UAV nest propeller retraction mechanism and control method

Abstract

The present invention provides a propeller retraction mechanism and control method for a drone nest, belonging to the technical field of drone storage. The invention comprises a nest, a lifting mechanism, a supporting platform and two sets of hatch covers, with a top rail, a sliding bar and a shift fork driven by a dual-axis servo at the bottom of the hatch cover. The present invention sets a linkage between the shift fork and the hatch cover and the lifting mechanism. The dual-axis servo drives the shift fork to shift the rotor at any position, and the propeller blades are folded in conjunction with the hatch cover closing and the supporting platform lifting. The drone does not need to control the stop position of the propeller blades, which simplifies the structure and control link, improves the efficiency, robustness and adaptability of the retraction, is applicable to a variety of drone models, and ensures the stability of the retraction.

Description

Technical Field

[0001] The present invention relates to the technical field of drone storage, and in particular to a drone nest propeller retracting mechanism and a control method. Background Art

[0002] The design of drone nests is developing towards miniaturization and lightweight, and the size and weight of the nests largely depend on whether the drone blades can be effectively retracted inside the nest.

[0003] Currently, there are two major problems with the existing drone nest propeller retraction mechanism: first, the mechanical structure is complex, resulting in a large nest size and increased weight, which makes it difficult to meet the needs of miniaturization and lightweighting; second, the propeller retraction process relies on the communication coordination between the nest and the drone, and it is necessary to control the drone to slowly rotate the blades to adjust the stopping position. The control link is complex and lacks robustness, which affects the propeller retraction efficiency and stability.

[0004] These problems restrict the further optimization of the drone nest, so there is an urgent need for a propeller retraction solution with simplified structure and efficient control. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a propeller retraction mechanism and control method for a drone nest. By setting a linkage between a shift fork and a hatch and a lifting mechanism, a dual-axis servo drives the shift fork to shift the rotor at any position, and cooperates with the hatch closing and the lifting of the carrier platform to realize the folding of the blades. There is no need for the drone to control the stop position of the blades, which simplifies the structure and control link, improves the propeller retraction efficiency, robustness and adaptability, is applicable to a variety of drone models, and ensures the stability of the propeller retraction, so as to solve the problems of the existing drone nest propeller retraction mechanism having a complex structure, resulting in large size and high weight, and a complex control link, and insufficient robustness, propeller retraction efficiency and stability.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A propeller retracting mechanism for a drone nest comprises a nest and a lifting mechanism, wherein the lifting mechanism is mounted on the inner wall at the bottom of the nest, a carrying platform is mounted on the output end of the lifting mechanism at the top, and the carrying platform can carry a drone, push grooves are provided on both sides of the nest top, a hatch electric push rod is mounted in the middle of the push grooves, limited position slides are fixedly mounted on the inner walls on both sides of the nest top, and hatch covers are mounted on both sides of the nest top;

[0008] Top rails are fixedly installed on both sides of the bottom of the hatch, a sliding bar is provided at the front end of the top rail, a shift fork is provided at the bottom of the sliding bar, and the shift fork can be used in conjunction with the rotor of the drone.

[0009] Optionally, push plates are fixedly installed on the inner walls on both sides of the bottom of the hatch cover, the push plates are slidably connected to the corresponding push grooves, and the hatch door electric push rod in the middle of the push grooves is fixedly connected to the corresponding push plate end walls, and limit plates are fixedly installed on both sides of the bottom of the hatch cover, and the limit plates are slidably connected to the corresponding limit slides, and the hatch cover is slidably connected to the top of the machine nest through the cooperation of the limit plates and the limit slides.

[0010] Optionally, an inner slot is provided on the end wall of the top rail, a sliding column is fixedly installed on the end wall of the sliding bar, the sliding column is used in conjunction with the inner slot, and the sliding bar is slidingly connected to the top rail, a dual-axis servo is fixedly installed on the bottom front end of the sliding bar, and the shift fork is fixedly connected to the output end of the dual-axis servo.

[0011] Optionally, top slide grooves are provided on both sides of the bottom of the hatch cover, and a slider is fixedly installed on the top of the sliding bar. The slider is located in the top slide groove and is slidably connected to the top slide groove. A stop block is fixedly installed on the inner wall of the front end of the top slide groove, and the stop block is in movably contact with the slider. A spring is fixedly installed on the inner wall of the inner slot, and the front end of the spring is fixedly connected to the end wall of the slide column. A top block is fixedly installed on the front end wall of the sliding bar, and the two opposite groups of top blocks are movably contacted. The front end of the top block can be flush with the end face of the hatch cover at the inward movement limit position.

[0012] Optionally, the lifting mechanism includes a base, the bottom of the base is fixedly connected to the inner wall of the machine nest, the inner walls at both ends of the middle of the base are rotatably connected with screws, the top of the base is fixedly installed with a motor, and the output end of the motor is fixedly connected to the end wall of the screw, and the top of both ends of the base are fixedly installed with a base, and the two groups of the inner walls of the base are fixedly installed with the same sliding rod, the sliding rod is slidably connected with a slide, and the bottom of the slide is meshed with the screw, and both sides of the slide are rotatably connected to an X-shaped movable frame, and the other ends of the bottoms of the two groups of X-shaped movable frames are respectively rotatably connected to the two sides of the base on the right side, and the top of the two groups of X-shaped movable frames are installed with the same lifting platform, the two sides of the right end of the lifting platform are rotatably connected to the X-shaped movable frame, and the two sides of the left end are slidably connected to the X-shaped movable frame, and the bearing platform is fixedly connected to the top of the lifting platform.

[0013] Optionally, a method for controlling a propeller retracting mechanism of a drone nest further includes the following specific operating steps:

[0014] S1: When the drone needs to return to the nest, the push plate is pushed by the electric push rod in the push slot. Under the action of the limit plate and the limit slide, the two sets of hatches can slide outward to expose the nest. At the same time, the motor is driven to make the lifting mechanism work and push the carrier out.

[0015] S2: After the drone lands on the platform, the platform can position the drone in the center of the platform. At this time, the driving motor causes the lifting mechanism to drive the platform downward, and at the same time, the hatch electric push rod in the push slot is driven to close the two sets of hatches. While the platform drives the drone downward, the dual-axis servo drives the shift fork to rotate 90 degrees clockwise, thereby driving the rotor to rotate so that it is located between the two sets of blades. The platform can be used to move the wing stopped at any position, without the need for the drone to control the slow rotation of the blades to control the wing stop position;

[0016] S3: As the hatch closes, the shift fork moves inward, pressing the drone's rotor, forcing the two sets of blades to fold inward. When the platform drives the drone to the bottom, the drone's rotor separates from the shift fork, completing the folding of the drone's rotor.

[0017] S4: As the hatch cover closes further, the two opposing sets of top blocks come into contact. The sliding bar then drives the slide column to slide in the inner slot, compressing the spring. When the two sets of hatch covers are fully closed, the end faces of the top blocks coincide with the end faces of the hatch covers. The dual-axis servo drives the shift forks to rotate, causing the four forks to rotate 90° counterclockwise, completing the retraction of the forks and closing the hatch cover.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects:

[0019] In the above solution, the propeller mechanism (slide bar, fork, dual-axis servo, etc.) is integrated with the hatch cover to reduce redundant components. At the same time, the lifting mechanism adopts a simple structure of X-shaped movable frame and screw drive, which simplifies the internal structure of the engine nest as a whole, effectively reducing the volume and weight of the engine nest, meeting the design requirements of miniaturization and lightweight. At the same time, the rotor is directly moved by the dual-axis servo to drive the fork, which can adapt to any position where the rotor stops. There is no need for the drone to participate in the blade position control. The propeller retraction action can be completed only through the linkage of the hatch door electric push rod and the lifting mechanism, eliminating the complex communication link and significantly improving the system's ability to work stably (robustness) under various working conditions.

[0020] The dual-axis servo precisely controls the shift fork to rotate 90°, quickly moving the rotor to the folding preparation position. When the hatch is closed, the shift fork pushes the rotor inward, and the support platform moves downward to fold the blades. The entire process is smooth and efficient, shortening the propeller retraction time compared to traditional solutions. At the same time, the spring in the inner slot provides a buffer for the sliding bar, avoiding damage caused by rigid contact between the shift fork and the rotor, further improving the reliability of the propeller retraction action. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable one skilled in the art to make and use the invention.

[0022] Figure 1 This is a schematic diagram of the working of the shift fork during the retraction process of the UAV rotor;

[0023] Figure 2 Schematic diagram of the internal structure of the machine nest;

[0024] Figure 3 This is a schematic diagram of the three-dimensional structure of a drone's propeller retraction mechanism.

[0025] Figure 4 This is the state diagram of the drone on the carrier;

[0026] Figure 5 This is the assembly drawing of the lifting mechanism and the carrying platform;

[0027] Figure 6 It is a structural diagram of the lifting mechanism;

[0028] Figure 7 It is a structural diagram of the hatch cover;

[0029] Figure 8 This is the assembly drawing of the sliding bar and the hatch cover;

[0030] Figure 9 The figure is a connection diagram between the sliding bar and the shift fork;

[0031] Figure 10 This is the state diagram of the shift fork when the hatch is fully closed;

[0032] Figure 11 This is a diagram of the shift fork when the hatch is fully opened.

[0033] Reference numerals:

[0034] Machine nest 100, hatch 110, push plate 111, limit plate 112, top rail 113, inner slot 114, top slide 115, stopper 116, spring 117, slide bar 120, slide column 121, slider 122, top block 123, dual-axis servo 124, shift fork 125, push groove 130, limit slide 140, lifting mechanism 200, base 210, screw 211, motor 212, base 213, slide rod 214, slide table 220, X-shaped movable frame 230, lifting platform 240, and supporting platform 250.

[0035] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0036] The following describes in detail a drone nest retracting mechanism and control method provided by the present invention, with reference to the accompanying drawings and specific embodiments. It is also noted that, for the sake of completeness, the following embodiments are best and preferred embodiments, and those skilled in the art may employ alternative implementations for known technologies. Furthermore, the accompanying drawings are intended only to provide a more detailed description of the embodiments and are not intended to limit the present invention.

[0037] like Figures 1 to 11 As shown, the embodiment of the present invention provides a drone nest rotor retraction mechanism and control method, including a nest 100 and a lifting mechanism 200, the lifting mechanism 200 is installed on the bottom inner wall of the nest 100, and a carrying platform 250 is installed on the top output end of the lifting mechanism 200, and the carrying platform 250 can carry a drone, and push grooves 130 are opened on both sides of the top of the nest 100, and a hatch electric push rod is installed in the middle of the push groove 130. Limiting slides 140 are fixedly installed on the inner walls on both sides of the top of the nest 100, and hatches 110 are installed on both sides of the top of the nest 100. The adjacent side walls of the carrying platform 250 are provided with two-way studs, and the other side end walls are provided with limiting rods. Slide blocks are symmetrically provided on the two-way studs, and slide blocks are also symmetrically provided on the limiting rods. Push strips are connected to the two opposite groups of slide blocks. At this time, four groups of push strips can be obtained, refer to the attached manual. Figure 4 As shown, when the drone lands on the carrier 250, by controlling the rotation of the two-way stud, the four sets of push bars can push the drone toward the center, so that it lands in the center of the carrier 250;

[0038] Both sides of the bottom of the hatch cover 110 are fixedly installed with top rails 113, and the front end of the top rail 113 is provided with a sliding bar 120, and the bottom of the sliding bar 120 is provided with a shift fork 125, and the shift fork 125 can be used in conjunction with the UAV rotor. In the present invention, after the UAV lands on the carrier 250, the carrier 250 can be used to position the UAV in the center of the carrier 250. At this time, the driving motor 212 causes the lifting mechanism to drive the carrier 250 to move downward, and at the same time cooperates with the driving door electric push rod in the push groove 130 to close the two sets of hatch covers 110. While the carrier 250 drives the UAV to move downward, the dual-axis servo 124 is controlled to drive the UAV to move downward. The movable fork 125 rotates, causing the four forks 125 to rotate 90° clockwise in unison, thereby driving the rotor to rotate so that it is located between the two sets of blades. In conjunction with the supporting platform 250, the wing stopped at any position can be moved, and there is no need for the drone to control the slow-rotating blades to control the wing stop position. As the hatch 110 closes, the fork 125 can be driven to move inward, causing the fork 125 to press on the drone's rotor, forcing the two sets of blades of the rotor to fold inward. When the supporting platform 250 drives the drone to move to the bottom, the drone's rotor can be separated from the fork 125, and the folding of the drone's rotor can be completed at this time.

[0039] In this embodiment, if Figure 4 、 Figure 7 and Figure 8 As shown, push plates 111 are fixedly installed on the inner walls on both sides of the bottom of the hatch 110, and the push plates 111 are slidably connected to the corresponding push grooves 130, and the hatch electric push rod in the middle of the push groove 130 is fixedly connected to the corresponding push plate 111 end wall, and limit plates 112 are fixedly installed on both sides of the bottom of the hatch 110, and the limit plates 112 are slidably connected to the corresponding limit slides 140. The hatch 110 is slidably connected to the top of the machine nest 100 through the cooperation of the limit plates 112 and the limit slides 140. In the present invention, when the drone needs to return to the machine nest 100, the hatch electric push rod in the push groove 130 pushes the push plate 111. Under the action of the limit plates 112 and the limit slides 140, the two sets of hatch covers 110 can slide outward to expose the machine nest 100, and at the same time drive the motor 212 to make the lifting mechanism 200 work to push out the carrying platform 250.

[0040] In this embodiment, if Figures 9 to 11As shown, the end wall of the top rail 113 is provided with an inner slot 114, and the end wall of the sliding bar 120 is fixedly installed with a sliding column 121, the sliding column 121 cooperates with the inner slot 114, and the sliding bar 120 is slidably connected to the top rail 113, and a dual-axis servo 124 is fixedly installed on the bottom of the front end of the sliding bar 120, and the shift fork 125 is fixedly connected to the output end of the dual-axis servo 124. By controlling the dual-axis servo 124, the rotation of the shift fork 125 can be controlled. In the process of controlling the rotation of the shift fork 125, the outer wall of the shift fork 125 can contact the outer wall of the rotor, thereby driving the rotor to rotate. When the shift fork 125 rotates 90° clockwise, the shift fork 125 can be located in the middle of the two sets of rotors. Top sliding grooves 115 are provided on both sides of the bottom of the cabin cover 110, and a slider 122 is fixedly installed on the top of the sliding bar 120. The slider 122 is located in the top sliding groove 115 and is slidably connected to the top sliding groove 115. The front end of the spring 117 is fixedly connected to the end wall of the slide post 121, and the front end wall of the slide bar 120 is fixedly installed with a top block 123. The two opposite groups of top blocks 123 are movably contacted, and the front end of the top block 123 can be flush with the end surface of the hatch cover 110 at the inward movement limit position. In the present invention, when the hatch cover 110 is opened, the spring 117 can push the slide post 121 outward, so that the slide bar 120 moves outward, which is convenient for the fork 125 to work. At the same time, the spring 117 can also play a buffering role to prevent the fork 125 from damaging the rotor due to excessive impact force during the folding process.

[0041] As an implementation method in this embodiment, Figure 5 and Figure 6 As shown, the lifting mechanism 200 includes a base 210, the bottom of the base 210 is fixedly connected to the inner wall of the machine nest 100, the machine nest 100 provides support for the base 210, the inner walls of the two ends of the middle of the base 210 are rotatably connected with screws 211, the top of the base 210 is fixedly installed with a motor 212, and the output end of the motor 212 is fixedly connected to the end wall of the screw 211, the top of both ends of the base 210 is fixedly installed with a base 213, and the inner walls of the two groups of bases 213 are fixedly installed with the same slide rod 214, and the slide rod 21 4 is slidably connected to a slide 220, and the bottom of the slide 220 is engaged with the screw 211. Both sides of the slide 220 are rotatably connected to an X-shaped movable frame 230. The other ends of the bottoms of the two sets of X-shaped movable frames 230 are rotatably connected to the two sides of the base 213 on the right side. The top of the two sets of X-shaped movable frames 230 is equipped with a same lifting platform 240. The right ends of the lifting platform 240 are rotatably connected to the X-shaped movable frame 230, and the left ends are slidably connected to the X-shaped movable frame 230. The connection method is shown in the attached manual. Figure 6As shown, the supporting platform 250 is fixedly connected to the top of the lifting platform 240. In the present invention, the working mode of the lifting mechanism 200 is: by driving the motor 212 to drive the screw 211 to engage with the slide 220, under the limiting action of the slide 214, the slide 220 can slide on the base 210, thereby driving the X-shaped movable frame 230 to expand or contract, so that the lifting platform 240 is raised and lowered.

[0042] The control method of the technical solution provided by the present invention is as follows: S1: When the UAV needs to return to the machine nest 100, the push plate 111 is pushed by the electric push rod of the hatch in the push slot 130. Under the action of the limit plate 112 and the limit slide 140, the two sets of hatch covers 110 can slide outward to expose the machine nest 100. At the same time, the motor 212 is driven to operate the lifting mechanism 200 to push out the supporting platform 250;

[0043] S2: After the UAV lands on the carrier 250, the carrier 250 enables the UAV to be positioned in the center of the carrier 250. At this time, the driving motor 212 causes the lifting mechanism to drive the carrier 250 downward, and at the same time cooperates with the driving of the hatch door electric push rod in the push slot 130 to close the two sets of hatch covers 110. While the carrier 250 drives the UAV downward, the dual-axis servo 124 is controlled to drive the fork 125 to rotate, causing the four forks 125 to rotate 90° clockwise, thereby driving the rotor to rotate so that it is located between the two sets of blades. The carrier 250 can be used to move the wing stopped at any position, without the need for the UAV to control the slow rotation of the blades to control the wing stop position;

[0044] S3: As the hatch 110 closes, the shift fork 125 moves inward, pressing the UAV's rotor, forcing the two sets of blades to fold inward. When the platform 250 drives the UAV to the bottom, the UAV's rotor can be separated from the shift fork 125, and the UAV's rotor can be folded.

[0045] S4: As the hatch cover 110 is further closed, the two opposing sets of top blocks 123 can contact each other. At this time, the sliding bar 120 can drive the sliding column 121 to slide in the inner slot 114, and the spring 117 is compressed. When the two sets of hatch covers 110 are completely closed, the end face of the top block 123 coincides with the end face of the hatch cover 110. At this time, the dual-axis servo 124 is driven to drive the fork 125 to rotate, causing the four forks 125 to rotate 90° counterclockwise, completing the retraction of the forks and completing all actions of closing the hatch cover 110.

[0046] The present invention encompasses any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention. To provide a thorough understanding of the present invention, specific details are described in detail below in connection with the preferred embodiments of the present invention, but those skilled in the art will be able to fully understand the present invention without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of the present invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0047] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A propeller retracting mechanism for a drone nest, comprising a nest (100) and a lifting mechanism (200), wherein the lifting mechanism (200) is mounted on the bottom inner wall of the nest (100), and is characterized in that: A carrying platform (250) is installed at the top output end of the lifting mechanism (200), and the carrying platform (250) can carry a drone. Push grooves (130) are opened on both sides of the top of the machine nest (100), and a hatch electric push rod is installed in the middle of the push groove (130). Limited slideways (140) are fixedly installed on the inner walls of both sides of the top of the machine nest (100), and hatch covers (110) are installed on both sides of the top of the machine nest (100); Top rails (113) are fixedly installed on both sides of the bottom of the hatch cover (110), a sliding bar (120) is provided at the front end of the top rail (113), a shift fork (125) is provided at the bottom of the sliding bar (120), and the shift fork (125) can be used in conjunction with the rotor of the unmanned aerial vehicle; the top rail (113) is arranged at the bottom of the hatch cover along the sliding direction of the hatch cover; an inner slot (114) is opened on the end wall of the top rail (113), a sliding column (121) is fixedly installed on the end wall of the sliding bar (120), the sliding column (121) is used in conjunction with the inner slot (114), and the sliding bar (120) is slidably connected to the top rail (113), a dual-axis servo (124) is fixedly installed at the bottom of the front end of the sliding bar (120), and the shift fork (125) is fixedly connected to the output end of the dual-axis servo (124).

2. The propeller retracting mechanism for a drone according to claim 1, characterized in that: Push plates (111) are fixedly mounted on inner walls on both sides of the bottom of the hatch cover (110), the push plates (111) are slidably connected to corresponding push grooves (130), and a hatch door electric push rod in the middle of the push groove (130) is fixedly connected to the end wall of the corresponding push plate (111), and limiting plates (112) are fixedly mounted on both sides of the bottom of the hatch cover (110), and the limiting plates (112) are slidably connected to corresponding limiting slides (140), and the hatch cover (110) is slidably connected to the top of the machine nest (100) through the cooperation of the limiting plates (112) and the limiting slides (140).

3. The propeller retracting mechanism for a drone according to claim 2, characterized in that: Both sides of the bottom of the hatch cover (110) are provided with top slide grooves (115), and a slider (122) is fixedly installed on the top of the sliding bar (120), and the slider (122) is located in the top slide groove (115) and is slidably connected to the top slide groove (115). A stopper (116) is fixedly installed on the inner wall of the front end of the top slide groove (115), and the stopper (116) is in movably contact with the slider (122). A spring (117) is fixedly installed on the inner wall of the inner slot (114), and the front end of the spring (117) is fixedly connected to the end wall of the sliding column (121). A top block (123) is fixedly installed on the front wall of the sliding bar (120), and two opposite groups of the top blocks (123) are in movably contact. The front end of the top block (123) can be flush with the end surface of the hatch cover (110) at the inward movement limit position.

4. The propeller retracting mechanism for a drone according to claim 1, characterized in that: The lifting mechanism (200) includes a base (210), the bottom of the base (210) is fixedly connected to the inner wall of the machine nest (100), the inner walls of the two ends of the middle of the base (210) are rotatably connected with screws (211), the top of the base (210) is fixedly installed with a motor (212), and the output end of the motor (212) is fixedly connected to the end wall of the screw (211), the tops of both ends of the base (210) are fixedly installed with a base (213), the inner walls of the two groups of the bases (213) are fixedly installed with the same slide rod (214), and the slide rod (214) is slidably connected to the slide (212). 20), and the bottom of the slide (220) is engaged with the screw (211), and both sides of the slide (220) are rotatably connected to the X-shaped movable frame (230), and the other ends of the bottoms of the two groups of X-shaped movable frames (230) are respectively rotatably connected to the two sides of the base (213) on the right side, and the top of the two groups of X-shaped movable frames (230) is equipped with the same lifting platform (240), and the two sides of the right end of the lifting platform (240) are rotatably connected to the X-shaped movable frame (230), and the two sides of the left end are slidably connected to the X-shaped movable frame (230), and the bearing platform (250) is fixedly connected to the top of the lifting platform (240).

5. The control method of the propeller retraction mechanism of a drone according to claim 3, characterized in that: The specific steps are as follows: S1: When the UAV needs to return to the machine nest (100), the push plate (111) is pushed by the electric push rod of the hatch in the push slot (130). Under the action of the limit plate (112) and the limit slide (140), the two sets of hatch covers (110) can slide outward to expose the machine nest (100), and at the same time, the driving motor (212) causes the lifting mechanism (200) to work and push the carrier (250) out; S2: After the UAV lands on the carrier platform (250), the carrier platform (250) can be used to position the UAV in the middle of the carrier platform (250). At this time, the driving motor (212) causes the lifting mechanism to drive the carrier platform (250) to move downward, and at the same time, the hatch door electric push rod in the driving slot (130) is used to close the two sets of hatch covers (110). While the carrier platform (250) drives the UAV to move downward, the dual-axis steering gear (124) is controlled to drive the fork (125) to rotate, so that the four forks (125) are uniformly rotated 90° clockwise, thereby driving the rotor to rotate so that it is located between the two sets of blades. The rotor stopped at any position can be moved in conjunction with the carrier platform (250), without the need for the UAV to control the slow-rotating blades to control the rotor stop position; S3: As the hatch (110) is closed, the fork (125) is driven to move inward, so that the fork (125) presses the rotor of the UAV, forcing the two sets of blades of the rotor to fold inward. When the carrier (250) drives the UAV to move to the bottom, the rotor of the UAV can be separated from the fork (125), and the folding of the UAV rotor can be completed at this time; S4: As the hatch cover (110) is further closed, the two sets of top blocks (123) relative to each other can contact each other. At this time, the sliding bar (120) can drive the sliding column (121) to slide in the inner slot (114), and the spring (117) is compressed. When the two sets of hatch covers (110) are completely closed, the end surface of the top block (123) coincides with the end surface of the hatch cover (110). At this time, the dual-axis steering gear (124) is driven to drive the shift fork (125) to rotate, so that the four shift forks (125) are uniformly rotated 90 degrees counterclockwise, completing the retraction of the shift forks and achieving the closing of the hatch cover (110) to complete all actions.

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