Floating support device and rotating lifting device, unmanned aerial vehicle storage and transportation system

Abstract

This invention relates to the field of support component technology, specifically to floating support devices and rotary lifting equipment, and unmanned aerial vehicle (UAV) storage and transportation systems. The floating support device includes a base and a floating seat. A first elastic element and a second elastic element are provided between the base and the floating seat to allow the floating seat to float relative to the base. Each elastic element has a fixed end and a movable end. One of the base and the floating seat has a mounting surface for mounting the fixed end, and the other has a force-bearing surface for cooperating with the movable end. When the elastic elements are not subjected to external force, the installation height of the second elastic element is less than the installation height of the first elastic element. The floating seat has a first state where it presses the first elastic element without pressing the second elastic element within a set floating amount, and a second state where it presses the first and second elastic elements beyond the set floating amount. The movable end of the second elastic element has a set initial elastic force when it contacts the force-bearing surface, and has a variable stiffness function to avoid exceeding the floating amount limit while ensuring effective support capacity.

Description

Technical Field

[0001] This invention relates to the field of support component technology, specifically to floating support devices and rotary lifting equipment, and unmanned aerial vehicle (UAV) storage and transportation systems. Background Technology

[0002] Marine warehousing and logistics systems are a crucial component of maritime transport, playing a vital role in achieving efficient, safe, and environmentally friendly marine operations. Traditional storage and transportation solutions often employ a rectangular overall layout, which suffers from drawbacks such as large footprint, low efficiency, and high costs. With the rapid development of marine intelligent logistics technology, ship structural designs have become increasingly diverse. Compared to traditional storage and transportation solutions, circular or ring-shaped storage and transportation arrangements offer advantages such as high volumetric efficiency, high efficiency, low cost, and customizability, meeting the diversified development needs of modern marine intelligent logistics systems.

[0003] Marine lifting devices are one of the core pieces of equipment for the efficient operation of modern ship warehousing and logistics systems. Their main function is to vertically transfer cargo from the lower / upper deck to the upper / lower deck, achieving automated vertical cargo transfer. They offer advantages such as high automation, high efficiency, and space saving. However, ships experience six types of rolling, pitching, swaying, and heaving during navigation in rough seas. Among these, rolling, pitching, and heaving have a relatively significant impact on the normal operation of ship equipment, making the operating environment of marine lifting devices extremely harsh and severe. Currently, marine lifting devices and elevators adopt an integrated modular design, installed as a whole within the ship's hold via a supporting frame. Their bottom, middle, and top are fixedly connected to the hold, and the lifting device, guide rails, and lifting platform are installed within the supporting frame, enabling lifting functions. However, they can only achieve vertical lifting and lack the ability to rotate at any angle. Therefore, existing marine lifting technologies and devices cannot meet the requirements of overall storage and transportation schemes with circular or circumferential layouts. Marine rotary lifting technology and equipment are currently a gap in the industry.

[0004] In the prior art, Chinese utility model patent with authorization announcement number CN222293495U discloses a rotary lifting device and battery manufacturing equipment, which adopts a circular three-dimensional warehouse structure in conjunction with a circular rack. The rotary lifting device is located in the central space of the circular rack. The rotary lifting device includes a base, a column, a rotating unit, a loading platform, and a lifting unit. The rotating unit is set on the base and connected to the column. The loading platform is used to carry battery clamps. The lifting unit is set on the column and connected to the loading platform. The lifting unit is used to drive the loading platform to move up and down in the vertical direction to realize the picking and placing of battery clamps in different compartments in the height direction of the rack. The rotating unit on the base can drive the column to move in a circle around its axis, thereby driving the loading platform to rotate in the circumferential direction, which can realize full coverage of multiple circularly distributed racks. The bottom of the column is mounted on the base via a slewing bearing to enable rotation. At the same time, a straightening unit is rotatably mounted on the top of the column via a bearing. The straightening unit is connected to the shelf via a straightening frame. Multiple straightening frames can provide support to the straightening unit in the circumferential direction, thereby using the bearing to provide rotational support to the top of the column.

[0005] The aforementioned rotating lifting device, which uses bearings and brackets for rotational support at the top, can provide some leveling, but it suffers from drawbacks such as low load capacity, large deflection, and poor positioning accuracy. It is only suitable for static land-based applications and not for complex, swaying loads in high sea states on ships, thus rendering it unsuitable for marine rotating lifting. To meet demanding operating conditions, a large-diameter rotating support structure should be used. From an engineering perspective, this structure must consider the impact of roundness and concentricity errors on self-rotation, and should be easily adjustable and maintained to prevent rotational jamming. Therefore, a bearing structure is unsuitable, as large-diameter bearings are heavy, expensive, and have poor assembly and maintainability.

[0006] For large-diameter rotating support structures, multiple sets of floating support structures can be considered. Multiple sets of floating support structures are distributed circumferentially on the rotating component, so that they are supported on the inner circumferential surface of the corresponding fixed component. Thus, during rotation, the radial floating capability of the floating support structure can be used to adapt to the influence of roundness error, rotational concentricity error and other factors on the self-rotation function, while meeting the performance requirements of large-diameter rotating support structures.

[0007] Conventional floating support structures include a floating seat, a fixed seat, and an elastic element placed between the two. The elastic element is compressed to create resistance to the floating of the floating seat. However, when the floating amount is large, this floating support structure provides limited support for the floating seat. If it cannot form effective support, it may cause equipment damage. For example, under swaying load conditions, if the top of the rotary lifting device loses effective support, it will produce a large left and right sway, which will cause the bottom rotating structure to jam, be damaged, or even fail. Summary of the Invention

[0008] The purpose of this invention is to provide a floating support device to solve the problem that current floating support devices have poor support capacity when the floating amount is large; the purpose of this invention is also to provide a rotary lifting device using such a floating support device, so as to realize that the top floating support of the rotary lifting device is on the corresponding mating surface and can effectively suppress sway; the purpose of this invention is also to provide a drone storage and transportation system using such a rotary lifting device.

[0009] The technical solution of the floating support device of the present invention is as follows: A floating support device includes a base and a floating seat. A first elastic element and a second elastic element are provided between the base and the floating seat to allow the floating seat to float relative to the base. Each elastic element has a fixed end and a movable end. One of the base and the floating seat has a mounting surface for mounting the fixed end, and the other has a force-bearing surface for engaging the movable end. When the elastic elements are not subjected to external force, the mounting height of the second elastic element is less than that of the first elastic element. The floating seat has a first state in which it presses the first elastic element without pressing the second elastic element within a set floating amount, and a second state in which it presses the first and second elastic elements beyond the set floating amount. The movable end of the second elastic element has a set initial elastic force when it contacts the force-bearing surface.

[0010] Furthermore, the elastic element is height-adjustable and mounted on the mounting surface, with the height direction of the elastic element aligned with the floating direction of the floating seat.

[0011] Furthermore, the elastic element is equipped with an adjusting shim, which is installed between the mounting surface and the fixed end of the elastic element to make the height of the movable end of the elastic element relative to the mounting surface adjustable. The height of the movable end of the elastic element relative to the mounting surface is the installation height of the elastic element.

[0012] Furthermore, the first elastic element and the second elastic element are each provided with two and distributed at the four corners of a rectangle, and the two first elastic elements and the two second elastic elements are diagonally distributed.

[0013] Furthermore, under the same compression, the elastic force of the second elastic element is greater than that of the first elastic element; the initial elastic force of the second elastic element is not less than the elastic force of the first elastic element when the force-bearing surface contacts the second elastic element; when the force-bearing surface contacts the second elastic element, the elastic force of the second elastic element on the floating seat is more than twice the elastic force of the first elastic element on the floating seat.

[0014] Furthermore, the fixed end of the elastic element is fixed to the mounting surface of the base, and the movable end is used to press against the force-bearing surface of the floating seat. The mounting surface of the base and the force-bearing surface of the floating seat are spaced apart and opposite each other in the floating direction. The base is provided with a guide structure for guiding the floating of the floating seat. During the floating process, the floating seat presses against the corresponding elastic element, causing the elastic element to compress.

[0015] Furthermore, the elastic element is a gas spring, and the stiffness coefficient of the gas spring forming the second elastic element is greater than the stiffness coefficient of the gas spring forming the first elastic element.

[0016] Furthermore, the base includes a fixed seat and an adjusting seat that are separately arranged. The mounting surface or force-bearing surface is disposed on the adjusting seat, and the position of the adjusting seat relative to the fixed seat is adjustable in the floating direction.

[0017] Furthermore, the fixed base is equipped with an adjustment structure for adjusting the position of the adjustment seat. The adjustment structure includes an adjustment screw, which is threadedly connected to the fixed base. One end of the adjustment screw presses against the adjustment seat, and the other end is located on the side of the fixed base opposite to the adjustment seat. An elastic element is located on the side of the adjustment seat opposite to the adjustment screw.

[0018] Furthermore, the fixed base includes a main body, a bearing bushing, and a locking nut. The main body is provided with a bushing mounting hole, and the bearing bushing is installed in the bushing mounting hole. One end of the bearing bushing is provided with a stop, and the other end is provided with an external thread. The locking nut is threaded onto the external thread of the bearing bushing and cooperates with the stop to fix the bearing bushing on the main body. The inner hole of the bearing bushing is provided with an internal thread for the threaded connection of the adjusting screw.

[0019] Furthermore, both the fixed seat and the adjusting seat are equipped with a guide structure to guide the floating seat.

[0020] Furthermore, the fixed seat has a mounting cavity, the adjusting seat is located inside the mounting cavity, the inner wall of the mounting cavity is provided with a guide rail, and the floating seat is provided with a slide seat that cooperates with the guide rail to form a guiding fit; the adjusting seat is provided with a protrusion, and the floating seat is provided with a groove that cooperates with the protrusion to form a guiding fit.

[0021] Furthermore, the floating seat has a U-shaped structure with two spaced-apart opposing side walls and a connecting wall connecting the two side walls. The opening of the U-shaped structure faces the bottom of the mounting cavity. The elastic element and the adjusting seat are located in the inner cavity of the floating seat. The sliding groove and the sliding seat are arranged on the side wall of the floating seat. A support structure is provided on the side of the connecting wall facing away from the elastic element.

[0022] Beneficial Effects: This invention improves upon existing floating support structures by incorporating a first elastic element and a second elastic element with different installation heights between the floating seat and the base. The first elastic element, in normal contact, provides basic elastic force to the floating seat, ensuring relatively free floating within the normal operating range and providing basic support. The second elastic element, in abnormal contact, provides a sudden increase in elastic force to the floating seat, suppressing larger floating amounts and effectively supporting the floating seat when the floating amount is excessive. In the first state, the floating seat only contacts the first elastic element and not the second, meaning only the displacement resistance is formed by the elastic force of the first elastic element. At this point, the elastic force is relatively small, and the resistance is low, allowing for good adaptive floating within the set floating range (i.e., without contact with the second elastic element). In this state, the floating support device exhibits good overall elasticity and rigidity. The low stiffness allows for adaptive floating within a normal range to accommodate manufacturing and assembly errors. In the second state, both the first and second elastic elements are in contact and compressed, creating displacement resistance from their respective elastic forces. The second elastic element has an initial elastic force, so upon contact, a sudden increase in elastic force creates a surge in resistance, effectively suppressing further floating. In other words, after exceeding the set floating amount, the surge in resistance significantly reduces the amount of floating. The greater the elastic force of the second elastic element, the faster it can stop floating. The floating support device as a whole can have high rigidity, ensuring support capacity while absorbing floating impact energy. Thus, under conditions of external forces such as swaying loads, it can prevent excessive floating while maintaining effective support capacity.

[0023] The technical solution of the rotary lifting device of the present invention is as follows: A rotary lifting device includes a frame with a slewing bearing at the bottom and multiple floating support devices along the circumferential direction at the top of the frame. Each floating support device includes a base and a floating seat. A first elastic element and a second elastic element are provided between the base and the floating seat to allow the floating seat to float relative to the base. Each elastic element has a fixed end and a movable end. One of the base and the floating seat has a mounting surface for mounting the fixed end, and the other has a force-bearing surface for engaging the movable end. When the elastic element is not subjected to external force, the mounting height of the second elastic element is less than that of the first elastic element. The floating seat has a first state where it presses the first elastic element without pressing the second elastic element within a set floating amount, and a second state where it presses the first and second elastic elements beyond the set floating amount. The movable end of the second elastic element has a set initial elastic force when it contacts the force-bearing surface. Rollers for rolling support on corresponding mating surfaces are installed on the floating seat of the floating support device.

[0024] Furthermore, the elastic element is height-adjustable and mounted on the mounting surface, with the height direction of the elastic element aligned with the floating direction of the floating seat.

[0025] Furthermore, the elastic element is equipped with an adjusting shim, which is installed between the mounting surface and the fixed end of the elastic element to make the height of the movable end of the elastic element relative to the mounting surface adjustable. The height of the movable end of the elastic element relative to the mounting surface is the installation height of the elastic element.

[0026] Furthermore, the first elastic element and the second elastic element are each provided with two and distributed at the four corners of a rectangle, and the two first elastic elements and the two second elastic elements are diagonally distributed.

[0027] Furthermore, under the same compression, the elastic force of the second elastic element is greater than that of the first elastic element; the initial elastic force of the second elastic element is not less than the elastic force of the first elastic element when the force-bearing surface contacts the second elastic element; when the force-bearing surface contacts the second elastic element, the elastic force of the second elastic element on the floating seat is more than twice the elastic force of the first elastic element on the floating seat.

[0028] Furthermore, the fixed end of the elastic element is fixed to the mounting surface of the base, and the movable end is used to press against the force-bearing surface of the floating seat. The mounting surface of the base and the force-bearing surface of the floating seat are spaced apart and opposite each other in the floating direction. The base is provided with a guide structure for guiding the floating of the floating seat. During the floating process, the floating seat presses against the corresponding elastic element, causing the elastic element to compress.

[0029] Furthermore, the elastic element is a gas spring, and the stiffness coefficient of the gas spring forming the second elastic element is greater than the stiffness coefficient of the gas spring forming the first elastic element.

[0030] Furthermore, the base includes a fixed seat and an adjusting seat that are separately arranged. The mounting surface or force-bearing surface is disposed on the adjusting seat, and the position of the adjusting seat relative to the fixed seat is adjustable in the floating direction.

[0031] Furthermore, the fixed base is equipped with an adjustment structure for adjusting the position of the adjustment seat. The adjustment structure includes an adjustment screw, which is threadedly connected to the fixed base. One end of the adjustment screw presses against the adjustment seat, and the other end is located on the side of the fixed base opposite to the adjustment seat. An elastic element is located on the side of the adjustment seat opposite to the adjustment screw.

[0032] Furthermore, the fixed base includes a main body, a bearing bushing, and a locking nut. The main body is provided with a bushing mounting hole, and the bearing bushing is installed in the bushing mounting hole. One end of the bearing bushing is provided with a stop, and the other end is provided with an external thread. The locking nut is threaded onto the external thread of the bearing bushing and cooperates with the stop to fix the bearing bushing on the main body. The inner hole of the bearing bushing is provided with an internal thread for the threaded connection of the adjusting screw.

[0033] Furthermore, both the fixed seat and the adjusting seat are equipped with a guide structure to guide the floating seat.

[0034] Furthermore, the fixed seat has a mounting cavity, the adjusting seat is located inside the mounting cavity, the inner wall of the mounting cavity is provided with a guide rail, and the floating seat is provided with a slide seat that cooperates with the guide rail to form a guiding fit; the adjusting seat is provided with a protrusion, and the floating seat is provided with a groove that cooperates with the protrusion to form a guiding fit.

[0035] Furthermore, the floating seat has a U-shaped structure with two spaced-apart opposing side walls and a connecting wall connecting the two side walls. The opening of the U-shaped structure faces the bottom of the mounting cavity. The elastic element and the adjusting seat are located in the inner cavity of the floating seat. The sliding groove and the sliding seat are arranged on the side wall of the floating seat. A support structure is provided on the side of the connecting wall facing away from the elastic element.

[0036] Furthermore, the roller is a bearing, and the axis of the bearing and the axis of rotation of the frame are vertically aligned.

[0037] Beneficial Effects: This invention improves upon existing floating support structures by incorporating a first elastic element and a second elastic element with different installation heights between the floating seat and the base. The first elastic element, in normal contact, provides basic elastic force to the floating seat, ensuring relatively free floating within the normal operating range and providing basic support. The second elastic element, in abnormal contact, provides a sudden increase in elastic force to the floating seat, suppressing larger floating amounts and effectively supporting the floating seat when the floating amount is excessive. In the first state, the floating seat only contacts the first elastic element and not the second, meaning only the displacement resistance is formed by the elastic force of the first elastic element. At this point, the elastic force is relatively small, and the resistance is low, allowing for good adaptive floating within the set floating range (i.e., without contact with the second elastic element). In this state, the floating support device exhibits good overall elasticity and rigidity. The low stiffness allows for adaptive floating within a normal range to accommodate manufacturing and assembly errors. In the second state, both the first and second elastic elements are in contact and compressed, creating displacement resistance from their respective elastic forces. The second elastic element has an initial elastic force, so upon contact, a sudden increase in elastic force creates a surge in resistance, effectively suppressing further floating. In other words, after exceeding the set floating amount, the surge in resistance significantly reduces the amount of floating. The greater the elastic force of the second elastic element, the faster it can stop floating. The floating support device as a whole can have high rigidity, ensuring support capacity while absorbing floating impact energy. Thus, under conditions of external forces such as swaying loads, it can prevent excessive floating while maintaining effective support capacity.

[0038] The technical solution of the UAV storage and transportation system of the present invention is as follows: A drone storage and transportation system includes a ring-shaped warehouse with storage locations for drones. The ring-shaped warehouse has a vertical central aisle with a rotary lifting device inside. The rotary lifting device includes a frame with a slewing bearing at the bottom and multiple floating support devices along the circumferential direction at the top of the frame. Each floating support device includes a base and a floating seat. Between the base and the floating seat are a first elastic element and a second elastic element for the floating seat to float relative to the base. Each elastic element has a fixed end and a movable end. One of the base and the floating seat has a mounting surface for mounting the fixed end, and the other has a force-bearing surface for engaging the movable end. When the elastic element is not subjected to external force, the installation height of the second elastic element is less than that of the first elastic element. The floating seat has a first state where it presses the first elastic element without pressing the second elastic element within a set floating amount, and a second state where it presses the first and second elastic elements beyond the set floating amount. The movable end of the second elastic element has a set initial elastic force when it contacts the force-bearing surface. The floating seat of the floating support device is equipped with rollers for rolling support on the corresponding mating surfaces. The top opening of the central aisle has an inner circumferential surface that engages with the floating support device of the rotary lifting device.

[0039] Furthermore, the elastic element is height-adjustable and mounted on the mounting surface, with the height direction of the elastic element aligned with the floating direction of the floating seat.

[0040] Furthermore, the elastic element is equipped with an adjusting shim, which is installed between the mounting surface and the fixed end of the elastic element to make the height of the movable end of the elastic element relative to the mounting surface adjustable. The height of the movable end of the elastic element relative to the mounting surface is the installation height of the elastic element.

[0041] Furthermore, the first elastic element and the second elastic element are each provided with two and distributed at the four corners of a rectangle, and the two first elastic elements and the two second elastic elements are diagonally distributed.

[0042] Furthermore, under the same compression, the elastic force of the second elastic element is greater than that of the first elastic element; the initial elastic force of the second elastic element is not less than the elastic force of the first elastic element when the force-bearing surface contacts the second elastic element; when the force-bearing surface contacts the second elastic element, the elastic force of the second elastic element on the floating seat is more than twice the elastic force of the first elastic element on the floating seat.

[0043] Furthermore, the fixed end of the elastic element is fixed to the mounting surface of the base, and the movable end is used to press against the force-bearing surface of the floating seat. The mounting surface of the base and the force-bearing surface of the floating seat are spaced apart and opposite each other in the floating direction. The base is provided with a guide structure for guiding the floating of the floating seat. During the floating process, the floating seat presses against the corresponding elastic element, causing the elastic element to compress.

[0044] Furthermore, the elastic element is a gas spring, and the stiffness coefficient of the gas spring forming the second elastic element is greater than the stiffness coefficient of the gas spring forming the first elastic element.

[0045] Furthermore, the base includes a fixed seat and an adjusting seat that are separately arranged. The mounting surface or force-bearing surface is disposed on the adjusting seat, and the position of the adjusting seat relative to the fixed seat is adjustable in the floating direction.

[0046] Furthermore, the fixed base is equipped with an adjustment structure for adjusting the position of the adjustment seat. The adjustment structure includes an adjustment screw, which is threadedly connected to the fixed base. One end of the adjustment screw presses against the adjustment seat, and the other end is located on the side of the fixed base opposite to the adjustment seat. An elastic element is located on the side of the adjustment seat opposite to the adjustment screw.

[0047] Furthermore, the fixed base includes a main body, a bearing bushing, and a locking nut. The main body is provided with a bushing mounting hole, and the bearing bushing is installed in the bushing mounting hole. One end of the bearing bushing is provided with a stop, and the other end is provided with an external thread. The locking nut is threaded onto the external thread of the bearing bushing and cooperates with the stop to fix the bearing bushing on the main body. The inner hole of the bearing bushing is provided with an internal thread for the threaded connection of the adjusting screw.

[0048] Furthermore, both the fixed seat and the adjusting seat are equipped with a guide structure to guide the floating seat.

[0049] Furthermore, the fixed seat has a mounting cavity, the adjusting seat is located inside the mounting cavity, the inner wall of the mounting cavity is provided with a guide rail, and the floating seat is provided with a slide seat that cooperates with the guide rail to form a guiding fit; the adjusting seat is provided with a protrusion, and the floating seat is provided with a groove that cooperates with the protrusion to form a guiding fit.

[0050] Furthermore, the floating seat has a U-shaped structure with two spaced-apart opposing side walls and a connecting wall connecting the two side walls. The opening of the U-shaped structure faces the bottom of the mounting cavity. The elastic element and the adjusting seat are located in the inner cavity of the floating seat. The sliding groove and the sliding seat are arranged on the side wall of the floating seat. A support structure is provided on the side of the connecting wall facing away from the elastic element.

[0051] Furthermore, the roller is a bearing, and the axis of the bearing and the axis of rotation of the frame are vertically aligned.

[0052] Beneficial Effects: This invention improves upon existing floating support structures by incorporating a first elastic element and a second elastic element with different installation heights between the floating seat and the base. The first elastic element, in normal contact, provides basic elastic force to the floating seat, ensuring relatively free floating within the normal operating range and providing basic support. The second elastic element, in abnormal contact, provides a sudden increase in elastic force to the floating seat, suppressing larger floating amounts and effectively supporting the floating seat when the floating amount is excessive. In the first state, the floating seat only contacts the first elastic element and not the second, meaning only the displacement resistance is formed by the elastic force of the first elastic element. At this point, the elastic force is relatively small, and the resistance is low, allowing for good adaptive floating within the set floating range (i.e., without contact with the second elastic element). In this state, the floating support device exhibits good overall elasticity and rigidity. The low stiffness allows for adaptive floating within a normal range to accommodate manufacturing and assembly errors. In the second state, both the first and second elastic elements are in contact and compressed, creating displacement resistance from their respective elastic forces. The second elastic element has an initial elastic force, so upon contact, a sudden increase in elastic force creates a surge in resistance, effectively suppressing further floating. In other words, after exceeding the set floating amount, the surge in resistance significantly reduces the amount of floating. The greater the elastic force of the second elastic element, the faster it can stop floating. The floating support device as a whole can have high rigidity, ensuring support capacity while absorbing floating impact energy. Thus, under conditions of external forces such as swaying loads, it can prevent excessive floating while maintaining effective support capacity. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of an embodiment of the UAV storage and transportation system of the present invention; Figure 2 for Figure 1 A schematic diagram of the container shell; Figure 3 for Figure 1 A schematic diagram of the rotating lifting device in the diagram; Figure 4 for Figure 3 A schematic diagram of the frame structure of the rotary lifting equipment in the diagram; Figure 5 for Figure 1 A schematic diagram showing the relationship between the floating support device and the rotating support surface of the hull. Figure 6 for Figure 3 A three-dimensional schematic diagram of the floating support device in the diagram; Figure 7 for Figure 6A cross-sectional view of the floating support device in the middle; Figure 8 for Figure 6 A schematic diagram of the floating support device without the fixed base; Figure 9 for Figure 8 A diagram showing the removal of the floating seat; Figure 10 for Figure 6 A schematic diagram of the floating support device from the rear view; Figure 11 for Figure 8 A schematic diagram from the rear view.

[0054] In the diagram: 100, warehouse shell; 200, shelving; 300, rotary lifting equipment; 400, drone; 101. Rotational support surface; 301. Frame; 3011. Rotating mounting plate; 3012. Vertical frame; 3013. Base; 3013. Mounting hole for support device; 302. Lifting platform; 303, Floating support device; 3031, Roller; 3032, Floating seat; 3033, Fixed seat; 3034, Adjusting seat; 3035, First elastic element; 3036, Second elastic element; 3037, Adjusting screw; 3038, Bearing bushing; 3039, Locking nut; 3040, Guide rail; 3041, Slide; 3042, Guide sleeve; 3043, Protrusion. Detailed Implementation

[0055] The basic concept of the floating support device of the present invention is to set a first elastic element and a second elastic element with different installation heights between the floating seat and the base. The first elastic element, as the elastic element in normal contact, provides basic elastic force to the floating seat, ensuring relatively free floating within the normal floating range and providing basic support force. The second elastic element, as the elastic element in contact under abnormal conditions, provides a sudden increase in elastic force to the floating seat and suppresses it from generating a larger floating amount, so that it has sufficient rigidity, avoids excessive floating amount of the floating seat and ensures effective support capacity.

[0056] The following detailed description is provided in conjunction with specific examples.

[0057] Embodiments of the UAV storage and transportation system of the present invention: like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5As shown, the drone storage and transportation system includes a warehouse shell 100, shelves 200, and a rotating lifting device 300. The system is used to store and retrieve drones 400 and can be considered a hangar for the drones 400. This hangar is a circular automated warehouse, also known as a circular warehouse. The shelves 200 have a circular structure and are equipped with storage locations arranged in layers. Each storage location corresponds to a specific space, and the drone 400 is placed in its corresponding storage location. The shape of the storage space is adapted to the shape of the drone 400, with multiple circularly distributed storage locations on each layer. The rack 200 is located inside the warehouse shell 100. The central area of ​​the rack 200 forms a vertical space. The warehouse shell 100 is roughly cylindrical and fits the ring-shaped rack 200. The rack 200 is placed at the bottom of the cylindrical shell 100. The opening of the cylindrical shell 100 has a narrow opening structure, and its size fits the vertical space in the center of the rack 200. The opening of the cylindrical shell 100 and the vertical space in the center of the rack 200 together form the vertical central channel of the ring warehouse. The rotating lifting equipment 300 is set in the central channel to realize the storage and retrieval operations of the drone 400 at each cargo location in the circumferential and vertical directions.

[0058] The rotary lifting device 300 includes a frame 301 and a lifting platform 302. The frame 301 includes a base 3013 and uprights 3012 fixed on the base 3013. The uprights 3012 are vertically extending frame structures, with their bottoms fixed to the base 3013. Two uprights 3012 are spaced apart. The lifting platform 302 is located between the two uprights 3012, with both ends of the lifting platform 302 guidingly engaged with the uprights 3012. A lifting drive mechanism is installed on the frame 301. The lifting drive mechanism can be a wire rope winch, which can drive the lifting platform 302 to move up and down along the uprights 3012. The base 3013 forms the bottom of the frame 301. A slewing bearing, which can be a turntable bearing, is provided at the center of the base 3013, allowing the base 3013 to be rotatably mounted at the bottom center of the casing 100. The slewing bearing allows the frame 301 to rotate around its vertically extending axis of rotation, while restricting its vertical freedom. The base 3013 is equipped with a drive device for rotating the frame 301, which can be an electric motor.

[0059] The rotary lifting device 300 has a lifting platform 302 equipped with a mechanism for storing and retrieving the drone 400, enabling the drone 400 to be transferred from and placed in the storage location. The rotating frame 301 of the rotary lifting device 300 can be used to access various storage locations in a circumferential direction. The vertical movement of the lifting platform 302 of the rotary lifting device 300 can be used to access various storage locations in a vertical direction.

[0060] The top opening of the central passage of the circular warehouse is the opening of the warehouse shell 100. The top opening of the central passage has a rotating support surface 101, which is an inner circumferential surface with a certain axial extension dimension. A rotating mounting plate 3011 is fixedly installed on the top of the upright 3012 of the rotating lifting device 300. There are two rotating mounting plates 3011, which are arc-shaped. The two rotating mounting plates 3011 are fixed on both sides of the upright 3012, forming a circular structure with the top of the two uprights 3012. This circular structure is the top of the frame 301. Multiple floating support devices 303 are provided along the circumferential direction on the top of the frame 301. Both the rotating mounting plate 3011 and the upright 3012 have floating support devices 303. The rotating mounting plate 3011 has support device mounting holes 3013 for installing the floating support devices 303. The floating support device 303 has rollers 3031 for rolling support on the corresponding rotating support surface 101, which forms a mating surface that cooperates with the floating support device 303 of the rotary lifting device 300. By utilizing the various floating support devices 303 circumferentially distributed on the top of the rotary lifting device 300 to support the opening of the shell 100, the overall rigidity of the rotary lifting device 300 can be improved.

[0061] The top of the frame 301 extends to the opening of the housing 100. The lifting platform 302 can pass through the central area of ​​the annular structure at the top of the frame 301, meaning the annular structure can avoid the lifting platform 302, allowing it to move to the opening of the housing 100. This allows the drone 400 on it to protrude from the opening, facilitating takeoff and landing. The vertical space of the frame 301 forms a vertical transfer channel for the drone 400, and the front and rear spaces form a front and rear channel. The lifting platform 302 can be used to transfer the drone 400 from below to the upper opening. The lifting platform 302 has a relatively long vertical travel, and it is prone to swaying towards the top. The floating support device 303 ensures the position and orientation of the rotating lifting device 300.

[0062] The rotating support surface 101 is a circumferential surface, and correspondingly, each floating support device 303 is evenly distributed circumferentially. The roller 3031 is a bearing, with its axis aligned vertically with the rotation axis of the frame 301. The roller 3031 can float radially, that is, perpendicular to the rotation axis, to accommodate errors in roundness and concentricity between the annular structure at the top of the frame 301 and the opening of the silo 100. There is a gap between the annular structure at the top of the frame 301 and the inner wall of the silo 100 opening. Due to errors in roundness and concentricity, this gap is inconsistent in the circumferential direction. To ensure that the roller 3031 can properly rest against the rotating support surface 101 on the inner wall of the silo 100 opening, the roller 3031 can float radially and roll on the rotating support surface 101.

[0063] Combination Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 The floating support device 303 includes a base and a floating seat 3032. The base includes an adjusting seat 3034 and a fixed seat 3033, and a roller 3031 is mounted on the floating seat 3032. An elastic element is provided between the base and the floating seat 3032 to allow the floating seat 3032 to float relative to the base. There are two types of elastic elements: a first elastic element 3035 and a second elastic element 3036. Each elastic element has a fixed end and a movable end. One of the base and the floating seat 3032 has a mounting surface for mounting the fixed end of the elastic element, and the other has a force-bearing surface for engaging the movable end of the elastic element. When the elastic element is not subjected to external force, the installation height of the second elastic element 3036 is less than the installation height of the first elastic element 3035. The floating seat 3032 has a first state in which it presses the first elastic element 3035 within a set floating amount without pressing the second elastic element 3036, and a second state in which it presses the first elastic element 3035 and the second elastic element 3036 beyond the set floating amount. The movable end of the second elastic element 3036 has a set initial elastic force when it contacts the force-bearing surface.

[0064] A first elastic element 3035 and a second elastic element 3036 with different installation heights are provided between the floating seat 3032 and the base. The first elastic element 3035, as an elastic element in normal contact, provides basic elastic force to the floating seat 3032, ensuring relatively free floating within the normal floating range and providing basic support force. The second elastic element 3036, as an elastic element in contact under abnormal conditions, provides a sudden increase in elastic force to the floating seat 3032 to suppress it from generating a larger floating amount, avoiding excessive floating amount of the floating seat 3032 and ensuring effective support capacity.

[0065] When the floating seat 3032 is in the first state, that is, the floating is only affected by errors such as roundness and concentricity, it only contacts the first elastic element 3035 and does not contact the second elastic element 3036. That is, only the displacement resistance is formed by the elastic force of the first elastic element 3035. At this time, the elastic force is relatively small and the resistance is small. It can have a good self-adaptive floating ability within the set floating range, that is, the floating amount without contacting the second elastic element 3036. At this time, the floating support device 303 has good overall elasticity and low stiffness, which can meet the normal range of self-adaptive floating ability required to cope with manufacturing errors, assembly errors, etc.

[0066] When the floating seat 3032 is in the second state, that is, under the influence of the swaying load, the top of the rotating lifting device 300 sways, causing the floating amount to exceed the set range. At this time, the first elastic element 3035 and the second elastic element 3036 are in contact and compressed. The elastic force of the first elastic element 3035 and the second elastic element 3036 will form displacement resistance. The second elastic element 3036 has an initial elastic force. So after contacting the second elastic element 3036, a large elastic force is suddenly superimposed, which can form a sudden increase in resistance. This can effectively suppress the continued floating of the floating seat 3032. That is, after exceeding the set floating amount, the sudden increase in resistance can greatly reduce the amount of continued floating of the floating seat 3032. The greater the elastic force of the second elastic element 3036 is set, the faster the floating can be stopped. At this time, the floating support device 303 as a whole can have high rigidity to ensure support capacity, while also absorbing the floating impact energy. In this way, under the action of external forces such as swaying load, the floating amount can be avoided from exceeding the limit while ensuring effective support capacity.

[0067] The elastic element is height-adjustably mounted on the corresponding mounting surface, with its height direction aligned with the floating direction of the floating seat 3032. This adjustable mounting height allows for adjustment of the height difference between the two elastic elements, facilitating control of the set floating amount when the first elastic element 3035 contacts the floating seat 3032 while the second elastic element 3036 does not. In other embodiments, the mounting height of the elastic elements can be fixed, while adjusting the relative height of the force-bearing parts on the corresponding force-bearing surfaces to accommodate the difference in floating stroke between the two elastic elements.

[0068] The elastic element is equipped with adjusting shims, which are installed between the corresponding mounting surface and the fixed end of the elastic element to allow for adjustable height of the movable end of the elastic element relative to the mounting surface. The height of the movable end of the elastic element relative to the mounting surface is the installation height of the elastic element. By configuring different numbers or thicknesses of adjusting shims, the initial installation height of the elastic element can be controlled as needed. In other embodiments, mounting holes extending along the floating direction can also be provided on the mounting surface, and the elastic element can be installed within these mounting holes. The installation height of the elastic element can be adjusted by fixing it at different heights within the mounting holes.

[0069] The original height of the first elastic element 3035 in its free state is greater than the original height of the second elastic element 3036, and the compression amount of the first elastic element 3035 is greater than the compression amount of the second elastic element 3036. Two first elastic elements 3035 and two second elastic elements 3036 are each provided, with the four elastic elements distributed at the four corners of a rectangle. The two first elastic elements 3035 and the two second elastic elements 3036 are diagonally distributed, resulting in uniform force distribution. In other embodiments, only one first elastic element and one second elastic element may be provided, or the elastic elements may be evenly distributed in the circumferential direction.

[0070] Under the same compression, the elastic force of the second elastic element 3036 is much greater than that of the first elastic element 3035. The initial elastic force of the second elastic element 3036 is not less than the elastic force of the first elastic element 3035 when the force-bearing surface contacts the second elastic element 3036. When both the first elastic element 3035 and the second elastic element 3036 are in contact with the force-bearing surface, the elastic force of the second elastic element 3036 is much greater than that of the first elastic element 3035. When the force-bearing surface contacts the second elastic element 3036, the elastic force of the second elastic element 3036 on the floating seat 3032 is more than twice that of the first elastic element 3035 on the floating seat 3032. In this embodiment, it is more than five times. Thus, when the floating seat 3032 exceeds the set normal floating amount, it presses against the second elastic element 3036. Due to the large elastic force of the second elastic element 3036, the resistance increases instantaneously, thereby more effectively suppressing its continued floating.

[0071] The elastic element is a gas spring, which can be a nitrogen spring. The stiffness coefficient of the gas spring forming the second elastic element 3036 is greater than that of the gas spring forming the first elastic element 3035, and can be set to be more than five times greater. The original height of the second elastic element 3036 is less than that of the first elastic element 3035, and the diameter of the cylinder and telescopic rod of the second elastic element 3036 is greater than that of the cylinder and telescopic rod of the first elastic element 3035. In other embodiments, the elastic element can also be a spring assembly, wherein the spring of the second elastic element should have a pre-compression amount, which can be pre-compressed by a guide rod and a nut. The guide rod is guided and set on the corresponding mounting plate of the base. One end of the guide rod is provided with a retaining ring, and the other end passes through the mounting plate and is threaded to a nut. The spring is sleeved on the guide rod, with one end pressing against the retaining ring and the other end pressing against one side of the mounting plate. The nut presses on the other side of the mounting plate. The compression amount of the spring can be adjusted by turning the nut to ensure that there is a set resistance when the floating seat contacts the retaining ring.

[0072] The fixed end of the elastic element is fixed to the mounting surface of the base, and the movable end is used to press against the force-bearing surface of the floating seat 3032. The mounting surface of the base and the force-bearing surface of the floating seat 3032 are spaced apart and opposite each other in the floating direction. The base is provided with a guide structure for guiding the floating of the floating seat 3032. During the floating process, the floating seat 3032 presses against the corresponding elastic element, causing the elastic element to compress. In other embodiments, the mounting surface can be set on the floating seat, and the force-bearing surface can be set on the base.

[0073] The base includes a separate fixed seat 3033 and an adjusting seat 3034. The mounting surface is disposed on the adjusting seat 3034. The position of the adjusting seat 3034 relative to the fixed seat 3033 is adjustable in the floating direction. After the roller 3031 presses against the rotating support surface 101, changing the position of the adjusting seat 3034 can adapt to changing the compression amount of the first elastic element 3035, ensuring that a set preload is applied to the roller 3031. In other embodiments, the base can also be an integral structure, with the fixed end of the elastic element fixed in position.

[0074] The fixed end of the elastic element is on the cylinder body, and the movable end is on the telescopic rod. An adjusting shim can be placed between the fixed end of the elastic element and the mounting surface of the adjusting seat 3034, and then they are fixed together with bolts. The installation height of the elastic element is the distance from its movable end to the mounting surface. The adjusting seat 3034 is the mounting plate used to fix and install each elastic element.

[0075] An adjustment structure for adjusting the position of the adjusting seat 3034 is installed on the fixed seat 3033. The adjustment structure includes an adjusting screw 3037, which is threadedly connected to the fixed seat 3033. One end of the adjusting screw 3037 presses against the adjusting seat 3034, and the other end is located on the side of the fixed seat 3033 opposite to the adjusting seat 3034. An elastic element is located on the side of the adjusting seat 3034 opposite to the adjusting screw 3037. By turning the adjusting screw 3037, the adjusting seat 3034 can be pressed to adjust its position. The adjusting screw 3037 presses against the adjusting seat 3034, and the adjusting seat 3034 and the elastic element together press against the floating seat 3032. The floating seat 3032 is compressed by the force of the elastic element. With the cooperation of the adjusting screw 3037, the adjusting seat 3034 is kept in its position, and the reaction force of the elastic element is transmitted to the adjusting screw 3037, which can play a role in preventing loosening. The preload of roller 3031 can be adjusted by using adjusting screw 3037.

[0076] The fixed base 3033 includes a main body, a bearing bushing 3038, and a locking nut 3039. The main body has a bushing mounting hole, and the bearing bushing 3038 is installed within this hole. One end of the bearing bushing 3038 has a stop, and the other end has an external thread. The locking nut 3039 is threaded onto the external thread of the bearing bushing 3038 and, in conjunction with the stop, secures the bearing bushing 3038 to the main body. The inner hole of the bearing bushing 3038 has an internal thread for threaded connection to the adjusting screw 3037. This thread can be fine-pitch and has a self-locking effect, preventing loosening. The main body and the bearing bushing 3038 can be made of different materials, and the bearing bushing 3038 can be replaced separately. In other embodiments, the fixed base can also be an integral structure, with a threaded hole directly formed on the fixed base for threaded connection to the adjusting screw.

[0077] Both the fixed seat 3033 and the adjusting seat 3034 are provided with guide structures to guide the floating seat 3032, ensuring the position of the adjusting seat 3034 and the fixed seat 3033 relative to the floating seat 3032. In other embodiments, the guide structure may only be provided on the fixed seat.

[0078] The fixed seat 3033 has a mounting cavity. The floating seat 3032 and the adjusting seat 3034 are both located within the mounting cavity of the fixed seat 3033. A guide rail 3040 is provided on the inner wall of the mounting cavity of the fixed seat 3033. A slide 3041 that mates with the guide rail 3040 is provided on the floating seat 3032. The slide 3041 and the guide rail 3040 form a linear module to create a guiding engagement, i.e., a guiding structure in which the fixed seat 3033 guides the floating of the floating seat 3032. The adjusting seat 3034 has a protrusion 3043. The floating seat 3032 has a guide sleeve 3042 that mates with the protrusion 3043. The guide sleeve 3042 has a sliding groove, within which the protrusion 3043 can slide. The protrusion 3043 and the sliding groove mate to form a guiding structure in which the adjusting seat 3034 guides the floating of the floating seat 3032.

[0079] The mounting base 3033 is generally square, with flanges on both sides of the bottom. These flanges are used to fix it to the frame 301 with bolts. The mounting holes 3013 of the support device on the rotating mounting plate 3011 are adapted to the square mounting base 3033 to prevent rotation. The bottom flanges of the mounting base 3033 are located inside the annular structure at the top of the frame 301, and the roller 3031 is located outside the annular structure. The mounting cavity of the mounting base 3033 is a square cavity, and a bearing bushing 3038 and a locking nut 3039 are located at the center of the bottom of the cavity.

[0080] The floating seat 3032 has a U-shaped structure with two spaced-apart sidewalls and a connecting wall connecting the two sidewalls. The opening of the U-shape faces the bottom of the mounting cavity of the fixed seat 3033. The elastic element and the adjusting seat 3034 are located in the inner cavity of the floating seat 3032. A sliding seat 3041 is fixed to the outer surface of the two sidewalls of the floating seat 3032. The two sidewalls of the floating seat 3032 also have opening slots that extend along the thickness direction of the sidewalls and face the bottom of the cavity of the fixed seat 3033. A guide sleeve is fitted and fixedly installed in the opening slot. A sliding groove is formed inside the guide sleeve. Both the sliding groove and the sliding seat 3041 are located on the sidewalls of the floating seat 3032. The guide rail 3040 and the sliding groove extend along the floating direction. The adjusting seat 3034 is generally square, with protrusions 3043 at each of the four corners of the square plate. The protrusions 3043 extend into the sliding groove to form a sliding guide fit. Roller 3031 is mounted on the side of the connecting wall of floating seat 3032 facing away from the elastic element. Roller 3031 forms a support structure for support on the corresponding mating surface. The side of the connecting wall of floating seat 3032 facing away from the elastic element has mounting ears, and roller 3031 is mounted on the corresponding mounting ears via a shaft. Roller 3031 uses a self-aligning roller bearing. The inner surface of the connecting wall of floating seat 3032 forms a force-bearing surface, and the side of adjusting seat 3034 facing away from adjusting screw 3037 forms a mounting surface. Fixed seat 3033 has a structure to prevent floating seat 3032 from dislodging.

[0081] Before the rotary lifting device 300 is installed in the central aisle of the warehouse, the floating seat 3032 can be retracted into the fixed seat 3033 by adjusting the screw 3037. Then, the rotary lifting device 300 can be installed in the central aisle. Next, the adjusting screw 3037 presses against the adjusting seat 3034, causing the adjusting seat 3034 and the elastic element to extend the floating seat 3032, making the roller 3031 contact the rotating support surface 101 at the opening of the silo shell 100. At this point, the adjusting screw 3037 is continued to be turned, compressing the first elastic element 3035 to a set amount, giving the roller 3031 an initial set preload on the rotating support surface 101. The set compression amount can be determined by the number of turns the adjusting screw 3037 continues to turn and the torque value of the torque wrench; this is a conventional method. Each floating support device 303 in the circumferential direction can generate a set preload. In this process, after the set preload is reached, the first elastic element 3035 is compressed, while the floating seat 3032 does not contact the second elastic element 3036. The gap between the floating seat 3032 and the second elastic element 3036 is the set floating amount under normal floating conditions. This gap can be ensured by adjusting the shims when installing the elastic elements. The preload is set in advance and can be calculated by subtracting the compression amount of the first elastic element 3035 when the preload is reached from the difference in installation height between the two elastic elements.

[0082] During the rotation of the rotary lifting device 300, the set float amount is sufficient to accommodate the manufacturing and assembly errors inherent in the device itself, such as roundness, flatness of the rotating support surface 101, and coaxiality of the top of the frame 301. When subjected to a swaying load and experiencing significant sway, the floating seat presses against the first elastic element until it contacts the second elastic element. The floating seat, pressing against the second elastic element, experiences a sudden increase in resistance. The floating seat 3032 exceeds the set float amount but is effectively suppressed by the second elastic element 3036, preventing damage to the device.

[0083] This rotary lifting device can serve as a high-stroke, heavy-duty, large-channel gantry-type marine rotary lifting system based on a statically indeterminate structure. It features heavy-duty, high-stroke vertical lifting capabilities, with internal vertical channels extending directly to the top deck of the ship. It also boasts reliable self-rotation at any angle over long distances. A large-diameter rotating support structure is installed at the top slewing support position to enhance overall structural rigidity. Under complex swaying loads in high sea states, the rotary lifting device achieves high rigidity, structural strength, and low deflection. Precise adjustment and locking of the floating support preload are possible. By diagonally arranging nitrogen springs of varying stiffness and adjusting the number of shims at corresponding positions, the adaptability of the floating support device to adjustments in the roundness and concentricity of the rotating pair mating surfaces is improved. When rotating within the error range of roundness and concentricity of a large-diameter rotating support structure, the required preload of the floating support is small. When rotating outside the error range of roundness and concentricity of the large-diameter rotating support structure, the required preload of the floating support is extremely large. Therefore, the floating support device has low stiffness within the set stroke range and high stiffness outside the stroke range, and has variable stiffness function. Moreover, the set stroke range is adjustable.

[0084] The drone storage and retrieval system is used for storing and retrieving drones. When installed on a ship, it can be used for purposes such as maritime search and rescue, inspection and maintenance of maritime equipment, marine scientific research, and environmental monitoring.

[0085] In this embodiment, the rotary lifting device is used in a drone storage and transportation system. In other embodiments, it can also be used for storing and retrieving other goods, such as automobiles transported by sea. In this embodiment, the floating support device is used in the rotary lifting device. In other embodiments, it can also be used in other scenarios requiring variable stiffness supports.

[0086] Embodiments of the rotary lifting device of the present invention: The rotary lifting device in this embodiment is the same as the rotary lifting device in the above embodiments, and will not be described again here.

[0087] Embodiments of the floating support device of the present invention: The floating support device in this embodiment is the same as the floating support device in the above embodiments, and will not be described again here.

[0088] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A floating support device, characterized in that, The device includes a base and a floating seat. Between the base and the floating seat, there are a first elastic element and a second elastic element for the floating seat to float relative to the base. Each elastic element has a fixed end and a movable end. One of the base and the floating seat has a mounting surface for mounting the fixed end, and the other has a force-bearing surface for cooperating with the movable end. When the elastic element is not subjected to external force, the mounting height of the second elastic element is less than the mounting height of the first elastic element. The floating seat has a first state in which it presses the first elastic element without pressing the second elastic element within a set floating amount, and a second state in which it presses the first elastic element and the second elastic element beyond the set floating amount. The movable end of the second elastic element has a set initial elastic force when it contacts the force-bearing surface.

2. The floating support device according to claim 1, characterized in that, The elastic element is height-adjustably mounted on the mounting surface, and the height direction of the elastic element is consistent with the floating direction of the floating seat.

3. The floating support device according to claim 2, characterized in that, The elastic element is equipped with an adjusting shim, which is installed between the mounting surface and the fixed end of the elastic element to make the height of the movable end of the elastic element relative to the mounting surface adjustable. The height of the movable end of the elastic element relative to the mounting surface is the installation height of the elastic element.

4. The floating support device according to claim 1, 2, or 3, characterized in that, The first elastic element and the second elastic element are each provided in two and distributed at the four corners of a rectangle, with the two first elastic elements and the two second elastic elements being diagonally distributed.

5. The floating support device according to claim 1, 2, or 3, characterized in that, Under the same compression, the elastic force of the second elastic element is greater than that of the first elastic element; the initial elastic force of the second elastic element is not less than the elastic force of the first elastic element when the force-bearing surface contacts the second elastic element; when the force-bearing surface contacts the second elastic element, the elastic force of the second elastic element on the floating seat is more than twice that of the elastic force of the first elastic element on the floating seat.

6. The floating support device according to claim 1, 2, or 3, characterized in that, The fixed end of the elastic element is fixed to the mounting surface of the base, and the movable end is used to press against the force-bearing surface of the floating seat. The mounting surface of the base and the force-bearing surface of the floating seat are spaced apart and opposite each other in the floating direction. The base is provided with a guide structure for guiding the floating of the floating seat. During the floating process, the floating seat presses against the corresponding elastic element, causing the elastic element to compress.

7. The floating support device according to claim 1, 2, or 3, characterized in that, The elastic element is a gas spring, and the stiffness coefficient of the gas spring forming the second elastic element is greater than the stiffness coefficient of the gas spring forming the first elastic element.

8. The floating support device according to claim 1, 2, or 3, characterized in that, The base includes a fixed seat and an adjustable seat that are set separately. The mounting surface or force-bearing surface is set on the adjustable seat, and the position of the adjustable seat relative to the fixed seat is adjustable in the floating direction.

9. The floating support device according to claim 8, characterized in that, The fixed base is equipped with an adjustment structure for adjusting the position of the adjustment seat. The adjustment structure includes an adjustment screw, which is threadedly connected to the fixed base. One end of the adjustment screw presses against the adjustment seat, and the other end is located on the side of the fixed base opposite to the adjustment seat. An elastic element is located on the side of the adjustment seat opposite to the adjustment screw.

10. The floating support device according to claim 9, characterized in that, The fixed base includes a main body, a bearing bushing, and a locking nut. The main body has a bushing mounting hole, and the bearing bushing is installed in the bushing mounting hole. One end of the bearing bushing has a stop and the other end has an external thread. The locking nut is threaded onto the external thread of the bearing bushing and cooperates with the stop to fix the bearing bushing on the main body. The inner hole of the bearing bushing has an internal thread for the threaded connection of the adjusting screw.

11. The floating support device according to claim 8, characterized in that, Both the fixed seat and the adjusting seat are equipped with a guide structure to guide the floating seat.

12. The floating support device according to claim 11, characterized in that, The fixed seat has a mounting cavity, the adjusting seat is located inside the mounting cavity, the inner wall of the mounting cavity is provided with a guide rail, and the floating seat is provided with a slide seat that cooperates with the guide rail to form a guiding fit; the adjusting seat is provided with a protrusion, and the floating seat is provided with a slide groove that cooperates with the protrusion to form a guiding fit.

13. The floating support device according to claim 12, characterized in that, The floating seat has a U-shaped structure with two spaced-apart opposing side walls and a connecting wall connecting the two side walls. The opening of the U-shaped structure faces the bottom of the mounting cavity. The elastic element and the adjusting seat are located in the inner cavity of the floating seat. The sliding groove and the sliding seat are arranged on the side wall of the floating seat. A support structure is provided on the side of the connecting wall facing away from the elastic element.

14. A rotary lifting device, characterized in that, The device includes a frame, a slewing bearing at the bottom of the frame, and a plurality of floating support devices along the circumferential direction at the top of the frame. The floating support devices are the floating support devices described in any one of claims 1-13. Rollers for rolling support on the corresponding mating surfaces are installed on the floating seats of the floating support devices.

15. The rotary lifting device according to claim 14, characterized in that, The roller is a bearing, and the axis of the bearing is vertically aligned with the axis of rotation of the frame.

16. An unmanned aerial vehicle (UAV) storage and transportation system, characterized in that: The device includes a circular warehouse with storage locations for storing drones. The circular warehouse has a vertical central aisle, and the central aisle is equipped with the rotary lifting device described in claim 14 or 15. The top opening of the central aisle has an inner circumferential surface that cooperates with the floating support device of the rotary lifting device.

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