Unmanned aerial vehicle propeller retraction device, unmanned aerial vehicle hangar, vehicle and unmanned aerial vehicle propeller retraction method

Abstract

An unmanned aerial vehicle propeller retraction device, an unmanned aerial vehicle hangar, a vehicle, and an unmanned aerial vehicle propeller retraction method. The unmanned aerial vehicle propeller retraction device is used for an unmanned aerial vehicle hangar, the unmanned aerial vehicle hangar comprising a movement mechanism. The unmanned aerial vehicle propeller retraction device comprises: a retracting member, the retracting member being adapted to be arranged on the movement mechanism and, when moving with the movement mechanism, to cooperate with an unmanned aerial vehicle parked in the unmanned aerial vehicle hangar to retract propellers of the unmanned aerial vehicle.

Description

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

[0001] This application claims priority to Chinese patent application No. 202411552416.4, filed on October 31, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure 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

[0003] 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. Summary of the Invention

[0004] This disclosure provides a drone propeller recovery device, a drone hangar, a vehicle, and a drone propeller recovery method, to at least solve the problem in the related art that the propeller recovery method of drones easily increases the structural burden of the whole machine, resulting in high production costs.

[0005] In a first aspect, a drone propeller retraction device is provided for a drone hangar, the drone hangar including a motion mechanism, the drone propeller retraction device including: a retraction member, the retraction member being adapted to be disposed on the motion mechanism and to cooperate with a drone parked in the drone hangar to retract the drone's propellers when moving with the motion mechanism.

[0006] In some embodiments, the retractor is adapted to contact the propellers of a drone parked in the drone hangar as it moves with the motion mechanism, so as to retract the propellers of the drone.

[0007] In some embodiments, the drone propeller retraction device further includes: a buffer sleeve fitted over at least a portion of the retraction member, the retraction member being adapted to contact the propeller blades of a drone parked in the drone hangar when moving with the motion mechanism, the buffer sleeve being adapted to provide cushioning when the retraction member contacts the propeller blades.

[0008] In some embodiments, the buffer sleeve satisfies at least one of the following: the buffer sleeve is fitted onto the end of the gathering member opposite to the motion mechanism; and the dimension of the buffer sleeve along the axial direction of the gathering member is any value between 1cm and 3cm.

[0009] In some embodiments, the drone propeller retraction device further includes: a guide sleeve, which is sleeved on the retracting member and located on the side of the buffer sleeve away from the motion mechanism, and the guide sleeve is connected to the buffer sleeve; along the axial direction of the retracting 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.

[0010] In some embodiments, the buffer sleeve and the guide sleeve are an integral piece.

[0011] Secondly, a drone hangar is provided, including a motion mechanism and the aforementioned drone propeller retraction device, 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.

[0012] In some embodiments, the motion mechanism includes a lifting mechanism, which includes a base and a lifting arm, the lifting arm being rotatably connected to the base, and the folding member being fixed to the lifting arm.

[0013] In some embodiments, the lifting mechanism further includes: a landing pad, the landing pad being rotatably connected to one end of the lifting arm away from the base, the landing pad being adapted to park the drone; 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 member, and in the second working position, the height of the landing pad is lower than the height of the folding member, wherein the height direction is perpendicular to the base.

[0014] In some embodiments, the retracting member is located at one end of the lifting arm near the base.

[0015] In some embodiments, the retracting member and the lifting arm are an integral part.

[0016] In some embodiments, the lifting mechanism further includes a first drive assembly, which is disposed on the base and connected to the lifting arm, and is used to drive the lifting arm to rotate relative to the base.

[0017] In some embodiments, the first drive assembly includes a drive member and a pusher member: a drive member is fixedly connected to the base; a pusher member is movably connected to the base, and an end of the pusher member is rotatably connected to the lifting arm;

[0018] The drive member is connected to the push member and is configured to drive the push member to move relative to the base, and the push member pushes the lifting arm to rotate relative to the base.

[0019] In some embodiments, the first drive assembly further includes a lead screw, through which the drive member is connected to the push member.

[0020] In some embodiments, the pusher is slidably connected to the base;

[0021] The first drive assembly further includes 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. The elastic element is adapted to provide cushioning during the movement of the pusher relative to the base.

[0022] In some embodiments, the lifting mechanism includes four lifting arms, two of the four lifting arms are hinged together to form a first arm group, and the other two of the four lifting arms are hinged together to form a second arm group.

[0023] 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.

[0024] Each of the four lifting arms is equipped with at least one retracting component.

[0025] In some embodiments, the retracting members in the first arm group and the second arm group are respectively symmetrically arranged along the hinge portion.

[0026] In some embodiments, the base is provided with a slide rail, and at least one lifting arm in each of the first and second arm groups is slidably connected to the slide rail.

[0027] In some embodiments, the motion mechanism further includes a centering mechanism disposed on the landing pad of the lifting mechanism, the centering mechanism being adapted to center the UAV to a target position when the UAV is parked on the landing pad.

[0028] In some embodiments, the centering mechanism includes: a first movable plate and a second movable plate, the first movable plate and the second movable plate being disposed on opposite sides of the landing pad and movably connected to the landing pad, the first movable plate and the second movable plate being adapted to hold the legs of the UAV; the first movable plate and the second movable plate being 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 a first direction, thereby realizing the centering of the UAV along the first direction.

[0029] In some embodiments, the landing pad includes a first base plate and a second base plate. The first base plate is adapted to hold the body of the UAV; the second base plate supports the first base plate, and the first movable plate and the second movable plate are slidably connected to the second base plate, respectively.

[0030] In some embodiments, the second substrate 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.

[0031] In some embodiments, 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 configured to drive the first movable plate and the second movable plate to slide relative to the second substrate.

[0032] In some embodiments, the centering mechanism further includes at least two clamping members and a third driving assembly. The at least two clamping members are disposed on opposite sides of the first substrate and are movably connected to the first substrate; the third driving assembly is connected to the at least two clamping members and is used to drive the at least two clamping members to move closer or further away from each other along a second direction, so as to center the UAV along the second direction, which intersects with the first direction.

[0033] In some embodiments, at least one of the at least two clamps is connected to a charging component configured to charge the drone.

[0034] In some embodiments, the third drive assembly satisfies at least one of the following: the third drive assembly is a ball screw pair; h and, the third drive assembly is a gear and rack mechanism, and the clamping member is fixedly connected to the rack.

[0035] In some embodiments, the centering mechanism further includes a detection device disposed on the first movable plate or the second movable plate and configured to detect whether the UAV has centered to the target position.

[0036] In some embodiments, the drone hangar further includes a housing; the housing has a storage compartment in which the drone propeller recovery device is housed.

[0037] Thirdly, a vehicle is provided, including a vehicle body and the aforementioned drone hangar, the drone hangar being mounted on the vehicle body.

[0038] Fourthly, a method for retracting drone propellers is provided, applied to the aforementioned drone propeller retracting device. The method includes: acquiring a signal that the drone has landed in a drone hangar; controlling the movement of the motion mechanism and controlling the directional rotation of the drone's propellers, wherein the directional rotation of the propellers cooperates with the retracting component.

[0039] Compared with related technologies, the drone propeller recovery device, drone hangar, vehicle, and drone propeller recovery method of some embodiments of this disclosure have the following advantages:

[0040] The drone propeller retraction device of this disclosure 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.

[0041] The drone hangar, vehicle, and drone propeller recovery method of some embodiments of this disclosure have the same or similar advantages as related technologies and the aforementioned drone propeller recovery devices, and will not be described in detail here. Attached Figure Description

[0042] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure. In the drawings:

[0043] Figure 1 is a structural diagram of a lifting mechanism according to some embodiments;

[0044] Figure 2 is a side view of a lifting mechanism according to some embodiments;

[0045] Figure 3 is a structural diagram of a drone hangar in a first working position according to some embodiments;

[0046] Figure 4 is a structural diagram of a drone hangar in a second working position according to some embodiments;

[0047] Figure 5 is a structural diagram of another lifting mechanism according to some embodiments;

[0048] Figure 6 is a partial top view of a drone hangar according to some embodiments;

[0049] Figure 7 is a structural diagram of a collapsing member contacting a blade according to some embodiments;

[0050] Figure 8 is a structural diagram of another collapsible member contacting the blade according to some embodiments;

[0051] Figure 9 is an exploded view of a centering mechanism according to some embodiments;

[0052] Figure 10 is a structural diagram of a centering mechanism in the centering process according to some embodiments;

[0053] Figure 11 is a top view of a centering mechanism according to some embodiments;

[0054] Figure 12 is a structural diagram of a drone housed in a casing according to some embodiments;

[0055] Figure 13 is a structural diagram of a drone not fully housed within a casing according to some embodiments;

[0056] Figure 14 is a side view of a drone housed in a casing according to some embodiments;

[0057] Figure 15 is a structural diagram of a blade directional rotation according to some embodiments;

[0058] Figure 16 is a block diagram of a drone propeller recovery device according to some embodiments;

[0059] Figure 17 is a block diagram of a vehicle according to some embodiments;

[0060] Figure 18 is a flowchart of a drone propeller recovery method according to some embodiments.

[0061] Reference numerals: 10-UAV propeller retraction device; 20-UAV hangar; 30-Vehicle; 1-Base; 2-Landing pad; 21-First base plate; 22-Second base plate; 23-Guide rail; 3-Lifting arm; 301-First arm assembly; 302-Second arm assembly; 4-Retracting component; 42-Buffer sleeve; 43-Guide sleeve; 51-First drive component; 52-Push component; 53-Screw; 54-Elastic component; 61-First movable plate; 62-Second movable plate; 63-Second drive assembly; 64-Clamping component; 65-Third drive assembly; 66-Detection device; 8-Casing; 80-Containment compartment; 81-Compartment door; 9-UAV; 90-Propeller blade. Detailed Implementation

[0062] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0063] The terms "first," "second," etc., used in this disclosure and in the claims 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 disclosure 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.

[0064] It should be understood that the phrase "some embodiments" throughout the specification means that a particular feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this disclosure. Therefore, "some embodiments" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0065] 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.

[0066] To address the aforementioned issues, this disclosure provides, in some embodiments, a drone propeller recovery device, a drone hangar, a vehicle, and a drone propeller recovery method.

[0067] The following detailed description of the drone propeller recovery device, drone hangar, vehicle, and drone propeller recovery method provided herein is illustrated through examples.

[0068] This disclosure provides an embodiment of a drone propeller retraction device for a drone hangar. The drone hangar includes a motion mechanism. Referring to FIG16, the drone propeller retraction device 10 includes a retraction member 4, which is adapted to be disposed on the motion mechanism and, when moving with the motion mechanism, cooperates with the drone parked in the drone hangar to retract the drone's propellers.

[0069] For example, 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 in the drone hangar. The folding component 4 is connected to the motion mechanism, and it can be fixedly connected by fastener assembly, laser welding, limit snap-fit, adhesive connection, etc. So, 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 drone parked in the drone hangar. The cooperation between the folding component 4 and the drone can be contact cooperation, friction cooperation, limit cooperation, interference cooperation, etc. The cooperation between the folding component 4 and the drone can hinder the movement of the drone, thereby realizing the drone's propeller retraction.

[0070] The drone propeller retraction device of some embodiments of the present disclosure provides 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.

[0071] In some embodiments, the retracting member 4 is adapted to contact the propellers of a drone parked in a drone hangar when moving with the motion mechanism, thereby retracting the drone's propellers. When the retracting member 4 moves with the motion mechanism, it contacts the drone's propellers, generating resistance to their rotation. Some propellers stop rotating directly under the action of the retracting member 4, while others slow down and gradually stop rotating, thus achieving propeller retraction. 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.

[0072] Referring to Figures 1, 2, 6 to 8, in some embodiments, the drone propeller retraction device further includes a buffer sleeve 42, which is fitted over at least a portion of the retractor 4 and is adapted to provide cushioning when the retractor 4 contacts the propeller blade 90.

[0073] Figure 6 is a partial top view of a drone propeller retractor according to some embodiments. Figures 7 and 8 are structural 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. In addition, it can also 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.

[0074] 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.

[0075] Referring to Figures 6 to 8, in some embodiments, the buffer sleeve 42 satisfies at least one of the following: the buffer sleeve 42 is sleeved on the end of the gathering member 4 away from the motion mechanism, and the dimension of the buffer sleeve 42 along the axial direction of the gathering member 4 is any value between 1 cm and 3 cm.

[0076] 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 any value between 1cm and 3cm. By controlling the axial dimension of the buffer sleeve 42, the cost of the buffer sleeve 42 can be controlled. Of course, the buffer sleeve 42 can also be placed on the end of the retractor 4 facing away from the motion mechanism, and its axial dimension can be controlled to any value between 1cm and 3cm, ensuring the buffering effect while controlling the cost of the buffer sleeve 42.

[0077] Referring to Figures 6 to 8, in some embodiments, 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. 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 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.

[0078] For example, 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 retract the member 4, which will prevent the blade 90 from generating downward pressure along the axis of the retracting member 4 during the rotation of the blade 90, and will help the blade 90 to retract smoothly.

[0079] In some embodiments, the buffer sleeve 42 and the guide sleeve 43 are integrated, which helps to prevent the buffer sleeve 42 and the guide sleeve 43 from separating under long-term use. In addition, the end of the guide sleeve 43 away from the buffer sleeve 42 can be designed as a closed structure to provide an axial lower limit 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 recovery device.

[0080] Referring to Figure 3, some embodiments of this disclosure also provide a drone hangar 20, which includes a motion mechanism and a drone propeller retraction device 10 of 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.

[0081] A drone hangar is a place to store drones, providing a stable and safe parking environment to prevent damage during parking. The folding component 4 is installed on the drone hangar's motion mechanism. During the movement of the mechanism, it works with the drones parked in the hangar to fold their propellers, thus enriching the drone hangar's functionality and enhancing its intelligence and convenience. Furthermore, the integration of the folding component 4 with the motion mechanism helps save space in the drone hangar and facilitates its carrying and transportation.

[0082] In some embodiments, the motion mechanism includes a lifting mechanism, and a retractable member 4 is disposed on the lifting mechanism. The retractable 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, so as to prevent the propeller 90 from rotating.

[0083] Figure 1 is a structural diagram of a lifting mechanism according to some embodiments, and Figure 2 is a side view of a lifting mechanism according to some embodiments. The lifting mechanism can rise or fall. When the drone 9 needs to take off, the lifting mechanism rises. 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 fall. During the descent of the lifting mechanism, the retrieval 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 propellers 90 stop rotating directly under the action of the retrieval member 4, while the rotation speed of some propellers 90 slows down under the action of the retrieval member 4 and gradually stops rotating, thereby realizing the retrieval of the drone 9. For example, the retrieval 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.

[0084] Alternatively, in some other embodiments, the motion mechanism includes a centering mechanism adapted to center a drone parked in the drone hangar to a suitable position. A retractable member 4 is disposed on the centering mechanism. During the process of centering the drone, the retractable member 4 contacts the drone's propeller blades to prevent the propeller blades from rotating, thereby achieving the retraction of the drone's propellers.

[0085] Referring to Figures 1 and 2, in some embodiments, the lifting mechanism includes: a base 1 and a lifting arm 3, the lifting arm 3 being rotatably connected to the base 1, and a folding member 4 being fixed to the lifting arm 3.

[0086] 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, and the rotatable connection method includes, but is not limited to, hinge and pivot connection. 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 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, that is, the lifting mechanism rises and falls.

[0087] The retractable component 4 is fixed to the lifting arm 3. For example, the retractable component 4 and the lifting arm 3 can be manufactured as a single piece using an integral molding process. Alternatively, the retractable component 4 and the lifting arm 3 can be independent components, fixedly connected by fasteners such as bolts, screws, and rivets, laser welding, adhesive bonding, or limit snap-fit. Thus, during the rising and falling of the lifting arm 3, the retractable component 4 rises and falls synchronously. Only during the synchronous falling 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 propeller blades 90 from rotating, thereby achieving the retraction of the UAV propeller blades.

[0088] Referring to Figures 3 and 4, in some embodiments, 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 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. Here, the height direction is perpendicular to the base 1.

[0089] For example, 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 a shaft is fixedly connected to the end of the lifting arm 3 near the landing pad 2. The shaft passes through the shaft hole, and 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 of the UAV 9.

[0090] The drone hangar includes a first working position and a second working position. Figure 3 is a structural diagram of a drone hangar in the first working position according to some embodiments, and Figure 4 is a structural diagram of a drone hangar in the second working position according to some embodiments. 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 member 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 member 4. When the height of the landing pad 2 is higher than the height of the retracting member 4, the retracting member 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 member 4, the retracting member 4 contacts the propeller blades 90 of the drone 9, hindering the rotation of the propeller blades 90, thus realizing the retraction of the drone propeller blades.

[0091] Referring to Figure 2, 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, the further away the retractable member 4 is from the base 1, the higher the retractable member 4 will be during the lifting arm 3's ascent. This makes it easier for the retractable member 4 to interfere with other structures on the landing pad 2 or with the fuselage of the drone 9, affecting the smooth take-off and landing of the drone 9. By setting the retractable member 4 at the end of the lifting arm 3 closer to the base 1, it is easier to avoid interference between the retractable member 4 and other structures on the landing pad 2 or with the fuselage of the drone 9 when the drone 9 is lifted, thereby ensuring the smooth take-off and landing of the drone 9.

[0092] In some embodiments, the lifting mechanism further includes a first drive component, which is disposed on the base 1 and connected to the lifting arm 3, and is configured to drive the lifting arm 3 to rotate relative to the base 1.

[0093] For example, the rotation of the lifting arm 3 relative to the base 1 can be driven manually or automatically. In some embodiments of the drone hangar disclosed herein, a first driving component is provided and installed on the base 1 to drive the lifting arm 3 to rotate relative to the base 1, thereby achieving automatic driving of the lifting arm 3 and further enhancing the intelligent design of the drone hangar.

[0094] Referring to Figures 1 and 5, in some embodiments, the first driving assembly includes: a first driving member 51 and a pushing member 52. The first driving member 51 is fixedly connected to the base 1; the pushing member 52 is 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 the first driving member 51 is configured 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.

[0095] For example, the first driving component 51 is fixedly connected to the base 1, and can be fixed to the base 1 by means of fastener assembly connection, limit snap connection, etc. 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. In addition, the end of the pushing component 52 is also rotatably connected to the lifting arm 3. During the process of the pushing component 52 moving relative to the base 1, the pushing component 52 pushes the lifting arm 3 to rotate relative to the base 1, so as to realize the lifting movement of the lifting arm 3.

[0096] Figure 5 is a structural diagram of the lifting mechanism according to some embodiments from another perspective. As shown in Figure 5, the pushing member 52 can be in the form of a push plate, which is arranged parallel to the base 1 and movably connected to the base 1. The first driving member 51 can be a motor, cylinder, etc., and this disclosure does not limit the type of the first driving member 51.

[0097] Referring to Figure 5, in some embodiments, the first drive assembly further includes a lead screw 53, and the first drive member 51 is connected to the push member 52 via the lead screw 53. For example, the lead screw 53 and the push member 52 form 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.

[0098] Referring to FIG5, in some embodiments, 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.

[0099] For example, 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 of the spring is fixedly connected to the pusher 52. The spring can provide tension or resistance to the pusher 52 during the process of the pusher 52 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.

[0100] Referring to Figure 1, in some embodiments, the lifting mechanism includes four lifting arms 3, 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.

[0101] For example, the four lifting arms 3 are arranged in pairs facing each other, with each pair of lifting arms 3 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.

[0102] 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, thus the number of retracting members 4 is at least four. 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, as long as the propeller blades 90 can be effectively retracted.

[0103] Referring to Figure 1, in some embodiments, the retracting members 4 in the first arm group 301 and the second arm group 302 are symmetrically arranged along the hinge portion. 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 4 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, thus improving the retracting efficiency.

[0104] In some embodiments, the base 1 is provided with a slide rail, and at least one lifting arm 3 in each arm assembly is slidably connected to the slide rail. For example, the slide rail on the base 1 can be arranged in various ways. In the first arrangement, the two ends of the two lifting arms 3 in the first arm assembly 301 and the second arm assembly 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 assembly 301 and the second arm assembly 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.

[0105] In some embodiments, the motion mechanism further includes a centering mechanism disposed on the helipad 2. The centering mechanism is adapted to center the drone 9 to a target position when the drone 9 is parked on the helipad 2. Here, the target position is preset by personnel, and it can be set as the center position on the helipad 2. Centering the drone 9 to the target position by the centering mechanism makes it easier for the drone propellers to retract.

[0106] Referring to Figures 9 and 10, in some embodiments, the centering mechanism includes: a first movable plate 61 and a second movable plate 62, which 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 hold 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.

[0107] Figure 9 is an exploded view of a centering mechanism according to some embodiments, and Figure 10 is a structural diagram of a centering mechanism according to some embodiments in the centering process. As shown in Figures 9 and 10, the first movable plate 61 and the second movable plate 62 are disposed 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.

[0108] 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.

[0109] Referring to Figures 9 to 11, in some embodiments, the landing pad 2 includes: a first substrate 21 and a second substrate 22, the first substrate 21 being adapted to hold the body of the drone 9; the second substrate 22 supporting the first substrate 21, and a first movable plate 61 and a second movable plate 62 being slidably connected to the second substrate 22 respectively.

[0110] Figure 11 is a top view of a centering mechanism according to some embodiments. 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 drive 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.

[0111] Referring to Figures 9 to 10, in some embodiments, 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.

[0112] For example, 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.

[0113] Referring to FIG9, in some embodiments, 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 configured to drive the first movable plate 61 and the second movable plate 62 to slide relative to the second substrate 22.

[0114] For example, 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 (e.g., drive component 51). One of the two drive components is connected to the first movable plate 61, and the other drive component is connected to the second movable plate 62, so as to realize the independent drive of the first movable plate 61 and the second movable plate 62. Alternatively, 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 the synchronous drive of the first movable plate 61 and the second movable plate 62.

[0115] Referring to FIG11, in some embodiments, the centering mechanism further includes: a third driving component 65 and at least two clamping members 64, the at least two clamping members 64 being disposed on opposite sides of the first substrate 21 and movably connected to the first substrate 21; the third driving component 65 being connected to the at least two clamping members 64 and configured to drive the at least two clamping members 64 to move closer or further away from each other along a second direction to achieve centering of the UAV 9 along the second direction, where the second direction intersects with the first direction.

[0116] Figure 11 shows a structural 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. For example, 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 is perpendicular to the first direction X.

[0117] 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.

[0118] 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.

[0119] Referring to Figure 11, in some embodiments, at least one of the at least two clamping members 64 is connected to a charging component. This charging component charges the drone 9, thus integrating clamping and charging functions. While the clamping member 64 is holding the drone 9, the charging component charges the drone 9, preparing it for its next takeoff. For example, the charging component can be a contact charging method, meaning it charges the drone 9 once it makes full contact with its body. Alternatively, it can be an interface plug-in charging method, where the charging component's plug gradually inserts into the drone 9's electrical port as the clamping members 64 move closer together, and charges the drone 9 once fully connected. For example, the charging component can be a charger.

[0120] Referring to Figure 11, in some embodiments, 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 methods provide smooth movement, high transmission efficiency, high transmission accuracy, and long service life, ensuring the driving accuracy of the third drive assembly 65 and thus achieving smooth movement of the clamping member 64.

[0121] Referring to Figure 9, in some embodiments, the centering mechanism further includes a detection device 66, which is disposed on the first movable plate 61 or the second movable plate 62. For example, the detection device can be a photoelectric sensor, an infrared sensor, a displacement sensor, etc., which are 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 put back into place. 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 up the detection device.

[0122] Referring to Figures 12 to 14, some embodiments of this disclosure also provide a drone hangar, which further includes a housing 8; the housing 8 has a storage compartment 80, in which a drone propeller recovery device is housed.

[0123] 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 structural diagram of the drone 9 housed in the storage compartment 80. Figure 13 is a structural diagram of the drone 9 not 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 pollutants in the external environment.

[0124] Referring to Figure 17, some embodiments of this disclosure also provide a vehicle 30, which includes a vehicle body and a drone hangar 20 as described in the previous embodiments. The drone hangar is mounted on the vehicle body. For example, an installation area for mounting the drone hangar can be provided on the vehicle roof. The drone hangar is mounted in the installation area, and an installation structure can be provided in the installation area. The drone hangar's housing 8 is fixedly connected to the installation 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.

[0125] Referring to FIG18, some embodiments of this disclosure also provide a drone propeller recovery method applied to the drone propeller recovery device of the above embodiments. The drone propeller recovery method includes steps S10 and S20.

[0126] Step S10: Obtain the signal of the drone landing on the motion mechanism.

[0127] For example, 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. For example, the sensors can be infrared sensors, photoelectric sensors, gravity sensors, etc. This disclosure does not limit the type of sensor. When the UAV lands on the landing pad, the sensors can acquire the landing signal and send it to the control system of the UAV's propeller retraction device.

[0128] Step S20: Control the motion mechanism to descend and control the directional rotation of the drone's propellers, which cooperate with the retracting component 4 during the directional rotation of the propellers.

[0129] For example, after receiving a signal from a sensor, 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. In addition, the retracting component 4 rises accordingly, contacts the rotating propellers, and hinders the rotation of the propellers, thereby achieving the retraction of the propellers.

[0130] In some embodiments, 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; the third direction and the fourth direction are two opposite directions.

[0131] For example, as shown in Figure 15, the directional rotation method involves a first blade group with two pairs of blades, a second blade group with two pairs of blades, and four pairs of blades distributed at the four corners of the UAV. For instance, the two pairs of blades in the first blade group rotate along a third direction, as shown by direction M in Figure 15, and the two pairs of blades in the second blade group rotate along a fourth direction, as shown by direction N in Figure 15. Directional rotation of the blades allows them to be 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.

[0132] 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.

[0133] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A drone propeller recovery device (10) for a drone hangar (20), the drone hangar (20) including a motion mechanism, wherein, The drone propeller recovery device (10) includes: A retractor (4) is adapted to be mounted on the motion mechanism and, when moving with the motion mechanism, cooperates with the drone parked in the drone hangar (20) to retract the drone's propellers.

2. The unmanned aerial vehicle propeller recovery device (10) according to claim 1, wherein, The retractor (4) is adapted to contact the propellers of the drone parked in the drone hangar (20) when moving with the motion mechanism, so as to retract the propellers of the drone.

3. The unmanned aerial vehicle propeller recovery device (10) according to claim 2 further 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 unmanned aerial vehicle propeller recovery device (10) according to claim 3, wherein, The buffer sleeve (42) satisfies at least one of the following: The buffer sleeve (42) is fitted onto the end of the gathering member (4) opposite to the motion mechanism; and, 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 (10) according to claim 3 or 4 further includes: Guide sleeve (43), the guide sleeve (43) is sleeved on 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 unmanned aerial vehicle propeller recovery device (10) according to claim 5, wherein, The buffer sleeve (42) and the guide sleeve (43) are an integral piece.

7. A drone hangar (20), wherein, include: Sports organizations; and According to any one of claims 1 to 6, the drone propeller retraction device (10) is provided on the motion mechanism and, when moving with the motion mechanism, cooperates with the drone parked in the drone hangar (20) to retract the drone's propellers.

8. The unmanned aerial vehicle hangar (20) according to claim 7, wherein, The motion mechanism includes a lifting mechanism, which includes: Base (1); and The lifting arm (3) is rotatably connected to the base (1), and the folding member (4) is fixed on the lifting arm (3).

9. The unmanned aerial vehicle hangar (20) according to claim 8, wherein, The lifting mechanism also includes: A landing pad (2) 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 drone hangar (20) 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). In the second working position, the height of the landing pad (2) is lower than the height of the folding member (4). The height direction is perpendicular to the base (1).

10. The drone hangar (20) according to claim 8 or 9, wherein, The folding member (4) is located at one end of the lifting arm (3) near the base (1).

11. The unmanned aerial vehicle hangar (20) according to any one of claims 8 to 10, wherein, The retractable component (4) and the lifting arm (3) are an integral part.

12. The unmanned aerial vehicle hangar (20) according to any one of claims 8 to 11, wherein, The lifting mechanism also includes: A first drive assembly is disposed on the base (1) and connected to the lifting arm (3). The first drive assembly is configured to drive the lifting arm (3) to rotate relative to the base (1).

13. The unmanned aerial vehicle hangar (20) according to claim 12, wherein, The first driving component includes: The driving component (51) is fixedly connected to the base (1); and The pusher (52) is movably connected to the base (1), and the end of the pusher (52) is rotatably connected to the lifting arm (3); The drive member (51) is connected to the push member (52) and is configured to drive the push member (52) to move relative to the base (1), and the push member (52) pushes the lifting arm (3) to rotate relative to the base (1).

14. The unmanned aerial vehicle hangar (20) according to claim 13, wherein, The first driving component also includes: The lead screw (53) is used to connect the drive member (51) to the push member (52).

15. The drone hangar (20) according to claim 13 or 14, wherein, The pusher (52) is slidably connected to the base (1); The first driving component also includes: An elastic element (54) is provided, 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 element (54) is adapted to provide cushioning during the movement of the pusher (52) relative to the base (1).

16. The unmanned aerial vehicle hangar (20) according to any one of claims 8 to 15, wherein, The lifting mechanism includes four lifting arms (3), wherein two of the four 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 assembly (301) is located on one side of the base (1), and the second arm assembly (302) is located on the other side of the base (1) opposite to the first side; Each of the four lifting arms (3) is provided with at least one retracting component (4).

17. The unmanned aerial vehicle hangar (20) according to claim 16, wherein, 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 (20) according to claim 16 or 17, wherein, The base (1) is provided with a slide rail, and at least one lifting arm (3) in each of the first arm group (301) and the second arm group (302) is slidably connected to the slide rail.

19. The unmanned aerial vehicle hangar (20) according to any one of claims 9 to 18, wherein, The motion mechanism also includes: A centering mechanism is provided on the landing pad (2) of the lifting mechanism. The centering mechanism is adapted to center the UAV to the target position when the UAV is parked on the landing pad (2).

20. The unmanned aerial vehicle hangar (20) according to claim 19, wherein, The remediation mechanism includes: 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) are movable 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 the first direction, thereby realizing the centering of the UAV along the first direction.

21. The unmanned aerial vehicle hangar (20) according to claim 20, wherein, The helipad (2) includes: A first substrate (21), the first substrate (21) being adapted to hold the body of the UAV; and The second substrate (22) carries the first substrate (21), and the first movable plate (61) and the second movable plate (62) are slidably connected to the second substrate (22).

22. The unmanned aerial vehicle hangar (20) according to claim 21, wherein, 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 unmanned aerial vehicle hangar (20) according to claim 21 or 22, wherein, 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 configured to drive the first movable plate (61) and the second movable plate (62) to slide relative to the second substrate (22).

24. The unmanned aerial vehicle hangar (20) according to any one of claims 21 to 23, wherein, The remediation mechanism also includes: At least two clamping members (64) are disposed on opposite sides of the first substrate (21) and are movably connected to the first substrate (21); and A third drive assembly (65) is connected to the at least two clamping members (64) and configured to drive the at least two clamping members (64) to move closer to or further away from each other along a second direction to achieve centering of the UAV along the second direction, wherein the second direction intersects the first direction.

25. The unmanned aerial vehicle hangar (20) according to claim 24, wherein, At least one of the at least two clamps (64) is connected to a charging component configured to charge the drone.

26. The drone hangar (20) according to claim 24 or 25, wherein, The third drive component (65) satisfies at least one of the following: The third drive assembly (65) is a ball screw pair; and, The third drive component (65) is a gear and rack mechanism, and the clamping member (64) is fixedly connected to the rack of the gear and rack mechanism.

27. The unmanned aerial vehicle hangar (20) according to any one of claims 20 to 26, wherein, The remediation mechanism also includes: A detection device (66) is disposed on the first movable plate (61) or the second movable plate (62) and is configured to detect whether the UAV has returned to the target position.

28. The unmanned aerial vehicle hangar (20) according to any one of claims 7 to 27, further comprising a housing (8); The housing (8) has a storage compartment (80) in which the UAV propeller recovery device (10) is housed.

29. A vehicle (30), wherein, include: Body; and The drone hangar (20) according to any one of claims 7 to 28 is mounted on the vehicle body.

30. A method for recovering the propellers of a drone, applied to the drone propeller recovery device (10) according to any one of claims 1 to 6, the method comprising: Obtain the signal that the UAV has landed in the UAV hangar (20); as well as Controlling the movement of the motion mechanism and controlling the directional rotation of the propellers of the UAV, wherein the directional rotation of the propellers cooperates with the retractor (4).

31. The UAV propeller recovery method according to claim 30, wherein, 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 distributed alternately. The control of the propeller rotation of the UAV includes: The first blade group is controlled to rotate in a third direction and the second blade group is controlled to rotate in a fourth direction; wherein the third direction and the fourth direction are two opposite directions.

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