Crane anti-sway structure, crane sling and sling anti-sway method

Abstract

The present invention discloses a crane anti-sway structure, a crane sling, and a sling anti-sway method, which relate to the technical field of crane slings. The anti-sway structure includes a connecting frame fixedly connected to both sides of the sling pulley frame; a hook connecting assembly provided between the two connecting frames, including a hook shaft rotatably connected to the connecting frame and fixedly connected to the hook; and an anti-sway mechanism provided at both ends of the hook shaft. The anti-sway mechanism includes an anti-sway shell with a cavity provided inside, and a damping assembly linked to the hook shaft and capable of applying a damping force provided inside the anti-sway shell. The present invention isolates the swing of the hook through the hook connecting assembly, and the damping assembly consumes kinetic energy, and has a dual damping effect of viscosity and magnetorheological fluid. The damping force can be changed in real time by electric current, and energy consumption can be reduced by semi-active control. It is suitable for large space scenes such as tower cranes, and does not change the original structure, which is convenient for equipment modification, and can also solve the settlement problem that may occur in the damping medium.

Description

Technical Field

[0001] The present invention relates to the technical field of crane spreaders, and in particular to a crane anti-sway structure, a crane spreader, and a spreader anti-sway method. Background Art

[0002] The wire rope of a crane is flexible. Cranes are subject to sudden starts and stops, accelerations and decelerations, and changes of direction during operation. They are also susceptible to wind loads in complex operating environments, such as at sea and in valleys. These factors can cause the crane hook and load to sway. This swaying of the crane hook and load can damage the transported cargo and surrounding objects, and even threaten personal safety. During delicate lifting operations, hook sway can affect installation, reduce crane efficiency, and result in direct economic losses. Therefore, it is crucial to provide a crane sway reduction device that is simple in structure, easy to install, safe, efficient, and can effectively reduce hook sway.

[0003] Currently, there are three strategies for tower crane sway control: manual control, mechanical anti-sway, and electronic anti-sway. When anti-sway control of hoisting equipment requires manual operation by the operator, this method, which relies entirely on skilled operators, presents significant drawbacks. First, it presents significant safety issues. Manual parking and anti-sway control cannot guarantee positioning accuracy or effectiveness during handling, and cannot keep the swing angle amplitude strictly within the safe range, posing significant safety risks to both equipment and personnel. Second, it is time-consuming. Incomplete anti-sway control can also limit the operating speed of the hoisting equipment, preventing high-speed lifting. Third, manual anti-sway control places extremely high demands on the operator. Operators must possess proficient operating experience, which comes with significant learning and practical experience. Operating on hoisting equipment without anti-sway design requires frequent manual acceleration and deceleration, which is both time-consuming and labor-intensive. Furthermore, since anti-sway control is affected by factors such as operator fatigue, the stability of the anti-sway effect and positioning accuracy cannot be guaranteed. When electronic anti-sway is applied, a large number of parameter real-time detection units need to be installed, which consumes a lot of external energy to control the posture of the crane boom, resulting in high cost and low reliability. Summary of the Invention

[0004] In view of one of the deficiencies of the prior art, the present invention provides a crane anti-sway structure, a crane spreader, and a spreader anti-sway method, which solve the problem of swing control of the crane hook.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a crane anti-roll structure, comprising:

[0006] 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;

[0007] A hook connecting assembly is provided between the two connecting frames, the hook connecting assembly includes a hook rotating shaft, the hook rotating shaft is rotatably connected to the connecting frame, and the hook is fixedly connected to the hook rotating shaft; both ends of the hook rotating shaft extend to the outside of the frame bodies of the two connecting frames respectively;

[0008] The anti-sway mechanism is provided at each end of the hook shaft; the anti-sway mechanism comprises:

[0009] The anti-roll housing is fixedly connected to the connecting frame, and a cavity is defined inside the anti-roll housing; the end of the hook shaft extends into the cavity of the anti-roll housing;

[0010] 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.

[0011] Preferably, the connecting frame includes:

[0012] A connecting plate, one end of which is fixedly connected to the pulley frame;

[0013] The hook shaft of the hook connection assembly is rotatably connected to the connecting plate of the connecting frame via a bearing;

[0014] 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.

[0015] Preferably, the damping assembly comprises:

[0016] The shear disc is a circular disc, which is arranged in the cavity of the anti-roll housing. The shear disc and the end of the hook shaft are coaxially fixedly connected, and a gap is left between the shear disc and the inner wall of the cavity of the anti-roll housing;

[0017] The damping medium is filled in the cavity of the anti-roll housing, and the damping medium is located between the shear disk and the inner wall of the anti-roll housing.

[0018] Preferably, the damping medium is a magnetorheological fluid, and the damping component further comprises:

[0019] The damping ring is a magnetic annular body, which is arranged outside the shear disk, and the damping ring and the shear disk are coaxial; the inner diameter of the damping ring is larger than the outer diameter of the shear disk.

[0020] Preferably, the damping ring is located in the cavity of the anti-roll housing; and the damping assembly further comprises:

[0021] The isolating member is annular and is arranged between the shear disk and the damping ring. The isolating member is made of anti-magnetic material.

[0022] Preferably, the damping coil is an excitation coil; and the damping coil is electrically connected to a power supply module.

[0023] Preferably, it also includes:

[0024] The sensing module is arranged at the hook shaft, and includes an inclination sensor and an acceleration sensor; the sensing module is electrically connected to the power supply module of the damping ring through the control module to form a control loop.

[0025] Preferably, 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.

[0026] A crane spreader, comprising:

[0027] A skid trolley, slidably connected to the external structure;

[0028] a pulley frame, arranged below the sliding trolley;

[0029] a hoisting cable, arranged between the pulley frame and the sliding trolley;

[0030] The pulley frame is provided with the aforementioned anti-roll structure.

[0031] A method for stabilizing a sling, using the aforementioned stabilization structure, comprises the following steps:

[0032] S1. When the swing occurs, the hook drives the shear disk inside the anti-roll housing to rotate through the hook shaft;

[0033] S2, the sensor module provides feedback on the inclination angle and acceleration generated by the hook swing;

[0034] S3, obtain the control torque based on the inclination and acceleration feedback from S2 , satisfy

[0035] in, is the weight of the crane anti-roll structure, is the weight of the hook and the load, is the moment of inertia of the shear disk, is the distance from the hook shaft to the sliding trolley, is the angle of rotation of the shear disk relative to the ground, is the angle through which the load rotates relative to the trolley;

[0036] 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.

[0037] Compared with the existing technology, it has the following beneficial effects:

[0038] 1. This solution uses the hook connection assembly to provide vertical support and reduce friction, isolates the swing reaction of the hook at the connection, and then consumes the kinetic energy of the hook swing through the damping assembly.

[0039] 2. The anti-sway mechanism of this solution includes dual damping effects of viscous damping and shear magnetorheological fluid damping, which increases energy consumption density and output effect.

[0040] 3. The damping force of this scheme can be changed in real time by input current, and the control effect is better than the passive control scheme without energy input.

[0041] 4. This solution is a semi-active control method, which requires less energy than active control and can be provided by a mobile power supply. It is suitable for situations where the tower crane hook has a large movement space and a wide range, making it difficult to provide a large energy source.

[0042] 5. The damping ring of this solution is set at the outer end of the anti-roll shell, which is conducive to increasing the effective area of the magnetic field and better exerting the magnetic field effect.

[0043] 6. This solution is applied to the sway reduction of tower crane hooks. During the swing of the hook, the liquid damping medium, namely the magnetorheological fluid, in the sway reduction shell is driven to shake, thus solving the problem of the magnetorheological fluid being prone to sedimentation.

[0044] 7. This solution is to install the device outside the hook drive shaft, which does not require changing the original structure of the pulley frame and the hook. It has good adaptability to existing lifting equipment and is easy to modify and install existing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present application;

[0046] Figure 2 for Figure 1 A partial enlarged view of;

[0047] Figure 3 This is a front view of an embodiment of the present application;

[0048] Figure 4 This is a left side view of an embodiment of the present application;

[0049] Figure 5 for Figure 4 B is a partial enlarged view;

[0050] Figure 6 This is an exploded view of the anti-roll structure of an embodiment of the present application;

[0051] Figure 7 This is a schematic diagram of the shear disk axial side of an embodiment of the present application;

[0052] Figure 8 This is a front view of the shear disk structure of an embodiment of the present application;

[0053] Figure 9 This is a schematic diagram of the hook swinging state in the prior art;

[0054] Figure 10 This is a schematic diagram showing the effects of the embodiment of the present application Figure 1

[0055] Figure 11 This is a schematic diagram showing the effects of the embodiment of the present application Figure 2 ;

[0056] Figure 12 A flow chart of a method according to an embodiment of the present application;

[0057] Figure 13 This is a simplified structural model diagram of an embodiment of the present application;

[0058] Figure 14 This is a schematic diagram of the size parameters of the anti-roll structure according to an embodiment of the present application;

[0059] Figure 15 Graph showing magnetic field strength and shear yield strength of the magnetorheological fluid according to an embodiment of the present application.

[0060] In the picture:

[0061] 1. Sliding trolley; 2. Hoisting cable; 3. Pulley frame;

[0062] 4. Anti-roll structure; 41. Connecting frame; 42. Hook connecting assembly; 421. Shaft; 43. Anti-roll mechanism; 431. Anti-roll housing; 432. Shear plate; 433. Damping ring; 434. Isolation element; 44. Sensor module;

[0063] 5. Hook. DETAILED DESCRIPTION

[0064] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0065] See also Figure 2 、 Figure 5 and Figure 6 , this application provides the following technical solutions:

[0066] A crane anti-sway structure includes a connecting frame 41, which is fixedly connected to the pulley frame 3 of the spreader. Two connecting frames 41 are provided on either side of the pulley frame 3, forming a symmetrical arrangement. A hook connection assembly 42 is located between the two connecting frames 41. The hook connection assembly 42 includes a hook shaft, which is rotatably connected to the two connecting frames 41. The middle portion of the hook shaft is fixedly connected to the spreader's hook 5. The ends of the hook shaft extend outside the two connecting frames 41. A anti-sway mechanism 43 is located at each end of the hook shaft.

[0067] The anti-roll mechanism 43 includes an anti-roll housing 431 fixedly connected to the connecting frame 41. The housing 431 defines a cavity; the end of the hook shaft extends into the cavity of the anti-roll housing 431. A damping assembly is located within the anti-roll housing 431 and works in conjunction with the hook shaft to apply a damping force to the shaft.

[0068] Through this structure, a symmetrical connection structure is formed on both sides of the pulley frame 3, and on this basis, the hook 5 and the connecting frame 41 are rotatably connected, and then symmetrical damping forces are applied to both ends of the hook shaft respectively, and the anti-sway mechanism 43 is used to consume the swing force of the hook 5, thereby achieving the effect of anti-sway of the hook 5.

[0069] Based on the above embodiment, each connecting frame 41 includes a teardrop-shaped connecting plate, the small end of which is fixedly connected to the pulley frame 3. The hook shaft of the hook connection assembly 42 is rotatably connected to the connecting plate of the connecting frame 41 via a bearing. The hook 5 is positioned between the connecting plates of the two connecting frames 41, and the anti-roll housing 431 is located on the opposite side of the two connecting plates; the anti-roll housing 431 is fixedly connected to the connecting plates.

[0070] 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 solution 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.

[0071] The reaction of the hook 5 when it swings is isolated at the shaft 421 by the sliding bearing and the ball bearing, so that the reaction is no longer transmitted to the upper structure. The anti-sway mechanism 43 is used to consume the swing energy at the hook transmission shaft, thereby reducing the swing angle.

[0072] 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 is consumed by the anti-sway mechanism 43.

[0073] Structurally, a sliding bearing is used to reduce friction and provide greater vertical support. Functionally, 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.

[0074] Based on the above implementation plan, see Figure 6 The damping assembly also includes a shear disc 432, which is a circular disc. The shear disc 432 is arranged in the cavity of the anti-roll housing 431. The shear disc 432 and the end of the hook shaft are coaxially fixedly connected, and a gap is left between the shear disc 432 and the inner wall of the cavity of the anti-roll housing 431; there is a damping medium in the cavity of the anti-roll housing 431, and the damping medium is located between the shear disc 432 and the inner wall of the anti-roll housing 431.

[0075] The damping medium is liquid, which can apply a damping force to the shear disk 432 when it rotates.

[0076] Based on the above implementation scheme, the damping medium used in this scheme is magnetorheological fluid, and the damping assembly also includes a damping ring 433, which is a magnetic annular body. The damping ring 433 is arranged on the outside of the shear disk 432, and the damping ring 433 and the shear disk 432 are coaxial; the inner diameter of the damping ring 433 is larger than the outer diameter of the shear disk 432.

[0077] The damping ring 433 is located within the cavity of the anti-roll housing 431. The damping assembly also includes an annular spacer 434, positioned between the shear disk 432 and the damping ring 433. The spacer 434 is made of a diamagnetic material, and in this embodiment, copper is used. The anti-roll housing 431 is made of a material with high magnetic permeability, such as iron or steel.

[0078] Based on the above embodiment, the damping ring 433 is an excitation coil; the damping ring 433 is electrically connected to the power supply module. With the excitation coil as the magnetic excitation component, the magnetic field can be changed by changing the power supply parameters.

[0079] Building on the above-mentioned implementation, a sensor module 44 is installed at the hook shaft. This sensor module 44 includes an inclination sensor and an acceleration sensor. This sensor module 44 is electrically connected to the power supply module of the damping ring 433 via a control module, forming a control loop. This solution allows the sensor module 44 to automatically adjust the power supply to the damping ring 433 based on the hook shaft's rotation angle and speed, thereby adaptively adjusting the anti-roll damping force of the hook 5.

[0080] Based on the above implementation plan, see Figure 7 and Figure 8 The shear disc 432 has grooves on both sides of its surface, and the grooves are evenly distributed in a circular array on the surface of the shear disc 432. The grooves are fan-shaped grooves, and the grooves and the shear disc 432 are concentric.

[0081] By adding the groove structure, the damping force generated when the shear plate 432 moves can be increased.

[0082] Based on the above implementation plan, see Figure 1 、 Figure 3 and Figure 4 This solution also provides a crane spreader, comprising a skid trolley 1, a pulley frame 3, and a hoisting cable 2. The skid trolley 1 is slidably connected to the crane's boom and can slide along the boom. The pulley frame 3 is disposed below the skid trolley 1 and connected to the pulley frame 3 via the hoisting cable 2. The pulley frame 3 is provided with the aforementioned anti-roll structure 4.

[0083] See also Figure 9 The state shown in the figure is one of the existing connection forms. In this state, the hook 5, the pulley frame 3 and the cable 2 are rigidly connected. When swinging occurs, the direction of the hook 5 is always the same as that of the cable 2. At this time, the swing can only be slowly consumed by air resistance and friction.

[0084] See also Figure 10 If the hook 5 is only connected to the pulley frame 3 for rotation without the anti-sway structure 4, when swinging occurs, the hook 5 is always perpendicular to the ground, and the swing can only be slowly consumed by air resistance and friction.

[0085] See also Figure 11 In this state, the anti-roll structure 4 of this solution is added. During swing, the angle between the hook 5 and the cable 2 is between the two previous states. This not only increases the energy dissipation during swing, namely, the energy dissipated by the anti-roll structure 4, but also ensures that the swing angle of the hook 5 is not too large. This added energy dissipation significantly reduces swing time, increasing safety.

[0086] On the basis of the above embodiment, this solution also provides a method for reducing the sway of a spreader, using the aforementioned anti-sway structure 4. The method flow is as follows: Figure 12 , the method comprises the steps of:

[0087] S1. When the swing occurs, the hook 5 drives the shear plate 432 inside the anti-roll housing 431 to rotate via the hook shaft. The hook shaft drives the shear plate 432 to rotate, which is the rolling isolation in the method flow.

[0088] S2, the sensing module 44 provides feedback on the inclination and acceleration generated by the swing of the hook 5. The inclination and acceleration are collected through the inclination sensor and the acceleration sensor;

[0089] S3, obtain the control torque based on the inclination and acceleration feedback from S2 , satisfy

[0090]

[0091] in, is the weight of the crane anti-roll structure, is the weight of hook 5 and the hanging weight, is the moment of inertia of the shear disk 432, is the straight-line distance from the axis of the hook shaft to the sliding trolley 1, is the angle through which the shear plate 432 rotates relative to the ground, is the angle through which the load rotates relative to the trolley; this formula will be further explained later.

[0092] 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.

[0093] During the swinging process of the hook 5, the hook 5 and the shear plate 432 can rotate freely relative to the pulley frame 3 and the anti-roll housing 431. Therefore, during the swinging process, the shear plate 432 will rotate relative to the anti-roll housing 431. 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 to calculate the required damping torque, that is, the control torque. According to the relationship between the input current of the damping coil 433 and the torque, the control torque is The magnitude is converted into 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 and outputs the required torque. By changing the current magnitude in real time, optimal control is achieved to minimize control time and energy consumption.

[0094] See also Figure 13 , which shows the structural simplified analysis model of this method.

[0095] Kinetic energy of the structure:

[0096] Potential Energy:

[0097] From this we can get:

[0098] The work done by the force related to the path during the tower crane swing process is:

[0099]

[0100] in: is the air resistance experienced by the hook 5, anti-sway structure 4, and the load during the swing process. The torque provided by the damper, is the acceleration of the car. According to the following formula,

[0101]

[0102] Available,

[0103] In this way, the required control torque is obtained.

[0104] On the basis of the above implementation scheme, as a further extension of this scheme, considering the convenience of the verification experiment of the dynamic simulation of the movement of the hook 5 of this scheme, outputting the required optimal control torque, and obtaining the output optimal current based on the relationship between current and torque, the above motion equation is written in matrix form to obtain:

[0105]

[0106] It can be simplified to:

[0107]

[0108] In the above formula The state space matrix of the damper and hook system, representing the system's kinematic state.

[0109] In the formula represents the parameters of the system, represents the moment loading position, Indicates the acceleration loading position of the trolley.

[0110] The model of the damper and hook system can be established based on the above matrix. In the model, by changing the input torque To change the state of the system and obtain the optimal input torque under the set target of this system, LQR control technology needs to be used.

[0111]

[0112] According to the above equation, we can get:

[0113] make,

[0114] Can get,

[0115] In the above formula, the Y matrix has three control objectives: represents the angular acceleration of the load relative to the trolley, It represents the angle through which the damper's rotating disc rotates. Indicates the angle the system rotates relative to the car. The matrix is the state weight matrix, is the control weight matrix, is the terminal weight matrix. is the cost function matrix, in which , , , Represents parameters respectively , , , , the importance coefficient, also represents the cost of controlling the variable. , , , The value of the parameter can be determined , , , control effect.

[0116] The damper torque can be calculated using the following formula:

[0117] in represents the torque provided by the outer side of the damper rotating disc, represents the torque provided by the surface of the damper rotating disk, and are the shear yield stress of the magnetofluid in a magnetic field and in a non-magnetic field, respectively. is the yield viscosity of the magnetorheological fluid in the absence of a magnetic field, is the angular velocity of the rotating disk, that is, ; Dimensions used in calculations The representative position is Figure 14 As shown;

[0118] Figure 15 The figure shows the relationship between the magnetic field intensity H and the shear yield strength T_B of the magnetorheological fluid. Numerical fitting can be used to obtain the relationship between the magnetic field intensity and the shear yield strength. This relationship can also be obtained between the current intensity A and the magnetic field intensity H, and thus the current intensity A and the shear yield strength T_B. This allows the shear yield strength to be changed by changing the current, thereby changing the damper's output torque.

[0119] The spatial motion model, torque-to-current conversion formula, and inclination / acceleration signal interface obtained above are combined with a control module. After receiving the inclination and acceleration signals, the control module can output the required current through wires and transmit it to the controllable power supply for current control, thereby achieving optimal torque control of the anti-roll structure 4.

[0120] In the description of the present application and its embodiments, it should be understood that the terms "top", "bottom", "height", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0121] In this application and its embodiments, unless otherwise expressly specified or limited, terms such as "disposed," "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0122] In the present application and its embodiments, unless otherwise expressly specified and limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0123] The disclosure above provides many different embodiments or examples for realizing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0124] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0125] Obviously, those skilled in the art may 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 equivalents, this application is intended to include these modifications and variations.

Claims

1. A crane anti-roll 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 connecting assembly is provided between the two connecting frames, the hook connecting assembly includes a hook rotating shaft, the hook rotating shaft is rotatably connected to the connecting frame, and the hook is fixedly connected to the hook rotating shaft; both ends of the hook rotating 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 includes: The anti-roll housing is fixedly connected to the connecting frame, and a cavity is defined inside the anti-roll housing; the end of the hook shaft extends into the cavity of the anti-roll housing; a damping assembly, disposed inside the anti-roll housing, the damping assembly being linked to the hook shaft to apply a damping force to the hook shaft; The damping assembly comprises: The shear disc is a circular disc, which is arranged in the cavity of the anti-roll housing. The shear disc and the end of the hook shaft are coaxially fixedly connected, and a gap is left between the shear disc and the inner wall of the cavity of the anti-roll housing; A damping medium is filled in the cavity of the anti-roll housing, and the damping medium is located between the shear disk and the inner wall of the anti-roll housing; 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 shear disk and is coaxial with the shear disk; the inner diameter of the damping ring is larger than the outer diameter of the shear disk; the damping ring is an excitation coil; the damping ring is electrically connected to the power supply module; and the damping ring is located in the cavity of the anti-roll housing; An isolator is annular and is disposed between the shear disk and the damping ring. The isolator is made of a diamagnetic material. The sensing module is arranged at the hook shaft, and includes an inclination sensor and an acceleration sensor; the sensing module is electrically connected to the power supply module of the damping ring through the control module to form a control loop.

2. The crane anti-roll structure according to claim 1, characterized in that: The connecting frame includes: 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-roll structure according to claim 1, characterized in that: The disk surface of the shear disk is provided with grooves, and the grooves are evenly distributed in a circumferential array on the disk surface of the shear disk.

4. A crane spreader, characterized in that: include: A skid trolley, slidably connected to the external structure; a pulley frame, arranged below the sliding trolley; a hoisting cable, arranged between the pulley frame and the sliding trolley; The pulley frame is provided with a crane anti-roll structure according to any one of claims 1 to 3.

5. A method for reducing the sway of a spreader, characterized in that: Using the crane anti-roll structure according to any one of claims 1 to 3 comprises the following steps: S1. When the swing occurs, the hook drives the shear disk inside the anti-roll housing to rotate through the hook shaft; S2, the sensor module provides feedback on the inclination angle and acceleration generated by the hook swing; S3, obtain the control torque based on the inclination and acceleration feedback from S2 , satisfy ； in, is the weight of the crane's anti-sway structure, is the weight of the hook and the load, is the moment of inertia of the shear disk, is the distance from the hook shaft to the sliding trolley, is the angle of rotation of the shear disk relative to the ground, is the angle through which the 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.

Images