Annular lifting appliance and lifting equipment comprising same

Abstract

The utility model provides an annular lifting appliance and lifting equipment comprising the same. On one hand, the annular lifting appliance comprises at least two bearing modules, the bearing modules are connected through first telescopic modules to form an annular structure, each bearing module comprises a first bearing body, and a grabbing assembly is arranged on the side, facing the inner side of the annular structure, of each first bearing body so that goods can be grabbed. On the other hand, the utility model further provides hoisting equipment, and the hoisting equipment comprises the hoisting tool according to the principle of the application.

Description

Technical Field

[0001] This application belongs to the field of cargo transportation devices, and particularly relates to an annular sling and a lifting equipment including the same. Background Art

[0002] The background art provided here is for generally introducing the background of this application. The work of the currently named inventors to the extent described in this background art section, and aspects of this description that do not constitute prior art at the time of application, are neither expressly nor implicitly admitted to be prior art conflicting with this application.

[0003] Sling has a wide range of applications in the industrial field and daily life. Nowadays, with the development of the low-altitude economy, slings are also increasingly installed on low-altitude aircraft such as drones to pick up, place and transport goods. In the prior art, low-altitude aircraft such as drones usually use hooks or mechanical grippers to pick up and place goods. For example, Chinese Utility Model Patent CN221251748U discloses an unmanned transportation device for high-altitude areas, including a drone body and a transportation box. A load-bearing bracket is provided at the bottom of the drone body. Hoisting rods are welded at both side edges of the load-bearing bracket. A guide seat is provided at the bottom end of the hoisting rod. An electric rotating shaft penetrates through the surface of the guide seat and is connected to the side surface of the transportation box. Telescopic cylinders are symmetrically provided on both sides of the load-bearing bracket perpendicular to the hoisting rod. The movable end of the telescopic cylinder is connected with an electric shaft arm, and the bottom end of the electric shaft arm is connected with an electric control mechanical gripper. The electric control mechanical gripper can grab the goods and put them into the transportation box, and the goods are transported by the drone. When the drone transports the goods to the destination, the goods are taken out of the transportation box through the electric control mechanical gripper, or the transportation box is directly tilted to pour out the goods from it.

[0004] However, this way of picking up and placing goods is relatively complex. The goods are likely to fall when the gripper grabs the goods, and the goods are likely to bump into the transportation box when the gripper puts the goods into the transportation box or takes the goods out of the transportation box. Moreover, limited by the size of the transportation box, some goods with larger volumes cannot be transported. Therefore, a new sling is needed to solve the above problems. Summary of the Utility Model

[0005] This section introduces the selection of the utility model concept in a simplified form, and these concepts will be further reflected in the following detailed description. This section is not intended to identify the key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0006] In one aspect of the present application, a ring sling is provided. The sling includes at least two load-bearing modules, which are connected by a first telescopic module to form a ring structure. Moreover, the load-bearing module includes a first carrier, and a gripping assembly is provided on one side of the first carrier facing the inner side of the ring structure for gripping goods.

[0007] Preferably, the load-bearing module further includes a second carrier, the second carrier is located on both sides of the first carrier along the length direction, and is connected to the first carrier by a second telescopic module. The first telescopic module is connected to the load-bearing module by connecting to the second carrier.

[0008] Preferably, the sling includes two oppositely arranged load-bearing modules and two oppositely arranged first telescopic modules, and the first telescopic modules connect the load-bearing modules to form a rectangular ring structure.

[0009] Preferably, the first telescopic module includes a third carrier, a first pushing device, and a first telescopic rod. The first pushing device is arranged inside the third carrier, one end of the first telescopic rod is connected to the first pushing device, and the other end of the first telescopic rod extends out of the third carrier along the length direction of the third carrier and is connected to the second carrier.

[0010] Preferably, a gripping assembly is provided on one side of the third carrier facing the inner side of the rectangular ring structure for gripping goods.

[0011] Preferably, the second telescopic module includes a second pushing device and a second telescopic rod. The second pushing device is arranged inside the first carrier, one end of the second telescopic rod is connected to the second pushing device, and the other end of the second telescopic rod extends out of the first carrier along the length direction of the first carrier and is connected to the second carrier.

[0012] Preferably, the gripping assembly includes a gripping plate, and the surface of the gripping plate facing the inner side of the ring structure is a friction surface.

[0013] Preferably, the gripping assembly includes a gripping plate, and hooks are provided on the surface of the gripping plate facing the inner side of the ring structure.

[0014] Preferably, the gripping assembly includes a gripping plate, and forklifts are provided at the bottom of the surface of the gripping plate facing the inner side of the ring structure.

[0015] Preferably, an infrared sensing unit is provided on the second carrier, and the infrared sensing unit includes an infrared sensor facing the geometric center of the sling.

[0016] Preferably, the sling further includes a control module, which is configured to be able to receive the information transmitted by the infrared sensing unit and control the telescopic movement of the first telescopic rod and / or the second telescopic rod according to the information.

[0017] Preferably, a microswitch or a pressure sensor is provided on the surface of the gripping plate facing the inner side of the annular structure.

[0018] Preferably, the lifting device further includes a control module configured to receive information transmitted by the microswitch or the pressure sensor and control the first telescopic rod and / or the second telescopic rod according to the information.

[0019] Preferably, the second carrier is provided with a winch unit. The winch unit includes a first driving motor, a winch body, and a rope wound around the winch body. The first driving motor is connected to the winch body so as to be able to drive the winch body to rotate to wind and unwind the rope, and one end of the rope is connected to the hoisting equipment.

[0020] Preferably, the second carrier is provided with a visual recognition unit. The visual recognition unit includes a camera facing downward of the lifting device, and the visual recognition unit is configured to be able to recognize the position of the goods.

[0021] Preferably, the first carrier or the second carrier is provided with an attitude sensing unit configured to be able to detect the attitude information of the lifting device.

[0022] Preferably, the first pushing device and / or the second pushing device includes a second driving motor, a left-right threaded lead screw, and a lead screw nut. Among them, the second driving motor is connected to the left-right threaded lead screw so as to be able to drive the left-right threaded lead screw to rotate. The left-handed thread and the right-handed thread of the left-right threaded lead screw are respectively screwed with a lead screw nut, and the lead screw nut is provided with a connecting member for connecting to the first telescopic rod and / or the second telescopic rod through the connecting member.

[0023] Preferably, a thruster is provided on the surface of the second carrier facing the outside of the lifting device.

[0024] Preferably, the first carrier or the third carrier is provided with a mounting groove, and the control module is arranged in the mounting groove.

[0025] Preferably, at least one of the first carrier, the second carrier, and the third carrier is provided with a hollow structure.

[0026] In another aspect of the present application, a hoisting equipment is provided, and the hoisting equipment includes a lifting device according to the principle of the present application.

[0027] Preferably, the hoisting equipment is an aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In the following detailed description of the embodiments, other or additional features, advantages, and details are presented only by way of example. In the drawings:

[0029] Figure 1 A lifting device according to the principle of the present application is schematically shown;

[0030] Figure 2 Schematically shows a spreader according to the principles of the present application in a stretched state;

[0031] Figure 3 、 Figure 4 Schematically shows a first telescopic module according to the principles of the present application;

[0032] Figure 5 Schematically shows another embodiment of a spreader according to the principles of the present application;

[0033] Figure 6 Schematically shows a second telescopic module according to the principles of the present application;

[0034] Figure 7 Schematically shows a mounting groove according to the principles of the present application;

[0035] Figure 8 、 Figure 9 Schematically shows a second carrier according to the principles of the present application; and

[0036] Figure 10 、 Figure 11 and Figure 12 Schematically shows different gripping assemblies according to the principles of the present application and respective schematic diagrams of gripping goods. Detailed implementation

[0037] The following description is essentially exemplary only and is not intended to limit the present application, its application, or its use. Furthermore, there is no intention to be limited by any explicit or implicit theory presented in the foregoing technical field, background art, and utility model content or the following detailed description. It should be understood that throughout the drawings, corresponding reference numerals identify similar or corresponding components or features.

[0038] The present application will now be further elaborated. In the following paragraphs, different aspects of the present application are more specifically defined. Unless explicitly indicated to the contrary, each aspect so defined can be combined with any other aspect(s). In particular, any feature indicated as being preferred or advantageous can be combined with any other feature(s) indicated as being preferred or advantageous.

[0039] In view of the problems existing in the prior art, the present application provides an annular spreader that can adapt to containers of different sizes. Refer to the attached Figure 1, which shows a spreader 10 according to the principles of the present application. The spreader 10 includes at least two load-bearing modules 100, which are connected by a first telescopic module 130, so that the spreader 10 is formed into an annular structure. The load-bearing module 100 includes a first carrier 110, and a gripping assembly 150 is provided on the side of the first carrier 110 facing the inside of the annular structure for gripping the goods to be lifted. The first telescopic module 130 can change the distance between the load-bearing modules 100 by telescoping, and further change the size of the annular structure of the spreader 10 to adapt to goods of different sizes. It should be understood that the spreader according to the principles of the present application can be formed into annular structures of various shapes, such as polygonal annular structures like triangles, quadrilaterals, pentagons, etc., so as to be able to adapt to goods of various shapes, and this annular structure can be either a closed-loop structure or an open-loop structure.

[0040] Referring to the attached Figure 1 and the attached Figure 2 , advantageously, the load-bearing module 100 may further include a second carrier 120, the second carrier 120 is located on both sides of the first carrier 110 along the length direction, and is connected to the first carrier 110 by a second telescopic module 140, and the first telescopic module 130 is connected to the load-bearing module 100 by connecting to the second carrier 120. Thus, the second telescopic module 140 can change the length of the load-bearing module 100 by telescoping, thereby further increasing the adjustable size range of the spreader 10 to adapt to goods of different sizes. The first telescopic module 130 and the second telescopic module 140 can be either automatically telescoped or manually telescoped.

[0041] Referring to the attached Figure 1 and the attached Figure 2 , in an embodiment, the number of both the load-bearing module 100 and the first telescopic module 130 is two, and the two load-bearing modules 100 are arranged oppositely, and the two first telescopic modules 130 are also arranged oppositely, and the load-bearing module 100 and the first telescopic module 130 are connected to form a rectangular annular structure. Compared with other shapes, this rectangular annular structure has a simpler structure and can match the shape of a common rectangular cargo box, which is beneficial for gripping the goods. Alternatively, the number of the first telescopic modules 130 can be one, so as to form a rectangular open-loop structure with one opening, thereby enabling the goods to more easily enter the annular structure of the spreader 10 for being gripped.

[0042] Referring to the attached Figure 3 and the attached Figure 4, the first telescopic module 130 includes a third carrier 131, a first driving device 132, and a first telescopic rod 133. Among them, the first driving device 132 is located inside the third carrier 131. One end of the first telescopic rod 133 is connected to the first driving device 132, and the other end extends out of the third carrier 131 along the length direction of the third carrier 131 and is connected to the second carrier 120. The first driving device 132 can push and pull the first telescopic rod 133 to reciprocate, realizing the telescoping of the first telescopic rod 133. The first driving device 132 may include a second driving motor 134, a left-right threaded lead screw 135, and a lead screw nut 136. Among them, the second driving motor 134 is connected to the left-right threaded lead screw 135 so as to be able to drive the left-right threaded lead screw 135 to rotate. The number of lead screw nuts 136 is two, which are respectively screwed on the left-handed thread and the right-handed thread of the left-right threaded lead screw 135. The lead screw nut 136 is provided with a connecting member 137 for connecting with the first telescopic rod 133. It is easy for those skilled in the art to understand that each lead screw nut 136 can be connected to more than one, such as two, three, four telescopic rods 133 through the connecting member 137 to meet the different connection strength requirements of the spreader in different application scenarios. Advantageously, the third carrier 131 may further include a through hole 138 for arranging the lines of the electronic device therein.

[0043] When the second driving motor 134 operates, the left-right threaded lead screw 135 rotates, causing the lead screw nuts 136 to move away from or close to each other on the left-right threaded lead screw 135, and further driving one end of the first telescopic rod 133 to move towards or away from the third carrier 131. Alternatively, the first driving device 132 may be a hydraulic cylinder or a pneumatic cylinder device, thereby driving the reciprocating movement of the first telescopic rod 133 through hydraulic pressure or air pressure. Advantageously, a gripping assembly 150 is provided on one side of the third carrier 131 facing the inside of the annular structure, whereby the spreader 10 can grip the goods more stably.

[0044] Alternatively, referring to the appendix Figure 5 , the first telescopic module 130 may not include the third carrier 131, and the first driving device 132 may be arranged inside the second carrier 120 or the first carrier 110. One end of the first telescopic rod 133 is connected to the first driving device 132, and the other end is connected to the second carrier 120 or the first carrier 110. It is easy for those skilled in the art to understand that in this embodiment, since the first telescopic rod 133 only needs to telescope in one direction, the left-right threaded lead screw can be replaced with an ordinary lead screw, that is, a lead screw with only a left-handed or right-handed thread.

[0045] Referring to the appendix Figure 6, Advantageously, the second telescopic module 140 includes a second pushing device 141 and a second telescopic rod 142. Among them, the second pushing device 141 is arranged inside the first carrier 110. One end of the second telescopic rod 142 is connected to the second pushing device 141, and the other end extends out of the first carrier 110 along the length direction of the first carrier 110 and is connected to the second carrier 120. The second pushing device 141 may have the same structure as the first pushing device 132. Alternatively, the second pushing device 141 may be arranged inside the second carrier 120. At this time, one end of the second telescopic rod 142 is connected to the second pushing device 141, and the other end is connected to the first carrier device 110.

[0046] Refer to the attached Figure 6 , In one embodiment, the second telescopic module 140 further includes a follower rod connecting member 143. The second pushing device 141 is located near one side wall inside the first carrier 110, and the second telescopic rods 142a are distributed on one side or both sides of the second pushing device 141 along the height or width direction of the first carrier 110 and are connected thereto. The number of the second telescopic rods 142a may be one, or two or more. The follower rod connecting member 143 is located near the other side wall inside the first carrier 110 and is connected to one end of the second telescopic rod 142b. The other end of the second telescopic rod 142b is connected to the second carrier 120. Optionally, the second telescopic rod 142b may be one, or two or more. When the number of the second telescopic rods 142b is more than two, they are distributed along the height or width direction of the first carrier 110. Since the second telescopic rods 142 are distributed on both sides of the inner wall of the first carrier 110, it not only strengthens the connection strength between the first carrier 110 and the second carrier 120, but also leaves space inside the first carrier 110 for installing other auxiliary devices. When the second telescopic rod 142a expands and contracts under the action of the second pushing device 141 to move the second carrier 120, the second telescopic rod 142b also expands and contracts under the drive of the second carrier 120.

[0047] Refer to the attached Figure 7 , Advantageously, the first carrier 110 may be provided with an installation groove 111 for installing auxiliary devices such as electronic devices. Advantageously, the installation groove 111 may be arranged in the space between the second telescopic rods 142a and 142b. Refer to the attached Figure 1, an opening of the installation groove 111 may be provided with a first top cover 112 to protect the device in the installation groove. The first top cover 112 is connected to the body of the first carrier 110 by means of, for example, screwing or clamping. And the first top cover 112 may be provided with a hollow structure to facilitate heat dissipation of the auxiliary equipment inside the installation groove 111 and reduce the weight of the lifting device 10. Advantageously, the body of the first carrier 110 may also be provided with a hollow structure. Advantageously, the third carrier 130 may also be provided with an installation groove, and the body of the third carrier 130 may also be provided with a hollow structure to reduce the weight of the lifting device 10. Advantageously, the surface of the first carrier 110 and / or the third carrier 130 facing the outside of the lifting device 10 is a curved surface or provided with a curvature to reduce the air resistance received by the lifting device 10.

[0048] Refer to the appendix Figure 8 , the second carrier 120 may be provided with an infrared sensing unit. Among them, the infrared sensing unit includes an infrared sensor 121 facing the geometric center of the lifting device 10 to detect the relative position between the goods and the lifting device 10. There may be two groups of infrared sensors 121. One group of infrared sensors 121a is used to detect the height of the lifting device 10 relative to the goods, and the other group of infrared sensors 121b is used to detect the distance between the gripping assembly 150 and the goods. The lifting device 10 may further include a control module (not shown), and the control module may be arranged in the installation groove 111. The control module is configured to be able to receive the information transmitted by the infrared sensing unit and control the telescopic movement of the first telescopic rod 133 and / or the second telescopic rod 142 according to this information. When the infrared sensor 121a detects that the goods are in the annular structure of the lifting device 10 and the height of the upper part of the lifting device 10 from the ground is lower than the height of the goods, it indicates that the lifting device 10 is at a height where it can grip. At this time, the control module controls the contraction of the first telescopic rod 133 and / or the second telescopic rod 142, so that the annular structure shrinks and clamps the goods to grip the goods. When the infrared sensor 121b detects that the distance between the goods and the gripping assembly 150 reaches the set threshold value, it indicates that the goods have been successfully gripped or successfully lowered. At this time, the control module can control the first telescopic rod 133 and / or the second telescopic rod 142 to stop telescoping.

[0049] In some embodiments, the gripping assembly 150 may be provided with a microswitch (not shown) to detect the distance between the gripping assembly 150 and the goods. The microswitch can transmit information to the control module. When the microswitch touches the goods, it indicates that the goods gripping assembly 150 has contacted the goods. At this time, the control module can control the first telescopic rod 133 and / or the second telescopic rod 142 to stop contracting according to the information transmitted by the microswitch. Alternatively, the gripping assembly 150 may also be provided with a pressure sensor (not shown) to detect the distance between the gripping assembly 150 and the goods. The pressure sensor can transmit the detected pressure value information to the control module. When the pressure value detected by the pressure sensor is greater than a preset value, it indicates that the gripping assembly 150 has contacted the goods. At this time, the control module can control the first telescopic rod 133 and / or the second telescopic rod 142 to stop contracting.

[0050] In some embodiments, the distance between the gripping assembly 150 and the goods can be detected by the output torque of the second driving motor 134. The second driving motor 134 can transmit its output torque to the control module. When grasping the goods, when the output torque received by the control module is greater than a preset value, it indicates that the gripping assembly 150 has contacted the goods. At this time, the control module can control the second driving motor 134 to stop rotating, so that the first telescopic rod 133 and / or the second telescopic rod 142 stop contracting.

[0051] In some embodiments, the telescopic dimensions of the first telescopic rod 133 and / or the second telescopic rod 142 can be preset in the control module according to the size of the goods. When grasping the goods, the first telescopic rod 133 and / or the second telescopic rod 142 can first extend to a first preset dimension to place the goods in the annular structure of the spreader 10, and then contract to a second preset dimension to make the goods contact the gripping assembly 150 to grasp the goods.

[0052] Refer to the attached Figure 1 and the attached Figure 8 As shown in the figure, a cavity is provided in the second carrier 120. A winch unit 160 is provided in the cavity. The winch unit 160 includes a first driving motor, a winch disc body, and a rope wound around the winch disc body. One end of the rope is connected to the lifting equipment. The first driving motor can drive the winch disc body to rotate, so as to drive the rope to wind and unwind, and further realize the lifting of the spreader 10. A second top cover 122 may be provided at the opening of the cavity to protect the devices in the cavity, and the second top cover 122 may also be provided with a hollow structure for heat dissipation and reducing the weight of the spreader. Those skilled in the art can easily understand that the winch unit according to the principle of the present application may not be provided in the second carrier 120, but may be provided on the lifting equipment. The present application does not limit this.

[0053] Refer to the attached Figure 1 and the attached Figure 8, Advantageously, a thruster 123 may be provided on the surface of the second carrier 120 facing the outside of the spreader 10, so that thrusters 123 capable of providing thrust in different directions are provided around the outside of the spreader 10. In one embodiment, the second carrier 120 is in the shape of a cuboid, and the thrusters 123 are provided on two surfaces of the cuboid facing the outside of the spreader 10. Advantageously, the surface of the second carrier 120 facing the outside of the spreader 10 may be a curved surface or provided with a curvature to reduce the air resistance received by the spreader 10. The thruster 123 may be a ducted fan, or a device capable of providing driving force such as a gas or liquid nozzle, and the present application does not limit this. Advantageously, the second carrier 120 is provided with a hollow structure on the surface opposite to the surface where the thruster 123 is located to ensure smooth air flow when the thruster 123 operates. When the spreader 10 is affected by wind during the lifting operation, the corresponding thruster 123 may be activated to provide a thrust with the same magnitude and opposite direction as the wind force to offset the influence of the wind force and prevent the spreader from swinging.

[0054] Refer to the appendix Figure 9 , Advantageously, the second carrier 120 may further be provided with a visual recognition unit, and the visual recognition unit includes a camera 124. The camera 124 is provided at the bottom of the second carrier 120 and faces downward of the spreader 120, that is, in the direction facing the ground. The axis of the camera 124 may be perpendicular to the horizontal plane or may be provided at an acute angle to the horizontal plane. The camera 124 can recognize the position of the goods to ensure that the spreader 10 is directly above the goods. When the recognition visual unit detects through the camera 124 that the spreader is directly above the goods, it can transmit information to the control module, and the control module can control the rotation of the winch drum according to this information, so as to lower the spreader 10 to grasp the goods. The visual recognition unit is further configured to be able to transmit the relative position information between the spreader 10 and the goods to the control module when it recognizes that the spreader 10 deviates from directly above the goods due to reasons such as wind force, and the control module can control the operation of the corresponding thruster 123 according to this information to push the spreader 10 to directly above the goods. Mounting holes 125 may also be provided on the second carrier 120 to facilitate the connection of the second carrier 120 with the first telescopic rod 133 and the second telescopic rod 142.

[0055] Advantageously, the spreader 10 further includes an attitude sensing unit (not shown) to detect the attitude information of the spreader 10. The attitude sensing unit may include a gyroscope and a magnetic compass. Among them, the gyroscope can detect the angular velocity and acceleration of the ROLL axis, PITCH axis and YAW axis of the spreader 10, while the magnetic compass can detect the components of the geomagnetic field in the ROLL axis, PITCH and YAW axes of the spreader 10. The attitude sensing unit is configured to be able to transmit the detected attitude information to the control module. When the attitude information shows that the spreader 10 is inclined or swinging in the vertical direction, etc., the control module can control the rotation speed of the corresponding winch drum body according to this information to increase or decrease the rotation speed, so as to tighten or loosen the rope and keep the spreader 10 parallel to the ground during the take-off and landing process. The attitude sensing unit can be arranged in the installation groove 111. Advantageously, the spreader according to the principle of the present application may further include a power supply (not shown) to provide power for each electrical device in the spreader, and the power supply can be arranged in the installation groove 111.

[0056] Referring to the attached Figure 10 , the gripping assembly 150 may include a gripping plate 151, and the surface of the gripping plate 151 facing the inside of the annular structure is a friction surface. It should be understood that the friction surface refers to the surface provided with friction increasing features, and the friction increasing features refer to the features that can increase the friction force, such as anti-slip lines, concave-convex structures, or frosting, etc. The friction increasing features can be arranged on the entire friction surface or only on a part of the friction surface. In one embodiment, the friction increasing feature is an anti-slip line. The gripping plate 151 can be connected to the first carrier 110 and the third carrier 130 by means of threaded connection, snap connection, welding or integral molding. When gripping the goods, the friction surface can provide frictional force for the cargo box 200, so as to lift the cargo box 200 by relying on the frictional force. Advantageously, a micro switch or a pressure sensor can be arranged on the surface of the gripping plate 151 facing the inside of the annular structure to detect the distance between the gripping assembly and the goods.

[0057] Referring to the attached Figure 11 , alternatively, the friction surface may be provided with a lifting hook 152, and the lifting hook 152 is perpendicular or substantially perpendicular to the friction surface. When gripping the goods, the lifting hook 152 can be inserted into the handle 201 of the cargo box 200, so as to lift the cargo box 200. At the same time, the friction surface can also provide frictional force for the cargo box 200 to further improve the stability during the gripping process. The lifting hook 152 can be connected to the gripping plate 151 by means of threaded connection, snap connection, welding or integral molding. Alternatively, the gripping plate can also be provided with a lifting hook 152 on the surface facing the inside of the annular structure without providing a friction surface, and only rely on the lifting hook 152 to grip the goods.

[0058] Referring to the attached Figure 12, at the bottom of the friction surface, that is, the edge of the friction surface close to the bottom of the spreader 10, a forklift 153 can be provided. The forklift 153 is perpendicular or substantially perpendicular to the friction surface. When grasping the goods, the forklift 153 can be inserted into the bottom of the container 200, so as to lift the container 200. At the same time, the friction surface can also provide frictional force for the container 200. The forklift 153 can be connected to the gripping plate 151 by means of threaded connection, clamping connection, welding or integral molding, etc. Alternatively, the gripping plate can also be provided with a forklift 153 on the side facing the inner side of the annular structure without providing a friction surface, and only rely on the forklift 153 to grasp the goods.

[0059] Alternatively, the gripping plate 151 can also be a magnetic plate. When grasping iron goods or containers such as containers, the goods or containers can be adsorbed by magnetic force. Alternatively, in some embodiments, the gripping assembly 150 can also include a mechanical gripper.

[0060] In another aspect of the present application, a hoisting device is further provided. The hoisting device includes a spreader 10 according to the principle of the present application. The hoisting device can be a crane, such as a gantry crane, a crane, a tower crane, or can also be an aircraft, such as an unmanned aircraft or a manned aircraft. The present application does not limit the hoisting device. In some embodiments, the unmanned aircraft is a drone. In some embodiments, the aircraft is a manned aircraft.

[0061] The spreader and the hoisting device according to the principle of the present application can adjust the size of the spreader according to the size of the goods, so as to be applicable to goods of various sizes. And the spreader grasps the goods by means of circumferential clamping, which increases the grasping strength, reduces the risk of the goods falling during hoisting, simplifies the operation process, and improves the operation efficiency.

[0062] Although at least one exemplary embodiment has been described in the foregoing detailed description, it should be understood that there are a large number of variations. It should also be understood that one exemplary embodiment or multiple exemplary embodiments described herein are merely examples and are not intended to limit the scope, applicability or construction of the present application in any way. On the contrary, the foregoing detailed description will provide those skilled in the art with a convenient guide for implementing one exemplary embodiment or multiple exemplary embodiments. It should be understood that various changes, variations or alterations can be made to the functions and arrangements of the elements without departing from the scope of the present application as set forth by the appended claims and their equivalents.

Claims

1. A ring-shaped sling, characterized in that: The sling comprises at least two load-bearing modules, which are connected by a first telescopic module to form an annular structure, and the load-bearing modules comprise a first load-bearing body, which is provided with a gripping assembly on a side facing the inner side of the annular structure for gripping cargo.

2. The sling according to claim 1, characterized in that: The carrying module also includes a second carrying body, which is located on both sides of the first carrying body along the length direction and is connected to the first carrying body through a second telescopic module, and the first telescopic module is connected to the carrying module by connecting to the second carrying body.

3. The sling according to claim 2, characterized in that: The sling comprises two oppositely disposed bearing modules and two oppositely disposed first telescopic modules, wherein the first telescopic modules connect the bearing modules to form a rectangular ring structure.

4. The sling according to claim 3, characterized in that: The first telescopic module includes a third carrier, a first pushing device and a first telescopic rod. The first pushing device is arranged inside the third carrier, one end of the first telescopic rod is connected to the first pushing device, and the other end of the first telescopic rod extends out of the third carrier along the length direction of the third carrier and is connected to the second carrier.

5. The sling according to claim 4, characterized in that: A gripping assembly is provided on one side of the third carrier facing the inner side of the rectangular ring structure for gripping goods.

6. The sling according to claim 5, characterized in that: The second telescopic module includes a second pushing device and a second telescopic rod. The second pushing device is arranged inside the first carrier, one end of the second telescopic rod is connected to the second pushing device, and the other end of the second telescopic rod extends out of the first carrier along the length direction of the first carrier and is connected to the second carrier.

7. The sling according to claim 6, characterized in that: The gripping assembly comprises a gripping plate, and a surface of the gripping plate facing the inner side of the annular structure is a friction surface.

8. The sling according to claim 6, characterized in that: The gripping assembly comprises a gripping plate, and a lifting hook is arranged on a surface of the gripping plate facing the inner side of the annular structure.

9. The sling according to claim 6, characterized in that: The gripping assembly comprises a gripping plate, and a fork is arranged at the bottom of one side of the gripping plate facing the inner side of the annular structure.

10. The sling according to any one of claims 7 to 9, characterized in that: The second carrier is provided with an infrared sensing unit, and the infrared sensing unit includes an infrared sensor facing the geometric center of the sling.

11. The sling according to claim 10, characterized in that: The sling further includes a control module, and the control module is configured to receive information transmitted by the infrared sensor unit and control the extension and retraction of the first telescopic rod and / or the second telescopic rod according to the information.

12. The sling according to any one of claims 7 to 9, characterized in that: A micro switch or a pressure sensor is arranged on one side of the gripping plate facing the inner side of the annular structure.

13. The sling according to claim 12, characterized in that: The spreader further includes a control module, which is configured to receive information transmitted by the micro switch or the pressure sensor and control the first telescopic rod and / or the second telescopic rod according to the information.

14. The sling according to claim 11, characterized in that: The second carrier is provided with a winch unit, which includes a first driving motor, a winch body and a rope wound around the winch body. The first driving motor is connected to the winch body so as to drive the winch body to rotate to retract and release the rope. One end of the rope is connected to the lifting equipment.

15. The sling according to claim 14, characterized in that: The second carrier is provided with a visual recognition unit, which includes a camera. The camera faces downward of the spreader, and the visual recognition unit is configured to be able to recognize the position of the cargo.

16. The sling according to claim 15, characterized in that: The first carrier or the second carrier is provided with a posture sensing unit, and the posture sensing unit is configured to detect posture information of the sling.

17. The sling according to claim 16, characterized in that: The first pushing device and / or the second pushing device include a second driving motor, a forward and reverse threaded lead screw and a lead screw nut, wherein the second driving motor is connected to the forward and reverse threaded lead screw so as to drive the forward and reverse threaded lead screw to rotate, the left-handed thread and the right-handed thread of the forward and reverse threaded lead screw are respectively threaded with a lead screw nut, and the lead screw nut is provided with a connecting piece so as to be connected to the first telescopic rod and / or the second telescopic rod through the connecting piece.

18. The sling according to claim 17, characterized in that: A propeller is provided on the surface of the second carrier facing the outer side of the sling.

19. The sling according to claim 18, characterized in that The first carrier or the third carrier is provided with a mounting groove, and the control module is arranged in the mounting groove.

20. The sling according to claim 19, characterized in that At least one of the first carrier, the second carrier and the third carrier is provided with a hollow structure.

21. A hanging device, characterized in that: The lifting equipment comprises the lifting device according to any one of claims 1-20.

22. The hanging device according to claim 21, characterized in that: The hanging device is an aircraft.

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