Crane hook positioning and anti-swing device and method

Abstract

The invention relates to the technical field of lifting hooks, and particularly discloses a crane lifting hook positioning and anti-swing device which comprises a supporting piece. The lifting hook is mounted at the bottom of the supporting piece; the lifting rope is mounted at the top of the supporting piece; the rotating column is fixedly connected to the top of the lifting hook, a rotating hole is formed in the middle of the supporting piece, and the rotating column is rotationally connected with the rotating hole; the detection assembly is mounted on the lifting hook and used for detecting the deflection angle of the lifted goods; the micro motor is used for driving the rotating column to rotate according to a detection numerical value of the detection assembly and an instruction processed by the industrial personal computer; the visual camera is fixedly installed at one end of the lifting hook, the collecting end of the visual camera faces the open end of the lifting hook, the visual camera is used for positioning the placement position of the goods, and the rotating column and the lifting hook are controlled through the micro motor, so that the open end of the lifting hook can be positioned to the placement position of the goods; and the positioning effect is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of hooks, and in particular to a crane hook positioning and anti-sway device and method. Background Art

[0002] The main function of the crane hook positioning device is to ensure that the hook can stay in the designated position accurately and stably during operation. The main function of the crane hook anti-sway device is to reduce or eliminate the shaking of the hook during operation and improve the stability and safety of the operation.

[0003] For example, prior art publication number CN203667823U discloses an anti-rotation device for a crane hook, the anti-rotation device comprising: a clamping seat, comprising two pairs of clamping seats, a first pair of clamping seats being fixed to a crossbeam, and a second pair of clamping seats being fixed to an upper rotating body; a connecting plate, a first end of the connecting plate being connected to the second pair of clamping seats, and a second end of the connecting plate being connected to the first pair of clamping seats; and a bolt-nut pairing member, comprising two pairs of bolt-nut pairing members, a first pair of bolt-nut pairing members penetrating the first end of the connecting plate and the second pair of clamping seats, and a second pair of bolt-nut pairing members penetrating the second end of the connecting plate and the first pair of clamping seats, thereby preventing the hook from rotating freely when the crane is started or stopped.

[0004] The problem with the above-mentioned prior art is that, since the top rope of the cargo is soft after being hung, the rope will twist when the cargo is hung by the rope. However, the twisting of the rope cannot solve the deflection problem by improving the hook, so an active correction method is needed to achieve the anti-deflection effect. Summary of the Invention

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0006] The present invention provides a crane hook positioning and anti-sway device and method, which can solve the problem in the prior art that after the cargo is lifted, the deflection of the cargo caused by the twisting of the lifting rope cannot be detected. The specific solution is as follows:

[0007] In one aspect, the present invention provides a crane hook positioning and anti-sway device, comprising:

[0008] Support members;

[0009] a hook mounted on the bottom of the support member;

[0010] a lifting rope mounted on the top of the support member;

[0011] A rotating column is fixedly connected to the top of the hook, a rotating hole is opened in the middle of the support member, and the rotating column is rotatably connected to the rotating hole;

[0012] A detection component, mounted on the hook, for detecting the deflection angle of the cargo after it is lifted;

[0013] The micro motor drives the rotating column to rotate according to the detection value of the detection component and the instructions processed by the industrial computer;

[0014] A visual camera is fixedly mounted at one end of the hook, with the collecting end of the visual camera facing the open end of the hook. The visual camera is used to locate the placement of the goods. The rotating column and the hook are controlled by a micro motor so that the open end of the hook can be positioned to the placement of the goods, thereby achieving the positioning function.

[0015] Preferably, an annular cavity is opened inside the support member, the lifting rope is passed through the annular cavity, the top of the lifting rope is connected through a guide wheel, and the lifting rope can be wound by controlling the rotation of the guide wheel to realize the lifting and lowering of the hook and the support member.

[0016] Preferably, it also includes:

[0017] a first spur gear fixedly connected to the middle portion of the rotating column, the first spur gear being rotatably connected to the middle portion of the rotating hole;

[0018] a second spur gear, the second spur gear being meshed with the first spur gear, the second spur gear being rotatably mounted inside the support member so that the second spur gear can be fixed inside the support member;

[0019] a first bevel gear, fixedly connected to the top of the second spur gear, and rotating synchronously with the second spur gear;

[0020] The second bevel gear is rotatably mounted inside the support member, the second bevel gear and the second bevel gear are arranged perpendicular to each other, the output shaft of the micro motor is fixedly connected to the middle part of the second bevel gear, and the micro motor can drive the second bevel gear to rotate.

[0021] Preferably, the battery is installed at the other end of the support member and connected to the micro motor through a wire.

[0022] Preferably, it also includes:

[0023] Extension arms, the extension arms are fixedly connected to both sides of the hook and respectively form two vertical grooves for the passage of the lifting rope. When the cargo is lifted, the two ends of the lifting rope can pass through the grooves;

[0024] There are four pressure strain gauges, which are respectively fixedly installed on the inner walls of the two grooves;

[0025] Among them, when the cargo deflects, it can cause the lifting rope to twist. When the lifting rope twists, the pressure values ​​detected by the two pressure strain gauges in the diagonal position are greater than the pressure values ​​detected by the other two pressure strain gauges, thereby detecting the swing direction of the cargo. Then, the micro motor is controlled to apply a reaction force to the rotating column and the hook to suppress the deflection of the cargo.

[0026] Preferably, it also includes:

[0027] A movable arm is mounted in the middle of the hook, a hinge column is provided in the middle of the movable arm, a hinge hole is opened in the middle of the hook, and the hinge column is hinged to the hinge hole;

[0028] A movable groove is provided inside the hinge hole, one end of the hinge column is connected to a movable block, and the movable block rotates in the movable groove;

[0029] A spring is installed inside the movable groove, and two ends of the spring are respectively fixed to the outer wall of the movable block and the inner wall of the movable groove.

[0030] Preferably, it also includes:

[0031] A clamping ring is provided at one end of the movable arm close to the lifting rope, and is in the shape of a semicircular ring. The clamping rings are provided on both sides of the lifting hook, and when the clamping rings are pressed on the lifting rope, the upper end of the lifting rope can be contacted at three points by the two clamping rings and the lifting hook;

[0032] When lifting the cargo, first lift the movable arm upward to form an opening between the clamping ring and the hook so that the lifting rope can pass through. After the lifting rope is hung on the hook, release the movable arm. Under the squeezing action of the spring, the movable arm rotates so that the clamping ring at the end of the movable arm can press on the upper part of the lifting rope.

[0033] Preferably, it also includes:

[0034] A slide rail, the slide rail is fixedly connected to the outer wall of the extension arm, and the bottom of the slide rail is a closed structure;

[0035] A slider, the slider being slidably mounted inside the slide rail, and the slider has an I-shaped cross-section;

[0036] A clamping arm, the upper end of the clamping arm is hinged to one end of the slider, and an elastic member is installed at the hinged position so that the bottom end of the clamping arm is always squeezed in the direction of the suspension rope. A clamping wheel is installed at the bottom end of the clamping arm, and the clamping wheel is attached to the outer wall of the suspension rope.

[0037] Preferably, it also includes:

[0038] An installation opening, wherein a slide groove is provided inside the installation opening, and a locking groove is provided at the bottom end of the slide groove;

[0039] A mounting block, the bottom of which is connected to a clamping block, which can slide along the slide groove to the bottom of the slide groove and then rotate into the locking groove to achieve a locking effect on the mounting block, and the mounting block and the mounting opening are fixed with bolts;

[0040] The protective cover is mounted on the top of the mounting block by screws, and the industrial computer is mounted inside the protective cover.

[0041] On the other hand, the present invention also provides a crane hook positioning and anti-sway method, comprising the following steps:

[0042] S1. Install the top of the lifting rope on the guide wheel of the crane. When lifting the cargo, the crane can control the guide wheel to rotate, thereby achieving the lifting and translation of the hook;

[0043] S2. When cargo needs to be lifted, the hook is first moved near the cargo. The visual camera then recognizes the image, and the micro motor drives the rotating column to rotate, causing the hook to rotate at a constant speed until the visual camera detects the image of the cargo. The rotation stops, allowing the open end of the hook to face the cargo, completing the positioning.

[0044] S3. The worker hangs the rope attached to the cargo on the hook;

[0045] S4. The crane lifts the cargo and moves it to the designated location. After the cargo is lifted, the deflection angle of the cargo is detected by the detection component, which then sends the detection results to the industrial computer. After processing, the industrial computer controls the micro motor, which drives the rotating column to rotate in the opposite direction of the cargo deflection to offset the deflection force of the cargo and keep the cargo stable.

[0046] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0047] 1. The detection component detects the deflection angle of the cargo after it is lifted, and then sends the angle value to the industrial computer. Based on the signal, the industrial computer determines that the hook needs to be flipped so that the hook and cargo remain in a fixed direction. This prevents the deflection caused by the cargo being transported from causing the movement process to be uncontrollable and avoids danger.

[0048] 2. By setting up an extension arm and four pressure strain gauges, when the cargo deflects, it can cause the lifting rope to twist. When the lifting rope twists, the pressure values ​​detected by the two pressure strain gauges in the diagonal position are significantly greater than the pressure values ​​detected by the other two pressure strain gauges. Therefore, by utilizing this feature, the twisting of the lifting rope caused by the deflection of the cargo can be detected, and the direction and acceleration of the deflection of the cargo can be detected. Then, by controlling the micro motor to apply a reaction force to the rotating column and the hook, the deflection of the cargo can be suppressed, thereby achieving an anti-sway effect.

[0049] 3. The visual camera is used to locate the placement of the goods, and then the rotating column and hook are controlled by a micro motor so that the open end of the hook can be positioned at the placement of the goods to achieve the positioning function, making it easier for workers to hang the goods on the hook or achieve the effect of automatically lifting the goods.

[0050] 4. By setting up a movable arm, when lifting goods, first lift the movable arm upward to form an opening between the clamping ring and the hook so that the lifting rope can pass through. After the lifting rope is hung on the hook, release the movable arm. Under the squeezing action of the spring, the movable arm rotates so that the clamping ring at the end of the movable arm can press on the upper part of the lifting rope, preventing the lifting rope from moving back and forth in the hook.

[0051] Other features and advantages of the present invention will be described in the following description, and part of them will become obvious from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0053] Figure 1 This is a three-dimensional diagram of the present invention when lifting cargo as a whole;

[0054] Figure 2 A perspective view of the present invention with the support member removed;

[0055] Figure 3 This is a schematic diagram of the installation of the rotating column and the micro motor of the present invention;

[0056] Figure 4 is a three-dimensional diagram of the movable arm of the present invention;

[0057] Figure 5 It is a front cross-sectional view of the present invention;

[0058] Figure 6 It is a side sectional view of the present invention;

[0059] Figure 7 A perspective view of the extension arm and the clamping arm of the present invention;

[0060] Figure 8 A perspective view of the hook and the rotating column of the present invention;

[0061] Figure 9 A perspective view of a hook and a lifting rope according to the present invention;

[0062] Figure 10 This is a schematic diagram of the installation of the mounting block and the mounting opening of the present invention.

[0063] The accompanying drawings are numerals as follows:

[0064] 101. Support member; 102. Hook; 103. Lifting rope; 104. Guide wheel; 105. Annular cavity; 106. Rotating column; 201. Cargo; 202. Lifting rope; 301. First spur gear; 302. Second spur gear; 303. First bevel gear; 304. Second bevel gear; 305. Micro motor; 306. Battery; 307. Channel; 308. Visual camera; 309. Movable arm; 310. Articulated column; 311. Movable groove; 312. Movable block; 313. Spring; 314. Clamping ring; 401. Extension arm; 402. Pressure strain gauge; 501. Slide rail; 502. Slider; 503. Clamping arm; 504. Clamping wheel; 601. Mounting port; 602. Slide groove; 603. Locking groove; 604. Mounting block; 605. Block; 606. Protective cover. DETAILED DESCRIPTION

[0065] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used to explain the principles of the present invention together with the embodiments of the present invention.

[0066] Example 1: See Figures 1-10 This embodiment provides a crane hook positioning and anti-sway device, which can prevent the cargo 201 from swinging in the horizontal direction when the cargo 201 is lifted. The specific solution includes:

[0067] Support member 101;

[0068] A hook 102 is mounted on the bottom of the support 101;

[0069] The lifting rope 103 is installed on the top of the support member 101. The support member 101 has an annular cavity 105 formed therein. The lifting rope 103 is passed through the annular cavity 105. The top of the lifting rope 103 is connected to the guide wheel 104. By controlling the rotation of the guide wheel 104, the lifting rope 103 can be wound to achieve the lifting effect of the hook 102 and the support member 101.

[0070] The rotating column 106 is fixedly connected to the top of the hook 102. A rotating hole is opened in the middle of the support member 101, and the rotating column 106 is rotatably connected to the rotating hole;

[0071] Correction components, the correction components include:

[0072] A first spur gear 301 is fixedly connected to the middle portion of the rotating column 106 , and the first spur gear 301 is rotatably connected to the middle portion of the rotating hole;

[0073] A second spur gear 302 is engaged with the first spur gear 301 and is rotatably mounted inside the support 101 so that the second spur gear 302 can be fixed inside the support 101;

[0074] The first bevel gear 303 is fixedly connected to the top of the second spur gear 302 and rotates synchronously with the second spur gear 302;

[0075] A second bevel gear 304 is rotatably mounted inside the support 101 , and the second bevel gear 304 and the first bevel gear 303 are arranged perpendicular to each other;

[0076] A micro motor 305 is provided with an accommodating cavity at one end of the support member 101. The micro motor 305 is fixedly mounted inside the accommodating cavity. The output shaft of the micro motor 305 is fixedly connected to the middle of the second bevel gear 304. The micro motor 305 can drive the second bevel gear 304 to rotate.

[0077] The battery 306 is mounted on the other end of the support 101 and connected to the micro motor 305 via a wire;

[0078] The detection component is installed on the hook 102 and is used to detect the deflection angle of the cargo 201 after being lifted, and can send the detection signal to the industrial computer installed on the support 101. The industrial computer can identify the deflection angle signal, and the output end of the industrial computer is connected to the input end signal of the micro motor 305;

[0079] Through the above solution, the detection component detects the deflection angle of the cargo 201 after it is lifted, and then sends the angle value to the industrial computer. The industrial computer determines based on the signal that the hook 102 needs to be reversed, so that the hook 102 and the cargo remain in a fixed orientation, preventing the deflection generated when transporting the cargo 201 from causing the movement process to be uncontrollable and avoiding danger.

[0080] As a feasible solution, since the deflection force generated when the cargo 201 is lifted cannot overcome the friction between the rotating column 106 and the rotating hole, the rotating column 106 and the support member 101 are stationary, but the lifting rope 202 on the cargo 201 will twist. Therefore, if an angle sensor is directly installed between the rotating column 106 and the rotating hole, the actual deflection angle of the cargo 201 cannot be detected. Therefore, this embodiment implements deflection angle detection in this case through the following solution:

[0081] A detection component comprising:

[0082] Extension arms 401 are fixedly connected to both sides of the hook 102 and respectively form two vertical channels for the lifting rope 202 to pass through. When the cargo 201 is lifted, both ends of the lifting rope 202 can pass through the channels;

[0083] There are four pressure strain gauges 402, which are fixedly installed on the inner walls of the two grooves respectively. When the cargo 201 deflects, it can drive the lifting rope 202 to twist. When the lifting rope 202 twists, the pressure values ​​detected by the two pressure strain gauges 402 in the diagonal position are significantly greater than the pressure values ​​detected by the other two pressure strain gauges 402. Therefore, by utilizing this characteristic, the twisting of the lifting rope 202 caused by the deflection of the cargo 201 can be detected, and the direction and acceleration of the deflection of the cargo can be detected. Then, by controlling the micro motor 305 to apply a reaction force to the rotating column 106 and the hook 102, the deflection of the cargo 201 is suppressed, thereby achieving an anti-shake effect.

[0084] Embodiment 2: This embodiment differs from the embodiment 1 in that the technical solution further includes:

[0085] A visual camera 308 is fixedly mounted on one end of the hook 102, with the acquisition end of the visual camera 308 facing the open end of the hook 102. The visual camera 308 is used to locate the placement of the cargo 201. The micro motor 305 then controls the rotating column 106 and the hook 102 so that the open end of the hook 102 can be positioned at the placement of the cargo 201, thereby achieving a positioning function, thereby facilitating workers to hang the cargo 201 on the hook 102 or to achieve the effect of automatically lifting the cargo.

[0086] A channel 307 is provided in the middle of the hook 102 , and the channel 307 can lead to the battery 306 , the micro motor 305 , the pressure strain gauge 402 and the visual camera 308 , respectively, thereby achieving a line connection effect.

[0087] Embodiment 3: This embodiment differs from the technical solutions of Embodiment 1 or Embodiment 2 in that, in order to further improve the stability of the cargo 201 and the sling 202 during slinging, this embodiment also includes the following solutions:

[0088] A movable arm 309 is mounted in the middle of the hook 102. A hinge post 310 is provided in the middle of the movable arm 309. A hinge hole (not shown) is provided in the middle of the hook 102. The hinge post 310 is hingedly connected to the hinge hole. A movable groove 311 is provided inside the hinge hole. A movable block 312 is connected to one end of the hinge post 310. The movable block 312 rotates within the movable groove 311.

[0089] Spring 313, spring 313 is installed inside the movable groove 311, and two ends of the spring 313 are respectively fixed to the outer wall of the movable block 312 and the inner wall of the movable groove 311;

[0090] A clamping ring 314 is provided at one end of the movable arm 309 close to the sling 202. The clamping ring 314 is semicircular and is provided on both sides of the hook 102. When the clamping ring 314 is pressed on the sling 202, the upper end of the sling 202 can be in contact with three points: the two clamping rings 314 and the hook 102. This improves the installation stability of the sling 202 and suppresses the swaying of the sling 202 caused by the cargo 201.

[0091] Through the above scheme, when lifting the cargo, the movable arm 309 is first lifted upward to form an opening between the clamping ring 314 and the hook 102, so that the rope 202 can pass through. After the rope 202 is hung on the hook 102, the movable arm 309 is released. Under the squeezing action of the spring 313, the movable arm 309 rotates, so that the clamping ring 314 at the end of the movable arm 309 can be pressed on the upper part of the rope 202, so that the rope 202 cannot move back and forth in the hook 102.

[0092] Embodiment 4: This embodiment differs from the technical solution of Embodiment 3 in that it further includes:

[0093] Slide rail 501, which is fixedly connected to the outer wall of the extension arm 401, and the bottom of the slide rail 501 is a closed structure;

[0094] The slider 502 is slidably mounted inside the slide rail 501 and has an I-shaped cross section.

[0095] The clamping arm 503 has its upper end hinged to one end of the slider 502, and an elastic member is installed at the hinged position so that the bottom end of the clamping arm 503 is always squeezed in the direction of the suspension rope 202. The bottom end of the clamping arm 503 is installed with a clamping wheel 504, which fits against the outer wall of the suspension rope 202.

[0096] Example 5: This example differs from Example 4 in that, in order to facilitate the maintenance of the industrial computer, the following technical solutions are implemented:

[0097] The mounting opening 601 has a slide groove 602 formed inside, and a locking groove 603 formed at the bottom end of the slide groove 602;

[0098] The mounting block 604 has a clamping block 605 connected to the bottom thereof. The clamping block 605 can slide along the chute 602 to the bottom of the chute 602 and then rotate into the locking groove 603 to lock the mounting block 604. The mounting block 604 and the mounting opening 601 are fixed with bolts.

[0099] The protective cover 606 is mounted on the top of the mounting block 604 by screws, and the industrial computer is mounted inside the protective cover 606 .

[0100] Example 6: This example differs from the technical solution of Example 5 in that this example provides a crane hook positioning and anti-sway method, comprising the following steps:

[0101] S1. The top of the lifting rope 103 is mounted on the guide wheel 104 on the crane. When lifting the cargo 201, the guide wheel 104 can be controlled by the crane to rotate, thereby achieving the lifting and translation of the hook 102.

[0102] S2. When the cargo 201 needs to be lifted, the hook 102 is first moved to the vicinity of the cargo 201. Then, the visual camera 308 recognizes the image, and at the same time, the micro motor 305 drives the rotating column 106 to rotate, so that the hook 102 rotates at a constant speed until the visual camera 308 detects the image of the cargo 201 and stops rotating, so that the open end of the hook 102 faces the cargo 201, completing the positioning;

[0103] S3. The worker hangs the rope 202 on the cargo 201 on the hook 102;

[0104] S4. The crane lifts the cargo 201 and moves it to the designated location. After the cargo 201 is lifted, the deflection angle of the cargo 201 is detected by the detection component, which then sends the detection results to the industrial computer. After processing, the industrial computer controls the micro motor 305. The micro motor 305 drives the rotating column 106 to rotate in the opposite direction of the deflection of the cargo 201 to offset the deflection force of the cargo 201 and keep the cargo stable.

[0105] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0106] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A crane hook positioning and anti-sway device, characterized in that: include: A support member (101); A hook (102) mounted on the bottom of the support member (101); A lifting rope (103) installed on the top of the support member (101); A rotating column (106) is fixedly connected to the top of the hook (102); a rotating hole is provided in the middle of the support member (101); and the rotating column (106) is rotatably connected to the rotating hole; a detection component, mounted on the hook (102), and used to detect the deflection angle of the cargo (201) after being lifted; The micro motor (305) drives the rotating column (106) to rotate according to the detection value of the detection component and the instructions processed by the industrial computer; A visual camera (308) is fixedly mounted on one end of the hook (102), with the collecting end of the visual camera (308) facing the open end of the hook (102). The visual camera (308) is used to locate the placement position of the goods (201). The rotating column (106) and the hook (102) are controlled by a micro motor (305) so that the open end of the hook (102) can be located at the placement position of the goods (201), thereby achieving the positioning function.

2. A crane hook positioning and anti-sway device as claimed in claim 1, characterized in that: An annular cavity (105) is provided inside the support member (101), and the lifting rope (103) is passed through the annular cavity (105). The top of the lifting rope (103) is connected via a guide wheel (104). By controlling the rotation of the guide wheel (104), the lifting rope (103) can be wound to achieve the lifting and lowering of the hook (102) and the support member (101).

3. A crane hook positioning and anti-sway device as claimed in claim 1, characterized in that: Also includes: A first spur gear (301) is fixedly connected to the middle of the rotating column (106), and the first spur gear (301) is rotatably connected to the middle of the rotating hole; a second spur gear (302), the second spur gear (302) being meshed with the first spur gear (301), the second spur gear (302) being rotatably mounted inside the support member (101), so that the second spur gear (302) can be fixed inside the support member (101); A first bevel gear (303) is fixedly connected to the top of the second spur gear (302) and rotates synchronously with the second spur gear (302); A second bevel gear (304), the second bevel gear (304) is rotatably mounted inside the support member (101), the second bevel gear (304) and the first bevel gear (303) are arranged perpendicular to each other, the output shaft of the micro motor (305) is fixedly connected to the middle part of the second bevel gear (304), and the micro motor (305) can drive the second bevel gear (304) to rotate.

4. A crane hook positioning and anti-sway device as claimed in claim 1, characterized in that: The storage battery (306) is installed at the other end of the support member (101) and is connected to the micro motor (305) via a wire.

5. A crane hook positioning and anti-sway device as claimed in claim 1, characterized in that: Also includes: An extension arm (401), the extension arm (401) is fixedly connected to both sides of the hook (102), and respectively forms two grooves through which the lifting rope (202) can pass, the grooves are vertical, and when the cargo (201) is lifted, both ends of the lifting rope (202) can pass through the grooves; There are four pressure strain gauges (402), and the four pressure strain gauges (402) are respectively fixedly installed on the inner walls of the two grooves; When the cargo (201) deflects, it can drive the suspension rope (202) to twist. When the suspension rope (202) twists, the pressure values ​​detected by the two pressure strain gauges (402) at the diagonal position are greater than the pressure values ​​detected by the other two pressure strain gauges (402), thereby detecting the swing direction of the cargo (201), and then controlling the micro motor (305) to apply a reaction force to the rotating column (106) and the hook (102) to suppress the deflection of the cargo (201).

6. A crane hook positioning and anti-sway device as claimed in claim 1, characterized in that: Also includes: A movable arm (309) is installed in the middle of the hook (102), a hinge column (310) is provided in the middle of the movable arm (309), a hinge hole is opened in the middle of the hook (102), and the hinge column (310) is hinged to the hinge hole; A movable groove (311) is provided inside the hinge hole, one end of the hinge column (310) is connected to a movable block (312), and the movable block (312) rotates in the movable groove (311); A spring (313), wherein the spring (313) is installed inside the movable groove (311), and two ends of the spring (313) are respectively fixed to the outer wall of the movable block (312) and the inner wall of the movable groove (311).

7. A crane hook positioning and anti-sway device as claimed in claim 6, characterized in that: Also includes: A clamping ring (314), the clamping ring (314) being arranged at one end of the movable arm (309) close to the lifting rope (202), the clamping ring (314) being in a semicircular shape, the clamping ring (314) being arranged on both sides of the lifting hook (102), and when the clamping ring (314) is pressed on the lifting rope (202), the upper end of the lifting rope (202) can be contacted by three points of the two clamping rings (314) and the lifting hook (102); When lifting the cargo, the movable arm (309) is first lifted upward to form an opening between the clamping ring (314) and the hook (102) so that the lifting rope (202) can pass through. After the lifting rope (202) is hung on the hook (102), the movable arm (309) is released. Under the squeezing action of the spring (313), the movable arm (309) rotates so that the clamping ring (314) at the end of the movable arm (309) can be pressed on the upper part of the lifting rope (202).

8. A crane hook positioning and anti-sway device as claimed in claim 5, characterized in that: Also includes: A slide rail (501), the slide rail (501) is fixedly connected to the outer wall of the extension arm (401), and the bottom of the slide rail (501) is a closed structure; A slider (502), the slider (502) being slidably mounted inside the slide rail (501), and the slider (502) having an I-shaped cross-section; A clamping arm (503), the upper end of which is hinged to one end of the slider (502), and an elastic member is installed at the hinged position so that the bottom end of the clamping arm (503) is always pressed in the direction of the suspension rope (202), and a clamping wheel (504) is installed at the bottom end of the clamping arm (503), and the clamping wheel (504) is attached to the outer wall of the suspension rope (202).

9. A crane hook positioning and anti-sway device as claimed in claim 1, characterized in that: Also includes: An installation opening (601), wherein a slide groove (602) is provided inside the installation opening (601), and a locking groove (603) is provided at the bottom end of the slide groove (602); A mounting block (604), wherein a clamping block (605) is connected to the bottom of the mounting block (604), and the clamping block (605) can slide along the slide groove (602) to the bottom of the slide groove (602) and then rotate into the locking groove (603) to achieve a locking effect on the mounting block (604), and the mounting block (604) and the mounting opening (601) are fixed by bolts; A protective cover (606) is mounted on the top of the mounting block (604) by means of screws, and the industrial computer is mounted inside the protective cover (606).

10. A method for positioning and preventing a crane hook from shaking, using a crane hook positioning and preventing a crane hook from shaking device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. The top of the lifting rope (103) is mounted on the guide wheel (104) on the crane. When lifting the cargo (201), the guide wheel (104) can be controlled by the crane to rotate, thereby achieving the lifting and translation of the hook (102); S2. When it is necessary to lift the cargo (201), the hook (102) is first moved to the vicinity of the cargo (201), and then the visual camera (308) recognizes the image, and at the same time, the micro motor (305) drives the rotating column (106) to rotate, so that the hook (102) rotates at a constant speed until the visual camera (308) detects the image of the cargo (201) and stops rotating, so that the open end of the hook (102) faces the cargo (201), and the positioning is completed; S3, the worker hangs the rope (202) on the cargo (201) on the hook (102); S4. The crane lifts the cargo (201) and moves it to a designated position. After the cargo (201) is lifted, the deflection angle of the cargo (201) is detected by the detection component, and then the detection component sends the detection result to the industrial control computer. After processing, the industrial control computer controls the micro motor (305). The micro motor (305) drives the rotating column (106) to rotate in the opposite direction of the deflection of the cargo (201) to offset the deflection force of the cargo (201) and keep the cargo stable.

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