Unmanned aerial vehicle propeller collecting device, unmanned aerial vehicle garage, vehicle and unmanned aerial vehicle propeller collecting method

Abstract

The invention provides an unmanned aerial vehicle propeller collecting device, an unmanned aerial vehicle garage, a vehicle and an unmanned aerial vehicle propeller collecting method.The unmanned aerial vehicle propeller collecting device is used for the unmanned aerial vehicle garage, the unmanned aerial vehicle garage comprises a movement mechanism, and the unmanned aerial vehicle propeller collecting device comprises a collecting piece, and the folding piece is suitable for being arranged on the movement mechanism and cooperating with the unmanned aerial vehicle parked in the unmanned aerial vehicle garage to fold propellers of the unmanned aerial vehicle when moving along with the movement mechanism. Therefore, according to the unmanned aerial vehicle propeller collecting device, propeller collecting of the unmanned aerial vehicle can be achieved through cooperation of the collecting piece and the unmanned aerial vehicle when the collecting piece moves, no extra driving device needs to be added in the propeller collecting process, and therefore the structure of the unmanned aerial vehicle propeller collecting device is simplified, the machining difficulty of the unmanned aerial vehicle propeller collecting device is lowered, and the production cost of the unmanned aerial vehicle propeller collecting device is controlled.

Description

Drone propeller recovery device, drone hangar, vehicle and drone propeller recovery method Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV propeller recovery device, UAV hangar, vehicle, and UAV propeller recovery method. Background Technology

[0002] The propellers are an important component for drone flight. However, when the drone is not flying, the propellers take up a lot of space, which is not conducive to carrying and storing the drone. Therefore, most drones will retract their propellers after the flight is completed.

[0003] In related technologies, some drones use propellers with automatic folding function, which are retracted after flight. Alternatively, some drones use additional drive devices to drive the propellers to retract. However, both of these methods increase the complexity of the overall structure of the drone, resulting in a significant increase in drone production costs. Summary of the Invention

[0004] In view of this, this application provides a drone propeller retraction device, a drone hangar, a vehicle, and a drone propeller retraction method, so as to at least solve the problem that the propeller retraction method of drones in the prior art easily increases the structural burden of the whole machine, resulting in high production costs.

[0005] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0006] This application provides a drone propeller recovery device for a drone hangar, the drone hangar including a motion mechanism, the drone propeller recovery device comprising:

[0007] A folding component, which is adapted to be mounted on the motion mechanism and, when moving with the motion mechanism, cooperates with a drone parked in the drone hangar to fold the drone's propellers.

[0008] Optionally, the retractor is adapted to contact the propellers of a drone parked in the drone hangar when moving with the motion mechanism, so as to retract the propellers of the drone.

[0009] Optionally, the drone propeller recovery device also includes:

[0010] A buffer sleeve is fitted over at least a portion of the retractor, the retractor being adapted to contact the propellers of a drone parked in the drone hangar when moving with the motion mechanism, the buffer sleeve being adapted to provide cushioning when the retractor contacts the propellers.

[0011] Optionally, the buffer sleeve is fitted onto the end of the gathering member opposite to the motion mechanism; and / or, the buffer sleeve has a dimension of 1cm to 3cm along the axial direction of the gathering member.

[0012] Optionally, the drone propeller recovery device also includes:

[0013] A guide sleeve is fitted onto the gathering member and located on the side of the buffer sleeve away from the motion mechanism; the guide sleeve is connected to the buffer sleeve.

[0014] Along the axial direction of the retractable member, the diameter of the guide sleeve on the side closer to the buffer sleeve is smaller than the diameter of the guide sleeve on the side away from the buffer sleeve.

[0015] Optionally, the buffer sleeve and the guide sleeve are an integral part.

[0016] This application also provides a drone hangar, including a motion mechanism and a drone propeller retraction device as described in any of the preceding claims, wherein the retraction member is disposed on the motion mechanism and cooperates with a drone parked in the drone hangar to retract the drone's propellers when moving with the motion mechanism.

[0017] Optionally, the motion mechanism includes a lifting mechanism, the lifting mechanism comprising:

[0018] Base;

[0019] A lifting arm is rotatably connected to the base, and the retracting component is fixed to the lifting arm.

[0020] Optionally, the lifting mechanism further includes:

[0021] A landing pad, wherein the landing pad is rotatably connected to one end of the lifting arm away from the base, and the landing pad is suitable for parking the UAV;

[0022] The device includes a first working position and a second working position. In the first working position, the height of the landing pad is higher than the height of the folding component. In the second working position, the height of the landing pad is lower than the height of the folding component. The height direction is perpendicular to the base.

[0023] Optionally, the folding member is located at one end of the lifting arm near the base.

[0024] Optionally, the retracting component and the lifting arm are an integral part.

[0025] Optionally, the lifting mechanism further includes:

[0026] A first drive assembly is disposed on the base and connected to the lifting arm. The first drive assembly is used to drive the lifting arm to rotate relative to the base.

[0027] Optionally, the first driving component includes:

[0028] The first driving component is fixedly connected to the base.

[0029] A pusher is movably connected to the base, and the end of the pusher is also rotatably connected to the lifting arm;

[0030] The first driving member is connected to the pushing member and is used to drive the pushing member to move relative to the base, thereby the pushing member pushes the lifting arm to rotate relative to the base.

[0031] Optionally, the first driving component further includes:

[0032] A lead screw, through which the first driving member is connected to the pushing member.

[0033] Optionally, the pusher is slidably connected to the base;

[0034] The first driving component also includes:

[0035] An elastic element, one end of which is fixedly connected to the base and the other end of which is fixedly connected to the pusher, is adapted to provide cushioning during the movement of the pusher relative to the base.

[0036] Optionally, the lifting mechanism includes four lifting arms, wherein two lifting arms are hinged together to form a first arm group, and the other two lifting arms are hinged together to form a second arm group.

[0037] The first arm assembly is located on one side of the base, and the second arm assembly is located on the opposite side of the base;

[0038] Each of the lifting arms is provided with at least one of the retracting components.

[0039] Optionally, the retracting members in the first arm group and the second arm group are symmetrically arranged along the hinge portion.

[0040] Optionally, the base is provided with a slide rail, and at least one of the lifting arms in each arm assembly is slidably connected to the slide rail.

[0041] Optionally, the motion mechanism further includes:

[0042] A centering mechanism is provided on the landing pad, and the centering mechanism is adapted to center the UAV to the target position when the UAV is parked on the landing pad.

[0043] Optionally, the centralization mechanism includes:

[0044] A first movable plate and a second movable plate are disposed on opposite sides of the landing pad and are movably connected to the landing pad. The first movable plate and the second movable plate are adapted to hold the legs of the UAV.

[0045] The first movable plate and the second movable plate are movable relative to the landing pad, so that the first movable plate and the second movable plate move closer to each other or further away from each other along the first direction, thereby realizing the centering of the UAV along the first direction.

[0046] Optionally, the helipad includes:

[0047] A first substrate, the first substrate being adapted to hold the body of the UAV;

[0048] The second substrate supports the first substrate, and the first movable plate and the second movable plate are slidably connected to the second substrate.

[0049] Optionally, the second base plate is provided with a guide rail arranged along the first direction, and the first movable plate and the second movable plate are slidably connected to the guide rail.

[0050] Optionally, the second substrate is provided with a second driving component, which is connected to the first movable plate and the second movable plate respectively, and is used to drive the first movable plate and the second movable plate to slide relative to the second substrate.

[0051] Optionally, the centralization mechanism further includes:

[0052] At least two clamping members are disposed on opposite sides of the first substrate and are movably connected to the first substrate;

[0053] A third drive assembly, connected to the at least two clamping members, is used to drive the drone to move closer to or further away from the at least two clamping members along a second direction to achieve centering of the drone along the second direction, wherein the second direction intersects with the first direction.

[0054] Optionally, at least one of the at least two clamping members is connected to a charging module for charging the drone.

[0055] Optionally, the third drive component is a ball screw pair; or, the third drive component is a gear and rack mechanism, wherein the clamping member is fixedly connected to the rack.

[0056] Optionally, the centralization mechanism further includes:

[0057] A detection device, disposed on the first movable plate or the second movable plate, is used to detect whether the UAV has returned to the target position.

[0058] Optionally, it also includes a housing;

[0059] The casing has a storage compartment, and the drone propeller recovery device is housed within the storage compartment.

[0060] This application also provides a vehicle, including a vehicle body and the aforementioned drone hangar, the drone hangar being mounted on the vehicle body.

[0061] This application also provides a method for retracting a drone propellers, applied to any of the aforementioned drone propeller retraction devices, the method comprising:

[0062] Acquire the signal that the drone has landed in the drone hangar;

[0063] The motion mechanism is controlled to move, and the propellers of the UAV are controlled to rotate in an directional manner, wherein the propellers rotate in an directional manner in coordination with the retracting component.

[0064] Compared with existing technologies, the drone propeller recovery device, drone hangar, vehicle, and drone propeller recovery method described in this application have the following advantages:

[0065] The drone propeller retraction device of this application embodiment sets a retraction component on the motion mechanism of the drone hangar, so that the motion mechanism drives the retraction component to move synchronously during the movement of the motion mechanism. When the retraction component moves, it cooperates with the drone to realize the drone's propeller retraction. No additional drive device is needed during the propeller retraction process, which helps to simplify the structure of the drone propeller retraction device, reduce the processing difficulty of the drone propeller retraction device, and control its production cost.

[0066] The drone hangar, vehicle, and drone propeller recovery method of this application have the same or similar advantages as the prior art and the aforementioned drone propeller recovery device, which will not be elaborated here. Attached Figure Description

[0067] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0068] Figure 1 is a schematic diagram of a lifting mechanism according to an embodiment of this application;

[0069] Figure 2 is a side view of a lifting mechanism according to an embodiment of this application;

[0070] Figure 3 is a schematic diagram of a drone hangar in a first working position according to an embodiment of this application;

[0071] Figure 4 is a schematic diagram of a drone hangar in a second working position according to an embodiment of this application;

[0072] Figure 5 is a schematic diagram of another lifting mechanism in an embodiment of this application;

[0073] Figure 6 is a partial top view of a drone hangar according to an embodiment of this application;

[0074] Figure 7 is a schematic diagram of a retractor contacting a blade in an embodiment of this application;

[0075] Figure 8 is a schematic diagram of another retractor contacting the blade in an embodiment of this application;

[0076] Figure 9 is an exploded view of a centering mechanism according to an embodiment of this application;

[0077] Figure 10 is a schematic diagram of a centering mechanism in the centering process according to an embodiment of this application;

[0078] Figure 11 is a top view of a centering mechanism according to an embodiment of this application;

[0079] Figure 12 is a schematic diagram of a drone housed in a casing according to an embodiment of this application;

[0080] Figure 13 is a schematic diagram of an unmanned aerial vehicle not fully housed in the casing according to an embodiment of this application;

[0081] Figure 14 is a side view of a drone housed in a casing according to an embodiment of this application;

[0082] Figure 15 is a schematic diagram of a blade directional rotation in an embodiment of this application.

[0083] Explanation of reference numerals in the attached figures:

[0084] 1-Base, 2-Hauling pad, 21-First substrate, 22-Second substrate, 23-Guide rail;

[0085] 3-Lifting boom, 301-First boom assembly, 302-Second boom assembly;

[0086] 4-Collapsing component, 42-Buffer sleeve, 43-Guide sleeve;

[0087] 51-First driving component, 52-Pushing component, 53-Lead screw, 54-Elastic component;

[0088] 61-First movable plate, 62-Second movable plate, 63-Second drive assembly, 64-Clamping component, 65-Third drive assembly, 66-Detection device;

[0089] 8-Casing, 80-Containment compartment, 81-Compartment door;

[0090] 9 - Unmanned aerial vehicle (UAV), 90 - Propeller blades. Detailed Implementation

[0091] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0092] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0093] It should be understood that the phrase "some embodiments" throughout the specification means that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "some embodiments" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0094] The following detailed embodiments illustrate a drone propeller recovery device, drone hangar, vehicle, and drone propeller recovery method provided in this application.

[0095] This application provides a drone propeller retraction device for a drone hangar. The drone hangar includes a motion mechanism, and the drone propeller retraction device includes a retraction component 4. The retraction component 4 is adapted to be mounted on the motion mechanism and cooperates with the drone parked in the drone hangar to retract the drone's propellers when it moves with the motion mechanism.

[0096] Specifically, the folding component 4 is directly mounted on the motion mechanism of the drone hangar. The motion mechanism of the drone hangar includes a lifting mechanism, a centering mechanism, and some movable plates within the drone hangar. The folding component 4 is connected to the motion mechanism, and this connection can be achieved through fastener assembly, laser welding, limit snap-fit, adhesive bonding, etc. During the movement of the motion mechanism, the motion mechanism will drive the folding component 4 to move synchronously. During the movement of the folding component 4, it cooperates with the drones parked in the drone hangar. The cooperation between the folding component 4 and the drones can be contact cooperation, friction cooperation, limit cooperation, interference cooperation, etc. The cooperation between the folding component 4 and the drones can hinder the movement of the drones, thereby achieving the folding of the drones' propellers.

[0097] The drone propeller retraction device of this application embodiment sets a retraction component on the motion mechanism of the drone hangar, so that the motion mechanism drives the retraction component to move synchronously during the movement of the motion mechanism. When the retraction component moves, it cooperates with the drone to realize the drone's propeller retraction. No additional drive device is needed during the propeller retraction process, which helps to simplify the structure of the drone propeller retraction device, reduce the processing difficulty of the drone propeller retraction device, and control its production cost.

[0098] Optionally, in some embodiments of this application, the retracting member 4 is adapted to contact the propellers of a drone parked in a drone hangar when moving with the motion mechanism, so as to retract the drone's propellers. Specifically, when the retracting member 4 contacts the drone's propellers during movement with the motion mechanism, it generates resistance to the rotation of the drone's propellers. Some propellers stop rotating directly under the action of the retracting member 4, while others slow down and gradually stop rotating, thereby achieving the retraction of the drone's propellers. The retracting member 4 can be a shaft-like structure, a thin plate-like structure, etc., as long as it can effectively contact the propellers and hinder their rotation.

[0099] Optionally, referring to Figures 1, 2, 6 to 8, in some embodiments of this application, the drone propeller retraction device further includes: a buffer sleeve 42, which is sleeved on at least a portion of the retractor 4, and the buffer sleeve 42 is adapted to provide cushioning when the retractor 4 contacts the propeller blade 90.

[0100] Specifically, Figure 6 is a partial top view of a drone propeller retractor device, and Figures 7 and 8 are schematic diagrams of two types of retractor contacting the propeller blades. As shown in Figures 6 to 8, a buffer sleeve 42 is fitted onto at least a portion of the retractor 4. The buffer sleeve 42 can be made of silicone, rubber, polyurethane, polypropylene, rubber-plastic composite materials, etc. The buffer sleeve 42 can play a certain buffering role during the contact between the propeller blade 90 and the retractor 4, avoiding collision between the propeller blade 90 and the retractor 4 when the speed is too high, thus preventing damage to the propeller blade 90. At the same time, it can play a certain protective role on the surface of the retractor 4, reducing the probability and degree of wear caused by the propeller blade 90 on the surface of the retractor 4.

[0101] In addition, the buffer sleeve 42 can be fitted on the side of the retractor 4 away from the motion mechanism, or on the side of the retractor 4 close to the motion mechanism, or it can cover the entire surface of the retractor 4. If the buffer sleeve 42 covers the entire surface of the retractor 4, the buffering effect on the propeller 90 and the protection effect on the surface of the retractor 4 will be better, but correspondingly, the production cost of the drone propeller retractor device will be higher. If the buffer sleeve 42 partially covers the surface of the retractor 4, the buffer area that the buffer sleeve 42 can provide is limited, so the buffering effect on the propeller 90 and the protection effect on the surface of the retractor 4 are also relatively limited, but correspondingly, it helps to save the production cost of the drone propeller retractor device.

[0102] Optionally, referring to Figures 6 to 8, in some embodiments of this application, the buffer sleeve 42 is sleeved on the end of the gathering member 4 away from the motion mechanism, and / or the dimension of the buffer sleeve 42 along the axial direction of the gathering member 4 is 1cm to 3cm.

[0103] Specifically, after multiple tests, since the contact point between the blade 90 and the retractor 4 is mostly at the end of the retractor 4 facing away from the motion mechanism, placing the buffer sleeve 42 on the end of the retractor 4 facing away from the motion mechanism can meet the buffering requirements in most cases while controlling the cost of the buffer sleeve 42. Alternatively, the position of the buffer sleeve 42 can be freely set, with its axial dimension along the retractor 4 set to 1cm to 3cm, thus controlling the cost of the buffer sleeve 42. Of course, the buffer sleeve 42 can also be placed on the end of the retractor 4 facing away from the motion mechanism, while simultaneously controlling its axial dimension to 1cm to 3cm, achieving both cost control and ensuring buffering effectiveness.

[0104] Optionally, referring to Figures 6 to 8, in some embodiments of this application, the UAV propeller retraction device further includes: a guide sleeve 43, which is sleeved on the retracting member 4 and located on the side of the buffer sleeve 42 away from the motion mechanism, and the guide sleeve 43 is connected to the buffer sleeve 42; along the axial direction of the retracting member 4, the diameter of the guide sleeve 43 on the side close to the buffer sleeve 42 is smaller than the diameter of the guide sleeve 43 on the side away from the buffer sleeve 42.

[0105] Specifically, the guide sleeve 43 can also be made of silicone, rubber, polyurethane, polypropylene, rubber and plastic composite materials, etc. The guide sleeve 43 is located on the side of the buffer sleeve 42 away from the motion mechanism. The guide sleeve 43 can be a conical sleeve or an arc sleeve, so that the diameter of the guide sleeve 43 on the side close to the buffer sleeve 42 is smaller than the diameter of the guide sleeve 43 on the side away from the buffer sleeve 42. Thus, the guide sleeve 43 can prevent the blade 90 from generating downward pressure along the axis of the retracting member 4 during the rotation of the blade 90, which is more conducive to the smooth retraction of the blade 90.

[0106] Optionally, in some embodiments of this application, the buffer sleeve 42 and the guide sleeve 43 are integral parts, which helps to prevent the buffer sleeve 42 and the guide sleeve 43 from separating under long-term use. At the same time, the end of the guide sleeve 43 away from the buffer sleeve 42 can be designed as a closed structure to play an axial lower limit role for the guide sleeve 43, further preventing the buffer sleeve 42 and the guide sleeve 43 from sliding axially under long-term use, thereby improving the reliability of the UAV propeller retraction device.

[0107] This application also provides a drone hangar, which includes a motion mechanism and a drone propeller retraction device according to any of the foregoing embodiments. The retraction member 4 is disposed on the motion mechanism and cooperates with the drone parked in the drone hangar to retract the drone's propellers when moving with the motion mechanism.

[0108] The drone hangar is a dedicated storage area for drones, providing a stable and safe parking environment to prevent damage during storage. The folding component 4 is integrated into the hangar's motion mechanism. During its movement, it works in conjunction with the drones parked in the hangar to retract their propellers, thus enriching the hangar's functionality and enhancing its intelligence and convenience. Furthermore, the integration of the folding component 4 with the motion mechanism helps save space within the hangar and facilitates its carrying and transportation.

[0109] Optionally, in some embodiments of this application, the motion mechanism includes a lifting mechanism, and a folding member 4 is disposed on the lifting mechanism. The folding member 4 is adapted to contact the propeller 90 of the UAV 9 parked on the lifting mechanism when it descends with the lifting mechanism to prevent the propeller 90 from rotating.

[0110] Specifically, Figure 1 is a schematic diagram of a lifting mechanism in an embodiment of this application, and Figure 2 is a side view of a lifting mechanism in an embodiment of this application. The lifting mechanism can rise or fall. When the drone 9 needs to take off, the lifting mechanism rises, and when the lifting mechanism rises to a certain height, the drone 9 can take off from the lifting mechanism. When the drone 9 needs to be retrieved, the drone 9 first lands on the lifting mechanism, and the lifting mechanism begins to descend. During the descent of the lifting mechanism, the retractable member 4 contacts the propellers 90 of the drone 9 parked on the lifting mechanism, generating resistance to prevent the propellers 90 from rotating. Some of the propellers 90 stop rotating directly under the action of the retractable member 4, while some of the propellers 90 slow down and gradually stop rotating under the action of the retractable member 4, thereby realizing the retrieval of the drone 9. The retractable member 4 can be a shaft-like structure, a thin plate-like structure, etc., which can effectively contact the propellers 90 and prevent the propellers 90 from rotating.

[0111] Alternatively, in some other embodiments of this application, the motion mechanism includes a centering mechanism adapted to center a drone parked in the drone hangar to a suitable position. The retracting member 4 is disposed on the centering mechanism. During the process of centering the drone by the centering mechanism, the retracting member 4 contacts the drone's propeller blades to prevent the propeller blades from rotating, thereby realizing the drone's propeller retraction.

[0112] Optionally, referring to Figures 1 and 2, in some embodiments of this application, the lifting mechanism includes: a base 1; a lifting arm 3, the lifting arm 3 being rotatably connected to the base 1, and a folding member 4 being fixed on the lifting arm 3.

[0113] Specifically, the base 1 is located at the bottom of the lifting mechanism and supports the lifting arm 3. The lifting arm 3 is rotatably connected to the base 1. The rotatable connection can be, but is not limited to, hinges or pivot connections. For example, the base 1 has a pivot hole, and a pivot is fixedly connected to the end of the lifting arm 3 near the base 1. The pivot passes through the pivot hole, and the rotation of the pivot relative to the pivot hole enables the lifting arm 3 to rotate relative to the base 1. During the rotation of the lifting arm 3 relative to the base 1, the lifting arm 3 rises and falls, which in turn enables the lifting mechanism to rise and fall.

[0114] The retractable component 4 is fixed to the lifting arm 3. The retractable component 4 and the lifting arm 3 can be manufactured as a single piece using an integral molding process, or they can be independent components, connected by fasteners such as bolts, screws, and rivets, laser welding, adhesive bonding, or locking mechanisms. Thus, during the ascent and descent of the lifting arm 3, the retractable component 4 moves synchronously up and down. Only during the synchronous descent of the lifting arm 3 and the retractable component 4 will the retractable component 4 contact the propeller blades 90 of the UAV 9 to prevent the blades from rotating, thereby retracting the UAV propeller blades.

[0115] Optionally, referring to Figures 3 and 4, in some embodiments of this application, the lifting mechanism further includes: a landing pad 2, which is rotatably connected to the end of the lifting arm 3 away from the base 1, and the landing pad 2 is suitable for parking the drone 9; the drone hangar includes a first working position and a second working position. In the first working position, the height of the landing pad 2 is higher than the height of the retracting member 4, and in the second working position, the height of the landing pad 2 is lower than the height of the retracting member 4, wherein the height direction is perpendicular to the base 1.

[0116] Specifically, the landing pad 2 is rotatably connected to the end of the lifting arm 3 away from the base 1. The rotatable connection method includes, but is not limited to, hinge connection, shaft connection, etc. For example, the landing pad 2 is provided with a shaft hole, and the end of the lifting arm 3 near the landing pad 2 is fixedly connected to a shaft. The shaft passes through the shaft hole. The rotation of the shaft relative to the shaft hole can realize the rotation of the lifting arm 3 relative to the landing pad 2. The landing pad 2 is suitable for parking the UAV 9 during the take-off, landing and recovery process of the UAV 9.

[0117] The drone hangar includes a first working position and a second working position. Figure 3 is a schematic diagram of a drone hangar in the first working position according to an embodiment of this application, and Figure 4 is a schematic diagram of a drone hangar in the second working position according to an embodiment of this application. As shown in Figure 3, in the first working position, the height of the landing pad 2 is higher than the height of the retracting component 4. As shown in Figure 4, in the second working position, the height of the landing pad 2 is lower than the height of the retracting component 4. When the height of the landing pad 2 is higher than the height of the retracting component 4, the retracting component 4 cannot contact the propeller blades 90 of the drone 9, and will not affect the takeoff and landing of the drone 9. When the height of the landing pad 2 is lower than the height of the retracting component 4, the retracting component 4 contacts the propeller blades 90 of the drone 9, hindering the rotation of the propeller blades 90, thereby achieving the retraction of the drone propeller blades.

[0118] Optionally, referring to FIG2, in some embodiments of this application, the retractable member 4 is located at the end of the lifting arm 3 near the base 1. With the height of the retractable member 4 remaining constant, if the retractable member 4 is further away from the base 1, the height of the retractable member 4 will be higher during the lifting arm 3's ascent, making it more likely to interfere with other structures on the landing pad 2 or with the fuselage of the UAV 9, affecting the smooth take-off and landing of the UAV 9. Setting the retractable member 4 at the end of the lifting arm 3 closer to the base 1 helps to avoid interference between the retractable member 4 and other structures on the landing pad 2 or with the fuselage of the UAV 9 when the UAV 9 is lifted, thereby ensuring the smooth take-off and landing of the UAV 9.

[0119] Optionally, in some embodiments of this application, the lifting mechanism further includes: a first driving component, which is disposed on the base 1 and connected to the lifting arm 3, and is used to drive the lifting arm 3 to rotate relative to the base 1.

[0120] Specifically, the rotation of the lifting arm 3 relative to the base 1 can be driven manually or automatically. In this embodiment, a first driving component is set up and installed on the base 1 to drive the lifting arm 3 to rotate relative to the base 1, thereby realizing the automatic driving of the lifting arm 3 to lift and lower, which is more conducive to improving the intelligent design of the drone hangar.

[0121] Optionally, referring to Figures 1 and 5, in some embodiments of this application, the first driving component includes: a first driving member 51, fixedly connected to the base 1; and a pushing member 52, movably connected to the base 1, the end of which is also rotatably connected to the lifting arm 3; the first driving member 51 is connected to the pushing member 52 and is used to drive the pushing member 52 to move relative to the base 1, thereby the pushing member 52 pushes the lifting arm 3 to rotate relative to the base 1.

[0122] Specifically, the first driving component 51 is fixedly connected to the base 1, and can be fixed to the base 1 by fastener assembly, limit snap-fit, or other means. The pushing component 52 is movably connected to the base 1. The first driving component 51 is connected to the pushing component 52 and is used to drive the pushing component 52 to move relative to the base 1. At the same time, the end of the pushing component 52 is also rotatably connected to the lifting arm 3. During the movement of the pushing component 52 relative to the base 1, the pushing component 52 pushes the lifting arm 3 to rotate relative to the base 1, thereby realizing the lifting movement of the lifting arm 3. Figure 5 is a schematic diagram of the lifting mechanism from another perspective in this embodiment. As shown in Figure 5, the pushing component 52 can be in the form of a push plate, which is set parallel to the base 1 and movably connected to the base 1. The first driving component 51 can be a motor, cylinder, etc., and the specific type is not limited in this embodiment.

[0123] Optionally, referring to FIG5, in some embodiments of this application, the first drive assembly further includes a lead screw 53, and the first drive member 51 is connected to the push member 52 through the lead screw 53. Specifically, the lead screw 53 and the push member 52 constitute a ball screw pair. The first drive member 51 drives the lead screw 53 to rotate, thereby causing the push member 52 to move relative to the base 1. The ball screw pair has high transmission efficiency, low friction loss, smoother movement, higher transmission accuracy, and long service life, which can ensure the driving accuracy of the first drive assembly, thereby realizing the smooth lifting and lowering of the lifting arm 3.

[0124] Optionally, referring to FIG5, in some embodiments of this application, the pusher 52 is slidably connected to the base 1; the first drive assembly further includes: an elastic member 54, one end of which is fixedly connected to the base 1 and the other end of which is fixedly connected to the pusher 52, the elastic member 54 being adapted to provide cushioning during the movement of the pusher 52 relative to the base 1.

[0125] Among them, the elastic element 54 can be a spring. The spring is arranged along the direction of movement of the pusher 52. One end of the spring is fixedly connected to the base 1, and the other end is fixedly connected to the pusher 52. The spring can provide tension or resistance to the pusher 54 during the process of the pusher 54 pushing the lifting arm 3 to rotate relative to the base 1, so as to provide buffering and improve the smoothness of the lifting arm 3.

[0126] Optionally, referring to FIG1, in some embodiments of this application, the lifting mechanism includes four lifting arms 3, wherein two lifting arms 3 are hinged to each other to form a first arm group 301, and the other two lifting arms 3 are hinged to each other to form a second arm group 302; the first arm group 301 is located on one side of the base 1, and the second arm group 302 is located on the opposite side of the base 1; each lifting arm 3 is provided with at least one retracting member 4.

[0127] Specifically, the four lifting arms 3 are arranged in pairs facing each other. Each pair of lifting arms 3 is hinged together at their center to form a first arm group 301 and a second arm group 302. The first arm group 301 and the second arm group 302 are arranged opposite each other and are distributed on both sides of the base 1. Thus, the lifting mechanism relies on the synchronous lifting of the first arm group 301 and the second arm group 302. The synchronous lifting of the two arm groups helps to improve the stability of the lifting mechanism during the lifting process, so as to provide better support for the UAV 9.

[0128] In this configuration, each lifting arm 3 in the first arm group 301 and the second arm group 302 is equipped with at least one retracting member 4, resulting in a minimum of four retracting members 4. The propeller blades 90 of the UAV 9 are distributed around the fuselage of the UAV 9. The four retracting members 4 contact the corresponding propeller blades 90 to prevent their rotation, thereby achieving the retraction of the propeller blades 90. Of course, each lifting arm 3 in the first arm group 301 and the second arm group 302 may also be equipped with two or more retracting members 4. The number of retracting members 4 on each lifting arm 3 may be the same or different, depending on the retraction of the propeller blades 90, ensuring that the propeller blades 90 can be effectively retracted.

[0129] Optionally, referring to FIG1, in some embodiments of this application, the retracting members 4 in the first arm group 301 and the second arm group 302 are symmetrically arranged along the hinge portion. Specifically, since the UAV 9 is already centered in the middle position of the landing pad 2 when the UAV retracting device retracts the propellers, symmetrically arranging the retracting members along the hinge portion of the lifting arm 3 in each arm group helps to achieve synchronous retracting of the propellers 90 on both sides, thereby improving the retracting efficiency.

[0130] Optionally, in some embodiments of this application, the base 1 is provided with a slide rail, and at least one lifting arm 3 in each arm group is slidably connected to the slide rail. Specifically, the slide rail on the base 1 can be arranged in several ways. In the first arrangement, the two ends of the two lifting arms 3 in the first arm group 301 and the second arm group 302 are slidably connected to the base 1 and the landing pad 2, respectively. During the lifting arm 3's ascent or descent, the two lifting arms 3 slide along the base 1 and the landing pad 2, respectively, thereby achieving lifting and descent through double-sided sliding. In the second arrangement, one end of one lifting arm 3 in the first arm group 301 and the second arm group 302 is slidably connected to the base 1, and the other end is rotatably connected to the landing pad 2. The other lifting arm 3 is the opposite, with one end rotatably connected to the base 1 and the other end slidably connected to the landing pad 2. The slidably connected ends of the two lifting arms 3 correspond to each other, and the rotatably connected ends correspond to each other. During the lifting arm 3's ascent or descent, one of the two lifting arms 3 slides along the base 1, and the other slides along the landing pad 2, thereby achieving lifting and descent through single-sided sliding.

[0131] Optionally, in some embodiments of this application, the motion mechanism further includes a centering mechanism, disposed on the helipad 2, which is adapted to center the UAV 9 to a target position when the UAV 9 is parked on the helipad 2. The target position is preset by personnel and can be set as the center position on the helipad 2. Centering the UAV 9 to the target position facilitates the retraction of the UAV propellers.

[0132] Optionally, referring to Figures 9 and 10, in some embodiments of this application, the centering mechanism includes: a first movable plate 61 and a second movable plate 62. The first movable plate 61 and the second movable plate 62 are disposed on opposite sides of the landing pad 2 and are movably connected to the landing pad 2. The first movable plate 61 and the second movable plate 62 are adapted to place the legs of the drone 9. The first movable plate 61 and the second movable plate 62 can move relative to the landing pad 2, so that the first movable plate 61 and the second movable plate 62 move closer to each other or further away from each other along a first direction, thereby realizing the centering of the drone 9 along the first direction.

[0133] Specifically, Figure 9 is an exploded view of a centering mechanism according to an embodiment of this application, and Figure 10 is a schematic diagram of a centering mechanism in the centering process according to an embodiment of this application. As shown in Figures 9 and 10, the first movable plate 61 and the second movable plate 62 are located on opposite sides of the helipad 2 and are movably connected to the helipad 2. The first movable plate 61 and the second movable plate 62 can move relative to the helipad 2 along a first direction, which is shown as the X direction in Figure 10. During the movement, the first movable plate 61 and the second movable plate 62 move closer to or further away from each other along the first direction X.

[0134] The first movable plate 61 and the second movable plate 62 are suitable for parking the legs of the drone 9. The drone 9 has four legs. When the drone 9 first lands on the landing pad 2, the four legs of the drone 9 are relatively spread out, occupying a large space on the landing pad 2. As the first movable plate 61 and the second movable plate 62 move closer to each other along the first direction X, the four legs of the drone 9 are brought together. The position of the drone 9 is adjusted by adjusting the legs, thereby achieving the centering of the drone 9 in the first direction X.

[0135] Optionally, referring to Figures 9 to 11, in some embodiments of this application, the landing pad 2 includes: a first base plate 21, which is adapted to hold the body of the drone 9; a second base plate 22, which supports the first base plate 21, and a first movable plate 61 and a second movable plate 62 are slidably connected to the second base plate 22 respectively.

[0136] Specifically, Figure 11 is a top view of a centering mechanism according to an embodiment of this application. The landing pad 2 includes a first base plate 21 and a second base plate 22. The first base plate 21 is placed on top of the second base plate 22 and is suitable for placing the body of the drone 9. A first movable plate 61 and a second movable plate 62 are placed on the second base plate 22 and are slidably connected to the second base plate 22, respectively. When the first movable plate 61 and the second movable plate 62 slide relative to the second base plate 22, they cause the four legs of the drone 9 to move closer together. During this process, the first base plate 21 provides certain support for the body of the drone 9, which helps to improve the stability of the drone 9 during the leg retraction process and avoids excessive shaking or even tipping over.

[0137] Optionally, referring to Figures 9 to 10, in some embodiments of this application, the second substrate 22 is provided with a guide rail 23 arranged along the first direction X, and the first movable plate 61 and the second movable plate 62 are slidably connected to the guide rail 23 respectively.

[0138] Specifically, the guide rail 23 is fixedly connected to the second substrate 22. The fixed connection method includes, but is not limited to, fastener assembly connection, welding, limit snap-fit, adhesive connection, etc., as long as it can ensure that the guide rail 23 and the second substrate 22 cannot move relative to each other. The first movable plate 61 and the second movable plate 62 are respectively slidably connected to the guide rail 23. The guide rail 23 can play a guiding role in the sliding process of the first movable plate 61 and the second movable plate 62 relative to the second substrate 22, thereby helping to improve the stability of the sliding process of the first movable plate 61 and the second movable plate 62 and improve the centering effect of the centering mechanism on the UAV 9.

[0139] Optionally, referring to FIG9, in some embodiments of this application, a second driving component 63 is provided on the second substrate 22. The second driving component 63 is connected to the first movable plate 61 and the second movable plate 62 respectively, and is used to drive the first movable plate 61 and the second movable plate 62 to slide relative to the second substrate 22.

[0140] Specifically, the second drive assembly 63 can be a motor or cylinder, or a ball screw pair. The second drive assembly 63 can be equipped with two drive components, one of which is connected to the first movable plate 61 and the other is connected to the second movable plate 62, so as to realize independent driving of the first movable plate 61 and the second movable plate 62; or, the second drive assembly 63 can be equipped with one drive component, which is connected to both the first movable plate 61 and the second movable plate 62, so as to realize synchronous driving of the first movable plate 61 and the second movable plate 62.

[0141] Optionally, referring to FIG11, in some embodiments of this application, the centering mechanism further includes: at least two clamping members 64, which are disposed on opposite sides of the first substrate 21 and are movably connected to the first substrate 21; and a third driving component 65, which is connected to the at least two clamping members 64 and is used to drive the at least two clamping members 64 to move closer to or further away from each other along a second direction, so as to achieve the centering of the UAV 9 along the second direction, wherein the second direction intersects with the first direction.

[0142] Specifically, Figure 11 shows a schematic diagram of the centering mechanism including two clamping members 64. The two clamping members 64 are arranged opposite each other along a second direction, which is shown as the Y direction in Figure 11. The second direction Y is perpendicular to the first direction X. When the angle between the second direction Y and the first direction X is between 89° and 91°, it is considered that the second direction Y and the first direction X are perpendicular to each other.

[0143] Two clamping members 64 are movably connected to the first substrate 21. The third driving component 65 is connected to the two clamping members 64 and can drive the two clamping members 64 to move relative to the first substrate 21 along the second direction Y, so that the two clamping members 64 move closer or further away from each other. During the process of the two clamping members 64 moving closer to each other, they respectively contact the fuselage of the UAV 9 and gradually stick to the fuselage of the UAV 9, so as to realize the centering of the UAV 9 along the second direction Y.

[0144] Of course, the number of clamping parts 64 can be more, depending on the size of the drone 9 body, as long as the clamping parts 64 can effectively clamp the drone 9 body.

[0145] Optionally, referring to FIG11, in some embodiments of this application, at least one of the at least two clamping members 64 is connected to a charging module. The charging module is used to charge the drone 9, thereby integrating the clamping and charging functions. When the clamping member 64 clamps the drone 9, the charging module can charge the drone 9, providing conditions for the drone 9 to take off again. The charging module can adopt a contact charging method, that is, the charging module can charge the drone 9 after it makes full contact with the drone 9. Alternatively, the charging module can adopt an interface insertion charging method, that is, as the clamping members 64 approach each other, the electrical plug of the charging module is gradually inserted into the electrical port of the drone 9, and the drone 9 can be charged after full insertion.

[0146] Optionally, referring to FIG11, in some embodiments of this application, the third drive assembly 65 is a ball screw pair, including a screw and a nut sleeved on the screw. The drive member drives the screw to rotate, causing the nut to move along the axial direction of the screw. The clamping member 64 is fixedly connected to the nut and moves along the axial direction of the screw with the nut, thereby driving the clamping member 64. Alternatively, the third drive assembly 65 is a gear and rack mechanism. The gear rotates, driving the rack to move along the first base plate 21. The clamping member 64 is fixedly connected to the rack, thereby driving the clamping member 64. The above-mentioned drive method has smooth movement, high transmission efficiency, high transmission accuracy, and long service life, which can ensure the driving accuracy of the third drive assembly 65, thereby achieving smooth movement of the clamping member 64.

[0147] Optionally, referring to FIG9, in some embodiments of this application, the centering mechanism further includes a detection device 66, disposed on the first movable plate 61 or the second movable plate 62. The detection device may be a photoelectric sensor, an infrared sensor, a displacement sensor, etc., which is fixedly connected to the first movable plate 61 or the second movable plate 62 respectively. It can detect whether the drone 9 has been centered to the target position. If it has been centered to the target position, the drone 9 is then stored. If it has not been centered to the target position, a second centering is performed to adjust the position of the drone 9. Thus, the effective centering of the drone 9 is ensured by setting the detection device.

[0148] Referring to Figures 12 to 14, this application embodiment also provides a drone hangar, which further includes a housing 8; the housing 8 has a storage compartment 80, in which the drone propeller recovery device is housed.

[0149] Specifically, the housing 8 is the main component of the drone hangar. The housing 8 has good strength and rigidity. It has a storage compartment 80 inside, in which the drone propeller recovery device is housed. The drone 9 is parked on the landing pad of the drone propeller recovery device. Figure 12 is a schematic diagram of the drone 9 housed in the storage compartment 80. Figure 13 is a schematic diagram of the drone 9 not being fully housed in the storage compartment 80. Figure 14 is a side view of the drone 9 housed in the storage compartment 80. The housing 8 can provide good protection for the drone 9 and the drone propeller recovery device inside, preventing the drone 9 and the drone propeller recovery device from being contaminated by moisture, dust and other external environmental factors.

[0150] This application also provides a vehicle, which includes a vehicle body and a drone hangar as described in the previous embodiment, with the drone hangar mounted on the vehicle body. Specifically, a mounting area for mounting the drone hangar can be provided on the vehicle roof. The drone hangar is mounted in the mounting area, which can be provided with a mounting structure. The drone hangar's housing 8 is fixedly connected to the mounting structure, thereby fixing the drone hangar to the vehicle roof to form a vehicle-mounted drone. When the drone is needed, it can be directly controlled to take off from the drone hangar.

[0151] This application also provides a method for retracting a drone propellers, applied to the drone propeller retraction device of any of the above embodiments. The drone propeller retraction method includes:

[0152] Step S10: Obtain the signal of the drone landing on the motion mechanism.

[0153] One or more sensors can be installed on the motion mechanism. In conjunction with the aforementioned embodiments, one or more sensors can be installed on the landing pad of the lifting mechanism. These sensors can be infrared sensors, photoelectric sensors, gravity sensors, etc., and the specific type is not limited in this application embodiment. When the drone lands on the landing pad, the sensors can acquire the drone's landing signal and send it to the control system of the drone's propeller retraction device.

[0154] Step S20: Control the motion mechanism to descend and control the propellers of the UAV to rotate in an directional manner, wherein the propellers rotate in an directional manner in coordination with the retracting component 4.

[0155] In this system, after receiving signals from the sensors, the control system controls the motion mechanism to descend and controls the propellers of the UAV to rotate in an directional manner. In conjunction with the aforementioned embodiments, the control system controls the first drive component to rotate the lifting arm relative to the base, thereby raising and lowering the lifting arm. During the descent of the lifting arm, the controller inside the UAV controls the propellers to rotate in an directional manner, and at the same time, the retracting component 4 rises and contacts the rotating propellers, thus hindering the rotation of the propellers and achieving the retraction of the propellers.

[0156] Optionally, in this embodiment of the application, the UAV includes a first blade group and a second blade group, with the blades of the first blade group and the blades of the second blade group being staggered; step S20, controlling the directional rotation of the UAV's blades, includes: controlling the first blade group to rotate along a third direction and the second blade group to rotate along a fourth direction; wherein, the third direction and the fourth direction are two opposite directions.

[0157] Specifically, the directional rotation method is shown in Figure 15. The first blade group includes two pairs of blades, and the second blade group includes two pairs of blades. The four pairs of blades are distributed at the four corners of the UAV. The two pairs of blades in the first blade group rotate in a third direction (M direction in Figure 15), and the two pairs of blades in the second blade group rotate in a fourth direction (N direction in Figure 15). This directional rotation of the blades keeps them controlled within the landing pad, preventing interference between the blades and other parts of the manned aerial retraction device during the continued descent of the lifting arm.

[0158] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0159] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A drone propeller recovery device for use in a drone hangar, the drone hangar comprising a motion mechanism, characterized in that, The drone propeller retraction device includes a retraction component (4), which is adapted to be mounted on the motion mechanism and cooperate with the drone parked in the drone hangar to retract the drone propeller when moving with the motion mechanism.

2. The UAV propeller recovery device according to claim 1, characterized in that, The retractor (4) is adapted to contact the propellers of the UAV parked in the UAV hangar when moving with the motion mechanism, so as to retract the propellers of the UAV.

3. The UAV propeller recovery device according to claim 2, characterized in that, Also includes: A buffer sleeve (42) is fitted over at least a portion of the retractor (4) and is adapted to provide cushioning when the retractor (4) contacts the blade.

4. The UAV propeller recovery device according to claim 3, characterized in that, The buffer sleeve (42) is fitted onto the end of the gathering member (4) opposite to the motion mechanism; and / or, the buffer sleeve (42) has a dimension of 1cm to 3cm along the axial direction of the gathering member (4).

5. The UAV propeller recovery device according to claim 3, characterized in that, Also includes: A guide sleeve (43) is fitted onto the gathering member (4) and located on the side of the buffer sleeve (42) away from the motion mechanism. The guide sleeve (43) is connected to the buffer sleeve (42). Along the axial direction of the gathering member (4), the diameter of the guide sleeve (43) on the side closer to the buffer sleeve (42) is smaller than the diameter of the guide sleeve (43) on the side away from the buffer sleeve (42).

6. The UAV propeller recovery device according to claim 5, characterized in that, The buffer sleeve (42) and the guide sleeve (43) are an integral piece.

7. A drone hangar, characterized in that, The device includes a motion mechanism and a drone propeller retraction device according to any one of claims 1-6, wherein the retraction member (4) is disposed on the motion mechanism and cooperates with the drone parked in the drone hangar to retract the drone propeller when moving with the motion mechanism.

8. The drone hangar according to claim 7, characterized in that, The motion mechanism includes a lifting mechanism, which includes: a base (1); a lifting arm (3), the lifting arm (3) being rotatably connected to the base (1), and the folding member (4) being fixed on the lifting arm (3).

9. The drone hangar according to claim 8, characterized in that, The lifting mechanism further includes: a landing pad (2), which is rotatably connected to the end of the lifting arm (3) away from the base (1), and the landing pad (2) is suitable for parking the UAV; the device includes a first working position and a second working position, in the first working position, the height of the landing pad (2) is higher than the height of the folding member (4), and in the second working position, the height of the landing pad (2) is lower than the height of the folding member (4), wherein the height direction is perpendicular to the base (1).

10. The drone hangar according to claim 8, characterized in that, The folding member (4) is located at one end of the lifting arm (3) near the base (1).

11. The drone hangar according to claim 8, characterized in that, The retractable component (4) and the lifting arm (3) are an integral part.

12. The drone hangar according to claim 8, characterized in that, The lifting mechanism further includes a first drive assembly, which is disposed on the base (1) and connected to the lifting arm (3). The first drive assembly is used to drive the lifting arm (3) to rotate relative to the base (1).

13. The drone hangar according to claim 12, characterized in that, The first driving component includes: a first driving member (51) fixedly connected to the base (1); a pushing member (52) movably connected to the base (1), and the end of the pushing member (52) is also rotatably connected to the lifting arm (3); the first driving member (51) is connected to the pushing member (52) and is used to drive the pushing member (52) to move relative to the base (1), and then the pushing member (52) pushes the lifting arm (3) to rotate relative to the base (1).

14. The drone hangar according to claim 13, characterized in that, The first drive assembly further includes a lead screw (53), and the first drive member (51) is connected to the pusher member (52) through the lead screw (53).

15. The drone hangar according to claim 13, characterized in that, The pusher (52) is slidably connected to the base (1); the first drive assembly further includes an elastic member (54), one end of which is fixedly connected to the base (1) and the other end is fixedly connected to the pusher (52), and the elastic member (54) is adapted to provide cushioning during the movement of the pusher (52) relative to the base (1).

16. The drone hangar according to claim 8, characterized in that, The lifting mechanism includes four lifting arms (3), wherein two lifting arms (3) are hinged together to form a first arm group (301), and the other two lifting arms (3) are hinged together to form a second arm group (302); the first arm group (301) is located on one side of the base (1), and the second arm group (302) is located on the opposite side of the base (1); each lifting arm (3) is provided with at least one retracting member (4).

17. The drone hangar according to claim 16, characterized in that, The retractable members (4) in the first arm assembly (301) and the second arm assembly (302) are symmetrically arranged along the hinge portion.

18. The drone hangar according to claim 16, characterized in that, The base (1) is provided with a slide rail, and at least one of the lifting arms (3) in each arm group is slidably connected to the slide rail.

19. The drone hangar according to claim 9, characterized in that, The motion mechanism further includes a centering mechanism, which is located on the landing pad (2) and is adapted to center the UAV to the target position when the UAV is parked on the landing pad (2).

20. The drone hangar according to claim 19, characterized in that, The centering mechanism includes a first movable plate (61) and a second movable plate (62). The first movable plate (61) and the second movable plate (62) are located on opposite sides of the landing pad (2) and are movably connected to the landing pad (2). The first movable plate (61) and the second movable plate (62) are adapted to place the legs of the UAV. The first movable plate (61) and the second movable plate (62) can move relative to the landing pad (2), so that the first movable plate (61) and the second movable plate (62) move closer to each other or further away from each other along a first direction, thereby realizing the centering of the UAV along the first direction.

21. The drone hangar according to claim 20, characterized in that, The landing pad (2) includes: a first base plate (21) adapted to hold the body of the UAV; a second base plate (22) supporting the first base plate (21), and the first movable plate (61) and the second movable plate (62) being slidably connected to the second base plate (22).

22. The drone hangar according to claim 21, characterized in that, The second substrate (22) is provided with a guide rail (23) arranged along the first direction, and the first movable plate (61) and the second movable plate (62) are slidably connected to the guide rail (23).

23. The drone hangar according to claim 21, characterized in that, The second substrate (22) is provided with a second driving component (63), which is connected to the first movable plate (61) and the second movable plate (62) respectively, and is used to drive the first movable plate (61) and the second movable plate (62) to slide relative to the second substrate (22).

24. The drone hangar according to claim 21, characterized in that, The centering mechanism further includes: at least two clamping members (64), which are disposed on opposite sides of the first substrate (21) and are movably connected to the first substrate (21); and a third driving component (65), which is connected to the at least two clamping members (64) and is used to drive the at least two clamping members (64) to move closer to or further away from each other along a second direction, so as to center the UAV along the second direction, wherein the second direction intersects with the first direction.

25. The drone hangar according to claim 24, characterized in that, At least one of the at least two clamping members (64) is connected to a charging module for charging the drone.

26. The drone hangar according to claim 24, characterized in that, The third drive assembly (65) is a ball screw pair; or, the third drive assembly (65) is a gear and rack mechanism, and the clamping member (64) is fixedly connected to the rack.

27. The drone hangar according to claim 20, characterized in that, The centering mechanism further includes a detection device (66) disposed on the first movable plate (61) or the second movable plate (62) for detecting whether the UAV has centered to the target position.

28. The unmanned aerial vehicle hangar according to any one of claims 7 to 27, characterized in that, It also includes a housing (8); the housing (8) has a storage compartment (80) in which the UAV propeller recovery device is housed.

29. A vehicle, characterized in that, The vehicle includes a vehicle body and a drone hangar as described in any one of claims 7 to 28, the drone hangar being mounted on the vehicle body.

30. A method for recovering the propellers of a drone, characterized in that, The method of the drone propeller retraction device according to any one of claims 1 to 6 includes: acquiring a signal that the drone has landed in the drone hangar; controlling the movement of the motion mechanism and controlling the directional rotation of the drone propellers, wherein the directional rotation of the propellers cooperates with the retraction member (4).

31. The UAV propeller recovery method according to claim 30, characterized in that, The drone includes a first blade group and a second blade group, with the blades of the first blade group and the blades of the second blade group being staggered. Controlling the directional rotation of the drone's blades includes controlling the first blade group to rotate along a third direction and the second blade group to rotate along a fourth direction; wherein the third direction and the fourth direction are two opposite directions.

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