Paddle collecting mechanism applied to unmanned aerial vehicle hangar

Abstract

The invention relates to a paddle collection mechanism applied to an unmanned aerial vehicle hangar, and belongs to the field of paddle collection of unmanned aerial vehicle hangars. The unmanned aerial vehicle is parked on the upper surface of the parking platform; the two unmanned aerial vehicle horizontal centering modules are symmetrically arranged on the two opposite side edges of the parking platform. The two unmanned aerial vehicle vertical centering modules are arranged on the other two opposite side edges of the parking platform in a staggered mode. The unmanned aerial vehicle vertical centering modules and the unmanned aerial vehicle horizontal centering modules are vertically arranged, and the two ends of each unmanned aerial vehicle vertical centering module are in lap joint with the upper surfaces of the two unmanned aerial vehicle horizontal centering modules; each unmanned aerial vehicle horizontal centering module is correspondingly provided with one unmanned aerial vehicle horizontal paddle collection module; each unmanned aerial vehicle vertical centering module is correspondingly provided with one unmanned aerial vehicle vertical paddle collection module; the blade collecting device is a pure mechanical mechanism, and all the blades in the horizontal direction and the vertical direction are collected; driving power and an angle feedback mechanism do not need to be independently configured, the cost performance is high, and the reliability is high.

Description

Technical Field

[0001] This invention belongs to the field of drone hangar propeller storage, and relates to a propeller storage mechanism applied to drone hangars. Background Technology

[0002] In recent years, with the development of science and technology and the gradual deepening of the application of drones, supporting industries for drones, such as unmanned operation systems, drone hangars or cabins, have become increasingly widespread. The extended functions of these drone application products are roughly as follows: automatic return of drones to their original position after landing, automatic battery swapping, automatic payload swapping, automatic propeller adjustment, and automatic clamping.

[0003] When the UAV hangar system has no constraints on the overall dimensions and weight of the hangar, the hangar system can be developed without considering the impact of the overall dimensions of the UAV propellers after deployment and folding on the hangar, thus eliminating the need for an automatic propeller control mechanism.

[0004] However, most hangar products have requirements regarding external dimensions and weight, especially the external dimensions, which are a core parameter for hangar products. The reasons for this are as follows: 1. The external dimensions of mobile drone hangars (vehicle-mounted, ship-mounted, and naval-mounted hangars, etc.) are limited by the size of their carriers. For example, the width of a vehicle-mounted drone hangar cannot exceed the width of the vehicle. 2. Even for fixed hangars, for the same type of drone, a smaller external dimension means less space occupied, making the hangar system more competitive. 3. For hangar systems compatible with the same type of drone, a smaller external dimension inevitably results in a lower overall weight, leading to lower manufacturing costs. 4. For hangar systems compatible with the same type of drone, a smaller external dimension improves transportability. For railway and highway locations with special restrictions, smaller drone hangar systems offer better maneuverability, better transportability, and lower transportation costs.

[0005] For existing drone hangar equipment, fixed hangars with no space or weight requirements generally do not have propeller retraction mechanisms. However, for some fixed hangars with space requirements or most mobile hangars, propeller retraction mechanisms are typically included. The most common form of propeller retraction mechanism currently is to place a propeller lever at the location where retraction is needed. For example, patent CN202310386001.3 uses a rotating module composed of a motor and reducer to drive a first lever through a rotating plate, thereby actuating the propeller and retracting it. Patents CN202510034433.7 and CN202422399408.2 similarly use a motor-driven gear or other mechanism to drive a return plate or lever to actuate the propeller and retract it. These types of propeller retraction mechanisms are very cumbersome, requiring a separate drive unit for each propeller, resulting in a complex system with low reliability, high manufacturing costs, and complex maintenance.

[0006] Another type of propeller retraction mechanism integrates the propeller retraction action into the hangar door, utilizing the door's opening and closing motion to retract the propellers. However, this approach has several drawbacks: 1. Not all hangar systems (especially vehicle-mounted hangar systems) can accommodate large-space door systems, making it impossible to integrate most propeller retraction actions into the door's retraction mechanism. 2. The hangar system's door module typically has significant allowable movement tolerances, making it uncertain whether it can reliably execute the propeller retraction action. During movement, it can easily jam the tip of the UAV propeller, causing an accident. 3. This type of propeller retraction method can only retract propellers in one direction, meaning it can only retract propellers along the direction of the hangar door, and cannot retract all propellers. Summary of the Invention

[0007] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a propeller storage mechanism for drone hangars. It is a purely mechanical mechanism that realizes the storage action of all propellers in the horizontal and vertical directions. Moreover, it does not require separate configuration of drive power and angle feedback mechanism, and has high cost performance and high reliability.

[0008] The solution of the present invention is: A propeller storage mechanism for drone hangars includes two drone horizontal centering modules, two drone vertical centering modules, two drone horizontal propeller storage modules, two drone vertical propeller storage modules, a parking platform, and drones. The landing platform is a horizontally placed square plate structure; the drone rests on the upper surface of the landing platform; the drone is equipped with four X-shaped propellers; two drone horizontal centering modules are symmetrically arranged on two opposite sides of the landing platform; two drone vertical centering modules are staggered on two other opposite sides of the landing platform; the drone vertical centering modules are perpendicular to the drone horizontal centering modules, and the two ends of each drone vertical centering module overlap the upper surface of the two drone horizontal centering modules; each drone horizontal centering module is equipped with one drone horizontal propeller storage module; each drone vertical centering module is equipped with one drone vertical propeller storage module.

[0009] In the aforementioned propeller storage mechanism applied to a drone hangar, the drone's parking position is centered to the center of the parking platform through a drone horizontal centering module and a drone vertical centering module; the X-shaped propellers are stored into a straight structure parallel to the side of the parking platform through a drone horizontal propeller storage module and a drone vertical propeller storage module.

[0010] In the aforementioned propeller storage mechanism applied to a drone hangar, the drone horizontal centering module includes a horizontal motor, a horizontal reducer, and a horizontal module. The horizontal module is axially arranged along one of the side walls of the parking platform; the output shaft of the horizontal motor is connected to the input end of the horizontal reducer; the output end of the horizontal reducer is connected to the horizontal module; one end of the UAV vertical centering module is connected to the horizontal module via a lead screw and slider pair.

[0011] In the aforementioned propeller storage mechanism applied to a drone hangar, a horizontal motor drives a horizontal reducer to rotate; the horizontal reducer drives a horizontal module to rotate; the horizontal module is a lead screw structure; both ends of the horizontal module are left-right rotating bidirectional modules; when the horizontal motor moves, the horizontal module drives the drone's vertical centering module to translate, and the drone's vertical centering module pushes the drone to move towards the horizontal center position of the parking platform, realizing the drone's horizontal centering action.

[0012] In the aforementioned propeller storage mechanism applied to a drone hangar, the drone vertical centering module includes a vertical motor, a vertical reducer, a vertical module, and a vertical positioning rod; The vertical module is positioned perpendicular to the horizontal module, with one end of the vertical module overlapping the horizontal module, achieving a screw-slider engagement between the end of the vertical module and the horizontal module; the vertical return rod overlaps the vertical return rod; the axis of the vertical return rod is parallel to the horizontal module; and the vertical return rod and the vertical module are engaged by a screw-slider mechanism.

[0013] In the aforementioned propeller storage mechanism applied to a drone hangar, a vertical motor drives a vertical reducer to rotate; the vertical reducer drives a vertical module to rotate; the vertical module is a bidirectional module that rotates left and right; when the vertical motor moves, the vertical module drives the vertical return rod to translate, and the vertical return rod pushes the drone to move towards the vertical center position, realizing the vertical return action of the drone.

[0014] In the aforementioned propeller storage mechanism applied to a drone hangar, the drone horizontal propeller storage module includes a horizontal module slider, a horizontal lever push rod, a horizontal lever shaft, a torsion spring, a horizontal lever, and a lever horizontal limiter. The horizontal module slider is located on the upper surface of the horizontal module, enabling the horizontal module slider to translate along the axial direction of the horizontal module; the horizontal lever push rod is installed on the horizontal module slider; the horizontal lever shaft is located at the middle side wall of the horizontal module; the horizontal lever shaft passes through the bottom end of the horizontal lever; the torsion spring is fitted on the horizontal lever shaft; and the lever horizontal limiter is located at the end side wall of the horizontal module.

[0015] In the aforementioned propeller storage mechanism for a drone hangar, the horizontal module slider moves back and forth in the horizontal direction; the horizontal lever and the horizontal lever shaft are fixedly connected at a preset angle according to the size parameters of the drone propellers; the torsion spring maintains rotational torque, so that the horizontal lever remains at the position of the lever horizontal limiter in its natural state without any swing; when the horizontal lever push rod moves forward with the horizontal module slider, the horizontal lever shaft rotates, thereby driving the horizontal lever to rotate; thus enabling the horizontal lever to move all drone propellers within the rotation range to the corresponding range.

[0016] In the aforementioned propeller storage mechanism applied to a drone hangar, the drone vertical propeller storage module includes a vertical module slider, a vertical storage guide wheel rail, a vertical storage guide wheel, a vertical storage torsion spring, a vertical storage support base, a vertical storage rotating shaft, and a vertical lever; The vertical module slider is mounted on the vertical module, enabling it to translate axially along the vertical module. The vertical storage guide wheel rail is fixedly mounted on the vertical module. The vertical storage guide wheel is also mounted on the vertical storage rotating shaft. The vertical storage guide wheel and the vertical storage guide wheel rail slide together. The vertical storage torsion spring is mounted on both the vertical storage rotating shaft and the vertical module slider. The vertical storage support is fixed on the vertical module slider. The vertical storage rotating shaft is fixed on the vertical storage support. The vertical storage torsion spring is mounted on both the vertical storage rotating shaft and the vertical module slider. The vertical lever is fixed on the vertical storage rotating shaft.

[0017] In the aforementioned propeller storage mechanism applied to a drone hangar, the vertical module slider drives the vertical storage guide wheel to move back and forth along the vertical storage guide wheel rail; when the vertical module slider moves along the vertical module, the vertical storage guide wheel moves back and forth along the vertical storage guide wheel rail, and the vertical storage rotation shaft follows the vertical storage guide wheel to rotate, driving the vertical lever to rotate, so that the vertical lever can move all drone propellers within the rotation range to the corresponding range.

[0018] The beneficial effects of this invention compared to the prior art are: (1) The drone storage mechanism of the present invention is a purely mechanical mechanism, requiring no additional power, motor, driver, proximity switch, cable, etc. The drive part of the drone storage module is embedded in the drone centering mechanism. Its power is only needed to achieve the horizontal and vertical propeller storage actions by means of the movement of the drone horizontal centering module and the drone vertical centering module; (2) The UAV blade storage mechanism of the present invention can realize the storage action of all blades in the horizontal and vertical directions, and minimize the outer contour size of the cabin product. The horizontal blade storage action relies on the horizontal centering module to realize the storage of all blades in the horizontal direction, and the vertical blade storage action relies on the vertical centering module to realize the storage of all blades in the vertical direction. (3) The horizontal blade storage module of the UAV blade storage mechanism of the present invention is embedded in the UAV horizontal centering module, and the horizontal lever is driven by the power of the UAV horizontal centering module to store the blades in the horizontal direction; the vertical blade storage module of the UAV is also a purely mechanical mechanism, and the vertical blade storage module of the UAV is embedded in the UAV vertical centering module, and the vertical lever is driven by the power of the UAV vertical centering module to store the blades in the vertical direction; thereby realizing the blade storage action of the UAV in the horizontal and vertical directions. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall paddle storage mechanism of the present invention; Figure 2 This is a schematic diagram of the blade storage mechanism of the present invention; Figure 3 This is a flowchart illustrating the operation of the blade storage mechanism of the present invention. Figure 4 This is a schematic diagram of the UAV horizontal centering module of the present invention; Figure 5 This is a schematic diagram of the vertical centering module for the UAV of the present invention; Figure 6 This is a schematic diagram of the UAV horizontal propeller storage module of the present invention; Figure 7 This is a schematic diagram of the movement process of the UAV horizontal propeller storage module of the present invention; Figure 8 This is a schematic diagram of the vertical propeller storage module for the UAV of the present invention; Figure 9 This is a schematic diagram of the movement process of the vertical propeller storage module of the UAV of the present invention. Detailed Implementation

[0020] The present invention will be further described below with reference to the embodiments.

[0021] This invention provides a propeller retraction mechanism for use in drone hangars. This purely mechanical mechanism can retract all propellers in both the horizontal and vertical directions. It eliminates the need for separate drive power and angle feedback mechanisms, offering high cost-effectiveness and reliability.

[0022] Propeller storage mechanisms used in drone hangars, such as Figure 1 , Figure 2 As shown, it specifically includes two UAV horizontal centering modules 1, two UAV vertical centering modules 2, two UAV horizontal propeller storage modules 3 and two UAV vertical propeller storage modules 4, a landing platform and UAVs.

[0023] The landing platform is a horizontally placed square plate structure; the drone rests on the upper surface of the landing platform; the drone is equipped with 4 X-shaped propellers; two drone horizontal centering modules 1 are symmetrically arranged on two opposite sides of the landing platform; two drone vertical centering modules 2 are staggered on the other two opposite sides of the landing platform; the drone vertical centering modules 2 are perpendicular to the drone horizontal centering modules 1, and the two ends of each drone vertical centering module 2 overlap the upper surface of the two drone horizontal centering modules 1; each drone horizontal centering module 1 is equipped with one drone horizontal propeller storage module 3; each drone vertical centering module 2 is equipped with one drone vertical propeller storage module 4.

[0024] like Figure 3 As shown, the drone's parking position is centered to the center of the parking platform by the drone horizontal centering module 1 and the drone vertical centering module 2; the drone horizontal propeller storage module 3 and the drone vertical propeller storage module 4 are used to store the X-shaped propellers into a straight structure parallel to the side of the parking platform.

[0025] like Figure 4As shown, the UAV horizontal centering module 1 includes a horizontal motor 101, a horizontal reducer 102, and a horizontal module 103. The horizontal module 103 is axially arranged along the side wall of the parking platform; the output shaft of the horizontal motor 101 is connected to the input end of the horizontal reducer 102; the output end of the horizontal reducer 102 is connected to the horizontal module 103; one end of the UAV vertical centering module 2 is connected to the horizontal module 103 via a lead screw and slider pair.

[0026] The horizontal reducer 102 is driven to rotate by the horizontal motor 101; the horizontal reducer 102 drives the horizontal module 103 to rotate; the horizontal module 103 is a lead screw structure; the two ends of the horizontal module 103 are left and right rotating bidirectional modules; when the horizontal motor 101 moves, the horizontal module 103 drives the UAV vertical centering module 2 to translate, and the UAV vertical centering module 2 pushes the UAV to move towards the horizontal center position of the parking platform, realizing the UAV's horizontal centering action.

[0027] like Figure 5 As shown, the UAV vertical centering module 2 includes a vertical motor 201, a vertical reducer 202, a vertical module 203, and a vertical centering rod 204. The vertical module 203 is positioned perpendicular to the horizontal module 103, with one end of the vertical module 203 overlapping the horizontal module 103, achieving a screw-slider engagement between the end of the vertical module 203 and the horizontal module 103. The vertical centering rod 204 overlaps the horizontal module 103; the axis of the vertical centering rod 204 is parallel to the horizontal module 103; and the vertical centering rod 204 and the vertical module 203 are in a screw-slider engagement.

[0028] The vertical motor 201 drives the vertical reducer 202 to rotate; the vertical reducer 202 drives the vertical module 203 to rotate; the vertical module 203 is a bidirectional module that rotates left and right; when the vertical motor 201 moves, the vertical module 203 drives the vertical return rod 204 to translate, and the vertical return rod 204 pushes the UAV to move towards the vertical center position, realizing the vertical return action of the UAV.

[0029] like Figure 6 As shown, the UAV horizontal propeller storage module 3 includes a horizontal module slider 301, a horizontal lever push rod 302, a horizontal lever shaft 303, a torsion spring 304, a horizontal lever 305, and a lever horizontal limiter 306. The horizontal module slider 301 is disposed on the upper surface of the horizontal module 103, enabling the horizontal module slider 301 to translate axially along the horizontal module 103; the horizontal lever push rod 302 is mounted on the horizontal module slider 301; the horizontal lever shaft 303 is located at the middle side wall of the horizontal module 103; the horizontal lever shaft 303 passes through the bottom end of the horizontal lever 305; the torsion spring 304 is fitted onto the horizontal lever shaft 303; and the lever horizontal limiter 306 is located at the end side wall of the horizontal module 103.

[0030] like Figure 7 As shown, the horizontal module slider 301 moves back and forth in the horizontal direction; the horizontal lever 305 and the horizontal lever shaft 303 are fixedly connected at a preset angle according to the size parameters of the UAV propellers; the torsion spring 304 maintains rotational torque, so that the horizontal lever 305 stays at the position of the lever horizontal limiter 306 in the natural state without any swing; when the horizontal lever push rod 302 moves forward with the horizontal module slider 301, the horizontal lever shaft 303 rotates, thereby driving the horizontal lever 305 to rotate; thus enabling the horizontal lever 305 to move all UAV propellers within the rotation range to the corresponding range.

[0031] like Figure 8 As shown, the UAV vertical propeller storage module 4 includes a vertical module slider 401, a vertical storage guide wheel rail 402, a vertical storage guide wheel 403, a vertical storage torsion spring 404, a vertical storage support base 405, a vertical storage rotation shaft 406, and a vertical lever 407. The vertical module slider 401 is mounted on the vertical module 203, enabling it to translate axially along the vertical module 203. The vertical storage guide wheel rail 402 is fixedly mounted on the vertical module 203. The vertical storage guide wheel 403 is also mounted and fixed on the vertical storage rotation shaft 406. The vertical storage guide wheel 403 and the vertical storage guide wheel rail 402 are in sliding engagement. The vertical storage torsion spring 404 is mounted on the vertical storage rotation shaft 406 and the vertical module slider 401. The vertical storage support 405 is fixed on the vertical module slider 401. The vertical storage rotation shaft 406 is fixed on the vertical storage support 405. The vertical storage torsion spring 404 is mounted on the vertical storage rotation shaft 406 and the vertical module slider 401. The vertical lever 407 is fixed on the vertical storage rotation shaft 406.

[0032] like Figure 9 As shown, the vertical module slider 401 drives the vertical storage guide wheel 403 to move back and forth along the vertical storage guide wheel rail 402; when the vertical module slider 401 moves along the vertical module 203, the vertical storage guide wheel 403 moves back and forth along the vertical storage guide wheel rail 402, and the vertical storage rotation shaft 406 follows the vertical storage guide wheel 403 to rotate, driving the vertical lever 407 to rotate, so that the vertical lever 407 can move all the UAV propellers within the rotation range to the corresponding range.

[0033] This invention relates to a propeller storage mechanism for drone hangars, comprising a horizontal drone centering module 1, a vertical drone centering module 2, a horizontal drone propeller storage module 3, and a vertical drone propeller storage module 4. A three-dimensional structural diagram of the drone propeller storage mechanism is shown below. Figure 1 As shown in the diagram. The composition and layout of the UAV propeller storage mechanism system are as follows. Figure 2 As shown.

[0034] This drone propeller retraction mechanism primarily achieves the retraction of the drone's propellers after the drone lands on the platform and the horizontal and vertical centering modules complete their centering actions. The drone propeller retraction mechanism described in this invention is characterized by its ability to center all drone propellers on the receiving platform. Furthermore, this mechanism requires no additional power source, motors, drivers, proximity switches, cables, etc., as it is a purely mechanical mechanism. Its power is solely derived from the movement of the drone's horizontal and vertical centering modules to achieve the horizontal and vertical propeller retraction actions. The flowchart of the entire drone propeller retraction mechanism system, including drone landing, drone centering, and drone propeller retraction, is as follows: Figure 3 As shown: The working principle of the UAV horizontal centering module 1 is as follows: the horizontal motor 101 drives the horizontal reducer 102 to rotate, and the horizontal reducer 102 drives the horizontal module 103 to rotate. The horizontal module 103 contains a bidirectional rotating module. When the horizontal motor 101 moves, the horizontal module 103 drives the vertical module 203 to move, and the vertical module pushes the UAV towards the horizontal center position, thereby achieving the UAV's horizontal centering action. Figure 4 As shown.

[0035] The working principle of the UAV vertical centering module 2 is as follows: the vertical motor 201 drives the vertical reducer 202 to rotate, and the vertical reducer 202 drives the vertical module 203 to rotate. The vertical module 203 is also a bidirectional module that rotates left and right. When the vertical motor 201 moves, the vertical module 203 drives the vertical centering rod 204 to move. The vertical centering rod pushes the UAV towards the vertical center position, thereby achieving the vertical centering action of the UAV. Figure 5 As shown.

[0036] The drone's horizontal propeller storage module includes a horizontal module slider 301 that moves with the horizontal module 103, a horizontal lever push rod 302, a horizontal lever shaft 303, a torsion spring 304, a horizontal lever 305, and a lever horizontal limiter 306. Its working principle is as follows: the horizontal module slider 301, fixedly mounted on the horizontal module 103, can move back and forth in the horizontal direction. The horizontal lever push rod 302 is fixedly mounted on the horizontal module slider 301. The horizontal lever 305 and the horizontal lever shaft 303 are fixedly connected at a fixed angle according to the size parameters of the drone propellers. The horizontal lever shaft 303 is equipped with a torsion spring 304, which maintains a certain rotational torque, so that in its natural state, the horizontal lever 305 remains at the position of the lever horizontal limiter 306 without any swinging. When the horizontal lever push rod 302 moves forward with the horizontal module slider 301, the horizontal lever shaft 303 rotates, thereby driving the horizontal lever 305 to rotate. This allows the horizontal lever to move all the drone propellers within its rotation range to their corresponding positions, such as... Figure 6 As shown. The retraction process of the horizontal blades is as follows. Figure 7 As shown.

[0037] The UAV vertical propeller retraction module includes a vertical module slider 401, a vertical retraction guide wheel rail 402, a vertical retraction guide wheel 403, a vertical retraction torsion spring 404, a vertical retraction support 405, a vertical retraction rotation shaft 406, and a vertical lever 407, all of which move with the vertical module 203. Its working principle is as follows: the vertical module slider 401, fixedly mounted on the vertical module 203, can move back and forth in the vertical direction. The vertical retraction guide wheel rail 402 is fixedly mounted on the vertical module 203. The vertical module slider 401 can drive the vertical retraction guide wheel 403 to move back and forth along the vertical retraction guide wheel rail 402. The vertical retraction support 405 is fixed to the vertical module slider 401, the vertical retraction rotation shaft 406 is fixed to the vertical retraction support 405, and the vertical retraction torsion spring 404 is mounted on both the vertical retraction rotation shaft 406 and the vertical module slider 401. The vertical storage guide wheel 403 is also mounted and fixed on the vertical storage rotation shaft 406. The vertical lever 407 is fixed on the vertical storage rotation shaft 406. When the vertical module slider 401 moves along the vertical module 203, the vertical storage guide wheel 403 moves back and forth along the vertical storage guide wheel guide rail 402. Furthermore, the vertical storage rotation shaft 406 follows the vertical storage guide wheel 403 in its rotational motion, thereby driving the vertical lever 407 to rotate. This allows the vertical lever to move all UAV propellers within its rotational range to their corresponding ranges, such as... Figure 8 As shown, the motion process of vertical blade retraction is as follows: Figure 9 As shown.

[0038] After the drone lands on the platform and the horizontal and vertical centering modules complete the centering action, the drone propellers are retracted. The drone propeller retraction mechanism described in this invention is characterized by its ability to center all propellers on the receiving platform. Furthermore, this mechanism requires no additional power source, motors, drivers, proximity switches, cables, etc. It is a purely mechanical mechanism, powered solely by the movement of the horizontal and vertical centering modules to achieve the horizontal and vertical propeller retraction actions.

[0039] The drone propeller retraction mechanism can simultaneously retract all propellers in both the horizontal and vertical directions, minimizing the outer contour dimensions of the cabin product. The horizontal propeller retraction action relies on the horizontal centering module to retract all propellers in the horizontal direction, while the vertical propeller retraction action relies on the vertical centering module to retract all propellers in the vertical direction.

[0040] The propeller retraction mechanism for both the horizontal and vertical directions is a purely mechanical mechanism, requiring no additional power source, motors, drivers, proximity switches, cables, etc. The drive unit of the drone retraction module is embedded within the drone's centering mechanism. Its power comes solely from the movement of the drone's horizontal and vertical centering modules to achieve the horizontal and vertical propeller retraction actions.

[0041] The drone propeller storage mechanism's horizontal propeller storage module includes a horizontal module slider that moves with the horizontal module, a horizontal lever push rod, a horizontal lever shaft, a torsion spring, a horizontal lever, and a horizontal lever limiter. Its working principle is as follows: the horizontal module slider, fixedly mounted on the horizontal module, can move back and forth horizontally. The horizontal lever push rod is fixedly mounted on the horizontal module slider. The horizontal lever and the horizontal lever shaft are fixedly connected at a fixed angle according to the drone propeller dimensions. The horizontal lever shaft is equipped with a torsion spring, which maintains a certain rotational torque, ensuring that the horizontal lever remains at the horizontal limiter position without any wobbling in its natural state. When the horizontal lever push rod moves forward with the horizontal module slider, the horizontal lever shaft rotates, thereby driving the horizontal lever to rotate. This allows the horizontal lever to move all drone propellers within its rotation range to their corresponding positions.

[0042] The drone propeller retraction mechanism's vertical propeller retraction module includes a vertical module slider that moves with the vertical module, a vertical retraction guide wheel rail, a vertical retraction guide wheel, a vertical retraction torsion spring, a vertical retraction support, a vertical retraction rotation shaft, and a vertical lever. Its working principle is as follows: the vertical module slider, fixedly mounted on the vertical module, can move back and forth in the vertical direction. The vertical retraction guide wheel rail is fixedly mounted on the vertical module. The vertical module slider drives the vertical retraction guide wheel to move back and forth along the vertical retraction guide wheel rail. The vertical retraction support is fixed to the vertical module slider, and the vertical retraction rotation shaft is fixed to the vertical retraction support. The vertical retraction torsion spring is mounted on both the vertical retraction rotation shaft and the vertical module slider. The vertical retraction guide wheel is also fixedly mounted on the vertical retraction rotation shaft. The vertical lever is fixed to the vertical retraction rotation shaft. When the vertical module slider moves along the vertical module, the vertical storage guide wheel moves back and forth along the vertical storage guide wheel rail. Furthermore, the vertical storage rotation shaft follows the vertical storage guide wheel to rotate, thereby driving the vertical lever to rotate. This allows the vertical lever to move all the drone propellers within the rotation range to their corresponding range.

[0043] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A propeller storage mechanism for use in a drone hangar, characterized in that: It includes two UAV horizontal centering modules (1), two UAV vertical centering modules (2), two UAV horizontal blade storage modules (3) and two UAV vertical blade storage modules (4), a parking platform and UAVs; The platform is a horizontally placed square plate structure; the drone is placed on the upper surface of the platform; the drone is equipped with 4 X-shaped propellers; 2 drone horizontal centering modules (1) are symmetrically arranged on two opposite sides of the platform; 2 drone vertical centering modules (2) are staggered on the other two opposite sides of the platform; the drone vertical centering modules (2) are perpendicular to the drone horizontal centering modules (1), and the two ends of each drone vertical centering module (2) overlap the upper surface of the two drone horizontal centering modules (1); each drone horizontal centering module (1) is equipped with a corresponding drone horizontal propeller storage module (3); each drone vertical centering module (2) is equipped with a corresponding drone vertical propeller storage module (4).

2. The propeller storage mechanism for a drone hangar according to claim 1, characterized in that: The UAV horizontal centering module (1) and the UAV vertical centering module (2) are used to center the UAV parking position to the center of the parking platform; the UAV horizontal blade storage module (3) and the UAV vertical blade storage module (4) are used to store the X-shaped blades into a straight structure parallel to the side of the parking platform.

3. The propeller storage mechanism for a drone hangar according to claim 1, characterized in that: The UAV horizontal centering module (1) includes a horizontal motor (101), a horizontal reducer (102), and a horizontal module (103). The horizontal module (103) is axially arranged along the side wall of the parking platform; the output shaft of the horizontal motor (101) is connected to the input end of the horizontal reducer (102); the output end of the horizontal reducer (102) is connected to the horizontal module (103); one end of the UAV vertical centering module (2) is connected to the horizontal module (103) by a lead screw and slider pair.

4. The propeller storage mechanism for a drone hangar according to claim 3, characterized in that: The horizontal reducer (102) is driven to rotate by the horizontal motor (101); the horizontal reducer (102) drives the horizontal module (103) to rotate; the horizontal module (103) is a lead screw structure; the two ends of the horizontal module (103) are left and right rotating bidirectional modules; when the horizontal motor (101) moves, the horizontal module (103) drives the UAV vertical centering module (2) to translate, and the UAV vertical centering module (2) pushes the UAV to move towards the horizontal center position of the parking platform, realizing the horizontal centering action of the UAV.

5. The propeller storage mechanism for a drone hangar according to claim 3, characterized in that: The UAV vertical centering module (2) includes a vertical motor (201), a vertical reducer (202), a vertical module (203), and a vertical positioning rod (204). The vertical module (203) is set perpendicular to the horizontal module (103), and one end of the vertical module (203) overlaps the horizontal module (103), so that the end of the vertical module (203) and the horizontal module (103) are in a screw-slider cooperation; the vertical return rod (204) overlaps the vertical return rod (204); the axis of the vertical return rod (204) is parallel to the horizontal module (103); the vertical return rod (204) and the vertical module (203) are in a screw-slider cooperation.

6. The propeller storage mechanism for a drone hangar according to claim 5, characterized in that: The vertical motor (201) drives the vertical reducer (202) to rotate; the vertical reducer (202) drives the vertical module (203) to rotate; the vertical module (203) is a bidirectional module that rotates left and right; when the vertical motor (201) moves, the vertical module (203) drives the vertical return rod (204) to translate, and the vertical return rod (204) pushes the UAV to move towards the vertical center position, so as to realize the vertical return action of the UAV.

7. A propeller storage mechanism for a drone hangar according to claim 5, characterized in that: The UAV horizontal propeller storage module (3) includes a horizontal module slider (301), a horizontal lever push rod (302), a horizontal lever shaft (303), a torsion spring (304), a horizontal lever (305), and a lever horizontal limiter (306). The horizontal module slider (301) is set on the upper surface of the horizontal module (103) to realize the horizontal module slider (301) to translate along the axial direction of the horizontal module (103); the horizontal lever push rod (302) is installed on the horizontal module slider (301); the horizontal lever shaft (303) is set at the middle side wall of the horizontal module (103); the horizontal lever shaft (303) passes through the bottom end of the horizontal lever (305); the torsion spring (304) is fitted on the horizontal lever shaft (303); and the lever horizontal limiter (306) is set at the end side wall of the horizontal module (103).

8. The propeller storage mechanism for a drone hangar according to claim 7, characterized in that: The horizontal module slider (301) moves back and forth in the horizontal direction; the horizontal lever (305) and the horizontal lever shaft (303) are fixedly connected at a preset angle according to the size parameters of the UAV propellers; the torsion spring (304) maintains rotational torque, so that the horizontal lever (305) stays at the position of the lever horizontal limiter (306) in the natural state without any swing; when the horizontal lever push rod (302) moves forward with the horizontal module slider (301), the horizontal lever shaft (303) rotates, thereby driving the horizontal lever (305) to rotate; so that the horizontal lever (305) can move all UAV propellers within the rotation range to the corresponding range.

9. A propeller storage mechanism for a drone hangar according to claim 7, characterized in that: The UAV vertical propeller storage module (4) includes a vertical module slider (401), a vertical storage guide wheel rail (402), a vertical storage guide wheel (403), a vertical storage torsion spring (404), a vertical storage support base (405), a vertical storage rotating shaft (406), and a vertical lever (407). Among them, the vertical module slider (401) is set on the vertical module (203) to realize the vertical module slider (401) to translate along the axial direction of the vertical module (203); the vertical storage guide wheel rail (402) is fixedly installed on the vertical module (203); the vertical storage guide wheel (403) is also installed and fixed on the vertical storage rotating shaft (406); the vertical storage guide wheel (403) and the vertical storage guide wheel rail (402) are in sliding cooperation; the vertical storage torsion spring (406) is also fixedly installed on the vertical storage rotating shaft (406). 04) Installed on the vertical storage rotating shaft (406) and the vertical module slider (401); the vertical storage support (405) is fixed on the vertical module slider (401); the vertical storage rotating shaft (406) is fixed on the vertical storage support (405); the vertical storage torsion spring (404) is installed on the vertical storage rotating shaft (406) and the vertical module slider (401); the vertical lever (407) is fixed on the vertical storage rotating shaft (406).

10. A propeller storage mechanism for a drone hangar according to claim 9, characterized in that: The vertical module slider (401) drives the vertical storage guide wheel (403) to move back and forth along the vertical storage guide wheel rail (402); when the vertical module slider (401) moves along the vertical module (203), the vertical storage guide wheel (403) moves back and forth along the vertical storage guide wheel rail (402), and the vertical storage rotating shaft (406) follows the vertical storage guide wheel (403) to rotate, driving the vertical lever (407) to rotate, so that the vertical lever (407) can move all the UAV propellers within the rotation range to the corresponding range.

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