A hook and device with lifting function

Abstract

The application discloses a hook and a device with a lifting function; wherein the hook comprises a hook part and a base part; the hook part is rotatably arranged on the base part through a hinge, and the base part is provided with a hole for threading a rope; the rope can pass through the base part through the hole and is connected with the bottom end of the hook part; the hook part can be rotated to a first state of inclination and a second state of verticality under the action of its own gravity and the tension of the rope; the device with the lifting function comprises a winding and unwinding mechanism, a lifting mechanism and the above hook; the lifting mechanism and the winding and unwinding mechanism can be arranged on a device main body; the rope led out by the winding and unwinding mechanism passes through the lifting mechanism and the base part and is connected with the bottom end of the hook part; under the action of the winding and unwinding mechanism winding and unwinding the rope, the base part has a first state of separation from the lifting mechanism and a second state of cooperation with the lifting mechanism. The above scheme can solve the problem that the up and down line hook structure adopted by the existing line robot is not suitable for the line walking robot with the obstacle crossing function.

Description

Technical Field

[0001] This invention relates to the field of online walking robot technology, and more particularly to a hook and a device with lifting function. Background Technology

[0002] With the development of science and technology, various types of robots have been applied to our daily lives and work, thereby replacing human labor to complete corresponding tasks. This not only improves work efficiency but also avoids the dangers of manual labor in high-risk environments.

[0003] For example, patent number "CN 210490263 U" discloses a self-lifting live-line insulating coated robot and its lifting system. The robot's lifting and lowering is achieved by suspending a hook on a bare conductor and using a wire take-up and release device to retract the insulating rope connected to the hook. Simultaneously, during the lifting and lowering process, the hook cooperates with a spring-loaded component, and the retracting and releasing of the insulating rope by the wire take-up and release device allows the hook to move up and down. Specifically:

[0004] During the loading process, the robot rises to the required height, and its walking mechanism suspends it on the bare conductor. At this time, the spring-loaded component is compressed by the bottom of the hook. Then, the cable reeling device slightly releases a section of insulating rope, causing the hook to spring up and detach from the bare conductor. This prevents the hook from contacting the bare conductor and causing friction when the robot walks along it. The robot then uses its walking mechanism to walk along the bare conductor to complete the corresponding work. During the unloading process, the cable reeling device reels in the rope, and the hook descends to compress the spring-loaded component, causing the hook to move downward and contact the bare conductor as a stress point. After the robot rises a short distance, the walking mechanism detaches from the bare conductor, and the cable reeling device releases more rope, allowing the robot to descend to the ground.

[0005] However, the hook structure used in the above-mentioned robot and lifting system still has shortcomings. It is not suitable for robots with obstacle-crossing walking function. When the robot walks along the guide wire or contact line to the location of obstacles such as the suspension wire, the hook structure will hinder the robot's obstacle-crossing walking. Summary of the Invention

[0006] This invention discloses a hook and a device with lifting function to solve the problem that the existing hook structure used in online robots is not suitable for online walking robots with obstacle-crossing function.

[0007] To solve the above problems, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a hook, which includes a hook portion and a base portion; the hook portion is rotatably mounted on the base portion via a hinge, and the base portion is provided with a channel for threading a rope, the rope passing through the channel through the base portion and connecting to the bottom end of the hook portion; the hook portion can rotate to an inclined first state in the direction of its back under its own weight, and the hook portion can rotate to a vertical second state in the direction of the opening of the hook portion under the tension of the rope.

[0009] Optionally, the base is provided with a correction structure, which is used for rotational adjustment of the base and can control the opening orientation of the hook portion through rotational adjustment of the base.

[0010] Optionally, the correction structure includes a second magnetic element disposed on the base, and the second magnetic element forms opposing "N" pole magnetic regions and "S" pole magnetic regions on the outer sidewall of the base.

[0011] Optionally, the hook portion is provided with a third magnetic element, and the third magnetic element forms an "N" pole magnetic region and an "S" pole magnetic region on the left and right sides of the hook portion, respectively.

[0012] Secondly, the present invention also provides a device with a lifting function, which includes a cable reeling mechanism, a lifting mechanism, and the hook described above; the lifting mechanism and the cable reeling mechanism can be disposed in the main body of the device, the cable led out by the cable reeling mechanism passes through the lifting mechanism and the base, and is connected to the bottom end of the hook; under the action of the cable reeling mechanism reeling in and out the cable, the base has a first state of being separated from the lifting mechanism and a second state of being engaged with the lifting mechanism, and when the base is engaged with the lifting mechanism, the lifting mechanism can be used to control the lifting and lowering movement of the base.

[0013] Optionally, the lifting mechanism is an electric lifting mechanism, a pneumatic lifting mechanism, a hydraulic lifting mechanism, or a flexible lifting mechanism.

[0014] Optionally, the elastic lifting mechanism includes a cylinder and an elastic element; the top surface of the cylinder is an open end for insertion and engagement of the base with the cavity of the cylinder, and the bottom surface of the cylinder is a closed end with a through hole for threading the rope; the elastic element is disposed within the cavity of the cylinder; under the action of the rope winding and unwinding mechanism, the base has a lifting state of compressing and relaxing the elastic element.

[0015] Optionally, the base is provided with a limiting part, and the inner sidewall of the cylinder is provided with a pin structure that cooperates with the limiting part, and the pin structure has an extended state and a retracted state; when the pin structure is in the extended state, the pin structure can abut against the limiting part for limiting the base; when the pin structure is in the retracted state, the pin structure can release the limiting part for releasing the limiting of the base.

[0016] Optionally, the cylinder and the base are provided with mutually cooperating correction structures; when the base is inserted into the cavity, the base can automatically rotate and correct itself under the action of the correction structure, which is used to adjust the opening orientation of the hook portion.

[0017] Optionally, the correction structure includes a first magnetic element disposed on the cylinder and a second magnetic element disposed on the base; the first magnetic element forms opposing "N" pole magnetic regions and "S" pole magnetic regions on the inner sidewall of the cylinder, and the second magnetic element forms opposing "N" pole magnetic regions and "S" pole magnetic regions on the outer sidewall of the base, and the base can be automatically rotated and corrected by the magnetic force between the first magnetic element and the second magnetic element.

[0018] The technical solution adopted in this invention can achieve the following beneficial effects:

[0019] The hook and lifting device disclosed in this invention are configured by rotating the hook portion onto a base, the base having a channel. This allows the rope from the take-up and release device, after passing through the lifting mechanism, to pass through the channel and connect to the bottom of the hook portion via the base. Under the action of the take-up and release device winding the rope and the hook portion's own weight, the hook portion can rotate to a first state (tilted towards its back) and a second state (vertical towards its opening). During the loading process, after the hook moves upward and disengages from the conductor or contact line, the take-up and release mechanism continues to release the line, causing the hook portion to lose rope tension and rotate towards its back under its own weight. In the first tilted state, the hook deviates from the guide wire or contact line to avoid obstacles on the line, ensuring that the obstacle-crossing robot can move along the guide wire or contact line to cross obstacles. During the unloading process, the line reeling device reeling in the line causes the hook to overcome its own weight and rotate towards the opening of the hook under the tension of the rope to the second vertical state, thereby returning the hook to the top of the guide wire or contact line. This ensures that when the hook moves downward, it can re-contact and suspend itself with the guide wire or contact line as a force point for unloading. Therefore, compared with the hook structure used in existing robots, the hook and lifting device disclosed in this invention are well-suited for robots with obstacle-crossing capabilities. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0021] Figure 1 This is a schematic diagram of the hook in a vertical second state as disclosed in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the hook in a first tilted state as disclosed in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the lifting device disclosed in the embodiments of the present invention;

[0024] Figure 4 This is a schematic diagram of the cooperation structure between the hook and the cylinder disclosed in the embodiment of the present invention;

[0025] Figure 5 for Figure 4 A schematic diagram of the cross-sectional structure along the AA direction;

[0026] Explanation of reference numerals in the attached figures:

[0027] 100-Hook, 110-Hook part, 111-Counterweight, 112-Third magnetic element, 113-Rolling element, 120-Base, 1201-N pole magnetic region of the second magnetic element, 1202-S pole magnetic region of the second magnetic element, 121-Hinge, 122-Limiting part, 123-Channel

[0028] 300 - Cylinder body; 3001 - "N" pole magnetic region of the first magnetic element; 3002 - "S" pole magnetic region of the first magnetic element; 301 - Open end; 302 - Through hole; 304 - Notch; 310 - Elastic element; 320 - Pin structure.

[0029] 400 - Cable take-up and release mechanism, 410 - Rope, 500 - Main body of the device. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0031] The technical solutions disclosed in the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Example 1

[0033] Please refer to Figures 1 to 5 As shown, an embodiment of the present invention discloses a hook 100, which includes a hook portion 110 and a base portion 120. The hook portion 110 is rotatably mounted on the base portion 120 via a hinge member 121 such as a pin or rivet. The base portion 120 is provided with a channel 123 for threading a rope 410, so that the rope 410 can be connected to the bottom end of the hook portion 110 after passing through the channel 123 through the base portion 120. Under its own weight, the hook portion 110 can rotate to a first tilted state in the direction of its back side, and under the tension of the rope 410, the hook portion 110 can rotate to a second vertical state in the direction of its opening.

[0034] During the online process, after the hook 100 moves upward and detaches from the guide wire or contact line, the wire release mechanism 400 continues to release the wire, causing the hook part 110 to lose the tension of the rope 410 and rotate to the first tilted state in the direction of its back under its own gravity. That is, the hook part 110 deviates from the guide wire or contact line and avoids obstacles on the line, thereby ensuring that the obstacle-crossing robot can cross obstacles on the line along the guide wire or contact line.

[0035] During the unloading process, the reeling and unloading device reels in the line, causing the hook 110 to overcome its own weight and rotate towards the opening of the hook 110 under the tension of the rope 410 to a vertical second state. This allows the hook 110 to return to the top of the guide or contact line, ensuring that the hook 100 can re-contact and suspend itself with the wire or contact line as a force point when it moves downwards, thus enabling unloading. Therefore, compared to the hook structure used in existing robots, this invention is well-suited for robots with obstacle-crossing walking capabilities on the line.

[0036] It is easy to understand that, in order to ensure that the hook portion 110 can rotate to the tilted first state in the direction of its back side under its own gravity after the tension of the rope 410 is lost, when the hook portion 110 is in the vertical state, the center of gravity of the hook portion 110 needs to be located on the side where the back side of the hook portion of the hinge 121 is located. Typically, as follows... Figure 1 As shown, a counterweight 111 can be provided on the back side of the hook portion 110; the back side of the hook portion 110 refers to the part of the hook portion 110 opposite to the suspension opening.

[0037] Preferably, the base 120 can be a cylindrical structural member, and the hook portion 110 is rotatably disposed at the top end of the base 120 through the hinge 121; thus, the cylindrical structural design facilitates the insertion and engagement of the base 120 with the cavity of the cylinder 300 described below, and facilitates the smooth rotation of the base 120 relative to the cavity of the cylinder 300 under the action of the correction structure.

[0038] Meanwhile, the base 120 may be provided with a correction structure, so that when the base 120 is inserted into the cylinder 300, the correction structure of the base 120 and the correction structure of the cylinder 300 cooperate with each other to realize the automatic rotation correction of the hook part 110, so that the opening of the hook part 110 faces the direction of the wire or contact wire, and when the hook part 110 rotates to the second vertical state, it ensures that the hook part 110 can be suspended above the wire or contact wire, and can complete the re-suspended contact with the wire or contact wire after the hook part 110 descends.

[0039] Specifically, the correction structure can be a second magnetic element disposed on the base 120, and the second magnetic element forms opposing "N" pole magnetic regions 1201 and "S" pole magnetic regions 1202 on the outer sidewall of the base 120; for example Figure 5 As shown, during the process of inserting the base 120 into the cylinder 300, the opposing "N" pole magnetic regions 1201 and "S" pole magnetic regions 1202 formed on the outer side wall of the base 120 by the second magnetic element can generate a magnetic force with the opposing "N" pole magnetic regions 3001 and "S" pole magnetic regions 3002 formed on the inner side wall of the cylinder 300 by the first magnetic element, thereby using the magnetic force to achieve automatic correction and adjustment of the opening orientation of the hook portion 110.

[0040] For example, when the "N" pole magnetic region 1201 of the second magnetic element and the "N" pole magnetic region 3001 of the first magnetic element, and the "S" pole magnetic region 1202 of the second magnetic element and the "S" pole magnetic region 3002 of the first magnetic element are at least partially opposite positions, during the process of inserting the base 120 into the cavity of the cylinder 300, it will rotate under the action of the magnetic force of like poles repelling each other to the position where the "N" pole magnetic region 1201 of the second magnetic element and the "S" pole magnetic region 3002 of the first magnetic element, and the "S" pole magnetic region 1202 of the second magnetic element and the "N" pole magnetic region 3001 of the first magnetic element are directly opposite each other, and maintain this state under the action of the magnetic force of unlike poles attracting each other, thereby realizing the automatic rotation correction of the opening orientation of the hook part 110, that is, making the opening of the hook part 110 face the direction of the wire or contact wire.

[0041] In the hook 100 disclosed in this embodiment, a third magnetic element 112 may be provided in the hook portion 110, and the third magnetic element 112 forms an "N" pole magnetic region and an "S" pole magnetic region on the left side and the right side of the hook portion 110, respectively; that is, the third magnetic element 112 forms an "N" pole magnetic region on the left side of the hook portion 110 and an "S" pole magnetic region on the right side of the hook portion 110; or, the third magnetic element 112 forms an "S" pole magnetic region on the left side of the hook portion 110 and an "N" pole magnetic region on the right side of the hook portion 110.

[0042] Specifically, by forming an "N" pole magnetic region and an "S" pole magnetic region on the left and right sides of the hook portion 110 respectively through the third magnetic element 112, when the hook 100 needs to be removed from the line after being unloaded, the operator can directly place the operating rod on the conductor or contact wire and slide it along the line to the hanging position of the hook portion 110, so that the operating rod makes contact with the side of the hook portion 110, and the hook portion 110 and the operating rod are attracted together by magnetic force, thus making it convenient and quick to remove the hook 100 from the line. Therefore, it can solve the problem of the difficulty in removing the hook 100 from the line caused by the existing hook 100 requiring the operating rod to be aligned and lifted.

[0043] Especially in applications where at least two hooks 100 are used for lifting, the "N" pole magnetic region and the "S" pole magnetic region formed by the third magnetic element 112 of each hook 100 are oriented in the same direction; that is, the "N" pole magnetic regions are all located on the left side of the hook part 110, and the "S" pole magnetic regions are all located on the right side of the hook part 110; or, the "N" pole magnetic regions are all located on the right side of the hook part 110, and the "S" pole magnetic regions are all located on the left side of the hook part 110.

[0044] Therefore, when two adjacent hooks 100 are suspended in the same direction, the magnetic regions on their opposite sides are opposite in polarity. Through the magnetic force of attraction between opposite poles, the operating rod can push the hooks 100 together, and the hooks 100 that are attracted together can be removed from the line at the same time in one operation, reducing the number of operations and making the operation more convenient and faster. When two adjacent hooks 100 are suspended in opposite directions, the magnetic regions on their opposite sides are like poles. Through the magnetic force of repulsion between like poles, the two adjacent hooks 100 can be prevented from attracting together, thus avoiding the problem of forming a closed structure, which would increase the difficulty of removing the hooks 100 from the line.

[0045] Specifically, three third magnetic elements 112 are provided, spaced apart along the extension direction of the hook portion 110, which helps to increase the magnetic area on the side of the hook portion 110. Simultaneously, the hook portion 110 has through holes penetrating the left and right sides. The third magnetic elements 112 are disposed within these through holes and are interference-fitted with them, thus achieving the installation and fixation of the third magnetic elements 112. One end of the third magnetic element 112 has its magnetic pole located at one end of the through hole, and the other end has its magnetic pole located at the other end of the through hole, forming corresponding magnetic pole areas. Of course, the number and arrangement of the third magnetic elements 112 can be adjusted according to actual design and usage.

[0046] Preferably, a roller or ball bearing or other rolling element 113 may be provided on the suspension contact surface of the hook portion 110, thereby reducing the friction between the suspension contact surface of the hook portion 110 and the wire or contact line, ensuring that the hook 100 can move smoothly along the wire or contact line.

[0047] Example 2

[0048] Based on the hook 100 in Embodiment 1, this embodiment discloses a device with lifting function, such as... Figure 3 As shown, the disclosed device with lifting function includes a cable reeling mechanism 400, a lifting mechanism, and the hook 100 described in Embodiment 1. The lifting mechanism and the cable reeling mechanism 400 can be disposed on the main body 500 of the device. The cable 410 led out by the cable reeling mechanism 400 passes through the lifting mechanism and the base 120 and is connected to the bottom end of the hook 110. Under the action of the cable reeling mechanism 400 reeling in and out the cable 410, the base 120 has a first state of being separated from the lifting mechanism and a second state of being engaged with the lifting mechanism. When the base 120 is engaged with the lifting mechanism, the lifting mechanism can be used to control the lifting and lowering movement of the base 120. The cable reeling mechanism 400 can be an electric winch.

[0049] When the device is launched, the cable reeling mechanism 400 releases the cable, allowing the base 120 of the hook 100 to separate from the lifting mechanism. The hook 100 is then suspended from the conductor or contact line via the hook portion 110. The cable reeling mechanism 400 then reels the cable, raising the main body 500 to the required height. The walking mechanism of the main body 500 is suspended from the conductor or contact line. At this point, the base 120 of the hook 100 is engaged with the lifting mechanism, allowing the lifting mechanism to push the base 120 upwards a certain distance, thereby detaching the hook portion 110 from the conductor or contact line. The cable reeling mechanism 400 continues to release the cable a certain distance, causing the hook portion 110 to lose the tension of the rope 410 and rotate towards its back side under its own weight, reaching a tilted first state. This means the hook portion 110 deviates from the conductor or contact line, avoiding obstacles on the line and ensuring the main body 500 can smoothly navigate over obstacles on the line.

[0050] When the wire is lowered, the wire take-up and release mechanism 400 takes up the wire a certain distance, causing the hook part 110 to rotate to a vertical second state under the pull of the rope 410, overcoming its own weight. This allows the hook part 110 to return to the top of the guide or contact line. The wire take-up and release mechanism 400 continues to take up the wire a certain distance, and in conjunction with the descent movement of the lifting mechanism, the base 120 moves downward together, thereby ensuring that the hook part 110 can re-contact the conductor or contact line as a force point. Then, the traveling mechanism of the device body 500 disengages from the conductor or contact line, and the wire take-up and release mechanism 400 releases the wire, causing the device body 500 to descend to the ground.

[0051] The lifting mechanism disclosed in this embodiment can be an electric lifting mechanism, a pneumatic lifting mechanism, a hydraulic lifting mechanism, or an elastic lifting mechanism. After the main body 500 of the device is suspended to the conductor or contact line, the wire is released in conjunction with the wire release mechanism 400. The lifting mechanism controls the upward movement of the base 120, thereby separating the hook part 110 from the conductor or contact line. When the main body 500 of the device is lowered, the wire is released in conjunction with the wire release mechanism 400. The lifting mechanism controls the downward movement of the base 120, thereby making the hook part 110 contact and suspend with the conductor or contact line.

[0052] Among them, the electric lifting mechanism refers to the mechanism that uses electric energy as a power source to achieve lifting and movement, such as electric screw lifting device or electric gear and rack lifting device, etc., thereby driving the hook 100 to perform corresponding lifting and movement through the lifting and movement of the electric lifting mechanism; in application, the electric lifting device can be supplied with the power supply required for operation by the traveling power supply mounted on the main body 500, or it can be powered by a separate power supply; the pneumatic lifting mechanism can use the existing pneumatic lifting rod, and the hydraulic lifting mechanism can use the existing hydraulic lifting rod, etc.

[0053] The elastic lifting mechanism refers to a mechanism that uses the elastic compression deformation and elastic recovery deformation process of elastic elements 310 such as springs or sheet elements to achieve lifting and moving. When the hook part 110 is in the vertical second state, the hook part 110 is pulled by the rope 410, which allows the base 120 to compress the elastic element 310 and contract, thereby achieving downward movement. The hook part 110 is released by the rope 410, which allows the compressed elastic element 310 to relax and recover, thereby pushing the base 120 to move upward. Compared with the electric lifting mechanism, the elastic lifting mechanism can effectively reduce the power consumption of the main body 500, which is conducive to improving the working endurance of the main body 500 and avoiding the need for an additional power supply, which is conducive to reducing the weight of the main body 500.

[0054] Therefore, the lifting mechanism is preferably a flexible lifting mechanism; specifically as follows: Figure 4 and Figure 5 As shown, the elastic lifting mechanism may include a cylinder 300 and an elastic element 310; the top surface of the cylinder 300 is an open end 301 for insertion and engagement between the base 120 and the cavity of the cylinder 300, and the bottom surface of the cylinder 300 is a closed end with a through hole 302 for threading a rope 410; the elastic element 310 is disposed in the cavity of the cylinder 300; under the action of the rope winding and unwinding mechanism 400, the base 120 has a lifting state of compressing and relaxing the elastic element 310.

[0055] Meanwhile, the cavities of both the base 120 and the cylinder 300 can be designed as cylindrical structures, with the diameter of the cylinder 300's cavity being larger than the diameter of the base 120. This facilitates the insertion and engagement of the base 120 and the cylinder 300, and ensures that the base 120 can rotate smoothly relative to the cavity of the cylinder 300 under the action of the following correction structure, thereby achieving automatic rotation correction of the hook. Of course, depending on the actual design, both the base 120 and the cylinder 300's cavities can also be designed as regular polygonal structures. However, in order to ensure that the base 120 can smoothly insert and rotate with the cavity of the cylinder 300, the diameter of the inscribed circle of the cavity must be larger than the diameter of the circumscribed circle of the base 120.

[0056] It is easy to understand that, in order to make it easier for the base 120 to be inserted and fitted with the cylinder 300, the open end 301 of the cylinder 300 can be designed as a flared structure in the shape of a trumpet. In this way, during the insertion and fitting process, the flared structure can guide the insertion and fitting of the base 120 and the cavity, which is conducive to the accurate insertion and fitting of the base 120 and the cylinder 300.

[0057] In the above scheme, since the rope 410 has a degree of freedom and the base 120 may rotate relative to the cylinder 300, in engineering applications, when the hook part 110 rotates to the first tilted state, the opening of the hook part 110 may deflect or even turn away from the conductor or contact line. Consequently, after the hook part 110 rotates to the second vertical state, it may move downward and fail to be resuspended on the conductor or contact line.

[0058] To address the aforementioned issues, the elastic lifting mechanism disclosed in this embodiment can be equipped with mutually cooperating correction structures on the cylinder 300 and the base 120. When the base 120 is inserted into the cavity of the cylinder 300, the base 120 can rotate relative to the cylinder 300 under the action of the correction structure, thereby achieving automatic rotation correction of the opening orientation of the hook portion 110, i.e., the opening of the hook portion 110 is oriented towards the direction of the wire or contact line. Then, after the hook portion 110 rotates to the second vertical state, the hook portion 110 can be moved downwards and smoothly resuspended on the wire or contact line.

[0059] As one possible implementation method for the correction structure, such as Figure 5 As shown, the correction structure may include a first magnetic element disposed on the cylinder 300 and a second magnetic element disposed on the base 120; the first magnetic element forms opposing "N" pole magnetic regions 3001 and "S" pole magnetic regions 3002 on the inner sidewall of the cylinder 300, and the second magnetic element forms opposing "N" pole magnetic regions 1201 and "S" pole magnetic regions 1202 on the outer sidewall of the base 120, thereby enabling the base 120 to automatically rotate and be corrected by the magnetic force between the first magnetic element and the second magnetic element.

[0060] As another possible implementation of the correction structure, the correction structure may also include a guide portion disposed on the inner side wall of the cavity of the cylinder 300, and a sliding portion disposed on the outer side wall of the base 120; the guide portion extends in a spiral direction, the sliding portion can slide and cooperate with the guide portion, and the guide portion is provided with a positioning groove that cooperates with the sliding portion.

[0061] When the base 120 is inserted into the cylinder 300, the base 120 can rotate spirally by sliding along the guide surface through the sliding part, thereby realizing the automatic rotation correction of the opening orientation of the hook part 110. When the sliding part slides to the position of the positioning groove, the positioning cooperation between the sliding part and the positioning groove restricts the continued rotation of the base 120, thereby completing the fixed maintenance of the opening orientation of the hook part 110.

[0062] Preferably, such as Figure 3As shown, the opening end 301 of the cylinder 300 is located on opposite sides of the hook part 110 in the rotation direction and can be provided with notches 304 respectively. This allows the hook part 110 to be placed in the notches 304 when it rotates to the first tilted state. The notches 304 limit the tilted hook part 110 and better prevent the opening of the hook part 110 from deflecting due to the rotation of the base 120 relative to the cylinder 300, which would cause the hook part 110 to be unable to be re-suspended on the wire or contact line after rotating to the second vertical state.

[0063] In this embodiment, as Figure 1 , Figure 2 As shown and Figure 5 As shown, the base 120 of the hook 100 may be provided with a limiting part 122; correspondingly, a pin structure 320 that cooperates with the limiting part 122 is provided on the inner side wall of the cylinder 300, and the pin structure 320 has an extended state and a retracted state; when the pin structure 320 is in the extended state, the pin structure 320 can abut against the limiting part 122 for limiting the base 120; when the pin structure 320 is in the retracted state, the pin structure 320 can release the limiting part 122 for releasing the limiting of the base 120.

[0064] When the base 120 is inserted into the cavity of the cylinder 300, the ejector pin structure 320 is in the extended state, so that the ejector pin structure 320 can abut against the limiting part 122, thereby limiting the base 120. During the process of the take-up and release mechanism 400 pulling the hook part 110 to rotate to the vertical second state by taking up the rope 410, the limitation of the base 120 by the ejector pin structure 320 can prevent the vertical height of the hook part 110 from decreasing due to the movement of the elastic element 310 by the base 120 during rotation, thereby ensuring that the hook part 110 in the vertical state can be located above the conductor or contact wire.

[0065] After the hook portion 110 rotates to the second vertical state, the take-up and release mechanism 400 continues to take up the rope 410. At this time, the ejector pin structure 320 retracts and separates from the limiting portion 122, thereby releasing the limiting portion 122 and releasing the limiting of the base portion 120. Under the tension of the rope 410, the base portion can squeeze the elastic element 310 to move, thereby causing the hook portion 110 to move downward and make contact with the conductor or contact wire.

[0066] Therefore, through the design of the aforementioned ejector pin structure 320 and the limiting part 122, the actions of the hook part 110 rotating to the vertical state and the base 120 pressing the elastic element 310 are performed separately. Compared to the method where the actions of the hook part 110 rotating to the vertical state and the base 120 pressing the elastic element 310 are performed simultaneously, the problem of the hook part 110 being affected by the decrease in height after rotating to the vertical state and the suspension fit between the hook part 110 and the wire or contact wire can be effectively avoided.

[0067] It is easy to understand that the limiting part 122 can be an annular protruding ridge structure provided circumferentially along the base 120, or an annular groove structure provided circumferentially along the base 120; the ejector pin structure 320 can be a spring ejector pin structure, so that the spring ejector pin structure can automatically retract as the squeezing force of the limiting part increases. Of course, the ejector pin structure can also be an ejector pin structure controlled by other telescopic mechanisms.

[0068] In the lifting device disclosed in the embodiments of the present invention, such as Figure 3 As shown, the main body 500 of the device is provided with two cable winding and unwinding mechanisms 400, and the front and rear side walls of the main body 500 of the device are respectively provided with corresponding lifting mechanisms, so that the ropes 410 led out by the two cable winding and unwinding mechanisms 400 are connected to the two corresponding hooks 100 after passing through the corresponding lifting mechanisms.

[0069] The hook portions 110 of both hooks 100 are provided with a third magnetic element 112, and the third magnetic element 112 forms an "N" pole magnetic region on the left side of the hook portion 110 and an "S" pole magnetic region on the right side of the hook portion 110. At the same time, the suspension contact surfaces of both hook portions 110 are provided with rolling elements 113, so that the friction between the suspension contact surfaces of the hook portions 110 and the wires or contact lines can be reduced by the rolling elements 113.

[0070] When the suspension positions of the two hooks 100 are too far apart or too close together, the hooks 100 can move smoothly along the conductor or contact line under the tension of the rope 410, thereby ensuring that the rope 410 remains basically vertical during the hoisting process. This avoids the problem of the rope 410 tilting outward or inward during the hoisting process due to the suspension positions of the two hooks 100 being too far apart or too close together, which is beneficial to the stability of the hoisting of the main body 500. In addition, when the hooks 100 are removed from the line, it is also convenient for the operating rod to push the hooks 100 to move for magnetic adsorption.

[0071] It should be noted that the device body 500 in this embodiment includes, but is not limited to, devices or equipment applied to conductors or contact lines, such as online walking devices, online inspection robots or online maintenance robots. It may also include devices or equipment applied to suspended tracks, such as suspended rail walking devices, suspended rail inspection robots or suspended rail maintenance robots. This invention does not limit the type and application scenario of the device body 500.

[0072] The above embodiments of the present invention focus on describing the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be described in detail here.

[0073] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A hook, characterized in that, It includes a hook portion and a base portion; the hook portion is rotatably mounted on the base portion via a hinge, and the base portion is provided with a channel for threading a rope through the channel. After the rope passes through the base portion via the channel, it can be connected to the bottom end of the hook portion; under its own weight, the hook portion can rotate to a first tilted state in the direction of its back side, and under the tension of the rope, the hook portion can rotate to a second vertical state in the direction of its opening.

2. The hook according to claim 1, characterized in that, The base is provided with a correction structure, which is used for the rotational adjustment of the base and can control the opening orientation of the hook portion through the rotational adjustment of the base.

3. The hook according to claim 2, characterized in that, The correction structure includes a second magnetic element disposed on the base, and the second magnetic element forms opposing "N" pole magnetic regions and "S" pole magnetic regions on the outer sidewall of the base.

4. The hook according to any one of claims 1 to 3, characterized in that, The hook portion is provided with a third magnetic element, and the third magnetic element forms an "N" pole magnetic region and an "S" pole magnetic region on the left and right sides of the hook portion, respectively.

5. A device with a lifting function, characterized in that, The device includes a cable reeling mechanism, a lifting mechanism, and the hook as described in claim 1. The lifting mechanism and the cable reeling mechanism are disposed on the main body of the device. The cable led out by the cable reeling mechanism passes through the lifting mechanism and the base and is connected to the bottom end of the hook. Under the action of the cable reeling mechanism to reel in and release the cable, the base has a first state of being separated from the lifting mechanism and a second state of being engaged with the lifting mechanism. When the base is engaged with the lifting mechanism, the lifting mechanism can control the lifting and lowering movement of the base.

6. The device with lifting function according to claim 5, characterized in that, The lifting mechanism is an electric lifting mechanism, a pneumatic lifting mechanism, a hydraulic lifting mechanism, or a flexible lifting mechanism.

7. The device with lifting function according to claim 6, characterized in that, The elastic lifting mechanism includes a cylinder and an elastic element; the top surface of the cylinder is an open end for insertion and engagement of the base with the cavity of the cylinder, and the bottom surface of the cylinder is a closed end with a through hole for threading the rope; the elastic element is disposed within the cavity of the cylinder; under the action of the rope winding and unwinding mechanism, the base has a lifting state of compressing and relaxing the elastic element.

8. The device with lifting function according to claim 7, characterized in that, The base is provided with a limiting part, and the inner sidewall of the cylinder is provided with a pin structure that cooperates with the limiting part. The pin structure has an extended state and a retracted state. When the pin structure is in the extended state, the pin structure can abut against the limiting part for limiting the base. When the pin structure is in the retracted state, the pin structure can release the limiting part for releasing the limiting of the base.

9. The device with lifting function according to claim 7, characterized in that, The cylinder and the base are provided with mutually cooperating correction structures; when the base is inserted into the cavity, the base can automatically rotate and correct itself under the action of the correction structure, which is used to adjust the opening orientation of the hook.

10. The device with lifting function according to claim 9, characterized in that, The correction structure includes a first magnetic element disposed on the cylinder and a second magnetic element disposed on the base; the first magnetic element forms opposing "N" pole magnetic regions and "S" pole magnetic regions on the inner sidewall of the cylinder, and the second magnetic element forms opposing "N" pole magnetic regions and "S" pole magnetic regions on the outer sidewall of the base; the base can be automatically rotated and corrected by the magnetic force between the first magnetic element and the second magnetic element.

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