Damper system for suspending load

Abstract

A load lifting system includes a first flexible suspension member configured to attach to a load lifting structure at a first fixed connection at a first end of the first flexible suspension member, and attached to the load lifting structure at a first adjustable connection at a second end of the first flexible suspension member; and a second flexible suspension member configured to be attached to the load lifting structure at a second fixed connection at a first end of the second flexible suspension member and to be attached to the load lifting structure at a second adjustable connection at a second end of the second flexible suspension member. An interconnecting member extends between the first adjustable connector and the second adjustable connector and connects the first adjustable connector and the second adjustable connector. A bracket is movably suspended on both the first flexible suspension member and the second flexible suspension member.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is a continuation-in-part of U.S. patent application No. 17 / 672,267 filed on February 15, 2022, the entire disclosure of which is incorporated herein by reference. Background Art

[0003] The subject matter disclosed herein relates generally to load suspension and, more particularly, to damping oscillations, swings, rotations, and movements of a load suspended from a lifting or supporting structure.

[0004] As will be appreciated by those skilled in the art, cranes, aircraft, and related industries typically carry loads suspended by load lines attached to a lifting vehicle, lifting structure, or support structure for moving materials, equipment, cargo, personnel, and other objects, etc. In helicopters and related industries, loads suspended from a vehicle may be referred to as external loads. Such external loads may be used for logistical support of personnel and / or operations resupply, asset recovery, emergency response, rescue operations, construction, asset insertion, firefighting, etc. Typically, external loads are carried by a single cable attached to a cargo hook, which may be attached or secured to the exterior of an aircraft (e.g., a helicopter). The cargo hook may be located at the bottom of the fuselage, just below the center of gravity or rotor system, to ensure that the carried or suspended load does not negatively impact flight operations. Similar single cable suspensions may also be used in crane operations which may be subject to wind and the like which could move the carried load and where movement of such loads should be minimized for accurate load placement, structural reasons (e.g. damage to the crane or cargo) and to prevent impact between the cargo or carried load and personnel, nearby buildings or other structures and surrounding equipment (e.g. during construction of a building within an urban area).

[0005] Physically, a single cable configuration is a simple pendulum and exerts a moment on the lifting structure (e.g., aircraft, crane, etc.) when the load swings. When this occurs, operator control input is required to control the oscillation and swing. Especially in aircraft applications, the amplification of pilot-induced oscillations is a risk due to human controls to minimize the swing of the load. Currently, carrying external loads requires an experienced external load pilot / operator or very complex software when used on unmanned aerial vehicles to safely and effectively carry the load to avoid dangerous oscillations. In rescue operations, stretchers may be lowered and raised from a helicopter to rescue a casualty, and the stretcher may spin uncontrollably due to rotor wash, which may adversely affect the patient's health. Therefore, it may be advantageous to improve the damping of suspended load movements (e.g., swings, oscillations, spins, etc.). Summary of the invention

[0006] According to some embodiments, a load lifting system is provided. The load lifting system includes a load lifting structure, the load lifting structure being configured with: at least two attachment points, the at least two attachment points defining at least one axis between two of the at least two attachment points; a flexible suspension member suspended from the load lifting structure at the at least two attachment points; and a bracket having at least one guide element arranged along the at least one axis and configured to move relative to and along the suspension member along the at least one axis so that the bracket follows a curved path having a continuously varying radius of curvature based on the at least two attachment points. The bracket is configured to releasably suspend a load from the bracket.

[0007] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include at least one attachment point including a connector configured to enable the suspension member to extend and retract in length.

[0008] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include the carriage being configured with a load release device.

[0009] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include the carriage being configured to directly carry the load.

[0010] In addition to, or as an alternative to, one or more of the features described herein, further embodiments of the load lifting system may include that the load is a stretcher.

[0011] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include: the load lifting structure is configured to have two first attachment points defining a first axis and two second attachment points defining a second axis, wherein one attachment point on each axis includes a fixed connection member and the other attachment point includes a redirecting element, so that the suspension member passes along the first axis from the first fixed connection member toward the second axis through the first suspension member redirecting element and along the second axis through the second suspension member redirecting element to reach the second fixed connection member.

[0012] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include that at least one suspension member redirecting element is a crank, and wherein the suspension member includes two elements and each element of the suspension member is connected to the crank.

[0013] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include: the suspension member is configured to extend along two axial directions, wherein the first axis is not parallel to the second axis, and the bracket includes a first pair of guide elements configured to guide the bracket along the first axis along the suspension member and a second pair of guide elements configured to guide the bracket along the second axis along the suspension member.

[0014] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include a motor operably coupled to the at least one carriage guide element and configured to rotationally drive the at least one carriage guide element.

[0015] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include an electronics package configured to control a rotational operation of the at least one carriage guide element by controlling a motor.

[0016] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include an electronic package comprising a power supply, a controller, and one or more sensors configured to monitor at least one of: (i) the position and movement of the bracket; and (ii) the relative movement of a load attached to the bracket.

[0017] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include a clutch disposed between the motor and the at least one carriage guide element.

[0018] In addition to, or as an alternative to, one or more of the features described herein, further embodiments of the load lifting system may include a controllable capture device connected to the carriage.

[0019] In addition to one or more of the features described herein, or as an alternative, another embodiment of the load lifting system may include: a bracket having a lower member and an upper member arranged parallel to each other and separated by a bracket separation distance, wherein the bracket includes at least one lower guide element arranged on the lower member and at least one upper guide element arranged at the corresponding end of the upper member, and the suspension member passes through the upper guide element and one or more lower guide elements, and the length of the upper member is greater than the length of the lower member.

[0020] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include that the load lifting system is a carrier.

[0021] According to some embodiments, a load lifting system is provided. The load lifting system includes: a first attachment point, the first attachment point configured to be connected to a load lifting structure; a second attachment point, the second attachment point configured to be connected to the load lifting structure; a suspension member, the suspension member attached to the first attachment point at a first end and attached to the second attachment point at a second end, wherein the suspension member is a continuous member between the first end and the second end; and a bracket, the bracket having at least one guide element, the at least one guide element configured to move relative to the suspension member so that the bracket can move along a curved path, the curved path having a movement path with a continuously changing radius of curvature based on the first attachment point and the second attachment point, and the bracket is configured to suspend a load from the bracket.

[0022] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include that the first attachment point is a lift connection configured to enable the suspension member to extend or retract in length.

[0023] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include that the suspension member is a flexible member.

[0024] In addition to, or as an alternative to, one or more of the features described herein, further embodiments of the load lifting system may include a load hook attached to the carriage.

[0025] In addition to, or as an alternative to, one or more of the features described herein, further embodiments of the load lifting system may include a load hanger releasably attached to the load hook.

[0026] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include the first attachment point and the second attachment point being arranged to define a single axis.

[0027] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include: the first attachment point is a first fixed connector, and the second attachment point is a first adjustable connector, and a first axis is defined between the first fixed connector and the first adjustable connector. The load lifting system also includes a second fixed connector and a second adjustable connector, a second axis is defined between the second fixed connector and the second adjustable connector, the second axis is not parallel to the first axis, and the suspension member passes through each of the first fixed connector and the second fixed connector and the first adjustable connector and the second adjustable connector.

[0028] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include: the first adjustable connection includes a corresponding first suspension member redirecting element, which is configured to rotate the suspension member from the first axis toward the second axis, and the second adjustable connection includes a corresponding second suspension member redirecting element, which is configured to rotate the suspension member to align with the second axis.

[0029] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include that the first suspension member redirecting element and the second suspension member redirecting element are rotational elements.

[0030] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include that the first axis and the second axis are perpendicular to each other.

[0031] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include: the first axis and the second axis are neither perpendicular nor parallel to each other.

[0032] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include that the first fixed connection is a connection configured to enable the suspension member to extend or retract in length.

[0033] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include: the suspension member is configured to extend along two axial directions, wherein the first axis is not parallel to the second axis, and at least one guide element of the bracket includes a first guide element configured to guide the bracket along the suspension member and the first axis and a second guide element configured to guide the bracket along the suspension member and the second axis.

[0034] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include: the suspension member is configured to extend along two axial directions, wherein the first axis is not parallel to the second axis, and the bracket includes a first pair of guide elements configured to guide the bracket along the first axis along the suspension member and a second pair of guide elements configured to guide the bracket along the second axis along the suspension member.

[0035] In addition to, or as an alternative to, one or more of the features described herein, further embodiments of the load lifting system may include at least one guide element being operably coupled to a motor to be rotationally driven thereby.

[0036] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include an electronics package configured to control a rotational operation of the at least one guide element.

[0037] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include an electronics package including a power source, a carriage controller, and one or more sensors configured to monitor at least one of position and movement of the carriage.

[0038] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include a clutch arranged between the motor and the at least one guide element.

[0039] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include the load lifting structure being part of an aircraft.

[0040] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include that the load lifting structure is part of a crane.

[0041] In addition to, or as an alternative to, one or more of the features described herein, further embodiments of the load lifting system may include a controllable capture device coupled to the carriage.

[0042] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include at least one of the first attachment point and the second attachment point comprising a crank.

[0043] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include that the load is a stretcher for carrying a person.

[0044] According to some embodiments, a load lifting system is provided including: a first attachment point configured to be connected to a load lifting structure; a second attachment point configured to be connected to the load lifting structure; a suspension member attached to the first attachment point at a first end and to the second attachment point at a second end, wherein the suspension member is a continuous member between the first end and the second end; and a stabilization system including a litter having a first guide element and a second guide element, wherein the suspension member passes through each of the first guide element and the second guide element, and at least one load hanger connects each of the first guide element and the second guide element to the litter. The first attachment point and the second attachment point define a first axis therebetween, and the first guide element and the second guide element define a second axis therebetween, wherein the first axis is parallel to the second axis.

[0045] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include the first attachment point including a lift connection configured to control a length of the suspension member.

[0046] In addition to or as an alternative to one or more features described herein, further embodiments of the load lift system may include that the load lift structure is an aircraft.

[0047] According to some embodiments, a load lifting system is provided, the load lifting system comprising: a first attachment point, the first attachment point configured to be connected to a load lifting structure; a second attachment point, the second attachment point configured to be connected to the load lifting structure; a suspension member, the suspension member attached to the first attachment point at a first end and attached to the second attachment point at a second end, wherein the suspension member is a continuous member between the first end and the second end; and a stabilization system, the stabilization system comprising a bracket, the bracket having a first guide element, a second guide element and a hook for connecting to a load, wherein the suspension member passes through each of the first guide element and the second guide element, wherein the hook is part of the bracket. The first attachment point and the second attachment point define a first axis therebetween, and the first guide and the second guide define a second axis therebetween, wherein the first axis is parallel to the second axis.

[0048] In addition to or as an alternative to one or more features described herein, further embodiments of the load lifting system may include: the first guide element and the second guide element define a first guide element pair, wherein the bracket includes a second guide element pair, wherein the first guide element pair and the second guide element pair are arranged non-parallel to each other, and the suspension member passes through the first guide element pair and the second guide element pair.

[0049] In addition to or as an alternative to one or more features described herein, further embodiments of the load lift system may include that the load lift structure is an aircraft.

[0050] In addition to or as an alternative to one or more of the features described herein, further embodiments of the load lifting system may include that the load lifting structure is part of a crane.

[0051] Unless otherwise explicitly indicated, the aforementioned features and elements may be combined in various combinations without exclusivity. These features and elements and their operation will become more apparent from the following description and accompanying drawings. However, it should be understood that the following description and accompanying drawings are intended to be illustrative in nature and non-restrictive. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and other features and advantages of the present disclosure will become apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0053] Figure 1A is a schematic diagram of a conventional load lifting system;

[0054] Figure 1B yes Figure 1A Force diagram of a conventional load lifting system;

[0055] Figure 2A is a schematic diagram of a load lifting system according to an embodiment of the present disclosure;

[0056] Figure 2B yes Figure 2A Force diagram of the load lifting system;

[0057] Figure 3A is a schematic diagram of a load lifting system according to an embodiment of the present disclosure;

[0058] Figure 3B yes Figure 3A an enlarged view of a portion of a load lifting system;

[0059] Figure 4 is a schematic diagram of a load lifting system according to an embodiment of the present disclosure;

[0060] Figure 5A is a schematic diagram of a load lifting system according to an embodiment of the present disclosure;

[0061] Figure 5B yes Figure 5A Schematic diagram of a guide element of a load lifting system;

[0062] Figure 5C yes Figure 5AA perspective view of a bracket of a load lifting system;

[0063] Figure 5D yes Figure 5C A bottom plan view of the bracket;

[0064] Figure 5E yes Figure 5C A side view of the bracket;

[0065] Figure 6 is a schematic diagram of a portion of a load lifting system according to an embodiment of the present disclosure;

[0066] Fig. 7A is a schematic diagram of a load lifting system according to an embodiment of the present disclosure;

[0067] Figure 7B yes Fig. 7A Schematic diagram of a stabilizing system of a load lifting system;

[0068] Fig. 8A is a schematic diagram of a load lifting system according to an embodiment of the present disclosure;

[0069] Figure 8B yes Fig. 8A A schematic diagram of a bracket of a load lifting system;

[0070] Fig. 9 is a schematic diagram of a load lifting system according to an embodiment of the present disclosure;

[0071] Fig.10 is a schematic diagram of a load lifting system according to an embodiment of the present disclosure installed on an aircraft;

[0072] Fig.11A is a schematic diagram of a load lifting system according to an embodiment of the present disclosure installed on an aircraft;

[0073] Fig. 11B yes Fig.11A An enlarged schematic diagram of a load lifting system;

[0074] Fig. 11C yes Fig.11A an enlarged schematic diagram of a portion of a load lifting system;

[0075] Fig.12 is a schematic diagram of a portion of a load lifting system according to an embodiment of the present disclosure;

[0076] Fig.13 is a schematic diagram of a load lifting system according to an embodiment of the present disclosure mounted on a crane;

[0077] Fig.14Ais a schematic diagram of a load lifting system according to an embodiment of the present disclosure;

[0078] Fig. 14B yes Fig.14A A top plan view of a load lifting system;

[0079] Fig.15A is a schematic diagram of a load lifting system according to an embodiment of the present disclosure;

[0080] Fig. 15B yes Fig.15A A schematic diagram of a portion of a load lifting system;

[0081] Fig. 15C yes Fig. 15B A front view of a bracket of the load lifting system shown in ;

[0082] Fig.16 is a schematic diagram of a load lifting system with enhanced anti-rotation aspects according to an embodiment of the present disclosure;

[0083] Fig.17A is a schematic diagram of a load lifting system with enhanced anti-rotation aspects according to an embodiment of the present disclosure;

[0084] Fig. 17B yes Fig.17A A perspective view of a bracket of a load lifting system;

[0085] Fig. 17C yes Fig.17A A front view of a bracket of a load lifting system;

[0086] Fig.18 is a schematic diagram of a multi-axis load lifting system with enhanced anti-rotation aspects according to an embodiment of the present disclosure; and

[0087] Fig.19 is a schematic diagram of a load lifting system with an active feedback control system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0088] As shown and described herein, various features of the present disclosure will be set forth. Various embodiments may have the same or similar features, and thus the same or similar features may be indicated by similar reference numerals. Although similar reference numerals may be used in a general sense, various embodiments will be described, and various features may include variations, substitutions, modifications, etc., as will be understood by those skilled in the art, whether explicitly described or as will be understood by those skilled in the art.

[0089] Embodiments of the present disclosure relate to systems and mechanisms configured to suppress or reduce the swing, oscillation, spin, or undesirable movement of a load suspended from a load lifting structure. In some embodiments, the load may be attached to a device suspended from a load lifting structure. The load lifting structure of the present disclosure may include, but is not limited to, helicopters and other aircraft and cranes. The system described herein includes one or more flexible elements configured to replace conventional single cables. Embodiments of the present disclosure relate to systems that are used to attach a load-bearing line to a load lifting device to substantially suppress the oscillation of the pendulum-like motion of a suspended load. In addition, embodiments of the present disclosure can reduce the destabilizing moment on an aircraft by concentrating the line of action of the load-bearing line through or approximately concentrating through the center of gravity of the aircraft. In addition, embodiments of the present disclosure can significantly reduce the spin of a suspended load.

[0090] Embodiments of the present disclosure provide a relatively simple, lightweight, and low-cost system that will naturally (e.g., passively) and can actively suppress load oscillations and reduce the torque applied to the load lifting structure by the external load swing. Therefore, embodiments of the present disclosure can simplify external load operations and reduce the skill level required for pilots or operators to perform lifting / carrying operations of suspended loads. In addition, some embodiments of the present disclosure can be used in conjunction with unmanned aerial vehicles or other unmanned lifting operations. Therefore, the design of an unmanned autopilot system for external loads can be quite simple, because such an autopilot system may not need to consider active swing, because the system described herein can reduce or eliminate such swing. Such a system as described herein can allow accurate load placement to deliver loads from manned or unmanned load lifting structures (e.g., unmanned aerial vehicles, helicopters, cranes, etc.).

[0091] Advantageously, embodiments of the present disclosure provide an external load system that can passively and / or actively stabilize a suspended load and, therefore, can address many external load issues and challenges from existing lift systems and allow for more efficient load carrying operations. Additionally, embodiments of the present disclosure can reduce the burden on aircraft designers, load stabilization systems, and can reduce the piloting skill required for such load lifting operations while improving load placement accuracy. Systems as disclosed herein can dampen oscillations of a suspended load and mitigate spin of a suspended load.

[0092] In embodiments of helicopters with suspended loads, such aircraft may be used to provide logistical support (e.g., equipment and / or supplies). It may be advantageous to not use ground personnel during the load engagement process to avoid the risk of injury to such ground personnel. During rescue operations employing an aircraft (e.g., a helicopter) where a winch and cable system is used on the helicopter for extraction, pendulum oscillations and spins of a stretcher or other rescue platform may present challenges to the operator (e.g., a pilot) and present dangers to the occupants of such a rescue platform. In the crane industry, load oscillations are difficult to control because cranes cannot move in multiple directions at once like aircraft to stabilize swinging loads. In addition, the movement speed of a crane may be inhibited by the mass of the crane and its cable movement system. In view of this, embodiments of the present disclosure relate to systems that automatically stabilize cable loads, thereby making crane operations and aircraft operations involving suspended loads simpler and safer.

[0093] Now go to Figure 1A to Figure 1B , Figure 1A A schematic diagram of a load lifting system 100 is shown in FIG. Figure 1B A vector diagram 101 of the forces in a load lifting system 100 is shown in FIG. Figure 1A to Figure 1B The load lifting system 100 of the embodiment of the present invention is a conventional load lifting system. The load lifting system 100 includes a load lifting structure 102, which can suspend (e.g., lift, carry, move, etc.) a load 104. The load lifting structure 102 can be a vehicle. The vehicle or a portion thereof that can suspend the load lifting system can be an aircraft (e.g., a fuselage), a crane or a portion of a crane, or other load carrying structure that is configured to move with the load suspended therefrom and / or to move the load while being suspended. The load 104 is connected to the load lifting structure 102 by means of a load hanger 106 (e.g., a cable, wiring, rope, belt, rod, etc.). The load hanger 106 is connected to the load lifting structure 102 by means of a cargo hook 108 and a cargo hook attachment 110. The cargo hook 108 can be a selectively releasable hook that can be remotely controlled to release the load 104.

[0094] refer to Figure 1A to Figure 1B The load lifting structure 102 has a center of gravity 112 (eg Figure 1B ). In the case of a crane, the center of gravity 112 may represent the structural shear center of the lifting beam. As used herein, the term "center of gravity" refers to the center of gravity or structural shear center of a vehicle or structure, such as a crane and a beam. Figure 1B The load 104 ( Figure 1A ) while being suspended from a load hanger 106 (106a, 106b, indicating a change in position of the load 104) in the first position 104a and the second position 104b ( Figure 1B). In the static position, the load 104 is attached to the load lifting structure 102 at the cargo hook attachment 110, which is located below the center of gravity 112 along the gravity vertical 114 of the system ( Figure 1B ).

[0095] In the first position 104a, the load 104 is offset from the gravity vertical 114 by a first angle 116, which results in a first moment arm 118 relative to the center of gravity 112. In the second position 104b, the load 104 is offset from the gravity vertical 114 by a second angle 120, which results in a second moment arm 122 relative to the center of gravity 112. As shown, in this simple single point attachment at the cargo hook attachment 110, the change in angle of the load 104 (first angle 116 to second angle 120) results in a significant increase in the moment arm relative to the center of gravity 112 (first moment arm 118 to second moment arm 122). Due to the single point connection at the cargo hook attachment 110, the resulting movement path 124 of the load 104 is a circular arc. This movement along the circular movement path 124 results in an offset of the moment arms 118, 122. This can result in significant forces applied to the load lifting structure 102. Such forces may provide an imbalance that must be corrected to ensure that the load 104 does not move significantly. As shown, the load lifting system 100 is a simple pendulum and applies a moment to the load lifting structure 102 as the load 104 swings, thereby requiring control input from an operator of the load lifting system 100 to control the oscillation of the load 104. Amplification of the swing of the load 104 may occur due to wind, motion, or even operator-induced oscillations. Typically, carrying external loads requires an experienced external load pilot / operator or complex software for the unmanned aerial vehicle and / or assisting flight / operation to safely carry the load and effectively avoid dangerous oscillations.

[0096] Now go to FIG. 2A to FIG. 2B , Figure 2A A schematic diagram of a load lifting system 200 according to an embodiment of the present disclosure is shown in FIG. Figure 2B, a vector diagram 201 of forces in a load lifting system 200 is shown. The load lifting system 200 includes a load lifting structure 202 from which a load 204 can be suspended (e.g., lifted, carried, moved, etc.). The load lifting structure 202 can be a vehicle. The vehicle or a portion thereof from which the load lifting system can be suspended can be an aircraft (e.g., a fuselage), a crane or a portion of a crane, or other load carrying structure that is configured to move with the load suspended therefrom and / or to move the load while being suspended. The load 204 is connected to the load lifting structure 202 by means of a load hanger 206 (e.g., a cable, wiring, rope, belt, rod, etc.). The load hanger 206 is connected to the load lifting structure 202 by means of a cargo hook 208. In this embodiment, the cargo hook 208 is not directly mounted to the load lifting structure 202 (e.g., as in Figure 1A to Figure 1B The load lifting system 100 is directly mounted to the load lifting structure). Similar to Figures 1A to 1B In an embodiment of the present disclosure, the cargo hook 208 may be a selectively releasable hook that may be remotely controlled to release the load 204. In this embodiment, the cargo hook 208 is attached to the load lifting structure 202 by means of a stabilization system 210. In this embodiment, the stabilization system 210 includes a guide element 212 that is configured to slide, extend, or move along a suspension member 214. In this particular non-limiting embodiment, the guide element 212 is a pulley, and the suspension member 214 is a cable or the like attached to the load lifting structure 202 at two distinct and separate fixed connections 216, 218. The suspension member 214 according to an embodiment of the present disclosure is a flexible structure or element, such as a cable, rope, belt, or the like.

[0097] like Figure 2B As shown in FIG. 1 , the two fixed attachment points 216 , 218 of the suspension member 214 result in an elliptical movement path 220 (eg, Figure 2B 204a to a second position 204b). Similar to Figure 1A to Figure 1B The load lifting structure 202 has a center of gravity 222 (eg Figure 2B ). Figure 2B The load 204 ( Figure 2A ) when suspended from the load hanger 206 in the first position 204a and the second position 204b ( Figure 2B ). In the static position, the load 204 is attached to the load lifting structure 202 by means of the stabilizing system 210, which enables the load 204 to swing along the gravity vertical direction 224 ( Figure 2B ) is located below the center of gravity 222.

[0098] In the first position 204a, the load 204 is offset from the gravity vertical 224 by a first angle 226, which results in a first moment arm 228 relative to the center of gravity 222. In the second position 204b, the load 204 is offset from the gravity vertical 224 by a second angle 230, which results in a second moment arm 232 relative to the center of gravity 222. Although the change in angle of the load 204 (first angle 226 to second angle 230) results in an increase in the moment arm relative to the center of gravity 222 (first moment arm 228 to second moment arm 232), this change in the moment arm is less than that in the second position 204b. Figure 1A to Figure 1B The change in the moment arm experienced in the configuration.

[0099] Figure 2B The vector diagram 201 shows the vector mechanics of the load lifting system 200 and shows the Figure 1A to Figure 1B How to significantly reduce the destabilizing moment arm (228, 232) about the center of gravity 222 as compared to the load lifting system 100 of the present invention. For example, for smaller angular displacements, a reduction of up to ten times or more can be achieved; for larger angular displacements, a reduction of up to two times or more can be achieved. In these embodiments, the small angular displacement can be between 0° and 15°, and the large angular displacement can be between 35° and 45°. These angles and improvements to the reduced moment arm are for illustrative purposes only, and those skilled in the art will understand that such reduced moment arm depends on the vertical position of the center of gravity relative to the attachment points of the system. The arrangement of attachment points and cable lengths can be customized to focus the line of action relative to the center of gravity of the load lifting structure as desired. Such a reduction can be based in part on a compromise between the available carrier structure real estate for system attachment, ground clearance, and system space requirements. Compared to the load lifting system 100 of the present invention, the destabilizing moment arm (228, 232) about the center of gravity 222 can be significantly reduced. For example, for smaller angular displacements, a reduction of up to ten times or more can be achieved; for larger angular displacements, a reduction of up to two times or more can be achieved. In these embodiments, the small angular displacement can be between 0° and 15°, and the large angular displacement can be between 35° and 45°. These angles and improvements to the reduced moment arm are for illustrative purposes only, and those skilled in the art will understand that such reduced moment arm depends on the vertical position of the center of gravity relative to the attachment points of the system. Figure 1B This is achieved due to the curvilinear movement path 220 and the load vector focal locations 234a, 234b being closer to the center of gravity 222 as compared to the cargo hook attachment 110 shown in FIG. 1 , which defines the load vector focal location of the load lifting system 100 .

[0100] As the guide element 212 moves along the suspension member 214 in response to the oscillation of the load 204, the line of action of the load 204 is perpendicular to the elliptical path of motion 220 established by the suspension member 214 and its fixed attachment points 216, 218. As the load 204 moves further away from the gravity vertical 224, the load line of action moves further downward and away from the center of gravity 222 (e.g., changing from point 234a to point 234b), thereby providing a gradually increasing moment arm about the center of gravity 222 (e.g., changing from moment arm 228 to moment arm 232). Thus, the gradual increase in the moment arm provides a gradually increasing destabilizing force, which can be more easily controlled by an operator and / or an autonomous program. For a given amount of kinetic energy present in a moving (e.g., oscillating / swaying) load (as may be provided by the initial movement of the load), by providing a moving fulcrum for the pendulum (e.g., changing from point 234a to point 234b), the angle between the pendulum and the gravity vertical 224 is reduced compared to a fixed fulcrum. This is because part of the kinetic energy as the guide element 212 moves along the suspension member 214 consists of translational energy, which is dissipated by friction in the guide element 212. Thus, the angular momentum can be reduced, and the resulting potential energy can be stored in the oscillation, thereby reducing the oscillation with each oscillation cycle and damping the oscillation to near zero. This oscillation damping can be achieved at a lower cost than conventional systems (e.g., Figure 1A to Figure 1B That is, advantageously, embodiments of the present disclosure can improve sway and oscillation damping at rates several orders of magnitude faster than conventional hanger systems.

[0101] In some embodiments, the engagement between the guide element 212 and the suspension member 214 can be further controlled. For example, adding controlled friction in the guide element 212 can provide active load stabilization compared to a passive system where the guide element 212 moves freely along the suspension member 214. Furthermore, in some embodiments, motorized control or assistance of the guide element 212 can be used to move the load 204 prior to the swing angle vertical position to further minimize the angular displacement, thereby further reducing the angular potential energy stored per swing cycle.

[0102] Now go to FIG. 3A to FIG. 3B , showing a schematic diagram of a load lifting system 300 according to an embodiment of the present disclosure. Figure 3A A load lifting system 300 is shown attached to a load lifting structure 302 and suspending a load 304 . FIG. 3A to FIG. 3BThe load lifting system 300 of FIG. 1 is a 2-axis (306a, 306b) system that uses suspension member redirecting elements 308a, 308b aligned with each axis 306a, 306b. By using one or more suspension member redirecting elements per axis, the load lifting system 300 can provide the same benefits previously described in two axes / directions, thereby providing damping in all relevant directions for the suspended load. In this embodiment, the intersection of the first axis 306a and the second axis 306b is aligned with the gravity vertical 310 ( Figure 3B )intersect.

[0103] The load lifting system 300 includes a load lifting structure 302 that can suspend (e.g., lift, carry, move, etc.) a load 304. The load lifting structure 302 can be a part of an aircraft (e.g., a fuselage), a part of a crane, etc. The load 304 is connected to the load lifting structure 302 by a load hanger 312 (e.g., a cable, wiring, rope, belt, rod, etc.). The load hanger 312 is connected to the load lifting structure 302 by a cargo hook 314. In this embodiment, the cargo hook 314 is not directly mounted to the load lifting structure 302. The cargo hook 314 can be a selectively releasable hook that can be remotely controlled to release the load 304. In this embodiment, the cargo hook 314 is attached to the load lifting structure 302 by a stabilization system 316. In this embodiment, the stabilization system 316 includes a bracket 318 that is configured to slide, extend, or move in a three-dimensional manner along a suspension member 320 about a first axis 306a and a second axis 306b.

[0104] In this non-limiting embodiment, the bracket 318 includes a first guide element 322a and a second guide element 322b, and the suspension member 320 is a cable, rope, belt, strap, etc. attached to the load lifting structure 302. In this embodiment, the suspension member 320 is supported on the load lifting structure 302 at four different locations. Figures 3A to 3BAs shown in , the attachment of the stabilizing system 316 to the load lifting structure 302 includes four attachment points arranged as two fixed connectors 324a, 324b and two adjustable connectors 326a, 326b (e.g., redirecting elements). As used herein, an adjustable connector is a connector or attachment mechanism for adjustably connecting a suspension member to a load lifting structure, and such an adjustable connector is movably operable to adjust an angle, position, or orientation to allow the position of the suspended load to change. The adjustable connector provides self-alignment of the components during operation. The suspension member redirecting elements 308a, 308b are disposed at the adjustable connectors 326a, 326b to enable sliding or adjustable engagement of the suspension member 320 between the load 304 and the load lifting structure 302. The first fixed connector 324a and the first adjustable connector 326a are arranged along (and define) a first axis 306a, and the second fixed connector 324b and the second adjustable connector 326b are arranged along (and define) a second axis 306b.

[0105] exist FIG. 3A to FIG. 3B In the configuration of FIG. 3 , the suspension member 320 is a flexible member having a length extending from a first fixed connector 324a along a first axis 306a through a first guide element 322a to a first adjustable connector 326a. When the suspension member 320 extends from the first adjustable connector 326a to the second adjustable connector 326b, the suspension member 320 then shifts to the second axis 306b. The transition from the first axis 306a to the second axis 306b is achieved by using a first suspension member redirecting element 308a that is capable of changing the direction of the suspension member 320. At the second adjustable connector 326b, the suspension member 320 passes through the second suspension member redirecting element 308b. The suspension member 320 passes from the second adjustable connector 326b through the second guide element 322b to the second fixed connector 324b.

[0106] When the first guide element 322a and the second guide element 322b are movable along the suspension member 320, the bracket 318 can move along both the first axis 306a and the second axis 306b. Because the suspension member 320 is flexible and continuous from the first fixed connection 324a to the second fixed connection 324b via the adjustable connection 326a, 326b and the guide elements 322a, 322b of the bracket 318, the stabilization system 316 can move in three dimensions relative to the gravity vertical 310. In addition, each axis 306a, 306b provides a relative motion along the corresponding axis. Figures 2A to 2BThe end result is a non-circular, non-spherical movement path, specifically, a quasi-ellipsoidal movement path is achieved due to the placement of the attachment points 324a, 324b, 326a, 326b. Due to the quasi-ellipsoidal movement path, the load vector focus position of the movement process is closer to the center of gravity (or equivalent position) of the load lifting structure 302, so as previously described, the moment about the center of gravity will naturally be reduced.

[0107] According to embodiments of the present disclosure, the suspension member (e.g., suspension member 214, 320) may be continuous. In a multi-axis configuration, the suspension member redirecting element provides a point at which a continuous suspension member spanning two or more axes can be achieved. Such a configuration provides load stabilization in two different axes and provides continuous load sharing between the sections of the suspension member 320 that continue from the bracket 318 to each attachment point 324a, 324b, 326a, 326b. Therefore, and as described above, such a configuration can provide a nearly 3D elliptical surface path for the bracket 318 to follow.

[0108] It should be noted that if the sections of the cable about each axis are separate and mounted to the load lifting structure along their respective axes at separate attachment points, then two composite loops (e.g. similar to FIG. 2A to FIG. 2B ) will provide an elliptical path for the carriage along their respective axes. However, in such a configuration, when the carriage moves relative to the axis (i.e., perpendicular to the axis), the ring will pivot about the axis, forcing the carriage to follow a circular path, rather than an elliptical path of the ring relative to the axis. The load on the carriage will therefore be carried by only a single ring, and the circular path it follows will cause a large destabilizing moment about the center of gravity of the load lifting structure, and the efficiency of the system will be affected by the Figure 1A to Figure 1B The pendulum oscillation damping effect is also greatly reduced because the load follows essentially the same path as a simple pendulum (whose pivot axis coincides with the axis created by the attachment point of the ring), so as the load moves away from the center / vertical, the relative ring relaxes and does little to dampen the load oscillations and does little to share the load. Therefore, a continuous suspension member extending across multiple axes continuously shares the load in two axes and improves the damping of the movement of the suspended load.

[0109] Continuous load sharing also helps to share the total load to various attachment points on the load lifting structure. This enables the load to be shared to possible strategic attachment points on the load lifting structure and reduces the large load applied to one single point (e.g. Figures 1A to 1BThis is a great advantage for aircraft where weight is a concern, and it is also easier to accommodate structural variations when the load requirements per attachment point are reduced. Additionally, loads can be directed to locations on the load lifting structure that can carry the load more efficiently (e.g., less structural weight is required for a given carried load).

[0110] exist Figures 3A to 3B In the load lifting system 300 of FIG. 3 , the length of the suspension member 320 is substantially fixed, although the suspension member 320 may be partially flexible. The length of the suspension member 320 does not significantly deviate from the length of the path along the first axis 306a, transitioning to the second axis 306b, and then along the second axis 306b. However, in some embodiments, the length of the suspension member between the initial and terminal fixing points may not be fixed. In some embodiments, only one end of the suspension member may be fixed to the load lifting structure, and all other connections or attachment points may be adjustable.

[0111] According to an embodiment of the present disclosure, the adjustable connectors arranged at various attachment points are configured to provide not only redirection or change of orientation of the suspension member, but also to provide a self-aligning function. That is, since the adjustable connectors can rotate or move due to the suspended load changing position, the adjustable connectors in combination with the suspension member will apply a force to restore the state of the system to a static state. In this way, the combination of the fixed connector, the adjustable connector, and the flexible suspension member all work together to apply a corrective force to restore the system to a static state (e.g., when the load is suspended from the load lifting structure and no other external forces are applied to the load).

[0112] For example, now refer to Figure 4 , shows a schematic diagram of a load lifting system 400 according to an embodiment of the present disclosure. The load lifting system 400 is attached to a load lifting structure and is configured to suspend a load therefrom (for clarity, the load lifting structure and the load are not shown). Figure 4 The load lifting system 400 of FIG. 4 is a 2-axis (402a, 402b) system that uses suspension member redirecting elements 404a, 404b aligned with each axis 402a, 402b, similar to FIG. 3A to FIG. 3B 4. In this embodiment, the intersection of the first axis 402a and the second axis 402b intersects the gravity vertical 406. A load hanger 408 (e.g., a cable, wiring, rope, belt, rod, etc.) is releasably suspended or attached to a cargo hook 410, which is attached to a bracket 412 of a stabilization system 414. In this embodiment, the stabilization system 414 includes a bracket 412 configured to slide, extend, or move along a suspension member 416 in a three-dimensional manner about the first axis 402a and the second axis 402b.

[0113] In this non-limiting embodiment, the bracket 412 includes a first set of guide elements 418a and a second set of guide elements 418b. The suspension member 416 is a cable, rope, belt, strap, etc. attached to the load lifting structure. In this embodiment, the suspension member 416 is supported on the load lifting structure at four different locations. Figure 4 As shown in FIG, the attachment of the stabilizing system 414 to the load lifting structure by means of a suspension member 416 includes four attachment points, which include a fixed connector 420, two adjustable connectors 422a, 422b, and a lifting connector 424. Suspension member redirecting elements 404a, 404b are provided at the adjustable connectors 422a, 422b to enable sliding or adjustable engagement of the suspension member 416 between the load and the load lifting structure. The lifting connector 424 includes a reel 426 and a suspension member guide 428. A portion, section, or length of the suspension member 416 can be wound around the reel 426 to allow the suspension member 416 to include additional length (i.e., a suspension member that is not a fixed length). In this way, the length of the suspension member 416 is adjustable within the load lifting system 400. This length adjustment can change the vertical position of the stabilizing system 414, thereby changing the vertical position of the suspended load relative to the load lifting structure.

[0114] In this exemplary configuration, the suspension member guide 428 and the first adjustable connection 422a are arranged along (and define) the first axis 402a, and the second adjustable connection 422b and the fixed connection 420 are arranged along (and define) the second axis 402b. The adjustable connections 422a, 422b are configured to operate similarly to those described above. In this configuration, the lifting connection 424 is provided to allow the length of the suspension member 416 to be adjusted over the total length from the lifting connection 424 to the fixed connection 420. In addition, as described above, the bracket 412 includes two pairs of guide elements 418 (418a, 418b). It should be understood that the two pairs of guide elements 418a, 418b define a path for the suspension element 416, which is arranged at different vertical positions within the bracket 412, so that the suspension member 416 does not interfere with itself when it passes through the bracket 412 along two separate axes defined by the two pairs of guide elements 418a, 418b.

[0115] exist Figure 4In an embodiment, the load lifting system 400 is a 2-axis, 2-per-axis guide element arrangement used with a hoisting connection 424 that enables the extension and retraction of a suspension member 416 on which the carriage 412 rides. The hoisting connection 424 provides: the ability to lower the load and load pickup device (e.g., hook, connector, etc.); the ability to retract and store the stabilization system 414 near or against the load lifting structure; and the ability to change, adjust or control the damping characteristics of the load lifting system 400 by changing the angle that various sections of the suspension member 416 form with the gravity vertical 406 as the carriage 412 is lowered or raised relative to the load lifting structure. The more the suspension member 416 is extended, the smaller the angle with the gravity vertical 406. The reduced angle will cause the system to function closer to a simple pendulum and therefore experience more pendulum-like characteristics. Thus, using a longer length suspension member may result in less damping and control, but may provide benefits for carrying a load (e.g., controlling placement, extending the load hanger 408, additional length for rescue operations, etc.). In this way, an operator may control the position of a component of the load lifting system 400 or a load suspended therefrom. Such control may be provided by a hoist motor controller 430 that is part of the hoist connection 424 and operably connected to the spool 426 to extend or retract the length of the suspension member 416.

[0116] although Figure 4 A lifting connection 424 is shown arranged along the first axis 402a, but such a location is not required. The lifting connection 424 can be positioned at a desired location, and an appropriate set of suspension member guides and / or redirection guides can be provided to arrange at least the suspension member guide 428 along the first axis 402a so that the suspension member 416 forms a defined axis 402a, 402b.

[0117] Although the above-described embodiments employ pulley-type structures, particularly for the suspension member redirecting elements, such pulleys are not limiting, and other structures may be used without departing from the scope of the present disclosure. For example, in some embodiments, rather than using a rotating body (i.e., a pulley), a sliding surface configuration may be employed in some embodiments.

[0118] Reference now FIG. 5A to FIG. 5E, shows a schematic diagram of a load lifting system 500 according to an embodiment of the present disclosure. The load lifting system 500 can be attached to a load lifting structure and configured to suspend a load therefrom (for clarity, the load lifting structure and the load are not shown). The load lifting system 500 of FIG. 5 is a 2-axis system that uses a suspension member redirecting element 502a, 502b aligned with each axis, similar to the above-described embodiments. A load hanger 504 (e.g., a cable, wiring, rope, belt, rod, etc.) is releasably suspended or attached to a cargo hook 506, which is in turn attached to a bracket 508 of a stabilization system 510. In this embodiment, the stabilization system 510 includes a bracket 508 that is configured to slide, extend, or move along a suspension member 512 in a three-dimensional manner about a first axis and a second axis.

[0119] In this non-limiting embodiment, the carriage 508 is arranged as a sliding carriage, as opposed to a rolling carriage as shown and described above. The suspension member 512 is a cable, rope, belt, strap, etc., attached to the load lifting structure. In this embodiment, the suspension member 512 is supported on the load lifting structure at four different locations. Figure 5A As shown in FIG, a stabilizing system 510 is attached to a load lifting structure by means of a suspension member 512 at four attachment points, including a first fixed connection 514, two adjustable connections in the form of suspension member redirecting elements 502a, 502b, and a second fixed connection 516.

[0120] As described above, a sliding configuration is adopted in this embodiment. Figure 5B An enlarged view of a suspension member redirecting element 502 (representing any of the suspension member redirecting elements 502a, 502b) is shown. Figure 5B As shown in , the suspension member redirecting element 502 has a sliding surface 518, the size, shape and contour of which are designed to allow the suspension member 512 to slide across the sliding surface 518 substantially frictionlessly or with minimal friction contact. The suspension member redirecting element 502 can be fixed or attached to the load lifting structure by means of one or more attachment holes 520. In some embodiments, the suspension member redirecting element 502 is attached to the load lifting structure in a manner so that the suspension member redirecting element 502 can be moved relative to the load lifting structure, thereby allowing adjustment of the angle of the suspension member 512 redirected from one axis to another axis. In other embodiments, the suspension member redirecting element 502 can be fixedly attached to the load lifting structure in a fixed manner, in which case the angular adjustment or redirection of the suspension member 512 can be static.

[0121] Additionally, in this embodiment, the bracket 508 also includes a sliding surface rather than a rolling element (eg, a pulley) or the like. FIG. 5C to FIG. 5EA schematic diagram of a bracket 508 having a sliding surface is shown in FIG. Figure 5C is a three-dimensional diagram of bracket 508, Figure 5D is a bottom plan view of bracket 508, and Figure 5E 524 is a side view of the bracket 508. The bracket 508 includes a first sliding path 522 and a second sliding path 524. The two sliding paths 522, 524 of the bracket 508 define a path for the suspension member 512 to slide or move. In other words, the bracket 508 can slide and move relative to or along the suspension member 512 along the two sliding paths 522, 524. The two sliding paths 522, 524 can be arranged perpendicular to each other and help define the axis of movement of the bracket 508 relative to the load lifting structure. It should be understood that the two sliding paths 522, 524 are arranged at different vertical positions within the bracket 508 so that they do not interfere with each other.

[0122] It should be understood that combinations of sliding surfaces and pulley-like components may be used in combination without departing from the scope of the present disclosure. For example, in some non-limiting embodiments, the carriage may maintain a rolling configuration and the redirecting element may be sliding. In other embodiments, the redirecting element may be a rolling configuration and the carriage may be a sliding configuration. Furthermore, in some embodiments, a combination of rolling and sliding redirecting elements may be employed without departing from the scope of the present disclosure. For example, at a first axis change, a sliding redirecting element may be employed, and at a second axis change, a rolling redirecting element may be employed. It should be understood that the opposite configuration may also be employed without departing from the scope of the present disclosure.

[0123] Now go to Figure 6 , showing an alternative version of non-rolling elements according to an embodiment of the present disclosure. Figure 6 A portion of a load lifting system 600 is shown, showing only the suspension member 602 and the suspension member redirecting element 604. In this configuration, the suspension member redirecting element 604 is an eyelet or ring configuration that can be attached to a load lifting structure (not shown). Figure 6 A diagram is provided of one non-limiting configuration of non-rolling elements for redirecting the orientation of the suspension member 602. It should be understood that other types of redirecting elements may be employed without departing from the scope of the present disclosure.

[0124] In the above embodiments, the carriage is a passive system that rides (slides, translates, etc.) along the suspension members of the system. Such a system may still experience a certain amount of oscillation, so further reducing oscillation and vibration may be beneficial. Figure 4As shown in , in some embodiments, this additional reduction can be provided by means of a lifting connection. However, additional control can be provided by having an actively operated bracket that is configured as a drive roller or the like so that the system can actively counteract the swing.

[0125] For example, now refer to FIG. 7A to FIG. 7B , showing a schematic diagram of a load lifting system 700 according to an embodiment of the present disclosure. Fig. 7A A load lifting system 700 is shown that is configured to attach to a load lifting structure and suspend a load therefrom. FIG. 7A to FIG. 7B The load lifting system 700 of FIG. 7 is a 2-axis (702a, 702b) system that uses a suspension member redirecting element 704a, 704b aligned with each axis 702a, 702b. The load can be connected to the load lifting system 700 by means of a load hanger (e.g., a cable, wiring, rope, belt, rod, etc.) that is releasably attached to a cargo hook 706. In this embodiment, the cargo hook 706 is attached to the load lifting structure by means of a stabilization system 708. In this embodiment, the stabilization system 708 includes an active bracket assembly 710 that is configured to slide, extend, or move along a suspension member 712 in a three-dimensional manner about a first axis 702a and a second axis 702b. The suspension member 712 is a cable, rope, belt, etc., and can have elastic properties (i.e., stretchable). In this embodiment, the suspension member 712 extends through four attachment points: from a first fixed connector 714a, through the bracket 710 along the first axis 702a to a first adjustable connector 716a, to a second suspension member redirecting element 704b extending to a second adjustable connector 716b, and again through the bracket 710 along the second axis 702b to the second fixed connector 714b.

[0126] In this non-limiting embodiment, the bracket 710 of the stabilization system 708 includes a first guide element 718 a and a second guide element 718 b that are configured to move along the suspension member 712 . Figure 7B An enlarged view of the stabilization system 708 is shown. As described above, the stabilization system 708 is an active system. To achieve the active nature, in this non-limiting embodiment, the guide elements 718a, 718b can be driven elements, such as by means of a motor or the like. For example, Figure 7BAs shown in , the first guide element 718a can be operably connected to the first carriage motor 720a by means of a first clutch 722a, wherein the first carriage motor 720a receives power from a first power source 724a. Similarly, the second guide element 718b can be operably connected to the second carriage motor 720b by means of a second clutch 722b, wherein the second carriage motor 720b receives power from a second power source 724b. The carriage motors 720a, 720b can be operably driven and controlled by a carriage controller 726, which can be powered by a corresponding third power source 724c. It should be understood that the number and location of the power sources 724a, 724b, 724c can be changed based on the specific configuration of the stabilization system 708 and / or the load lifting system 700. For example, in some embodiments, a single power source can be used to power various electrical / electronic components of the stabilization system 708.

[0127] In operation, the carriage motors 720a, 720b drive the rotation of the guide elements 718a, 718b. In this way, the carriage 710 can be actively moved along the suspension member 712 along any axis 702a, 702b or a combination thereof (i.e., along the axis 702a, 702b in a non-axial direction). The clutches 722a, 722b implement controlled rotation and can implement a gear system to ensure that the desired torque is applied to the guide elements 718a, 718b, so that the position of the carriage 710 can be controlled. In addition, the carriage motors 720a, 720b and / or the clutches 722a, 722b may include one or more sensors configured to provide swing angle position, velocity, acceleration, and carriage attitude information. As will be understood by those skilled in the art, the sensors may be embedded in various components / elements and may include angle and / or linear sensors, encoders, inductive sensors, optical sensors, gyroscopes, etc.

[0128] FIG. 7A to FIG. 7BThe active stabilization system 708 shown in enables additional controlled positioning of the carriage relative to the load lifting structure to damp, minimize or eliminate adverse swings or oscillations of the load. For example, the carriage controller 726 can be such a controller that ensures that the carriage 710 remains slightly ahead of the swinging motion of the load hanger by sensing the acceleration of the carriage 710 caused by the swing of the load suspended from the carriage 710. By driving the motors 720a, 720b proportionally and responding to the sensed acceleration changes, the carriage controller 726 can control the amount of load swing and the corresponding potential energy stored in the angular rotation of the load relative to the carriage 710. In this way, by converting the pendulum motion into a translational motion along the suspension member 712, these pendulum motions can be eliminated or significantly reduced. The carriage controller 726 can then provide a varying current to the motors 720a, 720b to add a measured or predetermined resistance to the motors 720a, 720b to slow down the translational motion without causing an angular pendulum-type motion of the load. For example, if the carriage 710 begins to swing along the first axis 702a, the carriage controller 726 can prompt the operation of the first carriage motor 720a to drive the rotation of the first guide element 718a in the same direction of motion, thereby preventing the load hanger from building up any angular momentum (i.e., pendulum motion), and keeping the motion nearly translational along the suspension member 712, and gradually slowing the translation by providing a counteracting torque to the motor 720a and the guide element 718a. Such control may include simultaneous operation of both the first carriage motor 720a and the second carriage motor 720b due to the three-dimensional nature of the carriage 710 motion during use.

[0129] Reference now FIG. 8A to FIG. 8B , shows a schematic diagram of a load lifting system 800 according to an embodiment of the present disclosure. The load lifting system 800 is configured to attach to a load lifting structure and suspend a load therefrom. As described above, the load lifting system 800 is a 2-axis system that uses a suspension member redirecting element 802a, 802b aligned with each axis. The load can be connected to the stabilization system 804 of the load lifting system 800 by means of a load hanger, which is releasably attached to a cargo hook, which is attached to a bracket 806. In this embodiment, the stabilization system 804 includes an active bracket assembly that is configured to slide, extend or move along the suspension member 808 in a three-dimensional manner about two axes. In this embodiment, the suspension member 808 extends through four attachment points: from the first fixed connector 810a through the bracket 806, along the first axis, the first suspension member redirecting element 802a extending to the first adjustable connector 812a, to the second suspension member redirecting element 802b extending to the second adjustable connector 812b, and along the second axis, through the bracket 806 again to the second fixed connector 810b.

[0130] Similar to About FIG. 7A to FIG. 7B As described above, carriage 806 includes one or more guide elements that are actively driven. The components in the illustrative configuration of FIG. 8 have different geometries and arrangements, but the operation is substantially similar to that shown and described above. In this configuration, carriage 806 includes two sets of guide elements (such as rollers), each of which is driven by a corresponding carriage motor 814 (see, e.g., Figure 4 7 , showing a similar bracket arrangement with passive guide elements). Similar to the embodiment of FIG. 7 , the stabilization system 804 is an active system and may include an electronics package 816 that may include one or more power supplies, sensors, control electronics, etc.

[0131] Figure 8B A schematic diagram of a carriage 806 of a stabilization system 804 is shown in more detail. The carriage 806 includes two groups or pairs of guide elements. As shown, a first pair of guide elements 818a is arranged along a first axis, and a second pair of guide elements 818b is arranged along a second axis orthogonal to the first axis. Each of the guide elements 818a, 818b can be rotationally controlled or driven by a corresponding carriage motor 820a, 820b, which is coupled to the corresponding guide element 818a, 818b by means of a corresponding clutch 822a, 822b. As will be appreciated by those skilled in the art, the carriage motors 820a, 820b and / or the corresponding clutches 822a, 822b may include corresponding position and / or movement / motion sensors, such as encoders, accelerometers, gyroscopes, etc. Such sensors, clutches, and / or carriage motors may be operably coupled to an electronic package 816 (e.g., for powering, sensing, control, and / or data communication). Various locations for such sensors are indicated at location 824. In some embodiments, the sensors may be integrated directly into the carriage motor, clutch, and / or guide element, and / or contained within electronics package 816.

[0132] Reference now Fig. 9 , shows a schematic diagram of a load lifting system 900 according to an embodiment of the present disclosure. The load lifting system 900 is attached to a load lifting structure and is configured to suspend a load therefrom (for clarity, the load lifting structure and the load are not shown). Fig. 9The load lifting system 900 of FIG. 1 is a 2-axis (902a, 902b) system that uses a suspension member redirecting element 904a, 904b aligned with each axis 902a, 902b. In this embodiment, the intersection of the first axis 902a and the second axis 902b intersects the gravity vertical 906. A load hanger 908 (e.g., a cable, wiring, rope, belt, rod, etc.) is releasably suspended or attached to a cargo hook 910, which is attached to a bracket 912 of a stabilization system 914. In this embodiment, the stabilization system 914 includes a bracket 912 that is configured to slide, extend, or move along a suspension member 916 in a three-dimensional manner about the first axis 902a and the second axis 902b.

[0133] In this non-limiting embodiment, the bracket 912 includes a first set of guide elements and a second set of guide elements that provide rolling engagement with and movement along the suspension member 916. In this embodiment, the suspension member 916 is supported on the load lifting structure at four different locations. Fig. 9 As shown in FIG, the stabilization system 914 has four attachment points by means of the attachment of the suspension member 916 to the load lifting structure, which include a fixed connection 918, two adjustable connections 920a, 920b, and a lifting connection 922. The suspension member redirecting elements 904a, 904b are provided at the adjustable connections 920a, 920b to enable sliding or adjustable engagement of the suspension member 916 between the load and the load lifting structure. The lifting connection 922 includes a reel 924 and a suspension member guide 926. A portion, section, or length of the suspension member 916 can be wound around the reel 924 to allow the suspension member 916 to include additional length (i.e., not a fixed length suspension member). In this way, the length of the suspension member 916 can be adjustable within the load lifting system 900.

[0134] exist Fig. 9 In an embodiment, the stabilization system 914 includes a motorized or controlled carriage 912 having a motorized lifting connection 922 that enables a suspension member 916 on which the carriage 912 rides to be extended and retracted. A lifting motor controller 928, which is part of the lifting connection 922, is configured to operably control the reel 924 to extend or retract the length of the suspension member 916. In addition, the carriage 912 includes an electronic package 930 and a set of motorized controllers 932 that are operably connected to the electronic package 930. The motorized controller 932 may include motors, clutches, and sensors similar to those configured above. In this way, according to some embodiments of the present disclosure, a fully motorized and driven configuration (of both the carriage and the suspension member) may be provided.

[0135] In this embodiment, the load lifting system 900 includes a controllable capture device 934. The controllable capture device 934 can be controlled by an operator or can be configured to automatically capture and engage the load. Such controllable capture devices are described in the commonly owned U.S. Patent No. 9,132,995, entitled "Apparatus, System, and Method for Controllable Grapple," published on September 15, 2015, and U.S. Patent No. 9,758,353, entitled "Wireless Controllable Carousel Independent Release Grapple," published on September 12, 2017, the entire contents of which are incorporated herein. Although these two prior patents provide embodiments of such controllable capture devices, those skilled in the art will appreciate that other types of capture devices (whether controllable or not) may also be used without departing from the scope of the present disclosure.

[0136] As mentioned above, FIG. 7A to FIG. 9 The system illustratively shown in Figure 1 relates to an active stabilization system. In order to provide active load stabilization, a carriage motor, a clutch, a control electronics, and a power supply can be added to the load lifting system. In such an embodiment, the carriage motor is configured to engage with the guide element via a corresponding clutch. The control electronics may include a MEMS (micro-electromechanical system) sensor package, which is configured to monitor the attitude, attitude change rate, and attitude acceleration on multiple axes. The axis of the sensor is configured to align with the axis of the system (e.g., an axis defined by a suspension member and / or an attachment point). When the load swings away from the vertical direction, the output signal from the sensor is fed to a controller (e.g., a PID (proportional-integral-differential) controller), which provides a corrective action for the motor to drive the sensor output signal toward zero, thereby generating a constant feedback loop to drive the angle of the load hanger to zero with the vertical direction. As the carriage is constantly adjusted to zero or offset any cable swing angle, the resultant motion of the load is driven to a stable vertical position. By keeping the carriage ahead of the swing, very little pendulum energy is allowed to build up, so a stable vertical cable angle can be maintained.

[0137] The clutch allows the motor to disengage the guide element and allow the system to stretch freely during periods when active stabilization is not required. Such periods can be determined by the operator or software (e.g., automatically) that depends on additional inputs (such as vehicle speed, ambient wind speed, proximity detectors configured to detect objects near the load, etc.). For example, when a helicopter is traveling from one place to another (such as flying from point A to point B), there is no need to actively stabilize the load because the flight conditions are in a stable state. The clutch can then be activated to engage the guide element to control or actively damp the swing / oscillation when the load is close to the descent destination, etc. In some configurations, the clutch can remain engaged and the system can switch from active mode to passive mode to allow the motor to act as a generator and recharge the power source (e.g., battery) when actively controlling the swing of the load is not important.

[0138] Now go to Fig.10 , a schematic diagram of an aircraft 1000 is shown with a load lifting system 1002 according to an embodiment of the present disclosure installed. In this illustration, the aircraft 1000 is a helicopter. However, it should be understood that other aircraft (such as fixed-wing aircraft, drones, unmanned vehicles, etc.) can be configured with a load lifting system as described herein. The aircraft 1000 is a load lifting structure, and in this case, the fuselage of the aircraft 1000 operates as a load lifting structure. The load lifting system 1002 is mounted to the bottom of the aircraft 1000. A load hanger 1004 is suspended from the load lifting system 1002, and in this embodiment, a load 1006 is suspended from the load hanger. The load lifting system 1002 can be an active or passive system, and in this configuration, is shown as a 2-axis system. The load lifting system 1002 can be configured and arranged as one of the above-mentioned embodiments or variations thereof.

[0139] Reference now FIG. 11A to FIG. 11C, shows a schematic diagram of an aircraft 1100 with a load lifting system 1102 installed according to an embodiment of the present disclosure. The aircraft 1100 is a load lifting structure, and in this case, the fuselage of the aircraft 1100 operates as a load lifting structure. In this embodiment, the load lifting system 1102 is mounted to one side of the aircraft 1100. In this configuration, a load 1104 is suspended from the aircraft 1100 by means of a stabilizing system 1106 of the load lifting system 1102. In this case, the load 1104 is a stretcher for carrying people (e.g., for emergency transportation). The load 1104 is connected to the stabilizing system 1106 by means of one or more load hangers 1108. The stabilizing system 1106 includes a suspension member 1110, which is connected to the aircraft 1100 at two points (i.e., a single axis configuration). As shown, the suspension member 1110 is connected to the aircraft 1100 at two attachment points including a first connection 1112, extending through a bracket 1114 of the stabilization system 1106, and back to a second connection 1116. The first connection 1112 may include a hoist, a reel, etc. (e.g., similar to Figure 4 The lifting connector 424), and the second connector 1116 can be a fixed or latch type connector.

[0140] like Fig. 11C As shown in FIG. 1 , the stabilization system 1106 includes a bracket 1114 in which a suspension member 1110 passes through a first guide element 1118a and a second guide element 1118b. At rest and without any rotation, the two guide elements 1118a, 1118b within the bracket 1114 are arranged along an axis parallel to an axis drawn between the first connector 1112 and the second connector 1116. The load hanger 1108 extends from the bracket 1114 to the load 1104 (i.e., a stretcher). Due to the adjustable length and multiple connection / contact points, the load lifting system 1102 can prevent the load 1104 from rotating undesirably, similar to as described above.

[0141] Fig.12 The system shown is FIG. 11A to FIG. 11C The system shown is similar, but in this configuration of the stabilization system 1200, the bracket is part of the load or load connection element (e.g., load hanger). Fig.12 As shown in FIG. 1 , a suspension member 1202 is used to suspend a load 1204 from a load lifting structure. The suspension member 1202 is arranged along a first guide element 1206 and a second guide element 1208 arranged along an axis (i.e., a single axis configuration). The suspension member 1202 will extend to the load lifting structure and be connected at two points (e.g., similar to Fig. 11B110). The guide elements 1206, 1208 are directly connected to the load hanger 1210. As shown, this configuration can provide advantages for rescue operation configurations because fewer components are used and a single axis of application is used to control (ie, reduce) the rotation and oscillation of the load 1204.

[0142] Fig.13 A crane 1300 is shown with a load lifting system 1302 installed. The crane 1300 includes an arm 1304 having a trolley 1306 movable along the arm 1304. The load lifting system 1302 is attached to the trolley 1306. In this illustrative configuration, the load lifting system 1302 is a 2-axis system, but a single-axis system may be employed without departing from the scope of the present disclosure. As shown, the load lifting system 1302 supports a load 1308 therefrom. In this crane configuration, the load 1308 can translate along the length of the arm 1304, and as the arm rotates about a pivot base 1310 of the crane 1300, the load lifting system 1302 can provide anti-rotation and stability to the load 1308 during movement along the arm 1304 and vertical movement relative to the arm 1304.

[0143] Although the present invention is shown and described with respect to helicopters and cranes, it should be understood that other configurations may employ the embodiments disclosed herein. For example, in the field of aircraft, fixed-wing aircraft and rotary-wing aircraft may be configured to use the systems described herein. Furthermore, both manned and unmanned aircraft may utilize such systems. In addition, static, fixed, or semi-static systems may incorporate the load lifting systems described herein. For example, Fig.13 The crane shown in the drawings can also be used to load loads suspended from the top of a building (e.g., a window washing cage), from the side of a vessel (e.g., a ship, a boat, etc.), from a truck, etc. Such embodiments are not intended to be limiting, but rather to provide an example of the versatility of the load lifting systems described herein.

[0144] Now go to FIG. 14A to FIG. 14B , shows a schematic diagram of a load lifting system 1400 according to an embodiment of the present disclosure. The load lifting system 1400 is attachable to a load lifting structure and is configured to suspend a load therefrom (for clarity, the load lifting structure and the load are not shown). FIG. 14A to FIG. 14BThe load lifting system 1400 of FIG. 1 is a 2-axis (1402a, 1402b) system that uses two separate suspension members 1404a, 1404b. The first suspension member 1404a extends from a first adjustable connector 1406a to a first fixed connector 1408a between two attachment points along the first axis 1402a when at rest. Similarly, the second suspension member 1404b extends from a second adjustable connector 1406b to a second fixed connector 1408b between two attachment points along the second axis 1402b when at rest. In this embodiment, the intersection of the first axis 1402a and the second axis 1402b intersects the gravity vertical 1410. The cargo hook 1412 is attached to the bracket 1414 of the stabilization system 1416. In this embodiment, the stabilization system 1416 includes a bracket 1414 that is configured to slide, extend or move along the first and second suspension members 1404a, 1404b in a three-dimensional motion (eg, a three-dimensional curved path) about the first and second axes 1402a, 1402b.

[0145] In this embodiment, as described above, the load lifting system 1400 includes separate or distinct suspension members 1404a, 1404b arranged along two axes 1402a, 1402b. The two suspension members 1404a, 1404b are operably connected by means of an interconnecting member 1418. In addition, in this embodiment, each of the adjustable connecting members 1406a, 1406b is configured as a crank that is adjustable or rotatable about a corresponding crank pivot 1420a, 1420b. The crank pivots 1420a, 1420b provide a fixed connection to the load lifting structure, wherein each crank can rotate about a corresponding crank pivot 1420a, 1420b. The interconnecting member 1418 can be a fixed length rod or connector that moves or translates as the adjustable connecting members 1406a, 1406b rotate about the corresponding crank pivots 1420a, 1420b. When the cranks of the adjustable links 1406a, 1406b are rotated about the crank pivots 1420a, 1420b, the lengths of the corresponding suspension members 1404a, 1404b are adjusted. Thus, the relative lengths of each individual suspension member 1404a, 1404b of this embodiment are individually adjustable to provide a three-dimensional curved path for the bracket 1414 and the cargo hook 1412, thereby providing stability thereto.

[0146] FIG. 14A to FIG. 14BThe figure also shows a non-vertical configuration for the load lifting system 1400. To achieve this, the bracket 1414 also has a non-vertical configuration so that the suspension members 1404a, 1404b are aligned with the axes 1402a, 1402b and the suspension members 1404a, 1404b are prevented from twisting when passing through the bracket 1414. Similar to the other embodiments described above, the bracket 1414 of the load lifting system 1400 has two guide elements 1422a, 1422b arranged along each axis 1402a, 1402b to movably support the corresponding suspension members 1404a, 1404b. Fig. 14B A top plan view of a load lifting system 1400 is shown. As shown, in this embodiment, the axes 1402a, 1402b are no longer perpendicular or in a 90° configuration, and the two axes 1402a, 1402b are arranged in a non-perpendicular configuration. The angle 1424 between the two axes 1402a, 1402b can be any non-perpendicular angle. In some embodiments, and only as an example and not a limitation, the angle 1424 can be any angle less than 90° (e.g., 15°, 30°, 45°, etc.). It should be noted that the smaller the angle 1424, the closer the load lifting system will become to a single axis configuration. However, based on the limitations or constraints of the load lifting structure, attachment points, the type of suspension member, the specific application, etc., such a small angle of the two axes can be adopted without departing from the scope of the present disclosure.

[0147] It should be understood that non-vertical axis and / or crank-type adjustable connections may be used and / or implemented with features of other embodiments described above. More particularly, the non-vertical axis configuration is not inseparable from the configuration of the crank-type adjustable connection, and various other arrangements are possible without departing from the scope of the present disclosure. In operation, the operation of the crank is similar to the pulley described above, except that the crank has a limited range of travel and may reach a rotation limit (e.g., an inherent "stop"). The purpose of the crank and pulley is to allow automatic adjustment of the length of the suspension member (such as a cable) on two axes to maintain the suspension member on each axis participating in the load sharing. When the bracket moves along one axis, if the suspension members are discontinuous and / or not connected by means of a crank depending on the specific configuration, the suspension members on the other axis will prevent the bracket from moving along an "elliptical" path.

[0148] In the case of a crank type configuration, if the suspension members are not connected by a crank (i.e., if the lengths of the two suspension members are fixed), the carriage will follow a circular path, the radius of which will be controlled by the suspension member on the other axis. When the carriage wants to follow an elliptical path along one axis, the suspension member on the other axis must be given a certain length to continuously extend the arc to meet the elliptical path of the other axis. This additional length of the suspension member is provided by the elliptical path suspension member, because the length along the elliptical path will be relaxed, which means that there will be no tension in it, which is not possible because the suspension members are connected by means of a crank. Therefore, when the carriage moves along one axis of the elliptical path, the path (the length of the suspension member) is actually shortened because the length is paid out to extend the arc of the other suspension member. The length of the suspension member can only be shared as much by the radius of the crank arm and the angular travel of the crank (before the crank starts to want to wrap the suspension member around itself). According to some embodiments, the crank arm can be made to set the size of the crank according to the needs of a specific application.

[0149] It will be appreciated that combinations of cranks, pulleys, sliding surface structures, etc., may be combined to achieve the desired stabilization. Various combinations of hybrid features may be a result of the load lifting structure, the particular application, clearances, the length of the suspension member, etc. For example, a crank may be used to allow the suspension member to bypass an obstacle. Thus, if the carrier or other load lifting structure is so obstructed that a straight extension of the suspension member (e.g., along the system axis) is impractical or impossible, a crank and pulley combination may be used.

[0150] Now go to FIG. 15A to FIG. 15C, a schematic diagram of a load lifting system 1500 according to an embodiment of the present disclosure is shown. The load lifting system 1500 is configured to attach to a load lifting structure and suspend a load therefrom. As described above, the load lifting system 1500 is a 2-axis system that uses a suspension member redirecting element 1502a, 1502b aligned with each axis 1504a, 1504b. The load can be connected to a stabilization system 1506 of the load lifting system 1500. In this embodiment, the stabilization system 1506 includes a bracket 1508 having an integrated cargo hook 1510 attached, connected or otherwise mounted to, on or in the bracket 1508. The bracket 1508 is configured to slide, extend or move along the suspension member 1512 in a three-dimensional movement manner around the two axes 1504a, 1504b in a three-dimensional curved path. In this embodiment, the suspension member 1512 extends between four attachment points: from a first fixed connector 1514a through the bracket 1508, along the first axis 1504a to a first suspension member redirecting element 1502a of the first adjustable connector, to a second suspension member redirecting element 1502b of the second adjustable connector, and along the second axis 1504b again through the bracket 1508 to the second fixed connector 1514b.

[0151] In this non-limiting embodiment, the bracket 1508 includes a first set of guide elements 1516a and a second set of guide elements 1516b. The suspension member 5112 is a cable, rope, belt, strap, etc., which is attached to the load lifting structure via the attachment points 1502a, 1502b, 1514a, 1514b. When the first set of guide elements 1516a and the second set of guide elements 1516b are movable along the suspension member 1512, the bracket 1508 can move along both the first axis 1504a and the second axis 1504b. Because the suspension member 1512 is flexible and continuous from the first fixed connection 1514a through the adjustable connection 1502a, 1502b and the guide elements 1516a, 1516b of the bracket 1508 to the second fixed connection 1514b, the stabilization system 1506 can move in three dimensions relative to the gravity vertical 1518. The result is a non-circular, non-spherical path of movement, such as a curved or bent path having a continuously varying radius of curvature based on the attachment point (e.g., the connector at the attachment points 1502a, 1502b, 1514a, 1514b). The movement of the bracket can track the curved path of its line of action over the attachment point (e.g., the connector at the attachment points 1502a, 1502b, 1514a, 1514b). The line of action can be the normal to the curved path when it crosses the suspension member 1512, where the focus is above the attachment point 1502a, 1502b, 1514a, 1514b (e.g., closer to the center of gravity of the system). Due to this quasi-ellipsoidal path of movement, the load vector focus position is closer to the center of gravity (or its equivalent) of the load lifting structure during movement, so the moment about the center of gravity will naturally decrease (as previously described).

[0152] As mentioned above, and as FIG. 15A to FIG. 15C As shown in , bracket 1508 may include cargo hook 1510. In such an embodiment, a hanger may be eliminated or at least not required (e.g., the hanger may be suspended from cargo hook 1510). In this configuration, the load may be supported and attached directly to bracket 1508 of stabilization system 1506.

[0153] As described above, when stationary, the bracket of any disclosed embodiment will generally be positioned below the center of gravity (or equivalent position) of the load lifting structure. In addition, as described, the movement of the bracket can traverse an elliptical or quasi-elliptical path or some other curved or curvilinear path. In some embodiments, such a curved path can be defined as a movement path having a curved path with a continuously varying radius of curvature. The axis of symmetry of the three-dimensional path shape can be substantially defined along the gravity vertical. Thus, in some embodiments, the gravity vertical disclosed and discussed can also be referred to as the axis of symmetry of the system. The axis of symmetry helps to define the normal to the curvature (e.g., the normal to the tangent to the path curvature). The normal to the curvature intersects the axis of symmetry at a point above the axis (or plane) defined by the attachment point. That is, the attachment points of the disclosed system will generally be arranged in substantially the same plane, and in a dual-axis system, the two axes will define a plane. In the direction from the curved path toward the load lifting structure, the normal will intersect the axis of symmetry at a point that is closer to the center of gravity (or equivalent position) than the plane defined by the attachment point (e.g., Figure 2B ).

[0154] In addition to providing stabilization with respect to vibrations, oscillations, etc. along the suspension member, some embodiments of the present disclosure may provide additional anti-rotation or anti-spin capabilities. This anti-spin feature may be employed in single-axis or multi-axis embodiments of the present disclosure. For purposes of explanation, a single-axis configuration will be used to describe the spin (and anti-spin) features of some embodiments of the present disclosure. In a single-axis arrangement, if excessive torsional forces are present / applied (e.g., the rotor downwashes or hits something causing the load to want to spin), the suspension member may tend to twist on itself. For example, in a stretcher configuration (e.g., FIG. 11A to FIG. 11C ), when the stretcher is suspended below the aircraft, the downwash from the rotors of the aircraft can produce rotational forces on the stretcher. As applied, the configuration described above will substantially prevent oscillations, etc. along the axis of the system, and will achieve a certain degree of anti-rotation. However, this anti-rotation can be improved in certain applications and configurations.

[0155] For example, now refer to Fig.16, shows a schematic diagram of a portion of a load lifting system 1600 according to an embodiment of the present disclosure. In this illustrative configuration, the load lifting system 1600 is a single axis system having two attachment points 1602, 1604 on a load lifting structure 1606, with a suspension member 1608 extending between the two attachment points 1602, 1604. The suspension member 1608 is a fixed length, continuous suspension member extending from the first attachment point 1602 to the second attachment point 1604, and the load can be suspended from a stabilization system 1609 using a bracket 1611 or the like as described above. In this figure, the stabilization system 1609 provides stabilization as described above through the use of brackets 1611, and includes additional rotation / anti-rotation functionality.

[0156] As shown, the suspension member 1608 engages with the anti-rotation element 1610 of the stabilization system 1609 at the first guide element 1612 and the second guide element 1614. The suspension member 1608 extends through the bracket 1611 between the first guide element 1612 and the second guide element 1614. In some embodiments, the first guide element 1612 and the second guide element 1614 may include guide elements similar to those shown and described above as part of the bracket system. The anti-rotation element 1610 is part of the stabilization system 1609 and is fixedly connected to the bracket 1611. As such, the anti-rotation element 1610 defines an upper portion of the stabilization system 1609 and the bracket 1611 defines a lower portion of the stabilization system 1609. The anti-rotation element 1610 is a fixed length structure (e.g., a rod, a beam, etc.) that is configured to be parallel to an axis defined between the first attachment point 1602 and the second attachment point 1604 (e.g., at Fig.16 ) extends in the plane of the page.

[0157] Thus, the anti-rotation element 1610 is part of the stabilization system 1609, which is configured to ensure that the device is in a plane formed by the attachment points 1602, 1604, the suspension member 1610 and the guide elements 1612, 1614 (e.g., Fig.16 1609). The anti-rotation element 1610 is configured to improve anti-spin properties about a vertical axis 1616 (e.g., vertically coincident with gravity in some configurations). As described herein, a horizontal length 1620 of the anti-rotation element 1610 (a horizontal distance between the first guide element 1612 and the second guide element 1614) is defined as being longer than a horizontal length 1621 of the bracket 1611. The larger length 1620 of the anti-rotation element 1610 will improve the anti-spin properties of the stabilization system 1609, while the shorter length 1621 of the bracket 1611 ensures the above-mentioned pendulum damping properties and its elliptical movement path.

[0158] like Fig.16As shown in , points A and D represent the attachment points of the suspension member 1608 to the load lifting structure 1606 and are aligned with the first attachment point 1602 and the second attachment point 1604, respectively. Points B and C represent the points where the suspension member 1608 is guided around the anti-rotation element 1610 of the stabilization system 1609 (e.g., at the guide elements at the ends of the anti-rotation element 1610). As described above, the suspension member 1608 has a fixed length extending from the first attachment point 1602 (point A) to the second attachment point 1604 (point D). The suspension member 1608 extends around the ends of the anti-rotation element 1610 at the guide elements 1612 (point B), the guide elements 1614 (point C), and passes through the bracket 1611 between the guide elements 1612, 1614.

[0159] The first path (path ABCD shown in solid lines) represents the path of the suspension member 1608 in an untwisted state. The second path (path ABCD shown in dashed lines) represents the path of the same suspension member 1608 twisted 180 degrees around the vertical axis 1616. For clarity of illustration, the second path (dashed lines) does not include the lower portion of the stabilization system 1609 (e.g., a portion of the suspension member 1608 and the bracket 1611). As shown, due to the twisting of the suspension member 1608 around the vertical axis 1616, the first guide element contact 1612 (point B) and the second guide element 1614 (point C) have an exchanged orientation relative to the attachment points 1602 (point A), 1604 (point D).

[0160] Attachment point separation distance 1618 defines a fixed separation distance between first attachment point 1602 and second attachment point 1604 at the point where suspension member 1608 is attached to load lifting structure 1606. Upper guide element separation distance 1620 is a fixed separation distance between first guide element 1612 and second guide element 1614 and is substantially equal to the length of anti-rotation element 1610. As shown, in an untwisted state (solid line), anti-rotation element 1610 is positioned at a first vertical distance 1622 from load lifting structure 1608. In contrast, in a twisted state (dashed line), anti-rotation element 1610 is positioned at a second vertical distance 1624 from load lifting structure 1608 that is different from first vertical distance 1622. As shown, second vertical distance 1624 is less than first vertical distance 1622.

[0161] Since the length of the suspension member 1608 is fixed, and the separation distances 1618, 1620 are fixed, the length of the solid path ABCD (untwisted state) is equal to the length of the dashed path ABCD (twisted state), so that the fixed length of the suspension member 1608 remains unchanged. As the suspension member 1608 twists about the vertical axis 1616, the first vertical distance 1622 must decrease from the untwisted state to the twisted state, and a second vertical distance 1624 is generated. This is a result of the exchange of positions of points B, C during the twisting, where the lengths AB, CD in the untwisted state are the same as the lengths AB, CD in the twisted state, while the positions of points B, C are farther away from the corresponding attachment points A, B in the horizontal direction, and therefore closer to the load lifting structure in the vertical direction (so that the lengths AB and CD remain the same). This means that during the twisting event, the stabilization system 1609 is lifted upward against gravity (i.e., toward the load lifting structure 1606). It will be appreciated that the greater the guide element separation distance 1620, the greater the distance the stabilization system 1609 is lifted because the horizontal distance of the suspension members from the attachment points 1602, 1604 to the respective guide elements 1612, 1614 changes more as the guide element separation distance 1620 increases.

[0162] In order to lift the stabilization system 1609 against gravity and twist it 180 degrees about the vertical axis 1616, a force large enough must be applied to add enough rotational energy to the stabilization system 1609 so that its potential energy is raised by an amount equal to the weight of the stabilization system 1609 (e.g., the weight combined with the suspended load) multiplied by the change in vertical distance or height (i.e., the change in potential energy). Thus, for a given attachment point separation distance 1618, the greater the guide element separation distance 1620 (i.e., the length of the anti-rotation element 1610), the greater the force required to twist the stabilization system 1609. The 180 degree point is critical because once this level of twisting is reached, little additional force is required and the suspension members 1608 will continue to twist about point E (the crossing of the suspension members 1608 due to twisting). In light of this, the stabilization system 1609 and its features (e.g., the anti-rotation members) can be designed to have sufficient resistance to known twisting forces. Such forces may include, for example but not limited to, twisting rotor wash under a helicopter, spin resulting from contact of the load with external structures, rotational forces exerted by wind, and the like.

[0163] Twisting or spinning can be avoided by controlling the guide element separation distance 1620 and the attachment point separation distance 1618 for a given first vertical distance 1622 (i.e., the vertical distance based on the untwisted state). For example, typically, the rotor wash vortex speed decreases as the distance from the rotor plane increases, and the amount of reduction in the vortex speed can be approximated by a person skilled in the art. Because the anti-rotation capability of the above-mentioned embodiment increases as the vertical distance (untwisted first vertical distance 1622) decreases, the stabilization system 1609 naturally increases the spin resistance as the force driving its self-rotation increases, so considering the actual limitations on the attachment point separation distance 1618, the challenge is only to establish the guide element separation distance 1620 to fully address the given torsional force. According to an embodiment of the present disclosure, the horizontal length 1621 of the bracket 1611 should be less than the guide element separation distance 1620, and sufficiently less than the attachment point separation distance 1618 to produce a generally quasi-elliptical movement path of the bracket so as to provide pendulum-like motion damping.

[0164] Reference now FIG. 17A to FIG. 17C , shows a schematic diagram of a load lifting system 1700 with a stabilizing system 1702 according to an embodiment of the present disclosure. The stabilizing system 1702 is suspended from and movable along the suspension member 1704 (similar to that shown and described above). The stabilizing system 1702 of this embodiment is configured to provide oscillation and motion damping and increased anti-rotation functionality to prevent a load 1706 (e.g., a stretcher configuration is shown) from rotating and / or twisting about a vertical axis 1708, as described above.

[0165] The stabilization system 1702 defines a bracket having an upper member 1710 (e.g., an anti-rotation element as described above) and a lower member 1712, which are arranged parallel to each other and separated by a bracket separation distance 1713. The upper member 1710 is arranged to be fixedly connected to the lower member 1712. As shown, the upper member 1710 is connected to the lower member 1712 by means of one or more engaging members 1714. Although two engaging members 1714 are shown, other configurations of the stabilization system are also possible without departing from the scope of the present disclosure. For example, a single vertical rod or similar structure can engage the upper member and the lower member, or a continuous piece of material or multiple (e.g., more than two) engaging members can span between the upper member and the lower member of the stabilization system according to an embodiment of the present disclosure, as long as the connecting member is arranged to prevent the upper member from pitching toward or away from the lower member (i.e., remaining substantially parallel).

[0166] The upper member 1710 defines an upper length 1716 between a first upper guide element 1718 and a second upper guide element 1720 disposed at opposite ends of the upper member 1710. The first upper guide element 1718 and the second upper guide element 1720 can be guide elements, such as rollers or sliding elements, to allow movement along the suspension member 1704. Similarly, the lower member 1712 defines a lower length 1722 between a first lower guide element 1724 and a second lower guide element 1726 disposed at opposite ends of the lower member 1712. The first lower guide element 1724 and the second lower guide element 1726 can be rollers, sliding elements, etc. to allow movement along the suspension member 1704. It should be understood that in some embodiments, only a single lower guide element may be employed without departing from the scope of the present disclosure.

[0167] The lower member 1712 can be configured to be connected to and suspend the load 1706 therefrom, as described above. The lower length 1722 will be less than the upper length 1716, so the suspension member 1704 will be forced to maintain a greater vertical distance from the load lifting structure than in the other embodiments described above. After the suspension member 1704 passes through the first upper guide element 1718 and the second upper guide element 1720, the suspension member 1704 will converge inwardly toward the first lower guide element 1724 and the second lower guide element 1726. The greater length of the upper member 1710 will impart increased anti-rotational or anti-torsional moment to the system, as described above with respect to Fig.16 Although FIG. 17A to FIG. 17C A single-axis configuration is shown, but the increased anti-rotation properties may also be implemented in multi-axis stabilization systems according to embodiments of the present disclosure.

[0168] For example, now refer to Fig.18 , shows a load lifting system 1800 having a multi-axis stabilization system 1802 having increased anti-rotation characteristics according to an embodiment of the present disclosure. The multi-axis stabilization system 1802 is essentially two of the stabilization systems 1702 joined in a multi-axis configuration. As shown, a suspension member 1804 is configured to pass through the stabilization system 1802 along two axes, and fixed and / or adjustable connectors and associated redirecting members can be used to connect the suspension member 1804 to the load lifting structure, as shown and described above. The stabilization system 1802 includes a multi-axis upper member 1806 and a multi-axis lower member 1808, which are separated by a bracket separation distance when connected by one or more engagement members 1810. The assembled structure forms a bracket that provides the oscillation stabilization achieved as described above as well as the increased anti-rotation function.

[0169] although FIG. 17A to FIG. 17C and Fig.18The figures show a single body forming the stabilization system / bracket, but such a single body is not limiting. For example, the various components can be separate parts that can be assembled to form the same structure with the aid of various fastening mechanisms (e.g., stop pins, screws, bolts, clamps, etc.). The joint can be a temporary joint for assembling / disassembling the stabilization system, or it can be a more permanent joint. In a single body configuration, the bodies can be welded together, cast or machined, additively manufactured, etc. The stabilization system of the present disclosure including increased anti-rotation features generally includes a bracket assembly having a set of upper guide elements and a set of lower guide elements arranged at opposite ends of a fixed length rod, arm, etc. By maintaining the above-mentioned quasi-ellipsoidal path, the upper portion is provided for increased anti-rotation, and the lower portion is provided for damping the in-plane pendulum motion.

[0170] Now go to Fig.19 , a schematic diagram of a load lifting system 1900 according to an embodiment of the present disclosure is shown in a top perspective view, the load lifting system 1900 being similar to FIG. 14 but having a hoisting configuration combined with a crank system. The load lifting system 1900 can be attached to a load lifting structure and configured to suspend a load therefrom (for clarity, the load lifting structure and the load are not shown). Fig.19 The load lifting system 1900 is a 2-axis (1902a, 1902b) system that uses two separate suspension members 1904a, 1904b. When the system is stationary, the first suspension member 1904a extends between two attachment points along the first axis 1902a. As shown, the first suspension member 1904a extends between the first adjustable connection 1906a and the first guide element 1908a. Similarly, when the system is stationary, the second suspension member 1904b extends between two attachment points along the second axis 1902b. As shown, the second suspension member 1904b extends between the second adjustable connection 1906b and the second guide element 1908b. In this embodiment, the intersection of the first axis 1902a and the second axis 1902b intersects the gravity vertical, similar to that shown and described above. The bracket 1910 of the stabilization system is suspended from the two suspension members 1904a, 1904b, as shown and described above. The bracket 1910 is configured to slide, extend, or move along the suspension members 1904a, 1904b in a three-dimensional motion (eg, a three-dimensional curved path) about the first axis 1902a and the second axis 1902b.

[0171] In this embodiment, as described, the load lifting system 1900 includes separate or distinct suspension members 1904a, 1904b arranged along two axes 1902a, 1902b. The two suspension members 1904a, 1904b are operably connected by means of an interconnecting member 1912. In addition, in this embodiment, each of the adjustable connections 1906a, 1906b is configured as a crank that is adjustable or rotatable about a corresponding crank pivot 1914a, 1914b. The crank pivots 1914a, 1914b are arranged to be fixedly connected to the load lifting structure, wherein each crank is rotatable about a corresponding crank pivot 1914a, 1914b. The interconnecting member 1912 may be a fixed length rod or rigid connector, an adjustable length rod or rigid connector, or a flexible member connector that moves or translates as the adjustable connectors 1906a, 1906b rotate about respective crank pivots 1914a, 1914b. As the cranks of the adjustable connectors 1906a, 1906b rotate about the crank pivots 1914a, 1914b, the lengths of the respective suspension members 1904a, 1904b will be adjusted. Thus, each individual suspension member 1904a, 1904b of this embodiment is individually adjustable in relative length to provide a three-dimensional curved path for the bracket 1910 and the cargo hook suspended from the bracket 1910, thereby providing a constant load sharing between the suspension members 1904a, 1904b. Thus, each suspension member 1904a, 1904b provides active load stabilization along its respective axis, thereby maintaining three-dimensional load stabilization.

[0172] Similar to FIG. 14A to FIG. 14B As shown in , the load lifting system 1900 is configured in a non-vertical configuration. To achieve this, the bracket 1910 also has a non-vertical configuration so that the suspension members 1904a, 1904b are aligned with the axes 1902a, 1902b and interference of the suspension members 1904a, 1904b is avoided when the suspension members 1904a, 1904b pass through the bracket 1910 by vertical relative displacement of the bracket guide elements, as described above. Similar to the other embodiments described above, the bracket 1910 of the load lifting system 1900 can have one or more guide elements arranged along each axis 1902a, 1902b to extend movably along the corresponding suspension member 1904a, 1904b. Fig.19A top plan view of a load lifting system 1900 is shown. As shown, in this embodiment, the axes 1902a, 1902b are no longer perpendicular or in a 90° configuration, and the two axes 1902a, 1902b are arranged in a non-perpendicular configuration. In some embodiments, and only as an example and not a limitation, the angle between the axes 1902a, 1902b can be any angle (e.g., 15°, 30°, 45°, 90°, etc.). It should be noted that the smaller the angle, the closer the load lifting system will become to a single axis configuration. However, based on the limitations or constraints of the load lifting structure, attachment points, type of suspension components, specific applications, etc., such a small angle between the two axes can be adopted without departing from the scope of the present disclosure.

[0173] As shown, the load lifting system 1900 includes a lifting system. The lifting system of this embodiment includes a first lifting connection 1916a with a corresponding reel, and includes a first suspension member guide 1918a. Similarly, a second lifting connection 1916b with a corresponding reel and a second suspension member guide 1918b are provided. The first suspension member 1904a is associated with the first lifting connection 1916a, and the second suspension member 1904b is associated with the second lifting connection 1916b. The first suspension member 1904a can be wound around the reel of the first lifting connection 1916a and pass through or along the first suspension member guide 1918a to the first guide element 1908a, be guided through the bracket 1910, and fixedly attached to the first adjustable connection 1906a. Similarly, the second suspension member 1904b can be wound around the spool of the second lifting connection 1916b and passed through or along the second suspension member guide 1918b to the second guide element 1908b, guided through the bracket 1910, and fixedly attached to the second adjustable connection 1906b. The interconnecting member 1912 provides a mechanism for the response or interaction of the two suspension members 1904a, 1904b to maintain active sharing of the load on the bracket 1910, as described above.

[0174] In this configuration, the lengths of the suspension members 1904a, 1904b are not fixed (e.g., FIG. 14A to FIG. 14BThe length of the suspension members 1904a, 1904b may be adjusted by unwinding or winding the suspension members 1904a, 1904b from the respective lifting connections 1916a, 1916b. The lifting connections 1916a, 1916b are configured to pay out (or shorten) the length of the respective suspension members 1904a, 1904b along separate paths (e.g., axes 1902a, 1902b) of the respective suspension members 1904a, 1904b of the load lifting system 1900, thereby effectively raising or lowering the bracket 1910 and the load attached to the bracket 1910. In some embodiments, the lifting connections 1916a, 1916b can be automated or operated or configured to perform a feedback loop that ensures that when one suspension member 1904a, 1904b is paid out (e.g., increased in length), the other suspension member 1904a, 1904b is paid out by an equal amount, thereby effectively lowering or raising the carriage 1910 and the load attached to the carriage 1910. That is, for example, when the length of the first suspension member 1904a is increased, the length of the second suspension member 1904b is increased by an equal amount to ensure that the load suspended from the carriage 1910 is evenly shared between the two suspension members 1904a, 1904b, and the adjustable connections 1906a, 1906b (e.g., cranks) remain within the range of active travel.

[0175] According to some non-limiting configurations, a feedback process can be provided to ensure that the length of the suspension members 1904a, 1904b is maintained, thereby achieving load sharing and damping purposes. This feedback process can be implemented in any number of different ways. Regardless of the specific implementation, the purpose of this feedback process is to ensure that each suspension member 1904a, 1904b remains involved in sharing the load suspended from the bracket 1910, and when the bracket 1910 is in a neutral (vertical) position, the adjustable connection 1906a, 1906b (e.g., crank) remains centered within the predetermined range of motion of the adjustable connection 1906a, 1906b. Therefore, the lifting connection 1916a, 1916b can be configured to ensure that the adjustable connection 1906a, 1906b provides a sufficient range of motion to allow the suspension members 1904a, 1904b to continue to maintain "active" load sharing when the bracket 1910 moves to various positions. This feedback process can be achieved by actively winding and unwinding the suspension members 1904a, 1904b around the lifting connections 1916a, 1916b. Fig.19The load biasing system 1900 is configured to provide the ability to actively dampen pendulum motion in the direction of each suspension member 1904a, 1904b, while also allowing for lowering and raising the carriage 1910 and the load suspended therefrom. Such an ability is advantageous, for example, when storing the carriage 1910 closer to or further away from a load lifting structure. For example, such adjustment may be used to ensure that the carriage 1910 and / or the load attached thereto are properly positioned relative to the load lifting structure. For example, where the load lifting structure is a helicopter, the carriage 1910 and / or the load attached thereto is maintained for operations such as landing or lowering the load for delivery and / or raising the load after pickup.

[0176] In some embodiments, the lifting connections 1916a, 1916b may include respective sensors 1920a, 1920b that are configured to monitor, sense, or otherwise detect the length and / or incremental changes in length (e.g., not necessarily monitoring the total length) of the respective suspension members 1904a, 1904b. The suspension members 1904a, 1904b may be encoders, optical sensors, mechanical wheels, or gauges, etc., that may be arranged to measure changes in length of the respective suspension members 1904a, 1904b. Although shown as being integrated into the lifting connections 1916a, 1916b, in other configurations, the sensors 1920a, 1920b may be arranged external to the lifting connections 1916a, 1916b and may be positioned at any location and arranged to at least monitor or measure changes in length of the suspension members 1904a, 1904b. In some embodiments, and as Fig.19 As shown in , sensors 1920a, 1920b can be arranged to communicate with controller 1922. Controller 1922 can be configured to receive signals from sensors 1920a, 1920b and process these signals to make decisions about the operation of one or both of the lifting connections 1916a, 1916b. Controller 1922 can be operably connected to lifting connections 1916a, 1916b to provide control commands to lifting connections 1916a, 1916b. These control commands can be used to pay out (unwind) the length of the corresponding suspension members 1904a, 1904b or to reel in (wind) the length of the corresponding suspension members 1904a, 1904b.

[0177] Although controller 1922 is shown as being arranged separately / separately from lifting links 1916a, 1916b, this configuration is not intended to be limiting. For example, in some embodiments, controller 1922 may be integrated into one of lifting links 1916a, 1916b and communicate with sensors 1920a, 1920b of the same lifting link 1916a, 1916b and sensors 1920a, 1920b of the other lifting link 1916a, 1916b. In other embodiments, each lifting link 1916a, 1916b may include a dedicated controller embedded therein, and the controllers may communicate with each other to perform active balancing of suspension members 1904a, 1904b.

[0178] exist Fig.19 In the configuration of FIG. 1 , the suspension members 1904a, 1904b extend from respective lifting connectors 1916a, 1916b, through or around suspension member guides 1918a, 1918b, through or around guide elements 1908a, 1908b, through bracket 1910, and fixedly attached to adjustable connectors 1906a, 1906b. In other configurations, some components may be omitted or combined, or other attachment points, connectors, etc. may be provided. For example, in some embodiments, guide elements 1908a, 1908b and suspension member guides 1918a, 1918b may be combined into a single connection / attachment point (e.g., similar to FIG. 1 ). Fig. 9 Therefore, if Fig.19 The illustrative configurations of the active feedback systems shown in FIG. 8 are not intended to be limited to the specific arrangements of components shown.

[0179] Advantageously, in view of the teachings herein, embodiments of the present disclosure provide a device for moving a load suspended from a load carrying line attached to a vehicle or other load lifting structure that dampens oscillations of a swinging load to reduce the time and control requirements of the vehicle in delivering the load and improve the accuracy of load placement. Additionally, advantageously, embodiments of the present disclosure enable the use of a cable system extending from a rescue vehicle to dampen pendulum oscillations and mitigate spin of the rescue platform during a rescue operation.

[0180] In addition, embodiments of the present disclosure can reduce the moment on an aircraft carrying a load on a load bearing line attached to the aircraft to reduce the forces reacted by the aircraft due to the swinging load and concentrate the line of action of the forces to a point closer to the center of gravity of the aircraft. This operation of moving the main force concentration point away from the load can minimize the control requirements of the pilot and reduce the pilot workload and skill level requirements for controlling the aircraft-load combination, and reduce the possibility of pilot-induced oscillations, which can amplify the amplitude of the oscillations and endanger the pilot and ground personnel.

[0181] In addition, advantageously, embodiments of the present disclosure can reduce the moment on an unmanned aircraft carrying a load on a load-bearing line attached to the unmanned aircraft. This reduced movement can achieve rapid damping of load oscillations, and reduce the forces reacted by the aircraft due to swinging loads, and concentrate the lines of action of the forces to a point closer to the center of gravity of the aircraft. For example, this can minimize autopilot control requirements and related software required to safely transport external loads, and increase delivery speed by reducing the time required for load stabilization during landing and descent. Advantageously, embodiments of the present disclosure can transfer or move control requirements from the autopilot of a manned or unmanned aircraft to the load lifting system and its stabilization system to avoid complex modifications to the automatic stability control system of the aircraft itself and / or the autopilot, thereby reducing development time and cost and providing a more universal method of attaching and carrying external loads, reducing flight time, and delivering loads more safely.

[0182] According to some embodiments of the present disclosure, load carrying equipment, systems, and methods are provided for aircraft to pick up external loads without the need for ground personnel. Such systems can enable the load pickup device to be accurately placed on or in the load pickup mechanism. This can reduce costs, time, effort, and improve the safety of picking up and dropping external loads. In addition, the embodiments described herein implement a device for carrying external loads on an aircraft that suppresses oscillations of swinging loads while reducing control requirements for external load stabilization, which does not require major modifications to the aircraft and does not add a lot of weight and complexity. In addition, external load stabilization of the aircraft in the lateral, longitudinal, or both directions is achieved simultaneously, thereby providing customizable equipment, systems, and methods for stabilizing external loads to address specific axis requirements for specific aircraft and / or load applications.

[0183] Advantageously, embodiments of the present disclosure provide a device for carrying an external load on a load lifting structure that suppresses oscillations of a swinging load while reducing control requirements for external load stability. In some such embodiments, the system can be lowered or raised relative to the load lifting structure to minimize ground and obstacle clearance requirements for the load lifting structure. In addition, in some embodiments, a variable length system can be used to extend to handle loads in a multi-obstacle environment while keeping the load lifting structure (e.g., a carrier) in a clear operating environment above the obstacle. Advantageously, this can minimize the space required for aircraft operations and allow load pickup and delivery in crowded environments. These and other advantages are provided by embodiments of the present disclosure.

[0184] The terms "a", "an", "the" and similar references used in the context of the description (particularly in the context of the appended claims) should be interpreted as covering both the singular and the plural, unless otherwise specified herein or specifically contradicted by the context. The modifier "approximately" used in conjunction with the quantity includes the value and has the meaning specified by the context (for example, it includes the error range associated with the measurement of a specific quantity). All ranges disclosed herein include the endpoints, and the endpoints can be combined independently with each other. As used herein, the terms "approximately" and "substantially" are intended to include the error range associated with measuring a specific amount based on the equipment available when submitting this application. For example, the term can include a range of ±8%, or 5%, or 2% of a given value or other percentage changes that those skilled in the art would understand for the specific measurements and / or dimensions mentioned herein.

[0185] Although the present disclosure has been described in detail in conjunction with only a limited number of embodiments, it should be readily understood that the present disclosure is not limited to these disclosed embodiments. On the contrary, the present disclosure may be modified to incorporate any number of variations, substitutions, replacements, combinations, sub-combinations, or equivalent arrangements not described so far, which are commensurate with the scope of the present disclosure. In addition, although various embodiments of the present disclosure have been described, it should be understood that various aspects of the present disclosure may include only some of the described embodiments. Therefore, the present disclosure should not be considered to be limited by the foregoing description, but only by the scope of the appended claims.

Claims

1. A load lifting system, comprising: a first flexible suspension member configured to be attached to a load lifting structure at a first connection at a first end of the first flexible suspension member and to be attached to the load lifting structure at a first adjustable connection at a second end of the first flexible suspension member; a second flexible suspension member configured to be attached to the load lifting structure at a second connection at a first end of the second flexible suspension member and to be attached to the load lifting structure at a second adjustable connection at a second end of the second flexible suspension member; an interconnecting member extending between and connecting the first adjustable connector and the second adjustable connector; as well as A carriage is movably suspended from both the first flexible suspension member and the second flexible suspension member, wherein the carriage is configured to suspend a load therefrom.

2. The load lifting system according to claim 1, wherein: The length of the interconnecting member between the first adjustable connection and the second adjustable connection is adjustable.

3. The load lifting system according to claim 1, wherein: The interconnecting member is a fixed length element.

4. The load lifting system according to claim 1, wherein: The first adjustable connection is a first crank and the second adjustable connection is a second crank.

5. The load lifting system according to claim 4, wherein: The first crank includes a first crank pivot and the second crank includes a second crank pivot; and The length of the first flexible suspension member is adjusted by adjusting the first crank about the first crank pivot, and the length of the second flexible suspension member is adjusted by adjusting the second crank about the second crank pivot.

6. The load lifting system of claim 1, wherein: The first connection and the first adjustable connection define a first axis therebetween, and the second connection and the second adjustable connection define a second axis therebetween; and The carriage is configured to move relative to and along the first and second flexible suspension members in directions along the first and second axes such that the carriage follows a curved path having a continuously varying radius of curvature.

7. The load lifting system according to claim 6, wherein: The first axis is non-parallel to the second axis.

8. The load lifting system according to claim 6, wherein: The first axis is perpendicular to the second axis.

9. The load lifting system according to claim 1, wherein: The carriage includes at least one first guide element configured to guide the carriage along the first flexible suspension member and at least one second guide element configured to guide the carriage along the second flexible suspension member.

10. The load lifting system of claim 1, further comprising a motor operably coupled to the carriage and configured to drive the carriage along the first and second flexible suspension members.

11. The load lift system of claim 10, further comprising an electronics package configured to control operation of the motor.

12. The load lifting system of claim 10, further comprising a clutch disposed between the motor and the carriage.

13. The load lifting system of claim 1, wherein: The first connection is a first lifting connection, wherein the first flexible suspension member is configured to be wound around the first lifting connection and thereby adjusted in length; and The second connection is a second lifting connection, wherein the second flexible suspension member is configured to be wound around the second lifting connection and thereby adjusted in length.

14. The load lifting system of claim 13, further comprising a controller arranged to be in operative communication with each of the first lifting connection and the second lifting connection, wherein: The controller is configured to operate in feedback to ensure that each flexible suspension member is dispensed or retracted to an equal length.

15. A load lifting system, comprising: a flexible suspension member configured to be suspended from the load lifting structure from a first attachment point and a second attachment point; as well as a carriage movably suspended from the flexible suspension member such that the carriage follows a curved path having a continuously varying radius of curvature, Wherein, the bracket comprises: a lower member and an upper member arranged parallel to each other and separated by a bracket separation distance; at least one lower guide element disposed on the lower member; and at least one upper guide element arranged at each end of the upper member, wherein the suspension member passes through the upper guide element and each of the one or more lower guide elements, and wherein a length of the upper member is greater than a length of the lower member.

16. The load lifting system of claim 15, wherein: The at least one lower guide element includes at least one lower guide element located at each end of the lower member.

17. The load lifting system of claim 15, wherein: The flexible suspension member is configured to be attached to the load lifting structure at a first connection at the first attachment point, the flexible suspension member extending in a first direction to a first adjustable connection, in a second direction from the first adjustable connection to a second adjustable connection, and in a third direction to a second connection at the second attachment point.

18. The load lifting system of claim 17, wherein: The upper member includes a first portion extending in the first direction and a second portion extending in the third direction.

19. The load lifting system of claim 18, wherein: The lower member includes a first portion extending in the first direction and a second portion extending in the third direction.

20. The load lifting system of claim 15, further comprising at least one engagement member connecting the upper member to the lower member.

21. A load lifting system, comprising: a load lifting structure configured with at least two attachment points, the at least two attachment points defining at least one axis between two of the at least two attachment points; a single continuous flexible suspension member suspended from said load lifting structure at said at least two attachment points; as well as A carriage having at least one guide element configured to move along the suspension member in the direction of the at least one axis so that the carriage follows a curved path having a continuously varying radius of curvature based on the at least two attachment points, wherein the suspension member is the only suspension member supporting the carriage, and wherein the carriage is configured to releasably suspend a load from the carriage.

22. The load lifting system of claim 21, wherein: At least one of the at least two attachment points includes a connector configured to enable the single continuous suspension member to extend and retract in length.

23. The load lifting system of claim 21, wherein: The bracket is provided with a load release device.

24. The load lifting system of claim 21, wherein: The bracket is configured to directly carry the load.

25. The load lifting system of claim 24, wherein: The load is a stretcher.

26. The load lifting system of claim 21, wherein: The at least two attachment points include a first fixed connector attachment point and a first suspension member redirecting element defining a first axis, and a second fixed connector attachment point and a second suspension member redirecting element defining a second axis, wherein the suspension member is arranged to pass through the first suspension member redirecting element from the first fixed connector toward the second axis in the direction of the first axis, and pass through the second suspension member redirecting element in the direction of the second axis and reach the second fixed connector.

27. The load lifting system of claim 21, wherein: The suspension member is configured to extend in two axial directions, wherein a first axis is not parallel to a second axis, and wherein: The bracket includes a first pair of guide elements configured to guide the bracket along the suspension member in the direction of the first axis and a second pair of guide elements configured to guide the bracket along the suspension member in the direction of the second axis.

28. The load lifting system of claim 21, further comprising a motor operably coupled to the at least one carriage guide element and configured to rotationally drive the at least one carriage guide element.

29. The load lifting system of claim 28, further comprising an electronics package configured to control the rotational operation of the at least one carriage guide element by controlling the motor.

30. The load lifting system of claim 29, wherein: The electronic package includes a power source, a controller, and one or more sensors configured to monitor at least one of: (i) the position and movement of the bracket; and (ii) the relative movement of a load attached to the bracket.

31. The load lifting system of claim 28, further comprising a clutch disposed between the motor and at least one carriage guide element.

32. The load lifting system of claim 21 further comprising a controllable capture device connected to the bracket.

33. The load lifting system of claim 21, wherein: The bracket has a lower member and an upper member arranged parallel to each other and separated by a bracket separation distance, wherein the bracket comprises: at least one lower guide element disposed on the lower member; and at least one upper guide element arranged at a respective end of the upper member, wherein the suspension member passes through the upper guide element and the one or more lower guide elements, and wherein a length of the upper member is greater than a length of the lower member.

34. The load lifting system of claim 21, wherein: The load lifting system is a carrier.

35. A load lifting system, the load lifting system comprising: a first connector configured to connect to a load lifting structure at a first attachment point; a second connector configured to connect to the load lifting structure at a second attachment point, wherein an axis is defined between the first attachment point and the second attachment point; a single continuous flexible suspension member attached to the first and second connectors and extending in the direction of the axis; and a carriage having at least one guide element configured to move relative to and along the suspension member such that the carriage follows a curved path having a movement path with a continuously varying radius of curvature based on the first and second attachment points, wherein the suspension member is the only suspension member supporting the carriage, and wherein the carriage is configured to releasably suspend a load therefrom.

36. The load lifting system of claim 35, wherein: The first connector includes a first fixed connector, and the second connector includes a first redirecting element, and a first axis is defined between the first connector and the second connector, the load lifting system further comprising: a second fixed connector at a third attachment point and a second redirecting element at a fourth attachment point, wherein a second axis is defined between the third attachment point and the fourth attachment point, the second axis is not parallel to the first axis, and the suspension member passes through each of the first and second fixed connectors and the first and second redirecting elements.

37. The load lifting system of claim 36, wherein: The first axis and the second axis are perpendicular to each other.

38. The load lifting system of claim 35, wherein: The suspension member is configured to extend in two axial directions, wherein a first axis is not parallel to a second axis, and wherein: The at least one guide element of the bracket includes a first guide element configured to guide the bracket along the suspension member in the direction of the first axis and a second guide element configured to guide the bracket along the suspension member in the direction of the second axis.

39. The load lifting system of claim 35, wherein: The load lifting system is a carrier.

40. A load lifting system, the load lifting system comprising: a first fixed connection disposed at a first position on the load lifting structure; a first redirecting element disposed at a second position on the load lifting structure, defining a first axis between the first position and the second position; a second redirecting element disposed at a third position on the load lifting structure, the third position being offset from the first axis; a second fixed connection disposed at a fourth position on the load lifting structure, the fourth position being offset from the first axis, a second axis being defined between the third position and the fourth position, wherein the first axis and the second axis are non-parallel; a suspension member attached at the first fixed connection, extending in a direction along the first axis to the first redirecting element, passing through the first redirecting element and extending to the second redirecting element, and passing through the second redirecting element and extending in a direction along the second axis to the second fixed connection; and A bracket supported on the suspension member, wherein the suspension member passes through the bracket along a first path between the first fixed connector and the first redirecting element in the direction of the first axis, and passes through the bracket along a second path between the second redirecting connector and the second fixed connector in the direction of the second axis.

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