Rope suspended multi-ring double boom crane with trailing follow-up assisted power anti-sway rear active unit

Abstract

The application belongs to the technical field of anti-sway cranes, and particularly relates to a rope-suspended multi-ring double-arm crane with a rear-mounted active anti-sway unit, which comprises a double-arm crane main body, the double-arm crane main body comprises a common base, the common base is fixedly installed on a working platform, a common slewing tower body is rotationally connected to the upper end of the common base, two fixed independent tower bodies are symmetrically fixedly installed on the upper end surface of the common slewing tower body, an independent slewing tower body is rotationally installed on the fixed independent tower body, and a lifting arm is rotationally connected to the upper end of the independent slewing tower body; a lifting unit is installed on the lifting arm, and an anti-sway unit is installed on the independent slewing tower body. The anti-sway unit is rear-mounted between the independent slewing tower body and the lifting arm, can realize follow-up of the amplitude change of the lifting arm, and is installed close to the independent slewing tower body, so that the installation and maintenance of the anti-sway unit are greatly facilitated.

Description

Technical Field

[0001] This invention belongs to the field of anti-sway crane technology, specifically relating to a rope-suspended multi-ring double-arm crane with a follow-up, assistable, rear-mounted active anti-sway unit. Background Technology

[0002] A crane, also known as a gantry crane, is a device used for transferring or transshipping goods on fixed, mobile, or floating bases. When a fixed-base crane performs intermittent slewing, luffing, and hoisting operations, the goods on it experience complex nonlinear swaying, reducing operational safety and efficiency. For mobile-base cranes, the translational and swaying disturbances of the base also cause the goods to sway. More complexly, for floating-base cranes (such as marine cranes), the continuous six-dimensional oscillation motion of the floating base (sway, pitch, roll, yaw, and heave) causes uncontrollable swaying and coupled translational motion of the goods, severely affecting operations and even causing safety accidents. Furthermore, uncertain external wind loads and collisions can also cause uncontrollable swaying of the goods.

[0003] For the safe lifting of oversized and heavy equipment, traditional single-machine lifting solutions based on tandem cranes suffer from limited load-bearing capacity and poor load attitude adjustment capabilities, making them unsuitable for completing tasks. Existing solutions include dual-machine, triple-machine, and multi-machine collaborative lifting technologies, but these not only suffer from difficulties in lifting planning, low operating efficiency, and high risks, but also face the challenge of anti-swaying that cannot be solved manually. Therefore, it is essential to design a lifting device suitable for lifting large and heavy goods, with multi-dimensional anti-sway functions, low anti-sway power consumption, fast response, convenient maintenance, and flexible operation. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a rope-suspended multi-ring double-arm crane with a follow-up, assistive, rear-mounted active anti-sway unit.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A rope-suspended multi-ring double-arm crane with a follow-up, power-assisted, rear-mounted active anti-sway unit includes a double-arm lifting body. The double-arm lifting body includes a common base, which is fixedly installed on the working platform. A common slewing tower is rotatably connected to the upper end of the common base. A common slewing drive is installed in the common base or the common slewing tower to drive the common slewing tower to rotate horizontally relative to the common base. Two fixed independent towers are symmetrically fixedly installed on the upper end of the common slewing tower. Independent slewing towers and independent slewing drives are rotatably installed on the fixed independent towers. The independent slewing drives are used to drive the independent slewing towers to rotate horizontally relative to the fixed independent towers. A boom is rotatably connected to the upper end of the independent slewing tower. A linear drive is provided between the boom and the independent slewing tower. The two ends of the linear drive are respectively hinged to the middle of the lower surface of the boom and the lower part of the independent slewing tower.

[0007] A lifting unit is installed on the boom. The lifting unit includes a lifting winch installed at the rear of the upper end face of the boom. A lifting cable is fixed and wound on the lifting winch. The other end of the lifting cable passes through the lifting guide wheel, the control block and the hook assembly in sequence and is then fixedly connected to the control block. The lifting guide wheel is rotatably installed at the front end of the boom.

[0008] A spacing adjustment unit is provided between the two hook assemblies;

[0009] A lifting assembly is also installed on the lower surface of the boom for adjusting the height of the control block;

[0010] An anti-sway unit is installed on the independent slewing tower. The anti-sway unit includes a follower sway frame rotatably mounted on the independent slewing tower. A connecting rod is hinged to the front end of the follower sway frame, and the other end of the connecting rod is hinged to the boom. Anti-sway wings are symmetrically fixed on both sides of the rear end of the follower sway frame. An anti-sway actuator is fixedly installed inside the anti-sway wing. An anti-sway winch is mounted on the output shaft of the anti-sway actuator. An outer guide pulley assembly is rotatably mounted inside the anti-sway wing on the side away from the independent slewing tower. An anti-sway guide frame is hinged to the anti-sway wing at a position corresponding to the outer guide pulley group. A first guide pulley group is rotatably installed on both the front and rear sides of the anti-sway guide frame, and a second guide pulley group is rotatably installed at the front end of the anti-sway guide frame. The installation direction of the first guide pulley group is perpendicular to the installation direction of the outer guide pulley group and the second guide pulley group. An anti-sway cable is fixed and wound on the anti-sway winch. The other end of the anti-sway cable passes through the outer guide pulley group, the first guide pulley group, and the second guide pulley group in sequence and is fixedly connected to the control block.

[0011] Furthermore, the control block includes a housing. A main lifting pulley is rotatably mounted on the rear side of the housing cavity. Guide pulleys are provided on both the front and rear sides of the main lifting pulley. An upper lifting pulley and a lower lifting pulley are rotatably mounted on the front side of the housing cavity. An upper guide pulley assembly and a lower guide pulley assembly are respectively provided above the upper lifting pulley and below the lower lifting pulley. The guide pulleys, the upper guide pulley assembly, and the lower guide pulley assembly are all rotatably mounted inside the housing. A central damping adjustment unit is provided between the upper lifting pulley and the lower lifting pulley. A swing measuring unit is provided on the lower rear side of the outer side of the housing. The swing measuring unit includes a fixed base fixedly connected to the housing, a cross shaft rotatably mounted inside the fixed base, a rotating housing rotatably connected to another shaft of the cross shaft, an inclination sensor fixedly mounted inside the rotating housing, a measuring lug fixedly mounted on the lower surface of the rotating housing, the other end of the lifting cable sequentially passing over the lifting guide wheel, the upper guide pulley group, the lifting upper pulley, the central damping adjustment unit, the lifting lower pulley, the lower guide pulley group and the hook assembly and fixed to the measuring lug, anti-sway lugs fixedly mounted on both sides of the housing, and the anti-sway cable fixedly connected to the anti-sway lugs.

[0012] Furthermore, the central damping adjustment unit includes a damping wheel, which is rotatably mounted on a bracket. The bracket is fixedly mounted on a C-shaped slide rod, which is slidably mounted on the housing. An adjusting bolt is threaded to the front end of the C-shaped slide rod, and the inner end of the adjusting bolt contacts the housing. A locking nut is threaded to the adjusting bolt.

[0013] Furthermore, the hook assembly includes a load-bearing retainer. Inside the load-bearing retainer, a main load-bearing pulley and two load-bearing guide wheels are rotatably installed. The two load-bearing guide wheels are located on both sides of the main load-bearing pulley. The lifting cable passes around the main load-bearing pulley and is fixedly connected to the measuring lug. A follower adapter is rotatably connected to the lower end of the load-bearing retainer. A lifting hook is rotatably installed at the lower end of the follower adapter. Two adjustable-distance retainers are symmetrically installed on one side of the follower adapter. An adjustable-distance pulley is rotatably installed inside the adjustable-distance retainer. Adjustable-distance guide wheels are provided above and below the adjustable-distance pulleys. The adjustable-distance guide wheels are rotatably connected to the adjustable-distance retainers.

[0014] Furthermore, the spacing adjustment unit includes a dual-axis driver, with an inner winch fixedly installed on each of the two output shafts of the dual-axis driver, and an outer winch fixedly installed on the outside of the inner winch. Anchor plates are fixedly installed on both the left and right sides of the dual-axis driver, and anchor ears corresponding to the adjusting pulleys are fixedly installed on the anchor plates. Adjusting cables corresponding to the adjusting pulleys on the left and right sides are fixedly wound on the outer and inner winches respectively, and the other end of the adjusting cable passes around the corresponding adjusting pulley and is fixedly connected to the corresponding anchor ear.

[0015] Furthermore, the lifting assembly includes a lifting winch fixedly installed on the lower surface of the boom, a lifting cable fixed and wound on the lifting winch, the other end of the lifting cable passing over the lifting guide wheel and the lifting main pulley and then fixedly connected to the lifting lug, the lifting guide wheel being rotatably installed at the front end of the boom and installed in a staggered manner with the lifting guide wheel, and the lifting lug being fixedly installed on the lower surface of the boom.

[0016] Furthermore, the following swaying frame, connecting rod, boom, and independent rotating tower together form a parallelogram structure.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] (1) The anti-sway unit of the present invention is installed at the rear between the independent slewing tower and the boom, and can follow the boom luffing. Specifically, the anti-sway unit is located behind the boom luffing linear drive, and the anti-sway wings on both sides of the anti-sway unit are also symmetrically installed at the rear of the independent slewing tower. This makes the load applied by the anti-sway cable to the anti-sway unit also assist the boom luffing and lifting, achieving low carbon and energy saving. Moreover, the installation of the anti-sway unit will not affect the original working space of the crane. The effective anti-sway working space of the crane is equal to the original working space of the crane. In addition, the load applied by the anti-sway cables on both sides to the anti-sway unit will first be transmitted to the high-strength independent slewing tower through the follow-up sway frame, which isolates the load from the boom and greatly improves the feasibility of the solution. The anti-sway unit is installed close to the independent slewing tower, which greatly facilitates the installation and maintenance of the anti-sway unit.

[0019] (2) The tension of the anti-sway cable in the anti-sway unit of the present invention can be calculated by the output torque or current of the anti-sway driver. The length of the anti-sway cable can be calculated by installing an encoder on the output shaft of the anti-sway driver or by the output rotation angle of the anti-sway driver. The sway angle of the lifting cable can be measured by an inclination sensor. Combining the above sensing information, the anti-sway driver can control the length and tension of the anti-sway cable in real time, realize the rapid adjustment of the horizontal position of the control block, and at the same time cooperate with the lifting assembly to slowly and accurately adjust the height of the control block, ultimately realizing efficient multi-dimensional anti-sway lifting of large and heavy cargo at the end.

[0020] (3) By adjusting the adjusting bolt of the central damping adjustment unit in the control block, the present invention can increase or decrease the wrap angle between the lifting cable and the damping wheel, the lifting upper pulley and the lifting lower pulley, thereby increasing or decreasing the frictional damping between the control block and the lifting cable, so as to adjust the control block swing suppression effect and reduce the influence of the control block swing on the anti-sway control.

[0021] (4) When the shape or size of the goods changes, the present invention can adapt to different goods by increasing or decreasing the included angle between the two booms; at the same time, when the included angle between the two booms changes, the spacing between the two hook assemblies can be adjusted adaptively by the spacing adjustment unit to ensure the stability of the rope-suspended multi-ring double boom crane, thereby achieving stable double boom lifting; in addition, during the process of changing the included angle between the two booms, the follower adapter in the hook assembly will synchronously perform adaptive passive rotation, which can ensure the smooth and stable operation of the spacing adjustment unit.

[0022] (5) When the cargo is small in size or light in weight, the present invention can quickly remove the spacing adjustment unit. At this time, the two booms are decoupled, and any boom and its matching anti-sway unit, control block, hook assembly, lifting assembly and hoisting assembly can be used independently for anti-sway lifting operations, realizing a more flexible and efficient operation mode.

[0023] (6) Through the cooperation of modules such as the anti-sway unit, control block, and spacing adjustment unit, the present invention can realize a wide range of dynamic adjustment of the fixed frequency and damping characteristics of the rope suspension multi-ring crane, so that the rope suspension multi-ring crane has wide-band anti-interference capability and adaptive passive anti-sway function, which greatly improves the adaptability of the rope suspension multi-ring crane to the swaying environment, cargo size and working conditions; at the same time, the anti-sway unit only needs to apply force to the small mass control block through a few anti-sway cables to realize the under-drive active anti-sway and position control of the large heavy cargo at the end, which enables the system to achieve low power consumption, active and passive integration of efficient and accurate anti-sway positioning operation. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the main body of the double-arm lifting device of the present invention;

[0026] Figure 3 This is a schematic diagram of the installation of the lifting guide wheel and hoisting guide wheel of the present invention;

[0027] Figure 4 This is a schematic diagram of the installation of the anti-sway unit of the present invention;

[0028] Figure 5 This is a schematic diagram of the anti-sway unit of the present invention;

[0029] Figure 6 This is a schematic diagram of the anti-sway wing structure of the present invention;

[0030] Figure 7 This is a schematic diagram of the control block of the present invention;

[0031] Figure 8 This is a cross-sectional view of the control block of the present invention;

[0032] Figure 9 This is a schematic diagram of the central damping adjustment unit of the present invention;

[0033] Figure 10 This is a schematic diagram of the hook assembly of the present invention;

[0034] Figure 11 This is a schematic diagram of the spacing adjustment unit of the present invention;

[0035] Figure 12 This is a schematic diagram showing the connection of the lifting cable, hoisting cable, and anti-sway cable of the present invention;

[0036] Figure 13 This is a schematic diagram of the connection of the adjustable cable of the present invention;

[0037] Figure 14 This is a schematic diagram of the operation of the two booms after decoupling in this invention;

[0038] In the diagram, the components are: 1. Double-arm crane body; 2. Lifting unit; 3. Control block; 4. Hook assembly; 5. Spacing adjustment unit; 6. Lifting assembly; 7. Anti-sway unit; 101. Common base; 102. Common slewing tower; 103. Fixed independent tower; 104. Independent slewing tower; 105. Boom; 106. Linear actuator; 107. Lifting guide wheel; 108. Lifting guide wheel; 109. Lifting lug; 201. Lifting winch; 202. Lifting cable; 301. Housing; 302. Main lifting pulley; 303. Guide pulley; 304. Upper lifting pulley; 305. Lower lifting pulley; 306. Upper guide pulley assembly; 307. Lower guide pulley assembly; 308. Fixed base; 309. Cross shaft; 310. Rotating housing; 311. Tilt sensor; 312. Measuring lug; 313. Anti-sway lug; 314. 314 nylon, 315 bracket, 316 C-type slide bar, 317 adjusting bolt, 318 locking nut, 401 bearing retainer, 402 bearing main pulley, 403 bearing guide wheel, 404 follower adapter, 405 lifting hook, 406 adjustable distance retainer, 407 adjustable distance pulley, 408 adjustable distance guide wheel, 501 dual-shaft drive, 502 inner winch, 503 outer winch, 504 anchor plate, 505 anchor lug, 506 adjustable distance cable, 601 hoisting winch, 602 hoisting cable, 701 follower sway frame, 702 connecting rod, 703 anti-sway wing, 704 anti-sway drive, 705 anti-sway winch, 706 outer guide pulley block, 707 anti-sway guide frame, 708 first guide pulley block, 709 second guide pulley block, 710 anti-sway cable. Detailed Implementation

[0039] To further illustrate the technical solution of the present invention, the present invention will be further described below through embodiments.

[0040] like Figures 1 to 14 As shown, a rope-suspended multi-ring double-arm crane with a follow-up, assistable, rear-mounted active anti-sway unit includes a double-arm lifting body 1. The double-arm lifting body 1 includes a common base 101, which is fixedly installed on the working platform. A common slewing tower 102 is rotatably connected to the upper end of the common base 101. A common slewing drive is installed in the common base 101 or the common slewing tower 102 to drive the common slewing tower 102 to rotate horizontally relative to the common base 101. A symmetrically fixed device is installed on the upper surface of the common slewing tower 102. Two fixed independent tower bodies 103 are provided. An independent rotary tower body 104 and an independent rotary drive are rotatably mounted on the fixed independent tower body 103. The independent rotary drive is used to drive the independent rotary tower body 104 to rotate horizontally relative to the fixed independent tower body 103. A boom 105 is rotatably connected to the upper end of the independent rotary tower body 104. A linear drive 106 is provided between the boom 105 and the independent rotary tower body 104. The two ends of the linear drive 106 are respectively hinged to the middle of the lower surface of the boom 105 and the lower part of the independent rotary tower body 104.

[0041] A lifting unit 2 is installed on the boom 105. The lifting unit 2 includes a lifting winch 201 installed at the rear of the upper end face of the boom 105. A lifting cable 202 is fixed and wound on the lifting winch 201. The other end of the lifting cable 202 passes through the lifting guide wheel 107, the control block 3 and the hook assembly 4 in sequence and is then fixedly connected to the control block 3. The lifting guide wheel 107 is rotatably installed at the front end of the boom 105.

[0042] The control block 3 includes a housing 301. A main lifting pulley 302 is rotatably mounted on the rear side of the inner cavity of the housing 301. Guide pulleys 303 are provided on both the front and rear sides of the main lifting pulley 302. An upper lifting pulley 304 and a lower lifting pulley 305 are rotatably mounted on the front side of the inner cavity of the housing 301. An upper guide pulley assembly 306 and a lower guide pulley assembly 307 are respectively provided above the upper lifting pulley 304 and below the lower lifting pulley 305. The guide pulleys 303, the upper guide pulley assembly 306, and the lower guide pulley assembly 307 are all rotatably mounted inside the housing 301. A central damping adjustment unit is provided between the upper lifting pulley 304 and the lower lifting pulley 305. A swing measuring unit is provided on the lower rear side of the outer side of the housing 301. The swing... The measuring unit includes a fixed base 308 fixedly connected to the housing 301. A cross shaft 309 is rotatably installed in the fixed base 308. A rotating housing 310 is rotatably connected to another shaft of the cross shaft 309. An inclination sensor 311 is fixedly installed inside the rotating housing 310. A measuring lug 312 is fixedly installed on the lower surface of the rotating housing 310. The other end of the lifting cable 202 passes sequentially around the lifting guide wheel 107, the upper guide pulley group 306, the lifting upper pulley 304, the central damping adjustment unit, the lifting lower pulley 305, the lower guide pulley group 307, and the hook assembly 4 and is fixed on the measuring lug 312. Anti-sway lugs 313 are fixedly installed on both sides of the housing 301. The anti-sway cable 710 is fixedly connected to the anti-sway lugs 313.

[0043] The central damping adjustment unit includes a damping wheel 314, which is rotatably mounted on a bracket 315. The bracket 315 is fixedly mounted on a C-shaped slide rod 316, which is slidably mounted on a housing 301. An adjusting bolt 317 is threadedly connected to the front end of the C-shaped slide rod 316. The inner end of the adjusting bolt 317 contacts the housing 301, and a locking nut 318 is threadedly connected to the adjusting bolt 317.

[0044] The hook assembly 4 includes a support retainer 401. Inside the support retainer 401, a main support pulley 402 and two support guide wheels 403 are rotatably installed. The two support guide wheels 403 are located on both sides of the main support pulley 402. The lifting cable 202 passes around the main support pulley 402 and is fixedly connected to the measuring lug 312. A follower adapter 404 is rotatably connected to the lower end of the support retainer 401. A lifting hook 405 is rotatably installed at the lower end of the follower adapter 404. Two adjustable distance retainers 406 are symmetrically installed on one side of the follower adapter 404. An adjustable distance pulley 407 is rotatably installed inside the adjustable distance retainer 406. Adjustable distance guide wheels 408 are provided above and below the adjustable distance pulley 407. The adjustable distance guide wheels 408 are rotatably connected to the adjustable distance retainer 406.

[0045] A spacing adjustment unit 5 is provided between the two hook assemblies 4. The spacing adjustment unit 5 includes a dual-axis driver 501. An inner winch 502 is fixedly installed on both output shafts of the dual-axis driver 501. An outer winch 503 is fixedly installed on the outside of the inner winch 502. An anchor plate 504 is fixedly installed on both the left and right sides of the dual-axis driver 501. An anchor lug 505 corresponding to the adjusting pulley 407 is fixedly installed on the anchor plate 504. Adjusting cables 506 corresponding to the left and right adjusting pulleys 407 are fixedly wound on the outer winch 503 and the inner winch 502 respectively. The other end of the adjusting cable 506 passes around the corresponding adjusting pulley 407 and is fixedly connected to the corresponding anchor lug 505.

[0046] A lifting assembly 6 is also installed on the lower surface of the boom 105 for adjusting the height of the control block 3. The lifting assembly 6 includes a lifting winch 601 fixedly installed on the lower surface of the boom 105. A lifting cable 602 is fixed and wound on the lifting winch 601. The other end of the lifting cable 602 passes over the lifting guide wheel 108 and the lifting main pulley 302 and is fixedly connected to the lifting lug 109. The lifting guide wheel 108 is rotatably installed at the front end of the boom 105 and is installed in a staggered manner with the lifting guide wheel 107. The lifting lug 109 is fixedly installed on the lower surface of the boom 105.

[0047] An anti-sway unit 7 is installed on the independent slewing tower 104. The anti-sway unit 7 includes a follower sway frame 701 rotatably mounted on the independent slewing tower 104. A connecting rod 702 is hinged to the front end of the follower sway frame 701, and the other end of the connecting rod 702 is hinged to the boom 105. The follower sway frame 701, the connecting rod 702, the boom 105, and the independent slewing tower 104 together form a parallelogram structure. Anti-sway wings 703 are symmetrically fixedly installed on both sides of the rear end of the follower sway frame 701. An anti-sway actuator 704 is fixedly installed inside the anti-sway wing 703. An anti-sway winch 705 is installed on the output shaft of the anti-sway actuator 704. The anti-sway wing 703 is located away from the independent slewing tower 104. An outer guide pulley assembly 706 is rotatably mounted on one side of the anti-sway wing 703. An anti-sway guide frame 707 is hinged to the anti-sway wing 703 at a position corresponding to the outer guide pulley assembly 706. A first guide pulley assembly 708 is rotatably mounted on both the front and rear sides of the anti-sway guide frame 707. A second guide pulley assembly 709 is rotatably mounted on the front end of the anti-sway guide frame 707. The installation direction of the first guide pulley assembly 708 is perpendicular to the installation direction of the outer guide pulley assembly 706 and the second guide pulley assembly 709. An anti-sway cable 710 is fixed and wound on the anti-sway winch 705. The other end of the anti-sway cable 710 passes through the outer guide pulley assembly 706, the first guide pulley assembly 708 and the second guide pulley assembly 709 in sequence and is fixedly connected to the control block 3.

[0048] Anti-sway damping adjustment method: S1, rotate the locking nut 318 in the central damping adjustment unit to maintain a certain gap between it and the outer end face of the C-shaped slide bar 316; S2, rotate the adjusting bolt 317 to move the C-shaped slide bar 316 to a suitable position to increase or decrease the wrap angle between the lifting cable and the damping wheel, the upper lifting pulley and the lower lifting pulley, thereby increasing or decreasing the frictional damping between the control block and the lifting cable. During the movement, due to the gravity of the hook assembly 4 and the spacing adjustment unit 5, the lifting cable 202 always applies a backward force to the damping wheel 314, thereby keeping the inner end of the adjusting bolt 317 in contact with the housing 301; S3, rotate the locking nut 318 to contact the outer end face of the C-shaped slide bar 316 to lock the position of the damping wheel.

[0049] The foregoing has shown and described the main features and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0050] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A rope-suspended multi-ring double-arm crane with a follow-up, power-assisted, rear-mounted active anti-sway unit, characterized in that: The system includes a double-arm crane body (1), which includes a common base (101) fixedly installed on the working platform. A common slewing tower (102) is rotatably connected to the upper end of the common base (101). A common slewing drive is installed in the common base (101) or the common slewing tower (102) to drive the common slewing tower (102) to rotate horizontally relative to the common base (101). Two fixed independent towers (103) are symmetrically fixedly installed on the upper end of the common slewing tower (102). An independent slewing tower body (104) and an independent slewing drive are rotatably mounted on the fixed independent tower body (103). The independent slewing drive is used to drive the independent slewing tower body (104) to rotate horizontally relative to the fixed independent tower body (103). A boom (105) is rotatably connected to the upper end of the independent slewing tower body (104). A linear drive (106) is provided between the boom (105) and the independent slewing tower body (104). The two ends of the linear drive (106) are respectively hinged to the middle of the lower surface of the boom (105) and the lower part of the independent slewing tower body (104). A lifting unit (2) is installed on the boom (105). The lifting unit (2) includes a lifting winch (201) installed at the rear of the upper end face of the boom (105). A lifting cable (202) is fixed and wound on the lifting winch (201). The other end of the lifting cable (202) passes through the lifting guide wheel (107), the control block (3) and the hook assembly (4) in sequence and is then fixedly connected to the control block (3). The lifting guide wheel (107) is rotatably installed at the front end of the boom (105). A spacing adjustment unit (5) is provided between the two hook assemblies (4); A lifting assembly (6) is also installed on the lower surface of the boom (105) for adjusting the height of the control block (3); An anti-sway unit (7) is installed on the independent slewing tower (104). The anti-sway unit (7) includes a follower sway frame (701) rotatably mounted on the independent slewing tower (104). A connecting rod (702) is hinged to the front end of the follower sway frame (701), and the other end of the connecting rod (702) is hinged to the boom (105). Anti-sway wings (703) are symmetrically fixed on both sides of the rear end of the follower sway frame (701). An anti-sway actuator (704) is fixedly installed inside the anti-sway wing (703). An anti-sway winch (705) is installed on the output shaft of the anti-sway actuator (704). An outer guide pulley group (706) is rotatably installed inside the anti-sway wing (703) on the side away from the independent slewing tower (104). An anti-sway guide frame (707) is hinged to the anti-sway wing (703) at a position corresponding to the outer guide pulley group (706). A first guide pulley group (708) is rotatably installed on both the front and rear sides of the anti-sway guide frame (707). A second guide pulley group (709) is rotatably installed at the front end of the anti-sway guide frame (707). The installation direction of the first guide pulley group (708) is perpendicular to the installation direction of the outer guide pulley group (706) and the second guide pulley group (709). An anti-sway cable (710) is fixed and wound on the anti-sway winch (705). The other end of the anti-sway cable (710) passes through the outer guide pulley group (706), the first guide pulley group (708), and the second guide pulley group (709) in sequence and is fixedly connected to the control block (3).

2. The rope-suspended multi-ring double-arm crane with a follow-up, assistable, rear-mounted active anti-sway unit as described in claim 1, characterized in that: The control block (3) includes a housing (301). A main lifting pulley (302) is rotatably mounted on the rear side of the inner cavity of the housing (301). Guide pulleys (303) are provided on both the front and rear sides of the main lifting pulley (302). An upper lifting pulley (304) and a lower lifting pulley (305) are rotatably mounted on the front side of the inner cavity of the housing (301). An upper guide pulley assembly (306) and a lower guide pulley assembly (307) are respectively provided above the upper lifting pulley (304) and below the lower lifting pulley (305). The guide pulleys (303), the upper guide pulley assembly (306), and the lower guide pulley assembly (307) are all rotatably mounted inside the housing (301). A central damping adjustment unit is provided between the upper lifting pulley (304) and the lower lifting pulley (305). A swing measuring unit is provided on the lower rear side of the outer side of the housing (301). The unit includes a fixed base (308) fixedly connected to the housing (301), a cross shaft (309) is rotatably installed in the fixed base (308), a rotating housing (310) is rotatably connected to another shaft of the cross shaft (309), an inclination sensor (311) is fixedly installed inside the rotating housing (310), a measuring lug (312) is fixedly provided on the lower surface of the rotating housing (310), the other end of the lifting cable (202) passes through the lifting guide wheel (107), the upper guide pulley group (306), the lifting upper pulley (304), the central damping adjustment unit, the lifting lower pulley (305), the lower guide pulley group (307) and the hook assembly (4) and is fixed on the measuring lug (312), and anti-sway lugs (313) are fixedly provided on both sides of the housing (301), and the anti-sway cable (710) is fixedly connected to the anti-sway lugs (313).

3. The rope-suspended multi-ring double-arm crane with a follow-up, assistable, rear-mounted active anti-sway unit as described in claim 2, characterized in that: The central damping adjustment unit includes a damping wheel (314), which is rotatably mounted on a bracket (315). The bracket (315) is fixedly mounted on a C-shaped slide rod (316), which is slidably mounted on a housing (301). An adjusting bolt (317) is threadedly connected to the front end of the C-shaped slide rod (316). The inner end of the adjusting bolt (317) is in contact with the housing (301), and a locking nut (318) is threadedly connected to the adjusting bolt (317).

4. The rope-suspended multi-ring double-arm crane with a follow-up, assistable, rear-mounted active anti-sway unit according to claim 2, characterized in that: The hook assembly (4) includes a support cage (401). Inside the support cage (401), a main support pulley (402) and two support guide wheels (403) are rotatably mounted. The two support guide wheels (403) are located on both sides of the main support pulley (402). The lifting cable (202) passes around the main support pulley (402) and is fixedly connected to the measuring lug (312). A follower wheel is rotatably connected to the lower end of the support cage (401). A lifting hook (405) is rotatably installed at the lower end of the transition frame (404). Two adjustable distance retainers (406) are symmetrically installed on one side of the transition frame (404). An adjustable distance pulley (407) is rotatably installed inside the adjustable distance retainer (406). An adjustable distance guide wheel (408) is provided above and below the adjustable distance pulley (407). The adjustable distance guide wheel (408) is rotatably connected to the adjustable distance retainer (406).

5. The rope-suspended multi-ring double-arm crane with a follow-up, assistable, rear-mounted active anti-sway unit according to claim 4, characterized in that: The spacing adjustment unit (5) includes a dual-axis driver (501). An inner winch (502) is fixedly installed on both output shafts of the dual-axis driver (501). An outer winch (503) is fixedly installed on the outside of the inner winch (502). An anchor plate (504) is fixedly installed on both the left and right sides of the dual-axis driver (501). An anchor ear (505) corresponding to the adjusting pulley (407) is fixedly installed on the anchor plate (504). Adjusting cables (506) corresponding to the adjusting pulleys (407) on the left and right sides are fixedly wound on the outer winch (503) and the inner winch (502). The other end of the adjusting cable (506) passes around the corresponding adjusting pulley (407) and is fixedly connected to the corresponding anchor ear (505).

6. The rope-suspended multi-ring double-arm crane with a follow-up, assistable, rear-mounted active anti-sway unit according to claim 2, characterized in that: The lifting assembly (6) includes a lifting winch (601) fixedly installed on the lower surface of the boom (105). A lifting cable (602) is fixed and wound on the lifting winch (601). The other end of the lifting cable (602) passes over the lifting guide wheel (108) and the lifting main pulley (302) and is fixedly connected to the lifting lug (109). The lifting guide wheel (108) is rotatably installed at the front end of the boom (105) and is installed in a staggered manner with the lifting guide wheel (107). The lifting lug (109) is fixedly installed on the lower surface of the boom (105).

7. The rope-suspended multi-ring double-arm crane with a follow-up, assistable, rear-mounted active anti-sway unit according to claim 1, characterized in that: The following swaying frame (701), connecting rod (702), boom (105) and independent rotating tower body (104) together form a parallelogram structure.

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