A disc claw assisted intelligent anti-rolling hook device

Abstract

The application provides a disc claw assisted intelligent anti-swing hook device, and relates to the technical field of hook transfer cargo, which comprises a box body, a shaft rod, a mechanical arm, an intelligent hook, a visual system and a four-axis thrust system; the box body is arranged in the middle of the shaft rod, the shaft rod in the box body is provided with the four-axis thrust system, each side of the box body is provided with a mechanical arm, and the lower end of the shaft rod is provided with the intelligent hook; the intelligent hook weighs and automatically locks the hoisted weight, the visual system identifies the hoisted weight information and feeds back to the mechanical arm, the mechanical arm wraps the hoisted weight according to the hoisted weight information to reduce the swing of the hoisted weight, and the four-axis thrust system identifies and adjusts the deflection angle of the disc claw assisted intelligent anti-swing hook device. The application solves the problem that the current hook swing greatly affects the work efficiency in the process of cargo transfer operation.

Description

Technical Field

[0001] This invention relates to the field of lifting hook technology for transporting goods, and more particularly to a disc-claw assisted intelligent anti-sway lifting hook device. Background Technology

[0002] While helicopters offer significant advantages, they also present certain limitations when performing missions in specific environments. During maritime transport operations, wind forces can cause the hoisted supplies to sway dramatically, severely threatening safety during transport. Furthermore, rescue operations often require helicopters for personnel evacuation. Helicopters use rescue baskets or cages for personnel transfer, but the ropes attached to the hooks are underactuated flexible components, causing the basket to sway in the air. This swaying can easily lead to collisions between rescued personnel and surrounding objects, causing secondary injuries and significantly impacting the rescue and transfer process. Simultaneously, during rescue operations, helicopter pilots must follow the winch operator's instructions, carefully controlling the basket's position to precisely hover above the rescuers, taking into account its swaying motion. This increases the workload for both pilots and winch operators, significantly raising the difficulty of the rescue operation.

[0003] There is currently little research on sway reduction in helicopter maritime transport. In existing solutions, special baskets used for helicopter transfer utilize electromagnetic damping and gyroscope balancing principles to reduce wire rope sway, and modular anti-sway hooks apply forces with opposite deflection angles through thrusters to achieve sway reduction.

[0004] The specialized helicopter transfer baskets, equipped with steel cables, batteries, and support arms, significantly increase their weight. Furthermore, these specialized baskets limit the shape and size of the transported goods, and the ropes beneath the modular anti-sway hooks are prone to secondary oscillations. Using only the thruster is insufficient to achieve effective sway reduction for the lifted objects. To address these issues and the current research status, there is a need to design a helicopter transfer device that does not restrict the shape and size of the transported objects and provides excellent sway reduction. Summary of the Invention

[0005] To address the aforementioned technical problems of helicopter-transferred objects being limited in shape and size and prone to secondary swaying, a claw-assisted intelligent anti-sway hook device is provided. This invention primarily utilizes a two-stage anti-sway system that coordinates the operation of a four-axis thrust system and a robotic arm, thereby achieving high efficiency in reducing swaying during cargo transfer.

[0006] The technical means employed in this invention are as follows:

[0007] A claw-assisted intelligent anti-sway hook device includes: a housing, a shaft, a robotic arm, an intelligent hook, a vision system, and a four-axis thrust system;

[0008] The housing is located in the middle of the shaft, and a four-axis thrust system is installed on the shaft inside the housing. A robotic arm is installed on the lower part of each side of the housing, and an intelligent hook is installed at the lower end of the shaft.

[0009] The intelligent hook weighs and automatically locks the load. The vision system identifies the load information and feeds it back to the robotic arm. The robotic arm wraps the load according to the load information to reduce load sway. The four-axis thrust system identifies and adjusts the deflection angle of the claw-assisted intelligent anti-sway hook device.

[0010] Furthermore, among the four robotic arms, two of the opposite robotic arms are suction cup robotic arms, and two of the opposite robotic arms are gripper robotic arms.

[0011] The suction cup robotic arm includes a first control unit connected to the side wall of the housing. The first control unit is rotatably connected to a first electric hydraulic cylinder and a first front joint. The first front joint is rotatably connected to a first intermediate joint. The other ends of the first electric hydraulic cylinder and the first intermediate joint are rotatably connected to the suction cup end effector. The first electric hydraulic cylinder controls the hydraulic pressure in the cylinder according to the signal of the first control unit, thereby controlling the first electric hydraulic cylinder to move outward.

[0012] The gripper-type robotic arm includes a second control unit connected to the side wall of the housing. The second control unit is rotatably connected to a second electric hydraulic cylinder and a second front joint. The second front joint is rotatably connected to a second intermediate joint. The other ends of the second electric hydraulic cylinder and the second intermediate joint are rotatably connected to a gripper-type end effector. The second electric hydraulic cylinder drives the gripper-type end effector to grip.

[0013] Furthermore, the four-axis thrust system includes a third controller, thrusters, and a thrust support. The thrust support is equipped with the third controller and four thrusters, and the axes of the four thrusters are respectively aligned with the axes of the circular windows around the housing.

[0014] The third controller obtains the deflection angle of the claw-assisted intelligent anti-sway hook device based on the internal posture sensor, and then controls the thruster to apply a force opposite to the deflection angle to the claw-assisted intelligent anti-sway hook device.

[0015] Furthermore, the lower part of the suction cup-type end effector is an electric telescopic rod, and the middle part of the suction cup-type end effector is equipped with a first controller for controlling the electric telescopic rod. A first vision sensor is provided below the electric telescopic rod. The first vision sensor sends the shape and position information of the weight to the first controller. The first vision sensor is rotatably connected to the suction cup below, and the suction cup is connected to a vacuum pump.

[0016] Furthermore, the end of the gripper-type end effector is a rubber gripper with several miniature rubber blocks on it. A first pressure sensor and a second controller are provided in the middle of the gripper-type end effector. The second controller controls the movement of the second electric hydraulic cylinder based on the force of the gripping object fed back by the first pressure sensor, thereby adjusting the clamping degree of the gripper-type end effector.

[0017] Furthermore, the central axis of symmetry of the upper and lower bottom surfaces of the housing is on the same straight line as the axis of the shaft. The four side walls of the housing are provided with circular windows of the same size, and the four circular windows are respectively coaxial with the thrust shaft of the four-axis thrust system. The bottom surface of the housing is provided with a slot for fixing the suction cup and the gripper.

[0018] Furthermore, the upper part of the shaft is connected to the lifting ring, the middle part of the shaft is provided with a plum blossom groove seat, the plum blossom groove seat is fixed with a thrust bracket, the shaft below the plum blossom groove seat is provided with a load-bearing plate, and the lower plate of the box is provided on the load-bearing plate.

[0019] Furthermore, the intelligent hook includes an automatic anti-detachment shackle and a second pressure sensor disposed in the hook slot. When the load exerts pressure on the intelligent hook, the value of the second pressure sensor changes, and the automatic anti-detachment shackle automatically falls to limit and lock. When the pressure of the load on the intelligent hook disappears, the automatic anti-detachment shackle rises.

[0020] Furthermore, the vision system includes a visual feedback camera mounted on the bottom surface of the housing. The visual feedback camera identifies the shape of the suspended object and feeds back the signal to a first control unit and a second control unit. The first control unit controls a suction cup robotic arm to assist in reducing swaying based on the feedback signal, and the second control unit controls a gripper robotic arm to assist in reducing swaying based on the feedback signal.

[0021] Furthermore, when the suspended object is spherical or ellipsoidal, the suction cup robotic arm operates to assist in reducing sway; when the suspended object is cuboid, the gripper robotic arm operates to assist in reducing sway. When the suspended object is other irregular shapes, the gripper robotic arm and the suction cup robotic arm operate simultaneously to assist in reducing sway.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] 1. The four-axis thrust system, gripper robotic arm, and suction cup robotic arm of the disc-claw assisted intelligent anti-sway hook device provided by the present invention achieve the purpose of anti-sway when transferring objects through the feedback control principle of the coordinated action of the four-axis thrust system and the robotic arm.

[0024] 2. The intelligent anti-sway hook device with disc claw assists in reducing sway by using a gripper robotic arm and a suction cup robotic arm to assist in reducing sway according to the shape of the object. It is combined with a secondary sway reduction system that applies a force opposite to the deflection angle by a four-axis thrust system, which greatly increases the reliability of the sway reduction effect of the transported object.

[0025] 3. A tension sensor and a miniature rubber block are installed at the end of the gripper robotic arm. Tension feedback controls the gripper force to prevent damage to the object. The electric telescopic rod at the end of the suction cup robotic arm uses feedback from the first vision sensor to determine the object's position, and the controller precisely controls the vacuum suction cup to grip the object's surface.

[0026] 4. The intelligent hook is equipped with an anti-detachment shackle and a second pressure sensor to prevent the load from falling off during transport, thus achieving an automatic anti-detachment function. The third controller acquires the pressure difference signal from the second pressure sensor after the load is attached and outputs the mass of the load, realizing the weighing function. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is an overall view of the device of the present invention.

[0029] Figure 2 This is a schematic diagram of the shaft structure of the present invention.

[0030] Figure 3 This is a schematic diagram of the operation of the device of the present invention.

[0031] Figure 4 This is a lower isometric view of the device of the present invention.

[0032] Figure 5 This is a schematic diagram of the working operation of the suction cup robotic arm of the present invention.

[0033] Figure 6 This is a schematic diagram of the working operation of the gripper-type robotic arm of the present invention.

[0034] In the diagram: 1. Box body; 101. Circular window; 2. Shaft; 201. Load-bearing plate; 202. Plum blossom groove seat; 3. Suction cup robotic arm; 301. First control unit; 302. First electric hydraulic cylinder; 303. First front joint; 304. First intermediate joint; 305. Suction cup end effector; 306. Electric telescopic rod; 307. Vision sensor; 308. First controller; 309. Suction cup; 310. Vacuum pump; 4. Gripper robotic arm; 401. Second control unit 402. Second electric hydraulic cylinder; 403. Second front joint; 404. Second intermediate joint; 405. Gripper-type end effector; 406. Rubber gripper; 407. First pressure sensor; 408. Second controller; 5. Intelligent hook; 501. Automatic anti-detachment shackle; 502. Second pressure sensor; 6. Vision system; 601. Visual feedback camera; 7. Four-axis thrust system; 701. Third controller; 702. Thruster; 703. Thrust bracket; 8. Lifting ring. Detailed Implementation

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0038] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0039] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0040] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0041] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0042] This invention provides a claw-assisted intelligent anti-sway hook device. For example... Figure 1 As shown, it includes a housing 1, a shaft 2, a suction cup robotic arm 3, a gripper robotic arm 4, an intelligent hook 5, a vision system 6, and a four-axis thrust system 7.

[0043] The central axis of symmetry of the upper and lower bottom surfaces of the housing 1 is on the same straight line as the axis of the shaft 2. The housing 1 has four circular windows 101 of the same size around its perimeter. Each of the four circular windows 101 is coaxial with the thrust shaft of the four-axis thrust system 7. The upper and lower bottom surfaces of the housing 1 have holes with the same outer diameter as the shaft 2.

[0044] like Figure 2 As shown, the upper section of the shaft 2 is fixedly connected to the lifting ring 8 by bolts. Furthermore, the middle section of the shaft 2 is provided with a perforated groove-shaped seat 202 for supporting the four-axis thrust system 7 and preventing the thrust bracket 703 of the four-axis thrust system 7 from rotating. The lower section of the shaft 2 is provided with a load-bearing plate 201 for supporting the weight of the housing 1 and is fixedly connected by bolts.

[0045] like Figure 3 As shown, when the object lifted by the claw-assisted intelligent anti-sway hook device is irregularly shaped, the suction cup robotic arm 3 and the gripper robotic arm 4 work simultaneously to wrap the object and reduce the swaying of the load.

[0046] like Figure 4 As shown, when the intelligent anti-sway hook device with assisted claw does not perform the anti-sway action, the suction cup robotic arm and the gripper robotic arm retract, and the suction cup 309 at the end of the suction cup robotic arm 3 and the rubber gripper 406 at the end of the gripper robotic arm 4 are fixed to the groove on the bottom surface of the box.

[0047] like Figure 5 As shown, the suction cup robotic arm 3 comprises a first control unit 301, a first electro-hydraulic cylinder 302, a first front joint 303, a first intermediate joint 304, and a suction cup-type end effector 305. A power module is installed inside the housing to provide power for the electro-hydraulic cylinder. The first electro-hydraulic cylinder 302, based on signals from the first control unit 301, is driven by a motor to control the hydraulic pressure within the cylinder, thereby controlling the movement outside the cylinder. The suction cup robotic arm 3 is equipped with the first front joint 303 and the first intermediate joint 304 for more flexible adjustment of the gripping range. The working range of the suction cup robotic arm 3 and the gripper robotic arm 4 is approximately six times the width of the housing 1.

[0048] The suction cup-type end effector 305 is divided into upper and lower sections. The upper section of the suction cup-type end effector 305 is equipped with a motor-driven electric telescopic rod 306, which is powered independently by the upper section of the suction cup-type end effector 305 and controlled by a first controller 308. The lower section of the suction cup-type end effector 305 is equipped with a vision sensor 307, which feeds back the shape and position information of the heavy object to the first controller 308 in the upper section of the suction cup-type end effector 305. Furthermore, the electric telescopic rod 306 adaptively adjusts the length of the suction cup-type end effector 305 to wrap the heavy object and reduce the swaying of the suspended weight. A vacuum pump 310 is installed at the suction cup 309 in the lower section of the suction cup-type end effector 305 to ensure a high vacuum degree in the suction cup. The suction cup 309 can rotate within a small angle around the connecting shaft in the lower section of the suction cup-type end effector 305, which is to ensure that the suction cup 309 makes more flexible and faster contact with the suspended weight.

[0049] like Figure 6 As shown, the gripper-type robotic arm 4 comprises a second control unit 401, a second electro-hydraulic cylinder 402, a second front joint 403, a second intermediate joint 404, and a gripper-type end effector 405. The gripper-type end effector 405 is mounted at the end of the gripper-type robotic arm 4, and is driven by the second electro-hydraulic cylinder 402 to grip. The second front joint 403 and the second intermediate joint 404 of the gripper-type robotic arm 4 work simultaneously to ensure the flexibility of the gripper-type end effector. A rubber gripper 406 is mounted at the end of the gripper-type end effector 405. The rubber gripper 406 is equipped with multiple miniature rubber blocks to prevent damage to the object's surface during gripping, providing cushioning protection. The rubber gripper 406 can rotate freely within a small angle at the end of the gripper-type end effector 405, ensuring that the rubber gripper 406 can more quickly and flexibly stabilize the object during the wrapping process. A first pressure sensor 407 is installed in the middle of the rubber gripper 406. The gripper-type robotic arm 4 controls the movement of the second electric hydraulic cylinder 402 based on the force of the gripper 407 to grip the object, and adaptively adjusts the gripping degree of the gripper-type end effector 405 to prevent damage to the object.

[0050] A smart hook 5 is installed at the end of the shaft 2. The smart hook 5 is equipped with an automatic anti-detachment shackle 501. A second pressure sensor 502 is installed in the slot at the lower end of the smart hook 5. When the load exerts pressure on the smart hook 5, the value of the second pressure sensor 502 changes, and the automatic anti-detachment shackle 501 automatically falls and locks itself in place. When the pressure on the smart hook 5 disappears, the automatic anti-detachment shackle 501 is automatically raised by a motor. The second pressure sensor 502 installed in the slot of the smart hook 5 enables the weighing function of the suspended object.

[0051] The vision system 6 consists of four visual feedback cameras 601 mounted on the bottom surface of the housing 1. The visual feedback cameras 601 automatically identify the shape of the suspended object and feed the signal back to the first control unit 301 and the second control unit 401. The first control unit 301 and the second control unit 401 control either the suction cup robotic arm 3 or the gripper robotic arm 4 to assist in reducing swaying based on the feedback signal. When the object suspended by the hook is spherical / ellipsoidal, the suction cup robotic arm 3 will move to assist in reducing swaying. When the object suspended by the hook is cuboid, the gripper robotic arm 4 will move to assist in reducing swaying. When the object suspended is of other irregular shapes, the gripper robotic arm 4 and the suction cup robotic arm 3 will move simultaneously to assist in reducing swaying.

[0052] The four-axis thrust system 7 consists of a power module, a third controller 701, thrusters 702, and thrust brackets 703. The axes of the four thrusters 702 of the four-axis thrust system 7 are respectively aligned with the axes of the circular windows 101 around the housing 1. The lower end of the thrust bracket 703 of the four-axis thrust system 7 has a plum blossom groove structure that precisely matches the plum blossom groove seat 202 in the middle section of the shaft. Furthermore, the upper end of the thrust bracket 703 is fixed to the shaft with bolts to prevent the thrust bracket 703 from sliding up and down on the shaft. The third controller 701 obtains the deflection angle of the claw-assisted intelligent anti-sway hook device based on its internal posture sensor. The thrusters 702 are powered by the power module. Furthermore, the third controller 701 controls the motor to drive the thrusters 702 to apply a force opposite to the deflection angle to the claw-assisted intelligent anti-sway hook device, thereby achieving the purpose of anti-sway.

[0053] The working state of this invention is as follows:

[0054] When the claw-assisted intelligent anti-sway hook device is not in operation, the rubber gripper 406 at the end of the gripper-type robotic arm is fixed in the slot on the bottom surface of the housing 1, and the suction cup-type robotic arm suction 309 is attached to the bottom surface of the housing 1. The automatic anti-detachment ring 501 of the intelligent hook 5 is in the open state.

[0055] When the claw-assisted intelligent anti-sway hook device lifts a heavy object, the second pressure sensor 502 in the slot at the lower end of the intelligent hook 5 acquires a pressure signal, and the automatic anti-detachment shackle 501 closes to prevent the load from falling off during the transfer operation of the claw-assisted intelligent anti-sway hook device. The second pressure sensor 502 transmits the differential pressure signal to the third controller 701, which outputs the mass of the lifted load, realizing the weighing function of the object. The claw-assisted intelligent anti-sway hook device can perform a two-stage anti-sway action to achieve the purpose of anti-sway.

[0056] When the load sways during operation of the claw-assisted intelligent anti-sway hook device, the first-level action involves the visual feedback camera 601, located outside the housing 1, automatically identifying the shape of the load and transmitting the signal to the four robotic arm control units. The control units then control either the suction cup robotic arm or the gripper robotic arm to assist in reducing the sway, based on the feedback signal.

[0057] When the object being lifted by the claw-assisted intelligent anti-sway hook device is spherical / ellipsoidal, the suction cup robotic arm 3 moves. The vision sensor 307 installed on the lower section of the suction cup end effector 305 feeds back the shape and position information of the weight to the first controller 308 on the upper section of the suction cup end effector 305. This, in turn, drives the electric telescopic rod 306 on the upper section of the suction cup end effector 305 to automatically adjust the length of the suction cup end effector 305, precisely wrapping the weight to reduce swaying. The suction cup 309 at the end of the suction cup end effector 305 contacts the surface of the object, and the vacuum pump 310 increases the vacuum between them, further reducing swaying and assisting in anti-swaying.

[0058] When the object being lifted by the claw-assisted intelligent anti-sway hook device is a cuboid, the gripper-type robotic arm 4 moves. The rubber gripper 406 at the end of the gripper-type end effector 405 is equipped with multiple miniature rubber blocks to prevent damage to the object's surface during gripping, providing cushioning protection. The rubber gripper 406 rotates freely within a small angle at the end of the gripper-type end effector 405, ensuring flexibility in the gripping process. A first pressure sensor 407 is installed in the middle of the rubber gripper 406. The second controller 408 controls the movement of the second electric hydraulic cylinder 402 based on the force feedback from the first pressure sensor 407, adaptively adjusting the clamping degree of the gripper-type end effector 405 to prevent damage to the object.

[0059] When the object being lifted by the claw-assisted intelligent anti-sway hook device is an irregularly shaped object, the suction cup robotic arm 3 and the gripper robotic arm 4 work together to assist in reducing sway, so as to achieve a better sway reduction effect.

[0060] When the load swings during the operation of the claw-assisted intelligent anti-sway hook device, the second-level action is that the third controller 701 of the four-axis thrust system 7 obtains the deflection angle of the hook device according to the posture sensor, and then the controller controls the motor to drive the thruster 702 to apply a force opposite to the deflection angle to the hook device, thereby achieving the purpose of sway reduction.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A claw-assisted intelligent anti-sway hook device, characterized in that, include: Box body (1), shaft (2), robotic arm, smart hook (5), vision system (6) and four-axis thrust system (7); The robotic arm is either a gripper-type robotic arm (4) or a suction cup-type robotic arm (3). The housing (1) is located in the middle of the shaft (2). A four-axis thrust system (7) is provided on the shaft (2) inside the housing (1). A mechanical arm is provided on the lower part of each side of the housing (1). A smart hook (5) is provided at the lower end of the shaft (2). The intelligent hook (5) weighs and automatically locks the load, the vision system (6) identifies the load information and feeds it back to the robotic arm, the robotic arm wraps the load according to the load information to reduce the load swing, and the four-axis thrust system (7) identifies and adjusts the deflection angle of the disc claw-assisted intelligent anti-sway hook device. The vision system (6) includes a visual feedback camera (601) installed on the bottom surface of the housing (1). The visual feedback camera (601) identifies the shape of the suspended object and feeds the signal back to the first control unit (301) and the second control unit (401). The first control unit (301) controls the suction cup robotic arm (3) to assist in reducing swaying according to the feedback signal. The second control unit (401) controls the gripper robotic arm (4) to assist in reducing swaying according to the feedback signal. The four-axis thrust system (7) includes a third controller (701), thrusters (702) and a thrust support (703). The thrust support (703) is equipped with the third controller (701) and four thrusters (702). The axes of the four thrusters (702) coincide with the axes of the circular windows (101) around the box body (1). The third controller (701) obtains the deflection angle of the disc claw-assisted intelligent anti-sway hook device based on the internal posture sensor, thereby controlling the thruster (702) to apply a force opposite to its deflection angle to the disc claw-assisted intelligent anti-sway hook device. The lower part of the suction cup end effector (305) in the suction cup robotic arm (3) is an electric telescopic rod (306). The middle part of the suction cup end effector (305) is equipped with a first controller (308) for controlling the electric telescopic rod (306). A vision sensor (307) is provided below the electric telescopic rod (306). The vision sensor (307) sends the shape and position information of the weight to the first controller (308). The vision sensor (307) is rotatably connected to the suction cup (309) below. The suction cup (309) is connected to the vacuum pump (310). The end of the gripper-type end effector (405) in the gripper-type robotic arm (4) is a rubber gripper (406). Several miniature rubber blocks are provided on the rubber gripper (406). A first pressure sensor (407) and a second controller (408) are provided in the middle of the gripper-type end effector (405). The second controller (408) controls the movement of the second electric hydraulic cylinder (402) based on the force of gripping the object fed back by the first pressure sensor (407), thereby adjusting the clamping degree of the gripper-type end effector (405). When the object being lifted is spherical or ellipsoidal, the suction cup robotic arm (3) moves to assist in reducing swaying; when the object being lifted is cuboid, the gripper robotic arm (4) moves to assist in reducing swaying; when the object being lifted is irregularly shaped, the suction cup robotic arm (3) and the gripper robotic arm (4) move simultaneously to assist in reducing swaying.

2. The intelligent anti-sway hook device with disc claw assistance according to claim 1, characterized in that, Of the four robotic arms, two are suction cup robotic arms (3) and two are gripper robotic arms (4). The suction cup robotic arm (3) includes a first control unit (301) connected to the side wall of the housing (1). The first control unit (301) is rotatably connected to the first electric hydraulic cylinder (302) and the first front joint (303). The first front joint (303) is rotatably connected to the first intermediate joint (304). The other ends of the first electric hydraulic cylinder (302) and the first intermediate joint (304) are rotatably connected to the suction cup end effector (305). The first electric hydraulic cylinder (302) controls the hydraulic pressure in the cylinder according to the signal of the first control unit (301), thereby controlling the first electric hydraulic cylinder (302) to move outward. The gripper-type robotic arm (4) includes a second control unit (401) connected to the side wall of the housing (1). The second control unit (401) is rotatably connected to the second electric hydraulic cylinder (402) and the second front end joint (403). The second front end joint (403) is rotatably connected to the second intermediate joint (404). The other end of the second electric hydraulic cylinder (402) and the second intermediate joint (404) are rotatably connected to the gripper-type end effector (405). The second electric hydraulic cylinder (402) drives the gripper-type end effector (405) to perform gripping.

3. The intelligent anti-sway hook device with disc-shaped claw assistance according to claim 1, characterized in that, The central axis of symmetry of the upper and lower bottom surfaces of the housing (1) is on the same straight line as the axis of the shaft (2). The four side walls of the housing (1) are provided with circular windows (101) of the same size. The four circular windows (101) are coaxial with the thrust shaft of the four-axis thrust system (7). The bottom surface of the housing (1) is provided with a slot for fixing the suction cup (309) and the rubber claw (406).

4. The intelligent anti-sway hook device with disc claw assistance according to claim 1, characterized in that, The upper part of the shaft (2) is connected to the lifting ring (8), and a plum blossom groove seat (202) is provided in the middle of the shaft (2). A thrust bracket (703) is fixed on the plum blossom groove seat (202). A load-bearing plate (201) is provided on the shaft (2) below the plum blossom groove seat (202), and the lower plate of the box (1) is provided on the load-bearing plate (201).

5. The intelligent anti-sway hook device with disc claw assistance according to claim 1, characterized in that, The intelligent hook (5) includes an automatic anti-detachment shackle (501) and a second pressure sensor (502) installed in the hook slot. When the load exerts pressure on the intelligent hook (5), the value of the second pressure sensor (502) changes, and the automatic anti-detachment shackle (501) automatically falls to limit and lock. When the load exerts pressure on the intelligent hook (5), the automatic anti-detachment shackle (501) rises.

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