Unmanned aerial vehicle wing loading, unloading, storing and transporting device

Abstract

The invention discloses an unmanned aerial vehicle wing loading, unloading, storage and transportation device, and relates to the technical field of unmanned aerial vehicle transportation. The posture adjusting and butt joint unit is connected with the bearing and fixing unit and used for driving the bearing and fixing unit and the wings on the bearing and fixing unit to conduct multi-degree-of-freedom movement so as to achieve accurate alignment and butt joint between the wings and the unmanned aerial vehicle body; the storage and transportation base body is used for bearing the posture adjusting and butt joint unit and has a moving function; the problems that in the traditional loading and unloading process, labor cost is high, and loading and unloading efficiency is low are solved.

Description

Technical Field

[0001] This invention relates to the field of drone transportation technology, and specifically to a drone wing loading, unloading, storage and transportation device. Background Technology

[0002] Large unmanned aerial vehicles (UAVs), especially fixed-wing models with long flight time and large payload capacity, are often quite large in size, making it difficult to transport them by road or air in their whole state. Therefore, in actual deployment or long-distance delivery, it is generally necessary to quickly disassemble the UAV into its main components such as fuselage, wings, and tail, and package, secure, and store them separately. Once they arrive at the target site, they are quickly reassembled and restored to flight status. The efficiency and reliability of this disassembly, assembly, storage, and transportation process directly affect the UAV's rapid response capability, operating costs, and combat deployment effectiveness.

[0003] Currently, the industry still heavily relies on traditional manual labor and general handling equipment for the disassembly, installation, and storage of large drone wings. A typical operation is as follows: First, a crane or large lifting platform is used to lift or support the drone body to a suitable height. Then, with the assistance of ladders or aerial work platforms, multiple operators manually loosen the fasteners connecting the wing to the fuselage. Due to the wings' long length, heavy weight, difficult-to-control center of gravity, and relatively fragile structure (especially composite material surfaces), multiple people must apply force simultaneously and evenly during disassembly and transportation, working together to lift or pull to prevent bending, twisting deformation, or surface damage. The disassembled wings are usually handled manually or with the aid of forklifts, placed on dedicated storage carts or supports, and temporarily secured with ropes, straps, or clamps. Finally, these storage carts carrying the wings are manually pushed into standard containers or large transport vehicles for packaging.

[0004] The aforementioned traditional operating mode has several significant drawbacks: First, it requires a large number of skilled workers and is labor-intensive. Each disassembly and assembly requires the organization of multiple skilled workers to operate heavy objects in complex postures, which is not only inefficient but also increases labor costs and management difficulty.

[0005] Secondly, the operation is unsafe. Manually handling heavy wings is prone to slipping or being damaged due to coordination errors, lack of physical strength, or unstable equipment. This can not only cause valuable structural damage to the wings but also pose a serious threat to the safety of on-site personnel.

[0006] Secondly, the accuracy of the operation is difficult to guarantee. The docking of the wing and the fuselage usually requires extremely high position and angle alignment accuracy. Relying solely on human observation and manual adjustment makes it difficult to achieve fast and accurate insertion, affecting the final assembly quality and potentially leaving safety hazards due to improper installation stress.

[0007] Finally, the process is time-consuming. From equipment preparation and personnel deployment to disassembly, fixation, and loading, the entire process often takes several hours, which severely restricts the application efficiency of the UAV system in scenarios that require rapid deployment, such as test flight verification, emergency reconnaissance, and frequent relocation.

[0008] Therefore, the existing technology lacks a dedicated device that can integrate disassembly, attitude adjustment, docking, storage and transportation functions, making it impossible to achieve fast, accurate, safe and low-manpower-dependent loading and unloading operations for large UAV wings. This has become a technical bottleneck restricting the efficient use and rapid deployment of large UAVs. The present invention addresses this prominent problem and aims to provide an integrated solution. Summary of the Invention

[0009] The purpose of this invention is to provide a drone wing loading, unloading, storage and transportation device, which solves the problems of high labor costs and low loading and unloading efficiency in traditional loading and unloading processes.

[0010] This invention is achieved through the following technical solution: A drone wing loading, unloading, storage and transportation device, comprising: The support and fixing unit is used to support and fix the wings of the UAV; The attitude adjustment and docking unit is connected to the bearing and fixing unit and is used to drive the bearing and fixing unit and the wings on it to perform multi-degree-of-freedom motion in order to achieve precise alignment and docking between the wings and the fuselage of the UAV. The storage and transportation base is used to support the attitude adjustment and docking unit and has a mobility function.

[0011] Furthermore, the attitude adjustment and docking unit includes a translation mechanism, which is used to drive the bearing and fixing unit to adjust its position along the fore-and-aft direction of the wing.

[0012] Furthermore, the translation mechanism includes a translation guide rail, a movable seat, a drive motor, and gears, wherein the translation guide rail and the movable seat are slidably connected, a rack is provided inside the translation guide rail, the drive motor is fixedly mounted on the movable seat, the drive shaft of the drive motor is provided with a gear that meshes with the rack, and the movable seat is correspondingly connected to the head end of the bearing and fixing unit.

[0013] Furthermore, the attitude adjustment and docking unit includes a rotation mechanism, which is fixedly mounted on a movable seat and is used to drive the bearing and fixing unit to adjust the angle around the wing axis.

[0014] Furthermore, the attitude adjustment and docking unit includes a folding mechanism, which is mounted on the rotation mechanism. The folding mechanism and the head end of the bearing and fixing unit are connected to each other, and are used to drive the bearing and fixing unit to adjust the longitudinal angle relative to the storage and transportation base to realize the folding and unfolding of the wing.

[0015] Furthermore, the attitude adjustment and docking unit includes a floating mechanism, which is disposed within the bearing and fixing unit. The floating mechanism is used to provide flexible floating during the docking process between the wing and the fuselage, thereby achieving adaptive adjustment and buffering of the docking force.

[0016] Furthermore, the attitude adjustment and docking unit includes a plug-in mechanism, which is disposed within the bearing and fixing unit. The plug-in mechanism is used to apply a linear driving force along the docking direction to the wing to complete the insertion connection or pull-out separation between the wing and the fuselage.

[0017] Furthermore, the bearing and fixing unit includes a wing fixing plate, which is detachably fixed to the wing by bolts or a tensioner.

[0018] Furthermore, the folding mechanism is driven by a hydraulic servo mechanism.

[0019] A method for loading, unloading, and storing large unmanned aerial vehicle (UAV) wings, the method comprising the following steps: The wing is fixed to the load-bearing and fixing unit of the device and is in a storage and transportation state; Through the sequential or coordinated actions of the various mechanisms in the attitude adjustment and docking unit, the wing is driven to complete folding, unfolding, rotation, and translation to the installation position. The wing is inserted into the fuselage of the UAV and the connection is completed through the insertion and removal actions of the attitude adjustment and docking unit; Disconnect the load-bearing and fixing unit and the wing, and remove the UAV wing loading, unloading and storage device to the storage location; The disassembly of the wings is the reverse process of the above installation steps.

[0020] The technical solution of the present invention has at least the following advantages and beneficial effects: This invention discloses a drone wing loading, unloading, storage and transportation device. Through integrated load-bearing and fixing units, attitude adjustment and docking units and a mobile storage and transportation base, the high-intensity labor that originally required 4-10 people to complete, such as lifting, carrying and aligning, is transformed into mechanized and automated operations. Operators only need to fix, control and monitor, which significantly reduces the dependence on the number of skilled workers and reduces labor costs and management complexity.

[0021] In addition, by using rigid or semi-rigid load-bearing and fixing units to firmly hold the wing and having the movement executed by a controlled translation mechanism, the risk of the wing slipping or being bumped due to coordination errors or lack of physical strength during manual handling is completely avoided. This not only protects the valuable wing structure but also ensures the personal safety of on-site operators.

[0022] In addition, the attitude adjustment and docking unit can drive the wing to perform precise multi-degree-of-freedom movements, transforming the docking process between the wing and the fuselage from manual adjustment that relies on human eyes and experience to quantifiable and repeatable mechanical positioning. This ensures rapid and accurate alignment of the connecting parts, reduces installation stress, and improves the consistency and reliability of the final assembly. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a drone wing loading, unloading, storage and transportation device according to the present invention; Figure 2 This is a schematic diagram of the attitude adjustment and docking unit structure of the present invention; Figure 3 This is a schematic diagram of the floating mechanism structure of the present invention; Figure 4 This is another structural schematic diagram of the floating mechanism of the present invention; Figure 5 This is a schematic diagram of the translation mechanism of the present invention.

[0024] Reference numerals: 1. Load-bearing and fixing unit; 2. Attitude adjustment and docking unit; 21. Translation mechanism; 211. Translation guide rail; 222. Moving seat; 223. Drive motor; 224. Gear; 22. Rotation mechanism; 23. Folding mechanism; 24. Floating mechanism; 241. Base plate; 242. Vertical spring; 243. Horizontal spring; 25. Insertion and removal mechanism; 3. Storage and transportation base; 4. Wing; 5. Fuselage. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Example 1 like Figures 1-5 The UAV wing loading, unloading, storage and transportation device shown includes: Support and fixing unit 1, used to support and fix the UAV wing 4; The bearing and fixing unit 1 includes a wing fixing plate, which is detachably fixed to the wing 4 by bolts or rope tensioners; The wing fixing plate serves not only as a physical support but also as a stable, precise, and fixed mechanical reference for all subsequent automated attitude adjustment and docking actions. When the wing 4 is rigidly or semi-rigidly fixed to the plate via connectors (bolts / tightening devices), the attitude and position of the entire wing 4 can be precisely controlled by controlling the movement of the fixing plate. In addition, the fixing plate is also a functional integration platform, on which or inside it is used to integrate the floating mechanism 24 and the insertion and removal mechanism 25 in the attitude adjustment and docking unit 2. Therefore, it is both the gripper of the wing 4 and the execution end and execution medium of the attitude adjustment and docking unit 2.

[0027] Furthermore, using bolts or rope tensioners to detachably fix the wing 4 is a preferred solution after careful consideration. The principle behind this is to provide a reliable, universal, and easy-to-operate mechanical coupling method. Bolt connections offer extremely high rigidity, precision, and locking force, making them suitable for scenarios requiring absolute fixation and the transmission of large loads. Rope tensioners (or similar binding devices) provide a certain degree of flexible constraint and rapid assembly and disassembly capabilities, making them suitable for situations where higher installation speed is required or where bolts are not convenient to be used at the connection points of the wing 4. This design standardizes and accelerates the process of connecting and separating the wing 4 from the device, making it a key link in achieving efficient conversion between "storage and transportation status" and "installation / disassembly operation status".

[0028] This transforms wing 4 into a controllable "end-efficiency unit" of the device through a reliable connection with the fixed plate. This makes it possible to perform precise spatial motion control on wing 4, which is several meters long and weighs hundreds of kilograms, and is the physical basis for the entire automated, low-manpower operation process. Furthermore, for subsequent attitude adjustment mechanisms such as translation, rotation, and folding to achieve millimeter-level and degree-level angle and position control of wing 4, there must be no uncontrollable relative displacement between wing 4 and the drive mechanism. The rigid connection between the wing fixed plate and wing 4 ensures that attitude adjustment commands can be transmitted to wing 4 itself in a 1:1 ratio without delay, eliminating the cumulative error caused by loose connection and ensuring the accuracy of the final docking.

[0029] The attitude adjustment and docking unit 2 is connected to the bearing and fixing unit 1 and is used to drive the bearing and fixing unit 1 and the wing 4 on it to perform multi-degree-of-freedom motion so as to achieve precise alignment and docking between the wing 4 and the UAV fuselage 5. This unit is the core bridge connecting static storage and transportation with dynamic docking. It enables the same device to serve as a transport carrier and transform into a high-precision assembly robot on the spot. It eliminates the need to transfer parts between different specialized equipment, avoids secondary positioning errors and collision risks during the transfer process, and significantly improves the continuity and efficiency of the overall operation process.

[0030] In addition, the attitude adjustment and docking unit 2 includes a translation mechanism 21, a rotation mechanism 22, a folding mechanism 23, a floating mechanism 24, and a plugging and unplugging mechanism 25; The translation mechanism 21 is used to drive the bearing and fixing unit 1 to adjust its position along the front and rear direction of the wing 4. The translation mechanism includes a translation guide rail 211, a moving seat 222, a drive motor 223 and a gear 224. The translation guide rail 211 and the moving seat 222 are slidably connected. A rack is provided inside the translation guide rail 211. The drive motor 223 is fixedly installed on the moving seat 222. The drive shaft of the drive motor 223 is provided with a gear 224 that meshes with the rack. The moving seat 222 is connected to the head end of the bearing and fixing unit 1. A rack fixed in the translation guide rail 211 serves as a stationary "reference ruler," while the drive motor 223 mounted on the moving seat 222 meshes with the rack through a gear 224 on its output shaft. When the motor starts, the rotation of the gear 224, through its meshing with the rack, is converted into precise linear motion of the entire moving seat 222 and all its loads (including the rotary mechanism 22, the folding mechanism 23, the load-bearing and fixing unit 1, and the wing 4 itself) along the guide rail direction. The translation guide rail 211 and the sliding seat 222 that slides with it constitute the guiding and load-bearing body of the mechanism. The guide rail not only defines the direction of movement, that is, along the front and rear direction of the wing 4, usually parallel to the longitudinal axis of the fuselage 5, but also bears all the gravity, inertial force and possible off-center load torque from the wing 4, ensuring smooth and wobbly movement. The sliding seat 222 serves as a common mounting platform and moving carrier for connecting the drive components, namely the drive motor 223 and gear 224, and all subsequent attitude adjustment mechanisms, namely the rotation mechanism 22 and the folding mechanism 23. Furthermore, as the first and basic stage of the attitude adjustment kinematic chain, the linear displacement of the moving seat 222 directly determines the macroscopic initial position of the subsequent rotation mechanism 22, folding mechanism 23, and even the final wing 4 in the docking direction; its motion accuracy is the basis of the accuracy of the entire multi-degree-of-freedom attitude adjustment system.

[0031] It achieves millimeter-level positioning for heavy loads and has outstanding advantages such as good transmission rigidity, no slippage, high positioning accuracy, and large load-bearing capacity. It can accurately and without attenuation convert the rotation angle of the drive motor 223 into the linear displacement of the moving seat 222, thereby realizing stable, controllable, and high-precision long-stroke position adjustment of the wing 4, which weighs hundreds of kilograms. This is a prerequisite for achieving automated and precise docking. In addition, the translation guide rail 211 is arranged along the direction of storage, transportation, or installation of the wing 4. Its direction of movement is consistent with the main direction of movement required for the wing 4 to move from the storage and transportation state to the docking state. This design makes the layout of the device very compact and efficient. It can complete the large-distance, linear transfer of the wing 4 from the side of the vehicle body to the docking position with the fuselage 5 without occupying too much extra space, thus optimizing the overall operation process.

[0032] The slewing mechanism 22 is fixedly mounted on the movable seat 222 and is used to drive the bearing and fixing unit 1 to adjust the angle around the axial direction of the wing 4. The folding mechanism 23 is mounted on the rotating mechanism 22. The folding mechanism 23 is connected to the head end of the bearing and fixing unit 1 and is used to drive the bearing and fixing unit 1 to adjust the longitudinal angle relative to the storage and transportation base 3 so as to realize the folding and unfolding of the wing 4. These two mechanisms together constitute the core functional module for achieving precise multi-dimensional angle control of the wing 4. The slewing mechanism 22, as the second-level drive unit in the kinematic chain, has the core function of realizing the rolling motion of the wing 4 around its own theoretical axis. This is a fine adjustment of the "diffraction angle" or specific torsional angle of the wing 4 after installation. The slewing mechanism 22 is specifically a slewing bearing or a large bearing, which is directly fixed on the moving seat 222 of the translation mechanism 21 with a drive motor or hydraulic motor. Therefore, when the translation mechanism 21 moves, the slewing mechanism 22 and all its components move together. When the slewing mechanism 22 is driven, it will drive the entire folding mechanism 23, the load-bearing and fixing unit 1 and the wing 4 installed on it to perform precise rotational motion around an axis perpendicular to the translation direction as a whole. The folding mechanism 23, as the third-level drive unit in the kinematic chain, directly drives the end drive joint of the load-bearing and fixing unit 1. Its core function is to realize the pitch movement of the wing 4 relative to the storage and transportation base 3, and complete the large angle transformation between the "folded and stored state" parallel to the vehicle body and the "unfolded working state" perpendicular to or at a specific angle to the vehicle body. The folding mechanism 23 is specifically a large hinge or linkage mechanism driven by a hydraulic cylinder or electric push rod. One end of the folding mechanism 23 is installed at the output end of the slewing mechanism 22, and the other end is connected to the head end of the load-bearing and fixing unit 1, that is, the end close to the fuselage 5. When its drive components move, a strong torque is generated, which pushes or pulls the entire wing 4 unit to perform a large range of pitch swing around the hinge point. By using a series of kinematic chains—translation → rotation → folding—the complex attitude of wing 4 in space is decomposed into three independently programmable motion parameters: fore-aft position, roll angle, and pitch angle. Operators can adjust these three parameters step-by-step or collaboratively, like operating a precision instrument, until wing 4 achieves its perfect installation posture, fundamentally solving the problem of angle and position coupling interference. Because the installation angle of the wing 4 of a large UAV, that is, the angle between the wing root chord line and the fuselage 5 baseline, is extremely critical, even slight deviations will affect flight performance. The rotation mechanism 22 provides the ability to finely adjust the angle around the axis of the wing 4. Therefore, after the translation mechanism 21 completes the macro positioning, the rotation mechanism 22 can perform a fine "twist" at a small angle to accurately align the pin hole or mating surface on the joint connecting the wing 4 and the fuselage 5, ensuring that the assembled wing 4 has a precise theoretical installation angle and guaranteeing the aerodynamic design efficiency of the UAV.

[0033] The floating mechanism 24 is disposed within the bearing and fixing unit 1. The floating mechanism 24 is used to provide flexible floating during the docking process between the wing 4 and the fuselage 5, so as to realize the adaptive adjustment and buffering of the docking force. The floating mechanism 24 is mainly used to introduce controllable elastic degrees of freedom in the final docking direction, that is, in the axial direction of the wing 4 pin. Specifically, the mechanism consists of elastic elements such as spring groups, dampers or airbags, and a base plate 241. First, an opening is provided at the top of the wing fixing plate. The base plate 241 is installed in the opening via vertical springs 242. The head and tail ends of the base plate 241 are connected to the sides of the opening via horizontal springs 243. Thus, when the wing fixing plate and the fixed wing 4 are subjected to minor axial or radial resistance, the base plate 241 can maintain a certain degree of elasticity. Within the range, elastic displacement or deflection occurs; when the attitude adjustment part composed of translation mechanism 21, rotation mechanism 22 and folding mechanism 23 drives the wing 4 to approximately align with the docking point of the fuselage 5, the insertion and extraction mechanism 25 begins to apply insertion force. If there are slight deviations between the connecting parts due to manufacturing tolerances, thermal deformation or micro-alignment errors, the floating mechanism 24 allows the wing 4 to adaptively fine-tune its position and angle within the elastic range to achieve "compliant guidance". At the same time, it absorbs and buffers the impact energy during the insertion process, so that the docking force is smoothly transferred and rigid impact is avoided.

[0034] Since the connection between the drone's wings 4 and fuselage 5 is often made of brittle composite materials such as carbon fiber, which are extremely sensitive to collisions, the floating mechanism 24 is used to buffer the impact and transform hard collisions into elastic contact, significantly reducing the risk of scratches, delamination or micro-cracks, extending the life of the components and reducing maintenance costs. Furthermore, the error compensation capability of the floating mechanism 24 effectively reduces the stringent requirements on the absolute positioning accuracy of the attitude adjustment part, allowing the use of lower-cost transmission components and sensors, thus optimizing manufacturing costs while ensuring functionality.

[0035] The insertion and removal mechanism 25 is disposed in the bearing and fixing unit 1. The insertion and removal mechanism 25 is used to apply a linear driving force along the docking direction to the wing 4 to complete the insertion connection or pull-out separation between the wing 4 and the fuselage 5. The insertion / removal mechanism 25 specifically employs linear actuators such as high-thrust hydraulic cylinders, electric push rods, or ball screws. Its direction of action is strictly along the axis of the docking of the wing 4 and the fuselage 5, i.e., the insertion / removal direction of the wing 4. This mechanism acts directly or through a force transmission frame on the docking joint of the wing 4, providing a programmable and adjustable linear thrust or pull force. During insertion, it smoothly pushes the wing 4 into the connecting seat of the fuselage 5 according to a preset force-speed curve until the mechanical locking mechanism engages. During disassembly, it applies a reverse pull force to overcome the static friction and locking force between the connecting parts, smoothly pulling out the wing 4. The entire process requires no manual force. In addition, the insertion and extraction mechanism 25 can monitor and adjust the insertion and extraction force and displacement in real time through sensor feedback and closed-loop control, so as to achieve optimized process curves such as "low-speed contact - constant force advancement - in place buffering", ensuring that the connector is assembled in place without stress. This is a precise process that cannot be achieved by manual operation based on experience and feel. Furthermore, the data from each insertion and removal process, such as the maximum insertion and removal force, the stroke in place, and the pressure curve, can be recorded and analyzed, providing traceable data evidence for the assembly quality of each drone, and can provide early warning of potential wear or deformation failures of connectors through data anomalies. And the intelligent control system includes: A force sensor is installed between the hydraulic cylinder and the force transmission frame to measure the axial insertion and extraction force in real time. The grating ruler measures the displacement of the insertion and removal mechanism 25 in real time, that is, the travel position of the docking joint of the wing 4. Pressure sensors monitor the pressure in both chambers of the hydraulic cylinder in real time to assist in calculating the net output force and diagnosing the system status; An inertial measurement unit, mounted on the load-bearing and fixing unit 1, monitors the minute angular vibrations and accelerations of the wing 4 during the docking process to determine whether jamming or off-center loading occurs; The controller dynamically adjusts the output of the driver based on the preset control model, the process curve, and real-time sensor feedback to achieve an optimized process of "low-speed contact - constant force propulsion - positioning buffer". The control model specifically includes: Phase 1: A force-position hybrid control algorithm is employed to smoothly approach the docking surface at extremely low speeds, detect the initial contact point, and avoid collisions. The mathematical formulas involved are as follows: , In the formula, represents the output force command. The desired displacement (increasing slowly). This is the actual displacement. For the desired speed, For actual speed, This is the stiffness coefficient. The damping coefficient is... For the desired slight contact force; Specifically, the controller prioritizes maintaining an extremely low propulsion speed. When the force sensor detects axial force If the contact threshold is exceeded continuously, it is determined to be "contacted", the current displacement is immediately recorded as the contact zero point, and the process is smoothly switched to the second stage. The second stage: an adaptive PID force control algorithm with feedforward is adopted to push the wing 4 connector into place with constant and optimal thrust, even in the presence of manufacturing tolerances and micro-misalignment, so as to avoid damage to the component due to excessive force or jamming due to insufficient force. During this stage, the controller focuses on maintaining the axial force detected by the force sensor to follow the process curve. If the actual force is consistently higher than the curve and the displacement stops, it may indicate the presence of foreign objects or serious misalignment, triggering an early warning. If the force is too low, it may indicate over-lubrication or misalignment, and the controller may slightly increase the output or trigger a fine-tuning command. The third stage: using feature point detection and fuzzy decision-making algorithms, the moment when the mechanical connection is "fully in place" is accurately identified, and the force is immediately released or a small holding force is applied to eliminate overshoot stress; When the connecting parts of wing 4 pass the last locking point of fuselage 5 and are fully engaged, it is usually accompanied by: a) a significant instantaneous drop in axial force; b) displacement. A small jump (e.g., 0.5-1 mm) occurs; c) The pressure detected by the pressure sensor undergoes a characteristic change; The controller calculates the first derivative of the force signal and the second derivative of the displacement in real time. When a significant negative peak is detected and the displacement change tends to zero, it combines the preset final positioning range and uses a fuzzy decision algorithm, including comprehensive weight evaluation of force characteristics, displacement characteristics and time threshold calculation, to determine with high confidence that the wing 4 is installed in place. Once the judgment is made, the controller will issue a force command within milliseconds. It reduces to a tiny "holding force" and stops displacement propulsion, perfectly achieving a "soft landing".

[0036] The storage and transportation base 3 is used to support the attitude adjustment and docking unit 2 and has a movable function.

[0037] Example 2 A method for loading, unloading, and storing large unmanned aerial vehicle (UAV) wings, the method comprising the following steps: The wing 4 is fixed to the support and fixing unit 1 of the device and is in a storage and transportation state, so that the wing 4 and the support and fixing unit 1 become an integral and controllable component of the UAV wing 4 loading, unloading and storage and transportation device, rather than an independent load. This establishes a precise reference for all subsequent movements. Through the sequential or coordinated actions of the various mechanisms in the attitude adjustment and docking unit 2, the wing 4 is driven to complete folding, unfolding, rotation, and translation to the installation position. This step defines the logical sequence of attitude adjustment actions, which conforms to the kinematic decoupling principle and obstacle avoidance requirements. First, the wing 4 is released (unfolded), then its axial angle is adjusted (rotation), and finally a large-range linear feed (translation) is performed to guide the wing 4 from a compact storage and transportation state to a "pre-docking attitude" that is infinitely close to the docking point of the fuselage 5 in the safest and most efficient way. By inserting and removing the attitude adjustment and docking unit 2, the wing 4 is inserted into the fuselage 5 of the UAV and the connection is completed; This step integrates a force / position hybrid control algorithm, enabling the docking process to go through three stages: "low-speed contact search - constant force compliant propulsion - positioning buffer recognition". By combining active control with passive floating, the final precision connection is adaptively completed. Disconnect the load-bearing and fixing unit 1 from the wing 4, and remove the unloading and storage device for the UAV wing 4 to its storage location. This step defines a complete closed loop of the operation and clearly states that disassembly is the reverse process, allowing the same logic to be executed in complete reverse order, thus achieving symmetry and standardization in the assembly and disassembly processes. The disassembly of wing 4 is the reverse process of the above installation steps.

[0038] This method revolutionizes the work mode from "discrete multi-task collaboration" to "one-stop automated process". By integrating all functions into a single device, the entire process can be completed by a single operator (or automatic program) triggering it in sequence according to this standard method. It completely eliminates waiting, handover and instruction errors between different tasks, transforming complex system engineering into standardized operation of "one-click" or "step-by-step triggering". Work efficiency is increased several times and management complexity is reduced by a cliff. In addition, a new digital assembly paradigm of "programmable process and predictable quality" has been constructed, so that no matter who executes it, as long as the same program is called, the assembly results can be produced with completely consistent quality and predictable quality. This realizes the elimination of absolute dependence on human experience and transforms the assembly quality from "craft" to "repeatable precision manufacturing process". Furthermore, the prescribed order of the method (such as having to deploy before translating) is itself a safety design, which forcibly avoids collisions that may result from moving the wing in the wrong attitude.

[0039] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A device for loading, unloading, storing, and transporting unmanned aerial vehicle (UAV) wings, characterized in that, include: The support and fixing unit (1) is used to support and fix the UAV wing (4); The attitude adjustment and docking unit (2) is connected to the bearing and fixing unit (1) and is used to drive the bearing and fixing unit (1) and the wings (4) on it to perform multi-degree-of-freedom motion so as to achieve precise alignment and docking between the wings (4) and the UAV fuselage (5); The storage and transportation base (3) is used to support the attitude adjustment and docking unit (2) and has a mobility function.

2. The UAV wing loading, unloading, storage and transportation device according to claim 1, characterized in that, The attitude adjustment and docking unit (2) includes a translation mechanism (21), which is used to drive the bearing and fixing unit (1) to adjust its position along the front and rear direction of the wing (4).

3. The UAV wing loading, unloading, storage and transportation device according to claim 2, characterized in that, The translation mechanism (21) includes a translation guide rail (211), a movable seat (222), a drive motor (223), and a gear (224). The translation guide rail (211) and the movable seat (222) are slidably connected. A rack is provided inside the translation guide rail (211). The drive motor (223) is fixedly installed on the movable seat (222). The drive shaft of the drive motor (223) is provided with a gear (224) that meshes with the rack. The movable seat (222) is connected to the head end of the bearing and fixing unit (1).

4. The UAV wing loading, unloading, storage and transportation device according to claim 3, characterized in that, The attitude adjustment and docking unit (2) includes a rotation mechanism (22), which is fixedly mounted on the moving seat (222) and is used to drive the bearing and fixing unit (1) to adjust the angle around the wing (4) axis.

5. The UAV wing loading, unloading, storage and transportation device according to claim 4, characterized in that, The attitude adjustment and docking unit (2) includes a folding mechanism (23), which is mounted on the rotating mechanism (22). The folding mechanism (23) is connected to the head end of the bearing and fixing unit (1) to drive the bearing and fixing unit (1) to adjust the longitudinal angle relative to the storage and transportation base (3) so as to realize the folding and unfolding of the wing (4).

6. The UAV wing loading, unloading, storage and transportation device according to claim 1, characterized in that, The attitude adjustment and docking unit (2) includes a floating mechanism (24), which is located in the bearing and fixing unit (1). The floating mechanism (24) is used to provide flexible floating during the docking process between the wing (4) and the fuselage (5) to achieve adaptive adjustment and buffering of the docking force.

7. The UAV wing loading, unloading, storage and transportation device according to claim 1, characterized in that, The attitude adjustment and docking unit (2) includes a plug-in mechanism (25), and the plug-in mechanism (25) is disposed in the bearing and fixing unit (1). The plug-in mechanism (25) is used to apply a linear driving force along the docking direction to the wing (4) to complete the insertion connection or pull-out separation between the wing (4) and the fuselage (5).

8. The UAV wing loading, unloading, storage and transportation device according to claim 1, characterized in that, The bearing and fixing unit (1) includes a wing fixing plate, which is detachably fixed to the wing (4) by bolts or a tensioner.

9. The UAV wing loading, unloading, storage and transportation device according to claim 5, characterized in that, The folding mechanism (23) is driven by a hydraulic servo mechanism.

10. A method for loading, unloading, and storing large unmanned aerial vehicle (UAV) wings, characterized in that, The method using the UAV wing loading, unloading, storage and transportation device as described in any one of claims 1 to 9 includes the following steps: The wing (4) is fixed to the bearing and fixing unit (1) of the device and is in a storage and transportation state; Through the sequential or coordinated actions of the mechanisms in the attitude adjustment and docking unit (2), the wing (4) is driven to complete folding, unfolding, rotation, and translation to the installation position; By inserting and removing the attitude adjustment and docking unit (2), the wing (4) is inserted into the fuselage (5) of the UAV and the connection is completed; Disconnect the load-bearing and fixing unit (1) and the wing (4), and remove the UAV wing loading and unloading storage device to the storage position; The disassembly of the wing (4) is the reverse process of the above installation steps.

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