 312 close to the plug housing 331; a convex block 34 that is in sliding fit with the guide rail 3122 is provided on the outside of the plug housing 331; a concave cavity 31221 that is in sliding fit with the convex block 34 along the Y-axis direction is provided on one side of the guide rail 3122 close to the plug housing 331; the concave cavity 31221 and the convex block 34 are in clearance fit, so that the plug component 33 has a certain flexibility.

[0111] To effectively achieve the synchronous movement of the two centering beams 21 along the X-axis direction through the centering drive component one 22 to approach or move away from each other; the centering drive component one 22 includes two bidirectional lead screws one 221 that are symmetrically arranged along the X-axis direction and are rotationally fitted with the bottom plate 1, screw nuts 222 sleeved outside the bidirectional lead screws one 221 and respectively connected to both ends of each centering beam 21, and a drive device one 223 that is in transmission fit with the two bidirectional lead screws one 221; the two bidirectional lead screws one 221 and the two centering beams 21 cooperate to form a takeoff and landing area; the centering component two 3 is located in the takeoff and landing area; the long direction of the bidirectional lead screw one 221 is arranged along the X-axis direction;

[0112] Each pair of double lead screws 221 includes two thread segments with opposite thread pitches, and an intermediate segment disposed between the two thread segments with opposite thread pitches. The centering assembly two 3 is located within the area formed by the two intermediate segments and the two centering beams 21. Each thread segment is connected to the end of the corresponding centering beam 21 through a lead screw nut 222. The thread pitches of the same-side thread segments of the two pairs of double lead screws 221 are the same.

[0113] During centering, the driving device one 223 is activated to synchronously drive the two pairs of double lead screws 221 to rotate around their axes. The two pairs of double lead screws 221 rotate in the same direction and drive the four lead screw nuts 222 to move along the axes of the corresponding double lead screws 221, thereby causing the two centering beams 21 to approach each other. The setting of the double lead screws 221 will restrict the lead screw A nut 6221 from rotating axially around the corresponding double lead screw 221. The two thread segments of each pair of double lead screws 221 have opposite thread pitches. The two lead screw nuts 222 that cooperate with the double lead screw 221 include a left-handed lead screw nut that cooperates with one of the thread segments and a right-handed lead screw nut that cooperates with the other thread segment. The thread pitches of the same-side threads of the two pairs of double lead screws 221 are the same.

[0114] To effectively install the double lead screw 221, a lead screw transmission seat that rotatably cooperates with the double lead screw 221 is provided on the bottom plate 1. Each pair of double lead screws 221 is provided with two lead screw transmission seats, which are located at both ends of the double lead screw 221.

[0115] In some possible implementation manners, the driving device one 223 includes two drive shafts 2231 coaxially arranged along the Y-axis direction, and a driving member 2232 connected to the two drive shafts 2231 respectively and located between the two drive shafts 2231. The two drive shafts 2231 share one driving member 2232. Transmission structures 224 that are in transmission cooperation with the double lead screw 221 are respectively provided at the ends of the two drive shafts 2231 that are away from each other.

[0116] In some possible implementation manners, the driving member 2232 includes a driving motor one 22321, a main spur gear 22322 coaxially connected to the output shaft of the driving motor one 22321, and a driven spur gear 22323 located between the two drive shafts 2231 and connected to the two drive shafts 2231 respectively through a coupling one 22324. The main spur gear 22322 meshes with the driven spur gear 22323.

[0117] Specifically, the first driving motor 22321 starts, drives the driven spur gear 22323 to rotate through the main spur gear 22322, and drives the transmission shaft 2231 to rotate around its axis under the drive of the first coupling 22324. Since the two groups of transmission shafts 2231 are drivingly connected to the same-side ends of the first bidirectional lead screw 221 through the transmission structure 224, the two groups of the first bidirectional lead screws 221 rotate around their axes. When the two groups of the first bidirectional lead screws 221 rotate synchronously, their rotation directions are the same;

[0118] When the first driving motor 22321 receives a rotation instruction, it drives the main spur gear 22322 to rotate, thereby driving the driven spur gear 22323 to rotate. The power is distributed to the two groups of transmission shafts 2231 through the two first couplings 22324, and then transmitted to the two symmetrically arranged first bidirectional lead screws 221 through the transmission structure 224, driving the first bidirectional lead screws 221 to rotate, thereby driving the two lead screw A nuts 6221 on each first bidirectional lead screw 221 to move, and further driving the two centering beams 21 to perform equal-speed reverse movement. The centering beam 21 acts on the vertical rod 101 of the unmanned aerial vehicle 100 to achieve centering of the unmanned aerial vehicle 100 in the Y-axis direction. <(

[0119] In some possible implementation manners, in order to effectively realize the driving connection between the two groups of transmission shafts 2231 and the two groups of the first bidirectional lead screws 221; the transmission structure 224 includes a first bevel gear 2241 coaxially connected to one end of a driving device one 223 connected to the transmission shaft 2231, and a second bevel gear 2242 mounted on the first bidirectional lead screw 221 and meshing with the first bevel gear 2241.

[0120] In some possible implementation manners, in order to effectively achieve centering and locking of the unmanned aerial vehicle 100 in the Y-axis direction through the locking assembly 31; the locking assembly 31 includes a locking slider 311 drivingly connected to the second centering driving assembly 32 and sliding along the Y-axis direction, and a locking claw 312 mounted on the locking slider 311; the locking slider 311 is disposed at the bottom of the bottom plate 1 and slidably cooperates with the bottom plate 1; a chute 11 for cooperating with the locking claw 312 is disposed on the bottom plate 1 along the Y-axis direction; the locking claw 312 is located in the chute 11 and one end away from the locking slider 311 passes through the bottom plate 1; one end of the locking claw 312 passes through the chute 11 and is connected to the locking slider 311. Driven by the second centering driving assembly 32, the two locking sliders 311 approach each other along the Y-axis direction, thereby driving the locking claws 312 to approach each other to achieve centering and final locking of the unmanned aerial vehicle 100 in the Y-axis direction; an arc-shaped groove 3121 for cooperating with the cross bar 102 is disposed on the side where the locking claws 312 in the two groups of the locking assemblies 31 approach each other.

[0121] When centering and locking the drone 100 in the Y-axis direction, the centering drive component two 32 controls the two groups of locking sliders 311 to approach each other along the X-axis direction, thereby driving the locking claws 312 to approach each other along the Y-axis direction, so that the mutually approaching sides of the two groups of locking claws 312 are respectively in contact with the outer side surface of the cross bar 102 to achieve centering in the Y-axis direction; the contact area between the locking claw 312 and the cross bar 102 is increased through the setting of the arc groove 3121. After centering, the cross bar 102 will be located within the arc groove 3121 to achieve locking; the plug component 33 is fixedly connected to the locking claw 312. When the locking claw 312 moves along the Y-axis direction, it drives the plug component 33 to move along the Y-axis direction to achieve charging.

[0122] Specifically, there are two locking claws 312 provided on each group of locking sliders 311 and they are symmetrically arranged along the Y-axis direction. The sliding grooves 11 will be two groups and are used in cooperation with the two groups of locking claws 312; when there are two locking claws 312 on the locking slider, the plug component 33 will be located between the two groups of locking claws 312. At this time, the sliding grooves 11 in each group of locking components 31 will also be two groups.

[0123] In some possible implementation manners, in order to effectively drive the two groups of locking sliders 311 to approach or move away from each other along the Y-axis direction by the centering drive component two 32; the centering drive component two 32 is installed at the bottom of the bottom plate 1, and includes a lead screw two 321 coaxially arranged along the Y-axis direction and corresponding to the two groups of locking sliders 311 one by one, a centering reversing component 322 arranged between the two lead screws two 321 and in transmission cooperation with the two lead screws two 321, a drive motor two 323 in transmission connection with the centering reversing component 322, and a linear guide 324 slidably matched with the locking slider 311 along the Y-axis direction; the lead screw two 321 is a ball screw; there are two linear guides 324;

[0124] The lead screw two 321 is rotationally matched with the bottom plate 1, and the locking slider 311 is sleeved outside the lead screw two 321 and is in screw connection with the lead screw two 321.

[0125] When centering in the Y-axis direction, the drive motor two 323 is started, and the two lead screws two 321 are driven by the centering reversing component 322 to rotate around their axial directions and the rotation directions are opposite; the locking slider 311 is sleeved outside the lead screw two 321 and is in screw connection with the lead screw two 321 through the lead screw A nut 6221 two. Under the limitation of the linear guide 324, each group of locking sliders 311 can only move along the Y-axis direction; thereby driving the locking claws 312 on the two groups of locking components 31 to approach each other;

[0126] Further, the output shaft of the second driving motor 323 is arranged along the X-axis direction and is connected to the centering and commutation assembly 322 through the second coupling 325; the centering and commutation assembly 322 includes a centering commutator 3221 connected to the second coupling 325; the centering commutator 3221 includes two output shafts A 3222 coaxially arranged with and respectively connected to the two second lead screws 321; the two output shafts A 3222 are respectively connected to the second lead screws 321 through the third couplings 326.

[0127] Under the control of the second driving motor 323, the two output shafts A 3222 rotate in opposite directions around their axes; thus, the two second lead screws 321 are driven to rotate in opposite directions through the third couplings 326;

[0128] The driving force of the second driving motor 323 is transformed into two equal and opposite torques through the centering commutator 3221, respectively driving the two second lead screws 321 to rotate at the same speed in opposite directions, driving the two locking slider groups 311 to perform linear motion at the same speed in opposite directions; the locking claws 312 act on the cross bar 102 of the drone 100 to achieve centering and locking of the drone 100 in the Y-axis direction. Similarly, as Figure 1 shown, the centering beams 21 in the second take-off and landing device 30 are arranged parallel to each other along the X-axis direction and slide along the X-axis direction; the locking assemblies 31 are symmetrically arranged along the Y-axis direction and slide along the X-axis direction, and their working principles are the same as those of the second take-off and landing device 30, which will not be elaborated here.

[0129] The present invention extends to any new feature or any new combination disclosed in this specification, and to any new method or process step or any new combination disclosed.

Claims

1. A highly integrated transceiver device for an unmanned aerial vehicle cluster, characterized in that, It includes a mobile cabin that can be opened and closed at the top and side, a partition board arranged inside the mobile cabin and separating the mobile cabin into an upper installation space and a lower installation space, and a take-off and landing mechanism arranged in the upper installation space and the lower installation space; The take-off and landing mechanism includes a first take-off and landing device that moves along the X-axis direction and can achieve charging, and a second take-off and landing device that moves along the Z-axis direction and can achieve charging; The first take-off and landing device is arranged in the upper installation space and the lower installation space and is slidably matched with the mobile cabin, and the second take-off and landing device is arranged in the upper installation space and is slidably matched with the mobile cabin.

2. The highly integrated UAV cluster transceiver device according to claim 1, characterized in that The second take-off and landing device includes a Z-direction take-off and landing platform arranged in the upper installation space and moving along the Z-axis direction, and a Z-direction take-off and landing device arranged in the upper installation space and used to control the movement of the Z-direction take-off and landing platform.

3. The highly integrated UAV cluster transceiver device according to claim 2, characterized in that, The Z-direction take-off and landing device includes a fixed plate arranged in the upper installation space, multiple sets of screw lifts installed on the fixed plate and in transmission cooperation with the Z-direction take-off and landing platform, and a Z-direction driving part installed on the fixed plate and in transmission connection with the screw lift.

4. The highly integrated UAV cluster transceiver device according to claim 2, characterized in that, The first take-off and landing device includes a support mechanism provided with an installation cavity, two groups of X-direction lift platforms that are slidably matched with the installation cavity and perform linear motion along the X-axis direction, and two groups of X-direction driving mechanisms installed in the installation cavity and corresponding to the two groups of X-direction lift platforms one by one; the two groups of X-direction lift platforms are arranged vertically along the Z-axis direction; when the two groups of lift platforms are in the retracted state, one of the groups of lift platforms located below will be partially blocked by the group of lift platforms above.

5. The highly integrated UAV cluster transceiver device according to claim 4, characterized in that, The two groups of X-direction lift platforms include an upper lift platform and a lower lift platform located below the upper lift platform and having the same structure; the X-direction driving mechanism includes an upper driving component installed in the installation cavity and used in cooperation with the upper lift platform, and a lower driving component installed in the installation cavity and used in cooperation with the lower lift platform; When the unmanned aerial vehicle takes off and lands, the two groups of driving mechanisms respectively control the X-direction lift platforms in transmission cooperation with them to move along the X-axis direction towards the mutually far side direction; When retracting, the two groups of driving mechanisms respectively control the two groups of X-direction lift platforms in transmission cooperation with them to move along the X-axis direction towards the mutually close side direction.

6. The highly integrated UAV cluster transceiver device according to claim 5, characterized in that The Z-direction take-off and landing platform, the upper lift platform, and the lower lift platform have the same structure; it includes a bottom plate and a centering mechanism installed on the bottom plate and used for centering and locking and fixing the unmanned aerial vehicle; The centering mechanism includes a first centering component installed on the bottom plate and used to control the movement of the unmanned aerial vehicle, and a second centering component installed on the bottom plate and used to control the movement and locking of the unmanned aerial vehicle; when the first centering component and the second centering component control the movement of the unmanned aerial vehicle, the movement direction of the unmanned aerial vehicle is perpendicular to each other on the horizontal plane; The first centering component includes two groups of mutually parallel centering beams and a first centering driving component in transmission cooperation with the two groups of centering beams and used to control the two groups of centering beams to approach or move away from each other; The second centering component is located between the two groups of centering beams and is equidistant from the two groups of centering beams; The centering component two includes two sets of locking components with the same structure and symmetrically arranged along the Y-axis direction, a centering drive component two that is in transmission cooperation with the two sets of locking components and is used to control the two sets of locking components to approach or move away from each other, and a plug component that is arranged on one of the locking components and is used in cooperation with the socket component arranged on the landing gear of the drone; the plug component is located above the bottom plate.

7. The highly integrated UAV cluster transceiver device according to claim 6, wherein, The centering drive component one includes two sets of bidirectional lead screws one that are symmetrically arranged and rotatably matched with the bottom plate, lead screw nuts sleeved outside the bidirectional lead screws one and respectively connected to both ends of each centering beam, and a drive device one that is in transmission cooperation with the two sets of bidirectional lead screws one; the two sets of bidirectional lead screws one and the two sets of centering beams cooperate to form a takeoff and landing area; the centering component two is located in the takeoff and landing area.

8. The highly integrated UAV cluster transceiver device according to claim 6, wherein The locking component includes a locking slider that is in transmission connection and sliding with the centering drive component two, and a locking claw installed on the locking slider; a chute that is used in cooperation with the locking claw is arranged on the bottom plate; the locking claw is located in the chute and the end far from the locking slider passes through the bottom plate; the locking slider is installed below the bottom plate and is slidably matched with the bottom plate; arc-shaped grooves are arranged on the sides where the locking claws in the two sets of locking components approach each other.

9. The highly integrated UAV cluster transceiver device according to claim 8, characterized in that, The centering drive component two is installed at the bottom of the bottom plate and includes lead screws two that are coaxially arranged and correspond to the two sets of locking sliders one by one, a centering commutation component arranged between the two sets of lead screws two and in transmission cooperation with the two sets of lead screws two, a drive motor two that is in transmission connection with the centering commutation component, and linear guides that are slidably matched with the locking sliders. The lead screw two is rotatably matched with the bottom plate, and the locking slider is sleeved outside the lead screw two and is in screw connection with the lead screw two.

10. A highly integrated UAV cluster transceiver device according to any one of claims 1-9, characterized in that, Two upper plates that divide the upper installation space into three upper chambers along the Y-axis direction are arranged in the upper installation space; in the upper installation space, one of the first takeoff and landing devices is located in the middle upper chamber of the three upper chambers, and the two second takeoff and landing devices are located in the other two upper chambers. A lower plate that divides the lower installation space into two lower chambers along the Y-axis direction is arranged in the lower installation space; the two first takeoff and landing devices are located in the lower chambers. A top cover for opening and closing the upper chamber corresponding to the second takeoff and landing device is arranged on the top of the mobile cabin; side cabin doors for opening and closing the upper chambers and lower chambers corresponding to the first takeoff and landing device are arranged on the two side surfaces of the mobile cabin along the X-axis direction.

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