Hanging device and movable platform

Abstract

The utility model provides a kind of hanging device and movable platform, hanging device includes hanging mechanism and drive mechanism, and hanging mechanism is used to hang effective load;Drive mechanism includes actuator and connecting structure, actuator is transmission connection with connecting structure, to drive connecting structure movement;Wherein, actuator is configured as response to first electric control signal and output power, to drive connecting structure from second position to first position movement, and response to second electric control signal and output power, to drive connecting structure from first position to second position movement, first position is different from second position;In first position, hanging mechanism is in open state;In second position, hanging mechanism is in closed state.The hanging device and movable platform provided by the utility model can realize the safety and reliability of the opening or closing of the hanging mechanism, and reduce the abnormal opening of the hanging mechanism when it is not needed to open, and the abnormal failure rate when it is needed to open.

Description

Technical Field

[0001] This utility model relates to the field of mobile platform technology, and in particular to a hanging device and a mobile platform. Background Technology

[0002] When mobile platforms are used to perform lifting-related tasks, they are typically equipped with lifting devices to suspend payloads for easy transport. However, in related technologies, on the one hand, closing the lifting mechanism relies heavily on manual mechanical closing actions, which are cumbersome. If the operator forgets to close it, it cannot be closed, posing a significant safety risk. On the other hand, opening the lifting mechanism depends heavily on its weightless state upon contact with the ground. This weightless or non-weightless state is easily affected by environmental disturbances, leading to malfunctions such as abnormal opening when not needed and inability to open when required. The methods of closing and opening the lifting mechanism significantly impact the safety, reliability, and efficiency of the mobile platform in performing tasks. Utility Model Content

[0003] This utility model provides a hanging device and a movable platform, which aims to solve the above-mentioned technical problems.

[0004] The first embodiment of this utility model provides a hanging device, including:

[0005] A suspension mechanism for suspending a payload; and

[0006] A driving mechanism, comprising an actuator and a connecting structure, wherein the actuator is pulsatorically connected to the connecting structure to drive the connecting structure to move;

[0007] The actuator is configured to output power in response to a first electronic control signal to drive the connecting structure to move from a second position to a first position, and to output power in response to a second electronic control signal to drive the connecting structure to move from the first position to the second position, wherein the first position is different from the second position;

[0008] In the first position, the suspension mechanism is in the open state;

[0009] In the second position, the suspension mechanism is in the closed state.

[0010] In the hanging device of this utility model embodiment, the connecting structure is a multi-link structure, and the multi-link structure has a dead point position.

[0011] In the hanging device of this utility model embodiment, the first position is the position before reaching the dead point position, and the second position is the dead point position.

[0012] In the hanging device of this utility model embodiment, the first position is the position before reaching the dead point position, and the second position is the position after passing the dead point position.

[0013] In the hanging device of this utility model embodiment, during at least a portion of the stroke in which the multi-link structure moves from the second position to the dead point position and continues to move towards the first position, the gravity of the effective load can be applied to the multi-link structure to promote the movement of the multi-link structure towards the first position.

[0014] In the hanging device of this utility model embodiment, the multi-link structure includes a first crank, a first connecting rod, and a second connecting rod. One side of the first crank is drivenly connected to the actuator, the other side of the first crank is drivenly connected to one side of the first connecting rod, the other side of the first connecting rod is drivenly connected to one side of the second connecting rod, and the other side of the second connecting rod is drivenly connected to the hanging mechanism.

[0015] In the hanging device of this utility model embodiment, the dead point position indicates the position where the torque borne by the first crank is zero, and at the dead point position, the first crank and the first connecting rod are on the same straight line.

[0016] In the hanging device of this utility model embodiment, the multi-link structure includes a second crank and a third link. One side of the second crank is connected to the actuator, and the other side of the second crank is connected to the third link. One of the second crank and the third link is provided with a slider, and the other is provided with a slide rail. The slider can slide within the slide rail. The hanging mechanism is connected to the third link.

[0017] In the hanging device of this utility model embodiment, the dead point position indicates the position where the torque on the second crank is zero, and at the dead point position, the second crank and the third connecting rod are perpendicular to each other.

[0018] In the hanging device of this utility model embodiment, the actuator is configured to rotate in a first rotation direction in response to the first electronic control signal and in a second rotation direction in response to the second electronic control signal, wherein the first rotation direction is opposite to the second rotation direction.

[0019] In the hanging device of this utility model embodiment, when the connecting structure moves to the second position, the actuator is configured to rotate to a preset position along the first rotation direction.

[0020] In the hanging device of this utility model embodiment, the hanging device further includes:

[0021] The mounting structure includes a suspension mechanism movably connected to the mounting structure and a drive mechanism connected to the mounting structure.

[0022] A first elastic member, one side of which abuts against the mounting structure, and the other side of which abuts against the connecting structure, the first elastic member can perform one or more of the following functions:

[0023] An elastic force is applied to the connecting structure to keep it in the first position;

[0024] An elastic force is applied to the connecting structure to keep it in the second position;

[0025] During a portion of the travel of the connecting structure toward the first position, an elastic force is applied to the connecting structure to facilitate its movement toward the first position.

[0026] During a portion of the travel of the connecting structure toward the second position, an elastic force is applied to the connecting structure to facilitate its movement toward the second position.

[0027] The hanging device in this embodiment of the utility model further includes:

[0028] The mounting structure is rotatably connected to the mounting structure. In the first position, at least a portion of the connecting structure forms an abutment limit with a first limiting portion of the mounting structure; and / or, in the second position, at least a portion of the connecting structure forms an abutment limit with a second limiting portion of the mounting structure.

[0029] In the hanging device of this utility model embodiment, the actuator is connected to the hanging mechanism via the connecting structure.

[0030] In the hanging device of this utility model embodiment, the hanging mechanism includes a first hanging part and a second hanging part. The first hanging part and the second hanging part can be opened relative to each other to make the hanging mechanism in the open state, and the first hanging part and the second hanging part can be closed relative to each other to make the hanging mechanism in the closed state.

[0031] In the hanging device of this utility model embodiment, during the process of the connecting structure moving from the second position to the first position, it simultaneously drives the first hanging part and the second hanging part to rotate in opposite directions; during the process of the connecting structure moving from the first position to the second position, it simultaneously drives the first hanging part and the second hanging part to rotate in opposite directions.

[0032] In the hanging device of this utility model embodiment, the first hanging part and the second hanging part are meshed and connected.

[0033] In the hanging device of this utility model embodiment, the first hanging part includes a first mechanical arm, a first hanging sub-part, and a second elastic member. The first mechanical arm is drive-connected to the connecting structure, the first hanging sub-part is rotatably connected to the first mechanical arm, and the second elastic member abuts against the first hanging sub-part. The second elastic member is configured to ensure that the first hanging sub-part always has a tendency to move relative to the first mechanical arm to a first hanging position. In the closed state, the first hanging sub-part can overcome the elastic force of the second elastic member under the action of external force and rotate relative to the first mechanical arm toward the enclosed space of the hanging mechanism, so that the first hanging sub-part and the second hanging sub-part are spaced apart; and / or,

[0034] The second suspension part includes a second robotic arm, a second suspension sub-part, and a third elastic member. The second robotic arm is driven to the connecting structure or the first suspension part. The second suspension sub-part is driven to the second robotic arm. The third elastic member abuts against the second suspension sub-part. The third elastic member is configured to ensure that the second suspension sub-part always tends to move relative to the second robotic arm to the second suspension position. In the closed state, the second suspension sub-part can overcome the elastic force of the third elastic member and rotate relative to the second robotic arm toward the enclosed space of the suspension mechanism under the action of external force, so that the first suspension sub-part and the second suspension sub-part are spaced apart.

[0035] The second embodiment of this utility model also provides a mobile platform, including:

[0036] The main body of the mobile platform; and

[0037] The suspension device as described in any of the preceding claims is connected to the main body of the movable platform.

[0038] In the mobile platform of this utility model embodiment, the mobile platform is an aircraft. The aircraft includes an aircraft body and a winding mechanism. The winding mechanism is disposed on the aircraft body. The sling device can approach the aircraft body under the winding action of the winding mechanism and can move away from the aircraft body under the unwinding action of the winding mechanism.

[0039] Technical Effects: The sling device and movable platform provided in this utility model embodiment enable the actuator to drive the connecting structure to move between different positions upon triggering of an electrical control signal, thereby realizing the electrically controlled opening and closing of the sling mechanism. The electrical control signal has good responsiveness and high control precision, and is not prone to accidental activation. This improves the safety and reliability of effectively opening and closing the sling mechanism, avoiding abnormal failure rates such as the inability to open when the sling mechanism needs to be opened or to close when the sling mechanism needs to be closed. This improves the operational efficiency of the sling device when loading and unloading and / or unloading effective loads. In addition, the opening and closing of the sling mechanism is triggered by electrical control, reducing the strong dependence on manual mechanical closing behavior, saving time and effort, and reducing the safety risks caused by manual intervention.

[0040] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this utility model. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of a hanging device provided in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the structure of a hanging device provided in an embodiment of the present utility model, wherein the hanging mechanism is in the open state;

[0044] Figure 3 This is a schematic diagram of the structure of a hanging device provided in an embodiment of the present utility model, wherein the hanging mechanism is in a closed state;

[0045] Figure 4 This is an exploded view of a hanging device provided in an embodiment of the present invention;

[0046] Figure 5 This is a partially exploded schematic diagram of a hanging device provided in one embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of a hanging mechanism provided in an embodiment of the present invention, wherein the hanging mechanism is in a closed state;

[0048] The first and second suspension sub-sections are permitted to suspend effective loads;

[0049] Figure 7This is a schematic diagram of a hanging mechanism provided in an embodiment of the present utility model, wherein the first hanging sub-part and the second hanging sub-part are arranged at intervals;

[0050] Figure 8 This is a schematic diagram of a movable platform provided in an embodiment of the present invention.

[0051] Explanation of reference numerals in the attached figures:

[0052] 1001. Payload; 1002. Mobile platform;

[0053] 100. Hanging device;

[0054] 10. Suspension mechanism; 11. First suspension part; 111. First robotic arm; 112. First suspension sub-part; 12. Second suspension part; 121. Second robotic arm; 122. Second suspension sub-part; 13. Enclosed space; 141. First meshing sub-part; 142. Second meshing sub-part; 151. First structural component; 152. Second structural component;

[0055] 20. Drive mechanism; 21. Actuator; 22. Connecting structure; 221. First crank; 222. First connecting rod; 223. Second connecting rod;

[0056] 30. Mounting structure; 31. First limiting part; 32. Second limiting part; 33. First mounting component; 34. Second mounting component;

[0057] 40. First elastic element;

[0058] 200. Mobile platform main body. Detailed Implementation

[0059] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0060] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0062] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0063] The mobile platform in this application refers to a system or device capable of moving freely between different locations, including aircraft, vehicles, ships, ground robots, etc. Taking aircraft as an example, aircraft can be classified according to whether they are piloted in a cabin, including unmanned aerial vehicles (UAVs) and manned aircraft; according to their configuration, they include rotorcraft, fixed-wing aircraft, and aircraft combining rotor and fixed wings. Rotorcraft include single-rotor or multi-rotor aircraft; and according to the functions they perform, they include transport drones, agricultural drones, surveying drones, rescue drones, etc. Furthermore, the mobile platform can be controlled and operated using control devices. Control devices include, but are not limited to, remote controls, mobile phones, tablets, airport equipment, wearable devices (such as smart glasses, smartwatches, etc.), ground base stations, or cloud platform monitoring equipment.

[0064] In related technologies, when mobile platforms are used to perform lifting-related tasks, they are typically equipped with lifting devices to suspend the payload for easy transport. However, these technologies suffer from several drawbacks. First, closing the lifting mechanism relies heavily on manual mechanical actions, which are cumbersome and prone to failure if forgotten, posing a significant safety risk. Second, opening the lifting mechanism depends heavily on its weightless state upon contact with the ground. This weightless or non-weightless state is susceptible to environmental disturbances, leading to malfunctions such as opening abnormally when not needed and failing to open when required. The methods of closing and opening the lifting mechanism significantly impact the safety, reliability, and efficiency of the mobile platform in performing its tasks.

[0065] Taking an aircraft as an example of a mobile platform, as an exemplary scenario, after the hoisting mechanism of the sling device has loaded the payload, ground crew needs to manually operate the manual closing structure to close the hoisting mechanism. After the payload loaded by the hoisting mechanism takes off, the manual closing structure is automatically opened, and the gravity of the payload and the hoisting mechanism keeps the hoisting mechanism closed, so that the payload can be automatically released in a weightless state when it touches the ground. However, this method has two problems. First, ground crew needs to manually close the sling mechanism before the payload takes off, which is cumbersome and cannot free up manpower. The need for manual intervention also leads to higher safety risks, as the sling mechanism is easily snagged by the aircraft during the closing operation. Second, using the weightlessness state upon ground contact to trigger the opening means that the sling mechanism is easily affected by the environment and enters a brief state of weightlessness during air transport. If the sling mechanism opens at this time, the payload will fall in the air, posing a great safety risk. Furthermore, if the sling mechanism is trapped by objects on the ground (such as grass, branches, etc.) when it needs to open upon ground contact, it will not be able to reach a state of weightlessness, making it impossible to open the sling mechanism and thus impossible to carry out the loading and / or unloading of the payload.

[0066] It should be noted that, in the embodiments of this application, the payload refers to the object carried by the mobile platform, including but not limited to goods, fuel, personnel, etc.

[0067] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0068] Please see Figures 1 to 3This utility model provides a hanging device 100, including a hanging mechanism 10 and a driving mechanism 20. The hanging mechanism 10 is used to hang a payload 1001. The driving mechanism 20 includes an actuator 21 and a connecting structure 22. The actuator 21 is convexly connected to the connecting structure 22 to drive the connecting structure 22 to move. The actuator 21 is configured to output power in response to a first electronic control signal to drive the connecting structure 22 to move from a second position to a first position, and to output power in response to a second electronic control signal to drive the connecting structure 22 to move from the first position to the second position, where the first position is different from the second position. In the first position, the hanging mechanism 10 is in an open state; in the second position, the hanging mechanism 10 is in a closed state.

[0069] In the above embodiment, the actuator 21 of the hanging device 100 can output power in response to the electronic control signal to drive the connecting structure 22 to move, thereby realizing the opening and closing of the hanging mechanism 10. The electronic control signal has good responsiveness and high control precision, and is not prone to accidental triggering, which can improve the reliability of loading and unloading the effective load 1001 and avoid abnormal failures such as accidental unloading of the effective load 1001 when it needs to be hung or inability to unload when it needs to be unloaded. This improves the working efficiency of the hanging device 100 when loading and unloading the effective load 1001. Moreover, the opening and closing of the hanging mechanism 10 is triggered by electronic control, which is simple and convenient, reducing the strong dependence on manual mechanical closing behavior, saving time and effort, and reducing the safety risks caused by manual intervention. It should be noted that in the embodiments of this application, loading and unloading refers to loading and / or unloading.

[0070] Understandably, the output power in this embodiment refers to power with an absolute value greater than zero. The output power of actuator 21 does not include the case where actuator 21 is de-energized and does not output power.

[0071] In this embodiment, the open state of the sling mechanism 10 indicates a state that allows the load 1001 to be loaded and / or unloaded.

[0072] In this embodiment, the closed state of the suspension mechanism 10 indicates a state in which the payload 1001 can be suspended on the suspension mechanism 10 in a manner that makes it difficult to detach.

[0073] For example, the first and / or second electronic control signals may be triggered and generated by any of the following methods: (1) operation of a control on an external control device of the mobile platform 1002; (2) control command from an onboard control device of the mobile platform; or (3) operation of a control on the suspension device 100. The aforementioned controls include physical controls or virtual controls.

[0074] For example, the form of the hanging mechanism 10 may include at least one of the following: hook type, robotic arm type, robotic claw type, etc.

[0075] For example, actuator 21 includes a motor. For instance, a combination of servo motor and servo disc can be used to further improve control accuracy, which is beneficial for more precise control of the opening and closing of the suspension mechanism 10.

[0076] The connecting structure 22 can adopt any suitable structure. Preferably, the connecting structure 22 includes a multi-link structure. For example, the connecting structure 22 includes a crank-rocker structure or a crank-slider structure. The multi-link structure has the following advantages, including but not limited to: (1) it can realize multi-axis motion, and the operation response is timely and flexible; (2) multiple links transmit the load, avoiding single-point stress concentration, the load distribution is uniform, and the structure is more stable; (3) it has high space utilization, and the multi-link structure has a compact layout, which is suitable for the needs of realizing relatively complex motion in a limited space.

[0077] Please see Figure 2 and Figure 3 In some embodiments, the multi-link structure has a dead point position. Utilizing the existence of dead points in the multi-link structure, and taking advantage of the mechanical properties of the dead point position, it is helpful to achieve a more reliable self-locking function. Without relying on a large amount of external energy, the suspension mechanism can be reliably kept in the closed state by utilizing the locking effect of the multi-link structure itself, and even self-locking without external force can be achieved.

[0078] For example, a multi-link structure is formed by at least two rotatably connected rod-like members, such as a multi-link structure including a crank and at least one connecting rod.

[0079] For example, a multi-link structure sequentially experiences before, at, and after the dead point during its motion stroke. This application's embodiments fully utilize the characteristics of different stroke stages to achieve corresponding operations on the suspension mechanism.

[0080] For example, the first position of the connection structure 22 is as follows Figure 2 As shown. The second position of the connecting structure 22 is as follows. Figure 3 As shown.

[0081] In some implementations, the first position is a position before reaching the dead point. This ensures that the multi-link structure opens before reaching the dead point, guaranteeing reliable opening. Furthermore, before the dead point, the multi-link structure exhibits a force amplification effect, meaning a small driving force can generate a large output force. Therefore, the actuator 21 only needs to output a small amount of power to open the suspension mechanism 10, reducing the power required to open it and saving power consumption, thus lowering costs. In some scenarios, the gravity of the payload 1001 can be used to assist the multi-link structure in moving to the first position, further saving the output power consumption of the actuator 21.

[0082] In some embodiments, the second position is a dead position. For example, the multi-link structure can move from the first position to the dead position, thereby switching the suspension mechanism 10 from an open state to a closed state. Thus, the dead position of the multi-link structure can be used to close the suspension mechanism 10, reducing the output power of the actuator 21, or even eliminating the need for the actuator 21 to output power, keeping the suspension mechanism 10 in the closed state. This saves power consumption of the actuator 21 or eliminates the need for an additional closing structure, resulting in a simple structure.

[0083] Because closing at the dead point position relies on geometric constraints, it exhibits critical instability and is easily opened by disturbances, making it suitable for rapid temporary closing. To improve long-term / high-level stability of the closure, or to adapt to scenarios with heavy payloads, in some embodiments, the second position is a position beyond the dead point. This position can maintain the closed state using mechanical or frictional effects, requiring a significant external force to open. In this case, the multi-link structure can sequentially move from the first position to the dead point and then from the dead point to the second position, thereby switching the suspension mechanism 10 from the open to the closed state. Closing at the beyond-dead point position allows for more reliable and stable self-locking, resulting in more reliable and stable closure of the suspension mechanism 10, reducing the likelihood of loosening and the probability of accidental opening, while also simplifying the structure. Closing the suspension mechanism 10 at the beyond-dead point position requires only a small force to keep it closed, achieving a labor-saving effect.

[0084] For example, during at least a portion of the stroke in which the multi-link structure moves from the second position to the dead center and continues to move towards the first position, the gravitational force of the payload 1001 can be applied to the multi-link structure to facilitate its movement towards the first position. For example, during at least a portion of the stroke in which the multi-link structure moves from the second position to the dead center and continues to move towards the first position, the actuator 21 may not need to output power; the gravitational force of the payload 1001 can be applied to the multi-link structure to move it towards the first position, further reducing the power consumption of the actuator 21 and saving costs.

[0085] Please see Figures 3 to 5 In some embodiments, the multi-link structure includes a first crank 221, a first connecting rod 222, and a second connecting rod 223. One side of the first crank 221 is drivenly connected to the actuator 21, the other side of the first crank 221 is drivenly connected to one side of the first connecting rod 222, the other side of the first connecting rod 222 is drivenly connected to one side of the second connecting rod 223, and the other side of the second connecting rod 223 is drivenly connected to the suspension mechanism 10. In this way, the rotational motion of the first crank 221 is converted into the reciprocating oscillating motion of the first connecting rod 222 and the second connecting rod 223, resulting in a simple structure.

[0086] For example, the dead point position represents the position where the torque on the first crank 221 is zero, and at the dead point position, the first crank 221 and the first connecting rod 222 are on the same straight line.

[0087] In some embodiments, the multi-link structure includes a second crank (not shown) and a third link (not shown). One side of the second crank is drivenly connected to the actuator 21, and the other side of the second crank is drivenly connected to the third link. One of the second crank and the third link has a slider, and the other has a slide rail. The slider can slide within the slide rail, and the suspension mechanism 10 is drivenly connected to the third link. Exemplarily, the second crank has a slider, and the third link has a slide rail, with the slider slidingly engaging with the slide rail. This configuration, by introducing a slider and a slide rail, simplifies long-stroke designs and is suitable for scenarios requiring a larger range of motion.

[0088] For example, the dead point position represents the position where the torque on the second crank is zero, and at the dead point position, the second crank and the third connecting rod are perpendicular to each other.

[0089] In some embodiments, the actuator 21 is configured to rotate in a first rotation direction in response to a first electrical control signal and in a second rotation direction in response to a second electrical control signal, the first rotation direction being opposite to the second rotation direction. Exemplarily, the actuator 21 is configured to rotate clockwise in response to the first electrical control signal to drive the connecting structure 22 to move from a second position to a first position, and to rotate counterclockwise in response to the second electrical control signal to drive the connecting structure 22 to move from the first position to the second position, thereby enabling the suspension mechanism 10 to switch between a closed state and an open state.

[0090] In some embodiments, when the connecting structure 22 moves to the second position, the actuator 21 is configured to rotate to a preset position along the first rotation direction. Thus, when the connecting structure 22 moves to the second position, the actuator 21 can retract to the preset position, thereby preparing for the next closure of the suspension mechanism 10 and improving the response speed of the next closure of the suspension mechanism 10. Exemplarily, the preset position can be the initial position of the actuator 21, or any other suitable position of the actuator 21.

[0091] Please see Figures 2 to 4 In some embodiments, the suspension device 100 further includes a mounting structure 30 and a first elastic member 40. The suspension mechanism 10 is movably connected to the mounting structure 30, and the drive mechanism 20 is connected to the mounting structure 30. One side of the first elastic member 40 abuts against the mounting structure 30, and the other side of the first elastic member 40 abuts against the connecting structure 22. The first elastic member 40 can perform one or more of the following functions: applying an elastic force to the connecting structure 22 to hold it in a first position; applying an elastic force to the connecting structure 22 to hold it in a second position; applying an elastic force to the connecting structure 22 during a portion of its travel toward the first position to promote the movement of the connecting structure 22 toward the first position; and applying an elastic force to the connecting structure 22 during a portion of its travel toward the second position to promote the movement of the connecting structure 22 toward the second position. This reduces the amount of power output by the actuator 21, which helps save power consumption and reduce costs.

[0092] For example, the first elastic element 40 may include at least one of the following: a soft rubber element, a spring, a torsion spring, a sheet, a shape memory alloy, etc.

[0093] Please see Figure 2 and Figure 4 In some embodiments, the hanging device 100 further includes a mounting structure 30, with the connecting structure 22 rotatably connected to the mounting structure 30. In the first position, at least a portion of the connecting structure 22 forms an abutment limit with the first limiting portion 31 of the mounting structure 30, ensuring that the hanging mechanism 10 can be reliably maintained in the open state. For example, when the connecting structure 22 is in the first position, the first limiting portion 31 can limit the connecting structure 22, preventing the connecting structure 22 from continuing to move in the direction of the second position toward the first position and passing the first position; the first elastic member 40 can apply an elastic force to the connecting structure 22 to prevent the connecting structure 22 from retracting toward the second position. Therefore, when the connecting structure 22 moves to the first position, the connecting structure 22 can be reliably and stably maintained in the first position under the action of the first limiting portion 31 and the first elastic member 40, thereby ensuring that the hanging mechanism 10 is reliably and stably maintained in the open state, facilitating the loading and / or unloading of the payload 1001.

[0094] Please see Figure 3 and Figure 4 In some embodiments, the hanging device 100 further includes a mounting structure 30, with the connecting structure 22 rotatably connected to the mounting structure 30. In the second position, at least a portion of the connecting structure 22 forms an abutment limit with the second limiting portion 32 of the mounting structure 30, ensuring that the hanging mechanism 10 can be reliably maintained in the open state. For example, when the connecting structure 22 is in the second position, the second limiting portion 32 can limit the connecting structure 22, preventing the connecting structure 22 from continuing to move in the direction of the first position toward the second position and crossing the second position; the first elastic member 40 can apply an elastic force to the connecting structure 22 to prevent the connecting structure 22 from retracting toward the first position. Therefore, when the connecting structure 22 moves to the second position, the connecting structure 22 can be reliably and stably maintained in the second position under the action of the second limiting portion 32 and the first elastic member 40.

[0095] The first limiting portion 31 and / or the second limiting portion 32 can take any suitable structure, such as including at least one of the following: groove, inclined surface, plane, limiting post, limiting block, etc. In some embodiments, the inclined surface or the first groove on the mounting structure 30 forms the first limiting portion 31, thus the structure of the first limiting portion 31 is simple; and in the first position, the first limiting portion 31 can better cooperate with at least a portion of the connecting structure 22, increasing the contact area between the first limiting portion 31 and the connecting structure 22, thereby improving the limiting effect. In some embodiments, the second groove on the mounting structure 30 forms the second limiting portion 32, thus the structure of the second limiting portion 32 is simple; and in the second position, the second limiting portion 32 can better cooperate with at least a portion of the connecting structure 22, increasing the contact area between the second limiting portion 32 and the connecting structure 22, thereby improving the limiting effect.

[0096] For example, in the first position, the first limiting part 31 can at least abut against the second link 223 or the third link, thereby limiting the connecting structure 22 located in the first position. In the second position, the second limiting part 32 can at least abut against the second link 223 or the third link, thereby limiting the connecting structure 22 located in the second position.

[0097] Please see Figure 4 For example, the mounting structure 30 includes a first mounting member 33 and a second mounting member 34. The hanging mechanism 10 is movably connected to the first mounting member 33, and the drive mechanism 20 is connected to the first mounting member 33. The second mounting member 34 is connected to the first mounting member 33, and the connecting structure 22 is rotatably connected to the second mounting member 34. A first limiting part 31 and / or a second limiting part 32 are provided on the second mounting member 34. Thus, the hanging device 100 has a compact structure.

[0098] For example, the first mounting component 33 and the second mounting component 34 can be integrally formed or separately formed.

[0099] For example, the first crank 221 or the second crank is rotatably connected to the second mounting member 34.

[0100] For example, a first limiting portion 31 is provided on the second mounting member 34, and a second limiting portion 32 is provided on the first mounting member 33. For example, a first limiting portion 31 is provided on the first mounting member 33, and a second limiting portion 32 is provided on the second mounting member 34. Please refer to... Figure 2 and Figure 3 For example, the first limiting part 31 and the second limiting part 32 are both provided on the second mounting member 34.

[0101] Please see Figure 2 and Figure 3 In some embodiments, the actuator 21 is drivenly connected to the suspension mechanism 10 via the connecting structure 22. Exemplarily, the actuator 21 is drivenly connected to the connecting structure 22, and the connecting structure 22 is drivenly connected to the suspension mechanism 10. This enables efficient power transmission and conversion, facilitating more precise control of the movement of the suspension mechanism 10, thereby allowing for more precise control of the suspension mechanism 10's opening and closing. It also allows the suspension mechanism 10 to respond quickly to the actions of the actuator 21.

[0102] Please see Figure 2 and Figure 3 In some embodiments, the suspension mechanism 10 includes a first suspension part 11 and a second suspension part 12. The first suspension part 11 and the second suspension part 12 can be opened relative to each other to put the suspension mechanism 10 in an open state, and the first suspension part 11 and the second suspension part 12 can be closed relative to each other to put the suspension mechanism 10 in a closed state. This structure of the suspension mechanism 10 can more reliably suspend the effective load 1001, and the effective load 1001 is less likely to detach from the suspension mechanism 10 in the closed state, thus improving the reliability of the suspension mechanism 10 in suspending the effective load 1001.

[0103] In some embodiments, the first hanging part 11 and the second hanging part 12 can rotate synchronously. In this way, the opening or closing response speed of the hanging mechanism 10 is faster, and the hanging mechanism 10 can be opened or closed quickly, which is beneficial to improving the operational efficiency of the hanging device 100 in loading, unloading and / or hanging the effective load 1001.

[0104] In some embodiments, as the connecting structure 22 moves from the second position to the first position, it simultaneously drives the first hanging part 11 and the second hanging part 12 to rotate in opposite directions, so that the first hanging part 11 and the second hanging part 12 can open relative to each other, thereby allowing the hanging mechanism 10 to be in the open state. As the connecting structure 22 moves from the first position to the second position, it simultaneously drives the first hanging part 11 and the second hanging part 12 to rotate towards each other, so that the first hanging part 11 and the second hanging part 12 can close relative to each other, thereby allowing the hanging mechanism 10 to be in the closed state. Thus, the opening or closing response speed of the hanging mechanism 10 is faster. Compared to the case where only a single hanging part can open or close, the movement distance of the two hanging parts per unit time is greater, and the opening or closing speed of the hanging mechanism is faster. This allows for rapid opening or closing of the hanging mechanism 10, which is beneficial for improving the operational efficiency of the hanging device 100 in loading, unloading, and / or suspending the effective load 1001.

[0105] For example, the first hanging part 11 is drivenly connected to the connecting structure 22, and the second hanging part 12 is drivenly connected to the first hanging part 11, so that the first hanging part 11 can drive the second hanging part 12 to move. This allows the first hanging part 11 and the second hanging part 12 to move synchronously simultaneously with one actuator 21 and one connecting structure 22, eliminating the need for two separate drive mechanisms 20 to drive the first hanging part 11 and the second hanging part 12 separately. This helps to reduce the number of components, lower costs, and simplify the structure. In some embodiments, the first hanging part 11 and the second hanging part 12 are meshed and driven together, which can improve the transmission efficiency and accuracy of the first hanging part 11 and the second hanging part 12, and make the structure more compact.

[0106] Please see Figure 3 , Figure 6 and Figure 7 In some embodiments, the first hanging part 11 includes a first robotic arm 111, a first hanging sub-part 112, and a second elastic member (not shown). The first robotic arm 111 is drive-connected to the connecting structure 22, the first hanging sub-part 112 is rotatably connected to the first robotic arm 111, and the second elastic member abuts against the first hanging sub-part 112. The second elastic member is configured to ensure that the first hanging sub-part 112 always has a tendency to move relative to the first robotic arm 111 to the first hanging position. In the closed state, the first hanging sub-part 112 can overcome the elastic force of the second elastic member under the action of external force and rotate relative to the first robotic arm 111 toward the enclosed space 13 of the hanging mechanism 10, so that the first hanging sub-part 112 and the second hanging sub-part 112 are spaced apart, as shown in the figure. Figure 7As shown. The second hanging part 12 includes a second robotic arm 121, a second hanging sub-part 122, and a third elastic member (not shown). The second robotic arm 121 is driven to the connecting structure 22 or the first hanging part 11. The second hanging sub-part 122 is driven to the second robotic arm 121. The third elastic member abuts against the second hanging sub-part 122. The third elastic member is configured to ensure that the second hanging sub-part 122 always has a tendency to move relative to the second robotic arm 121 to the second hanging position. In the closed state, the second hanging sub-part 122 can overcome the elastic force of the third elastic member under the action of external force and rotate relative to the second robotic arm 121 toward the enclosed space 13 of the hanging mechanism 10, so that the first hanging sub-part 112 and the second hanging sub-part 122 are spaced apart, as shown in the figure. Figure 7 As shown.

[0107] In some embodiments, ground crew can manually apply force to the first sling section 112 and the second sling section 122, causing the first sling section 112 to rotate relative to the first robotic arm 111 toward the enclosed space 13 of the sling mechanism 10, and causing the second sling section 122 to rotate relative to the second robotic arm 121 toward the enclosed space 13 of the sling mechanism 10. This allows the first sling section 112 and the second sling section 122 to be spaced apart, enabling manual loading or unloading of the payload 1001 when the sling mechanism 10 is in the closed state, thus meeting the needs of various application scenarios.

[0108] For example, the second elastic element and / or the third elastic element may include at least one of the following: soft rubber element, spring, torsion spring, sheet spring, shape memory alloy, etc.

[0109] Please see Figure 4 and Figure 5 For example, the first robotic arm 111 is connected to the connecting structure 22 via a first engaging part 141. The first engaging part 141 may be integrally formed into at least a portion of the connecting structure 22 or the first robotic arm 111, or it may be separately disposed from the connecting structure 22 or the first robotic arm 111. The first robotic arm 111 may be directly connected to the first engaging part 141, and either the first robotic arm 111 or the first engaging part 141 may be rotatably connected to the mounting structure 30. Alternatively, the first robotic arm 111 may be connected to the first engaging part 141 via a first structural member 151, which is rotatably connected to the mounting structure 30. Both the first robotic arm 111 and the first engaging part 141 are connected to the first structural member 151.

[0110] Please see Figure 4 and Figure 5For example, the second robotic arm 121 is connected to the first meshing part 141 via a second meshing part 142. The second meshing part 142 can be integrally formed with the second robotic arm 121 or it can be separately provided. The second robotic arm 121 can be directly connected to the second meshing part 142, and either the second robotic arm 121 or the second meshing part 142 is rotatably connected to the mounting structure 30. Alternatively, the second robotic arm 121 can be connected to the second meshing part 142 via a second structural member 152, which is rotatably connected to the mounting structure 30. Both the second robotic arm 121 and the second meshing part 142 are connected to the second structural member 152.

[0111] For example, the first structural member 151 is splinedly connected to the first engaging part 141. The first structural member 151 is splinedly connected to the first robotic arm 111. The second structural member 152 is splinedly connected to the second engaging part 142. The second structural member 152 is splinedly connected to the second robotic arm 121.

[0112] For example, provided that the travel requirements are met, the first meshing part 141 and / or the second meshing part 142 may be selected as an incomplete gear.

[0113] In some embodiments, the suspension device 100 further includes a manual operating component (not shown), which is tractively connected to the connecting structure 22. The connecting structure 22 can drive the suspension mechanism 10 to switch between an open state and a closed state under the action of the manual operating component. Exemplarily, the manual operating component is tractively connected to a first crank 221 or a second crank. When it is necessary to manually close or open the suspension mechanism 10, the suspension mechanism 10 can be quickly closed or opened simply by manually operating the manual operating component. This allows the closure or opening of the suspension mechanism 10 to be controlled both electrically by the actuator 21 and manually, providing more flexible control over the closure or opening of the suspension mechanism 10. It also provides multiple redundancy designs to better meet the needs of different application scenarios. For example, when a failure of the actuator 21 causes the electric closing or opening of the suspension mechanism 10 to fail, the suspension mechanism 10 can be manually closed or opened using the manual operating component.

[0114] Exemplarily, the manual operating element includes at least one of the following: a screw. Exemplarily, the manual operating element can be threadedly connected to a first crank 221 or a second crank.

[0115] In some embodiments, the hanging device 100 further includes one or more of the following components: a first sensor (not shown), a second sensor (not shown), a light-emitting element (not shown), a rope attachment, and a power source.

[0116] For example, the first sensor is used to detect the position and orientation information of the suspension mechanism 10, which helps to improve the safety of the mobile platform 1002 and the reliability of the operation. For example, the position and orientation information may include at least one of the following: position information and / or attitude information of the suspension mechanism 10 relative to the mobile platform 1002, swing amplitude information of the suspension mechanism 10, etc. The second sensor is used to detect the closed or open state of the suspension mechanism 10, to further improve the reliability of the operation.

[0117] The first sensor and / or the second sensor can be any suitable sensor, such as at least one of the following: Hall sensor, photoelectric encoder, etc.

[0118] For example, the light-emitting element is used to provide illumination for the unloading and / or loading tasks of the payload 1001. Thus, in nighttime or low-light environments, the light-emitting element can serve as illumination, facilitating better execution of the payload loading and unloading tasks.

[0119] For example, the tethering part is used to connect with the tether so that the hanging device is connected to the winding mechanism via the tether. In this way, the winding mechanism releases the rope of the hanging device by unwinding the tether and retracts the rope of the hanging device by winding the tether.

[0120] As a specific application scenario, when the mobile platform is an aircraft, the aircraft includes an aircraft body and a winding mechanism. The winding mechanism is located on the aircraft body, and the hoisting device can approach the aircraft body under the winding action of the winding mechanism and move away from the aircraft body under the unwinding action of the winding mechanism. Optionally, when the hoisting device is close to the aircraft body, the aircraft is in the cruise phase; when the hoisting device is away from the aircraft body, the aircraft is in the phase of loading and unloading payloads at the loading and unloading platform. Optionally, the winding mechanism is connected to the hoisting device via a tether, one side of the tether is connected to the tethering part of the hoisting device, and the other side of the tether is connected to the winding mechanism.

[0121] For example, the power supply provides power to the electrical components of the hanging device, such as to the driver 21.

[0122] For example, when the suspension mechanism 10 needs to switch from the open state to the closed state, the actuator 21 can output power to drive the multi-link structure from the second position to the first position, thereby switching the suspension mechanism 10 to the closed state. When the multi-link structure moves to the first position, it can utilize its own mechanical characteristics, such as dead-point position characteristics or over-dead-point position characteristics, to maintain itself in the first position, achieving self-closing of the suspension mechanism 10 and keeping it in the closed state. For example, when the multi-link structure moves to the first position, the first elastic member 40 and the second limiting part 32 can make the multi-link structure more reliably maintain itself in the first position, making the suspension mechanism 10 more reliably maintain itself in the closed state.

[0123] For example, when the suspension mechanism 10 needs to switch from the closed state to the open state, the actuator 21 can output power to drive the multi-link structure from the second position to the dead position. During the movement of the multi-link structure from the dead position to the third position, the actuator 21 does not need to output power, and the multi-link structure can continue to move towards the third position under the gravity of the effective load 1001. When the multi-link structure is in the third position, the elastic force applied by the first elastic element 40 to the first crank 221 is collinear with the first crank 221. During the movement of the multi-link structure from the third position to the second position, the actuator 21 does not need to output power, and the first crank 221 can drive the first link 222 and the second link 223 to move under the elastic force of the first elastic element 40, thereby driving the suspension mechanism 10 to switch to the open state. When the suspension mechanism 10 is open, since the actuator 21 does not need to output power during the movement of the multi-link structure from the dead position to the second position, power consumption can be effectively saved and costs reduced.

[0124] The hoisting device 100 of the mobile platform 1002 in the related technology has a hoisting mechanism 10 with only a single hoisting part. The travel distance of the single hoisting part per unit time is short, which makes the closing or opening response of the hoisting mechanism 10 relatively slow and unable to achieve rapid opening or closing. Therefore, the loading and / or unloading efficiency needs to be improved.

[0125] Please see Figures 1 to 3This utility model embodiment also provides a hanging device 100, including a hanging mechanism 10 and a driving mechanism 20. The hanging mechanism 10 is used to hang an effective load 1001. The hanging mechanism 10 includes a first hanging part 11 and a second hanging part 12, which can be opened or closed relative to each other. The driving mechanism 20 includes an actuator 21 and a connecting structure 22. The actuator 21 is convexly connected to the connecting structure 22 to drive the connecting structure 22 to move. The actuator 21 is configured to drive the connecting structure 22 to move from a second position to a first position, and simultaneously drive the first hanging part 11 and the second hanging part 12 to move in opposite directions.

[0126] Actuator 21 is configured to drive connection structure 22 to move from a first position to a second position, and simultaneously drive the first hanging part 11 and the second hanging part 12 to move towards each other. The first position is different from the second position. In the first position, the hanging mechanism 10 is in the open state, and the first hanging part 11 and the second hanging part 12 are relatively open; in the second position, the hanging mechanism 10 is in the closed state, and the first hanging part 11 and the second hanging part 12 are relatively closed.

[0127] The hoisting device 100 of the above embodiment includes a first hoisting part 11 and a second hoisting part 12. The actuator 21 can drive the connecting structure 22 to move from the second position to the first position, and simultaneously drive the first hoisting part 11 and the second hoisting part 12 to move in opposite directions, so that the first hoisting part 11 and the second hoisting part 12 can open relative to each other, thereby enabling the hoisting mechanism 10 to be in an open state. It can also drive the connecting structure 22 to move from the first position to the second position, and simultaneously drive the first hoisting part 11 and the second hoisting part 12 to move towards each other, so that the first hoisting part 11 and the second hoisting part 12 can close relative to each other, thereby enabling the hoisting mechanism 10 to be in a closed state. The opening or closing response speed of the hoisting mechanism 10 is relatively fast, which can quickly open or close the hoisting mechanism 10, which is beneficial to improving the work efficiency of the hoisting device 100 in loading, unloading and / or hoisting the effective load 1001.

[0128] By way of example, without conflict, the hanging device 100 includes the hanging device 100 of any of the above embodiments. Without conflict, the hanging mechanism 10 includes the hanging mechanism 10 of any of the above embodiments. Without conflict, the first hanging part 11 includes the first hanging part 11 of any of the above embodiments. Without conflict, the second hanging part 12 includes the second hanging part 12 of any of the above embodiments. Without conflict, the actuator 21 includes the actuator 21 of any of the above embodiments. Without conflict, the connection structure 22 includes the connection structure 22 of any of the above embodiments.

[0129] Please see Figure 8This utility model embodiment also provides a mobile platform 1002, including a mobile platform body 200 and a hanging device 100 of any of the above embodiments, wherein the hanging device 100 is connected to the mobile platform body 200.

[0130] For example, the sling device 100 can be detachably connected to the mobile platform body 200. Thus, when the sling device 100 is needed to suspend the payload 1001, it can be connected to the mobile platform body 200; when the sling device 100 is not needed to suspend the payload 1001, it can be separated from the mobile platform body 200 to reduce the weight of the mobile platform 1002, thereby reducing power consumption, extending the battery life of the mobile platform 1002, and reducing the probability of the mobile platform 1002 colliding with the external environment, thus improving the safety of the mobile platform 1002. In other embodiments, the sling device 100 can also be non-detachably connected to the mobile platform body 200.

[0131] In some embodiments, the suspension device 100 can be connected to the movable platform body 200 via a tether. In some embodiments, the suspension length of the tether is adjustable, allowing adjustment of the suspension height of the payload 1001 to better perform the task. In other embodiments, the suspension length of the tether can be fixed. In other embodiments, the tether can be omitted, and the suspension device 100 can be directly connected to the movable platform body 200.

[0132] In some embodiments, the mobile platform 1002 includes an aircraft, and the sling 100 can be connected to at least one of the following components of the aircraft by means of tethers: the fuselage, arms, landing gear, etc.

[0133] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," "mechanical coupling," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and can refer to the internal communication of two components or the interaction between two components. Mechanical coupling or coupling of two components includes direct coupling and indirect coupling, such as a direct fixed connection or a connection through a transmission mechanism. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0134] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0135] The foregoing disclosure provides many different embodiments or examples for implementing various structures of this utility model. To simplify the disclosure, specific examples of components and arrangements are described above. These are merely examples and are not intended to limit the scope of the utility model. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this utility model; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific method step, feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0137] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A hanging device, characterized in that, include: A suspension mechanism for suspending a payload; as well as A driving mechanism, comprising an actuator and a connecting structure, wherein the actuator is pulsatorically connected to the connecting structure to drive the connecting structure to move; The actuator is configured to output power in response to a first electronic control signal to drive the connecting structure to move from a second position to a first position, and to output power in response to a second electronic control signal to drive the connecting structure to move from the first position to the second position, wherein the first position is different from the second position; In the first position, the suspension mechanism is in the open state; In the second position, the suspension mechanism is in the closed state.

2. The hanging device according to claim 1, characterized in that, The connection structure is a multi-link structure, and the multi-link structure has a dead point position.

3. The hanging device according to claim 2, characterized in that, The first position is the position before reaching the dead point, and the second position is the dead point.

4. The hanging device according to claim 2, characterized in that, The first position is the position before reaching the dead point, and the second position is the position after passing the dead point.

5. The hanging device according to claim 4, characterized in that, During at least a portion of the stroke in which the multi-link structure moves from the second position to the dead point and continues to move toward the first position, the gravitational force of the payload can be applied to the multi-link structure to facilitate its movement toward the first position.

6. The hanging device according to claim 2, characterized in that, The multi-link structure includes a first crank, a first connecting rod, and a second connecting rod. One side of the first crank is driven to the actuator, the other side of the first crank is driven to one side of the first connecting rod, the other side of the first connecting rod is driven to one side of the second connecting rod, and the other side of the second connecting rod is driven to the suspension mechanism.

7. The hanging device according to claim 6, characterized in that, The dead point position indicates the position where the torque on the first crank is zero, and at the dead point position, the first crank and the first connecting rod are on the same straight line.

8. The hanging device according to claim 2, characterized in that, The multi-link structure includes a second crank and a third link. One side of the second crank is drivenly connected to the actuator, and the other side of the second crank is drivenly connected to the third link. One of the second crank and the third link is provided with a slider, and the other is provided with a slide rail. The slider can slide within the slide rail. The suspension mechanism is drivenly connected to the third link.

9. The hanging device according to claim 8, characterized in that, The dead point position indicates the position where the torque on the second crank is zero, and at the dead point position, the second crank and the third connecting rod are perpendicular to each other.

10. The hanging device according to claim 1, characterized in that, The actuator is configured to rotate in a first rotation direction in response to a first electronic control signal and in a second rotation direction in response to a second electronic control signal, wherein the first rotation direction is opposite to the second rotation direction.

11. The hanging device according to claim 10, characterized in that, When the connecting structure moves to the second position, the actuator is configured to rotate to a preset position along the first rotation direction.

12. The hanging device according to claim 1, characterized in that, The suspension device also includes: The mounting structure includes a suspension mechanism movably connected to the mounting structure and a drive mechanism connected to the mounting structure. A first elastic member, one side of which abuts against the mounting structure, and the other side of which abuts against the connecting structure, the first elastic member can perform one or more of the following functions: An elastic force is applied to the connecting structure to keep it in the first position; An elastic force is applied to the connecting structure to keep it in the second position; During a portion of the travel of the connecting structure toward the first position, an elastic force is applied to the connecting structure to facilitate its movement toward the first position. During a portion of the travel of the connecting structure toward the second position, an elastic force is applied to the connecting structure to facilitate its movement toward the second position.

13. The hanging device according to claim 1, characterized in that, Also includes: The mounting structure is rotatably connected to the mounting structure, and in the first position, at least a portion of the connecting structure forms an abutment limit with the first limiting portion of the mounting structure; And / or, in the second position, at least a portion of the connecting structure forms an abutment limit with the second limiting portion of the mounting structure.

14. The hanging device according to claim 1, characterized in that, The actuator is connected to the suspension mechanism via the connection structure.

15. The hanging device according to claim 1, characterized in that, The suspension mechanism includes a first suspension part and a second suspension part. The first suspension part and the second suspension part can be opened relative to each other to put the suspension mechanism in the open state, and the first suspension part and the second suspension part can be closed relative to each other to put the suspension mechanism in the closed state.

16. The hanging device according to claim 15, characterized in that, As the connecting structure moves from the second position to the first position, it simultaneously drives the first hanging part and the second hanging part to rotate in opposite directions; as the connecting structure moves from the first position to the second position, it simultaneously drives the first hanging part and the second hanging part to rotate in opposite directions.

17. The hanging device according to claim 16, characterized in that, The first hanging part and the second hanging part are engaged in a transmission connection.

18. The hanging device according to claim 15, characterized in that, The first suspension part includes a first robotic arm, a first suspension sub-part, and a second elastic member. The first robotic arm is drive-connected to the connecting structure, the first suspension sub-part is rotatably connected to the first robotic arm, and the second elastic member abuts against the first suspension sub-part. The second elastic member is configured to ensure that the first suspension sub-part always tends to move relative to the first robotic arm to a first suspension position. In the closed state, the first suspension sub-part can overcome the elastic force of the second elastic member under external force and rotate relative to the first robotic arm toward the enclosed space of the suspension mechanism, so that the first suspension sub-part and the second suspension sub-part of the second suspension part are spaced apart; and / or, The second suspension part includes a second robotic arm, a second suspension sub-part, and a third elastic member. The second robotic arm is driven to the connecting structure or the first suspension part. The second suspension sub-part is driven to the second robotic arm. The third elastic member abuts against the second suspension sub-part. The third elastic member is configured to ensure that the second suspension sub-part always tends to move relative to the second robotic arm to the second suspension position. In the closed state, the second suspension sub-part can overcome the elastic force of the third elastic member and rotate relative to the second robotic arm toward the enclosed space of the suspension mechanism under the action of external force, so that the first suspension sub-part and the second suspension sub-part are spaced apart.

19. A mobile platform, characterized in that, include: Mobile platform main body; as well as The sling device as described in any one of claims 1-18, wherein the sling device is connected to the main body of the movable platform.

20. The mobile platform according to claim 19, characterized in that, The movable platform is an aircraft, which includes an aircraft body and a winding mechanism. The winding mechanism is located on the aircraft body. The sling device can approach the aircraft body under the winding action of the winding mechanism and can move away from the aircraft body under the unwinding action of the winding mechanism.

Images