A sling anti-roll system for quay crane

Abstract

The present invention discloses a sling anti-sway system for a quay crane, comprising a trolley direction anti-sway winding system, a trolley direction anti-sway winding system and a rocker arm pitch winding system, wherein the trolley direction anti-sway winding system, the trolley direction anti-sway winding system and the rocker arm pitch winding system are all installed on the quay crane, the trolley direction anti-sway winding system comprises a first torque motor, a first drum, a first redirection pulley block, and a first steel wire rope, the first drum is connected to the first torque motor, the first steel wire rope is wound on the first drum, the first steel wire rope comprises a head end rope and a tail end rope extending out of the first drum, and the head end rope and the tail end rope are cross-connected to the sling of the quay crane via the first redirection pulley block. The present invention can quickly reduce the swing amplitude of the sling or container, so that the sling and the container can quickly and accurately complete the alignment, and has good anti-sway effect and good stability.

Description

Technical Field

[0001] The invention relates to a sling anti-roll system for a quay crane, belonging to the field of quay crane equipment. Background Art

[0002] The rapid development of the world economy has driven the rapid development of shipping logistics, and the global container throughput has continued to grow. The size of container ships is getting bigger and bigger, and the quay cranes are getting bigger and bigger, and the lifting height is getting higher and higher. With the increase in lifting height, under the influence of the sea breeze on the shore, the spreader or container is more likely to have a large swing, which will have a serious impact on the alignment of the spreader or container. Therefore, this also puts higher requirements on the anti-sway technology of the quay crane. There are some problems with the current anti-sway technology. The anti-sway effect of mechanical anti-sway technology is not good, and the electronic anti-sway technology requires frequent changes in the length of the rope. In addition, the trolley motor will produce a certain amount of friction during operation. Therefore, in actual applications, the trolley speed is adjusted too frequently, and the driver is uncomfortable, resulting in some container cranes equipped with electronic anti-sway systems being dismantled later. In order to improve performance, traditional control theory has become very complicated, which has greatly increased the initial investment and maintenance costs of control equipment and reduced the reliability of the system. Summary of the invention

[0003] The object of the present invention is to provide a sling anti-sway system for a quay crane, which can prevent the sling or container from shaking during the lifting process and has high reliability.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: a sling anti-roll system for a quay crane, comprising a trolley direction anti-roll winding system, a trolley direction anti-roll winding system and a rocker arm pitch winding system, the trolley direction anti-roll winding system, the trolley direction anti-roll winding system and the rocker arm pitch winding system are all installed on the quay crane, the trolley direction anti-roll winding system comprises a first torque motor, a first drum, a first redirecting pulley group, and a first steel wire rope, the first drum is connected to the first torque motor, the first steel wire rope is wound on the first drum, the first steel wire rope comprises a head end rope and a tail end rope extending out of the first drum, the head end rope and the tail end rope are cross-connected to the sling of the quay crane via the first redirecting pulley group.

[0005] In the aforementioned sling anti-sway system for a quay crane, the first redirecting pulley group includes pulley a, pulley b, pulley c, pulley d, pulley e and pulley f, the head end rope is connected to the sling of the quay crane via pulley a, and the end rope is connected to the sling of the quay crane via pulley b, pulley c, pulley d, pulley e and pulley f in sequence, pulley a and pulley b are coaxially arranged in parallel, the installation heights of pulley c and pulley d are higher than that of pulley a, the installation height of pulley f is the same as that of pulley a, and pulley e is installed above pulley f.

[0006] In the aforementioned anti-sway system of the hoisting equipment for the quay crane, the rocker arm pitch winding system includes a pitch motor, a reduction gearbox, a fourth drum, a fifth drum, a third steel wire rope, a third redirecting pulley group and a rocker arm device, the pitch motor is connected to the reduction gearbox, the fourth drum and the fifth drum are respectively arranged on the left and right sides of the reduction gearbox and are both connected to the reduction gearbox, a third steel wire rope is wound around the fourth drum, a steel wire rope is also wound around the fifth drum, and the third redirecting pulley group is arranged on the rocker arm device.

[0007] In the aforementioned anti-sway system for the quay crane, the rocker arm device includes a first rocker arm, a second rocker arm, a third rocker arm and a fourth rocker arm, the third redirecting pulley group includes an A pulley, a B pulley and a C pulley, and the first rocker arm, the second rocker arm, the third rocker arm and the fourth rocker arm are all provided with an A pulley and a B pulley at the fixed ends, the A pulley and the B pulley are coaxially arranged, and a C pulley is provided at the end of the first rocker arm, the second rocker arm, the third rocker arm and the fourth rocker arm.

[0008] In the aforementioned anti-sway system of the hoisting device for the quay crane, the third steel wire rope includes section A and section B, section A of the third steel wire rope wound on the fourth drum is connected to the C pulley at the end of the first rocker arm after being redirected via the A pulley at the fixed end of the first rocker arm; section B of the third steel wire rope wound on the fourth drum is connected to the C pulley at the end of the second rocker arm after being redirected via the B pulley at the fixed end of the first rocker arm and the A pulley or B pulley at the fixed end of the second rocker arm; section A of the third steel wire rope wound on the fifth drum is connected to the C pulley at the end of the third rocker arm after being redirected via the A pulley at the fixed end of the third rocker arm; section B of the third steel wire rope wound on the fifth drum is connected to the C pulley at the end of the fourth rocker arm after being redirected via the B pulley at the fixed end of the third rocker arm and the A pulley and B pulleys at the fixed end of the fourth rocker arm.

[0009] In the aforementioned anti-roll system for the quay crane, the trolley direction anti-roll winding system includes a coupling, two second torque motors, a second drum, a third drum, a second redirection pulley set and a second wire rope. The two second torque motors are symmetrically arranged on both sides of the trolley, and the two second torque motors are connected by a coupling. The second drum is connected to one second torque motor, and the third drum is connected to another second torque motor. A second wire rope is wound around the second drum and the third drum. One end of the second wire rope wound around the second drum is a rope. The second wire rope is connected to the sling of the quay crane after being turned by the second redirecting pulley block and the C pulley at the end of the first rocker arm; the other end of the second wire rope wound on the second drum is connected to the sling of the quay crane after being turned by the second redirecting pulley block and the C pulley at the end of the second rocker arm; one end of the second wire rope wound on the third drum is connected to the sling of the quay crane after being turned by the second redirecting pulley block and the C pulley at the end of the third rocker arm; the other end of the second wire rope wound on the fourth drum is connected to the sling of the quay crane after being turned by the second redirecting pulley block and the C pulley at the end of the fourth rocker arm.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] (1) It can quickly reduce the swing amplitude of the spreader or container, so that the spreader and container can be aligned quickly and accurately;

[0012] (2) Compared with the traditional mechanical anti-roll system, the anti-roll effect of the system of the present invention is better and the adjustment is faster;

[0013] (3) The present invention adopts a mechanical anti-rolling method, which has better stability than the electronic anti-rolling system in the prior art and reduces the workload of the quay crane driver;

[0014] (4) The first steel wire rope, the second steel wire rope and the third steel wire rope in the system of the present invention are steel wire ropes for adjustment and do not bear weight. Thinner steel wire ropes can be selected, which is low in cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute an improper limitation to the present invention. In the accompanying drawings:

[0016] Figure 1 It is a structural schematic diagram of the rocker arm pitch winding system of the present invention;

[0017] Figure 2 This is a simplified structural diagram of the rocker arm pitch winding system of the present invention.

[0018] Figure 3 It is a structural schematic diagram of the trolley directional anti-roll winding system of the present invention;

[0019] Figure 4 This is a simplified structural diagram of the trolley directional anti-roll winding system of the present invention;

[0020] Figure 5 It is a structural schematic diagram of the trolley direction anti-roll winding system of the present invention;

[0021] Figure 6 This is a simplified structural diagram of the trolley directional anti-roll winding system of the present invention;

[0022] Figure 7 This is a schematic diagram of the structure of the present invention arranged on the quay bridge Figure 1 ;

[0023] Figure 8 This is a schematic diagram of the structure of the present invention arranged on the quay bridge Figure 2 .

[0024] Figure numerals: 1-first torque motor, 2-first drum, 3-first redirecting pulley set, 301-a pulley, 302-b pulley, 303-c pulley, 304-d pulley, 305-e pulley, 306-f pulley, 4-first steel wire rope, 5-head rope, 6-end rope, 7-second torque motor, 8-second drum, 9-second redirecting pulley set, 10-second steel wire rope, 11-pitch motor, 12-reduction box, 13-fourth drum, 14- The third steel wire rope, 15-the third redirecting pulley block, 16-rocker device, 17-rope section A, 18-rope section B, 19-the first rocker, 20-the second rocker, 21-the fourth rocker, 22-the fifth drum, 23-the third drum, 24-the coupling, 25-A pulley, 26-B pulley, 27-C pulley, 28-the trolley direction anti-roll winding system, 29-the trolley direction anti-roll winding system, 30-rocker pitch winding system, 31-sling, 32-the third rocker.

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. DETAILED DESCRIPTION

[0026] In order to make the technical personnel in the technical field better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. The terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1 of the present invention: A sling anti-roll system for a quay crane comprises a trolley direction anti-roll winding system 28, a trolley direction anti-roll winding system 29 and a rocker arm pitch winding system 30, wherein the trolley direction anti-roll winding system 28, the trolley direction anti-roll winding system 29 and the rocker arm pitch winding system 30 are all installed on the quay crane, the trolley direction anti-roll winding system 28 comprises a first torque motor 1, a first drum 2, a first redirecting pulley block 3, and a first steel wire rope 4, the first drum 2 is connected to the first torque motor 1, the first steel wire rope 4 is wound on the first drum 2, the first steel wire rope 4 comprises a head end rope 5 and a tail end rope 6 extending out of the first drum 2, the head end rope 5 and the tail end rope 6 are cross-connected to the sling of the quay crane via the first redirecting pulley block 3.

[0028] Embodiment 2 of the present invention: A sling anti-roll system for a quay crane comprises a trolley direction anti-roll winding system 28, a trolley direction anti-roll winding system 29 and a rocker arm pitch winding system 30, wherein the trolley direction anti-roll winding system 28, the trolley direction anti-roll winding system 29 and the rocker arm pitch winding system 30 are all installed on the quay crane, the trolley direction anti-roll winding system 28 comprises a first torque motor 1, a first drum 2, a first redirecting pulley block 3, and a first steel wire rope 4, the first drum 2 is connected to the first torque motor 1, the first steel wire rope 4 is wound on the first drum 2, the first steel wire rope 4 comprises a head end rope 5 and a tail end rope 6 extending out of the first drum 2, the head end rope 5 and the tail end rope 6 are cross-connected to the sling of the quay crane via the first redirecting pulley block 3.

[0029] In order to connect the head end rope 5 and the tail end rope 6 of the first steel wire rope 4 to the sling in a cross manner, the first redirecting pulley group 3 includes a pulley 301, b pulley 302, c pulley 303, d pulley 304, e pulley 305 and f pulley 306, the head end rope 5 is connected to the sling of the quay crane via a pulley 301, and the tail end rope 6 is connected to the sling of the quay crane via b pulley 302, c pulley 303, d pulley 304, e pulley 305 and f pulley 306 in sequence, pulley a 301 and pulley b 302 are coaxially arranged in parallel, the installation heights of pulleys c 303 and d pulley 304 are higher than that of pulley a 301, the installation height of pulley f 306 is the same as that of pulley a 301, and pulley e 305 is installed above pulley f 306.

[0030] Embodiment 3 of the present invention: A sling anti-roll system for a quay crane comprises a trolley direction anti-roll winding system 28, a trolley direction anti-roll winding system 29 and a rocker arm pitch winding system 30, wherein the trolley direction anti-roll winding system 28, the trolley direction anti-roll winding system 29 and the rocker arm pitch winding system 30 are all installed on the quay crane, the trolley direction anti-roll winding system 28 comprises a first torque motor 1, a first drum 2, a first redirecting pulley block 3, and a first steel wire rope 4, the first drum 2 is connected to the first torque motor 1, the first steel wire rope 4 is wound on the first drum 2, the first steel wire rope 4 comprises a head end rope 5 and a tail rope 6 extending out of the first drum 2, the head end rope 5 and the tail rope 6 are cross-connected to the sling of the quay crane via the first redirecting pulley block 3.

[0031] In order to connect the head end rope 5 and the tail end rope 6 of the first steel wire rope 4 to the sling in a cross manner, the first redirecting pulley group 3 includes a pulley 301, b pulley 302, c pulley 303, d pulley 304, e pulley 305 and f pulley 306, the head end rope 5 is connected to the sling of the quay crane via a pulley 301, and the tail end rope 6 is connected to the sling of the quay crane via b pulley 302, c pulley 303, d pulley 304, e pulley 305 and f pulley 306 in sequence, pulley a 301 and pulley b 302 are coaxially arranged in parallel, the installation heights of pulleys c 303 and d pulley 304 are higher than that of pulley a 301, the installation height of pulley f 306 is the same as that of pulley a 301, and pulley e 305 is installed above pulley f 306.

[0032] The rocker arm pitch winding system 30 includes a pitch motor 11, a reduction gearbox 12, a fourth drum 13, a fifth drum 22, a third steel wire rope 14, a third redirecting pulley set 15 and a rocker arm device 16. The pitch motor 11 is connected to the reduction gearbox 12. The fourth drum 13 and the fifth drum 22 are respectively arranged on the left and right sides of the reduction gearbox 12 and are both connected to the reduction gearbox 12. A third steel wire rope 14 is wound around the fourth drum 13, a steel wire rope 14 is also wound around the fifth drum 22, and the third redirecting pulley set 15 is arranged on the rocker arm device 16.

[0033] The rocker arm device 16 includes a first rocker arm 19, a second rocker arm 20, a third rocker arm 32 and a fourth rocker arm 21. The third redirecting pulley group 15 includes an A pulley 25, a B pulley 26 and a C pulley 27. The first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21 are each provided with an A pulley 25 and a B pulley 26 at the fixed ends. The A pulley 25 and the B pulley 26 are coaxially arranged. A C pulley 27 is each provided at the end of the first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21.

[0034] The third steel wire rope 14 includes an A section rope 17 and a B section rope 18. The A section rope 17 of the third steel wire rope 14 wound on the fourth drum 13 is connected to the C pulley 27 at the end of the first rocker arm 19 after being redirected by the A pulley 25 at the fixed end of the first rocker arm 19; the B section rope 18 of the third steel wire rope 14 wound on the fourth drum 13 is connected to the second rocker arm 20 after being redirected by the B pulley 26 at the fixed end of the first rocker arm 19 and the A pulley 25 or the B pulley 26 at the fixed end of the second rocker arm 20. The A section 17 of the third steel wire rope 14 wound on the fifth drum 22 is connected to the C pulley 27 at the end of the third rocker arm 19 after being redirected by the A pulley 25 at the fixed end of the third rocker arm 19; the B section 17 of the third steel wire rope 14 wound on the fifth drum 22 is connected to the C pulley 27 at the end of the fourth rocker arm 21 after being redirected by the B pulley 26 at the fixed end of the third rocker arm 19 and the A pulley 25 and B pulley 26 at the fixed end of the fourth rocker arm 21.

[0035] Embodiment 4 of the present invention: A sling anti-roll system for a quay crane, comprising a trolley direction anti-roll winding system 28, a trolley direction anti-roll winding system 29 and a rocker arm pitch winding system 30, wherein the trolley direction anti-roll winding system 28, the trolley direction anti-roll winding system 29 and the rocker arm pitch winding system 30 are all installed on the quay crane, the trolley direction anti-roll winding system 28 comprises a first torque motor 1, a first drum 2, a first redirecting pulley block 3, and a first steel wire rope 4, the first drum 2 is connected to the first torque motor 1, the first steel wire rope 4 is wound on the first drum 2, the first steel wire rope 4 comprises a head end rope 5 and a tail end rope 6 extending out of the first drum 2, the head end rope 5 and the tail end rope 6 are cross-connected to the sling of the quay crane via the first redirecting pulley block 3. The first redirecting pulley group 3 includes pulley a 301, pulley b 302, pulley c 303, pulley d 304, pulley e 305 and pulley f 306. The head end rope 5 is connected to the hoisting device of the quay crane via pulley a 301, and the end rope 6 is connected to the hoisting device of the quay crane via pulley b 302, pulley c 303, pulley d 304, pulley e 305 and pulley f 306 in sequence. Pulley a 301 and pulley b 302 are coaxially arranged in parallel, the installation heights of pulley c 303 and pulley d 304 are higher than that of pulley a 301, the installation height of pulley f 306 is the same as that of pulley a 301, and pulley e 305 is installed above pulley f 306. The rocker arm pitch winding system 30 includes a pitch motor 11, a reduction gearbox 12, a fourth drum 13, a fifth drum 22, a third steel wire rope 14, a third redirecting pulley set 15 and a rocker arm device 16. The pitch motor 11 is connected to the reduction gearbox 12. The fourth drum 13 and the fifth drum 22 are respectively arranged on the left and right sides of the reduction gearbox 12 and are both connected to the reduction gearbox 12. A third steel wire rope 14 is wound around the fourth drum 13, a steel wire rope 14 is also wound around the fifth drum 22, and the third redirecting pulley set 15 is arranged on the rocker arm device 16. The rocker arm device 16 includes a first rocker arm 19, a second rocker arm 20, a third rocker arm 32 and a fourth rocker arm 21. The third redirecting pulley group 15 includes an A pulley 25, a B pulley 26 and a C pulley 27. The first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21 are each provided with an A pulley 25 and a B pulley 26 at the fixed ends. The A pulley 25 and the B pulley 26 are coaxially arranged. A C pulley 27 is each provided at the end of the first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21.The third steel wire rope 14 includes an A section rope 17 and a B section rope 18. The A section rope 17 of the third steel wire rope 14 wound on the fourth drum 13 is connected to the C pulley 27 at the end of the first rocker arm 19 after being redirected by the A pulley 25 at the fixed end of the first rocker arm 19; the B section rope 18 of the third steel wire rope 14 wound on the fourth drum 13 is connected to the second rocker arm 20 after being redirected by the B pulley 26 at the fixed end of the first rocker arm 19 and the A pulley 25 or the B pulley 26 at the fixed end of the second rocker arm 20. The A section 17 of the third steel wire rope 14 wound on the fifth drum 22 is connected to the C pulley 27 at the end of the third rocker arm 19 after being redirected by the A pulley 25 at the fixed end of the third rocker arm 19; the B section 17 of the third steel wire rope 14 wound on the fifth drum 22 is connected to the C pulley 27 at the end of the fourth rocker arm 21 after being redirected by the B pulley 26 at the fixed end of the third rocker arm 19 and the A pulley 25 and B pulley 26 at the fixed end of the fourth rocker arm 21. The trolley directional anti-roll winding system 29 includes a coupling 24, two second torque motors 7, a second drum 8, a third drum 23, a second redirecting pulley set 9 and a second steel wire rope 10. The two second torque motors 7 are symmetrically arranged on both sides of the trolley. The two second torque motors 7 are connected through a coupling 24. The second drum 8 is connected to one second torque motor 7, and the third drum 23 is connected to another second torque motor 7. A second steel wire rope 10 is wound around the second drum 8 and the third drum 23. One end of the second steel wire rope 10 wound around the second drum 8 is passed through the second redirecting pulley set 9 and the third drum 23. The C pulley 27 at the end of the first rocker arm 19 is turned and connected to the hoisting device of the quay crane; the other end of the second wire rope 10 wound on the second drum 8 is turned through the second redirecting pulley group 9 and the C pulley 27 at the end of the second rocker arm 20 and is connected to the hoisting device of the quay crane; one end of the second wire rope 10 wound on the third drum 23 is turned through the second redirecting pulley group 9 and the C pulley 27 at the end of the third rocker arm 19 and is connected to the hoisting device of the quay crane; the other end of the second wire rope 10 wound on the fourth drum 23 is turned through the second redirecting pulley group 9 and the C pulley 27 at the end of the fourth rocker arm 21 and is connected to the hoisting device of the quay crane.

[0036] Working principle of the present invention:

[0037] According to research, the sway of the spreader is periodic, swinging like a sine function. If the swing period of the spreader is destroyed, the amplitude of the swing will quickly decay to zero. The spreader anti-sway system of the present invention reduces the amplitude of the spreader's swing by destroying the spreader's swing period, thereby realizing the spreader's anti-sway function.

[0038] The sling anti-roll system for the quay crane of the present invention is composed of three subsystems, namely a trolley direction anti-roll winding system 28, a trolley direction anti-roll winding system 29 and a rocker arm pitch winding system 30.

[0039] In the trolley directional anti-roll winding system 28, the first end rope 5 and the end rope 6 of the first wire rope 4 are led out from the first drum 2 which is arranged at the end of the first torque motor 1 and connected to the first torque motor 1. The first end rope 5 is connected to one end of the sling after changing its direction through the a pulley 301 of the first redirecting pulley block 3, and the end rope 6 is connected to the other end of the sling after changing its direction through the b pulley 302, c pulley 303, d pulley 304, e pulley 305 and f pulley 306 of the first redirecting pulley block 3. Figure 4 As shown, the head rope 5 and the tail rope 6 connected to the sling 31 after redirection are cross-connected. Figure 1 The up and down directions in Figure 3 When the trolley sways in the left and right directions, the first torque motor 1 rotates in the corresponding direction, driving the first drum 2 connected to the first torque motor 1, thereby driving the first steel wire rope 4 to pull the sling 31, thereby destroying the swing cycle of the sling and achieving the purpose of anti-sway. The trolley direction anti-sway winding system 28 in the present invention is a system that can independently reduce sway.

[0040] In the trolley directional anti-roll winding system 29, two second torque motors 7 are symmetrically distributed on both sides of the trolley, and the two second torque motors 7 are connected by a coupling 24 to ensure the synchronous operation of the two second torque motors 7. Two ends of the rope are led out from the second steel wire rope 10 wound on the second drum 8, and after being diverted by the second redirecting pulley block 9, one end of the rope is diverted by the second redirecting pulley block 9 and the C pulley 27 at the end of the first rocker arm 19 and connected to the gantry crane's hoisting device 31, and the other end of the rope is diverted by the second redirecting pulley block 9 and the C pulley 27 at the end of the second rocker arm 20 and connected to the gantry crane's hoisting device 31.

[0041] In the rocker arm pitch winding system 30, the fourth drum 13 and the fifth drum 22 are driven by the pitch motor 11 to adjust the tension of the third steel wire rope 14 wound on the fourth drum 13 and the fifth drum 22. The pitch of the rocker arm device 16 is controlled by the pitch motor 11 to control the tension angle between the third steel wire ropes 14 to adjust the horizontal force component. The rocker arm pitch winding system 30 and the trolley direction anti-roll winding system 29 work together to achieve anti-roll of the hoist 31 in the direction of movement of the trolley.

Claims

1. A sling anti-roll system for a quay crane, characterized in that: The invention comprises a trolley directional anti-roll winding system (28), a trolley directional anti-roll winding system (29) and a rocker arm pitch winding system (30), wherein the trolley directional anti-roll winding system (28), the trolley directional anti-roll winding system (29) and the rocker arm pitch winding system (30) are all installed on the quay crane, the trolley directional anti-roll winding system (28) comprises a first torque motor (1), a first drum (2), a first redirecting pulley block (3), and a first steel wire rope (4), wherein the first drum (2) is connected to the first torque motor (1), the first steel wire rope (4) is wound on the first drum (2), the first steel wire rope (4) comprises a head end rope (5) and a tail end rope (6) extending out of the first drum (2), the head end rope (5) and the tail end rope (6) are both cross-connected to the hoisting device of the quay crane via the first redirecting pulley block (3); The rocker arm pitch winding system (30) comprises a pitch motor (11), a reduction box (12), a fourth drum (13), a fifth drum (22), a third steel wire rope (14), a third redirecting pulley block (15) and a rocker arm device (16); the pitch motor (11) is connected to the reduction box (12); the fourth drum (13) and the fifth drum (22) are respectively arranged on the left and right sides of the reduction box (12) and are both connected to the reduction box (12); a third steel wire rope (14) is wound around the fourth drum (13); a steel wire rope (14) is also wound around the fifth drum (22); and the third redirecting pulley block (15) is arranged on the rocker arm device (16); The rocker arm device (16) comprises a first rocker arm (19), a second rocker arm (20), a third rocker arm (32) and a fourth rocker arm (21); the third redirecting pulley group (15) comprises an A pulley (25), a B pulley (26) and a C pulley (27); the fixed ends of the first rocker arm (19), the second rocker arm (20), the third rocker arm (32) and the fourth rocker arm (21) are all provided with an A pulley (25) and a B pulley (26); the A pulley (25) and the B pulley (26) are coaxially arranged; and the ends of the first rocker arm (19), the second rocker arm (20), the third rocker arm (32) and the fourth rocker arm (21) are all provided with a C pulley (27); The third steel wire rope (14) comprises a rope section A (17) and a rope section B (18), and the rope section A (17) of the third steel wire rope (14) wound on the fourth drum (13) is connected to the pulley C (27) at the end of the first rocker arm (19) after being redirected by the pulley A (25) at the fixed end of the first rocker arm (19); The B section rope (18) of the third steel wire rope (14) wound on the fourth drum (13) is redirected through the B pulley (26) at the fixed end of the first rocker arm (19) and the A pulley (25) or B pulley (26) at the fixed end of the second rocker arm (20) and then connected to the C pulley (27) at the end of the second rocker arm (20); The A section rope (17) of the third steel wire rope (14) wound on the fifth drum (22) is connected to the C pulley (27) at the end of the third rocker arm (32) after being redirected by the A pulley (25) at the fixed end of the third rocker arm (32); The B section rope (18) of the third steel wire rope (14) wound on the fifth drum (22) is redirected by the B pulley (26) at the fixed end of the third rocker arm (32) and the A pulley (25) and the B pulley (26) at the fixed end of the fourth rocker arm (21) and then connected to the C pulley (27) at the end of the fourth rocker arm (21).

2. The sling anti-roll system for a quay crane according to claim 1, characterized in that: The first redirecting pulley group (3) comprises an a pulley (301), a b pulley (302), a c pulley (303), a d pulley (304), an e pulley (305) and an f pulley (306); the head end rope (5) is connected to the sling of the quay crane via the a pulley (301); the end rope (6) is connected to the sling of the quay crane via the b pulley (302), the c pulley (303), the d pulley (304), the e pulley (305) and the f pulley (306) in sequence.

3. The anti-roll system for a gantry crane according to claim 1, characterized in that: The trolley directional anti-roll winding system (29) comprises a coupling (24), two second torque motors (7), a second drum (8), a third drum (23), a second redirecting pulley set (9) and a second steel wire rope (10); the two second torque motors (7) are symmetrically arranged on both sides of the trolley; the two second torque motors (7) are connected via the coupling (24); the second drum (8) is connected to one second torque motor (7); the third drum (23) is connected to another second torque motor (7); and a second steel wire rope (10) is wound around each of the second drum (8) and the third drum (23); One end of the second steel wire rope (10) wound on the second drum (8) is connected to the gantry crane's hoisting device after being diverted by the second redirecting pulley block (9) and the C pulley (27) at the end of the first rocker arm (19); The other end of the second steel wire rope (10) wound on the second drum (8) is connected to the crane's hoisting device after being diverted by the second redirecting pulley block (9) and the C pulley (27) at the end of the second rocker arm (20); One end of the second steel wire rope (10) wound on the third drum (23) is connected to the gantry crane's hoisting device after being diverted through the second redirection pulley block (9) and the C pulley (27) at the end of the third rocker arm (32); The other end of the second steel wire rope (10) wound on the fourth drum (13) is connected to the gantry crane's hoisting device after being diverted via the second redirecting pulley block (9) and the C pulley (27) at the end of the fourth rocker arm (21).

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