Crane anti-oscillation device and anti-oscillation method and ocean investigation ship

Abstract

The invention belongs to the technical field of ocean investigation ships, and discloses an anti-oscillation device and an anti-oscillation method for a crane and an ocean investigation ship. The anti-oscillation device of the crane comprises a thrust assembly and a propeller mechanism, when the rope is stressed and shakes, the propeller mechanism works to generate thrust, and the direction of the thrust is opposite to the direction of the stress of the rope during shaking. According to the invention, the thrust assembly is arranged between the crane rope and the to-be-lifted weight, and the acting force of rope swing is weakened or counteracted by utilizing the thrust generated by the working of the propeller mechanism on the thrust assembly, so that the rope swing and even the swing of the to-be-lifted weight below are prevented, the operation risk is reduced, and the lifting position accuracy and the lifting efficiency are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine survey vessels, and particularly relates to an anti-sway device and method for a crane and a marine survey vessel. Background Art

[0002] A crane refers to an electromechanical system that vertically lifts and horizontally transports heavy objects within a certain range and completes multiple action combinations. It is composed of a hoisting mechanism (to move the load up and down), a traveling mechanism (to move the crane), a luffing mechanism, and a slewing mechanism (to move the load horizontally), a metal frame, a power device, a control system, and necessary auxiliary devices. Usually, a crane uses a wire rope and a hook to suspend the load, and the hoisting is carried out by a winch, and the horizontal movement is carried out by the luffing mechanism and the slewing mechanism. Since the wire rope is a flexible component, when performing luffing and slewing movements, the load will perform a pendulum movement, increasing the operation difficulty and the time of the work cycle. Maryland Rigging changed the crane from a single spherical pendulum to a double pendulum system to reduce the swing. Cranes are mainly divided into light and small lifting equipment, bridge type (bridge crane, gantry crane), jib type (self-propelled, tower, portal, railway, floating, mast crane), and cable type. Classified by the usage occasion, there are workshop cranes, machine room cranes, warehouse cranes, storage yard cranes, construction cranes, engineering cranes, port cranes, shipyard cranes, dam top cranes, and shipboard cranes.

[0003] The wire rope connecting the crane and the spreader is flexible, and the acceleration generated during the start and stop of the trolley or the crab will cause the spreader to swing, which not only affects the work efficiency but also is extremely dangerous.

[0004] Especially for cranes working in a marine environment, due to the influence of marine environmental factors such as wind, waves, and currents, and the installation base is on a ship, the ship's deck will have six-degree-of-freedom movements including roll, pitch, yaw, surge, sway, and heave, which exacerbate the swing of the load. When the sea conditions are severe, lifting operations cannot be carried out. Currently, cranes usually adopt a four-rope structure and rely on manual, mechanical, hydraulic, or electronic anti-sway mechanisms to control the swing amplitude of the spreader within a certain range and gradually attenuate it. For example, a crane hook sway control device disclosed in Document CN106629392B.

[0005] On a scientific research ship, researchers with safety ropes tied around their waists use long poles with hooks to hook and lift observation instruments. Sometimes, the surfaces of the instruments are scratched during the lifting process. The scratched instruments are placed in seawater for a long time and are severely corroded by the seawater, resulting in insufficient pressure resistance and water leakage, rendering them scrapped. The swinging instruments may also cause injuries to the researchers. The operating requirements of the crane increase and the difficulty becomes greater. Usually, the lifting work efficiency is reduced to meet the work safety requirements. At the same time, the lifting positioning is inaccurate, and the materials cannot be accurately placed at the designated position, which increases the scientific research time and consumes more scientific research funds.

[0006] Therefore, it is very necessary to research and develop a safe and efficient intelligent crane and its intelligent anti-sway device with reasonable structure, convenient use, excellent anti-sway effect, strong versatility, long service life, and high degree of intelligence. Summary of the Invention

[0007] Therefore, the present invention provides a crane anti-sway device, an anti-sway method, and an ocean survey ship, which can solve the problem that the swinging of the crane ropes on the ship affects the work efficiency in the prior art.

[0008] To solve the above problems, the present invention provides a crane anti-sway device, which is connected between the crane rope and the object to be lifted; the crane anti-sway device includes a base movably connected to the rope; the crane anti-sway device further includes: A thrust component, including a propeller mechanism and a straight cylinder with a horizontally arranged axis; the propeller mechanism is installed in the straight cylinder; When the rope is stressed and sways, the thrust generated by the operation of the propeller mechanism, and the direction of this thrust is opposite to the direction of the force received by the swaying of the rope.

[0009] In some embodiments, The thrust component is rotatably arranged on the base; by rotating the thrust component, the direction of the force generated by the operation of the propeller mechanism on the rope is changed.

[0010] In some embodiments, A power mechanism and a transmission mechanism are provided on the base, the thrust component is connected to the transmission mechanism, and rotation is completed under the drive of the power mechanism driving the transmission mechanism; The thrust component is fixedly connected to the gear shaft.

[0011] In some embodiments, The power mechanism includes a stepper motor, the transmission mechanism includes a gear shaft, and the output shaft of the stepper motor is in meshing engagement with the gear shaft.

[0012] In some embodiments, The thrust component is fixedly connected to the gear shaft.

[0013] In some embodiments, a limiting member is provided between the base and the thrust assembly to limit the positions of the base and the thrust assembly relative to each other.

[0014] In some embodiments, the limiting member includes a friction pad provided between the base and the thrust assembly to increase the frictional force therebetween.

[0015] In some embodiments, at least two thrust assemblies are provided along the vertical direction, and the thrust directions formed by the two thrust assemblies are cross - arranged.

[0016] According to another aspect of the present invention, a method for preventing the sway of a crane is provided. Using the crane anti - sway device as described above, the anti - sway method includes: When the rope of the crane has a non - vertical movement during the elongation and lowering process, adjust the thrust assembly to generate a force opposite to this movement, so that the rope descends vertically.

[0017] According to still another aspect of the present invention, an ocean survey ship is provided, which includes the crane anti - sway device as described above or a crane anti - sway device operating according to the anti - sway method as described above.

[0018] The present invention has the following beneficial effects: By providing a thrust assembly between the crane rope and the object to be lifted, using the thrust generated by the operation of the propeller mechanism on the thrust assembly, the force causing the rope to sway is weakened or offset, preventing the rope from swaying and even preventing the object to be lifted below from swaying, reducing the operation risk, and improving the hoisting position accuracy and lifting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. The drawings in the following description are merely exemplary, and for those of ordinary skill in the art, without creative efforts, other implementation drawings can be obtained by extending according to the provided drawings.

[0020] Figure 1 It is a schematic structural diagram of a crane anti - sway device according to an embodiment of the present invention; Figure 2 It is a partial structural diagram of a crane according to an embodiment of the present invention; Figure 3 For an embodiment of the present invention Figure 1 a schematic structural diagram of the control circuit therein; Figure 4 For the embodiment of the present invention Figure 1 is the force analysis diagram; Figure 5 is the schematic cross-sectional structure diagram of the thrust assembly of the embodiment of the present invention; Figure 6 is another schematic structure diagram of the anti-sway device of the crane of the embodiment of the present invention; Figure 7 is another schematic structure diagram of the crane of the embodiment of the present invention; Figure 8 is the third schematic structure diagram of the crane of the embodiment of the present invention; Figure 9 For the embodiment of the present invention Figure 8 is the thrust analysis diagram; Figure 10 is the fourth schematic structure diagram of the crane of the embodiment of the present invention; Figure 11 For the embodiment of the present invention Figure 10 is the thrust analysis diagram; Figure 12 is the schematic structure diagram of the oceanographic research vessel of the embodiment of the present invention.

[0021] The reference signs are shown as: 101, frame; 102, connecting bolt; 103, gasket; 104, first base; 105, pulley block; 106, large gear; 107, pulley; 108, first steel wire rope; 109, screw; 110, small gear; 111, shaft; 112, small bearing; 113, cable connection seat; 114, large bearing; 115, first attitude sensor; 116, stepping motor; 117, controller; 118, signal line; 119, thrust motor; 120, propeller; 121, bracket; 122, light-emitting diode; 123, auxiliary hook; 201, crane shaft; 202, left drum; 203, crane bearing; 204, right drum; 205, cable; 206, first anti-sway device; 207, observation instrument; 401, filter screen; 501, lifting ring; 502, second base; 503, second steel wire rope; 504, small screw; 505, cover plate; 601, second anti-sway device; 602, second pulley block; 603, main hook; 604, third steel wire rope; 701, third anti-sway device; 901, fourth anti-sway device; 1201, deployment point; 1202, second position of the support frame; 1203, stern of the scientific research vessel; 1204, first position of the support frame; 1205, lifting point; 1206, bow-stern line; 1207, bow of the scientific research vessel. Detailed implementation manners

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. The following description of at least one exemplary embodiment is actually illustrative only and in no way limits the present invention and its application or use. 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.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0024] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above" can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientation of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used herein.

[0025] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without additional statements, the above words have no special meanings, and thus should not be construed as limiting the protection scope of the present invention.

[0026] According to an embodiment of the present invention, a crane anti-sway device is connected between a crane rope and a heavy object to be lifted; the crane anti-sway device includes a base movably connected to the rope; the crane anti-sway device further includes: The thrust assembly includes a propeller 120 mechanism and a straight cylinder with a horizontally arranged axis; the propeller mechanism is mounted within the straight cylinder; When the rope is subjected to force and sways, the thrust generated by the operation of the propeller 120 mechanism, and the direction of this thrust is opposite to the direction of the force exerted by the sway of the rope.

[0027] By providing a thrust assembly between the crane rope and the object to be lifted, the present invention utilizes the thrust generated by the operation of the propeller 120 mechanism on the thrust assembly to weaken or offset the acting force of the rope's swaying, preventing the rope from swaying and even the swaying of the object to be lifted below, reducing the operation risk, and improving the hoisting position accuracy and lifting efficiency.

[0028] Embodiment 1 As Figure 1 、 Figure 2 shown, the first anti-sway device includes a frame 101, connecting bolts 102, gaskets 103, a first base 104, a pulley block 105, a large gear 106, pulleys 107, a first steel wire rope 108, screws 109, small gears 110, shafts 111, small bearings 112, a cable connection base 113, large bearings 114, a first attitude sensor 115, a stepping motor 116, a controller 117, signal lines 118, a thrust motor 119, a propeller 120, a bracket 121, light-emitting diodes 122, and a secondary hook 123. The upper end of the frame 101 is rigidly connected to the large gear 106, and the connection method is by using screws 109. A large bearing 114 is provided between the large gear 106 and the first base 104, and the large bearing 114 is a thrust bearing. The first base 104, the frame 101, and the large gear 106 are configured to be rotatably connected through the large bearing 114. A replaceable gasket 103 is provided between the first base 104 and the frame 101, and the gasket 103 is fixed to the frame 101 using countersunk screws 109, and there is a gap between the gasket 103 and the first base 104. The stepping motor 116 is rigidly bolted to the first base 104. A small bearing 112 is provided between the shaft 111 of the stepping motor 116 and the first base 104. A small gear 110 is provided on the shaft 111, and the small gear 110 meshes with the large gear 106 to transmit the rotation of the stepping motor 116. The stepping motor 116 drives the first base 104 and the frame 101 to generate a rotational movement, thereby achieving the adjustment of the direction of the thrust generated by the anti-sway device. The first base 104 is connected to the pulley block 105 using connecting bolts 102. The pulley block 105 includes a first steel wire rope 108, a plurality of pulleys 107, and a housing. The shafts of the pulleys 107 are rigidly connected within the housing frame, and the pulleys 107 are sleeved on the shafts of the pulleys.

[0029] A support 121 is provided at the lower part of the frame 101. A thrust motor 119 is rigidly connected to the support 121. A propeller 120 is provided on the shaft 111 of the thrust motor 119. After the propeller 120 rotates, thrust is generated. The thrust motor 119 is connected to the controller 117 by a signal line 118. The thrust motor 119 is a speed-regulating motor. The controller 117 issues a control signal to change the speed and rotation direction of the thrust motor 119, thereby adjusting the speed and rotation direction of the propeller 120, achieving the technical effect of regulating the magnitude and direction of the thrust generated by the anti-sway device. A rotatable auxiliary hook 123 is connected to the lower end of the frame 101; at least one light-emitting diode 122 is provided on the frame 101. The light-emitting diode 122 flashes to prompt the staff to avoid the moving anti-sway device; at least one cable connection seat 113 is provided on the frame 101. The composite cable 205 is connected to the cable connection seat 113 to supply power and transmit electrical signals to the anti-sway device. Electrical components including the controller 117, the stepping motor 116, the thrust motor 119, and the first attitude sensor 115 receive power and electrical signals through the composite cable 205; at least one first attitude sensor 115 is provided on the frame 101 to detect the change in the spatial position of the anti-sway device.

[0030] A controller 117 is provided on the frame 101. The controller 117 can also be provided on the control console of the crane. The controller 117 is electrically connected to the first attitude sensor 115, the second attitude sensor, the wave observation device, the flow velocity observation device, the flow direction observation device, the wind direction sensor, the wind speed sensor, the light-emitting diode 122, the thrust motor 119, the stepping motor 116, the crane motor, the support frame oil cylinder, and the angle sensor by a signal line 118. The first attitude sensor 115 senses the position change of the first anti-sway device 206. The second attitude sensor, the wave observation device, the flow velocity observation device, the flow direction observation device, the wind direction sensor, and the wind speed sensor are provided on the scientific research ship. The wave observation device measures the wave height, the direction of the wave, and the wave period. The flow velocity observation device measures the flow velocity. The flow direction observation device observes the flow direction. The wind direction observation device observes the wind direction. The wind speed observation device observes the wind speed magnitude. The second attitude sensor senses the sway direction and speed of the scientific research ship. The data of the second attitude sensor verifies and optimizes the numerical model prediction method.

[0031] The computer program running in the controller 117 uses numerical models to predict the wind, wave and current change law of the scientific research ship's navigation area based on the observed wind, wave and current data, so as to calculate the deck's six-degree-of-freedom motion law of roll, pitch, bow pitch, sway, sway and vertical swing; the controller 117 calculates the thrust direction and magnitude required to be generated by the intelligent anti-sway device according to the lifting path planning, lifting motion planning and the six-degree-of-freedom motion law of the deck, and the controller 117 controls the stepper motor 116 to drive the first base 104 and the frame 101 to produce a rotational motion to adjust the thrust direction generated by the anti-sway device, and the controller 117 sends a control signal to change the speed and direction of the thrust motor 119 to adjust the speed and direction of the propeller 120. The computer program running in the controller 117 executes the lifting motion planning to control the crane motor to drive the drum to lengthen or shorten the wire rope and the flow and pressure in the support frame oil cylinder to swing the support frame to lift or lower the heavy object. The first attitude sensor 115 senses the swing effect of the intelligent anti-sway device, monitors the slight swing direction and speed of the observation instrument 207 during the lifting process, and verifies and optimizes the control method of the intelligent anti-sway device.

[0032] like Figure 3 As shown, the controller 117 uses a signal line 118 to connect the first attitude sensor 115, the second attitude sensor, the wave observation device, the flow velocity observation device, the flow direction observation device, the wind direction sensor, the wind speed sensor, the angle sensor 1, the angle sensor 2 and the angle sensor 3 through the multi-serial port card, and the controller 117 uses a signal line 118 to connect the light-emitting diode 122, the motor, the stepper motor 116, the crane motor and the support frame oil cylinder solenoid valve through the USB port and the USB port to RS-485 serial port interface card. Angle sensor 1 detects the rotation angle of the stepper motor 116, angle sensor 2 detects the rotation angle of the propeller 120, and angle sensor 3 detects the angle of the first steel wire rope 108 offset from gravity.

[0033] The controller 117 signal line 118 is connected to the stepper motor 116, and the angle sensor of the controller 117 detects the rotation angle. The controller 117 controls the rotation angle of the stepper motor 116, and the shaft 111 of the stepper motor 116 drives the pinion 110 to rotate, and the pinion 110 drives the large gear 106 meshing with it, and the large gear 106 drives the first base 104 rigidly connected to it to rotate, thereby changing the thrust direction generated by the propeller 120. The controller 117 controls the thrust motor 119 to turn on, off and change speed, thereby controlling the start, stop and rotation speed of the propeller 120, obtaining a controllable thrust or pulling force, and preventing the first anti-sway device 206 and the hoisted observation instrument 207 from swinging.

[0034] The controller 117 controls the light-emitting diode 122 to emit a flashing warning to alert the surrounding staff to avoid the first anti-sway device 206 and the hoisted observation instrument 207, or sets up a voice prompt module to remind the staff to avoid the first anti-sway device 206 and the hoisted observation instrument 207.

[0035] The controller 117 can also use a control algorithm, such as the commonly used PID control algorithm, based on the data of the first attitude sensor 115 to control the magnitude and direction of the thrust generated by the anti-sway device, so that the deflection angle of the first wire rope 108 from the gravity direction approaches zero. The controller 117 can also use a force sensor to detect the tension of the first wire rope 108, such as a resistance strain gauge. The controller 117 uses a control algorithm, such as the commonly used PID control algorithm, to control the magnitude and direction of the thrust generated by the anti-sway device, so as to minimize the tension of the first wire rope 108. The above two algorithms are economical and applicable, but they do not have as good an effect as controlling the sway of the anti-sway device by observing environmental data and predicting the change law of environmental parameters.

[0036] A panoramic camera and an ultrasonic ranging sensor can also be set on the first anti-sway device 206. The controller 117 collects image information and distance information, comprehensively judges the distance between the first anti-sway device 206 and surrounding objects, realizes collision detection during the movement process, and avoids safety accidents caused by collisions between the first anti-sway device 206 and surrounding objects.

[0037] As Figure 4 shown, the controller 117 controls the stepping motor 116 of the first anti-sway device 206 to rotate, adjusts the direction of the thrust F10 generated by the propeller 120, and the controller 117 controls the rotation speed and direction of the thrust motor 119 of the first anti-sway device 206 to control the magnitude and positive and negative directions of the thrust F10, thereby preventing and reducing the sway of the observation instrument 207.

[0038] Embodiment 2 As Figure 5 and 6 shown, a lifting ring 501 is provided at the upper end of the second base 502 of the second anti-sway device 601. The second wire rope 503 is sleeved on the lifting ring 501, and the second base 502 and the cover plate 505 are rigidly connected into one body using small screws 504. The rest of the structure of the second anti-sway device 601 is similar to that of Embodiment 1. For the crane shaft 201, the left drum 202, the crane bearing 203, the right drum 204, the composite cable 205, the second pulley block 602, the main hook 603, and the third wire rope 604, a second anti-sway device 601 is added between the main hook 603 and the third wire rope 604, and the observation instrument 207 is suspended at the lower end of the third wire rope 604. This second anti-sway device 601 has good compatibility with the existing crane, does not require replacing the pulley block 105, and can be purchased and used immediately.

[0039] Embodiment 3 As Figure 7 and 8 shown, the third anti-sway device includes two thrust components with perpendicular axes rigidly connected together. The propeller 120 of the upper thrust component generates a thrust F8, and the propeller 120 of the lower thrust component generates a thrust F7. The resultant force of the thrusts F8 and F7 is the thrust F9. By changing the directions and magnitudes of the thrusts F8 and F7, the direction and magnitude of the thrust F9 can be adjusted, and the thrust F9 prevents the third anti-sway device 701 from swinging.

[0040] Compared with Embodiment 1, in Embodiment 3, since there is only the time delay of the controller 117 controlling the propeller 120 to generate thrust, and there is no time delay of the controller 117 controlling the stepping motor 116 to rotate, in the case of high winds and rough waves, the anti-sway device of Embodiment 3 has a faster response.

[0041] Embodiment 4 As Figure 9 and 10 shown, the fourth anti-sway device 901 includes four rigidly connected thrust components. The propellers 120 of the two upper thrust components respectively generate thrusts F1 and F2, and the propellers 120 of the two lower thrust components respectively generate thrusts F3 and F4. The resultant forces of the thrusts F1, F2 and the thrusts F3, F4 are the thrust F5 and the torque M. The torque M realizes the angle adjustment of the fourth anti-sway device 901, and the thrust F5 prevents the fourth anti-sway device 901 from swinging. The thrusts F1 and F2 are parallel, the thrusts F3 and F4 are parallel, and the directions of the thrusts F1, F2 are perpendicular to the directions of the thrusts F3, F4. The controller 117 controls the magnitude changes of the thrusts F1, F2, F3, F4, so that the magnitudes and directions of the thrust F5 and the torque M change. Since there is only the time delay of the controller 117 controlling the propeller 120 to generate thrust, and there is no time delay of the controller 117 controlling the stepping motor 116 to rotate, in the case of high winds and rough waves, the anti-sway device has a faster response. The fourth anti-sway device 901 can generate a greater force to prevent swinging than the third anti-sway device 701. The propellers 120 of the thrust components are optimized for a specific rotation direction during design to improve efficiency. Therefore, in its optimized rotation direction, the propulsion force is often greater, while in the opposite rotation direction, the propulsion force may be reduced. The propellers 120 of the fourth anti-sway device 901 do not need to reverse.

[0042] As Figure 11As shown, the thrust assembly includes a frame 101, which is a straight cylinder structure with a horizontal axis 111. A bracket 121 is arranged inside. A thrust motor 119 is arranged at the center of the bracket 121. A propeller 120 is arranged at the end of the shaft 111 of the thrust motor 119. The thrust motor 119 drives the propeller 120 to rotate to generate thrust. The controller 117 controls the forward and reverse rotation and the rotation speed of the thrust motor 119 to control the magnitude and direction of the thrust generated by the propeller 120. Filter meshes 401 are arranged at both ends of the frame 101 to prevent foreign objects from entering the inside of the frame 101 and damaging the propeller 120.

[0043] Under ideal conditions, the magnitudes of the forward thrust and the reverse thrust of the same propeller 120 are theoretically equal. Generally speaking, when the propeller 120 is designed, it will be optimized for a specific rotation direction. Therefore, in its optimized rotation direction, the thrust is often greater, while in the opposite rotation direction, the thrust may be reduced. However, the specific magnitude difference needs to be determined through specific experimental measurements and data analysis.

[0044] According to another aspect of the present invention, a method for preventing sway of a crane is provided. Using the crane anti-sway device as described above, the anti-sway method includes: When the rope of the crane makes a non-vertical movement during the process of elongation and descent, adjust the anti-sway device to generate a force opposite to this movement, so that the rope descends vertically.

[0045] According to still another aspect of the present invention, an oceanographic research vessel is provided, as Figure 12 shown, which includes the crane anti-sway device as described above or a crane anti-sway device operating according to the anti-sway method as described above.

[0046] A movable support frame is arranged on the oceanographic research vessel, including a first position 1204 of the support frame and a second position 1202 of the support frame. The first position 1204 of the support frame is located between the stern 1203 and the bow 1207 of the research vessel, while the second position 1202 of the support frame is located outside the ship, and the entire support frame moves back and forth along the fore-and-aft line 1206.

[0047] When the above-mentioned anti-sway device is arranged on the oceanographic research vessel, the corresponding control method includes: The operator operates the image acquisition device to obtain the position of the instrument to be hoisted. The image acquisition device is arranged on the support frame and can observe the entire lifting process. The position of the instrument to be hoisted and the deployment position can also be manually input, that is, the operator inputs the positions of the lifting point 1205 and the deployment point 1201 into the controller 117. For a specific research vessel, the default lifting point 1205 and deployment point 1201 can also be set; The controller 117 plans the lifting parameters according to the positions of the lifting point 1205 and the laying point 1201, and determines the swinging speed of the support frame and the lifting speed of the wire rope. The controller 117 obtains the observed data of wind, wave and current, and uses the model to predict the rolling, pitching, yawing, swaying, heaving and surging motions generated on the ship's deck. The controller 117 calculates and predicts the motion law of the instrument according to the swinging speed of the support frame, the lifting speed, the wind speed, the instrument shape data, and the rolling, pitching, yawing, swaying, heaving and surging of the deck. The controller 117 controls the magnitude, direction, moment magnitude and direction of the thrust generated by the propeller 120 according to the prediction data, so as to reduce or prevent the swinging of the instrument. After accumulating data for a long time, the anti-sway device control algorithm is optimized using artificial intelligence algorithms.

[0048] For the cranes on shore or the crane installation foundation at the construction site where the base is fixed, the intelligent anti-sway device has a good anti-sway effect. For the marine crane with a support frame at the stern of the ship, when the wind is calm or there are gentle waves, the observed swinging direction of the instrument 207 is along the longitudinal centerline of the ship. After the controller 117 of the intelligent anti-sway device adjusts the direction of the thrust generated by the propeller 120 to swing along the longitudinal centerline of the ship, the support frame swings along the longitudinal centerline of the ship, and the anti-sway effect is good. When the wind is strong and the waves are rough, the deck will generate six-degree-of-freedom motions of rolling, pitching, yawing, swaying, heaving and surging. Due to the time delay of the controller 117 controlling the rotation of the stepper motor 116, the anti-sway effect of the fourth anti-sway device 901 is better than that of the first anti-sway device 206.

[0049] It is easy for those skilled in the art to understand that, on the premise of no conflict, the above-mentioned embodiments can be freely combined and superimposed.

[0050] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention. The above is only the preferred implementation manner of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can still be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A crane anti-sway device, which is connected between a crane rope and a load to be lifted; the crane anti-sway device includes a base movably connected to the rope; characterized in that, The anti-sway device of the crane further includes: A thrust component, including a propeller (120) mechanism and a straight cylinder with a horizontal axis; the propeller (120) mechanism is mounted inside the straight cylinder; When the rope is stressed and sways, the thrust generated by the operation of the propeller (120) mechanism, and the direction of this thrust is opposite to the direction of the force applied by the sway of the rope.

2. The anti-sway device of the crane according to claim 1, wherein: The thrust component is rotatably arranged on the base; by rotating the thrust component, the direction of the force exerted on the rope when the propeller (120) mechanism operates is changed.

3. The anti-sway device of the crane according to claim 2, wherein: A power mechanism and a transmission mechanism are provided on the base, the thrust component is connected to the transmission mechanism, and rotation is completed under the drive of the power mechanism on the transmission mechanism; The power mechanism further includes an angle sensor for detecting the rotation angle of the output shaft (111); or / and, an attitude sensor is provided on the thrust component.

4. The anti-sway device of the crane according to claim 3, wherein: The power mechanism includes a stepper motor (116), the transmission mechanism includes a gear shaft, and the output shaft (111) of the stepper motor (116) is in tooth engagement with the gear shaft.

5. The anti-sway device of the crane according to claim 4, wherein: The thrust component is fixedly connected to the gear shaft.

6. The anti-sway device of the crane according to any one of claims 2-5, wherein: A limiting member is provided between the base and the thrust component to limit the position between the base and the thrust component.

7. The anti-sway device of the crane according to claim 6, wherein: The limiting member includes a friction pad, and the friction pad is provided between the base and the thrust component to increase the friction between the two.

8. The anti-sway device of the crane according to claim 1, wherein: At least two thrust components are provided along the vertical direction, and the thrust directions formed by the two thrust components are cross-set.

9. A method for preventing a crane from swaying, characterized in that, Using the anti-sway device of the crane according to any one of claims 1-8, the anti-sway method includes: When the rope of the crane makes a non-vertical movement during the process of extending and descending, adjust the thrust component to generate a force opposite to this movement, so that the rope descends vertically.

10. An ocean survey ship, characterized in that, Including the anti-sway device of the crane according to any one of claims 1-8 or the anti-sway device of the crane operating according to the anti-sway method according to claim 9.

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