Anti-swing bridge crane and anti-swing method thereof

Abstract

The invention relates to the field of cranes, and discloses an anti-swing bridge crane which comprises a traction mechanism and a lifting hook mechanism, the traction mechanism comprises a first traction component and a second traction component, and the lifting hook mechanism comprises an auxiliary longitudinal sliding seat, a winch arranged on the auxiliary longitudinal sliding seat and a support body arranged at the bottom of the auxiliary longitudinal sliding seat. A plurality of pulleys are arranged on the support body, the tail ends of steel cables arranged on the winch bypass the pulleys and then are provided with hook seats, hooks are arranged at the bottoms of the hook seats, the four steel cables are arranged in an array mode in the circumferential direction, and the four steel cables are the first steel cable, the second steel cable, the third steel cable and the fourth steel cable in sequence in the array direction. The horizontal projection of the first steel cable and the horizontal projection of the third steel cable are both parallel to the traction direction of the first traction component, the horizontal projection of the second steel cable and the horizontal projection of the fourth steel cable are both parallel to the traction direction of the second traction component, and the pulley is provided with a pressure sensor used for monitoring the pressure applied to the pulley by the steel cables in real time.

Description

Technical Field

[0001] The present invention relates to the field of cranes, in particular to the field of bridge cranes, and in particular to an anti-sway bridge crane and an anti-sway method thereof. Background Art

[0002] Bridge crane is a common lifting equipment, widely used in factories, warehouses, ports and other places. It is used for horizontal transportation and vertical lifting of heavy objects. In short, it is to transfer heavy objects from point A to point B.

[0003] In some large factories, warehouses and other places, the floor area is large and the transfer distance of heavy objects is also large. Due to the heavy weight of the heavy objects, the heavy objects are prone to shaking due to inertia and other reasons during the transfer process, and the shaking of heavy objects is likely to cause safety problems. Therefore, in order to avoid the shaking of heavy objects, the existing technology generally reduces the moving speed of the heavy objects, that is, soft start and slow movement of the heavy objects, but doing so will greatly affect the transfer efficiency of the heavy objects.

[0004] Furthermore, when transferring large distances, the load is typically moved using wheels. However, this traction method has accuracy issues, meaning it can only roughly transfer the load from point A to point B, rather than achieving high-precision transfer. In some cases, this poses a safety risk. For example, in palletizing, if there is a positional deviation between adjacent loads in the vertical direction, the load on the upper layer can easily fall and topple over.

[0005] Based on the above, the present invention proposes an anti-sway bridge crane and an anti-sway method thereof. Summary of the Invention

[0006] In order to solve the problems mentioned in the above background, the present invention provides an anti-sway bridge crane and an anti-sway method thereof.

[0007] In order to achieve the above technical objectives, the technical solutions adopted by the present invention are as follows.

[0008] An anti-sway bridge crane includes a traction mechanism and a hook mechanism, the traction mechanism including a first traction member and a second traction member, the first traction member being used to pull the second traction member and the hook mechanism to move along a first horizontal direction, and the second traction member being used to pull the hook mechanism to move along a second horizontal direction, the first horizontal direction and the second horizontal direction being perpendicular to each other;

[0009] The hook mechanism includes a secondary longitudinal slide, a hoist arranged on the secondary longitudinal slide, and a bracket body arranged at the bottom of the secondary longitudinal slide. The bracket body is provided with a plurality of pulleys. The end of the steel cable arranged on the hoist is provided with a hook seat after passing through the pulleys.

[0010] The hook seat is arranged horizontally and a hook is provided at the bottom;

[0011] Four steel cables are arranged in an array along the circumferential direction, and the axis of the circle used in the array coincides with the vertical center line of the hook seat. The four steel cables are steel cable one, steel cable two, steel cable three, and steel cable four in the array direction. The horizontal projections of steel cable one and steel cable three are parallel to horizontal direction two, and the horizontal projections of steel cable two and steel cable four are parallel to horizontal direction one.

[0012] The pulley is provided with a pressure sensor for real-time monitoring of the pressure applied by the steel cable to the pulley.

[0013] Furthermore, the first traction member includes a transverse column frame, a main transverse sliding seat slidably arranged on the transverse column frame in a horizontal direction, and a first main driving member for driving the main transverse sliding seat to move;

[0014] The main transverse sliding seat is provided with a secondary transverse sliding seat and a first secondary driving member for driving the secondary transverse sliding seat to move along a horizontal direction.

[0015] Furthermore, a main line rail is provided on the horizontal column frame, and the main line rail is slidably connected with the main horizontal slide seat;

[0016] A secondary linear rail is provided on the main transverse sliding seat, and the secondary linear rail and the secondary transverse sliding seat form a sliding connection.

[0017] Furthermore, the first main driving component includes a rack arranged on the cross column frame and parallel to the sliding direction of the main cross slide, and a first motor and a gear arranged on the main cross slide. The first motor is used to drive the gear to rotate, and the gear is engaged with the rack.

[0018] Furthermore, the first auxiliary driving member includes a screw rod arranged on the main transverse slide and a second motor for driving the screw rod to rotate. The screw rod is parallel to the sliding direction of the auxiliary transverse slide, and the screw rod and the auxiliary transverse slide form a threaded connection.

[0019] Furthermore, the power transmission component arranged between the first motor and the gear includes a transmission shaft, the output end of the transmission shaft and the gear form a power connection, the input end of the transmission shaft is coaxially provided with a rotating body, and the two ends of the rotating body are each coaxially provided with a convex ring, and the outer side of the convex ring is provided with a side ring disk, and the follower of the worm gear arranged between the input end of the transmission shaft and the first motor is fixed between the two side ring disks.

[0020] Furthermore, a guide hole is provided on the end surface of the rotating body, the guiding direction of the guide hole is perpendicular to the axis of the rotating body, a slider is slidably provided in the guide hole, and a spring is provided on each side of the slider;

[0021] The end surface of the side ring disk is provided with a pin hole, and the side surface of the slider is provided with a convex pin. The convex pin and the pin hole form a sliding guide fit, and the sliding direction is perpendicular to the guiding direction of the guide hole.

[0022] Furthermore, the second traction member includes a longitudinal column frame connected to the secondary transverse slide, a main longitudinal slide set on the longitudinal column frame for sliding along two horizontal directions, a second main driving member for driving the main longitudinal slide to move, a secondary longitudinal slide set on the main longitudinal slide for sliding along two horizontal directions, and a second secondary driving member for driving the secondary longitudinal slide to move.

[0023] Furthermore, the structure of the second main driving member is consistent with that of the first main driving member, and the connection relationship between the second main driving member, the longitudinal column frame and the main longitudinal slide is consistent with the connection relationship between the first main driving member, the transverse column frame and the main transverse slide;

[0024] The structure of the second auxiliary driving member is consistent with that of the first auxiliary driving member, and the connection relationship between the second auxiliary driving member, the main longitudinal slide and the auxiliary longitudinal slide is consistent with the connection relationship between the first auxiliary driving member, the main transverse slide and the auxiliary transverse slide.

[0025] A method for preventing sway of a bridge crane is described by taking the anti-sway when the first traction member pulls the second traction member and the weight moves to the right as an example:

[0026] Step 1: The first motor starts, and with the cooperation of the rack and gear, it drives the main cross slide to move to the right at an acceleration of a1. At the same time, the second motor starts, and drives the secondary cross slide to the left at an acceleration of a2 through the rotation of the screw. At this time, the movement acceleration of the secondary cross slide and the weight is a1-a2;

[0027] When the main cross slide reaches its maximum speed and moves at a constant speed, the speed of the main cross slide is v1, and the speed of the auxiliary cross slide is v2. At this time, the moving speed of the weight is equal to v1-v2. After that, the auxiliary cross slide moves to the left at a deceleration speed of a3. Therefore, the weight accelerates to the right, and the speed gradually accelerates from v1-v2 to v1.

[0028] Step 2: The weight moves at a constant speed of v1;

[0029] Step 3: The main cross slide moves to the right at a decelerated speed, and the secondary cross slide moves to the right at an accelerated speed. The difference between the two accelerations is the acceleration of the weight as the speed gradually decreases. When the main cross slide decelerates to zero, the secondary cross slide decelerates to the right, taking the weight with it until the speed of the weight is zero.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] This solution can prevent the heavy objects from swaying during the process of towing them, thereby improving safety. On this basis:

[0032] Taking the first traction member as an example: if the weight swings, the larger the swing amplitude, the larger the value monitored by one of the two pressure sensors corresponding to the second and fourth cables, and the smaller the value monitored by the other. This can indirectly determine the direction and amplitude of the swing. Based on the swing direction and amplitude, it is determined whether the swing is within a safe range. If it is within the safe range, the first traction member accelerates the movement of the traction weight, that is, increases the speed of the traction weight to achieve the effect of improving efficiency. If it is not within the safe range, an anti-sway safety operation is performed to improve safety.

[0033] Furthermore, the swaying displacement of the heavy object when it sways can be divided into displacement one along the sliding direction of the main transverse slide and displacement two along the sliding direction of the main longitudinal slide. Displacement one can be indirectly monitored by two pressure sensors corresponding to the second and fourth steel cables, and displacement two can be indirectly monitored by two pressure sensors corresponding to the first and third steel cables. Therefore, when swaying beyond a safe range occurs, the specific direction and amplitude of the swaying can be obtained through the four pressure sensors, and the corresponding actions of the first traction member and the second traction member in their respective moving directions can effectively prevent swaying.

[0034] To sum up, this solution can monitor the swing direction and amplitude of the heavy object in real time when it moves through the integrated structure of the traction mechanism, four steel cables and pressure sensors. If it is within the safe range, the speed of traction of the heavy object will be further increased to improve efficiency. If it is not within the safe range, the anti-sway measures will be activated to improve safety. That is, it can adapt to the heavy object while taking into account efficiency and safety.

[0035] Furthermore, when the weight moves to point B, there will inevitably be some positional deviation between the actual position of the weight and the set position. At this time, the high-precision moving properties of the screw rod can be used to accurately adjust the position of the weight, thereby improving the positional accuracy of the weight during transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of the present invention;

[0037] Figure 2 is a structural schematic diagram of a first traction member;

[0038] Figure 3 A partial schematic diagram of the first traction member Figure 1 ;

[0039] Figure 4 A partial schematic diagram of the first traction member Figure 2 ;

[0040] Figure 5An exploded view of the power path between the driven member and the transmission shaft;

[0041] Figure 6 A cross-sectional view of the power path between the driven member and the transmission shaft;

[0042] Figure 7 is a schematic diagram of the second traction member and the hook mechanism;

[0043] Figure 8 It is a structural diagram of the hook mechanism;

[0044] Figure 9 This is a bottom view of the hook mechanism.

[0045] The reference numerals in the accompanying drawings are:

[0046] 100, traction mechanism; 101, first traction member; 102, second traction member; 1021, longitudinal column frame; 1022, main longitudinal slide; 103, transverse column frame; 104, main linear rail; 105, main transverse slide; 106, rack; 107, roller; 108, first motor; 109, gear; 110, secondary linear rail; 111, secondary transverse slide; 112, lead screw; 113, second motor ; 114. Transmission shaft; 115. Rotating body; 116. Convex ring; 117. Guide hole; 118. Side ring disk; 119. Pin hole; 120. Slider; 121. Convex pin; 122. Spring; 123. Follower; 200. Hook mechanism; 201. Auxiliary longitudinal slide; 202. Winch; 203. Bracket body; 204. Pulley; 205. Steel cable; 206. Hook seat; 207. Hook. DETAILED DESCRIPTION

[0047] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0048] Reference Figures 1-9 , an anti-sway bridge crane includes a traction mechanism 100 and a hook mechanism 200, the latter is used to lift heavy objects, and the former is used to pull the latter to move in a plane coordinate system, thereby realizing the transfer of the heavy object from point A to point B. The core of this solution is: during the transfer of heavy objects, if the swing amplitude of the heavy object is small and within a safe range, then the traction mechanism 100 and the hook mechanism 200 cooperate to speed up the movement speed of the heavy object and improve the transfer efficiency; if the swing amplitude of the heavy object is large and exceeds the safe range, then the traction mechanism 100 and the hook mechanism 200 cooperate to suppress the swing of the heavy object; that is, this solution can adapt to the heavy object while taking into account efficiency and anti-swaying. In addition, it also has the function of improving the position accuracy during transfer, which will be elaborated in detail later.

[0049] Traction mechanism 100:

[0050] Reference Figure 1 The traction mechanism 100 includes a first traction member 101 and a second traction member 102 , the traction directions of the two members are perpendicular to each other and are both arranged horizontally, forming a plane coordinate system.

[0051] Reference Figure 2-Figure 4 The first traction member 101 includes a transverse column frame 103 and a main transverse sliding seat 105 slidingly arranged on the transverse column frame 103. Furthermore, the transverse column frame 103 is arranged on the top of a building such as a factory warehouse, and a horizontally arranged main line rail 104 is provided on the transverse column frame 103. The main line rail 104 and the main transverse sliding seat 105 form a sliding guide. Furthermore, a roller 107 is provided on the main transverse sliding seat 105, and a wheel groove is provided on the main line rail 104. The sliding connection between the main line rail 104 and the main transverse sliding seat 105 is realized through the cooperation of the roller 107 and the wheel groove. The advantage is that the friction between the two can be reduced as much as possible, making the movement of the main transverse sliding seat 105 more labor-saving.

[0052] The cross column frame 103 is also provided with a first main driving component for driving the main cross slide 105 to move. Specifically, the first main driving component includes a rack 106 arranged on the cross column frame 103 and parallel to the sliding direction of the main cross slide 105, and a first motor 108 and a gear 109 arranged on the main cross slide 105. The first motor 108 is used to drive the gear 109 to rotate, and the gear 109 is engaged with the rack 106. Therefore, the main cross slide 105 can be driven to move by the first motor 108.

[0053] In the preferred embodiment, due to the existence of inertia during the transfer of heavy objects, when the traction stops, it is easy to damage the power transmission path between the first motor 108 and the main horizontal slide 105. In order to solve this problem, refer to Figure 4-Figure 6 The power transmission component arranged between the first motor 108 and the main horizontal sliding seat 105 includes a transmission shaft 114, and a power connection is formed between the output end of the transmission shaft 114 and the gear 109. A rotating body 115 is coaxially arranged at the input end of the transmission shaft 114, and a convex ring 116 is coaxially arranged at each end of the rotating body 115. The outer side of the convex ring 116 is provided with a side ring disk 118, and the follower 123 of the worm gear arranged between the input end of the transmission shaft 114 and the first motor 108 is fixed between the two side ring disks 118.

[0054] A guide hole 117 is provided on the end surface of the rotating body 115 , and the guiding direction of the guide hole 117 is perpendicular to the axis of the rotating body 115 . A slider 120 is slidably provided in the guide hole 117 , and a spring 122 is provided on each side of the slider 120 .

[0055] A pin hole 119 is provided on the end face of the side ring disk 118 , and a protruding pin 121 is provided on the side face of the slider 120 . The protruding pin 121 and the pin hole 119 form a sliding guide fit, and the sliding direction is perpendicular to the guiding direction of the guide hole 117 .

[0056] The advantage is that the first motor 108 drives the side ring disk 118 to rotate through the worm gear, and the rotating pin hole 119, the protruding pin 121, the slider 120, and the spring 122 of the side ring disk 118 rotate together with the rotating body 115, and the rotating body 115 rotates with the transmission shaft 114, and the transmission shaft 114 rotates with the gear 109, thereby moving the main horizontal slide seat 105. When the first motor 108 stops running, the inertia of the heavy object will be buffered by the spring 122, thereby protecting the power transmission components.

[0057] Reference Figure 2-Figure 4 A secondary transverse slide 111 is slidingly arranged on the main transverse slide 105, and the sliding direction of the secondary transverse slide 111 is parallel to the sliding direction of the main transverse slide 105. Furthermore, a secondary linear rail 110 is arranged on the main transverse slide 105, and the secondary linear rail 110 and the secondary transverse slide 111 form a sliding connection.

[0058] A first auxiliary driving component is provided on the main transverse slide 105, which is used to drive the secondary transverse slide 111 to move. Specifically, the first auxiliary driving component includes a screw rod 112 provided on the main transverse slide 105 and a second motor 113 for driving the screw rod 112 to rotate. The screw rod 112 is parallel to the sliding direction of the secondary transverse slide 111, and the screw rod 112 is threadedly connected to the secondary transverse slide 111. Therefore, the screw rod 112 is driven to rotate by the second motor 113, thereby driving the secondary transverse slide 111 to move.

[0059] Reference Figure 1 and Figure 7 The second traction member 102 includes a longitudinal column frame 1021 connected to the secondary transverse slide 111 and a main longitudinal slide 1022 slidingly arranged on the longitudinal column frame 1021. The sliding direction of the main longitudinal slide 1022 is horizontally arranged and perpendicular to the sliding direction of the main transverse slide 105. The longitudinal column frame 1021 is provided with a second main driving member for driving the main longitudinal slide 1022 to move. The structure of the second main driving member is consistent with that of the first main driving member, and the connection relationship between the second main driving member, the longitudinal column frame 1021 and the main longitudinal slide 1022 is consistent with the connection relationship between the first main driving member, the transverse column frame 103 and the main transverse slide 105, which will not be repeated.

[0060] A secondary longitudinal slide 201 is provided on the main longitudinal slide 1022 for sliding along the sliding direction of the main longitudinal slide 1022. A second secondary driving member is provided on the main longitudinal slide 1022 for driving the secondary longitudinal slide 201 to move. The structure of the second secondary driving member is consistent with that of the first secondary driving member, and the connection relationship between the second secondary driving member, the main longitudinal slide 1022 and the secondary longitudinal slide 201 is consistent with the connection relationship between the first secondary driving member, the main transverse slide 105 and the secondary transverse slide 111, which will not be repeated.

[0061] Through the cooperation of the first traction member 101 and the second traction member 102, the secondary longitudinal slide 201 can eventually be driven to move in the plane coordinate system, thereby moving with the hook mechanism 200. The ability to adapt to heavy objects during the movement while taking into account efficiency and anti-swaying and swaying, as well as improving the position accuracy during transfer, will be explained in detail later.

[0062] Hook mechanism 200:

[0063] Reference Figure 7-Figure 9 The hook mechanism 200 includes a winch 202 arranged on the secondary longitudinal slide 201 and a bracket body 203 arranged at the bottom of the secondary longitudinal slide 201. A plurality of pulleys 204 are arranged on the bracket body 203. The end of the steel cable 205 arranged on the winch 202 is passed around the pulley 204 and is provided with a hook seat 206.

[0064] Furthermore, the hook seat 206 is arranged horizontally, and a hook 207 is provided at the bottom thereof.

[0065] Furthermore, four steel cables 205 are arranged in an array along the circumferential direction, and the axis of the circle used in the array coincides with the vertical center line of the hook seat 206. The four steel cables 205 are arranged in the order of steel cable 1, steel cable 2, steel cable 3 and steel cable 4 along the array direction. Figure 9 The horizontal projections of steel cables one and three are parallel to the sliding direction of the main longitudinal slide 1022 , and the horizontal projections of steel cables two and four are parallel to the sliding direction of the main transverse slide 105 .

[0066] In addition, a pressure sensor is provided on the pulley 204 for real-time monitoring of the pressure applied to the pulley 204 by the steel cable 205 .

[0067] Working principle of the present invention:

[0068] First, a heavy object is hung on the hook mechanism 200, and then the hook mechanism 200 and the heavy object are pulled by the traction mechanism 100 to move in the plane coordinate system, thereby achieving the purpose of transferring the heavy object from point A to point B. In this process:

[0069] (1) The anti-shake process is manifested as follows:

[0070] The process of pulling a heavy object to move can be divided into three stages: acceleration stage, constant speed stage, and deceleration stage. Since the first pulling member 101 and the second pulling member 102 have the same structure, the first pulling member 101 will be described below:

[0071] by Figure 2 Taking the perspective of as an example, the first traction member 101 pulling the second traction member 102 and the weight moving to the right are used as an example to illustrate:

[0072] Acceleration stage: First, the first motor 108 is started, and with the cooperation of the rack 106 and the gear 109, it drives the main transverse slide 105 to move to the right with an acceleration of a1. At the same time, the second motor 113 is started, and the screw rod 112 rotates to drive the secondary transverse slide 111 to the left with an acceleration of a2. At this time, since a1 and a2 are in different directions, the final acceleration of the secondary transverse slide 111 and the weight is a1-a2, that is, the acceleration of the weight is relatively small, which can reduce the amplitude of the weight's shaking, that is, play an anti-swaying role;

[0073] When the main transverse slide 105 reaches its maximum speed and moves at a constant speed, the speed of the main transverse slide 105 is v1. At the same time, the auxiliary transverse slide 111 also reaches its maximum moving speed, which is v2. At this time, the moving speed of the weight is equal to v1-v2. Thereafter, the auxiliary transverse slide 111 moves to the left at a decelerated speed and an acceleration of a3. The direction of a3 is to the right. Therefore, the weight accelerates to the right, and the speed gradually accelerates from v1-v2 to v1 with an acceleration of a3. a3 is relatively small. Therefore, it can also reduce the amplitude of the shaking of the weight, that is, it plays a role in preventing shaking.

[0074] In other words, it can play an anti-sway role during the acceleration phase;

[0075] In addition, during the acceleration phase, with the main transverse slide 105 as a reference, the displacement of the auxiliary transverse slide 111 is L1 to the left;

[0076] Constant speed phase: The weight moves at constant speed v1;

[0077] Deceleration stage: the main transverse slide 105 moves to the right with deceleration, and the secondary transverse slide 111 moves to the right with acceleration. The difference between the two accelerations is the acceleration when the speed of the weight gradually decreases. When the main transverse slide 105 decelerates to zero, the secondary transverse slide 111 decelerates to the right, and decelerates with the weight until the weight is zero. Similarly, in the deceleration stage, it can also play an anti-sway role.

[0078] On the basis of (1), (2) is proposed, specifically:

[0079] In the process of traction of the heavy object, if the heavy object swings, the greater the swing amplitude, the greater the value monitored by the two pressure sensors corresponding to the second and fourth steel cables, the greater the value monitored by one and the smaller the value monitored by the other. The direction and amplitude of the swing can be indirectly obtained, and according to the swing direction and amplitude, it is judged whether the swing is within the safe range. If it is within the safe range, the first traction member 101 accelerates the movement of the traction heavy object, that is, increases the speed of the traction heavy object to achieve the effect of improving efficiency. If it is not within the safe range, then refer to (1) and perform anti-sway safety operation to improve safety.

[0080] Furthermore, the swing displacement of the heavy object when it swings can be divided into displacement one along the sliding direction of the main transverse slide 105 and displacement two along the sliding direction of the main longitudinal slide 1022. Displacement one can be indirectly monitored by two pressure sensors corresponding to steel cable two and steel cable four, and displacement two can be indirectly monitored by two pressure sensors corresponding to steel cable one and steel cable three. Therefore, when a swing beyond the safety range occurs, the specific direction and amplitude of the swing can be obtained through the four pressure sensors, which can cooperate with the corresponding actions of the first traction member 101 and the second traction member 102 in their respective moving directions to play an effective anti-swaying role.

[0081] To sum up, this solution can monitor the swing direction and amplitude of the heavy object in real time when it moves through the integrated structure of the traction mechanism 100, four steel cables 205 and pressure sensors. If it is within the safe range, the speed of traction of the heavy object will be further increased to improve efficiency. If it is not within the safe range, the anti-sway measures will be activated to improve safety, that is, it can adapt to the heavy object while taking into account efficiency and safety.

[0082] Furthermore, when the weight moves to point B, there will inevitably be some position deviation between the actual position of the weight and the set position. At this time, the high-precision moving properties of the screw rod 112 can be used to accurately adjust the position of the weight, thereby improving the position accuracy of the weight during transfer.

[0083] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents disclosed above. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An anti-sway bridge crane, comprising a traction mechanism (100) and a hook mechanism (200), characterized in that: The traction mechanism (100) comprises a first traction member (101) and a second traction member (102); the first traction member (101) is used to pull the second traction member (102) and the hook mechanism (200) to move along a first horizontal direction; the second traction member (102) is used to pull the hook mechanism (200) to move along a second horizontal direction; the first horizontal direction and the second horizontal direction are perpendicular to each other; The hook mechanism (200) comprises a secondary longitudinal slide (201), a hoist (202) arranged on the secondary longitudinal slide (201), and a bracket body (203) arranged at the bottom of the secondary longitudinal slide (201); a plurality of pulleys (204) are arranged on the bracket body (203); and a hook seat (206) is arranged after the end of a steel cable (205) arranged on the hoist (202) passes around the pulley (204); The hook seat (206) is arranged horizontally and a hook (207) is provided at the bottom; Four steel cables (205) are arranged in an array along the circumferential direction, and the axis of the circle used in the array coincides with the vertical center line of the hook seat (206). The four steel cables (205) are arranged in the order of steel cable 1, steel cable 2, steel cable 3 and steel cable 4 along the array direction. The horizontal projections of steel cable 1 and steel cable 3 are both parallel to horizontal direction 2, and the horizontal projections of steel cable 2 and steel cable 4 are both parallel to horizontal direction 1. The pulley (204) is provided with a pressure sensor for real-time monitoring of the pressure applied by the steel cable (205) to the pulley (204).

2. The anti-sway bridge crane according to claim 1, characterized in that: The first traction member (101) comprises a transverse column frame (103), a main transverse sliding seat (105) slidingly arranged on the transverse column frame (103) in a horizontal direction, and a first main driving member for driving the main transverse sliding seat (105) to move; The main transverse sliding seat (105) is provided with a secondary transverse sliding seat (111) and a first secondary driving member for driving the secondary transverse sliding seat (111) to move in a horizontal direction.

3. The anti-sway bridge crane according to claim 2, characterized in that: A main line rail (104) is provided on the horizontal column frame (103), and the main line rail (104) is slidably connected with the main horizontal sliding seat (105); A secondary linear rail (110) is provided on the main transverse sliding seat (105), and the secondary linear rail (110) and the secondary transverse sliding seat (111) form a sliding connection.

4. The anti-sway bridge crane according to claim 2, characterized in that: The first main driving member comprises a rack (106) arranged on the transverse column frame (103) and parallel to the sliding direction of the main transverse sliding seat (105), and a first motor (108) and a gear (109) arranged on the main transverse sliding seat (105). The first motor (108) is used to drive the gear (109) to rotate, and the gear (109) is engaged with the rack (106).

5. The anti-sway bridge crane according to claim 4, characterized in that: The first auxiliary driving member comprises a screw rod (112) arranged on the main transverse sliding seat (105) and a second motor (113) for driving the screw rod (112) to rotate, the screw rod (112) is parallel to the sliding direction of the auxiliary transverse sliding seat (111), and the screw rod (112) and the auxiliary transverse sliding seat (111) are threadedly connected.

6. The anti-sway bridge crane according to claim 4, characterized in that: A power transmission member arranged between the first motor (108) and the gear (109) includes a transmission shaft (114), wherein the output end of the transmission shaft (114) and the gear (109) form a power connection, a rotating body (115) is coaxially arranged at the input end of the transmission shaft (114), a convex ring (116) is coaxially arranged at each end of the rotating body (115), and a side ring disk (118) is sleeved on the outer surface of the convex ring (116), and a driven member (123) of a worm gear arranged between the input end of the transmission shaft (114) and the first motor (108) is fixedly arranged between the two side ring disks (118).

7. The anti-sway bridge crane according to claim 6, characterized in that: A guide hole (117) is provided on the end surface of the rotating body (115), the guiding direction of the guide hole (117) is perpendicular to the axis of the rotating body (115), a slider (120) is slidably provided in the guide hole (117), and a spring (122) is provided on each side of the slider (120); The end surface of the side ring disk (118) is provided with a pin hole (119), and the side surface of the slider (120) is provided with a protruding pin (121). The protruding pin (121) and the pin hole (119) form a sliding guide fit, and the sliding direction is perpendicular to the guiding direction of the guide hole (117).

8. The anti-sway bridge crane according to claim 2 or 5, characterized in that: The second traction member (102) comprises a longitudinal column frame (1021) connected to the secondary transverse slide seat (111), a main longitudinal slide seat (1022) slidingly arranged on the longitudinal column frame (1021) in a horizontal direction, a second main driving member for driving the main longitudinal slide seat (1022) to move, a secondary longitudinal slide seat (201) slidingly arranged on the main longitudinal slide seat (1022) in a horizontal direction, and a second secondary driving member for driving the secondary longitudinal slide seat (201) to move.

9. The anti-sway bridge crane according to claim 8, characterized in that: The structure of the second main driving member is consistent with that of the first main driving member, and the connection relationship between the second main driving member, the longitudinal column frame (1021) and the main longitudinal sliding seat (1022) is consistent with the connection relationship between the first main driving member, the transverse column frame (103) and the main transverse sliding seat (105); The structure of the second auxiliary driving member is consistent with that of the first auxiliary driving member, and the connection relationship between the second auxiliary driving member, the main longitudinal slide (1022) and the auxiliary longitudinal slide (201) is consistent with the connection relationship between the first auxiliary driving member, the main transverse slide (105) and the auxiliary transverse slide (111).

10. The anti-sway method for an anti-sway bridge crane according to claim 9, characterized in that: The anti-swaying process when the first traction member (101) pulls the second traction member (102) and the weight moves to the right includes the following steps: Step 1: The first motor (108) is started, and under the cooperation of the rack (106) and the gear (109), the main transverse slide (105) is driven to move to the right at an acceleration of a1. At the same time, the second motor (113) is started, and the secondary transverse slide (111) is driven to move to the left at an acceleration of a2 through the rotation of the screw rod (112). At this time, the movement acceleration of the secondary transverse slide (111) and the weight is a1-a2; When the main transverse slide (105) reaches the maximum speed and moves at a constant speed, the speed of the main transverse slide (105) is v1, and the moving speed of the auxiliary transverse slide (111) is v2. At this time, the moving speed of the weight is equal to v1-v2. Thereafter, the auxiliary transverse slide (111) moves to the left at a deceleration speed of a3. Therefore, the weight accelerates to the right, and the speed gradually accelerates from v1-v2 to v1. Step 2: The weight moves at a constant speed of v1; Step 3: The main transverse slide (105) moves to the right with deceleration, and the secondary transverse slide (111) moves to the right with acceleration. The difference between the accelerations is the acceleration when the speed of the weight gradually decreases. When the main transverse slide (105) decelerates to zero, the secondary transverse slide (111) decelerates to the right, taking the weight with it until the speed of the weight is zero.

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