Strong Wind-Resistant Unmanned Aerial Vehicle Hanger Four-Link Door Two-Way Opening and Closing System and Its Adaptive Control Method

Abstract

This invention discloses a four-bar linkage bidirectional opening and closing system for a strong wind-resistant unmanned aerial vehicle hangar and its adaptive control method. The system includes an outer cabin, a movable inner cabin, and a drive module. The movable inner cabin is located inside the outer cabin and can move up and down along the interior of the outer cabin. The movable inner cabin can move along the interior of the outer cabin to above the upper end face and below the lower end face of the outer cabin. The movable inner cabin includes a four-bar linkage door. The drive module is located inside the outer cabin and is used to drive the movable inner cabin to move up and down within the outer cabin, while simultaneously driving the opening and closing of the four-bar linkage door. The four-bar linkage door includes an upper door and a lower door. The upper door is located above the lower door. When the movable inner cabin moves to above the upper end face of the outer cabin, it chooses to open the upper door. When the movable inner cabin moves to below the lower end face of the outer cabin, it chooses to open the lower door.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a four-bar linkage bidirectional opening and closing system for a UAV hangar resistant to strong winds and its adaptive control method. Background Technology

[0002] In high-wind or sudden strong wind environments, traditional drones have difficulty hovering and swaying during their return descent into the hangar. This can easily cause damage due to uneven force distribution upon impact with the hangar platform. Therefore, it is of great significance to research and design a strong-wind resistant hangar system to reduce the risk of drones entering the hangar.

[0003] In view of this, the present invention provides a four-bar linkage two-way opening and closing system for a strong wind-resistant drone hangar and its adaptive control method, which is applicable to high wind areas such as offshore wind power platform drone hangars, plateau border patrol drone nests, and urban high-rise fire-fighting drone base stations. Summary of the Invention

[0004] To address the aforementioned technical problems, the present invention aims to provide a four-bar linkage two-way opening and closing system for drone hangar doors. This system utilizes a four-bar linkage structure door to achieve two-way opening and closing, and in strong wind environments, it employs a downward-facing active capture door to capture returning drones. The present invention provides a novel solution for drone return and hangar entry.

[0005] To achieve the above objectives, the present invention provides a bidirectional opening and closing system for a four-bar linkage hatch in an unmanned aerial vehicle (UAV) hangar. In this system, the system includes an outer cabin, a movable inner cabin, and a drive module. The movable inner cabin is located inside the outer cabin and can move vertically along the interior of the outer cabin. The movable inner cabin can move along the interior of the outer cabin to above the upper surface and below the lower surface of the outer cabin. The movable inner cabin includes a four-bar linkage hatch. The drive module is located inside the outer cabin and is used to drive the movable inner cabin to move vertically within the outer cabin, while simultaneously driving the opening and closing of the four-bar linkage hatch.

[0006] Furthermore, in the technical solution of the present invention, the four-bar linkage structure hatch includes an upper hatch and a lower hatch. The upper hatch is located above the lower hatch. When the movable inner cabin moves to above the upper end surface of the outer cabin, it selects to open the upper hatch. When the movable inner cabin moves to below the lower end surface of the outer cabin, it selects to open the lower hatch.

[0007] Furthermore, in the technical solution of the present invention, the movable inner cabin also includes at least two sets of windproof side panels and multiple elastic air guide strips.

[0008] Furthermore, in the technical solution of the present invention, the upper hatch includes an upper left hatch and an upper right hatch, and the lower hatch includes a lower left hatch and a lower right hatch.

[0009] Furthermore, in the technical solution of the present invention, the four-bar linkage structure hatch includes:

[0010] At least four sets of drive rotation rods are respectively arranged on the left side of the upper left hatch, the right side of the upper right hatch, the left side of the lower left hatch, and the right side of the lower right hatch, and are driven to rotate by the drive module;

[0011] At least four sets of drive swing rods are fixedly connected to:

[0012] The two ends of the drive rotating rod on the left side of the upper left hatch are fixedly connected to the two ends of the drive rotating rod on the left side of the lower left hatch.

[0013] The two ends of the drive rotating rod on the right side of the upper right hatch are fixedly connected to the two ends of the drive rotating rod on the right side of the lower right hatch.

[0014] At least eight sets of movable rods, each fixedly configured at:

[0015] The front and rear sides of the upper left hatch are rotatably connected to the drive rotation rod on the left side of the upper left hatch.

[0016] The front and rear sides of the upper right hatch are rotatably connected to the drive rotation rod on the right side of the upper right hatch.

[0017] The front and rear sides of the lower left hatch are rotatably connected to the drive rotating rod on the left side of the lower left hatch.

[0018] The front and rear sides of the lower right hatch are rotatably connected to the drive rotating rod on the right side of the lower right hatch;

[0019] At least four sets of driven swing rods are rotatably connected to:

[0020] The right ends of the movable rods on both sides of the upper left hatch are connected to the right ends of the movable rods on both sides of the lower left hatch, and are rotatably connected to the right ends of the movable rods on both sides of the lower left hatch.

[0021] The left ends of the movable rods on both sides of the upper right hatch are connected to the left ends of the movable rods on both sides of the lower right hatch, and are rotatably connected to the left ends of the movable rods on both sides of the lower right hatch.

[0022] Furthermore, in the technical solution of the present invention, the windshield side panels are respectively fixedly installed on:

[0023] Between the drive swing levers at both ends of the left side of the upper left hatch and the lower left hatch,

[0024] Between the drive swing rods at both ends of the upper right hatch and the lower right hatch;

[0025] The elastic air guide strips are respectively fixedly installed on:

[0026] Between the driving swing rod and the driven swing rod at both ends of the front side of the upper left hatch and the lower left hatch.

[0027] Between the driving swing rod and the driven swing rod at both ends of the upper left hatch and the lower left hatch.

[0028] Between the driving swing rod and the driven swing rod at both ends of the front side of the upper right hatch and the lower right hatch.

[0029] Between the driving swing rod and the driven swing rod at both ends of the upper right hatch and the lower right hatch.

[0030] Furthermore, in the technical solution of the present invention, multiple drive gear blocks are also configured on both sides of the movable inner cabin.

[0031] Furthermore, in the technical solution of the present invention, one end of each drive rotating rod is provided with a drive connection slot.

[0032] Furthermore, in the technical solution of the present invention, the driving module includes:

[0033] Multiple sets of drive toothed belts are arranged on both sides of the movable inner compartment and respectively mesh with the drive toothed blocks to drive the movable inner compartment to move up and down.

[0034] At least four sets of drive connection blocks are respectively configured on the upper and lower ends of the outer cabin, and the drive connection blocks and drive connection slots are located on the same side. When the movable inner cabin moves to above the upper surface of the outer cabin, the drive connection slots on the drive rotating rods on both sides of the lower cabin door are connected with the drive connection blocks at the upper end of the outer cabin. When the movable inner cabin moves to below the lower surface of the outer cabin, the drive connection slots on the drive rotating rods on both sides of the upper cabin door are connected with the drive connection blocks at the lower end of the outer cabin.

[0035] In another aspect, the present invention provides an adaptive control method for a four-bar linkage door of an unmanned aerial vehicle (UAV) hangar, employing a bidirectional opening and closing system for a four-bar linkage door of an UAV hangar as described above, specifically including the following:

[0036] In a non-strong wind environment, when the upper cabin door is opened, the drive module drives the movable inner cabin to move above the upper surface of the outer cabin via the drive toothed belt. The drive connection slots on the drive rotating rods on both sides of the lower cabin door are connected with the drive connection blocks at the upper end of the inner cabin. The drive module drives the drive rotating rods on both sides of the lower cabin door to rotate via the drive connection blocks, thereby causing the drive swing rods at both ends of the drive rotating rods to swing. This further causes the drive rotating rods connected to the other end of the drive swing rods and the upper cabin door to swing, opening the upper cabin door through the swing.

[0037] In a strong wind environment, the lower hatch is opened. The drive module drives the movable inner cabin to move below the lower end face of the outer cabin via the drive toothed belt. The drive connection slots on the drive rotating rods on both sides of the upper hatch are connected with the drive connection blocks at the lower end of the outer cabin. The drive module drives the drive rotating rods on both sides of the upper hatch to rotate via the drive connection blocks, thereby causing the drive swing rods at both ends of the drive rotating rods to swing. This further causes the drive rotating rods connected to the other end of the drive swing rods and the lower hatch to swing, opening the lower hatch through the swing.

[0038] Beneficial Effects: In summary, this invention provides a bidirectional opening and closing system for a four-link cabin door of a strong wind-resistant drone hangar and its adaptive control method. In the technical solution of this invention, a bidirectional opening and closing system for the cabin door is realized through a four-link structure cabin door. In strong wind environments, the downward active capture four-link structure cabin door captures the drone returning to the hangar. When the drone returns to the hangar in strong wind environments, the lower cabin door of the four-link structure cabin door opens. The drone only needs to fly into the capture range, i.e., the opening and closing range of the lower cabin door. At the same time, the swaying of the drone within the capture range does not affect the capture process of the four-link structure cabin door. After the drone flies into the capture range, the lower cabin door of the four-link structure cabin door closes. At this time, the windproof side panel and elastic windproof strip weaken the impact of strong winds. After the drone stabilizes, it falls, which can reduce the risk of the drone entering the hangar.

[0039] Other features and advantages of the present invention will be set forth in the following description. Attached Figure Description

[0040] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of a partial structure of a four-bar linkage bidirectional opening and closing system for an unmanned aerial vehicle hangar according to an embodiment of the present invention. Figure 1 ;

[0042] Figure 2This is a schematic diagram of a partial structure of a four-bar linkage bidirectional opening and closing system for an unmanned aerial vehicle hangar according to an embodiment of the present invention. Figure 2 ;

[0043] Figure 3 This is a schematic diagram of the structure of an active interior cabin according to an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of a four-bar linkage hatch according to an embodiment of the present invention. Figure 1 ;

[0045] Figure 5 This is a schematic diagram of a four-bar linkage hatch according to an embodiment of the present invention. Figure 2 ;

[0046] Figure 6 This is a schematic diagram illustrating the specific activity process of an active interior cabin according to an embodiment of the present invention;

[0047] Figure 7 To Figure 6 Enlarged structural diagram of section X in the central region;

[0048] Figure 8 This is a schematic diagram illustrating the specific working process of a four-bar linkage hatch according to an embodiment of the present invention. Figure 1 ;

[0049] Figure 9 This is a schematic diagram illustrating the specific working process of a four-bar linkage hatch according to an embodiment of the present invention. Figure 2 ;

[0050] Figure 10 This is a schematic diagram illustrating the specific working process of a four-bar linkage hatch according to an embodiment of the present invention. Figure 3 ;

[0051] Figure 11 This is a schematic diagram illustrating the specific working process of a four-bar linkage hatch according to an embodiment of the present invention. Figure 4 ;

[0052] In the diagram: A, Outer cabin; B, Movable inner cabin; B01, Four-bar linkage hatch; B01-1, Upper hatch; B01-11, Upper left hatch; B01-12, Upper right hatch; B01-2, Lower hatch; B01-21, Lower left hatch; B01-22, Lower right hatch; B01-3, Drive rotating rod; B01-31, Drive connecting slot; B01-4, Drive swing rod; B01-5, Movable rod; B01-6, Driven swing rod; B02, Windproof side panel; B03, Elastic air guide strip; B04, Drive gear block; C, Drive module; C01, Drive gear belt; C02, Drive connecting block. Detailed Implementation

[0053] To make the objectives, features, and advantages of the present invention more apparent and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] The core of this invention is to provide a four-bar linkage two-way opening and closing system for drone hangar doors. Through the four-bar linkage structure of the door, a two-way opening and closing system for the door is realized. In strong wind environments, the downward active capture door captures the drone returning to the hangar. This embodiment provides a novel solution for the return and entry of drones into the hangar.

[0055] In this embodiment, Figure 1 and Figure 2 This is a partial structural schematic diagram of a four-bar linkage bidirectional opening and closing system for an unmanned aerial vehicle hangar according to an embodiment of the present invention, as shown below. Figure 1 and Figure 2 As shown in the figure, this embodiment of a four-bar linkage bidirectional opening and closing system for a drone hangar includes an outer cabin A and a movable inner cabin B. The movable inner cabin B is disposed inside the outer cabin A and can move up and down along the interior of the outer cabin A. The movable inner cabin B can move along the interior of the outer cabin A to above the upper end face and below the lower end face of the outer cabin A.

[0056] Specifically, in this embodiment, Figure 3 This is a structural schematic diagram of an active interior cabin B according to an embodiment of the present invention, as shown below. Figure 3 As shown, the movable inner cabin B includes a four-link structure door B01, which is used for the entry and exit of the UAV when returning to the hangar. The movable inner cabin B also includes at least two sets of windproof side panels B02 and multiple elastic air guide strips B03. Both the windproof side panels B02 and the elastic air guide strips B03 are used to resist strong winds and reduce their impact. It should be noted that doors can be further opened on the side of the outer cabin A and the side of the movable inner cabin B, i.e., at the windproof side panel B02, to facilitate the loading and unloading of the UAV. Figure 6 This is a schematic diagram illustrating the specific activity process of an active cabin B according to an embodiment of the present invention, as follows: Figure 6 As shown, the four-bar linkage hatch bidirectional opening and closing system of the unmanned aerial vehicle hangar in this embodiment also includes a drive module C. The drive module C is configured inside the outer cabin A. The drive module C is used to drive the movable inner cabin B to move up and down inside the outer cabin A, and at the same time drive the opening and closing of the four-bar linkage structure hatch B01.

[0057] Specifically, Figure 4 and Figure 5 This is a schematic diagram of a four-bar linkage hatch B01 according to an embodiment of the present invention, as shown below. Figure 4 and Figure 5 As shown, in this embodiment, the four-bar linkage structure hatch B01 includes an upper hatch B01-1 and a lower hatch B01-2. The upper hatch B01-1 is located above the lower hatch B01-2. When the movable inner cabin B moves above the upper surface of the outer cabin A, the upper hatch B01-1 is opened. When the movable inner cabin B moves below the lower surface of the outer cabin A, the lower hatch B01-2 is opened. The upper hatch B01-1 includes an upper left hatch B01-11 and an upper right hatch B01-12. The lower hatch B01-2 includes a lower left hatch B01-21 and a lower right hatch B01-22. When the upper hatch B01-1 is opened, the upper left hatch B01-11 swings to the left, and simultaneously the upper right hatch B01-12 swings to the right. When the lower hatch B01-2 is opened, the lower left hatch B01-11... 01-21 swings to the left, while the lower right hatch B01-22 swings to the right. When the drone returns to the hangar in strong winds, the lower hatch B01-2 in the four-link structure hatch B01 opens. The drone only needs to fly within the capture range, which is the opening and closing range of the lower hatch B01-2. At this time, the drone's swaying within the capture range does not affect the "capture process" of the four-link structure hatch B01. After the drone flies to the capture range, which is also the swing range of the lower left hatch B01-21 and the lower right hatch B01-22, the lower hatch B01-2 in the four-link structure hatch B01 closes. At this time, the windproof side panel B02 and the elastic windproof strip B03 weaken the impact of strong winds. After the drone stabilizes, it will land, which can reduce the risk of the drone entering the hangar.

[0058] Specifically, in this embodiment, please continue to refer to... Figure 4 and Figure 5 As shown in the figure, the four-link structure hatch B01 also includes:

[0059] At least four sets of drive rotation rods B01-3 are respectively located on the left side of the upper left hatch B01-11, the right side of the upper right hatch B01-12, the left side of the lower left hatch B01-21, and the right side of the lower right hatch B01-22, and are driven to rotate by drive module C.

[0060] At least four sets of drive swing arms B01-4 are fixedly connected to:

[0061] The two ends of the drive rotation rod B01-3 on the left side of the upper left hatch B01-11 are fixedly connected to the two ends of the drive rotation rod B01-3 on the left side of the lower left hatch B01-21.

[0062] The two ends of the drive rotation rod B01-3 on the right side of the upper right hatch B01-12 are fixedly connected to the two ends of the drive rotation rod B01-3 on the right side of the lower right hatch B01-22.

[0063] At least eight sets of movable rods B01-5, respectively fixedly configured at:

[0064] The front and rear sides of the upper left hatch B01-11 are rotatably connected to the drive rotation rod B01-3 on the left side of the upper left hatch B01-11.

[0065] The front and rear sides of the upper right hatch B01-12 are rotatably connected to the drive rotation rod B01-3 on the right side of the upper right hatch B01-12.

[0066] The front and rear sides of the lower left hatch B01-21 are rotatably connected to the drive rotation rod B01-3 on the left side of the lower left hatch B01-21.

[0067] The front and rear sides of the lower right hatch B01-22 are rotatably connected to the drive rotation rod B01-3 on the right side of the lower right hatch B01-22;

[0068] At least four sets of driven swing rods B01-6 are rotatably connected to:

[0069] The right ends of the movable rods B01-5 on both the front and rear sides of the upper left hatch B01-11 are connected to the right ends of the movable rods B01-5 on both the front and rear sides of the lower left hatch B01-21, and are rotatably connected to the right ends of the movable rods B01-5 on both the front and rear sides of the lower left hatch B01-21.

[0070] The left ends of the movable rods B01-5 on both the front and rear sides of the upper right hatch B01-12 are connected to the left ends of the movable rods B01-5 on both the front and rear sides of the lower right hatch B01-22, and are rotatably connected to the left ends of the movable rods B01-5 on both the front and rear sides of the lower right hatch B01-22.

[0071] Specifically, in this embodiment, the windshield side panels B02 are fixedly installed on:

[0072] Between the drive swing levers B01-4 at both ends of the left side of the upper left hatch B01-11 and the lower left hatch B01-21

[0073] Between the drive swing levers B01-4 at both ends of the right side of the upper right hatch B01-12 and the lower right hatch B01-22;

[0074] Specifically, in this embodiment, the elastic air guide strips B03 are fixedly installed on:

[0075] Between the driving swing rod B01-4 and the driven swing rod B01-6 at both ends of the front side of the upper left hatch B01-11 and the lower left hatch B01-21

[0076] Between the drive swing rod B01-4 and the driven swing rod B01-6 at both ends of the rear side of the upper left hatch B01-11 and the lower left hatch B01-21

[0077] Between the drive swing rod B01-4 and the driven swing rod B01-6 at both ends of the front side of the upper right hatch B01-12 and the lower right hatch B01-22

[0078] Between the drive swing rod B01-4 and the driven swing rod B01-6 at both ends of the rear side of the upper right hatch B01-12 and the lower right hatch B01-22.

[0079] Specifically, in this embodiment, please continue to refer to... Figure 3 The two sides of the active cabin B are also equipped with multiple drive gear blocks B04; among them, Figure 6 This is a schematic diagram illustrating the specific activity process of an active interior cabin according to an embodiment of the present invention. Figure 7 To Figure 6 An enlarged structural diagram of the X section in the middle region, as shown below. Figure 6 and Figure 7 As shown, each end of the drive rotating rod B01-3 is provided with a drive connection slot B01-31. The drive module C includes multiple sets of drive toothed belts C01 and at least four sets of drive connection blocks C02. The multiple sets of drive toothed belts C01 are respectively disposed on both sides of the movable inner cabin B, meshing with the drive toothed blocks B04, driving the movable inner cabin B to move up and down. At least four sets of drive connection blocks C02 are respectively disposed on the upper and lower ends of the inner cabin A, and the drive connection blocks C02 and the drive connection slots B01-31 are located on the same side. When the movable inner cabin B moves to above the upper surface of the outer cabin A, the drive rotating rods B01-3 on both sides of the lower hatch B01-2... The drive connection slot B01-31 of the inner cabin B is docked with the drive connection block C02 at the upper end of the outer cabin A. When the inner cabin B moves to below the lower end of the outer cabin A, the drive connection slot B01-31 on the drive rotation rod B01-3 on both sides of the upper cabin door B01-1 is docked with the drive connection block C02 at the lower end of the outer cabin A. It should be noted that after the drive connection slot B01-31 on the drive rotation rod B01-3 is docked with the drive connection block C02, the drive rotation rod B01-3 can be controlled to rotate through the drive module C. That is, the docking of the drive connection slot B01-31 and the drive connection block C02 is a transmission connection.

[0080] This embodiment also provides an adaptive control method for a four-bar linkage door of an unmanned aerial vehicle (UAV) hangar, employing a bidirectional opening and closing system for a four-bar linkage door of an UAV hangar as described above, specifically including the following:

[0081] In a non-strong wind environment, when the upper hatch B01-1 is opened, the drive module C drives the movable inner cabin B to move above the upper surface of the outer cabin A via the drive belt C01. The drive connection slots B01-31 on the drive rotating rods B01-3 on both sides of the lower hatch B01-2 engage with the drive connection block C02 at the upper end of the outer cabin A. The drive module C drives the drive rotating rods B01-3 on both sides of the lower hatch B01-2 to rotate via the drive connection block C02, thereby causing the drive swing rods B01-4 at both ends of the drive rotating rods B01-3 to swing. This further causes the drive rotating rods B01-3 connected to the other end of the drive swing rods B01-4 and the upper hatch B01-1 to swing, opening the upper hatch B01-1. Figure 8 As shown;

[0082] In a strong wind environment, the lower hatch B01-2 is opened. Drive module C, via drive belt C01, drives the movable inner cabin B to move below the lower end face of the outer cabin A. The drive connection slots B01-31 on the drive rotating rods B01-3 on both sides of the upper hatch B01-1 engage with the drive connection block C02 at the lower end of the outer cabin A. Drive module C, through drive connection block C02, drives the drive rotating rods B01-3 on both sides of the upper hatch B01-1 to rotate, thereby causing the drive swing rods B01-4 at both ends of the drive rotating rods B01-3 to swing. This further causes the drive rotating rods B01-3 connected to the other end of the drive swing rods B01-4 and the lower hatch B01-2 to swing, opening the lower hatch B01-2. Figure 9 , Figure 10 and Figure 11 As shown.

[0083] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bidirectional opening and closing system for a four-bar linkage hatch door of an unmanned aerial vehicle (UAV) hangar, characterized in that, Including: Outer cabin (A); The movable inner cabin (B) is located inside the outer cabin (A) and can move up and down along the interior of the outer cabin (A). The movable inner cabin (B) can move along the interior of the outer cabin (A) to above the upper end face and below the lower end face of the outer cabin (A). The movable inner cabin (B) includes a four-link structure door (B01). The drive module (C), configured inside the outer cabin (A), is used to drive the movable inner cabin (B) to move up and down inside the outer cabin (A), and simultaneously drive the opening and closing of the four-bar linkage structure door (B01); The four-bar linkage structure hatch (B01) includes an upper hatch (B01-1) and a lower hatch (B01-2). The upper hatch (B01-1) is located above the lower hatch (B01-2). When the movable inner cabin (B) moves to above the upper end face of the outer cabin (A), the upper hatch (B01-1) is opened. When the movable inner cabin (B) moves to below the lower end face of the outer cabin (A), the lower hatch (B01-2) is opened. The upper hatch (B01-1) includes an upper left hatch (B01-11) and an upper right hatch (B01-12), and the lower hatch (B01-2) includes a lower left hatch (B01-21) and a lower right hatch (B01-22). The four-link structure hatch (B01) also includes: At least four sets of drive rotation rods (B01-3) are respectively arranged on the left side of the upper left hatch (B01-11), the right side of the upper right hatch (B01-12), the left side of the lower left hatch (B01-21), and the right side of the lower right hatch (B01-22), and are driven to rotate by the drive module (C). At least four sets of drive swing arms (B01-4) are fixedly connected to: The two ends of the drive rotating rod (B01-3) on the left side of the upper left hatch (B01-11) are fixedly connected to the two ends of the drive rotating rod (B01-3) on the left side of the lower left hatch (B01-21). The two ends of the drive rotating rod (B01-3) on the right side of the upper right hatch (B01-12) are fixedly connected to the two ends of the drive rotating rod (B01-3) on the right side of the lower right hatch (B01-22). At least eight sets of movable levers (B01-5) are fixedly configured at: The upper left hatch (B01-11) is rotatably connected to the front and rear sides and to the drive rotation rod (B01-3) on the left side of the upper left hatch (B01-11). The upper right hatch (B01-12) is rotatably connected to the front and rear sides and to the drive rotation rod (B01-3) on the right side of the upper right hatch (B01-12). The lower left hatch (B01-21) is rotatably connected to the front and rear sides and to the drive rotation rod (B01-3) on the left side of the lower left hatch (B01-21). The front and rear sides of the lower right hatch (B01-22) are rotatably connected to the drive rotating rod (B01-3) on the right side of the lower right hatch (B01-22); At least four sets of driven swing rods (B01-6) are rotatably connected to: The right ends of the movable rods (B01-5) on both sides of the upper left hatch (B01-11) are connected to the right ends of the movable rods (B01-5) on both sides of the lower left hatch (B01-21), and are rotatably connected to the right ends of the movable rods (B01-5) on both sides of the lower left hatch (B01-21). The left ends of the movable rods (B01-5) on both sides of the upper right hatch (B01-12) are connected to the left ends of the movable rods (B01-5) on both sides of the lower right hatch (B01-22), and are rotatably connected to the left ends of the movable rods (B01-5) on both sides of the lower right hatch (B01-22).

2. The bidirectional opening and closing system for a four-bar linkage cabin door of an unmanned aerial vehicle hangar according to claim 1, characterized in that, The movable interior (B) also includes at least two sets of windproof side panels (B02) and multiple flexible air guide strips (B03).

3. The bidirectional opening and closing system for a four-bar linkage cabin door of an unmanned aerial vehicle hangar according to claim 2, characterized in that, The windshield side panels (B02) are respectively fixedly installed on: Between the drive swing rods (B01-4) at both ends of the left side of the upper left hatch (B01-11) and the lower left hatch (B01-21), Between the drive swing rods (B01-4) at both ends of the right side of the upper right hatch (B01-12) and the lower right hatch (B01-22); The elastic air guide strips (B03) are respectively fixedly installed on: Between the driving swing rod (B01-4) and the driven swing rod (B01-6) at both ends of the front side of the upper left hatch (B01-11) and the lower left hatch (B01-21), Between the driving swing rod (B01-4) and the driven swing rod (B01-6) at both ends of the rear side of the upper left hatch (B01-11) and the lower left hatch (B01-21), Between the driving swing rod (B01-4) and the driven swing rod (B01-6) at both ends of the front side of the upper right hatch (B01-12) and the lower right hatch (B01-22), Between the driving swing rod (B01-4) and the driven swing rod (B01-6) at both ends of the rear side of the upper right hatch (B01-12) and the lower right hatch (B01-22).

4. The bidirectional opening and closing system for a four-bar linkage cabin door of an unmanned aerial vehicle hangar according to claim 3, characterized in that, Multiple drive gear blocks (B04) are also configured on both sides of the movable inner cabin (B).

5. The bidirectional opening and closing system for a four-bar linkage cabin door of an unmanned aerial vehicle hangar according to claim 4, characterized in that, One end of each of the drive rotating rods (B01-3) is provided with a drive connection slot (B01-31).

6. The bidirectional opening and closing system for a four-bar linkage cabin door of an unmanned aerial vehicle hangar according to claim 5, characterized in that, The drive module (C) includes: Multiple sets of drive toothed belts (C01) are arranged on both sides of the movable inner compartment (B) and respectively mesh with the drive toothed blocks (B04) to drive the movable inner compartment (B) to move up and down. At least four sets of drive connection blocks (C02) are respectively disposed at the upper and lower ends of the interior of the outer cabin (A), and the drive connection blocks (C02) and the drive connection slots (B01-31) are located on the same side. When the movable inner cabin (B) moves to above the upper end surface of the outer cabin (A), the drive connection slots (B01-31) on the drive rotating rods (B01-3) on both sides of the lower cabin door (B01-2) are docked with the drive connection blocks (C02) at the upper end of the interior of the outer cabin (A). When the movable inner cabin (B) moves to below the lower end surface of the outer cabin (A), the drive connection slots (B01-31) on the drive rotating rods (B01-3) on both sides of the upper cabin door (B01-1) are docked with the drive connection blocks (C02) at the lower end of the interior of the outer cabin (A).

7. An adaptive control method for a four-bar linkage hatch door of an unmanned aerial vehicle (UAV) hangar, employing a bidirectional opening and closing system for a four-bar linkage hatch door of an UAV hangar as described in claim 6, characterized in that... Specifically, it includes: In a non-strong wind environment, when the upper cabin door (B01-1) is opened, the drive module (C) drives the movable inner cabin (B) to move above the upper surface of the outer cabin (A) via the drive toothed belt (C01). The drive connection slots (B01-31) on the drive rotating rods (B01-3) on both sides of the lower cabin door (B01-2) are connected to the drive connection block (C02) at the upper end of the outer cabin (A). The drive module (C) drives the drive rotating rods (B01-3) on both sides of the lower cabin door (B01-2) to rotate via the drive connection block (C02), thereby causing the drive swing rods (B01-4) at both ends of the drive rotating rods (B01-3) to swing. This further causes the drive rotating rods (B01-3) connected to the other end of the drive swing rods (B01-4) and the upper cabin door (B01-1) to swing, thus opening the upper cabin door (B01-1) through the swing. In a strong wind environment, the lower hatch (B01-2) is opened. The drive module (C) drives the movable inner cabin (B) to move below the lower end face of the outer cabin (A) via the drive toothed belt (C01). The drive connection slots (B01-31) on the drive rotating rods (B01-3) on both sides of the upper hatch (B01-1) are connected to the drive connection block (C02) at the lower end of the outer cabin (A). The drive module (C) drives the drive rotating rods (B01-3) on both sides of the upper hatch (B01-1) to rotate via the drive connection block (C02). This causes the drive swing rods (B01-4) at both ends of the drive rotating rods (B01-3) to swing, further causing the drive rotating rods (B01-3) connected to the other end of the drive swing rods (B01-4) and the lower hatch (B01-2) to swing, thus opening the lower hatch (B01-2).

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