Hoisting device, movable platform and load loading and transporting method of movable platform

Abstract

A hoisting device, a movable platform and a load shipping method of the movable platform wherein the hoisting device comprises a lifting mechanism, a hook mechanism and a limiting portion, the lifting mechanism comprises a fixed structure and a movable member configured to be capable of lifting and moving relative to the fixed structure, the hook mechanism is connected with the movable member, and the limiting portion is connected with the movable member. The movable part is configured to drive the hook mechanism to move up and down. And the limiting part is configured to be in contact with or separated from the hook mechanism. And when the hook mechanism is in contact with the limiting part, the limiting part is used for preventing the hook mechanism from being freely opened, so that the hook mechanism is closed for hanging the load. In response to the movable part driving the hook mechanism to descend to be separated from the limiting part, the hook mechanism is configured to be freely opened to release the load. According to the hoisting device, the situation that the hook mechanism is suddenly opened due to an emergency, and consequently the load falls off from the air can be avoided, the safety performance is improved, automatic throwing of the load can be achieved, personnel intervention is reduced, and manpower and material resources are saved.

Description

Technical Field

[0001] The present invention relates to the field of distribution technology, and in particular to a hoisting device, a movable platform and a load transportation method of the movable platform. Background Art

[0002] The movable platform in the relevant technology has the characteristics of high automation rate, good timeliness, and flexible mobility. It can be used in logistics transportation, vertical transportation, shore-based transportation, emergency rescue and other scenarios.

[0003] The movable platform is generally provided with a hook mechanism, however, the hook mechanism in the related art has low reliability, and during the load transportation process, there is a risk that the load hoisted on the hook mechanism will fall from the air. Summary of the invention

[0004] In view of this, the present invention proposes a hoisting device, a movable platform and a load transportation method of the movable platform.

[0005] The hoisting device provided in the first aspect of the present invention comprises:

[0006] A lifting mechanism, comprising a fixed structure and a movable member configured to be able to move up and down relative to the fixed structure;

[0007] A hook mechanism connected to the movable member, wherein the movable member is configured to drive the hook mechanism to move up and down; and

[0008] The limiting part is configured to contact or separate from the hook mechanism; when the hook mechanism contacts the limiting part, the limiting part is used to prevent the hook mechanism from opening freely, so that the hook mechanism is closed for hanging the load; in response to the movable part driving the hook mechanism to descend to disengage from the limiting part, the hook mechanism is configured to be able to open freely to release the load

[0009] The movable platform proposed in the second aspect of the present invention includes a fuselage and the above-mentioned lifting device, the lifting mechanism is arranged on the fuselage, and in response to the movable platform reaching the target position, the lifting mechanism drives the hook mechanism to descend to disengage from the restricting part, and the hook mechanism is configured to be able to open freely to release the load.

[0010] A third aspect of the present invention provides a method for loading a load on a movable platform, wherein the movable platform comprises a hook mechanism and a lifting mechanism for driving the hook mechanism to move upward and downward, and the method comprises:

[0011] The hook mechanism receives the load;

[0012] The hook mechanism contacts the limiting portion, and the limiting portion is used to prevent the hook mechanism from opening freely;

[0013] The movable platform transfers the load;

[0014] In response to the movable platform reaching the target position, the lifting mechanism drives the hook mechanism to descend so that the hook mechanism is separated from the restriction portion;

[0015] The hook mechanism opens automatically to release the load.

[0016] It can be seen from the above technical solution that by setting the limiting part, the limiting part can prevent the hook mechanism from opening freely. In this way, during the process of load transportation, it can be avoided that the hook mechanism suddenly opens due to an emergency, causing the load to fall from the air, thereby improving safety performance. In addition, after the hook mechanism is separated from the limiting part, the hook mechanism can be opened freely (such as automatically opened immediately or triggered to open automatically under certain trigger conditions) to release the load. In this way, the automatic delivery of the load can be realized, reducing personnel intervention and saving manpower and material resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained like these accompanying drawings without paying any creative work.

[0018] Figure 1 It is a structural schematic diagram of a lifting device proposed in one embodiment of the present invention;

[0019] Figure 2 is a structural schematic diagram of a hook mechanism proposed in one embodiment of the present invention;

[0020] Figure 3 is an exploded schematic diagram of a hooking mechanism provided in one embodiment of the present invention;

[0021] Figure 4 is a cross-sectional schematic diagram of a hook mechanism provided in an embodiment of the present invention, wherein the locking member is in an unlocked state;

[0022] Figure 5 is a cross-sectional schematic diagram of a hook mechanism provided in an embodiment of the present invention, wherein the locking member is in a locked state;

[0023] Figure 6 It is a schematic diagram of the process of the hook mechanism from hoisting the load to the load contacting the bearing surface and releasing;

[0024] Figure 7 is a structural schematic diagram of a hook mechanism proposed in another embodiment of the present invention;

[0025] Figure 8 is a schematic diagram of a process of a hook mechanism from hoisting a load to releasing the load from contacting a bearing surface, as proposed in another embodiment of the present invention;

[0026] Fig. 9 It is a structural schematic diagram of a fuse mechanism proposed in one embodiment of the present invention;

[0027] Fig.10 is a schematic structural diagram of a movable platform provided in one embodiment of the present invention;

[0028] Fig.11 is a schematic diagram of the connection between the body and the box of a movable platform provided by another embodiment of the present invention;

[0029] Fig.12 yes Fig.11 A local enlarged schematic diagram of point A in FIG.

[0030] Fig.13 is a schematic structural diagram of a suspension part provided in one embodiment of the present invention;

[0031] Fig.14 is a structural schematic diagram of a suspension part provided in another embodiment of the present invention;

[0032] Fig.15 is a structural schematic diagram of a suspension part provided in another embodiment of the present invention;

[0033] Fig.16 is an exploded schematic diagram of a second weighing sensor provided in another embodiment of the present invention;

[0034] Fig.17 is a schematic diagram of the structure of a movable platform from a top view according to an embodiment of the present invention;

[0035] Fig.18 is a schematic structural diagram of a side view of a movable platform provided by an embodiment of the present invention;

[0036] Fig.19 yes Fig.18 A partial enlarged schematic diagram of point B in the middle;

[0037] Fig. 20 is a schematic diagram of the coordination of a battery and a limiting assembly according to an embodiment of the present invention;

[0038] Fig.21 It is a flow chart of a load transport method for a movable platform proposed in one embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] like Figure 1 As shown, an embodiment of the present invention provides a lifting device 100, which can be, but is not limited to, applied to a logistics aircraft or a lifting machine to lift a load. The logistics aircraft can be, but is not limited to, a quad-rotor aircraft, a hexacopter aircraft, or an octo-rotor aircraft, and the lifting machine can be, but is not limited to, a crawler crane, a truck crane, a tire crane, a tower crane, or a mast crane.

[0041] like Figures 1 to 4 As shown, in one embodiment, the proposed hoisting device 100 includes a lifting mechanism 10, a hook mechanism 20 and a limiting portion 30. The lifting mechanism 10 includes a fixed structure 11 and a movable member 12 configured to be able to move up and down relative to the fixed structure 11. The hook mechanism 20 is connected to the movable member 12, and the movable member 12 is configured to drive the hook mechanism 20 to move up and down. The limiting portion 30 is configured to contact or separate from the hook mechanism 20. When the hook mechanism 20 contacts the limiting portion 30, the limiting portion 30 is used to prevent the hook mechanism 20 from opening freely, so that the hook mechanism 20 is closed for hanging the load. In response to the movable member 12 driving the hook mechanism 20 to descend to disengage from the limiting portion 30, the hook mechanism 20 is configured to be able to open freely to release the load.

[0042] It should be noted that the movable part 12 can be but not limited to a cable or a lifting rod, and the fixed structure 11 can be changed accordingly according to the movable part 12. For example, when the movable part 12 is a cable, the fixed structure 11 can be a winch body 111, and the winch (i.e., the lifting mechanism) drives the hook mechanism 20 to move up and down by winding or releasing the cable. When the movable part 12 is a lifting rod, the fixed structure 11 can be a pneumatic pusher, a hydraulic pusher, or an electric pusher. Of course, it can also be a combination of a motor and a transmission mechanism, such as a combination of a motor, a gear and a rack, or a combination of a motor, a lead screw and a lead screw nut, or a combination of a motor, a slider and a belt drive assembly. The specific design can be determined according to actual design needs, as long as the fixed structure 11 can drive the movable part 12 to move up and down to drive the hook mechanism 20 to move up and down.

[0043] It should be noted that the limiting portion 30 is configured to be in contact with or separated from the hook mechanism 20, which is achieved by the fixed structure 11 driving the movable part 12 to move up and down. When the fixed structure 11 drives the movable part 12 to rise to drive the hook mechanism 20 to rise, until the hook mechanism 20 abuts against the limiting portion 30, the limiting portion 30 is in contact with the hook mechanism 20; when the fixed structure 11 drives the movable part 12 to descend to drive the hook mechanism 20 to descend, the hook mechanism 20 leaves the limiting portion 30, which is the separation of the limiting portion 30 from the hook mechanism 20.

[0044] It should be noted that when the hook mechanism 20 contacts the limiting portion 30, the limiting portion 30 is used to prevent the hook mechanism 20 from opening freely, so that the hook mechanism 20 is closed for hanging the load. In response to the movable member 12 driving the hook mechanism 20 to descend to disengage from the limiting portion 30, the hook mechanism 20 is configured to be able to open freely to release the load. Specifically, when the hook mechanism 20 abuts against the limiting portion 30, the hook mechanism 20 remains in a closed state under the restriction of the limiting portion 30, and the hook mechanism 20 cannot open automatically without external force. When the hook mechanism 20 leaves the limiting portion 30, it loses the restriction of the limiting portion 30, and the hook mechanism 20 can open automatically or can open automatically under certain trigger conditions to release the load.

[0045] Taking the above-mentioned lifting device 100 used on a logistics aircraft, where the lifting mechanism 10 is a winch as an example, in an application scenario of loading a load in the air, the logistics aircraft flies over the shipping site, the winch pays out the line, and the hook mechanism 20 descends. After the operator lifts the load to the hook mechanism 20, the winch reels in the line, and the hook mechanism 20 rises until the hook mechanism 20 abuts against the restricting portion 30. At this time, the hook mechanism 20 remains closed. Then the logistics aircraft flies to the destination, the winch pays out the line, and the hook mechanism 20 descends and leaves the restricting portion 30, and can then open freely to release the load. In an application scenario where a load is loaded on a load-bearing surface (such as the ground or a work surface, etc.), the logistics aircraft is set up on the load-bearing surface, and the winch is in a reeled state. The winch does not need to pay out the line, and the user directly mounts the load on the hook mechanism under the logistics aircraft. After the hook is completed, the logistics aircraft takes off and starts to perform the mission. Then the logistics aircraft flies to the destination, the winch pays out the line, and the hook mechanism 20 descends and leaves the restriction part 30, and can be freely opened to release the load; or, on the load-bearing surface, the user can pull out the hook mechanism 20, and after mounting the load, the logistics aircraft takes off, and reels the cable of the winch to a preset height, starts to perform the mission, flies to the destination, the winch pays out the line, and the hook mechanism 20 descends and leaves the restriction part 30, and can be freely opened to release the load.

[0046] The lifting device 100 proposed in the embodiment of the present invention is provided with a limiting portion 30, and the limiting portion 30 can limit the free opening of the hook mechanism 20. In this way, during the process of load delivery, it can be avoided that the hook mechanism 20 is suddenly opened due to an emergency, causing the load to fall from the air, thereby improving the safety performance. In addition, after the hook mechanism 20 is separated from the limiting portion 30, the hook mechanism 20 can be opened freely (such as automatically opened immediately or triggered to open automatically under certain triggering conditions) to release the load. In this way, the automatic delivery of the load can be achieved, human intervention can be reduced, and manpower and material resources can be saved. It should be noted that the limiting portion 30 can prevent the hook mechanism 20 from opening freely, which means that the hook mechanism 20 cannot be opened freely under the action of the limiting portion 30, but when external force intervenes, it can be opened to facilitate the placement of the load.

[0047] In one embodiment, in response to the hook mechanism 20 being separated from the limiting portion 30, the hook mechanism 20 automatically opens in response to a trigger condition. That is, in this embodiment, the hook mechanism 20 does not automatically open immediately after leaving the limiting portion 30, and can remain closed until a certain trigger condition is met before it can automatically open. In this embodiment, when the lifting device 100 is used on a logistics aircraft, since the hook mechanism 20 does not open immediately after leaving the limiting portion 30, the height restriction of the logistics aircraft when dropping the load is relatively small. Even if the logistics aircraft is located at a high position, the load can be dropped to a safe height before the trigger condition is activated.

[0048] In one embodiment, the trigger conditions include the load contacting the bearing surface or the load being in a weightless state or a remote control command. That is, the hook mechanism 20 can only automatically open after leaving the limiting portion 30 until the load contacts the bearing surface or is in a weightless state or receives a remote control command. Among them, the bearing surface can be but not limited to the ground, a desktop or other supporting surfaces. In this embodiment, by setting the trigger conditions including the load contacting the bearing surface, being in a weightless state or receiving a remote control command, the load can include two delivery methods: ground delivery and throwing. Among them, ground delivery means that when the load contacts the bearing surface, the hook mechanism 20 automatically opens to deliver the load, and throwing means that when the hook is in a weightless state or receives a remote control command, the hook mechanism 20 automatically opens to deliver the load. With this embodiment, the user can choose one of the three delivery methods for delivery according to the actual site conditions of delivery, thereby improving convenience.

[0049] In one embodiment, the hook mechanism 20 is configured to remain closed due to the downward pulling force borne by the gravity of the load when the load is hung. In response to the load contacting the load-bearing surface or being in a weightless state, the downward pulling force borne by the hook mechanism 20 is reduced or disappears, and the hook mechanism 20 automatically opens to release the load. That is, in this embodiment, when the load is hung on the hook mechanism 20, the hook mechanism 20 remains closed under the action of the gravity of the load, and the load cannot fall off the hook mechanism 20. When the load contacts the load-bearing surface or is in a weightless state, the pulling force applied to the hook mechanism 20 is reduced or disappears, and the hook mechanism 20 will automatically open to release the load. The hook mechanism 20 adopts a gravity hook, which can achieve that after the load is hung, the hook mechanism 20 can remain closed, and can also automatically open when it touches the load-bearing surface or loses weight. In combination with the function of the limiting part 30, it can further ensure that the hook mechanism 20 will not automatically open due to emergencies during the load transportation process, further improving the safety performance. For example, when using the above-mentioned gravity hook solution, if there is no restriction of the limiting part 30, the hook mechanism 20 may be mistakenly triggered and opened when the movable platform suddenly accelerates and falls, or encounters strong winds, thereby causing the load to be lost. By setting the limiting part 30, the hook mechanism 20 can be restricted from opening freely. In this way, during the process of load delivery, the hook mechanism 20 can be prevented from opening suddenly due to emergencies.

[0050] In one embodiment, the fixed structure 11 includes a winch body 111, and the movable part 12 includes a cable wound around the winch body 111, the cable is connected to the hook mechanism 20, and the lifting mechanism 10 is configured to accelerate when releasing the line or decelerate when reeling in the line, so that the load is in a weightless state. The cable can be but is not limited to a polymer polyethylene cable, which has the properties of wear resistance, impact resistance, corrosion resistance, self-lubrication and crack resistance, and has a long service life. Among them, the winch body 111 includes a reel and a motor that drives the reel to rotate, and the motor drives the reel to rotate to realize the winch to reel in or release the line.

[0051] In one embodiment, the lifting mechanism 10 is configured to release the wire first to accelerate, and then the winch body 111 is configured to descend a preset distance to further ensure that the cable is in a relaxed state. Taking the use of the above-mentioned lifting device 100 in the field of logistics aircraft as an example, the configuration of the winch body 111 to descend a preset distance can be achieved by controlling the logistics aircraft to descend a preset distance. It should be noted that in the process of accelerating the release of the wire, in order to avoid that in some accidental scenarios, the weightlessness of the hook mechanism 20 may not be sufficient to reach the trigger condition for the automatic opening of the hook mechanism 20, in this embodiment, by setting the wire release to accelerate first and then the winch body 111 descending a preset distance, the relaxed state of the cable can be increased, and the weightlessness of the hook mechanism 20 can be increased, so that the hook mechanism 20 can be smoothly opened to release the load.

[0052] Of course, the cable is not limited to the above-mentioned configuration to achieve a relaxed state. For example, in another embodiment, the lifting mechanism 10 is configured to first slow down the cable reel and then accelerate the cable reel to further ensure that the cable is in a relaxed state. In this embodiment, the relaxed state of the cable can also be increased, and the weightlessness of the hook mechanism 20 can be increased, so that the hook mechanism 20 can be smoothly opened to release the load.

[0053] Of course, the cable is not limited to the above-mentioned configuration to achieve a relaxed state. For example, in another embodiment, the lifting mechanism 10 is configured to first reel in a slowdown, and then the hoist body 111 is configured to descend a preset distance to further ensure that the cable is in a relaxed state. In this embodiment, the relaxed state of the cable can also be increased, and the weightlessness of the hook mechanism 20 can be increased, so that the hook mechanism 20 can be smoothly opened to release the load.

[0054] In some embodiments, a wireless receiving device and an actuator connected to the wireless receiving device may be provided on the hook mechanism 20, and the actuator may be used to execute the closing and opening actions of the hook mechanism 20. The remote control terminal is provided with a wireless transmitting device, and when the wireless transmitting device sends instructions to the wireless receiving device, the actuator may cause the hook mechanism 20 to be automatically closed and opened, thereby realizing wireless remote control of the hook mechanism 20.

[0055] It should be noted that the hook mechanism 20 is not limited to the above-mentioned setting mode, and needs to be opened only under trigger conditions. For example, in another embodiment, in response to the hook mechanism 20 being separated from the limiting portion 30, the hook mechanism 20 is immediately opened. That is, once the hook mechanism 20 leaves the limiting portion 30, without the restriction of the limiting portion 30, the hook mechanism 20 can be immediately opened to release the load. In one embodiment, in response to the hook mechanism 20 being separated from the limiting portion 30, under the action of the gravity of the load, the hook mechanism 20 automatically opens to release the load, such as Figure 8As shown in d.

[0056] like Figures 2 to 5 As shown, in one embodiment, the hoisting device 100 further includes a locking member 40 disposed on the hook mechanism 20, and the locking member 40 is used to lock the hook mechanism 20 with the load hung thereon before the hook mechanism 20 rises to contact the limiting portion 30 so that the hook mechanism 20 is in a closed state. In this embodiment, by providing the locking member 40, the hook mechanism 20 is locked before the hook mechanism 20 rises to contact the limiting portion 30, which can reduce the risk of the load being unhooked during the rising process and improve the safety performance. In addition, in some cases of loading in the air, since the hook mechanism 20 needs to descend to load the load, it is disengaged from the limiting portion 30 at this time. By providing the locking member 40, it can be used to lock the hook mechanism 20 to prevent the hook mechanism 20 from being accidentally triggered to open.

[0057] In one embodiment, in response to the hook mechanism 20 contacting the limiting portion 30, the locking member 40 is triggered to release the lock on the hook mechanism 20, so that the hook mechanism 20 can be freely opened when it is separated from the limiting portion 30. That is, in this embodiment, the unlocking of the locking member 40 is achieved by contacting the limiting portion 30. With this implementation, the structure can be simplified and the complexity of the device can be reduced. That is, when the hook mechanism 20 contacts the limiting portion 30, the limiting portion 30 has already provided a guarantee. At this time, the locking function of the locking member 40 can be released, which is convenient for free opening when it is subsequently separated from the limiting portion 30. In this embodiment, the unlocking of the locking member 40 can be triggered by contacting the limiting portion 30, and the structural design is ingenious.

[0058] Of course, unlocking of the locking member 40 is not limited to being achieved through the limiting portion 30. For example, in another embodiment, the locking member 40 is connected to an actuator, and the actuator is used to drive the locking member 40 to move. The actuator is configured to establish a communication connection with the mobile terminal, and the actuator can receive a control signal from the mobile terminal to drive the locking member 40 to unlock.

[0059] In one embodiment, the locking member 40 can be rotatably disposed on the hook mechanism 20. When the locking member 40 locks the hook mechanism 20, the locking member 40 is in a first position. In response to the hook mechanism 20 contacting the limiting portion 30, the limiting portion 30 pushes the locking member 40 to rotate to a second position to release the lock on the hook mechanism 20.

[0060] Of course, the locking member 40 is not limited to being configured to be rotatably connected to the hook mechanism 20. For example, in another embodiment, the locking member 40 can also be configured to be slidably connected to the hook mechanism 20. As long as the hook mechanism 20 contacts the limiting portion 30, the locking member 40 can be triggered to release the lock of the hook mechanism 20.

[0061] In one usage scenario, after the user hangs the load on the hook mechanism 20 , the user can manually press the locking member 40 to place the locking member 40 in the first position.

[0062] like Figure 2 and Figure 3 As shown, in one embodiment, the hook mechanism 20 includes a first connecting arm 22 and a second connecting arm 23 that are rotatably connected, and the free end of the first connecting arm 22 or the free end of the second connecting arm 23 is separated or contacted to open or close the hook mechanism 20. When the locking member 40 locks the hook mechanism 20, the locking member 40 abuts against the first connecting arm 22 and / or the second connecting arm 23 to close the hook mechanism 20. When the locking member 40 is released from the unlocked state, the locking member 40 unlocks the first connecting arm 22 and / or the second connecting arm 23 to allow the hook mechanism 20 to be freely opened when separated from the restricting portion 30.

[0063] like Figure 3 , Figure 4 and Fig.10 As shown, in one embodiment, the limiting portion 30 includes a guide seat 31 arranged on the fixed structure 11, the guide seat 31 is provided with a accommodating cavity 311 for accommodating at least part of the hook mechanism 20 and a through hole 312 connected to the accommodating cavity 311, the movable part 12 can pass through the through hole 312 to move up and down, in response to the movable part 12 driving the hook mechanism 20 to rise and contact with the limiting portion 30, the hook mechanism 20 contacts the inner wall 313 of the accommodating cavity 311, and in response to the movable part 12 driving the hook mechanism 20 to descend and disengage from the limiting portion 30, the hook mechanism 20 disengages from the inner wall 313 of the accommodating cavity 311. That is, in this embodiment, when the hook mechanism 20 contacts the inner wall 313 of the accommodating chamber 311, the surface of the first connecting arm 22 on the side facing away from the second connecting arm 23 at least partially contacts the inner wall 313 of the accommodating chamber 311, and the surface of the second connecting arm 23 on the side facing away from the first connecting arm 22 at least partially contacts the inner wall 313 of the accommodating chamber 311. Under the constraint of the inner wall 313 of the accommodating chamber 311, the first connecting arm 22 and the second connecting arm 23 cannot open in opposite directions, so that the hook mechanism 20 remains closed. In this embodiment, the structure for constraining the opening of the first connecting arm 22 and the second connecting arm 23 is very simple, and will not affect the lifting and lowering of the hook mechanism 20, and the lifting and lowering of the hook mechanism 20 is very convenient. It should be noted that the limiting portion 30 can be provided on the fixed structure 11, and can also be provided on the fuselage 200 of the movable platform 1000.

[0064] It should be noted that the limiting portion 30 is not limited to the above-mentioned setting mode. For example, in another embodiment, the limiting portion 30 includes a buckle or a bolt. When the hook mechanism 20 moves to the position of the limiting portion 30, the buckle or the bolt locks the hook mechanism 20, restricting the first connecting arm 22 and the second connecting arm 23 from opening. The buckle or the bolt can be linked with the movable part 12. When the movable part 12 drives the hook mechanism 20 to descend, the buckle or the bolt can be automatically opened to release the restriction on the hook mechanism 20. The buckle or the bolt can be linked with the movable part 12 by mechanical transmission. For example, the buckle or the bolt can be linked with the movable part 12 by a connecting rod. When the movable part 12 drives the hook mechanism 20 to descend, the movable part 12 drives the connecting rod to open the buckle or the bolt. Of course, the linkage is not limited to the mechanical transmission method. For example, a sensor can be set at the limiting part 30 or the fixed structure 11. The sensor is used to detect the movable part 12. When the sensor detects that the movable part 12 descends, it sends a trigger signal to the actuator of the buckle or bolt. The actuator drives the buckle or bolt to release the hook mechanism 20 to release the restriction on the hook mechanism 20.

[0065] like Figure 3 As shown, in one embodiment, the first connecting arm 22 can rotate relative to the second connecting arm 23, wherein the first connecting arm 22 is provided with a hook 221 for hanging a load, and the free end of the hook 221 is separated from or in contact with the free end of the second connecting arm 23 to open or close the hook mechanism 20. When the hook 221 hangs a load, the force point of the hook 221 and the rotation center of the first connecting arm 22 are in the same straight line and in a vertical direction, so that the first connecting arm 22 is in a vertical state, thereby hooking the load, and the vertical direction refers to the orientation of the hoisting device 100 in a normal use state.

[0066] like Figure 3 As shown, in one embodiment, the hook mechanism 20 further includes a first rotating shaft 24 , and the first rotating shaft 24 is disposed through the first connecting arm 22 and the second connecting arm 23 , and the first connecting arm 22 and the second connecting arm 23 are rotatably connected through the first rotating shaft 24 .

[0067] like Figure 3 As shown, in one embodiment, the hoisting device 100 includes a spring-opening mechanism 50, which is configured to spring open when the hook mechanism 20 is separated from the limiting portion 30 and the downward pulling force it bears is reduced or disappears, so that the hook mechanism 20 is automatically opened. Wherein, when the downward pulling force borne by the hook mechanism 20 is reduced or disappears, it means that the load contacts the bearing surface or is in a weightless state. In this embodiment, the provision of the spring-opening mechanism 50 facilitates the load to smoothly separate from the hook mechanism 20, so that the load can be dropped smoothly.

[0068] It should be noted that when the locking mechanism is in a locked state, the force of the pop-up mechanism 50 on the first connecting arm 22 and / or the second connecting arm 23 causes the first connecting arm 22 and / or the second connecting arm 23 to generate a thrust on the locking member 40. The direction of the thrust passes through the rotation center of the locking member 40, so that the system constructed by the first connecting arm 22 and / or the second connecting arm 23 and the locking member 40 reaches a dead point position, thereby achieving locking. In this state, the locking member 40 must rotate under the action of an external force to unlock it. This embodiment improves the reliability of the locking member 40 locking the first connecting arm 22 and / or the second connecting arm 23.

[0069] like Figure 3 As shown, in one embodiment, the pop-up mechanism 50 includes a first torsion spring 51, which is sleeved on the first rotating shaft 24, one end of the first torsion spring 51 abuts against the first connecting arm 22, and the other end of the first torsion spring 51 abuts against the second connecting arm 23, and the first torsion spring 51 drives the first connecting arm 22 and the second connecting arm 23 to pop open through torque.

[0070] Of course, the pop-up mechanism 50 is not limited to the torsion spring. For example, in another embodiment, the pop-up mechanism 50 includes a compression spring installed between the first connecting arm 22 and the second connecting arm 23. The compression spring drives the first connecting arm 22 and the second connecting arm 23 to pop apart through elastic force.

[0071] Of course, the pop-up mechanism 50 is not limited to the use of torsion springs and compression springs. For example, in another embodiment, the pop-up mechanism 50 includes a tension spring installed between the first connecting arm 22 and the second connecting arm 23. The tension spring drives the first connecting arm 22 and the second connecting arm 23 to pop open through the tension force.

[0072] Of course, the pop-up mechanism 50 is not limited to the use of torsion springs, compression springs and tension springs. For example, in another embodiment, the pop-up mechanism 50 includes two magnetic parts, which are respectively installed on the first connecting arm 22 and the second connecting arm 23. The two magnetic parts drive the first connecting arm 22 and the second connecting arm 23 to pop open through the magnetic force between them.

[0073] like Figure 3As shown, in one embodiment, the second connecting arm 23 includes a fixed portion 231, a rotating portion 232 rotatably disposed on the fixed portion 231, and an elastic reset mechanism 233 for automatically resetting the rotating portion 232, and the elastic reset mechanism 233 maintains a closed state between the free end of the rotating portion 232 and the free end of the hook portion 221. In response to the rotating portion 232 rotating under the thrust, the hook mechanism 20 opens; in response to the disappearance of the thrust borne by the rotating portion 232, the elastic reset mechanism 233 resets the rotating portion 232 to close the hook mechanism 20. When the hook mechanism 20 contacts the limiting portion 30, the first connecting arm 22 and the fixed portion 231 are restricted by the limiting portion 30, and the rotating portion 231 is not restricted by the limiting portion 30 because it is located outside the limiting portion 30, so that the hook mechanism 20 can also be manually pushed to mount the load or remove the load when in contact with the limiting portion 30. In addition, due to the presence of the elastic reset mechanism 233, the hook mechanism 20 remains closed without external thrust.

[0074] In this embodiment, the fixing portion 231 may include a base 2312 and a fixing arm 2313 fixed to the base 2312 . In other embodiments, the fixing portion 231 may also be a separate integral component.

[0075] like Figure 3 As shown, in one embodiment, the hook mechanism 20 further includes a second rotating shaft 25 , and the second rotating shaft 25 is disposed through the fixed portion 231 and the rotating portion 232 , and the fixed portion 231 and the rotating portion 232 are rotatably connected via the second rotating shaft 25 .

[0076] like Figure 3 As shown, in one embodiment, the elastic reset mechanism 233 includes a second torsion spring 2331, which is sleeved on the second rotating shaft 25, one end of the second torsion spring 2331 abuts against the fixed portion 231, and the other end of the second torsion spring 2331 abuts against the rotating portion 232. The torsion spring can drive the rotating portion 232 to rotate relative to the fixed portion 231 through elastic force. The elastic reset mechanism 233 can also adopt the above-mentioned compression spring or tension spring, which will not be described in detail here.

[0077] like Figure 3 and Figure 4 As shown, in one embodiment, the locking member 40 is rotatably connected to the fixing portion 231, and one end of the locking member 40 abuts against the end surface of one end of the first connecting arm 22 rotatably connected to the fixing portion 231 to limit the rotation of the first connecting arm 22, thereby keeping the hook mechanism 20 closed.

[0078] like Figure 3 and Figure 4As shown, in one embodiment, the fixing portion 231 includes two spaced apart extension portions 2311, and the locking member 40 is rotatably connected between the two extension portions 2311. Optionally, the hook mechanism 20 further includes a third rotating shaft 26, which passes through the locking member 40 and the extension portion 2311, and the locking member 40 is rotatably connected to the extension portion 2311 through the third rotating shaft 26.

[0079] like Figure 6 As shown, Figure 6 The process of the hook mechanism 20 from hoisting the load to releasing the load from contacting the bearing surface is shown, wherein: Figure 6 (b) shows the process in which the operator pushes the rotating part 232 to the hook mechanism 20 to hoist the load. Figure 6 (d) The load shown touches the bearing surface or is in a weightless state, and the hook mechanism 20 automatically pops open.

[0080] Taking the movable platform as a logistics aircraft and the lifting mechanism 10 as a winch as an example, in a usage scenario, the use process of the lifting device 100 proposed in the above embodiment is as follows: first, the operator presses the rotating part 232, and the rotating part 232 rotates relative to the fixed part 231 to open relative to the first connecting arm 22. The operator hangs the load on the hook 221 of the first connecting arm 22, and then the operator releases the rotating part 232. The rotating part 232 rotates to close with the first connecting arm 22 under the action of the elastic reset mechanism 233. Then the operator manually presses the locking member 40 so that the locking member 40 is in the first position to abut against the first connecting arm 22 and / or the second connecting arm 23 to close the hook mechanism 20. Then the winch drives the hook mechanism 20 to rise until the hook mechanism 20 abuts against the limiting part 30. In this process, the limiting part 30 unlocks the locking member 40. Then the logistics aircraft flies from the origin to the destination. During the flight of the logistics aircraft, due to the action of the limiting part 30, the hook mechanism 20 always remains closed. When the logistics aircraft flies to the destination, the logistics aircraft hovers, and the winch body 111 drives the hook mechanism 20 to descend through the cable. Since the gravity of the load is greater than the elastic force of the pop-up mechanism 50, the hook mechanism 20 remains closed. When the load contacts the bearing surface at the destination or is in a weightless state, the pop-up mechanism 50 pops open the first connecting arm 22 and the second connecting arm 23 through elastic force, and the load automatically falls off the hook mechanism 20, that is, the load is dropped.

[0081] It should be noted that the present invention is not limited to the above-mentioned implementation mode. For example, in another embodiment, Figure 7As shown, the free end of the first connecting arm 22 and the free end of the second connecting arm 23 are separated or crossed to open or close the hook mechanism 20. That is, in this embodiment, the first connecting arm 22 is not provided with a hook portion 221 for hanging a load, and the free end of the first connecting arm 22 and the free end of the second connecting arm 23 are crossed to form a hook structure to hang the load.

[0082] like Figure 8 As shown, Figure 8 The process of the hook mechanism 20 from hoisting the load to releasing the load from contacting the bearing surface is shown, wherein: Figure 8 (b) shows the process in which the operator pushes the rotating part 232 to the hook mechanism 20 to hoist the load.

[0083] Taking the movable platform as a logistics aircraft and the fixed structure 11 as a winch as an example, in a usage scenario, the use process of the hook mechanism 20 proposed in this embodiment is as follows: first, the operator presses the rotating part 232, and the rotating part 232 rotates relative to the fixed part 231 to open relative to the first connecting arm 22. The operator pushes the load into the hook mechanism 20, and then the operator releases the rotating part 232. The rotating part 232 rotates to close with the first connecting arm 22 under the action of the elastic reset mechanism 233, and then the winch drives the hook mechanism 20 to rise until the hook mechanism 20 abuts the limiting part 30. Then the logistics aircraft flies from the departure point to the destination. During the flight of the logistics aircraft, the hook mechanism 20 always remains closed due to the action of the limiting part 30. When the logistics aircraft flies to the destination, the logistics aircraft hovers, and the winch drives the hook mechanism 20 to descend through the cable. The hook mechanism 20 opens immediately after it is separated from the limiting part 30, and the load is separated from the hook mechanism 20 and falls to the destination.

[0084] like Figure 2 As shown, in one embodiment, the hoisting device 100 further includes a first counterweight 60, which is connected to the hook mechanism 20 to increase the weight of the hook mechanism 20. In this embodiment, the weight of the hook mechanism 20 can be increased by adding the first counterweight 60, so that the hook mechanism 20 can be raised and lowered smoothly, which is beneficial to the delivery of the load.

[0085] In one embodiment, the first counterweight 60 is separately provided from the hook mechanism 20, and the first counterweight 60 is fastened to the hook mechanism 20 by fasteners. Of course, the first counterweight 60 can also be integrally formed with the hook mechanism 20, which can be determined according to actual design requirements.

[0086] In one embodiment, the first counterweight 60 is disposed on both sides of the hook mechanism 20 in the extending direction of the first rotating shaft 24. In this embodiment, when the hook mechanism 20 contacts the limiting portion 30, the first counterweight 60 also contacts the limiting portion 30, thereby facilitating the stability of the hook mechanism 20 when it stays on the limiting portion 30, and preventing the hook mechanism 20 from shaking in the extending direction of the first rotating shaft 24.

[0087] In one embodiment, Figure 6 As shown, the lifting device 100 also includes a second counterweight 101, which is connected to an end of the first connecting arm 22 away from its free end. The center of gravity of the second counterweight 101 and the center of gravity of the first connecting arm 22 are respectively arranged on both sides of the rotation center of the first connecting arm 22. In response to the load contacting the bearing surface or losing weight, the second counterweight 101 drives the first connecting arm 22 to rotate so that the first connecting arm 22 is opened relative to the second connecting arm 23.

[0088] like Figure 1 and Fig. 9 As shown, in one embodiment, the fixed structure 11 includes a hoist body 111, the movable part 12 includes a cable wound around the hoist body 111, and the lifting mechanism 10 also includes a fuse mechanism 13, which is installed on the hoist body 111, and the cable passes through the fuse mechanism 13, and the fuse mechanism 13 is used to fuse the cable. In this embodiment, when the cable is entangled, for example, when the logistics aircraft is dropping a load in the jungle, if the cable is entangled on a tree trunk, the logistics aircraft will be unable to fly away. At this time, the cable is fused by the fuse mechanism 13, which can solve the problem that the logistics aircraft cannot fly away.

[0089] like Fig. 9As shown, in one embodiment, the fuse mechanism 13 includes a support 131, a bearing seat 132, a heating element 133, a metal ring 134 and a pressing piece 135. The support 131 is installed to the winch body 111, the bearing seat 132 is installed on the support 131, the bearing seat 132 is provided with a groove 1321, and the bottom of the groove 1321 is provided with a first opening 1322 that passes through the support 131 and the bearing seat 132. The heating element 133 is arranged in the groove 1321, and the heating element 133 is provided with a second opening 1331. The second opening 1331 is coaxial with the first opening 1322, and the metal ring 134 is passed through the second opening 1331. The pressing piece 135 is installed on the bearing seat 132 and limits the heating element 133 and the metal ring 134 in the groove 1321, and the cable is passed through the second opening 1331 and the first opening 1322. The heating element 133 may be but not limited to a ceramic heating plate, and the metal ring 134 may be but not limited to a copper ring. When in use, when the second weighing sensor detects that the value is greater than a preset value within a certain period of time, the control board of the movable platform controls the heating element 133 to be powered on and heated, and the heating element 133 heats the metal ring 134. When the temperature of the metal ring 134 rises to a certain value, such as 300°C, the metal ring 134 fuses the cable.

[0090] like Figures 3 to 5 As shown, in one embodiment, the hoisting device 100 further includes an anti-twist device 70, which includes a first connecting member 71 and a second connecting member 72 rotatably matched with the first connecting member 71, the first connecting member 71 is connected to the lifting mechanism 10, and the second connecting member 72 is connected to the hook mechanism 20. In this embodiment, when the hook mechanism 20 rotates, the torque will not be fully transmitted to the movable member 12 of the lifting mechanism 10. When the movable member 12 uses the above-mentioned cable, the cable can be prevented from twisting and winding, so that the load can be delivered smoothly.

[0091] In one embodiment, the lifting device 100 further includes a bearing assembly 80, the inner ring of the bearing assembly 80 is sleeved on the outside of the second connecting member 72 and has an interference fit with the second connecting member 72, and the first connecting member 71 is sleeved on the outer ring of the bearing assembly 80 and has an interference fit with the outer ring of the bearing assembly 80. The first connecting member 71 and the second connecting member 72 are rotationally matched through the bearing assembly 80.

[0092] In one embodiment, the hoisting device 100 further includes an in-position detection sensor installed on the lifting mechanism 10, and the in-position detection sensor is used to detect whether the hook mechanism 20 is in position. The in-position detection sensor can be, but is not limited to, a photoelectric sensor or a micro switch.

[0093] like Fig.10As shown, an embodiment of the present invention further proposes a movable platform 1000, which includes a fuselage 200 and the above-mentioned lifting device 100, and a lifting mechanism 10 is arranged on the fuselage 200. In response to the movable platform 1000 reaching the target position, the lifting mechanism 10 drives the hook mechanism 20 to descend to disengage from the restriction part 30, and the hook mechanism 20 is configured to be able to open freely to release the load.

[0094] like Fig.10 and Fig.11 As shown, in one embodiment, the fuselage 200 is provided with a first mounting portion 210 and a second mounting portion 220, the first mounting portion 210 is used to mount a box 300, the box 300 is used to load a load, the second mounting portion 220 is used to mount a lifting device 100, and the movable platform 1000 is mounted with at least one of the box 300 and the lifting device 100 through the first mounting portion 210 and the second mounting portion 220.

[0095] That is, the user can install the box 300 on the first mounting part 210 alone to deliver the load, or install the hoisting device 100 on the second mounting part 220 alone to deliver the load, or install the box 300 on the first mounting part 210 and install the hoisting device 100 on the second mounting part 220 to deliver the load according to actual use needs. In this embodiment, by setting the fuselage 200 with a first mounting part 210 for mounting the box 300 and a second mounting part 220 for mounting the hoisting device 100, the load dispatcher can install the box 300 and / or the hoisting device 100 on the fuselage 200 according to different delivery conditions, and the convenience is high. For example, in some places where the delivery conditions are relatively simple, such as a flat open space, the box 300 can be used to deliver the load. In some places where the delivery conditions are relatively complex, such as jungles, cliffs and other delivery scenes where the movable platform 1000 cannot land, the hoisting device 100 can be used to deliver the load.

[0096] like Fig.11 As shown, in one embodiment, the movable platform 1000 further includes a box 300, and the box 300 is installed on the first installation portion 210. The box 300 can be, but is not limited to, a plastic box, a metal box, or a composite material box.

[0097] like Fig.10 and Fig.11 As shown, in one embodiment, the body 200 includes a frame 230 and a stand 240 , the first mounting portion 210 includes a hanging portion 211 disposed on the frame 230 , and the box 300 is hung on the hanging portion 211 .

[0098] like Fig.10As shown, in one embodiment, the movable platform 1000 further includes an arm 801 and a power assembly 802 . The arm 801 is mechanically coupled to the frame 230 . The power assembly 802 is disposed on the arm 801 . The power assembly 802 is used to provide flight power.

[0099] like Fig.10 As shown, in one embodiment, the power assembly 802 includes a driving assembly 8021, a first blade assembly 8022, and a second blade assembly 8023. The driving assembly 8021 is mounted on the arm 801, the first blade assembly 8022 is mounted on the top of the power assembly 802, and the second blade assembly 8023 is mounted on the bottom of the power assembly 802. In this embodiment, the power assembly 802 uses a coaxial double-propeller power assembly 802, which can improve flight power, thereby achieving power redundancy to improve safety performance.

[0100] like Fig.11 and Fig.12 As shown, in one embodiment, the hanging part 211 includes a hanging piece 2111 and a closing piece 2112, the hanging piece 2111 includes a first end and a second end, the first end of the hanging piece 2111 is connected to the machine frame 230, the second end of the hanging piece 2111 is spaced apart from the machine frame 230, the closing piece 2112 is movably mounted on the second end of the hanging piece 2111, and the closing piece 2112 is used to open or close the gap S between the second end of the hanging piece 2111 and the machine frame 230. The movable platform 1000 also includes a braided belt 400, the braided belt 400 is connected to the box body 300 and is suspended from the hanging part 211, and the box body 300 is suspended from the hanging part 211 through the braided belt 400. Specifically, when the box body 300 is hung, the closing piece 2112 is first operated to open the gap S between the second end of the hanger 2111 and the machine frame 230, and then the braid 400 is hung on the hanger 2111, and then the closing piece 2112 is operated to close the gap S between the second end of the hanger 2111 and the machine frame 230 to prevent the braid 400 from falling off the hanger 2111.

[0101] like Fig.13 As shown, it should be noted that the closing piece 2112 can adopt the form of a screw handle 2113, that is, a threaded hole 2114 is set at the second end of the hanger 2111, and the screw handle 2113 is threadedly matched with the threaded hole 2114. By rotating the screw handle 2113, the gap S between the second end of the hanger 2111 and the frame 230 can be opened or closed.

[0102] Of course, the closing member 2112 is not limited to the screw handle 2113. For example, in another embodiment, Fig.14As shown, the closing member 2112 can be a bolt 2115, and a threaded hole 2114 is set at the second end of the hanger 2111. The bolt 2115 is threadedly matched with the threaded hole 2114. The gap S between the second end of the hanger 2111 and the frame 230 can be opened or closed by rotating the bolt 2115 with a tool.

[0103] like Fig.15 As shown, in another embodiment, the closing member 2112 can also adopt the method of a spring 2116 and a pin 2117, that is, an assembly hole 2118 is set at the second end of the hanger 2111, the assembly hole 2118 is provided with a first step E1, and the pin 2117 is provided with a second step E2. The spring 2116 is arranged in the assembly hole 2118 and abuts the first step E1 and the second step E2. The spring 2116 drives the pin 2117 to abut the machine frame 230 through the elastic force, thereby closing the gap S between the second end of the hanger 2111 and the machine frame 230. When it is necessary to hang the braid 400 on the hanger 2111, the pin 2117 is pulled to open the gap S between the second end of the hanger 2111 and the machine frame 230, and then the braid 400 is hung on the hanger 2111, and then the pin 2117 is released, and the pin 2117 moves to the position abutting the machine frame 230 under the action of the elastic force of the spring 2116.

[0104] It should also be noted that the box 300 is not limited to being suspended by the braided belt 400. For example, in another embodiment, the box 300 may be suspended on the hanging portion 211 by means of a chain or a rope.

[0105] It should also be noted that the first mounting portion 210 is not limited to the method of using the hanging portion 211, and the box body 300 is not installed on the frame 230 in a hanging manner. For example, in another embodiment, the first mounting portion 210 includes an assembly seat, the assembly seat is installed on the frame 230, and the box body 300 is fastened or snap-connected to the assembly seat by bolts 2115. Alternatively, in another embodiment, the box body 300 is directly fastened and installed to the frame 230 by fasteners.

[0106] In one embodiment, the frame 230 is a circular frame. The number of the hanging parts 211 is four, and the four hanging parts 211 are divided into two groups and are respectively arranged on opposite sides of the frame 230. The number of the braided belts 400 is four, and the four braided belts 400 are respectively connected to four points of the box body 300 and the four hanging parts 211. With this embodiment, the box body 300 can be stably suspended. Of course, the number of the hanging parts 211 and the number of the braided belts 400 are not limited to four, and can also be one, two, three, five or more than five, which can be determined according to actual design needs.

[0107] like Fig.12As shown, in one embodiment, the movable platform 1000 further includes a first weighing sensor 500 , and the first weighing sensor 500 is connected to the first mounting portion 210 or the box 300 .

[0108] like Fig.12 As shown, in one embodiment, the first weighing sensor 500 is installed on the frame 230, and the first mounting portion 210 is installed on the first weighing sensor 500. The first weighing sensor 500 can be used to measure whether the load is overweight. In another embodiment, when the number of the suspension portion 211, the first weighing sensor 500 and the braided belt 400 is multiple, such as the four mentioned above, the center of gravity position of the load can be calculated through the weighing results of multiple first weighing sensors 500, so that the flight attitude of the movable platform 1000 can be adjusted according to the center of gravity of the load, making the flight more stable and safer.

[0109] like Figure 1 and Fig.16 As shown, in one embodiment, the movable platform 1000 further includes a second weighing sensor 600, and the second weighing sensor 600 is connected to the second mounting portion 220 or the lifting device 100. It should be noted that the second weighing sensor 600 can be used not only to weigh the load, but also to detect whether the cable is entangled, for example, entangled on a tree branch. It can be understood that if the cable is entangled on a tree branch, the value detected by the second weighing sensor 600 will increase sharply when the movable platform 1000 is flying away.

[0110] like Fig.16 As shown, in one embodiment, the second weighing sensor 600 includes a closed bracket 601 and a weighing sensor unit 602 disposed on the closed bracket 601. Optionally, the weighing sensor unit 602 is a strain gauge. When the closed bracket 601 is subjected to an applied force, the applied force is converted into a concentrated load on the closed bracket 601, which eventually causes the strain gauge disposed on the closed bracket 601 to be strained. The magnitude of the applied force can be obtained by reading the output voltage of the strain gauge and converting it.

[0111] like Fig.16 As shown, in one embodiment, the closed bracket 601 includes four fixed beams 6011, and the four fixed beams 6011 are connected in pairs to form a U-shaped structure. The number of strain gauges is four, and one strain gauge is arranged on each fixed beam 6011. By using the related theory of linear algebra, a mapping relationship between the four strain gauges and the forces in three directions is established, so that the detection of the forces in three directions can be realized.

[0112] like Figure 1 and Fig.16As shown, in one embodiment, the movable platform 1000 also includes a structural member 700, which is installed on the machine frame 230, and the second weighing sensor 600 also includes a shell 603, and the closed bracket 601 is arranged inside the shell 603. The shell 603 has mounting holes 6031 at four corners corresponding to the closed bracket 601, and the structural member 700 is connected to the closed bracket 601 through the four mounting holes 6031.

[0113] like Fig.17 As shown, in one embodiment, the movable platform 1000 further includes a parachute 8024, and the parachute 8024 is installed on the frame 230. In this embodiment, by providing the parachute 8024, when the movable platform 1000 suddenly loses power in the air, the parachute 8024 is automatically triggered to open, which can prevent the movable platform 1000 and the load it carries from being damaged, and also avoids injuring passers-by, thereby improving safety performance.

[0114] In one embodiment, the parachute 8024 is disposed at the center of gravity of the movable platform 1000. With this embodiment, the influence of the parachute 8024 on the flight stability can be reduced.

[0115] like Fig.17 As shown, in one embodiment, the movable platform 1000 further includes at least two batteries 8025 installed in the frame 230, and the at least two batteries 8025 are connected in parallel to provide energy for the movable platform 1000. In this embodiment, when one of the batteries 8025 is damaged, the other battery 8025 can also provide power for the movable platform 1000, so that it can land safely, thereby improving safety performance.

[0116] like Figures 17 to 19 As shown, in one embodiment, the number of batteries 8025 is two, and the two batteries 8025 are respectively arranged on opposite sides of the parachute 8024. In this embodiment, the center of gravity can be balanced to improve the flight stability of the movable platform 1000. Of course, the number of batteries 8025 is not limited to two, and can also be three, four, or more than four, which can be determined according to actual design requirements.

[0117] like Fig.19 and Fig. 20 As shown, in one embodiment, both sides of the battery 8025 are provided with limiting grooves 901, and the movable platform 1000 further includes a limiting assembly 902, which is mounted on the frame 230 and movably embedded in the limiting grooves 901 to limit the movement of the battery 8025 in the front, back, left, and right directions of the movable platform 1000. In this embodiment, limiting the battery 8025 from the front, back, left, and right directions can not only stabilize the battery 8025 and the center of gravity, which is beneficial to flight control, but also reduce the shaking of the battery 8025 to avoid risks.

[0118] In one embodiment, the machine frame 230 is the above-mentioned circular frame, and the machine frame 230 is provided with limiting components 902 on opposite sides. The battery 8025 is installed inside the machine frame 230 from top to bottom, and the limiting groove 901 extends from the bottom of the battery 8025 toward the top of the battery 8025. During the process of installing the battery 8025 into the machine frame 230, the limiting components 902 on opposite sides of the machine frame 230 are respectively embedded in the limiting grooves 901 on opposite sides of the battery 8025, thereby limiting the battery 8025.

[0119] like Fig. 20 As shown, in one embodiment, the limiting groove 901 includes a bottom wall 9011, a front side wall 9012 and a rear side wall 9013, and the front side wall 9012 and the rear side wall 9013 are arranged along the front and rear direction of the movable platform 1000. The limiting assembly 902 includes a first roller 9021, a second roller 9022 and a third roller 9023, the first roller 9021 abuts the front side wall 9012, the second roller 9022 abuts the rear side wall 9013, and the third roller 9023 abuts the bottom wall 9011. The first roller 9021 and the second roller 9022 limit the battery 8025 from moving in the front and rear direction of the movable platform 1000, and the third roller 9023 limits the battery 8025 from moving in the left and right direction of the movable platform 1000.

[0120] like Fig. 20 As shown, in one embodiment, the battery 8025 is provided with a slide groove 9014 on the bottom wall 9011 of the limiting groove 901 , and the third roller 9023 is embedded in the slide groove 9014 .

[0121] like Fig.10 As shown, in one embodiment, the movable platform 1000 further includes at least two RTK (Real-time kinematic) sensors 1001 disposed in the frame 230. The RTK sensor 1001 is used for hovering positioning of the movable platform 1000, which is beneficial to the delivery of the payload, and by setting the number of the RTK sensors 1001 to at least two, the hovering accuracy of the movable platform 1000 can be improved.

[0122] like Fig.10 As shown, in one embodiment, the number of RTK sensors 1001 is two, and the two RTK sensors 1001 are arranged on both sides of the front end of the frame 230. In this embodiment, the front end of the frame 230 has less interference, which is conducive to the operation of the RTK sensor 1001.

[0123] like Fig.10As shown, in one embodiment, the movable platform 1000 also includes a first radar 1002 and a second radar 1003. The first radar 1002 is installed at the upper rear portion of the frame 230. The horizontal field of view of the first radar 1002 is 360° and the vertical field of view is 90°. The second radar 1003 is installed at the lower front portion of the frame 230. The horizontal field of view of the second radar 1003 is 90° and the vertical field of view is 360°.

[0124] like Fig.10 As shown, in one embodiment, the first radar 1002 and the second radar 1003 are arranged diagonally. For example, the first radar 1002 is arranged at the upper rear end of the frame 230, and the second radar 1003 is arranged at the front end of the tripod 240. It should be noted that the number of radars is not limited to two, and can also be one, three, four or more than four, which can be determined according to actual design needs.

[0125] like Fig.10 As shown, in one embodiment, the movable platform 1000 further includes a lighting device 1004 installed on the machine frame 230. With this implementation, the movable platform 1000 is capable of operating at night.

[0126] like Fig.10 As shown, in one embodiment, the number of the lighting devices 1004 is four, two of the four lighting devices 1004 are installed at the front end of the frame 230 and are used to emit light in front of the movable platform 1000, and the other two of the four lighting devices 1004 are installed at the front end of the frame 230 and are used to emit light in the front and lower direction of the movable platform 1000.

[0127] It should be noted that the number of the lighting devices 1004 is not limited to four, and may also be one, two, three, five, or more than five, depending on actual design requirements.

[0128] It should be noted that the positions of the four lighting devices 1004 are not limited to the above-mentioned setting method. According to actual usage needs, the four lighting devices 1004 can be set at any position of the frame 230, for example, below and / or behind the frame 230, which can be determined according to actual design needs.

[0129] like Figures 1 to 9As shown, an embodiment of the present invention further provides a hoisting device 100, which includes a lifting mechanism 10 and a hook mechanism 20. The lifting mechanism 10 includes a fixed structure 11 and a movable member 12 configured to be able to move up and down relative to the fixed structure 11. The lifting mechanism 10 is configured to be connected to a control system, wherein the control system may be a control system of a movable platform 1000, or a control system provided by the hoisting device 100 itself. The hook mechanism 20 is connected to the movable member 12, and the movable member 12 is configured to drive the hook mechanism 20 to move up and down. The hook mechanism 20 is configured to be able to open to allow a load to enter or exit the hook mechanism 20, or to close to hoist a load. Among them, the hook mechanism 20 is configured to remain closed due to the downward pulling force it bears due to the gravity of the load when a load is hung; the control system is configured to control the lifting mechanism 10 to drive the hook mechanism 20 to descend until the load contacts the bearing surface, and the hook mechanism 20 opens to release the load; or when the hook mechanism 20 is in the air, the control system controls the lifting mechanism 10 to drive the hook mechanism 20 to move so that the load is in a weightless state, thereby reducing or eliminating the pulling force applied to the hook mechanism 20, and the opening and closing part opens to release the load.

[0130] In one embodiment, the fixed structure 11 includes a winch body 111, the movable part 12 includes a cable wound around the winch body 111, the cable is connected to the hook mechanism 20, and the lifting mechanism 10 is configured to accelerate when releasing the line or decelerate when reeling in the line so that the load is in a weightless state.

[0131] In one embodiment, the lifting mechanism 10 is configured to first release the wire and accelerate, and then the winch body 111 is configured to descend a preset distance so that the cable is in a relaxed state; or, the lifting mechanism 10 is configured to first reel in the wire and decelerate, and then release the wire and accelerate, so that the cable is in a relaxed state; or, the lifting mechanism 10 is configured to first reel in the wire and decelerate, and then the winch body 111 is configured to descend a preset distance so that the cable is in a relaxed state.

[0132] In one embodiment, the hanging device 100 includes a spring-opening mechanism 50 , which is configured to spring open when the hook mechanism 20 is separated from the restricting portion 30 and the downward pulling force it receives is reduced or disappears, so that the hook mechanism 20 is automatically opened.

[0133] In one embodiment, a locking member 40 is further included on the hook mechanism 20 , and the locking member 40 is used to lock the hook mechanism 20 with the load suspended thereon when the hook mechanism 20 is separated from the limiting portion 30 so that the hook mechanism 20 is in a closed state.

[0134] In one embodiment, in response to the hook mechanism 20 contacting the restricting portion 30 , the locking member 40 is triggered to unlock, so that the hook mechanism 20 can be freely opened when separated from the restricting portion 30 .

[0135] In one embodiment, the hook mechanism 20 includes a first connecting arm 22 and a second connecting arm 23 that are rotatably connected, and the free end of the first connecting arm 22 and the free end of the second connecting arm 23 are separated or contacted to open or close the hook mechanism 20; when the locking member 40 is in a locked state, the locking member 40 presses against the first connecting arm 22 and / or the second connecting arm 23 to close the hook mechanism 20; when the locking member 40 is in an unlocked state, the locking member 40 disengages from the first connecting arm 22 and / or the second connecting arm 23 to enable the hook mechanism 20 to be freely opened when separated from the restricting portion 30.

[0136] In one embodiment, the limiting portion 30 includes a guide seat 31 arranged on the fixed structure 11, and the guide seat 31 is provided with a accommodating cavity 311 for accommodating at least part of the hook mechanism 20 and a through hole 312 connected to the accommodating cavity 311, and the movable part 12 can pass through the through hole 312 to move up and down; in response to the movable part 12 driving the hook mechanism 20 to rise and contact with the limiting portion 30, the hook mechanism 20 contacts the inner wall 313 of the accommodating cavity 311; in response to the movable part 12 driving the hook mechanism 20 to descend and disengage from the limiting portion 30, the hook mechanism 20 disengages from the inner wall 313 of the accommodating cavity 311.

[0137] In one embodiment, the first connecting arm 22 rotates relative to the second connecting arm 23; wherein the first connecting arm 22 is provided with a hook 221 for hanging a load, and the free end of the hook 221 is separated from or in contact with the free end of the second connecting arm 23 to open or close the hook mechanism 20.

[0138] In one embodiment, the second connecting arm 23 includes a fixed portion 231, a rotating portion 232 rotatably disposed on the fixed portion 231, and an elastic reset mechanism 233 for automatically resetting the rotating portion 232. The elastic reset mechanism 233 maintains a closed state between the free end of the rotating portion 232 and the free end of the hook portion 221. In response to the rotating portion 232 rotating under the thrust, the hook mechanism 20 opens; in response to the disappearance of the thrust on the rotating portion 232, the elastic reset mechanism 233 resets the rotating portion 232 to close the hook mechanism 20. When the hook mechanism 20 contacts the limiting portion 30, the first connecting arm 22 and the fixed portion 231 are restricted by the limiting portion 30, and the rotating portion 231 is not restricted by the limiting portion 30 because it is located outside the limiting portion 30.

[0139] like Fig.21 As shown, the embodiment of the present invention further provides a load transport method S100 for a movable platform 1000, wherein the movable platform 1000 includes a hook mechanism 20 and a lifting mechanism 10 for driving the hook mechanism 20 to move upward and downward, and the load transport method S100 includes:

[0140] S10, the hook mechanism 20 receives the load;

[0141] S20, the hook mechanism 20 contacts the limiting portion 30, and the limiting portion 30 is used to prevent the hook mechanism 20 from opening freely;

[0142] S30, the movable platform 1000 transfers the load;

[0143] S40, in response to the movable platform 1000 reaching the target position, the lifting mechanism 10 drives the hook mechanism 20 to descend, so that the hook mechanism 20 is separated from the limiting portion 30;

[0144] S50, the hook mechanism 20 is automatically opened to release the load.

[0145] It should be noted that the above-mentioned step of the hook mechanism 20 receiving the load can be that the lifting mechanism 10 drives the hook mechanism 20 to move to the corresponding target height, and the user hangs the load on the hook mechanism 20; or the hook mechanism 20 is in a position corresponding to the lifting mechanism 10 being able to retract the movable part 12 to the top, that is, after the previous operation is completed, the lifting mechanism 10 drives the movable part 12 to retract, and in this state the user hangs the load on the hook mechanism 20.

[0146] By setting the limiting part 30, the limiting part 30 can limit the free opening of the hook mechanism 20. In this way, during the delivery of the load, it can be avoided that the hook mechanism 20 is suddenly opened due to an emergency, causing the load to fall from the air, thereby improving the safety performance. In addition, after the hook mechanism 20 is separated from the limiting part 30, the hook mechanism 20 can be opened freely (such as automatically opened immediately or triggered to open automatically under certain triggering conditions) to release the load. In this way, the automatic delivery of the load can be realized, reducing personnel intervention and saving manpower and material resources.

[0147] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A lifting device, characterized in that: include: A lifting mechanism, comprising a fixed structure and a movable member configured to be able to move up and down relative to the fixed structure; A hook mechanism connected to the movable member, wherein the movable member is configured to drive the hook mechanism to move up and down; as well as The limiting portion is configured to contact or separate from the hook mechanism; when the hook mechanism contacts the limiting portion, the limiting portion is used to prevent the hook mechanism from opening freely, so that the hook mechanism is closed for hanging the load; in response to the movable part driving the hook mechanism to descend to disengage from the limiting portion, the hook mechanism is configured to be able to open freely to release the load.

2. The lifting device according to claim 1, characterized in that: In response to the hook mechanism being separated from the restriction portion, the hook mechanism is immediately opened; or, in response to the hook mechanism being separated from the restriction portion, the hook mechanism is automatically opened in response to a trigger condition.

3. The lifting device according to claim 2, characterized in that: The triggering condition includes the load contacting the bearing surface or the load being in a weightless state or a remote control instruction.

4. The lifting device according to claim 2 or 3, characterized in that: The hook mechanism is configured to remain closed when a load is hung due to the downward pulling force it bears due to the gravity of the load; in response to the load contacting a load-bearing surface or being in a weightless state, the downward pulling force borne by the hook mechanism is reduced or disappears, and the hook mechanism automatically opens to release the load.

5. The lifting device according to claim 4, characterized in that: The fixed structure includes a winch body, the movable part includes a cable wound around the winch body, the cable is connected to the hook mechanism, and the lifting mechanism is configured to accelerate when releasing the line or decelerate when reeling in the line so that the load is in a weightless state.

6. The lifting device according to claim 5, characterized in that: The lifting mechanism is configured to first release the wire and accelerate, and then the winch body is configured to descend a preset distance to further ensure that the cable is in a relaxed state; or, the lifting mechanism is configured to first reel in the wire and decelerate, and then release the wire and accelerate, to further ensure that the cable is in a relaxed state; or, the lifting mechanism is configured to first reel in the wire and decelerate, and then the winch body is configured to descend a preset distance to further ensure that the cable is in a relaxed state.

7. The lifting device according to claim 4, characterized in that: The hanging device comprises a spring-opening mechanism, which is configured to spring open when the hook mechanism is separated from the restricting portion and the downward pulling force it bears is reduced or disappears, so that the hook mechanism is automatically opened.

8. The lifting device according to claim 1, characterized in that: It also includes a locking member arranged on the hook mechanism, and the locking member is used to lock the hook mechanism with a load hung thereon before the hook mechanism rises to contact the limiting portion so that the hook mechanism is in a closed state.

9. The lifting device according to claim 8, characterized in that: In response to the hook mechanism contacting the restricting portion, the locking member is triggered to release the lock on the hook mechanism, so that the hook mechanism can be freely opened when separated from the restricting portion.

10. The lifting device according to claim 9, characterized in that: The locking member is rotatably disposed on the hook mechanism. When the locking member locks the hook mechanism, the locking member is in a first position. In response to the hook mechanism contacting the limiting portion, the limiting portion pushes the locking member to rotate to a second position to release the lock on the hook mechanism.

11. The lifting device according to claim 10, characterized in that: The hook mechanism comprises a first connecting arm and a second connecting arm which are rotatably connected, and the free end of the first connecting arm and the free end of the second connecting arm are separated or contacted to open or close the hook mechanism; When the locking member locks the hook mechanism, the locking member presses against the first connecting arm and / or the second connecting arm to close the hook mechanism; when the locking member is released from the unlocking state, the locking member unlocks the first connecting arm and / or the second connecting arm to enable the hook mechanism to open freely when it is separated from the limiting part.

12. The lifting device according to any one of claims 1 to 11, characterized in that: The limiting portion includes a guide seat arranged on the fixed structure, the guide seat is provided with a accommodating cavity for accommodating at least part of the hook mechanism and a through hole connected to the accommodating cavity, the movable part can pass through the through hole to move up and down; in response to the movable part driving the hook mechanism to rise to contact with the limiting portion, the hook mechanism contacts the inner wall of the accommodating cavity; in response to the movable part driving the hook mechanism to descend to disengage from the limiting portion, the hook mechanism disengages from the inner wall of the accommodating cavity.

13. The lifting device according to any one of claims 1 to 10, characterized in that: The hook mechanism comprises a second connecting arm and a first connecting arm rotatable relative to the second connecting arm; The first connecting arm is provided with a hook for hanging a load, and the free end of the hook is separated from or in contact with the free end of the second connecting arm so that the hook mechanism is opened or closed.

14. The lifting device according to claim 13, characterized in that: The second connecting arm comprises a fixed portion, a rotating portion rotatably disposed on the fixed portion, and an elastic reset mechanism for automatically resetting the rotating portion, and the first connecting arm is rotatably connected to the fixed portion; In response to the rotation of the rotating part due to the thrust, the hook mechanism opens; in response to the disappearance of the thrust borne by the rotating part, the elastic reset mechanism resets the rotating part to close the hook mechanism; When the hook mechanism contacts the limiting portion, the first connecting arm and the fixing portion are restricted by the limiting portion, and the rotating portion is not restricted by the limiting portion because it is located outside the limiting portion.

15. The lifting device according to any one of claims 1 to 11, characterized in that: The hoisting device further comprises a first counterweight, which is connected to the hook mechanism to increase the weight of the hook mechanism; and / or, The hoisting device further includes an anti-twist device, the anti-twist device includes a first connecting member and a second connecting member rotatably matched with the first connecting member, the first connecting member is connected to the lifting mechanism, and the second connecting member is connected to the hook mechanism; and / or, The hoisting device also includes an in-position detection sensor, which is installed on the lifting mechanism and is used to detect whether the hook mechanism is in position.

16. A movable platform, characterized in that: It comprises a fuselage and a lifting device as described in any one of claims 1 to 15, wherein the lifting mechanism is arranged on the fuselage, and in response to the movable platform reaching a target position, the lifting mechanism drives the hook mechanism to descend to disengage from the restricting portion, and the hook mechanism is configured to be able to open freely to release the load.

17. The movable platform according to claim 16, characterized in that: The fuselage is provided with a first mounting portion and a second mounting portion, the first mounting portion is used to mount a box body, the box body is used to load a load, the second mounting portion is used to mount the lifting device, and the movable platform can mount at least one of the box body and the lifting device through the first mounting portion and the second mounting portion.

18. The movable platform according to claim 17, characterized in that: It also includes a first weighing sensor, which is connected to the first mounting portion or the box; and / or, it also includes a second weighing sensor, which is connected to the second mounting portion or the lifting device.

19. The movable platform according to any one of claims 16 to 18, characterized in that: It also includes an arm and a power assembly, wherein the arm is mechanically coupled to the fuselage, and the power assembly is arranged on the arm and is used to provide flight power; and / or, Also includes a parachute, the parachute is mounted on the fuselage; and / or, Also includes at least two batteries installed on the fuselage, the at least two batteries are connected in parallel to supply energy to the movable platform; and / or, Also includes at least two RTK sensors disposed on the fuselage; and / or, It also includes a first radar and a second radar, the first radar is installed at the upper rear part of the fuselage, the horizontal field of view of the first radar is 360°, and the vertical field of view is 90°, the second radar is installed at the lower front part of the fuselage, the horizontal field of view of the second radar is 90°, and the vertical field of view is 360°.

20. A method for loading a load on a movable platform, characterized in that: The movable platform includes a hook mechanism and a lifting mechanism for driving the hook mechanism to move up and down, including: The hook mechanism receives a load; The hook mechanism is in contact with a limiting portion, and the limiting portion is used to prevent the hook mechanism from opening freely; The movable platform can transfer the load; In response to the movable platform reaching the target position, the lifting mechanism drives the hook mechanism to descend so that the hook mechanism is separated from the restricting portion; The hook mechanism opens automatically to release the load.

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