Retracting, releasing and storing device for offshore unmanned aerial vehicle

Abstract

The invention discloses a marine unmanned aerial vehicle collecting, releasing and storing device. The rotary type retractable storage wheel disc is provided with a center shaft rotating motor, a star-shaped support and at least two sets of lifting mechanisms evenly distributed in the circumferential direction, a magnetic attraction type bottom plate is fixed to each set of lifting mechanism, the center shaft rotating motor drives the star-shaped support to rotate so that any magnetic attraction type bottom plate can be switched to the position under a lifting opening, and the magnetic attraction type bottom plate can be switched to the position under the lifting opening. And the magnetic type bottom plate is lifted to be flush with the surface of the deck or lowered to a storage position through the lifting mechanism. The unmanned aerial vehicle can be released and recycled under the complex sea condition, the unmanned aerial vehicle body can be stabilized through magnetic attraction when the unmanned aerial vehicle is released, the attraction force is relieved after the lift force is enough, the ejection release effect is achieved, and the problem that the unmanned aerial vehicle drop point precision error is large can be solved through mechanism design and magnetic attraction means when the unmanned aerial vehicle is recycled; in addition, the unmanned aerial vehicle collecting, releasing and storing device has multiple storage positions, and multiple unmanned aerial vehicles can be released or collected and stored at a time by means of rotary switching of the circular wheel disc.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of marine electromechanical equipment, in particular to a storage device for launching and landing of a marine unmanned aerial vehicle. BACKGROUND

[0002] An unmanned aerial vehicle is a fully autonomous or semi-autonomous unmanned aerial vehicle controlled by a ground station. As an intelligent and information-based weapon terminal, the unmanned aerial vehicle has considerable application value in both military and civilian fields, and can be used in dangerous, boring, and harmful environments to the human body, and can be classified into military use, agricultural and forestry plant protection unmanned aerial vehicle, pipeline patrol unmanned aerial vehicle, logistics unmanned aerial vehicle, surveying and mapping unmanned aerial vehicle, etc. according to different application scenarios. The unmanned aerial vehicle has strong mobility and almost no geographical environment limitation in operation space, and has great performance advantages on the sea.

[0003] The marine unmanned aerial vehicle can be divided into shipborne unmanned aerial vehicle and land-based unmanned aerial vehicle according to the landing mode, and the shipborne unmanned aerial vehicle can realize take-off and recovery on the deck of a sailing ship, is convenient for point launching, greatly increases the working space of the unmanned aerial vehicle, and covers a larger sea area. In the civil field, the marine unmanned aerial vehicle can be applied to marine search and rescue, emergency assistance, marine resource exploration, weather detection, etc.

[0004] When the ship sails on the sea, it will be affected by waves and will be violently rocked, so that the unmanned aerial vehicle cannot stably take off and land. After landing, the unmanned aerial vehicle will also slide off the deck into the sea due to the rocking of the ship body. There is currently no reliable solution for the storage of the unmanned aerial vehicle after landing. In summary, the launching and landing storage of the marine unmanned aerial vehicle is difficult. SUMMARY

[0005] The present application provides a marine unmanned aerial vehicle launching and landing storage device for solving the problems of take-off, landing and storage of the marine unmanned aerial vehicle.

[0006] The present application comprises:

[0007] The shell support frame is fixed below the deck of the ship body, and the upper surface thereof is flush with the deck.

[0008] The embedded lifting port hatch is hidden in the top partition interlayer of the shell support frame, and can be opened or closed under the action of the driving mechanism.

[0009] The rotating launching and landing storage wheel disc is located in the cabin of the shell support frame, and has a middle shaft rotating motor, a star-shaped support and at least two groups of lifting mechanisms uniformly distributed in the circumferential direction. Each group of lifting mechanisms is fixed with a magnetic type bottom plate. The middle shaft rotating motor drives the star-shaped support to rotate, so as to switch any magnetic type bottom plate to the position directly below the lifting port, and the magnetic type bottom plate is lifted to be flush with the deck surface or lowered to the storage position through the lifting mechanism.

[0010] The cross synchronous tightening mechanism is arranged on the upper part of the shell support frame and around the lifting port, and comprises left and right clamping mechanisms and bow and stern clamping mechanisms arranged in layers, each clamping mechanism comprising a servo drive motor, a screw pair with opposite rotation directions, and a clamping plate capable of moving synchronously towards or away from each other under the drive of the screw pair, the clamping plate being provided with a magnetic attraction enabling device capable of generating a magnetic force to attract the iron baffle on the landing leg of the unmanned aerial vehicle after being powered on.

[0011] The magnetic bottom plate cooperates with the cross synchronous tightening mechanism to realize the catapult release and accurate recovery of the unmanned aerial vehicle in complex sea conditions, and the recovered unmanned aerial vehicle can be rotated into the cabin for storage by the rotating storage wheel.

[0012] In a preferred example, the embedded lifting port hatch door is driven by an electric push rod to slide horizontally along the deck sandwich, realizing the opening and closing of the lifting port, and the edges of the lifting port and the magnetic bottom plate are both provided with chamfers to ensure that the upper surface of the magnetic bottom plate is accurately flush with the deck surface after being raised and does not protrude.

[0013] In a preferred example, the star-shaped support of the rotating storage wheel disc is fixed with a guide support rod corresponding to the position of each lifting mechanism, and a universal ball is installed at the end of the guide support rod, which is embedded in the sliding groove at the bottom of the shell support frame to provide guidance and support during rotation and lifting.

[0014] In a preferred example, the magnetic bottom plate and the lifting mechanism are provided with four groups, arranged in a 90° interval circular array along the star-shaped support, so that the device can store up to four unmanned aerial vehicles at the same time.

[0015] In a preferred example, the left and right clamping mechanisms and the bow and stern clamping mechanisms are driven by the servo drive motor through the bevel gear pair to drive two screw rods with opposite screw directions, thereby driving the corresponding clamping plates to move synchronously towards or away from each other, realizing the rapid centering and clamping of the landing leg of the unmanned aerial vehicle.

[0016] In a preferred example, the magnetic attraction enabling device on the clamping plate makes the clamping plate as a whole magnetized after being powered on, and demagnetized after being powered off; when recovering the unmanned aerial vehicle, first correct the lateral position of the unmanned aerial vehicle by the magnetic attraction of the left and right clamping plates, and then correct the longitudinal position by the magnetic attraction of the bow and stern clamping plates, finally align the landing leg of the unmanned aerial vehicle with the center of the magnetic bottom plate.

[0017] In a preferred example, the cross synchronous tightening mechanism determines whether the clamping plate has contacted the baffle of the landing leg of the unmanned aerial vehicle by monitoring the current or displacement change of the servo drive motor, and when the motor is detected to be locked or the displacement is detected to be stagnant, it is determined that the clamping plate has completed the attraction, and the next clamping action is automatically switched.

[0018] In a preferred example, in the unmanned aerial vehicle release phase, the magnetic bottom plate is powered on to attract the unmanned aerial vehicle landing leg, and when the lift of the unmanned aerial vehicle propeller reaches a preset threshold, the magnetic bottom plate is powered off to form a catapult release effect, so as to improve the take-off success rate.

[0019] In a preferred example, in the unmanned aerial vehicle recovery phase, the control unit sequentially performs the following actions:

[0020] a) The rotary storage wheel rotates the idle magnetic bottom plate to the lifting port directly below and lifts it to the deck surface, and then powers on the bottom plate to generate a first-stage magnetic force, and performs initial attraction on the iron baffle of the landing unmanned aerial vehicle landing leg, so as to reduce the landing point error;

[0021] b) After the unmanned aerial vehicle touches the ship, the cross-synchronous tightening mechanism first magnetizes and synchronously retracts the left and right clamps, determines the completion of the horizontal correction through the motor current / displacement mutation, and then magnetizes and synchronously retracts the bow and stern clamps, in the same way, completes the longitudinal correction, and realizes the secondary precise positioning of the unmanned aerial vehicle on the deck plane;

[0022] c) When the horizontal and longitudinal clamps are all mechanically clamped, the magnetic bottom plate is powered on again to generate a second-stage magnetic force, which firmly attracts the precisely positioned unmanned aerial vehicle landing leg, and then all the clamps are released and returned to the original position to avoid interference with the recovery channel.

[0023] After the secondary precise positioning and firm attraction are completed, the lifting mechanism lowers the magnetic bottom plate together with the unmanned aerial vehicle to the storage height, and the central shaft rotation motor immediately drives the star-shaped support to rotate, so that the next idle magnetic bottom plate is aligned with the lifting port, to prepare for the subsequent unmanned aerial vehicle recovery, and realize continuous recovery operation.

[0024] The present application has the following advantages: The present application can release and recover unmanned aerial vehicles in complex sea conditions. When releasing the unmanned aerial vehicle, the main body of the unmanned aerial vehicle can be stabilized by magnetic attraction, and when the lift is sufficient, the attraction force is released to achieve a catapult release effect. When recovering the unmanned aerial vehicle, the design of the mechanism and the magnetic attraction means can compensate for the problem of large landing point precision error of the unmanned aerial vehicle. In addition, the unmanned aerial vehicle storage device has multiple storage positions, which can release or recover multiple unmanned aerial vehicles in turn by rotating the circular wheel. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 Layout effect diagram of the unmanned aerial vehicle storage device on the deck of the ship body;

[0026] Figure 2 Layered layout isometric view of the unmanned aerial vehicle storage device;

[0027] Figure 3 Layered layout left view of the unmanned aerial vehicle storage device;

[0028] Figure 4Diagram of the drone deployment and storage device;

[0029] Figure 5 Embedded lifting hatch structure diagram;

[0030] Figure 6 Structural diagram of the deck cross-shaped synchronous tightening mechanism;

[0031] Figure 7 Schematic diagram of a rotary storage wheel star-shaped support structure;

[0032] Figure 8 A schematic diagram of the drone's deployment and storage device when it is fully utilized. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail with reference to the accompanying drawings. This description illustrates specific embodiments consistent with the principles of the present invention by way of example rather than limitation. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, use other embodiments, and modify and / or substitute the structure of various elements without departing from the scope and spirit of the invention. Therefore, the following detailed description should not be construed as limiting.

[0034] This application provides a marine unmanned aerial vehicle (UAV) deployment and storage device, comprising a cross-shaped synchronous tightening mechanism, an embedded lifting hatch, a rotating deployment and storage wheel, and an outer shell support frame. The rotating deployment and storage wheel has four magnetic base plates fixed to its upper end, enabling the release and retrieval of UAVs in complex sea conditions. When releasing a UAV, the magnetic base plates stabilize the UAV body, and once sufficient lift is achieved, the magnetic force is released to achieve a catapult release effect. During retrieval, the cross-shaped synchronous tightening mechanism and magnetic force can compensate for the large accuracy error of the UAV's landing point. In addition, the UAV deployment and storage device contains multiple storage positions arranged in a circular array, which can be switched by rotating the central axis wheel, allowing for the simultaneous release or retrieval of multiple UAVs.

[0035] Furthermore, the cross-shaped synchronous tightening mechanism, installed on the auxiliary vessel's UAV lifting deck, includes left and right clamping mechanisms and bow and stern clamping mechanisms. The left side of the left and right clamping mechanisms includes a left servo drive motor, a left motor drive shaft, two counter-rotating clamping plate drive screws, clamping plates, a magnetic attraction enabler, a motor fixing bracket, and several bearings. The right side includes a right servo drive motor, a right motor drive shaft, two counter-rotating clamping plate drive screws, clamping plates, a magnetic attraction enabler, a motor fixing bracket, and several bearings. The two motors are arranged left and right in the direction of the hull. The bow and stern clamping mechanisms have the same composition as the left and right clamping mechanisms and are arranged bow and stern. To avoid motion interference, the bow and stern clamping mechanisms are arranged in layers with the left and right clamping mechanisms on top and the bow and stern clamping mechanisms on the bottom, so that the left and right clamping actions and the bow and stern clamping actions can be completed simultaneously and independently. The magnetic attraction enabler in the bow and stern clamping mechanism and the left and right clamping mechanism is arranged on the clamping plate. The clamping plate is made of iron. When the magnetic attraction enabler is powered on, it can make the clamping plate magnetic, which can attract the iron baffle on the drone's legs. When the power is turned off, the magnetic force disappears.

[0036] Furthermore, in order to reduce the space occupied by the hatch opening and closing mechanism, the hatch part of the embedded lifting port is arranged in the deck interlayer. The opening and closing of the UAV lifting port is realized by the drive motor driving the transmission screw. In order to ensure that the magnetic base plate can be more accurately aligned with the upper surface of the lifting port when it is raised, both the lifting port and the magnetic base plate have chamfered edges, so that the magnetic base plate can be aligned with the height of the lifting port when it is raised without protruding.

[0037] Furthermore, the rotary storage tray consists of a central rotating motor, a star-shaped bracket, a lifting mechanism, a magnetic base plate, guide support rods, and omnidirectional ball bearings. The magnetic base plate is fixed to the lifting mechanism, which enables lifting and lowering. There are four sets of magnetic base plates and lifting mechanisms arranged in a circle on the star-shaped bracket, which can be driven to rotate by the central motor. At the bottom of the star-shaped bracket, corresponding to the position of the lifting mechanism, there are four support rods. The ends of the support rods are omnidirectional ball bearings that can be embedded in the bottom grooves to provide guidance and support.

[0038] The workflow of this maritime drone deployment and storage device for releasing and recovering drones is as follows:

[0039] A) Drone release process

[0040] Step 001: Open the hatch cover of the deck mezzanine lift port;

[0041] Step 002: Rotate the drone storage wheel to rotate the magnetic base plate containing the drone to below the deck lift-up port;

[0042] Step 003: The magnetic base plate for storing the drone is gradually raised to the height using a lifting mechanism until it is level with the deck;

[0043] Step 004: The drone builds up lift to a certain value and prepares for takeoff;

[0044] Step 005: The magnetic base plate releases its magnetic attraction, and the drone is launched and takes off.

[0045] Step 006: If a second drone needs to be released, repeat steps 002-005 until all drones have taken off. After the last drone takes off, the magnetic base plate does not need to be retracted so that the drone can be recovered later.

[0046] B) Drone recovery process

[0047] Step 101: Rotate the drone storage wheel to rotate the free magnetic base plate to below the deck lift port. If the lift already has a drone magnetic base plate ready, you can skip this step and go directly to step 102.

[0048] Step 102: Enable the magnetic attraction switch on the drone's magnetic base plate. Guided by the magnetic attraction, the drone gradually lands with the crosshair in the center of the deck as its target.

[0049] Step 103: The drone lands on the deck (the location is somewhat random).

[0050] Step 104: The magnetic base plate maintains the magnetic attraction, and the left and right clamps of the cross synchronous tightening mechanism enable the magnetic attraction and gradually clamp towards the center;

[0051] Step 105: After either side of the cross synchronous tightening mechanism contacts the baffle on the drone's leg and is successfully magnetically attracted, the magnetic base plate releases the magnetic attraction, and the left and right clamps continue to clamp.

[0052] Step 106: After the left and right clamping plates are clamped (at the end of the lead screw stroke), start the bow and stern clamping plates to begin clamping. After either side of the bow and stern clamping plates contacts the baffle on the UAV's legs and is successfully clamped by magnetic force, the left and right clamping plates release the magnetic force, and the bow and stern clamping plates continue to clamp.

[0053] Step 107: After all the front and rear clamping plates and the bow and stern clamping plates are clamped, the magnetic base plate is activated to magnetically attract the drone. The front and rear clamping plates and the bow and stern clamping plates gradually loosen, and the magnetic base plate falls to the storage position by the lifting device, completing the drone recovery.

[0054] Step 108: If a second drone needs to be recovered, repeat steps 101-107 until all drones are recovered;

[0055] Step 109: Close the elevator hatch in the deck mezzanine.

[0056] In steps 105 and 106 of the drone recovery process, the left and right clamps and bow and stern clamps of the cross synchronous tightening mechanism determine whether the side has contacted the baffle on the drone's legs by the rotation direction and drive displacement change of the drive motor. For the clamp on the side that has contacted the drone's baffle, the suction force will hinder the drive motor. Under the condition that the input signal of the drive motor remains unchanged, the displacement will remain unchanged or the movement will be slow. Based on this effect, it is determined whether the side has contacted the baffle on the drone's legs.

[0057] Example:

[0058] like Figure 1 As shown, the UAV launch and storage device A001 is embedded in the stern deck of the auxiliary vessel A002. The upper part of the UAV launch and storage device A001 is flush with the stern deck of the auxiliary vessel A002. The main body of the UAV launch and storage device A001 is installed in the cabin below the stern deck. The UAV A003 can be recovered and landed on the upper part of the UAV launch and storage device A001.

[0059] like Figure 2 As shown, the UAV deployment and storage device A001 consists of a cross-shaped synchronous tightening mechanism A004, an embedded lifting hatch A005, a rotating deployment and storage wheel A006, and an outer shell support frame A007. The cross-shaped synchronous tightening mechanism A004 is installed on the upper part of the outer shell support frame A007. The surface of the outer shell support frame A007 is flush with the stern deck of the auxiliary vessel A002. The embedded lifting hatch A005 is hidden in the interlayer of the top bulkhead of the outer shell support frame A007. The rotating deployment and storage wheel A006 is arranged inside the compartment of the outer shell support frame A007.

[0060] like Figure 3 As shown, the layout and position of the rotary storage wheel A006 within the outer shell support frame A007 are illustrated. The rotary storage wheel A006 consists of a central shaft rotary motor A008, a star-shaped bracket A009, a lifting mechanism A010, a magnetic base plate A011, guide support rods A012, and universal ball bearings A013. The magnetic base plate A011 is fixed to the lifting mechanism A010, allowing for lifting and lowering. The bottom of the star-shaped bracket A009 corresponds to the position of the lifting mechanism A010 and is equipped with four guide support rods A012. The ends of the guide support rods A012 are universal ball bearings A013, which can be embedded in the bottom grooves to provide guidance and support.

[0061] like Figure 4As shown, the UAV take-up and storage device A001 consists of a cross-shaped synchronous tightening mechanism A004, an embedded lifting hatch A005, a rotating take-up and storage wheel A006, and an outer shell support frame A007. The cross-shaped synchronous tightening mechanism A004 consists of left and right clamping mechanisms A014 and bow and stern clamping mechanisms A015. The rotating take-up and storage wheel A006 consists of a central axis rotary motor A008, a star-shaped bracket A009, a lifting mechanism A010, a magnetic base plate A011, a guide support rod A012, and a universal ball bearing A013.

[0062] like Figure 5 As shown, the upper part is a top view and the lower part is a sectional view. The embedded lifting hatch A005 consists of a lifting hatch A016, a concealed hatch A017, an electric push rod A018, and a fixed seat A019. The embedded lifting hatch A005 is arranged in the interlayer of the top partition of the outer shell support frame A007. The electric push rod A018 and the fixed seat A019 are arranged on the back of the top partition of the outer shell support frame A007. In order to ensure that the magnetic base plate A011 can be more accurately aligned with the upper surface of the lifting hatch A016 when it is raised, the edges of the lifting hatch A016 and the magnetic base plate A011 are both designed with chamfers, so that the magnetic base plate A011 can be aligned with the height of the lifting hatch A016 when it is raised without protruding.

[0063] like Figure 6 As shown, the UAV's lift-up port A016 is located at the center of the cross-shaped synchronous tightening mechanism A004. The cross-shaped synchronous tightening mechanism A004 consists of left and right clamping mechanisms A014 and bow and stern clamping mechanisms A015. To avoid interference, the left and right clamping mechanisms A014 and bow and stern clamping mechanisms A015 are arranged in layers, with the bow and stern clamping mechanism A015 on the lower layer and the left and right clamping mechanisms A014 on the upper layer. When the cross-shaped synchronous tightening mechanism is working, the bow and stern clamping mechanism A015 clamps the UAV first. Human-machine interface A003, then left and right clamping mechanisms A014 clamp the UAV A003. The bow and stern clamping mechanism A015, taking the bow mechanism as an example, includes a bow drive motor A021, a bow motor transmission shaft A022, a bow clamping plate A023, a bevel gear A024, a bow transmission screw A025, a transmission shaft bearing A026, a bow magnetic attraction device A027, and a transmission screw bearing A028. The stern mechanism is symmetrical to the bow mechanism, and the composition of the mechanism is completely the same. Taking the left clamping mechanism A014 as an example, its structure includes a left drive motor A029, a left motor transmission shaft A030, a left clamping plate A031, a bevel gear A032, a left transmission screw A033, a transmission shaft bearing A034, a left magnetic array A035, and a transmission screw bearing A036. The right mechanism is symmetrical to the left mechanism and has the same structural composition.

[0064] like Figure 7As shown, there are four sets of magnetic base plate A011 and lifting mechanism A010 arranged in a circle, mounted on star bracket A009, and driven to rotate by central shaft motor A008.

[0065] like Figure 8 As shown, after all drones A003 (up to four) are retrieved by the drone retrieval and storage device A001, the lifting mechanism A010 of the rotating retrieval and storage wheel A006 will retrieve the last magnetic base plate A011, so that all lifting mechanisms A010 are in the lowest position, that is, all drones A003 are in the storage position, and then the embedded lifting hatch A005 is closed.

[0066] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A device for launching, retrieving, and storing marine unmanned aerial vehicles (UAVs), characterized in that, include: The outer shell support frame (A007) is fixed below the hull deck, and its upper surface is flush with the deck. An embedded lifting hatch (A005) is concealed within the top partition layer of the outer shell support frame and can be opened or closed by a drive mechanism (A016). A rotary storage tray (A006) is located inside the outer shell support frame compartment. It has a central axis rotary motor (A008), a star-shaped bracket (A009), and at least two sets of lifting mechanisms (A010) evenly distributed along the circumference. Each set of lifting mechanisms is fixed with a magnetic base plate (A011). The central axis rotary motor drives the star-shaped bracket to rotate so as to switch any magnetic base plate to the position directly below the lifting port. The lifting mechanism raises the magnetic base plate to be flush with the deck surface or lowers it to the storage position. The cross-shaped synchronous tightening mechanism (A004) is installed on the upper part of the outer shell support frame and arranged around the lifting port. It includes left and right clamping mechanisms (A014) and bow and stern clamping mechanisms (A015) arranged in upper and lower layers. Each clamping mechanism contains a servo drive motor, a lead screw pair that rotates in opposite directions, and a clamping plate that can move synchronously in opposite directions or in opposite directions under the drive of the lead screw pair. The clamping plate is equipped with a magnetic attraction enabling device, which can generate magnetic force to attract the iron baffle on the UAV legs after power is applied. The magnetic base plate and the cross-shaped synchronous tightening mechanism work together to enable the UAV to be launched and accurately recovered in complex sea conditions. The recovered UAV can also be transferred into the cabin for storage by rotating the rotary storage and recovery wheel.

2. The marine unmanned aerial vehicle (UAV) launch and storage device according to claim 1, characterized in that: The embedded lifting hatch (A005) is driven by an electric push rod (A018) to slide the concealed hatch (A017) horizontally along the deck mezzanine, thereby opening and closing the lifting hatch (A016). The edges of the lifting hatch (A016) and the magnetic bottom plate (A011) are chamfered to ensure that the upper surface of the magnetic bottom plate is precisely flush with the deck surface and does not protrude after it is raised.

3. The marine unmanned aerial vehicle (UAV) launch and storage device according to claim 1, characterized in that: The bottom of the star-shaped bracket (A009) of the rotary storage wheel (A006) is fixed with a guide support rod (A012) corresponding to the position of each lifting mechanism (A010). The end of the guide support rod is equipped with a universal ball bearing (A013). The universal ball bearing is embedded in the sliding groove at the bottom of the outer shell support frame to provide guidance and support during rotation and lifting.

4. The marine unmanned aerial vehicle (UAV) launch and storage device according to claim 1 or 3, characterized in that: The magnetic base plate (A011) and lifting mechanism (A010) are arranged in four sets, forming a circular array with 90° intervals along the star-shaped bracket (A009), so that the device can store up to four drones at the same time.

5. The marine unmanned aerial vehicle (UAV) launch and storage device according to claim 1, characterized in that: The left and right clamping mechanisms (A014) and the bow and stern clamping mechanisms (A015) are both driven by servo drive motors via bevel gear pairs to drive two lead screws that are oppositely spiraled, thereby causing the corresponding clamping plates to move synchronously in opposite directions or in opposite directions, so as to realize the rapid centering and clamping of the UAV legs.

6. The marine unmanned aerial vehicle (UAV) launch and storage device according to claim 1 or 5, characterized in that: When the magnetic attraction enabling device on the clamp is powered on, the entire clamp becomes magnetic, and when the power is turned off, it is demagnetized. When recovering the drone, the left and right clamps first magnetically attract and push to correct the drone's lateral position, and then the bow and stern clamps magnetically attract and push to correct the longitudinal position, so that the drone's legs are finally aligned with the center of the magnetic base plate.

7. The marine unmanned aerial vehicle (UAV) launch and storage device according to claim 6, characterized in that: The cross-shaped synchronous tightening mechanism (A004) determines whether the clamping plate has contacted the UAV leg baffle by monitoring the current or displacement changes of the servo drive motor. When the motor stalls or the displacement stops, it is determined that the clamping plate on that side has completed clamping and automatically switches to the next clamping action.

8. The marine unmanned aerial vehicle (UAV) launch and storage device according to claim 1, characterized in that: During the drone release phase, the magnetic base plate (A011) is first energized to hold the drone's legs together. Once the drone's propeller lift reaches a preset threshold, the magnetic base plate is instantly de-energized and demagnetized, creating a catapult release effect to improve the takeoff success rate.

9. The marine unmanned aerial vehicle (UAV) deployment and storage device according to claim 6, characterized in that: During the drone recovery phase, the control unit performs the following actions in sequence: a) The rotating storage and retraction wheel (A006) rotates the idle magnetic base plate (A011) to the underside of the lifting port (A016) and raises it to the deck surface. Then, the base plate is energized to generate the first-level magnetic force, which initially attracts the iron baffle of the landing drone's legs to reduce the landing point error. b) After the UAV touches the ship, the cross synchronous tightening mechanism (A004) first magnetizes the left and right clamps and retracts them synchronously. The sudden change in motor current / displacement determines that the lateral correction is completed. Then, the bow and stern clamps are magnetized and retracted synchronously to complete the longitudinal correction in the same way, so as to achieve the secondary precise positioning of the UAV in the deck plane. c) After all the horizontal and vertical clamping plates have been mechanically clamped, the magnetic base plate is energized again to generate a second level of magnetic force, which firmly attracts the precisely positioned drone legs. Then all the clamping plates are released and returned to their original positions to avoid interference with the recovery channel.

10. The marine unmanned aerial vehicle (UAV) deployment and storage device according to claim 9, characterized in that: After completing the secondary precision positioning and secure clamping, the lifting mechanism (A010) lowers the magnetic base plate along with the drone to the storage height. The central axis rotary motor (A008) then drives the star bracket (A009) to rotate, so that the next available magnetic base plate is aligned with the lifting port, in preparation for subsequent drone recovery, thus realizing continuous recovery operations.

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