Pull block type lifting anti-sway stabilization device

Abstract

The present invention relates to a pull block type lifting anti-sway stabilization device, which includes a pull block assembly, an inclination measuring assembly, a hook, an anti-sway wing lifting assembly and a flexible cable, wherein the pull block assembly is arranged at the front end of the boom in the anti-sway wing lifting assembly, the inclination measuring assembly is arranged below the pull block assembly, and one end of the pull block cable in the flexible cable is connected to the winch, and the other end of the pull block cable passes through the pull block connecting pulley group and the pull block fixed pulley group and is connected to the front end of the boom, and one end of the load cable is connected to the winch, and the other end of the load cable passes through the load connecting pulley group, the pull block anti-sway large pulley group, passes through two groups of pull block anti-sway small pulley groups and the hook pulley group on the hook and is connected to the bottom of the inclination measuring assembly, and one end of the anti-sway cable is connected to the side plate of the pull block, and the other end of the anti-sway cable is connected to the anti-sway winch. The present invention can accurately detect the amplitude of the load sway, and cooperate with the crane to compensate for the roll, pitch and heave of the cargo, and has the advantages of compact structure and large compensation range.

Description

Technical Field

[0001] The invention belongs to the technical field of lifting anti-sway stabilizing devices, and in particular relates to a pulling block type lifting anti-sway stabilizing device. Background Art

[0002] Marine cranes, also known as ship cranes, are used for cargo transfer. Ships and other floating structures at sea, exposed to wind and wave surges, experience six degrees of freedom (DOF) motion: sway, surge, heave, roll, pitch, and pitch. This multi-dimensional motion can severely impact cargo transfer and pose significant safety risks. Therefore, improvements and modifications to traditional cranes are crucial and necessary.

[0003] Existing anti-sway technologies for marine cranes include parallel mechanisms and support arms. These systems suffer from excessive control components, resulting in inaccurate detection of load sway amplitude. They also suffer from low overall integration, complex structures, high design costs, and limited adaptability to sea conditions. Therefore, there is a need for an anti-sway stabilization device with a simple and compact structure, effective anti-sway performance, and accurate sway detection. Summary of the Invention

[0004] In response to the problems existing in the prior art, the present invention provides a pull-block type lifting anti-sway stabilization device. Its series-parallel hybrid mechanical structure can significantly compensate for the impact of wind and wave surges on ships, and the application of multiple pairs of pulley groups can significantly reduce the force on the linear drive, and it has a wide range of usage scenarios.

[0005] The technical solution adopted by the present invention is a pulling block type lifting anti-sway stabilization device, which includes a pulling block assembly, an inclination measuring assembly, a hook, an anti-sway wing lifting assembly and a flexible rope. The pulling block assembly is arranged at the front end of the boom in the anti-sway wing lifting assembly, and the pulling block assembly includes a pulling block, a pulling block fixed pulley group, a pulling block anti-sway large pulley group and two groups of pulling block anti-sway small pulley groups. The pulling block fixed pulley group is arranged at the upper end of the rear side of the pulling block through a first rotating pair, and the pulling block anti-sway large pulley group is arranged at the front end of the front side of the pulling block through a second rotating pair. The two groups of The small pulley group for anti-deflection of the pulling block is arranged between the fixed pulley group of the pulling block and the large pulley group for anti-deflection of the pulling block and is located below the large pulley group for anti-deflection of the pulling block. The two groups of small pulley groups for anti-deflection of the pulling block are respectively arranged side by side at the lower end of the pulling block through the third rotating pair and the fourth rotating pair, and the pulley groove spacing between the two groups of small pulley groups for anti-deflection of the pulling block is equal to the diameter of the flexible cable; the inclination measuring assembly is arranged below the pulling block assembly, and the inclination measuring assembly includes a measuring base, a universal hinge, a measuring frame and a dual inclination sensor, and the measuring base is fixed The yoke is provided at the bottom of the pull block, the measuring base is connected to the measuring frame by the universal hinge, and the dual inclination sensor is installed at the lower end of the inner side of the measuring frame; the hook is provided below the pull block assembly, and the flexible cable includes a pull block cable, a lifting cable and an anti-sway cable symmetrically provided on both sides of the pull block assembly, the first end of the pull block cable is connected to the winch in the anti-sway wing lifting assembly, and the second end of the pull block cable is sequentially passed around the pull block connecting pulley group and the pull block fixed pulley group at the front end of the boom in the anti-sway wing lifting assembly and the The front end of the boom is connected, the first end of the lifting rope is connected to the winch in the anti-sway wing lifting assembly, and the second end of the lifting rope is passed through the lifting connection pulley group, the large anti-sway pulley group of the pull block, the two groups of small anti-sway pulley groups of the pull block, and the hook pulley group on the hook to be connected to the bottom of the measuring frame, the first end of the anti-sway rope is connected to the side plates on both sides of the pull block, and the second end of the anti-sway rope is connected to the anti-sway winch on the anti-sway wing of the anti-sway wing lifting assembly.

[0006] Furthermore, the anti-sway wing lifting assembly adopts an upper-pull anti-sway wing lifting assembly, and the upper-pull anti-sway wing lifting assembly includes a boom articulated frame, a tower articulated frame, a direction-changing pulley set, a servo electric cylinder, an anti-sway winch, a wing front swing assembly, a first triangular connecting rod, a second triangular connecting rod and an anti-sway frame. The boom articulated frame is arranged at the middle part of the boom, and the first triangular connecting rod and the second triangular connecting rod are arranged between the boom articulated frame and the front end of the anti-sway frame, and the upper end of the first triangular connecting rod is connected to the bottom of the boom articulated frame through a first ball pair. The lower end of the first triangular link is connected to the top of the anti-sway frame through the seventh rotation pair, and the upper end of the second triangular link is connected to the bottom of the boom articulated frame through the second ball pair, and the lower end of the second triangular link is connected to the top of the anti-sway frame through the eighth rotation pair. The tower body articulated frame is arranged at the upper end of the tower body, and the tower body is rotatably connected to the rear end of the anti-sway frame through the tower body articulated frame. The rear end of the boom is rotatably connected to the upper end of the tower body, and the anti-sway frame is connected to the boom, tower body, and the first The triangular connecting rod and the second triangular connecting rod together form a spatial parallelogram structure; the changing pulley group, the servo electric cylinder and the anti-sway winch are symmetrically arranged on both sides of the anti-sway frame, and the changing pulley group includes a servo electric cylinder pulley, a middle plate pulley and a front plate pulley, the servo electric cylinder pulley is arranged at the front end of the servo electric cylinder, the middle plate pulley is arranged on the anti-sway frame and close to the front end of the anti-sway frame, and the front plate pulley is arranged at the front end of the anti-sway frame, the front wing swing assembly is symmetrically arranged on both sides of the front end of the anti-sway frame, and the front wing swing assembly It includes a disc flange, a solid disc flange, a front wing swing frame and a front wing cable pulley. The two ends of the front wing swing frame are rotatably arranged on the anti-sway frame through the disc flange and the solid disc flange respectively. The front wing cable pulley is arranged on the front wing swing frame through an eleventh rotating pair and is close to one side of the solid disc flange; the first end of the anti-sway cable is connected to the side plates on both sides of the pull block, and the second end of the anti-sway cable is connected to the anti-sway winch after passing around the front wing cable pulley, front plate pulley, servo electric cylinder pulley and middle plate pulley in the front wing swing assembly.

[0007] Preferably, the seventh rotation secondary axis is parallel to the eighth rotation secondary axis, and the servo electric cylinder pulley axis is perpendicular to the seventh rotation secondary axis, the front plate pulley axis is parallel to the servo electric cylinder pulley axis, and the middle plate pulley axis is perpendicular to the servo electric cylinder pulley axis.

[0008] Furthermore, the anti-sway wing lifting assembly can also adopt a pull-down anti-sway wing lifting assembly, and the pull-down anti-sway wing lifting assembly includes a pull-down T-shaped anti-sway wing, a first pull-down linear drive, a second pull-down linear drive, a first turntable platform connecting frame, a second turntable platform connecting frame, a change of direction pulley set, an anti-sway winch and a wing front swing assembly, the first turntable platform connecting frame and the second turntable platform connecting frame are symmetrically arranged on the tower body, and the first turntable platform connecting frame and the second turntable platform connecting frame are connected by a connecting plate, the first pull-down linear drive and the second pull-down linear drive are respectively arranged on the first turntable platform connecting frame and the second turntable platform connecting frame, and The pull-down T-shaped anti-sway wing is arranged on the front end of the first turntable platform connecting frame and the second turntable platform connecting frame, and one side above the rear end of the pull-down T-shaped anti-sway wing is connected to the front end of the first pull-down linear drive through a first pull-down rotating pair, and the other side above the rear end of the pull-down T-shaped anti-sway wing is connected to the front end of the second pull-down linear drive through a second pull-down rotating pair, and one side below the rear end of the pull-down T-shaped anti-sway wing is connected to the front end of the first turntable platform connecting frame through a third pull-down rotating pair, and the other side below the rear end of the pull-down T-shaped anti-sway wing is connected to the front end of the second turntable platform connecting frame through a fourth pull-down rotating pair, and the first pull-down The rear end of the linear drive is connected to the upper rear end of the first turntable platform connecting frame through the fifth pull-down rotating pair, and the rear end of the second pull-down linear drive is connected to the upper rear end of the second turntable platform connecting frame through the sixth pull-down rotating pair; the changing pulley group and the anti-sway winch are symmetrically arranged on both sides of the pull-down T-shaped anti-sway wing, and the changing pulley group includes a servo electric cylinder pulley, a middle plate pulley and a front plate pulley, the servo electric cylinder pulley is arranged at the front end of the servo electric cylinder, the middle plate pulley is arranged on the pull-down T-shaped anti-sway wing and close to the front end of the pull-down T-shaped anti-sway wing, and the front plate pulley is arranged at the front end of the pull-down T-shaped anti-sway wing, The swing assembly is symmetrically arranged on both sides of the front end of the pull-down T-shaped anti-sway wing, and the front wing swing assembly includes a disc flange, a solid disc flange, a front wing swing frame and a front wing cable pulley. The two ends of the front wing swing frame are respectively rotatably arranged on the pull-down T-shaped anti-sway wing through the disc flange and the solid disc flange. The front wing cable pulley is arranged on the front wing swing frame through the eleventh rotating pair and is close to one side of the solid disc flange; the first end of the anti-sway cable is connected to the side plates on both sides of the pull block, and the second end of the anti-sway cable is connected to the anti-sway winch after bypassing the front wing cable pulley, front plate pulley, servo electric cylinder pulley and middle plate pulley in the front wing swing assembly.

[0009] Preferably, the first pull-down rotation secondary axis is parallel to the second pull-down rotation secondary axis, and the third pull-down rotation secondary axis is parallel to the fourth pull-down rotation secondary axis, the fifth pull-down rotation secondary axis is parallel to the sixth pull-down rotation secondary axis, and the servo electric cylinder pulley axis is perpendicular to the first pull-down rotation secondary axis, the front plate pulley axis is parallel to the servo electric cylinder pulley axis, and the middle plate pulley axis is perpendicular to the servo electric cylinder pulley axis.

[0010] Furthermore, the pull block connecting pulley group, the pull block fixed pulley group, the hoisting weight connecting pulley group, the pull block anti-sway large pulley group, each group of pull block anti-sway small pulley groups and the hook pulley group all include multiple pulleys, and the number of pulleys in the pull block connecting pulley group is N, the number of pulleys in the pull block fixed pulley group is N, the number of pulleys in the hoisting weight connecting pulley group is M, the number of pulleys in the pull block anti-sway large pulley group is 2M-1, the number of pulleys in each group of pull block anti-sway small pulley groups is 2M-1, and the number of pulleys in the hook pulley group is M.

[0011] Preferably, the first end of the pull block cable is connected to the winch in the anti-sway wing lifting assembly, and the second end of the pull block cable passes around the first pulley in the pull block connecting pulley group and the first pulley in the pull block fixed pulley group, and then continues to wind around the second pulley in the pull block connecting pulley group and the second pulley in the pull block fixed pulley group until it is wound around the Nth pulley in the pull block connecting pulley group and the Nth pulley in the pull block fixed pulley group, and then is connected to the front end of the boom; the first end of the lifting rope is connected to the winch in the anti-sway wing lifting assembly, and the second end of the lifting rope passes around the first pulley, the The first pulley in the large pulley group for anti-deflection of the pulling block passes through the first pulleys in the two groups of small pulley groups for anti-deflection of the pulling block and the first pulley in the hook pulley group, continues to pass through the second pulleys in the two groups of small pulley groups for anti-deflection of the pulling block, bypasses the second pulley in the large pulley group for anti-deflection of the pulling block and the second pulley in the weight connecting pulley group, until it is wound around the Mth pulley in the weight connecting pulley group, the 2M-1th pulley in the large pulley group for anti-deflection of the pulling block, passes between the 2M-1th pulleys in the two groups of small pulley groups for anti-deflection of the pulling block and bypasses the Mth pulley in the hook pulley group, and is connected to the bottom of the measuring frame.

[0012] Preferably, the first rotation secondary axis is perpendicular to the side plate of the pulling block, the second rotation secondary axis is parallel to the first rotation secondary axis, the third rotation secondary axis is parallel to the first rotation secondary axis, the fourth rotation secondary axis is parallel to the first rotation secondary axis, and the plane formed by the fourth rotation secondary axis and the third rotation secondary axis is parallel to the bottom surface of the pulling block assembly, the first universal joint rotation secondary axis in the universal hinge is perpendicular to the first rotation secondary axis, and the second universal joint rotation secondary axis in the universal hinge is parallel to the first rotation secondary axis.

[0013] Another aspect of the present invention provides a pulling block type lifting anti-sway stabilization device, which includes a pulling block assembly, two sets of inclination measuring assemblies, a hook, an anti-sway wing lifting assembly and a flexible rope. The pulling block assembly is arranged at the front end of the boom in the anti-sway wing lifting assembly, and the pulling block assembly includes a pulling block, a pulling block fixed pulley group, a pulling block anti-sway large pulley group and two sets of pulling block anti-sway small pulley groups. The pulling block fixed pulley group is arranged at the upper end of the rear side of the pulling block through a first rotating pair, and the pulling block anti-sway large pulley group is arranged at the front end of the front side of the pulling block through a second rotating pair. The two sets of pulling block anti-sway small pulleys The group is arranged between the pulling block fixed pulley group and the pulling block anti-deflection large pulley group and is located below the pulling block anti-deflection large pulley group. The two groups of pulling block anti-deflection small pulley groups are respectively arranged side by side at the lower end of the pulling block through the third rotating pair and the fourth rotating pair, and the pulley groove spacing between the two groups of pulling block anti-deflection small pulley groups is equal to the diameter of the flexible cable; the two groups of inclination measuring components are respectively arranged below the pulling block component and below the front end of the boom in the anti-sway wing lifting component, and the inclination measuring component includes a measuring base, a universal hinge, a measuring frame and a dual inclination sensor. The measuring The base is fixedly arranged at the bottom of the pulling block, the measuring base is connected to the measuring frame by the universal hinge, and the dual inclination sensor is installed at the lower end of the inner side of the measuring frame; the hook is arranged below the pulling block assembly, and the flexible cable includes a pulling block cable, a lifting cable and an anti-sway cable symmetrically arranged on both sides of the pulling block assembly, the first end of the pulling block cable is connected to the winch in the anti-sway wing lifting assembly, and the second end of the pulling block cable is passed through the pulling block connecting pulley group and the pulling block fixing pulley group at the front end of the boom in the anti-sway wing lifting assembly in turn and connected to the winch in the front end of the boom The bottom of the measuring frame in the inclination measuring assembly at the end is connected, the first end of the lifting rope is connected to the winch in the anti-sway wing lifting assembly, and the second end of the lifting rope is passed through the lifting connection pulley group, the large anti-sway pulley group of the pulling block, the two groups of small anti-sway pulley groups of the pulling block and the hook pulley group on the hook in sequence to be connected to the bottom of the measuring frame, the first end of the anti-sway rope is connected to the side plates on both sides of the pulling block, and the second end of the anti-sway rope is connected to the anti-sway winch on the anti-sway wing of the anti-sway wing lifting assembly.

[0014] The characteristics and beneficial effects of the present invention are:

[0015] 1. The present invention provides a pull-block type lifting anti-sway stabilization device, which can achieve sway compensation within the plane where the lifting weight and the tower center are located through the anti-sway cable, and achieve sway compensation and heave compensation outside the vertical plane where the lifting weight and the tower center are located.

[0016] 2. The present invention provides a pull-block type lifting anti-sway stabilization device, which uses a plurality of pulleys and ropes to achieve the straightening and non-swaying of the pull-block assembly within the plane where the lifting weight and the tower center are located.

[0017] 3. The present invention provides a pull-block type lifting anti-sway stabilization device, which realizes real-time and accurate detection of the lifting weight sway angle through an inclination measurement component.

[0018] 4. The present invention provides a pull-block type lifting anti-sway stabilization device, which integrates the stabilization mechanism and the actuator in a series-parallel hybrid mechanical structure, and has the advantages of simple and compact structure, large compensation range, and wide application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of Example 1 of the present invention;

[0020] Figure 2 This is a front view of the pull block assembly of Example 1 of the present invention;

[0021] Figure 3 1 is a schematic structural diagram of a pull block assembly according to embodiment 1 of the present invention;

[0022] Figure 4 Schematic diagram of the rotating pair of the pull block assembly of Example 1 of the present invention;

[0023] Figure 5 1 is a schematic structural diagram of an inclination measurement assembly according to embodiment 1 of the present invention;

[0024] Figure 6 Schematic diagram of the rotating pair of the inclination measurement assembly of Example 1 of the present invention;

[0025] Figure 7 Schematic diagram of the internal flexible cable winding of the pull block assembly of Example 1 of the present invention;

[0026] Figure 8 This is a schematic diagram of the overall structure of the pull-block type lifting anti-sway stabilization device equipped with an upward-pull type anti-sway wing lifting assembly in Example 2 of the present invention;

[0027] Figure 9 Schematic diagram of the articulation of the boom articulated frame according to embodiment 2 of the present invention;

[0028] Figure 10Schematic diagram of the hinged frame of the tower body in embodiment 2 of the present invention;

[0029] Figure 11 This is a schematic diagram of the connection between the pull-up anti-sway wing lifting assembly and the triangular connecting rod in Example 2 of the present invention;

[0030] Figure 12 Schematic diagram of the position distribution of the direction-changing pulley assembly in the upper pull-up anti-sway wing lifting assembly according to embodiment 2 of the present invention;

[0031] Figure 13 This is a schematic diagram of the internal structure of the front wing swing assembly of Example 2 of the present invention;

[0032] Figure 14 This is a schematic diagram of the overall structure of a pull-block type lifting anti-sway stabilization device equipped with a pull-down anti-sway wing lifting assembly in Example 3 of the present invention;

[0033] Figure 15 1. It is a schematic diagram of the assembly of the pull-down T-shaped anti-sway wing and the turntable connecting frame in the pull-down anti-sway wing lifting assembly of Example 3 of the present invention;

[0034] Figure 16 Schematic diagram of the position distribution of the direction-changing pulley assembly in the pull-down anti-sway wing lifting assembly according to embodiment 3 of the present invention;

[0035] Figure 17 It is a schematic diagram of the overall structure of a pull-block type lifting anti-sway stabilization device with dual inclination angle measurement components according to embodiment 4 of the present invention.

[0036] Main reference numerals:

[0037] Pull block assembly 1; pull block 101; pull block fixed pulley block 102; pull block anti-sway large pulley block 103; pull block anti-sway small pulley block 104; first pull block anti-sway small pulley block 10401; second pull block anti-sway small pulley block 10402; inclination measurement assembly 2; measuring base 201; universal hinge 202; measuring frame 203; dual inclination sensor 204; hook 3; anti-sway wing lifting assembly 4; boom 400; pull block connecting pulley block 401; load connecting pulley block 402; tower body 403; flexible cable 5; pull block cable 501; load cable 502; anti-sway cable 503; first anti-sway Cable 503a; second anti-sway cable 503b; pull-up anti-sway wing lifting assembly 6; boom articulated frame 601; upper boom articulated plate 60101; lower boom articulated plate 60102; articulated plate connecting shaft 60103; tower articulated frame 602; front articulated frame 60201; rear articulated frame 60202; left articulated frame 60203; right articulated frame 60204; direction-changing pulley assembly 603; first servo electric cylinder pulley 60301a; second servo electric cylinder pulley 60301b; first middle plate pulley 60302a; second middle plate pulley 60302b; first front plate pulley 60303a ; Second front plate pulley 60303b; First servo electric cylinder 604a; Second servo electric cylinder 604b; First anti-sway winch 605a; Second anti-sway winch 605b; Front wing swing assembly 606; Disc flange 60601; Solid disc flange 60602; Front wing swing frame 60603; Front wing cable pulley 60604; First triangular connecting rod 607a; Second triangular connecting rod 607b; Anti-sway frame 609; Pull-down anti-sway wing lifting assembly 7; Pull-down T-shaped anti-sway wing 701; First pull-down linear actuator 702; Second pull-down linear actuator 703; First A turntable platform connecting frame 704; a second turntable platform connecting frame 705; a first rotational pair 1'; a second rotational pair 2'; a third rotational pair 3'; a fourth rotational pair 4'; a fifth rotational pair 5; a sixth rotational pair 6'; a seventh rotational pair 7'; an eighth rotational pair 8'; a ninth rotational pair 9'; a tenth rotational pair 10'; an eleventh rotational pair 11'; a first ball pair S1; a second ball pair S2; a first pull-down rotational pair 12'; a second pull-down rotational pair 13'; a third pull-down rotational pair 14'; a fourth pull-down rotational pair 15'; a fifth pull-down rotational pair 16'; and a sixth pull-down rotational pair 17'. DETAILED DESCRIPTION

[0038] To fully describe the technical content, structural features, objectives and effects of the present invention, the following is a detailed description with reference to the accompanying drawings.

[0039] Example 1

[0040] The present invention provides a pull block type lifting anti-sway stabilizing device, such as Figure 1As shown, it includes a pulling block assembly 1, an inclination measuring assembly 2, a hook 3, an anti-sway wing lifting assembly 4 and a flexible rope 5.

[0041] like Figures 2 to 4 As shown, the pulling block assembly 1 is arranged at the front end of the boom 400 in the anti-sway wing lifting assembly 4, and the pulling block assembly 1 includes a pulling block 101, a pulling block fixed pulley group 102, a pulling block anti-sway large pulley group 103 and two sets of pulling block anti-sway small pulley groups 104, the pulling block fixed pulley group 102 is arranged at the upper end of the rear side of the pulling block 101 through the first rotating pair 1', the axis of the first rotating pair 1' is perpendicular to the side plate of the pulling block 101, and the pulling block anti-sway large pulley group 103 is arranged at the front end of the front side of the pulling block 101 through the second rotating pair 2', the axis of the second rotating pair 2' is parallel to the axis of the first rotating pair 1', the two sets of pulling block anti-sway small pulley groups 104 include a first pulling block anti-sway small pulley group 10401 and a second pulling block anti-sway small pulley group 10402, and the two sets of pulling block anti-sway small pulley groups The pulley group 104 is arranged between the fixed pulley group 102 of the pulling block and the large anti-deflection pulley group 103 of the pulling block and is located below the large anti-deflection pulley group 103 of the pulling block. The first anti-deflection small pulley group 10401 and the second anti-deflection small pulley group 10402 of the pulling block are respectively arranged side by side at the lower end of the pulling block 101 through the third rotating pair 3' and the fourth rotating pair 4'. The axis of the third rotating pair 3' is parallel to the axis of the first rotating pair 1', and the axis of the fourth rotating pair 4' is parallel to the axis of the first rotating pair 1'. The plane formed by the axis of the fourth rotating pair 4' and the axis of the third rotating pair 3' is parallel to the bottom surface of the pulling block assembly 1, and the pulley groove spacing between the first anti-deflection small pulley group 10401 and the second anti-deflection small pulley group 10402 is equal to the diameter of the flexible cable 5.

[0042] like Figure 5 and Figure 6 As shown, the inclination measuring assembly 2 is arranged below the pulling block assembly 1, and the inclination measuring assembly 2 includes a measuring base 201, a universal hinge 202, a measuring frame 203 and a dual inclination sensor 204. The measuring base 201 is fixedly arranged at the bottom of the pulling block 101, and the measuring base 201 and the measuring frame 203 are connected through the universal hinge 202. The axis of the first universal hinge rotation pair 5' in the universal hinge 202 is perpendicular to the axis of the first rotation pair 1', and the axis of the second universal hinge rotation pair 6' in the universal hinge 202 is parallel to the axis of the first rotation pair 1', and the dual inclination sensor 204 is installed at the lower end of the inner side of the measuring frame 203.

[0043] like Figure 1 and Figure 7As shown, the hook 3 is arranged below the pull block assembly 1, and the flexible cable 5 includes a pull block cable 501, a load cable 502 and an anti-sway cable 503 symmetrically arranged on both sides of the pull block assembly 1, the first end of the pull block cable 501 is connected to the winch in the anti-sway wing lifting assembly 4, and the second end of the pull block cable 501 is sequentially passed around the pull block connecting pulley group 401 and the pull block fixed pulley group 102 at the front end of the boom 400 in the anti-sway wing lifting assembly 4 and connected to the front end of the boom 400, the first end of the load cable 502 is connected to the anti-sway wing lifting assembly 4, and the second end of the load-carrying rope 502 passes through the load-carrying connecting pulley group 402 at the front end of the boom 400 in the anti-sway wing lifting assembly 4, the large pulley group 103 for anti-swaying of the pull block, passes through two groups of small pulley groups 104 for anti-swaying of the pull block, and passes through the hook pulley group on the hook 3 and is connected to the bottom of the measuring frame 203. The first end of the anti-sway rope 503 is connected to the side plates on both sides of the pull block 101, and the second end of the anti-sway rope 503 is connected to the anti-sway winch on the anti-sway wing in the anti-sway wing lifting assembly 4.

[0044] like Figure 1 、 Figure 3 and Figure 7As shown, the pull block connecting pulley group 401, the pull block fixed pulley group 102, the weight connecting pulley group 402, the pull block anti-sway large pulley group 103, each group of pull block anti-sway small pulley groups 104 and the hook pulley group all include multiple pulleys, and the number of pulleys in the pull block connecting pulley group 401, the pull block fixed pulley group 102, the weight connecting pulley group 402, the pull block anti-sway large pulley group 103, each group of pull block anti-sway small pulley groups 104 and the hook pulley group are N, N, M, 2M-1, 2M-1 and M respectively. The first end of the block cable 501 is connected to the winch in the anti-sway wing lifting assembly 4, and the second end of the block cable 501 passes around the first pulley in the block connecting pulley group 401 and the first pulley in the block fixed pulley group 102, and then continues to wind around the second pulley in the block connecting pulley group 401 and the second pulley in the block fixed pulley group 102, until it is wound around the Nth pulley in the block connecting pulley group 401 and the Nth pulley in the block fixed pulley group 102, and then connected to the front end of the boom 400; the first end of the load cable 502 is connected to the winch in the anti-sway wing lifting assembly 4, and the second end of the load cable 502 passes around the first pulley, The first pulley in the large pulley group 103 for anti-deflection of the pulling block passes through the first pulleys in the two groups of small pulley groups 104 for anti-deflection of the pulling block and the first pulley in the hook pulley group, continues to pass through the second pulleys in the two groups of small pulley groups 104 for anti-deflection of the pulling block, bypasses the second pulley in the large pulley group 103 for anti-deflection of the pulling block and the second pulley in the load connecting pulley group 402, until it is wound around the Mth pulley in the load connecting pulley group 402, the 2M-1th pulley in the large pulley group 103 for anti-deflection of the pulling block, passes between the 2M-1th pulleys in the two groups of small pulley groups 104 for anti-deflection of the pulling block and bypasses the Mth pulley in the hook pulley group, and is connected to the bottom of the measuring frame 203.

[0045] A beneficial aspect of this embodiment is that the pull block assembly 1 is located between the boom 400 and the load. Both sides of the pull block assembly 1 are connected to the anti-sway wing lifting assembly 4 via anti-sway cables 503. Controlling the anti-sway cables 503 controls the position of the pull block assembly 1 in space, thereby preventing the load from swaying. Furthermore, the inclination angle measurement assembly 2 positioned beneath the pull block assembly 1 accurately detects the load's inclination angle.

[0046] Example 2

[0047] like Figure 8 As shown, the anti-sway wing lifting assembly 4 adopts an upper-pull anti-sway wing lifting assembly 6, and the upper-pull anti-sway wing lifting assembly includes a boom articulated frame 601, a tower articulated frame 602, a changing pulley group 603, a servo electric cylinder, an anti-sway winch, a wing front swing assembly 606, a first triangular connecting rod 607a, a second triangular connecting rod 607b and an anti-sway frame 609.

[0048] like Figure 9 As shown, the boom articulated frame 601 is arranged at the middle part of the boom 400, and the boom articulated frame includes an upper boom articulated plate 60101, a lower boom articulated plate 60102 and a hinge plate connecting shaft 60103. The upper boom articulated plate 60101 and the lower boom articulated plate 60102 are respectively arranged on the upper side and the lower side of the boom 400, and the upper boom articulated plate 60101 and the lower boom articulated plate 60102 are connected by the hinge plate connecting shaft 60103, and the two ends of the hinge plate connecting shaft 60103 are respectively threadedly connected to the upper boom articulated plate 60101 and the lower boom articulated plate 60102.

[0049] like Figure 10 As shown, the tower body hinge frame 602 includes a front hinge frame 60201, a rear hinge frame 60202, a left hinge frame 60203 and a right hinge frame 60204. The front hinge frame 60201 and the rear hinge frame 60202 are respectively located at the front and rear sides of the tower body 403, and the left hinge frame 60203 and the right hinge frame 60204 are respectively located at the left and right sides of the tower body 403. They are all connected by bolts, and the inner sides of the front hinged frame 60201, the rear hinged frame 60202, the left hinged frame 60203 and the right hinged frame 60204 are respectively fitted with the front side, rear side, left side and right side of the tower body 403. The left hinged frame 60203 is connected to the anti-sway frame 609 through the ninth rotating pair 9', and the right hinged frame 60204 is connected to the anti-sway frame 609 through the tenth rotating pair 10'. The axis of the ninth rotating pair 9' coincides with the axis of the tenth rotating pair 10'.

[0050] like Figure 11As shown, a first triangular link 607a and a second triangular link 607b are provided between the boom articulated frame 601 and the front end of the anti-sway frame 609, and the upper end of the first triangular link 607a is connected to the bottom of the boom articulated frame 601 through a first ball joint S1, and the lower end of the first triangular link 607a is connected to the top of the anti-sway frame 609 through a seventh rotation joint 7', and the upper end of the second triangular link 607b is connected to the bottom of the boom articulated frame 601 through a second ball joint S2, and the lower end of the second triangular link 607b is connected to the anti-sway frame 609 through an eighth rotation joint 8'. 9, the axis of the seventh rotating pair 7' is parallel to the axis of the eighth rotating pair 8', the tower body hinge frame 602 is provided at the upper end of the tower body 403, and the tower body 403 is rotationally connected to the rear end of the anti-sway frame 609 through the tower body hinge frame 602, the rear end of the boom 400 is rotationally connected to the upper end of the tower body 403, and the anti-sway frame 609 is connected to the boom 400, the tower body 403, the first triangular link 607a and the second triangular link 607b through the boom hinge frame 601, the tower body hinge frame 602, the boom 400, the tower body 403, the first triangular link 607a and the second triangular link 607b to form a spatial parallelogram structure, which follows the boom 400 to make accompanying movements.

[0051] like Figure 12 and Figure 13As shown, the direction-changing pulley group 603, the servo electric cylinder and the anti-sway winch are symmetrically arranged on both sides of the anti-sway frame 609, and the direction-changing pulley group 603 includes a servo electric cylinder pulley, a middle plate pulley and a front plate pulley, the servo electric cylinder includes a first servo electric cylinder 604a and a second servo electric cylinder 604b, the anti-sway winch includes a first anti-sway winch 605a and a second anti-sway winch 605b, the servo electric cylinder pulley includes a first servo electric cylinder pulley 60301a and a second servo electric cylinder pulley 60301b, and the first servo electric cylinder pulley 60301a and the second servo electric cylinder pulley 60301b are symmetrically arranged on the anti-sway frame 609, and the first servo electric cylinder pulley 60301a is provided at the front end of the first servo electric cylinder 604a, and the second servo electric cylinder pulley 60301b is provided at the front end of the second servo electric cylinder 604b, the axis of the first servo electric cylinder pulley 60301a and the axis of the second servo electric cylinder pulley 60301b are both perpendicular to the axis of the seventh rotating pair 7', the middle plate pulley is provided on the anti-sway frame 609 and close to the front end of the anti-sway frame 609, the middle plate pulley includes a first middle plate pulley 60302a and a second middle plate pulley 60302b, the first middle plate pulley 60302a and the second middle plate pulley 60302b are symmetrically provided on the anti-sway frame 609. On both sides of the anti-sway frame 609, the axis of the first middle plate pulley 60302a is perpendicular to the axis of the first servo electric cylinder pulley 60301a, the axis of the second middle plate pulley 60302b is perpendicular to the axis of the second servo electric cylinder pulley 60301b, and the front plate pulley is arranged at the front end of the anti-sway frame 609, the front plate pulley includes a first front plate pulley 60303a and a second front plate pulley 60303b, the first front plate pulley 60303a and the second front plate pulley 60303b are symmetrically arranged on both sides of the anti-sway frame 609, the axis of the first front plate pulley 60303a is parallel to the axis of the first servo electric cylinder pulley 60301a, the second front plate pulley 603 The 03b axis is parallel to the axis of the second servo electric cylinder pulley 60301b, and the front wing swing assembly 606 is symmetrically arranged on both sides of the front end of the anti-sway frame 609, and the front wing swing assembly includes a disc flange 60601, a solid disc flange 60602, a front wing swing frame 60603 and a front wing cable pulley 60604. The two ends of the front wing swing frame 60603 are respectively rotatably arranged on the 609 anti-sway frame through the disc flange 60601 and the solid disc flange 60602. The front wing cable pulley 60604 is arranged on the front wing swing frame 60603 through the eleventh rotating pair 11' and close to one side of the solid disc flange 60602.

[0052] The anti-sway cables 503 are symmetrically arranged on both sides of the pull block assembly 1. The first end of the first anti-sway cable 503a is connected to the side plate on one side of the pull block 101, and the second end of the first anti-sway cable 503a passes around the wing front cable pulley 60604, the first front plate pulley 60303a, the first servo electric cylinder pulley 60301a and the first middle plate pulley 60302a in the wing front swing assembly 606 on the side of the anti-sway frame 609 and the anti-sway winch on the side of the anti-sway frame 609. The first end of the second anti-sway cable 503b is connected to the side plate on the other side of the pull block 101, and the second end of the second anti-sway cable 503b passes around the wing front cable pulley 60604, the second front plate pulley 60303b, the second servo electric cylinder pulley 60301b and the second middle plate pulley 60302b in the wing front swing assembly 606 on the other side of the anti-sway frame 609 and is connected to the anti-sway winch 605b on the other side of the anti-sway frame 609.

[0053] The beneficial aspects of this embodiment are that the pull-up anti-sway wing lifting assembly 6 occupies a small deck area, has a wide lifting space, has a large load, and is easy to achieve in-plane and out-of-plane anti-sway.

[0054] Example 3

[0055] like Figure 14 As shown, the anti-sway wing lifting assembly can also adopt a pull-down anti-sway wing lifting assembly 7, and the pull-down anti-sway wing lifting assembly includes a pull-down T-shaped anti-sway wing 701, a first pull-down linear drive 702, a second pull-down linear drive 703, a first turntable platform connecting frame 704, a second turntable platform connecting frame 705, a changing pulley assembly 603, an anti-sway winch and a front wing swing assembly 606.

[0056] like Figure 15As shown, the first turntable platform connecting frame 704 and the second turntable platform connecting frame 705 are symmetrically arranged on the tower body 403, and the first turntable platform connecting frame 704 and the second turntable platform connecting frame 705 are connected by a connecting plate, the first pull-down linear drive 702 and the second pull-down linear drive 703 are respectively arranged on the first turntable platform connecting frame 704 and the second turntable platform connecting frame 705, and the pull-down T-shaped anti-sway wing 701 is arranged at the front end of the first turntable platform connecting frame 704 and the second turntable platform connecting frame 705, one side above the rear end of the pull-down T-shaped anti-sway wing 701 is connected to the front end of the first pull-down linear drive 702 through the first pull-down rotating pair 12', and the other side above the rear end of the pull-down T-shaped anti-sway wing 701 is connected to the front end of the second pull-down linear drive 703 through the second pull-down rotating pair 13'. The axis of the dynamic pair 12' is parallel to the axis of the second pull-down rotating pair 13', and the side below the rear end of the pull-down T-shaped anti-sway wing 701 is connected to the front end of the first turntable platform connecting frame 704 through the third pull-down rotating pair 14', and the other side below the rear end of the pull-down T-shaped anti-sway wing 701 is connected to the front end of the second turntable platform connecting frame 705 through the fourth pull-down rotating pair 15'. The axis of the third pull-down rotating pair 14' is parallel to the axis of the fourth pull-down rotating pair 15'. The rear end of the first pull-down linear drive 702 is connected to the upper part of the rear end of the first turntable platform connecting frame 704 through the fifth pull-down rotating pair 16', and the rear end of the second pull-down linear drive 703 is connected to the upper part of the rear end of the second turntable platform connecting frame 705 through the sixth pull-down rotating pair 17'. The axis of the fifth pull-down rotating pair 16' is parallel to the axis of the sixth pull-down rotating pair 17'.

[0057] like Figure 16As shown, the direction-changing pulley group 603 and the anti-sway winch 605 are symmetrically arranged on both sides of the pull-down T-shaped anti-sway wing 701, and the direction-changing pulley group 603 includes a servo electric cylinder pulley, a middle plate pulley and a front plate pulley, the servo electric cylinder includes a first servo electric cylinder 604a and a second servo electric cylinder 604b, the anti-sway winch includes a first anti-sway winch 605a and a second anti-sway winch 605b, the servo electric cylinder pulley includes a first servo electric cylinder pulley 60301a and a second servo electric cylinder pulley 60301b, and the first servo electric cylinder pulley 60301a and the second servo electric cylinder pulley 60301b are symmetrically arranged on both sides of the anti-sway frame 609. The first servo electric cylinder pulley 60301a is arranged at the front end of the first servo electric cylinder 604a, and the second servo electric cylinder pulley 60301b is arranged at the front end of the second servo electric cylinder 604b. The axis of the first servo electric cylinder pulley 60301a and the axis of the second servo electric cylinder pulley 60301b are both perpendicular to the axis of the first pull-down rotating pair 12'. The middle plate pulley is arranged on the pull-down T-type anti-sway wing 701 and is close to the front end of the pull-down T-type anti-sway wing 701. The middle plate pulley includes a first middle plate pulley 60302a and a second middle plate pulley 60302b. The first middle plate pulley 60302a and the second middle plate pulley 60302b are symmetrically arranged on the pull-down T-type On both sides of the anti-sway wing 701, the axis of the first middle plate pulley 60302a is perpendicular to the axis of the first servo electric cylinder pulley 60301a, the axis of the second middle plate pulley 60302b is perpendicular to the axis of the second servo electric cylinder pulley 60301b, and the front plate pulley is arranged at the front end of the pull-down T-shaped anti-sway wing 701, the front plate pulley includes a first front plate pulley 60303a and a second front plate pulley 60303b, the first front plate pulley 60303a and the second front plate pulley 60303b are symmetrically arranged on both sides of the anti-sway frame 609, the axis of the first front plate pulley 60303a is parallel to the axis of the first servo electric cylinder pulley 60301a, the second front plate pulley 6030 The 3b axis is parallel to the axis of the second servo electric cylinder pulley 60301b, and the front wing swing assembly 606 is symmetrically arranged on both sides of the front end of the pull-down T-shaped anti-sway wing 701, and the front wing swing assembly includes a disc flange 60601, a solid disc flange 60602, a front wing swing frame 60603 and a front wing cable pulley 60604. The two ends of the front wing swing frame 60603 are respectively rotatably arranged on the pull-down T-shaped anti-sway wing 701 through the disc flange 60601 and the solid disc flange 60602. The front wing cable pulley 60604 is arranged on the front wing swing frame 60603 through the eleventh rotating pair 11' and close to one side of the solid disc flange 60602.

[0058] The anti-sway cables 503 are symmetrically arranged on both sides of the pull block assembly 1. The first end of the first anti-sway cable 503a is connected to the side plate on one side of the pull block 101, and the second end of the first anti-sway cable 503a passes around the front cable pulley 60604, the first front plate pulley 60303a, the first servo electric cylinder pulley 60301a and the first middle plate pulley 60302a in the front wing swing assembly 606 on the side of the pull-down T-shaped anti-sway wing 701 and the anti-sway winch on the side of the anti-sway frame 609. The first end of the second anti-sway rope 503b is connected to the side plate on the other side of the pull block 101, and the second end of the second anti-sway rope 503b passes around the wing front cable pulley 60604, the second front plate pulley 60303b, the second servo electric cylinder pulley 60301b and the second middle plate pulley 60302b in the wing front swing assembly 606 on the other side of the pull-down T-shaped anti-sway wing 701 and is connected to the anti-sway winch 605b on the other side of the anti-sway frame 609.

[0059] The beneficial aspect of this embodiment is that the pull-down anti-sway wing lifting assembly 7 is fixed to the tower body 503 and rotates with it, solving the torsional stiffness problem and easily achieving in-plane and out-of-plane anti-sway.

[0060] Example 4

[0061] Another aspect of the present invention provides a pull block type lifting anti-sway stabilizing device, such as Figures 2 to 4 and Figure 17 As shown, it includes a pulling block assembly 1, two sets of inclination measuring assemblies 2, a hook 3, an anti-sway wing lifting assembly 4 and a flexible rope 5.

[0062] like Figures 2 to 4As shown, the pulling block assembly 1 is arranged at the front end of the boom 400 in the anti-sway wing lifting assembly 4, and the pulling block assembly 1 includes a pulling block 101, a pulling block fixed pulley group 102, a pulling block anti-sway large pulley group 103 and two sets of pulling block anti-sway small pulley groups 104, the pulling block fixed pulley group 102 is arranged at the upper end of the rear side of the pulling block 101 through the first rotating pair 1', the axis of the first rotating pair 1' is perpendicular to the side plate of the pulling block 101, and the pulling block anti-sway large pulley group 103 is arranged at the front end of the front side of the pulling block 101 through the second rotating pair 2', the axis of the second rotating pair 2' is parallel to the axis of the first rotating pair 1', the two sets of pulling block anti-sway small pulley groups 104 include a first pulling block anti-sway small pulley group 10401 and a second pulling block anti-sway small pulley group 10402, and the two sets of pulling block anti-sway small pulley groups The pulley group 104 is arranged between the fixed pulley group 102 of the pulling block and the large anti-deflection pulley group 103 of the pulling block and is located below the large anti-deflection pulley group 103 of the pulling block. The first anti-deflection small pulley group 10401 and the second anti-deflection small pulley group 10402 of the pulling block are respectively arranged side by side at the lower end of the pulling block 101 through the third rotating pair 3' and the fourth rotating pair 4'. The axis of the third rotating pair 3' is parallel to the axis of the first rotating pair 1', and the axis of the fourth rotating pair 4' is parallel to the axis of the first rotating pair 1'. The plane formed by the axis of the fourth rotating pair 4' and the axis of the third rotating pair 3' is parallel to the bottom surface of the pulling block assembly 1, and the pulley groove spacing between the first anti-deflection small pulley group 10401 and the second anti-deflection small pulley group 10402 is equal to the diameter of the flexible cable 5.

[0063] The two sets of inclination measurement assemblies 2 are respectively arranged below the pulling block assembly 1 and below the front end of the boom 400 in the anti-sway wing lifting assembly 4, and the inclination measurement assembly 2 includes a measuring base 201, a universal hinge 202, a measuring frame 203 and a dual inclination sensor 204. The measuring base 201 is fixed to the bottom of the pulling block 101, and the measuring base 201 and the measuring frame 203 are connected by a universal hinge 202, and the dual inclination sensor 204 is installed at the lower end of the inner side of the measuring frame 203.

[0064] The hook 3 is arranged below the pull block assembly 1, and the flexible cable 5 includes a pull block cable 501, a load cable 502 and an anti-sway cable 503 symmetrically arranged on both sides of the pull block assembly 1. The first end of the pull block cable 501 is connected to the winch in the anti-sway wing lifting assembly 4, and the second end of the pull block cable 501 is sequentially passed around the pull block connecting pulley group 401 and the pull block fixed pulley group 102 at the front end of the boom 400 in the anti-sway wing lifting assembly 4 and connected to the bottom of the measuring frame 203 in the inclination measuring assembly 2 at the front end of the boom 400. The first end of the load cable 502 is connected to the bottom of the measuring frame 203 in the inclination measuring assembly 2 at the front end of the boom 400. It is connected to the winch in the anti-sway wing lifting assembly 4, and the second end of the load-bearing rope 502 passes through the load-bearing connecting pulley group 402 at the front end of the boom 400 in the anti-sway wing lifting assembly 4, the large pulley group 103 for anti-swaying of the pull block, passes through two groups of small pulley groups 104 for anti-swaying of the pull block, and passes through the hook pulley group on the hook 3 and is connected to the bottom of the measuring frame 203. The first end of the anti-sway rope 503 is connected to the side plates on both sides of the pull block 101, and the second end of the anti-sway rope 503 is connected to the anti-sway winch on the anti-sway wing in the anti-sway wing lifting assembly 4.

[0065] A beneficial aspect of this embodiment is that the inclination angle measuring assembly 2 located below the front end of the boom 400 can measure the swing angle of the pull block in space.

[0066] The working process of the pull block type lifting anti-sway stabilization device of the present invention is as follows:

[0067] When a ship is affected by waves and experiences roll, pitch, bow roll, sway, surge, and heave motion, the anti-sway wing lifting assembly operating on the ship will also move, causing the hoisted load to sway. The dual inclination sensors 204 in the inclination measurement assembly 2 detect the amplitude of the load sway, and the sway signal is fed back to the control center. The drive device on the anti-sway wing of the anti-sway wing lifting assembly is then controlled according to the feedback control signal to drive the anti-sway cable 503 to move, thereby causing the pull block assembly 1 to perform roll, pitch, and heave compensation, thereby achieving anti-sway of the load. The compensation is ultimately manifested as the load (or pull block assembly 1) always remaining stationary relative to the operating target.

[0068] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A pull-block type lifting anti-sway stabilization device, characterized in that: It includes a pull block assembly, an inclination measurement assembly, a hook, an anti-sway wing lifting assembly and a flexible rope. The pull block assembly is arranged at the front end of the boom in the anti-sway wing lifting assembly, and the pull block assembly includes a pull block, a pull block fixed pulley group, a pull block anti-sway large pulley group and two groups of pull block anti-sway small pulley groups, the pull block fixed pulley group is arranged at the upper end of the rear side of the pull block through a first rotating pair, and the pull block anti-sway large pulley group is arranged at the front end of the front side of the pull block through a second rotating pair, the two groups of the pull block anti-sway small pulley groups are arranged between the pull block fixed pulley group and the pull block anti-sway large pulley group and are located below the pull block anti-sway large pulley group, the two groups of the pull block anti-sway small pulley groups are respectively arranged side by side at the lower end of the pull block through a third rotating pair and a fourth rotating pair, and the pulley groove spacing between the two groups of the pull block anti-sway small pulley groups is equal to the diameter of the flexible cable; The inclination measuring assembly is arranged below the pulling block assembly, and the inclination measuring assembly includes a measuring base, a universal hinge, a measuring frame and a dual inclination sensor. The measuring base is fixed to the bottom of the pulling block, the measuring base and the measuring frame are connected by the universal hinge, and the dual inclination sensor is installed at the lower end of the inner side of the measuring frame; The cam is connected to the lifting link of the lifting bridge by the lifting link, and the lifting link is connected with the lifting bridge by the lifting link.

2. The pull-block type lifting anti-sway stabilizing device according to claim 1 is characterized in that: The anti-sway wing lifting assembly adopts an upper-pull anti-sway wing lifting assembly, and the upper-pull anti-sway wing lifting assembly includes a boom articulated frame, a tower articulated frame, a direction-changing pulley set, a servo electric cylinder, an anti-sway winch, a wing front swing assembly, a first triangular connecting rod, a second triangular connecting rod and an anti-sway frame. The cam is connected to the top of the lifting bridge by a first end and a second end of the lifting bridge is connected to the lifting bridge by a first end. The changing pulley group, servo electric cylinder and anti-sway winch are symmetrically arranged on both sides of the anti-sway frame, and the changing pulley group includes a servo electric cylinder pulley, a middle plate pulley and a front plate pulley, the servo electric cylinder pulley is arranged at the front end of the servo electric cylinder, the middle plate pulley is arranged on the anti-sway frame and close to the front end of the anti-sway frame, and the front plate pulley is arranged at the front end of the anti-sway frame, the front wing swing assembly is symmetrically arranged on both sides of the front end of the anti-sway frame, and the front wing swing assembly includes a disc flange, a solid disc flange, a front wing swing frame and a front wing cable pulley, the two ends of the front wing swing frame are rotatably arranged on the anti-sway frame through the disc flange and the solid disc flange respectively, and the front wing cable pulley is arranged on the front wing swing frame and close to one side of the solid disc flange through the eleventh rotating pair; The first end of the anti-sway cable is connected to the side plates on both sides of the pull block, and the second end of the anti-sway cable is connected to the anti-sway winch after passing around the wing front cable pulley, front plate pulley, servo electric cylinder pulley and middle plate pulley in the wing front swing assembly.

3. The pull-block type lifting anti-sway stabilizing device according to claim 2 is characterized in that: The seventh rotation secondary axis is parallel to the eighth rotation secondary axis, and the servo electric cylinder pulley axis is perpendicular to the seventh rotation secondary axis, the front plate pulley axis is parallel to the servo electric cylinder pulley axis, and the middle plate pulley axis is perpendicular to the servo electric cylinder pulley axis.

4. The pull-block type lifting anti-sway stabilizing device according to claim 1, characterized in that: The anti-sway wing lifting assembly can also adopt a pull-down anti-sway wing lifting assembly, and the pull-down anti-sway wing lifting assembly includes a pull-down T-shaped anti-sway wing, a first pull-down linear drive, a second pull-down linear drive, a first turntable platform connecting frame, a second turntable platform connecting frame, a direction-changing pulley block, an anti-sway winch and a wing front swing assembly. The first turntable platform connecting frame and the second turntable platform connecting frame are symmetrically arranged on the tower body, and the first turntable platform connecting frame and the second turntable platform connecting frame are connected by a connecting plate, the first pull-down linear drive and the second pull-down linear drive are respectively arranged on the first turntable platform connecting frame and the second turntable platform connecting frame, and the pull-down T-shaped anti-sway wing is arranged at the front end of the first turntable platform connecting frame and the second turntable platform connecting frame, one side above the rear end of the pull-down T-shaped anti-sway wing is connected to the front end of the first pull-down linear drive through a first pull-down rotating pair, and the other side above the rear end of the pull-down T-shaped anti-sway wing One side is connected to the front end of the second pull-down linear drive through a second pull-down rotating pair, one side below the rear end of the pull-down T-shaped anti-sway wing is connected to the front end of the first turntable platform connecting frame through a third pull-down rotating pair, and the other side below the rear end of the pull-down T-shaped anti-sway wing is connected to the front end of the second turntable platform connecting frame through a fourth pull-down rotating pair, the rear end of the first pull-down linear drive is connected to the upper rear end of the first turntable platform connecting frame through a fifth pull-down rotating pair, and the rear end of the second pull-down linear drive is connected to the upper rear end of the second turntable platform connecting frame through a sixth pull-down rotating pair; The changing pulley group and the anti-sway winch are symmetrically arranged on both sides of the pull-down T-type anti-sway wing, and the changing pulley group includes a servo electric cylinder pulley, a middle plate pulley and a front plate pulley, the servo electric cylinder pulley is arranged at the front end of the servo electric cylinder, the middle plate pulley is arranged on the pull-down T-type anti-sway wing and close to the front end of the pull-down T-type anti-sway wing, and the front plate pulley is arranged at the front end of the pull-down T-type anti-sway wing, the front wing swing assembly is symmetrically arranged on both sides of the front end of the pull-down T-type anti-sway wing, and the front wing swing assembly includes a disc flange, a solid disc flange, a front wing swing frame and a front wing cable pulley, the two ends of the front wing swing frame are respectively rotatably arranged on the pull-down T-type anti-sway wing, and the front wing cable pulley is arranged on the front wing swing frame and close to one side of the solid disc flange through an eleventh rotating pair; The first end of the anti-sway cable is connected to the side plates on both sides of the pull block, and the second end of the anti-sway cable is connected to the anti-sway winch after passing around the wing front cable pulley, front plate pulley, servo electric cylinder pulley and middle plate pulley in the wing front swing assembly.

5. The pull-block type lifting anti-sway stabilizing device according to claim 4 is characterized in that: The first pull-down rotation secondary axis is parallel to the second pull-down rotation secondary axis, and the third pull-down rotation secondary axis is parallel to the fourth pull-down rotation secondary axis, the fifth pull-down rotation secondary axis is parallel to the sixth pull-down rotation secondary axis, and the servo electric cylinder pulley axis is perpendicular to the first pull-down rotation secondary axis, the front plate pulley axis is parallel to the servo electric cylinder pulley axis, and the middle plate pulley axis is perpendicular to the servo electric cylinder pulley axis.

6. The pull-block type lifting anti-sway stabilizing device according to claim 1, characterized in that: The pull block connecting pulley group, the pull block fixed pulley group, the hoisting connection pulley group, the pull block anti-sway large pulley group, each group of pull block anti-sway small pulley groups and the hook pulley group all contain multiple pulleys, and the number of pulleys in the pull block connecting pulley group is N, the number of pulleys in the pull block fixed pulley group is N, the number of pulleys in the hoisting connection pulley group is M, the number of pulleys in the pull block anti-sway large pulley group is 2M-1, the number of pulleys in each group of pull block anti-sway small pulley groups is 2M-1, and the number of pulleys in the hook pulley group is M.

7. The pull-block type lifting anti-sway stabilizing device according to claim 6, characterized in that: The first end of the pull block cable is connected to the winch in the anti-sway wing lifting assembly, and the second end of the pull block cable passes around the first pulley in the pull block connecting pulley group and the first pulley in the pull block fixed pulley group, and then continues to wrap around the second pulley in the pull block connecting pulley group and the second pulley in the pull block fixed pulley group, until it is wrapped around the Nth pulley in the pull block connecting pulley group and the Nth pulley in the pull block fixed pulley group, and then is connected to the front end of the boom; The first end of the lifting rope is connected to the winch in the anti-sway wing lifting assembly, and the second end of the lifting rope passes around the first pulley in the lifting connection pulley group, the first pulley in the pulling block anti-sway large pulley group, passes between the first pulleys in the two groups of pulling block anti-sway small pulley groups and the first pulley in the hook pulley group, continues to pass between the second pulleys in the two groups of pulling block anti-sway small pulley groups, passes around the second pulley in the pulling block anti-sway large pulley group and the second pulley in the lifting connection pulley group, until it is wrapped around the Mth pulley in the lifting connection pulley group, the 2M-1th pulley in the pulling block anti-sway large pulley group, passes between the 2M-1th pulley in the two groups of pulling block anti-sway small pulley groups and passes around the Mth pulley in the hook pulley group, and is connected to the bottom of the measuring frame.

8. The pull-block type lifting anti-sway stabilizing device according to claim 1, characterized in that: The first rotational secondary axis is perpendicular to the side plate of the pulling block, the second rotational secondary axis is parallel to the first rotational secondary axis, the third rotational secondary axis is parallel to the first rotational secondary axis, the fourth rotational secondary axis is parallel to the first rotational secondary axis, and the plane formed by the fourth rotational secondary axis and the third rotational secondary axis is parallel to the bottom surface of the pulling block assembly, the first universal joint rotational secondary axis in the universal hinge is perpendicular to the first rotational secondary axis, and the second universal joint rotational secondary axis in the universal hinge is parallel to the first rotational secondary axis.

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