Crane stabilization structure, crane lifting appliance and lifting appliance stabilization method

Abstract

The invention discloses a crane stabilization structure, a crane lifting appliance and a lifting appliance stabilization method, and relates to the technical field of crane lifting appliances. The anti-rolling structure comprises connecting frames fixedly connected with the two sides of the lifting appliance pulley yoke respectively; the lifting hook connecting assembly is arranged between the two connecting frames and comprises a lifting hook rotating shaft which is rotationally connected to the connecting frames and is fixedly connected with the lifting hook; the anti-rolling mechanisms are arranged at two ends of the lifting hook rotating shaft. The stabilization mechanism comprises a stabilization shell internally provided with a cavity, and a damping assembly which is in linkage with the lifting hook rotating shaft and can apply damping force is arranged in the stabilization shell. The lifting hook connecting assembly isolates lifting hook swing, the damping assembly consumes kinetic energy, the viscous and magnetorheological fluid dual damping effect is achieved, damping force can be changed in real time through current, energy consumption is reduced through semi-active control, the device is suitable for large-space scenes such as tower cranes, the original structure is not changed, equipment transformation is facilitated, and the device is suitable for large-space scenes such as tower cranes. And the problem of possible settlement of the damping medium can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of crane lifting appliances, and particularly to a crane anti-sway structure, a crane lifting appliance, and a method for reducing sway of the lifting appliance. Background Art

[0002] The steel wire rope of a crane is flexible. When the crane is working, there are processes of sudden start and stop, acceleration and deceleration, and direction change; it is easily affected by wind loads in various complex working environments such as at sea and in valleys. These factors will cause the sway of the crane hook and the load. The sway of the crane hook and the load will cause damage to the transported goods and surrounding objects and even pose a threat to personal safety. In fine lifting operations, the sway of the hook will affect the installation, reduce the working efficiency of the crane, and bring direct economic losses. Therefore, it is very necessary to provide a crane anti-sway device with a simple structure, convenient installation, safety and high efficiency, and capable of effectively reducing the sway of the hook.

[0003] In the sway control of tower cranes, there are currently three strategies: manual control, mechanical anti-sway, and electronic anti-sway. When the anti-sway operation of the lifting equipment requires manual operation by the operator. This way of completely relying on skilled workers for anti-sway operation has great deficiencies: one is the existence of greater safety problems. Manually stopping and eliminating sway during the handling process can neither ensure the positioning accuracy nor the effect of eliminating sway, and cannot strictly keep the swing angle amplitude within the safe range, bringing greater safety hazards to both the equipment and personnel. The second is that it takes a long time. The incomplete elimination of sway will also limit the operating speed of the lifting equipment, making the lifting equipment unable to be hoisted at high speed. The third is that manual anti-sway has extremely high requirements for the operator. The operator needs to have skilled operating experience, and skilled operating experience requires expensive learning costs and practice costs. Operating on lifting equipment without anti-sway design will require frequent manual acceleration and deceleration, which is time-consuming and laborious, and due to factors such as operator fatigue in anti-sway operations, the stability of the anti-sway effect and the positioning accuracy cannot be guaranteed. When applying electronic anti-sway, since a large number of parameter real-time detection units need to be installed, it requires consuming more external energy to control the attitude of the crane boom, with high costs and poor reliability. Summary of the Invention

[0004] Aiming at one of the deficiencies of the prior art, the present invention provides a crane anti-sway structure, a crane lifting appliance, and a method for reducing sway of the lifting appliance, which solves the problem of sway control of the crane hook.

[0005] To achieve the above object, the present invention provides the following technical solution: A crane anti-sway structure, comprising: A connecting frame, fixedly connected to the pulley frame of the lifting appliance; one connecting frame is provided on each side of the pulley frame; A hook connection assembly is arranged between the two connecting frames, the hook connection assembly comprises a hook shaft, the hook shaft is rotatably connected to the connecting frame, and the hook is fixedly connected to the hook shaft; both ends of the hook shaft extend to the outside of the frame bodies of the two connecting frames respectively; The anti-sway mechanism is provided at each end of the hook shaft; the anti-sway mechanism comprises: The anti-roll shell is fixedly connected to the connecting frame, and a cavity is provided inside the anti-roll shell; the end of the hook shaft extends into the cavity of the anti-roll shell; The damping component is arranged inside the anti-roll housing, and the damping component and the hook rotating shaft are linked to apply a damping force to the hook rotating shaft.

[0006] Preferably, the connecting frame comprises: A connecting plate, one end of which is fixedly connected to the pulley frame; The hook shaft of the hook connection assembly is rotatably connected to the connecting plate of the connecting frame via a bearing; The hook is located between the connecting plates of the two connecting frames, and the anti-roll housing is arranged on the opposite side of the two connecting plates; the anti-roll housing and the connecting plates are fixedly connected.

[0007] Preferably, the damping component comprises: The shearing disk is a circular disk, which is arranged in the cavity of the anti-roll shell, the shearing disk and the end of the hook shaft are coaxially fixedly connected, and a gap is left between the shearing disk and the inner wall of the cavity of the anti-roll shell; The damping medium is filled in the cavity of the anti-roll shell, and the damping medium is located between the shear plate and the inner wall of the anti-roll shell.

[0008] Preferably, the damping medium is a magnetorheological fluid, and the damping component further comprises: The damping ring is a magnetic annular body, which is arranged outside the shearing disk, and the damping ring and the shearing disk are coaxial; the inner diameter of the damping ring is greater than the outer diameter of the shearing disk.

[0009] Preferably, the damping ring is located in the cavity of the anti-roll housing; and the damping assembly further comprises: The isolating member is annular and is arranged between the shearing disk and the damping ring. The isolating member is made of anti-magnetic material.

[0010] Preferably, the damping ring is an excitation coil; and the damping ring is electrically connected to a power supply module.

[0011] Preferably, it also includes: The sensor module is arranged at the hook shaft, and includes an inclination sensor and an acceleration sensor; the sensor module is electrically connected to the power supply module of the damping ring through the control module to form a control loop.

[0012] Preferably, the disk surface of the shear disk is provided with grooves, and the grooves are uniformly arranged in a circumferential array on the disk surface of the shear disk.

[0013] A crane spreader, comprising: A sliding trolley, which is slidably connected to an external structure; A pulley frame, which is arranged below the sliding trolley; A lifting cable, which is arranged between the pulley frame and the sliding trolley; The aforesaid anti-sway structure is arranged on the pulley frame.

[0014] An anti-sway method for a spreader, using the aforesaid anti-sway structure, comprising the steps of: S1. When swaying occurs, the hook drives the shear disk inside the anti-sway housing to rotate through the hook rotating shaft; S2. The sensing module gives feedback on the inclination angle and acceleration generated by the swaying of the hook; S3. According to the inclination angle and acceleration fed back in S2, obtain the control torque , Satisfy

[0015] Wherein, is the weight of the crane anti-sway structure, is the weight of the hook and the suspended load, is the moment of inertia of the shear disk, is the distance from the hook rotating shaft to the sliding trolley, is the angle that the shear disk rotates relative to the ground, is the angle that the suspended load rotates relative to the trolley; S4. According to the torque obtained in S3, control the power supply module to supply power to the damping ring to change the magnetism generated by the damping medium.

[0016] Compared with the prior art, the following beneficial effects are achieved: 1. This solution uses the hook connection component to provide a vertical supporting force and reduce friction, isolates the sway reaction at the hook at the connection, and then consumes the kinetic energy of the hook sway through the damping component.

[0017] 2. The anti-sway mechanism of this solution includes the dual damping effects of viscous damping and damping generated by shear magnetorheological fluid, increasing the energy dissipation density and the output force effect.

[0018] 3. The damping force of this solution can be changed in real time by inputting current, and the control effect is better than that of the passive control solution without energy input.

[0019] 4. This solution is in the form of semi-active control, which requires less energy than active control and only needs a mobile power source to provide. It is applicable to the situation where the moving space of the tower crane hook is large and the range is wide, making it difficult to provide a large amount of energy.

[0020] 5. The damping ring of this solution is arranged at the outer end inside the anti-sway housing, which is beneficial to increasing the action area of the magnetic field and better exerting the magnetic field effect.

[0021] 6. This solution is applied to the anti-sway of the tower crane hook. During the swinging process of the hook, it drives the liquid damping medium, i.e., the magnetorheological fluid, in the anti-sway housing to slosh, solving the problem that the magnetorheological fluid is prone to sedimentation.

[0022] 7. This solution installs the device outside the hook transmission shaft, without the need to change the original structures of the pulley frame and the hook, and has good adaptability to the existing lifting equipment, facilitating the transformation and installation of the existing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is the overall structural schematic diagram of the embodiment of the present application; Figure 2 is Figure 1 the partial enlarged view A of Figure 3 is the front view of the embodiment of the present application; Figure 4 is the left view of the embodiment of the present application; Figure 5 is Figure 4 the partial enlarged view B of Figure 6 is the exploded view of the anti-sway structure of the embodiment of the present application; Figure 7 is the axonometric schematic diagram of the shear disc of the embodiment of the present application; Figure 8 is the front view of the shear disc structure of the embodiment of the present application; Figure 9 is the schematic diagram of the swinging state of the hook in the prior art; Figure 10 is the schematic diagram showing the effect of the embodiment of the present application Figure One Figure 11 is the schematic diagram showing the effect of the embodiment of the present application Figure Two ; Figure 12 is the method flow chart of the embodiment of the present application; Figure 13 is the simplified structure model diagram of the embodiment of the present application; Figure 14 is the schematic diagram of the size parameters of the anti-sway structure of the embodiment of the present application; Figure 15Magnetic field strength and shear yield strength curve of the magnetorheological fluid according to the embodiment of the present application.

[0024] In the figure: 1. Sliding trolley; 2. Suspension cable; 3. Pulley frame; 4. Anti-sway structure; 41. Connecting frame; 42. Hook connection assembly; 421. Shaft rod; 43. Anti-sway mechanism; 431. Anti-sway housing; 432. Shearing disc; 433. Damping ring; 434. Spacer; 44. Sensing module; 5. Hook. Specific implementation mode

[0025] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] Please refer to Figure 2 , Figure 5 and Figure 6 , the present application provides the following technical solutions: An anti-sway structure for a crane, including a connecting frame 41. The connecting frame 41 is used for fixedly connecting with the pulley frame 3 of the lifting appliance; one connecting frame 41 is provided on each side of the pulley frame 3, and they are arranged symmetrically. A hook connection assembly 42 is arranged between the two connecting frames 41. The hook connection assembly 42 includes a hook rotating shaft, and the hook rotating shaft is rotatably connected with the two connecting frames 41. The middle part of the hook rotating shaft is fixedly connected with the hook 5 of the lifting appliance; both ends of the hook rotating shaft extend to the outside of the frame bodies of the two connecting frames 41. An anti-sway mechanism 43 is respectively arranged at both ends of the hook rotating shaft.

[0027] The anti-sway mechanism 43 includes an anti-sway housing 431 fixedly connected with the connecting frame 41. A cavity is opened inside the anti-sway housing 431; the end of the hook rotating shaft extends into the cavity of the anti-sway housing 431. A damping assembly is arranged inside the anti-sway housing 431. The damping assembly is linked with the hook rotating shaft and can apply a damping force to the hook rotating shaft.

[0028] Through this structure, a symmetrical connection structure is formed on both sides of the pulley frame 3. On this basis, the hook 5 is rotatably connected with the connecting frame 41, and then symmetrical damping forces are respectively applied to both ends of the hook rotating shaft. The anti-sway mechanism 43 is used to consume the swinging force of the hook 5, so as to achieve the anti-sway effect of the hook 5.

[0029] On the basis of the above embodiment, each connecting frame 41 includes a connecting plate, which is a teardrop-shaped plate, and the small end of the plate is fixedly connected to the pulley frame 3. The hook shaft of the hook connecting assembly 42 is rotatably connected to the connecting plate of the connecting frame 41 through a bearing. The hook 5 is located between the connecting plates of the two connecting frames 41, and the anti-roll housing 431 is arranged on the side away from the two connecting plates; the anti-roll housing 431 is fixedly connected to the connecting plate.

[0030] The hook shaft can adopt a complete shaft rod so that the reaction is no longer transmitted to the upper structure, or it can adopt a split structure. The hook shaft of this scheme includes two coaxially arranged shaft rods 421, one end of the two shaft rods 421 is connected to the hook 5, and the other end is rotatably connected to the connecting frame 41; the shaft rod 421 is rotatably connected to the connecting plate through a sliding bearing, and the shaft rod 421 is rotatably connected to the anti-roll shell 431 through a ball bearing.

[0031] The reaction of the hook 5 when it swings is isolated at the shaft 421 by means of sliding bearings and ball bearings, so that the reaction is no longer transmitted to the upper structure, and the anti-sway mechanism 43 is used to consume the swing energy at the hook transmission shaft, thereby reducing the swing angle.

[0032] Since the shaft 421 is coaxially installed with the sliding bearing, the sliding bearing can provide vertical support force and will not transmit the rotation of the hook 5 to the pulley frame 3. In this way, the swing reaction can be effectively isolated at the sliding bearing, and then the mechanical energy of the rotation of the hook 5 can be consumed by the anti-sway mechanism 43.

[0033] In terms of structure, a sliding bearing is used to reduce friction and provide a larger vertical support force. In terms of function, a sliding bearing and a ball bearing are used to reduce friction between the hook 5 and the anti-sway mechanism 43 and provide vertical support to isolate the swing reaction of the hook 5.

[0034] Based on the above implementation scheme, see Figure 6 The damping assembly also includes a shear plate 432, which is a circular plate. The shear plate 432 is arranged in the cavity of the anti-roll shell 431. The shear plate 432 and the end of the hook shaft are coaxially fixedly connected, and a gap is left between the shear plate 432 and the inner wall of the cavity of the anti-roll shell 431; there is a damping medium in the cavity of the anti-roll shell 431, and the damping medium is located between the shear plate 432 and the inner wall of the anti-roll shell 431.

[0035] The damping medium is liquid, which can exert a damping force on the shear disk 432 when it rotates.

[0036] On the basis of the above embodiments, the damping medium adopted in this solution is magnetorheological fluid. The damping assembly further includes a damping ring 433. The damping ring 433 is a circular ring body with magnetism. The damping ring 433 is arranged outside the shear disc 432, and the damping ring 433 and the shear disc 432 are coaxial; the inner diameter of the damping ring 433 is larger than the outer diameter of the shear disc 432.

[0037] The damping ring 433 is located in the cavity of the anti-rolling housing 431; the damping assembly further includes a spacer 434. The spacer 434 is annular. The spacer 434 is arranged between the shear disc 432 and the damping ring 433. The spacer 434 is made of a diamagnetic material. In this solution, the spacer 434 is made of copper material. The anti-rolling housing 431 is made of a material with high magnetic permeability, such as iron, steel and other materials.

[0038] On the basis of the above embodiments, the damping ring 433 is an excitation coil; the damping ring 433 is electrically connected to a power supply module. Taking the excitation coil as the magnetic excitation component, the change of magnetism can be realized by changing the power supply parameters.

[0039] On the basis of the above embodiments, a sensing module 44 is arranged at the hook rotating shaft. The sensing module 44 is arranged at the hook rotating shaft. The sensing module 44 includes an inclination sensor and an acceleration sensor; the sensing module 44 is electrically connected to the power supply module of the damping ring 433 through a control module to form a control loop. With this solution, the sensing module 44 can automatically change the power supply to the damping ring 433 according to the rotation angle and moving speed of the hook rotating shaft, so as to achieve the adaptive adjustment of the anti-rolling damping force of the hook 5.

[0040] On the basis of the above embodiments, see Figure 7 and Figure 8 , grooves are formed on both sides of the disc surface of the shear disc 432. The grooves are uniformly arranged in a circumferential array on the disc surface of the shear disc 432. The grooves are fan-shaped grooves, and the grooves and the shear disc 432 are concentric.

[0041] By adding the groove structure, the damping force generated when the shear disc 432 moves can be increased.

[0042] On the basis of the above embodiments, see Figure 1 , Figure 3 and Figure 4 , this solution further provides a crane spreader. This spreader includes a sliding trolley 1, a pulley frame 3, and a lifting cable 2. The sliding trolley 1 is slidably connected to the boom of the crane and can slide along the boom. The pulley frame 3 is arranged below the sliding trolley 1. The sliding trolley 1 and the pulley frame 3 are connected by a lifting cable 2. The anti-rolling structure 4 as described above is arranged on the pulley frame 3.

[0043] See Figure 9, the state shown in this figure is one of the existing connection forms. In this state, the hook 5, the pulley frame 3 and the suspension cable 2 are rigidly connected. When swinging occurs, the direction of the hook 5 is always the same as that of the suspension cable 2. At this time, the swing can only be slowly consumed through air resistance and friction.

[0044] See Figure 10 , if only the hook 5 is rotatably connected to the pulley frame 3 and the anti-sway structure 4 is not provided, when swinging occurs in this case, the hook 5 is always perpendicular to the ground, and the swing can also only be slowly consumed through air resistance and friction.

[0045] See Figure 11 , this state is the addition of the anti-sway structure 4 of this solution. The included angle between the hook 5 and the suspension cable 2 during swinging is between the first two cases. In this case, not only is the energy consumption means during swinging increased, that is, the anti-sway structure 4 generates energy consumption, but also the swinging angle of the hook 5 is ensured not to be too large. Due to the increase in the energy consumption means, the swinging time will be greatly reduced and the safety will be increased during swinging.

[0046] On the basis of the above implementation, this solution also provides an anti-sway method for a lifting appliance, using the anti-sway structure 4 as described above. For the method flow, see Figure 12 , this method includes the steps: S1. When swinging occurs, the hook 5 drives the shear disc 432 inside the anti-sway housing 431 to rotate through the hook rotating shaft; the hook rotating shaft driving the shear disc 432 to rotate is the rolling isolation in the method flow; S2. The sensing module 44 makes feedback on the inclination angle and acceleration generated by the swinging of the hook 5. The acquisition of the inclination angle and acceleration is realized through an inclination sensor and an acceleration sensor; S3. According to the inclination angle and acceleration feedback in S2, obtain the control torque , Satisfy

[0047] Among them, is the weight of the anti-sway structure of the crane, is the weight of the hook 5 and the suspended load, is the moment of inertia of the shear disc 432, is the straight-line distance from the axis of the hook rotating shaft to the sliding trolley 1, is the angle that the shear disc 432 rotates relative to the ground, is the angle that the suspended load rotates relative to the trolley; the explanation of this formula will be further explained later.

[0048] S4. According to the torque obtained in S3, control the power supply module to supply power to the damping ring 433 to change the magnetism generated by the damping medium.

[0049] During the swinging process of the hook 5, the hook 5 and the shear disc 432 can rotate freely relative to the pulley frame 3 and the anti-sway housing 431. Therefore, there will be relative rotation between the shear disc 432 and the anti-sway housing 431 during the swinging process. The rotation angle is measured by the inclination sensor, and the acceleration is measured by the acceleration sensor. The measured angle and acceleration are input into the control module for calculation to obtain the required damping torque at this time, that is, the control torque. According to the relationship formula between the input current magnitude of the damping ring 433 and the torque, the control torque magnitude is converted into the magnitude of the input current. The calculated required current is transmitted to the controllable power supply through the control module, so that the controllable power supply inputs the required current, thereby outputting the required torque. The optimal control is carried out by changing the current magnitude in real time to minimize the control time and the energy consumption.

[0050] See Figure 13 , which shows the structural simplified analysis model of this method.

[0051] Kinetic energy of the structure:

[0052] Potential energy:

[0053] Thus, it can be obtained:

[0054] The work done by the force related to the path during the swinging process of the tower crane is:

[0055] Among them: is the air resistance received by the hook 5, the anti-sway structure 4, and the suspended load during the swinging process, is the torque provided by the damper, is the motion acceleration of the trolley. From the following formula,

[0056] it can be obtained that

[0057] In this way, the required control torque is obtained.

[0058] On the basis of the above implementation scheme, as a further extension of this scheme, considering the dynamic simulation of the movement of the hook 5 in this scheme, outputting the required optimal control torque, and for the convenience of the verification experiment of obtaining the optimal output current according to the relationship between the current and the torque, writing the above motion equation in matrix form can obtain:

[0059] It can be simplified to obtain:

[0060] In the above formula The state - space matrix of the damper and the hook system represents the motion state of the system.

[0061] In the formula represents the parameters of the system,[[]] represents the torque loading position,[[]] represents the trolley acceleration loading position.

[0062] The model of the damper and the hook system can be established according to the above matrix. In the model, by changing the input torque to change the state of the system. To obtain the optimal input torque magnitude under the set target of this system, the LQR control technology needs to be used. Let:[[]]

[0063] According to the above equation, we can get:[[]]

[0064] Let,[[]]

[0065] We can get,[[]]

[0066] In the above formula, the Y matrix has three control objectives, which are respectively represents the angular acceleration of the suspended load relative to the trolley,[[]] represents the angle that the rotating disk of the damper rotates by itself,[[]] represents the angle that the system rotates relative to the trolley. The matrix is the state - weighting matrix,[[]] is the control - weighting matrix,[[]] is the terminal - weighting matrix. is the cost - function matrix. In the matrix ,[[]] ,[[]] ,[[]] respectively represent the parameters ,[[]] ,[[]] ,[[]] , of the importance coefficients, and also represent the cost required to control the said variables. By setting ,[[]] ,[[]] ,[[]] , the numerical values of can determine the control effects of the parameters ,[[]] ,[[]] ,[[]] .

[0067] The torque of the damper can be calculated according to the following formula:[[]]

[0068] Among them represents the torque provided by the outer side of the rotating disk of the damper, represents the torque provided by the surface of the rotating disk of the damper, and respectively represent the shear yield stress of the magnetorheological fluid in the magnetic field and non-magnetic field environments, is the yield viscosity of the magnetorheological fluid in the non-magnetic field environment, is the angular velocity of the rotating disk, that is ; the dimensions used in the calculation The representative position of Figure 14 is shown by Figure 15 The relationship curve between the magnetic field strength H and the shear yield strength T_B of the magnetorheological fluid is shown. Through numerical fitting, the relationship formula between the magnetic field strength and the shear yield strength can be obtained, and the relationship formula between the current intensity A and the magnetic field strength H can be obtained. Thus, the relationship formula between the current intensity A and the shear yield strength T_B can be obtained. Thus, by changing the current magnitude, the shear yield strength can be changed, and thus the output torque of the damper can be changed.

[0069] Combine the above-obtained spatial motion model, the formula for torque and current conversion, and the tilt signal acceleration signal interface with the control module, so that the control module can output the required current through the wire to the controllable power supply after receiving the tilt and acceleration signals, and perform current control to perform the optimal control of the torque of the anti-rolling structure 4.

[0070] In the description of the present application and its embodiments, it should be understood that the orientation or positional relationship indicated by terms such as "top", "bottom", "height", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0071] In the present application and its embodiments, unless otherwise clearly specified and limited, terms such as "set", "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or a communication; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0072] In this application and its embodiments, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0073] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure of this application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit this application. In addition, this application may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and in itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

[0074] Although the preferred embodiments of this application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0075] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these changes and modifications.

Claims

1. A crane anti-sway structure, characterized in that, include: The connecting frame is fixedly connected to the pulley frame of the sling; one connecting frame is provided on each side of the pulley frame; A hook connection assembly is arranged between the two connecting frames, the hook connection assembly comprises a hook shaft, the hook shaft is rotatably connected to the connecting frame, and the hook is fixedly connected to the hook shaft; both ends of the hook shaft extend to the outside of the frame bodies of the two connecting frames respectively; The anti-sway mechanism is provided at each end of the hook shaft; the anti-sway mechanism comprises: The anti-roll shell is fixedly connected to the connecting frame, and a cavity is provided inside the anti-roll shell; the end of the hook shaft extends into the cavity of the anti-roll shell; The damping component is arranged inside the anti-roll housing, and the damping component and the hook rotating shaft are linked to apply a damping force to the hook rotating shaft.

2. The crane anti-sway structure according to claim 1, characterized in that, The connecting frame comprises: A connecting plate, one end of which is fixedly connected to the pulley frame; The hook shaft of the hook connection assembly is rotatably connected to the connecting plate of the connecting frame via a bearing; The hook is located between the connecting plates of the two connecting frames, and the anti-roll housing is arranged on the opposite side of the two connecting plates; the anti-roll housing and the connecting plates are fixedly connected.

3. The crane anti-sway structure according to claim 1, characterized in that, The damping assembly comprises: The shearing disk is a circular disk, which is arranged in the cavity of the anti-roll shell, the shearing disk and the end of the hook shaft are coaxially fixedly connected, and a gap is left between the shearing disk and the inner wall of the cavity of the anti-roll shell; The damping medium is filled in the cavity of the anti-roll shell, and the damping medium is located between the shear plate and the inner wall of the anti-roll shell.

4. The crane anti-sway structure according to claim 3, characterized in that, The damping medium is a magnetorheological fluid, and the damping component further comprises: The damping ring is a magnetic annular body, which is arranged outside the shearing disk, and the damping ring and the shearing disk are coaxial; the inner diameter of the damping ring is greater than the outer diameter of the shearing disk.

5. The crane anti-sway structure according to claim 4, characterized in that, The damping ring is located in the cavity of the anti-roll housing; the damping assembly also includes: The isolating member is annular and is arranged between the shearing disk and the damping ring. The isolating member is made of anti-magnetic material.

6. The crane anti-sway structure according to claim 5, characterized in that, The damping ring is an excitation coil; the damping ring is electrically connected to a power supply module.

7. The crane anti-sway structure according to claim 6, characterized in that, Also includes: The sensor module is arranged at the hook shaft, and includes an inclination sensor and an acceleration sensor; the sensor module is electrically connected to the power supply module of the damping ring through the control module to form a control loop.

8. The crane anti-sway structure according to claim 3, characterized in that, The disk surface of the shear disk is provided with grooves, and the grooves are evenly distributed in a circular array on the disk surface of the shear disk.

9. A crane spreader, characterized in that, include: A skid trolley is slidably connected to the external structure; A pulley frame is arranged below the sliding trolley; A suspension cable is arranged between the pulley frame and the sliding trolley; The pulley frame is provided with the anti-roll structure as claimed in claim 7.

10. A spreader anti-sway method, characterized in that, Using the anti-roll structure as claimed in any one of claims 1 to 8 comprises the following steps: S1. When the swing occurs, the hook drives the shear plate inside the anti-roll casing to rotate through the hook shaft; S2, the sensor module provides feedback on the inclination angle and acceleration generated by the swing of the hook; S3. Obtain the control torque based on the inclination angle and acceleration feedback in S2 , Meet ； Among them, is the weight of the anti-sway structure of the crane, is the weight of the hook and the suspended load, is the moment of inertia of the shear disc, is the distance from the hook rotating shaft to the sliding trolley, is the angle that the shear disc rotates relative to the ground, is the angle that the suspended load rotates relative to the trolley; S4. According to the torque obtained in S3, the power supply module is controlled to supply power to the damping ring to change the magnetism generated by the damping medium.

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