A crane hook positioning and anti-sway device and method

Abstract

The present invention relates to the technical field of lifting hooks, and specifically discloses a positioning and anti-sway device for a crane hook, which includes a support member; a hook installed at the bottom of the support member; a lifting rope installed at the top of the support member; a rotating column fixedly connected to the top of the hook, a rotating hole is provided in the middle of the support member, and the rotating column is rotatably connected to the rotating hole; a detection component installed on the hook for detecting the deflection angle after the goods are lifted; a micro motor, according to the detection value of the detection component and the instruction processed by the industrial control computer, drives the rotating column to rotate; a vision camera, the vision camera is fixedly installed at one end of the hook, the acquisition end of the vision camera faces the open end of the hook, and the vision camera is used to position the placement position of the goods. By controlling the rotating column and the hook through the micro motor, the open end of the hook can be positioned at the placement position of the goods, achieving the positioning function.

Description

Technical Field

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

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

[0003] For example, the prior art publication number: CN203667823U, discloses: an anti-rotation device for a crane hook, the anti-rotation device includes: a card seat, including two pairs of card seats, the first pair of card seats is fixed to the cross beam, and the second pair of card seats is fixed to the upper rotating body; a connecting plate, the first end of the connecting plate is connected to the second pair of card seats, and the second end of the connecting plate is connected to the first pair of card seats; a bolt-nut pair, including two pairs of bolt-nut pairs, the first pair of bolt-nut pairs penetrates through the first end of the connecting plate and the second pair of card seats, and the second pair of bolt-nut pairs penetrates through the second end of the connecting plate and the first pair of card seats, which can prevent the hook from freely rotating when the crane starts or stops.

[0004] The problems of the above prior art are: Since the lifting rope at the top of the goods is soft after the goods are suspended, when the goods are suspended by the lifting rope, the lifting rope will twist, and the twist of the lifting rope cannot solve the deflection problem through the improvement of the hook. Therefore, an active correction method is needed to achieve the anti-deflection effect. Summary of the Invention

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

[0006] The present invention provides a positioning and anti-sway device and method for a crane hook, which can solve the problem that the prior art cannot detect the factors causing the deflection of the goods due to the twist of the lifting rope after the goods are lifted. The specific solutions are as follows:

[0007] On the one hand, the present invention provides a positioning and anti-sway device for a crane hook, including:

[0008] A support member;

[0009] A hook, installed at the bottom of the support member;

[0010] A lifting rope, installed at the top of the support member;

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

[0012] The detection component is installed on the hook and is used to detect the deflection angle of the goods after being lifted;

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

[0014] The vision camera is fixedly installed at one end of the hook, and the acquisition end of the vision camera faces the open end of the hook. The vision camera is used to position the placement position of the goods. By controlling the rotating column and the hook through the micro motor, the open end of the hook can be positioned to the placement position of the goods to achieve the positioning function.

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

[0016] Preferably, it further includes:

[0017] The first spur gear is fixedly connected to the middle of the rotating column, and the first spur gear is rotatably connected to the middle of the rotating hole;

[0018] The second spur gear meshes with the first spur gear, and the second spur gear is rotatably installed inside the support member so that the second spur gear can be fixed inside the support member;

[0019] The first bevel gear is fixedly connected to the top of the second spur gear and rotates synchronously with the second spur gear;

[0020] The second bevel gear is rotatably installed 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 of the second bevel gear, and the micro motor can drive the second bevel gear to rotate.

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

[0022] Preferably, it further includes:

[0023] The extension arms are fixedly connected to both sides of the hook and respectively form two vertical channels for the suspension ropes to pass through. When the goods are lifted, both ends of the suspension ropes can pass through the channels;

[0024] Pressure strain gauges, there are four of them, and the four pressure strain gauges are respectively fixedly installed on the inner walls of two channels;

[0025] Among them, when the goods deflect, it can drive the suspension rope to twist. After the suspension rope twists, the pressure values detected by two pressure strain gauges at the diagonal positions are greater than the pressure values detected by the other two pressure strain gauges, so as to detect the swinging direction of the goods. Then, by controlling the micro motor to apply a reaction force to the rotating column and the hook, the deflection of the goods is suppressed.

[0026] Preferably, it further includes:

[0027] A movable arm, which is installed in the middle of the hook. There is a hinge column in the middle of the movable arm, and a hinge hole is opened in the middle of the hook. The hinge column is hinged with the hinge hole;

[0028] A movable groove is opened inside the hinge hole. One end of the hinge column is connected with a movable block, and the movable block rotates in the movable groove;

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

[0030] Preferably, it further includes:

[0031] A pressing ring, the pressing ring is arranged at one end of the movable arm close to the suspension rope. The pressing ring is semi-circular in shape. The pressing rings are respectively arranged on both sides of the hook. And after the pressing ring presses on the suspension rope, the upper end of the suspension rope can be in contact with three points: two pressing rings and the hook;

[0032] Among them, when lifting goods, first lift the movable arm upward to form an opening between the pressing ring and the hook, so that the suspension rope can pass through. After the suspension rope is hung on the hook, release the movable arm. Under the extrusion of the spring, the movable arm rotates, so that the pressing ring at the end of the movable arm can press on the upper part of the suspension rope.

[0033] Preferably, it further 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 is slidably installed inside the slide rail, and the cross-section of the slider is in an "I" shape structure;

[0036] A pressing arm, the upper end of the pressing 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 pressing arm always presses towards the direction of the suspension rope. A pressing wheel is installed at the bottom end of the pressing arm, and the pressing wheel fits on the outer wall of the suspension rope.

[0037] Preferably, it further includes:

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

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

[0040] A protective cover, the protective cover is installed on the top of the installation block by screws, and the industrial control computer is installed inside the protective cover.

[0041] On the other hand, the present invention also provides a method for positioning and anti-swaying of a crane hook, including the following steps:

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

[0043] S2. When it is necessary to lift goods, first move the hook near the goods, then identify the picture through the vision camera, and at the same time the micro motor drives the rotating column to rotate, so that the hook rotates at a constant speed until the vision camera detects the picture of the goods and then stops rotating, so that the open end of the hook faces the goods to complete the positioning;

[0044] S3. The worker hangs the lifting rope on the goods on the hook;

[0045] S4. The crane lifts the goods and moves them to the designated position. After the goods are lifted, the deflection angle of the goods 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, and the micro motor drives the rotating column to rotate in the opposite direction of the deflection of the goods to offset the deflection force of the goods and keep the goods stable.

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

[0047] 1. By detecting the deflection angle of the goods after being lifted by the detection component, and then sending the angle value to the industrial control computer, the industrial control computer judges that the hook needs to be flipped according to this signal, so that the hook and the goods are kept in a fixed orientation, preventing the deflection during the transportation of the goods from causing uncontrollable movement during the movement and avoiding danger.

[0048] 2. By setting the extension arm and four piezoresistive strain gauges, when the goods deflect, it can drive the suspension rope to twist. After the suspension rope twists, the pressure values detected by the two piezoresistive strain gauges at the diagonal positions are significantly greater than the pressure values detected by the other two piezoresistive strain gauges. Therefore, using this characteristic, it is possible to detect the twist of the suspension rope caused by the deflection of the goods, and it is also possible to detect the direction and acceleration of the goods deflection. Furthermore, by controlling the micro-motor to apply a reaction force to the rotating column and the hook, the deflection of the goods can be suppressed, achieving the effect of anti-swaying.

[0049] 3. The vision camera is used to locate the placement position of the goods, and then the rotating column and the hook are controlled by the micro-motor, so that the open end of the hook can be positioned at the placement position of the goods, achieving the positioning function, thus facilitating the worker to hang the goods on the hook or achieving the effect of automatically lifting the goods.

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

[0051] Other features and advantages of the present invention will be described in the following specification, and part of them will become obvious from the specification, or be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the written specification and the 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 will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them:

[0053] Figure 1 It is a perspective view of the present invention when lifting goods as a whole;

[0054] Figure 2 It is a perspective view of the present invention with the support removed;

[0055] Figure 3 It is an installation schematic diagram of the rotating column and the micro-motor of the present invention;

[0056] Figure 4 It is a perspective view of the movable arm of the present invention;

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

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

[0059] Figure 7 is a perspective view of the extension arm and the pressing arm of the present invention;

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

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

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

[0063] Among them, the reference numerals are as follows:

[0064] 101, support member; 102, hook; 103, lifting rope; 104, guide wheel; 105, annular cavity; 106, rotating column; 201, goods; 202, lifting rope; 301, first spur gear; 302, second spur gear; 303, first bevel gear; 304, second bevel gear; 305, micro motor; 306, storage battery; 307, channel; 308, vision camera; 309, movable arm; 310, hinge column; 311, movable groove; 312, movable block; 313, spring; 314, pressing ring; 401, extension arm; 402, pressure strain gauge; 501, slide rail; 502, slider; 503, pressing arm; 504, pressing wheel; 601, installation opening; 602, chute; 603, locking groove; 604, installation block; 605, clamping block; 606, protective cover. Detailed implementation manners

[0065] The following will specifically describe the preferred embodiments of the present invention in conjunction with the accompanying drawings, where the accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention.

[0066] Embodiment 1: Refer to Figures 1 - 10 , this embodiment provides a crane hook positioning and anti-sway device, which can prevent the goods 201 from swinging in the horizontal direction when lifting the goods 201. The specific solution includes:

[0067] Support member 101;

[0068] Hook 102, installed at the bottom of the support member 101;

[0069] The lifting rope 103 is installed at the top of the support member 101. An annular cavity 105 is formed inside the support member 101. The lifting rope 103 is threaded through the annular cavity 105. The top of the lifting rope 103 is connected by a guide wheel 104. By controlling the rotation of the guide wheel 104, the lifting rope 103 can be wound, achieving 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 formed in the middle of the support member 101. The rotating column 106 is rotatably connected to the rotating hole;

[0071] The deviation correction assembly, the deviation correction assembly includes:

[0072] The first spur gear 301 is fixedly connected to the middle of the rotating column 106. The first spur gear 301 is rotatably connected to the middle of the rotating hole;

[0073] The second spur gear 302, the second spur gear 302 meshes with the first spur gear 301. The second spur gear 302 is rotatably installed inside the support member 101, so that the second spur gear 302 can be fixed inside the support member 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] The second bevel gear 304, the second bevel gear 304 is rotatably installed inside the support member 101. The second bevel gear 304 and the first bevel gear 303 are arranged perpendicular to each other;

[0076] The micro motor 305, a receiving cavity is formed at one end of the support member 101. The micro motor 305 is fixedly installed inside the receiving 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 storage battery 306 is installed at the other end of the support member 101 and is connected to the micro motor 305 through a wire;

[0078] The detection assembly is installed on the hook 102 and is used to detect the deflection angle after the goods 201 are lifted, and can send the detected signal to the industrial control computer. The industrial control computer is installed on the support member 101. The industrial control computer can identify the signal of the deflection angle. The output end of the industrial control computer is signal-connected to the input end of the micro motor 305;

[0079] Through the above solution, the detection component detects the deflection angle of the goods 201 after being lifted, and then sends the angle value to the industrial control computer. The industrial control computer determines that the hook 102 needs to be reversed based on this signal, so that the hook 102 and the goods maintain a fixed orientation, preventing the uncontrollable movement caused by the deflection during the transportation of the goods 201 and avoiding danger.

[0080] As a feasible solution, since the deflection force generated when the goods 201 are 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. However, the lifting ropes 202 on the goods 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 goods 201 cannot be detected. Therefore, in this embodiment, the following solution is adopted to achieve the detection of the deflection angle in this case:

[0081] The detection component includes:

[0082] The extension arm 401 is fixedly connected to both sides of the hook 102 and respectively forms two channels through which the lifting ropes 202 can pass. The channels are vertical. After the goods 201 are lifted, both ends of the lifting ropes 202 can pass through the channels;

[0083] There are four pressure strain gauges 402. The four pressure strain gauges 402 are respectively fixedly installed on the inner walls of the two channels. When the goods 201 deflect, it can drive the lifting ropes 202 to twist. After the lifting ropes 202 twist, 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, using this characteristic, the torsion of the lifting ropes 202 caused by the deflection of the goods 201 can be detected, and the direction and acceleration of the goods deflection can be detected. Furthermore, by controlling the micro motor 305 to apply a reaction force to the rotating column 106 and the hook 102, the deflection of the goods 201 can be suppressed, achieving the effect of anti-shaking.

[0084] Embodiment 2: The technical solution of this embodiment is different from that of Embodiment 1 in that it further includes:

[0085] The vision camera 308 is fixedly installed at one end of the hook 102. The acquisition end of the vision camera 308 faces the open end of the hook 102. The vision camera 308 is used to locate the placement position of the goods 201, and then control the rotating column 106 and the hook 102 through the micro motor 305, so that the open end of the hook 102 can be positioned at the placement position of the goods 201, achieving the positioning function, thereby facilitating the worker to hang the goods 201 on the hook 102 or realizing the effect of automatically lifting the goods;

[0086] A channel 307 is provided in the middle of the lifting hook 102, and the channel 307 can respectively lead to the storage battery 306, the micro motor 305, the pressure strain gauge 402 and the vision camera 308, so as to achieve the effect of circuit connection.

[0087] Embodiment 3: The technical solution of this embodiment is different from that of Embodiment 1 or Embodiment 2. In order to further improve the stability of the goods 201 and the lifting rope 202 when being lifted, this embodiment further includes the following solutions:

[0088] A movable arm 309 is installed in the middle of the lifting hook 102. A hinge column 310 is provided in the middle of the movable arm 309. A hinge hole (not shown in the figure) is provided in the middle of the lifting hook 102. The hinge column 310 is hinged to the hinge hole. An activity groove 311 is provided inside the hinge hole. One end of the hinge column 310 is connected with an activity block 312, and the activity block 312 rotates in the activity groove 311;

[0089] A spring 313 is installed inside the activity groove 311. Both ends of the spring 313 are respectively fixed to the outer wall of the activity block 312 and the inner wall of the activity groove 311;

[0090] A pressing ring 314 is provided at one end of the movable arm 309 close to the lifting rope 202. The pressing ring 314 is semi-circular in shape. The pressing ring 314 is respectively provided on both sides of the lifting hook 102. After the pressing ring 314 presses on the lifting rope 202, the upper end of the lifting rope 202 can be in contact with the two pressing rings 314 and the lifting hook 102 at three points, improving the installation stability of the lifting rope 202 and suppressing the swaying of the lifting rope 202 driven by the goods 201;

[0091] Through the above solution, when lifting goods, first lift the movable arm 309 upward to form an opening between the pressing ring 314 and the lifting hook 102, so that the lifting rope 202 can pass through. After the lifting rope 202 is hung on the lifting hook 102, release the movable arm 309. Under the extrusion of the spring 313, the movable arm 309 rotates, so that the pressing ring 314 at the end of the movable arm 309 can press on the upper part of the lifting rope 202, making the lifting rope 202 unable to move back and forth in the lifting hook 102.

[0092] Embodiment 4. The technical solution of this embodiment is different from that of Embodiment 3 in that it further includes:

[0093] A 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;

[0094] A slider 502 is slidably installed inside the slide rail 501, and the cross-section of the slider 502 is in an "I" shape;

[0095] The pressing arm 503, the upper end of the pressing arm 503 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 pressing arm 503 always presses towards the direction of the lifting rope 202. A pressing wheel 504 is installed at the bottom end of the pressing arm 503, and the pressing wheel 504 fits against the outer wall of the lifting rope 202.

[0096] Embodiment 5. The technical solution of this embodiment is different from that of Embodiment 4 in that in order to facilitate the maintenance of the industrial control computer, it is realized through the following technical solutions:

[0097] The installation opening 601, a chute 602 is opened inside the installation opening 601, and a locking groove 603 is opened at the bottom end of the chute 602;

[0098] The installation block 604, a clamping block 605 is connected to the bottom of the installation block 604. 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 achieve the locking effect of the installation block 604, and the installation block 604 and the installation opening 601 are fixed with bolts;

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

[0100] Embodiment 6: The technical solution of this embodiment is different from that of Embodiment 5 in that this embodiment provides a method for positioning and anti-swaying of a crane hook, including the following steps:

[0101] S1. Install the top of the lifting rope 103 on the guide wheel 104 on the crane. When lifting the goods 201, the crane can control the guide wheel 104 to rotate to realize the lifting and translation functions of the hook 102;

[0102] S2. When it is necessary to lift the goods 201, first move the hook 102 to the vicinity of the goods 201, then identify the picture through the visual camera 308, 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 picture of the goods 201 and then stops rotating, so that the open end of the hook 102 faces the goods 201 to complete the positioning;

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

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

[0105] In the description of this specification, the descriptions referring to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0106] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A crane hook positioning and anti-sway device, characterized in that: include: 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 is mounted on the hook (102) and is used to detect the deflection angle of the cargo (201) after being lifted. The detection component comprises 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, and a pressure strain gauge (402), the pressure strain gauge (402) having four pieces, and the four pressure strain gauges ( 402) are respectively fixedly mounted on the inner walls of the two grooves, and can drive the lifting rope (202) to twist when the cargo (201) is deflected. When the lifting rope (202) is twisted, 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); 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 control 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 the 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), and the lifting rope (103) can be wound by controlling the rotation of the guide wheel (104), thereby achieving 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: A storage battery (306) is mounted on 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: 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 provided 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).

6. A crane hook positioning and anti-sway device as claimed in claim 5, 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 at three points by 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).

7. A crane hook positioning and anti-sway device as claimed in claim 1, characterized in that: Also includes: A slide rail (501), the slide rail (501) being fixedly connected to the outer wall of the extension arm (401), and the bottom of the slide rail (501) being a closed structure; A slider (502), the slider (502) being slidably mounted inside the slide rail (501), 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 in contact with the outer wall of the suspension rope (202).

8. 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 the bottom of the mounting block (604) is connected to a clamping block (605), wherein 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).

9. 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 8, 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 then stops rotating, so that the open end of the hook (102) faces the cargo (201), and 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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