An automatic sway suppression device and method for under-constrained hoisting

Abstract

An automatic anti-swing device and method for under-constrained hoisting belong to the technical field of object hoisting anti-swing control, and the device comprises a hoisting device, an anti-swing actuator, a flexible hoisting cable and an object grabbing actuator. The anti-swing actuator is arranged at the bottom of the hoisting device. The upper end of the flexible hoisting cable is connected to the anti-swing actuator, and the lower end of the flexible hoisting cable is connected to the object grabbing actuator. An upper hoisting cable lock is arranged between the flexible hoisting cable and the anti-swing actuator, and a redundant hoisting cable storage box is arranged between the flexible hoisting cable and the object grabbing actuator. A lower hoisting cable lock is arranged at the top of the redundant hoisting cable storage box. The automatic anti-swing device and method for under-constrained hoisting can realize automatic anti-swing under active control, and can provide sufficient motion accuracy and response speed when facing complex disturbances and multi-dimensional swings. The device has the characteristics of short anti-swing time and high anti-swing efficiency, and provides technical support for realizing reliable and efficient object hoisting operation.

Description

Technical Field

[0001] This invention belongs to the field of anti-sway control technology for hoisted objects, and in particular relates to an automatic anti-sway device and method for under-constrained hoisting. Background Technology

[0002] During the hoisting operation, due to the influence of motion inertia, the hoisted object will inevitably sway under natural conditions. The swaying of the object will not only affect its transportation accuracy, but may also cause the hoisted object to collide with equipment or personnel in the surrounding area, thus creating safety risks during the hoisting operation.

[0003] Currently, the main methods for eliminating swaying are: ① Reducing the inertial effect by slowly starting and stopping the object during hoisting, thereby reducing the swaying amplitude. However, this method is time-consuming and seriously affects the efficiency of hoisting operations; ② Passively eliminating swaying by installing dampers during hoisting. However, this passive method cannot provide sufficient motion accuracy and response speed when facing complex disturbances and multidimensional swaying; ③ Applying sway-eliminating resistance to the object through guide ropes or stabilizing ropes during hoisting. However, this method requires manual assistance and suffers from low sway-eliminating efficiency and high labor intensity. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides an automatic sway elimination device and method for under-constrained hoisting, which can achieve automatic sway elimination under active control. When facing complex disturbances and multi-dimensional swaying, it can provide sufficient motion accuracy and response speed, and has the characteristics of short sway elimination time and high sway elimination efficiency, providing technical support for achieving reliable and efficient object hoisting operations.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an automatic anti-sway device for under-constrained hoisting, comprising hoisting equipment, an anti-sway actuator, a flexible hoisting cable, and an item gripping actuator; the anti-sway actuator is disposed at the bottom of the hoisting equipment; the upper end of the flexible hoisting cable is connected to the anti-sway actuator, and the lower end of the flexible hoisting cable is connected to the item gripping actuator.

[0006] An upper cable lock is provided between the flexible cable and the anti-sway actuator, and a redundant cable storage box is provided between the flexible cable and the object grasping actuator. A lower cable lock is provided on the top of the redundant cable storage box.

[0007] The anti-sway actuator is divided into two structural types: a rotary-translational coupling structure and a cross-shaped double-translational coupling structure. When the anti-sway actuator adopts the rotary-translational coupling structure, it includes a rotary attitude control unit and a translational attitude control unit. The rotary attitude control unit is installed on the hoisting equipment, and the translational attitude control unit is installed on the rotary attitude control unit. The upper end of the flexible hoisting cable is connected to the translational attitude control unit. When the anti-sway actuator adopts the cross-shaped double-translational coupling structure, it includes a lateral attitude control unit and a longitudinal attitude control unit. The lateral attitude control unit is installed on the hoisting equipment, and the longitudinal attitude control unit is installed on the lateral attitude control unit. The upper end of the flexible hoisting cable is connected to the longitudinal attitude control unit.

[0008] The rotation attitude control unit includes a rotation attitude control motor, a rotation attitude control motor frame, a transfer base plate, and a bearing turntable; the transfer base plate is horizontally arranged and fixedly connected to the hoisting equipment; the rotation attitude control motor frame is fixedly installed above the transfer base plate; the rotation attitude control motor is vertically fixedly installed on the rotation attitude control motor frame, with the motor shaft of the rotation attitude control motor facing downwards; the bearing turntable is horizontally arranged below the transfer base plate, and the upper plate of the bearing turntable is fixedly connected to the transfer base plate.

[0009] The translation attitude control unit includes a translation attitude control motor, a translation attitude control motor frame, a translation attitude control lead screw, a translation attitude control lead screw nut slider seat, and a translation attitude control guide rail; the translation attitude control motor frame is horizontally positioned below the bearing turntable, and the lower plate of the bearing turntable is fixedly connected to the translation attitude control motor frame; the translation attitude control motor is horizontally fixedly mounted on the translation attitude control motor frame; the translation attitude control lead screw is horizontally positioned below the translation attitude control motor frame, and both ends of the translation attitude control lead screw are rotatably connected to the translation attitude control motor frame through bearing seats, with anti-collision blocks installed on the bearing seats; The motor shaft of the translation attitude control motor is coaxially fixed to the end of the translation attitude control lead screw via a coupling; the translation attitude control guide rail is horizontally set and fixedly installed on the translation attitude control motor frame, and the translation attitude control guide rail and the translation attitude control lead screw are distributed parallel to each other; the nut end of the translation attitude control lead screw nut slider seat is connected to the translation attitude control lead screw, and the slider end of the translation attitude control lead screw nut slider seat is connected to the translation attitude control guide rail; the upper suspension cable lock is fixedly set at the bottom of the translation attitude control lead screw nut slider seat, and the flexible suspension cable is fixedly connected to the translation attitude control lead screw nut slider seat through the upper suspension cable lock.

[0010] The lateral attitude control unit includes a lateral attitude control motor, a lateral attitude control motor frame, a lateral attitude control lead screw, a lateral attitude control lead screw nut slider seat, and a lateral attitude control guide rail. The lateral attitude control motor frame is horizontally arranged and fixedly connected to the hoisting equipment. The lateral attitude control motor is horizontally fixedly mounted on the lateral attitude control motor frame. The lateral attitude control lead screw is horizontally arranged below the lateral attitude control motor frame, and both ends of the lateral attitude control lead screw are rotatably connected to the lateral attitude control motor frame through bearing seats, with anti-collision blocks installed on the bearing seats. The motor shaft of the lateral attitude control motor is coaxially fixedly connected to the end of the lateral attitude control lead screw through a coupling. The lateral attitude control guide rail is horizontally arranged and fixedly mounted on the lateral attitude control motor frame, and is parallel to the lateral attitude control lead screw. The lead screw nut end of the lateral attitude control lead screw nut slider seat is connected to the lateral attitude control lead screw, and the slider end of the lateral attitude control lead screw nut slider seat is connected to the lateral attitude control guide rail.

[0011] The longitudinal attitude control unit includes a longitudinal attitude control motor, a longitudinal attitude control motor frame, a longitudinal attitude control lead screw, a longitudinal attitude control lead screw nut slider seat, and a longitudinal attitude control guide rail. The longitudinal attitude control motor frame is horizontally arranged and fixedly connected to the bottom of the transverse attitude control lead screw nut slider seat. The longitudinal attitude control motor is horizontally fixedly mounted on the longitudinal attitude control motor frame. The longitudinal attitude control lead screw is horizontally arranged below the longitudinal attitude control motor frame, and the longitudinal attitude control lead screw is perpendicular to the transverse attitude control lead screw. Both ends of the longitudinal attitude control lead screw are rotatably connected to the longitudinal attitude control motor frame through bearing seats. A bearing seat is mounted on the bearing seat. The system includes: a collision avoidance block; a motor shaft of the longitudinal attitude control motor coaxially fixed to the end of the longitudinal attitude control lead screw via a coupling; a horizontally arranged and fixedly installed longitudinal attitude control motor frame, with the longitudinal attitude control guide rail and the longitudinal attitude control lead screw distributed parallel to each other; a lead screw end of the longitudinal attitude control lead screw nut slider seat connected to the longitudinal attitude control lead screw, and a slider end of the longitudinal attitude control lead screw nut slider seat connected to the longitudinal attitude control guide rail; an upper suspension cable lock fixedly installed at the bottom of the longitudinal attitude control lead screw nut slider seat, and a flexible suspension cable fixedly connected to the longitudinal attitude control lead screw nut slider seat via the upper suspension cable lock.

[0012] The object grasping actuator includes an object grasping actuator servo, an object grasping actuator servo frame, an active hook, an active gear, an active gear shaft, a driven hook, a driven gear, and a driven gear shaft; the top of the object grasping actuator servo frame is fixedly connected to the bottom of a redundant cable storage box; the object grasping actuator servo is horizontally fixedly mounted on the object grasping actuator servo frame; the active gear shaft is horizontally arranged, one end of the active gear shaft is coaxially fixedly connected to the power output shaft of the object grasping actuator servo, and the other end of the active gear shaft is rotatably connected to the object via a bearing. The gripping actuator is mounted on a servo frame; the driven gear shaft is horizontally arranged and parallel to the drive gear shaft, with both ends of the driven gear shaft rotatably connected to the gripping actuator frame via bearings; the drive gear is coaxially and fixedly mounted on the drive gear shaft; the driven gear is coaxially and fixedly mounted on the driven gear shaft, and the driven gear meshes with the drive gear; the root of the drive claw is fixedly connected to the drive gear shaft; the root of the driven claw is fixedly connected to the driven gear shaft, and the hook head of the driven claw faces the hook head of the drive claw.

[0013] An acceleration sensor is installed on the object-grabbing actuator frame; a vision sensor is installed below the hoisting equipment.

[0014] An automatic anti-sway method for under-constrained hoisting employs the aforementioned automatic anti-sway device for under-constrained hoisting. Specifically, the hoisting equipment is activated, initially raising the unloaded object-grabbing actuator vertically and suspending it in the air. The hoisting equipment does not output horizontal displacement, and the flexible cable remains vertically drooping under the gravity pull of the object-grabbing actuator. At this point, the instantaneous tilt angle and velocity detected by the accelerometer are both zero. Subsequently, the hoisting equipment outputs horizontal displacement. Due to inertia, the object-grabbing actuator maintains a stationary tendency, while the hoisting equipment is in a translational motion. At this point, a relative displacement occurs between the object-grabbing actuator and the hoisting equipment. Simultaneously, the flexible cable tends to tilt from its initial vertical drooping state, and the object-grabbing actuator begins to accelerate. During this process, the accelerometer continuously detects the instantaneous tilt angle and velocity. The onboard computer synchronously sends attitude control commands to the anti-sway actuator based on the detection data fed back by the accelerometer. It predicts the sway trend through the Kalman filter algorithm and dynamically corrects the horizontal position of the upper cable lock in real time through the anti-sway actuator, so that the upper cable lock is dynamically positioned directly above the object grasping actuator, thereby keeping the flexible cable dynamically in a vertical hanging state, realizing automatic anti-sway in the unloaded lifting state. At the same time, the anti-sway effect is visually inspected in real time through the vision sensor. When the unloaded object grasping actuator moves above the target object, it automatically grasps the target object, and then the object grasping actuator holding the target object rises vertically and hovers in the air. Then the lifting equipment outputs horizontal displacement and continues to execute the automatic anti-sway process in the loaded state until the target object is transported to the target area.

[0015] The beneficial effects of this invention are: The automatic anti-sway device and method for under-constrained hoisting of the present invention can realize automatic anti-sway under active control. When facing complex disturbances and multi-dimensional swings, it can provide sufficient motion accuracy and response speed. It has the characteristics of short anti-sway time and high anti-sway efficiency, and provides technical support for realizing reliable and efficient object hoisting operations. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an automatic anti-sway device for under-constrained hoisting according to the present invention (the anti-sway actuator adopts a rotary-translational coupling structure type); Figure 2 This is a schematic diagram of an automatic anti-sway device for under-constrained hoisting according to the present invention (the anti-sway actuator adopts a cross-shaped double translational coupling structure type); Figure 3 This is a schematic diagram of an automatic anti-sway device (the anti-sway actuator adopts a rotary-translational coupling structure) for under-constrained hoisting according to the present invention (the hoisting equipment is not shown). Figure 4 This is a schematic diagram of an automatic anti-sway device for under-constrained hoisting according to the present invention (the anti-sway actuator adopts a cross-shaped double translational coupling structure type) (the hoisting equipment is not shown). Figure 5 This is a schematic diagram of the anti-sway actuator of the present invention, which adopts a rotary-translational coupling structure. Figure 6 This is a schematic diagram of the anti-sway actuator of the present invention, which adopts a cross-shaped double translational coupling structure. Figure 7 This is a schematic diagram of the combined structure of the overhead cable lock, redundant cable storage box and item grasping actuator of the present invention. In the diagram, 1—rotational attitude control motor, 2—rotational attitude control motor frame, 3—adapter base plate, 4—bearing turntable, 5—translational attitude control motor, 6—translational attitude control motor frame, 7—translational attitude control lead screw, 8—translational attitude control lead screw nut slider seat, 9—translational attitude control guide rail, 10—lateral attitude control motor, 11—lateral attitude control motor frame, 12—lateral attitude control lead screw, 13—lateral attitude control lead screw nut slider seat, 14—lateral attitude control guide rail, 15—longitudinal attitude control motor, 16—longitudinal attitude control motor. 17—Longitudinal attitude control motor frame; 18—Longitudinal attitude control screw; 19—Longitudinal attitude control guide rail; 20—Object gripping actuator; 21—Object gripping actuator frame; 22—Active hook; 23—Active gear; 24—Driven hook; 25—Acceleration sensor; 26—Vision sensor; 27—Lifting equipment; 28—Anti-sway actuator; 29—Flexible lifting cable; 30—Object gripping actuator; 31—Upper lifting cable lock; 32—Redundant lifting cable storage box; 33—Lower lifting cable lock. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] like Figures 1-7 As shown, an automatic anti-sway device for under-constrained hoisting includes a hoisting device 27, an anti-sway actuator 28, a flexible hoisting cable 29, and an item gripping actuator 30; the anti-sway actuator 28 is located at the bottom of the hoisting device 27; the upper end of the flexible hoisting cable 29 is connected to the anti-sway actuator 28, and the lower end of the flexible hoisting cable 29 is connected to the item gripping actuator 30.

[0019] An upper cable lock 31 is provided between the flexible cable 29 and the anti-sway actuator 28, and a redundant cable storage box 32 is provided between the flexible cable 29 and the object grasping actuator 30. A lower cable lock 33 is provided on the top of the redundant cable storage box 32.

[0020] The anti-sway actuator 28 has two structural types: a rotary-translational coupling structure and a cross-shaped double-translational coupling structure. When the anti-sway actuator 28 adopts the rotary-translational coupling structure, it includes a rotary attitude control unit and a translational attitude control unit. The rotary attitude control unit is installed on the hoisting equipment 27, and the translational attitude control unit is installed on the rotary attitude control unit. The upper end of the flexible cable 29 is connected to the translational attitude control unit. When the anti-sway actuator 28 adopts the cross-shaped double-translational coupling structure, it includes a lateral attitude control unit and a longitudinal attitude control unit. The lateral attitude control unit is installed on the hoisting equipment 27, and the longitudinal attitude control unit is installed on the lateral attitude control unit. The upper end of the flexible cable 29 is connected to the longitudinal attitude control unit.

[0021] The rotation attitude control unit includes a rotation attitude control motor 1, a rotation attitude control motor frame 2, a transfer base plate 3, and a bearing turntable 4. The transfer base plate 3 is horizontally arranged and fixedly connected to the hoisting equipment 27. The rotation attitude control motor frame 2 is fixedly installed above the transfer base plate 3. The rotation attitude control motor 1 is vertically fixedly installed on the rotation attitude control motor frame 2, with the motor shaft of the rotation attitude control motor 1 facing downward. The bearing turntable 4 is horizontally arranged below the transfer base plate 3, and the upper plate of the bearing turntable 4 is fixedly connected to the transfer base plate 3.

[0022] The translation attitude control unit includes a translation attitude control motor 5, a translation attitude control motor frame 6, a translation attitude control lead screw 7, a translation attitude control lead screw nut slider seat 8, and a translation attitude control guide rail 9. The translation attitude control motor frame 6 is horizontally arranged below the bearing turntable 4, and the lower plate of the bearing turntable 4 is fixedly connected to the translation attitude control motor frame 6. The translation attitude control motor 5 is horizontally fixed on the translation attitude control motor frame 6. The translation attitude control lead screw 7 is horizontally arranged below the translation attitude control motor frame 6, and both ends of the translation attitude control lead screw 7 are rotatably connected to the translation attitude control motor frame 6 through bearing seats. Anti-collision blocks are installed on the bearing seats. The motor shaft of the attitude control motor 5 is coaxially fixed to the end of the attitude control lead screw 7 via a coupling; the attitude control guide rail 9 is horizontally set and fixedly installed on the attitude control motor frame 6, and the attitude control guide rail 9 is distributed parallel to the attitude control lead screw 7; the nut end of the attitude control lead screw nut slider seat 8 is connected to the attitude control lead screw 7, and the slider end of the attitude control lead screw nut slider seat 8 is connected to the attitude control guide rail 9; the upper suspension cable lock 31 is fixedly set at the bottom of the attitude control lead screw nut slider seat 8, and the flexible suspension cable 29 is fixedly connected to the attitude control lead screw nut slider seat 8 via the upper suspension cable lock 31.

[0023] The lateral attitude control unit includes a lateral attitude control motor 10, a lateral attitude control motor frame 11, a lateral attitude control lead screw 12, a lateral attitude control lead screw nut slider seat 13, and a lateral attitude control guide rail 14. The lateral attitude control motor frame 11 is horizontally arranged and fixedly connected to the hoisting equipment 27. The lateral attitude control motor 10 is horizontally fixedly mounted on the lateral attitude control motor frame 11. The lateral attitude control lead screw 12 is horizontally arranged below the lateral attitude control motor frame 11, and both ends of the lateral attitude control lead screw 12 are connected to the lateral attitude control motor 10 through bearing seats. The frame 11 is rotatably connected, and anti-collision blocks are installed on the bearing seat; the motor shaft of the lateral attitude control motor 10 is coaxially fixed to the end of the lateral attitude control lead screw 12 through a coupling; the lateral attitude control guide slide rail 14 is horizontally set and fixedly installed on the lateral attitude control motor frame 11, and the lateral attitude control guide slide rail 14 and the lateral attitude control lead screw 12 are distributed in parallel; the nut end of the lateral attitude control lead screw nut slider seat 13 is connected to the lateral attitude control lead screw 12, and the slider end of the lateral attitude control lead screw nut slider seat 13 is connected to the lateral attitude control guide slide rail 14.

[0024] The longitudinal attitude control unit includes a longitudinal attitude control motor 15, a longitudinal attitude control motor frame 16, a longitudinal attitude control lead screw 17, a longitudinal attitude control lead screw nut slider seat 18, and a longitudinal attitude control guide rail 19. The longitudinal attitude control motor frame 16 is horizontally positioned and fixedly connected to the bottom of the transverse attitude control lead screw nut slider seat 13. The longitudinal attitude control motor 15 is horizontally fixed on the longitudinal attitude control motor frame 16. The longitudinal attitude control lead screw 17 is horizontally positioned below the longitudinal attitude control motor frame 16, and is perpendicular to the transverse attitude control lead screw 12. Both ends of the longitudinal attitude control lead screw 17 are rotatably connected to the longitudinal attitude control motor frame 16 via bearing seats. A bearing seat is mounted on the bearing seat. The system includes: anti-collision blocks; the motor shaft of the longitudinal attitude control motor 15 is coaxially fixed to the end of the longitudinal attitude control lead screw 17 via a coupling; the longitudinal attitude control guide rail 19 is horizontally arranged and fixedly installed on the longitudinal attitude control motor frame 16, and the longitudinal attitude control guide rail 19 and the longitudinal attitude control lead screw 17 are distributed in parallel; the nut end of the longitudinal attitude control lead screw nut slider seat 18 is connected to the longitudinal attitude control lead screw 17, and the slider end of the longitudinal attitude control lead screw nut slider seat 18 is connected to the longitudinal attitude control guide rail 19; the upper suspension cable lock 31 is fixedly installed at the bottom of the longitudinal attitude control lead screw nut slider seat 18, and the flexible suspension cable 29 is fixedly connected to the longitudinal attitude control lead screw nut slider seat 18 via the upper suspension cable lock 31.

[0025] The object grasping actuator 30 includes an object grasping actuator servo 20, an object grasping actuator frame 21, an active hook 22, an active gear 23, an active gear shaft, a driven hook 24, a driven gear, and a driven gear shaft; the top of the object grasping actuator frame 21 is fixedly connected to the bottom of the redundant cable storage box 32; the object grasping actuator servo 20 is horizontally fixedly mounted on the object grasping actuator frame 21; the active gear shaft is horizontally arranged, one end of the active gear shaft is coaxially fixedly connected to the power output shaft of the object grasping actuator servo 20, and the other end of the active gear shaft is rotatably connected via a bearing. On the object grasping execution servo frame 21; the driven gear shaft is horizontally arranged and parallel to the driving gear shaft, and both ends of the driven gear shaft are rotatably connected to the object grasping execution servo frame 21 through bearings; the driving gear 23 is coaxially fixedly mounted on the driving gear shaft; the driven gear is coaxially fixedly mounted on the driven gear shaft, and the driven gear meshes with the driving gear 23; the root of the driving claw 22 is fixedly connected to the driving gear shaft; the root of the driven claw 24 is fixedly connected to the driven gear shaft, and the hook head of the driven claw 24 is directly opposite the hook head of the driving claw 22.

[0026] An acceleration sensor 25 is installed on the object grasping actuator frame 21; a vision sensor 26 is installed below the hoisting device 27.

[0027] In this embodiment, the hoisting equipment 27 adopts a quadcopter drone, and the rotary attitude control motor 1, translational attitude control motor 5, lateral attitude control motor 10, and longitudinal attitude control motor 15 are all servo motors.

[0028] An automatic anti-sway method for under-constrained hoisting employs the aforementioned automatic anti-sway device for under-constrained hoisting. Specifically, the hoisting equipment 27 is activated, initially causing the unloaded object-grabbing actuator 30 to rise vertically and suspend in the air. The hoisting equipment 27 does not output horizontal displacement, and the flexible cable 29 remains vertically drooping under the gravity pull of the object-grabbing actuator 30. At this time, the instantaneous tilt angle and motion velocity detected by the accelerometer 25 are both zero. Subsequently, the hoisting equipment 27 outputs horizontal displacement. Under inertia, the object-grabbing actuator 30 maintains a stationary tendency, while the hoisting equipment 27 is in a translational motion state. At this time, a relative displacement occurs between the object-grabbing actuator 30 and the hoisting equipment 27. Simultaneously, the flexible cable 29 tends to change from its initial vertically drooping state to a tilted state, and the object-grabbing actuator 30 begins to accelerate. During this process, the accelerometer 25 continuously detects the instantaneous tilt angle. Based on the detection data fed back by the accelerometer 25, the onboard computer inside the hoisting equipment 27 synchronously sends attitude control commands to the anti-sway actuator 28 according to the movement speed. The Kalman filter algorithm is used to predict the sway trend, and the anti-sway actuator dynamically corrects the horizontal position of the upper cable lock in real time, so that the upper cable lock is dynamically above the item gripping actuator, thereby keeping the flexible cable dynamically in a vertical hanging state, realizing automatic anti-sway in the unloaded hoisting state. At the same time, the anti-sway effect is visually inspected in real time by a vision sensor. When the unloaded item gripping actuator moves above the target item, the item gripping actuator automatically grips the target item, and then the item gripping actuator holding the target item rises vertically and hovers in the air. After that, the hoisting equipment 27 outputs horizontal displacement and continues to execute the automatic anti-sway process in the loaded state until the target item is transported to the target area.

[0029] Specifically, when the anti-sway actuator 28 adopts a rotary-translational coupling structure, during the anti-sway process, the rotary attitude control motor 1 adjusts the overall rotary attitude of the translational attitude control unit in real time, while the translational attitude control motor 5 adjusts the translational attitude of the translational attitude control nut slider seat 8 in real time. Thus, through the motion synthesis of the rotary attitude and the translational attitude, the planar omnidirectional movement of the upper cable lock 31 at the bottom of the translational attitude control nut slider seat 8 can be achieved. Furthermore, through the planar omnidirectional movement of the upper cable lock 31, the upper cable lock 31 is dynamically maintained directly above the object gripping actuator 30 to maintain the vertical hanging state of the flexible cable 29, ultimately achieving the purpose of automatic anti-sway.

[0030] When the anti-sway actuator 28 adopts a cross-shaped double translational coupling structure, during the anti-sway process, the lateral attitude of the lateral attitude control nut slider seat 13 and the longitudinal attitude control unit is adjusted in real time by the lateral attitude control motor 10, and the longitudinal attitude of the longitudinal attitude control nut slider seat 18 is adjusted in real time by the longitudinal attitude control motor 15. Thus, through the motion synthesis of the lateral and longitudinal attitudes, the planar omnidirectional movement of the upper cable lock 31 at the bottom of the longitudinal attitude control nut slider seat 18 can be realized. Then, through the planar omnidirectional movement of the upper cable lock 31, the upper cable lock 31 is dynamically kept directly above the object gripping actuator 30 to maintain the vertical hanging state of the flexible cable 29, and finally achieve the purpose of automatic anti-sway.

[0031] When the unloaded object-grabbing actuator 30 moves above the target object, the automatic object-grabbing process is as follows: The object-grabbing actuator servo 20 is activated, driving the drive gear shaft to rotate, which in turn drives the drive gear 23 to rotate synchronously, and in turn drives the driven gear meshing with it to rotate synchronously in the opposite direction. The driven gear shaft further drives the driven gear to rotate together. During the rotation of the drive gear shaft, the drive hook 22 deflects downwards. During the rotation of the driven gear shaft, the driven hook 24 deflects downwards, and the deflection direction of the driven hook 24 is opposite to that of the drive hook 22, until the driven hook 24 and the drive hook 22 change from an open state to a closed state, thus completing the automatic grabbing of the target object. Similarly, when the target object is transported to the target area, simply reversing the activation of the object-grabbing actuator servo 20 will restore the driven hook 24 and the drive hook 22 from a closed state to an open state, thereby releasing the grabbing of the target object.

[0032] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. An automatic anti-sway device for under-constrained hoisting, characterized in that: It includes hoisting equipment, anti-sway actuator, flexible hoisting cable, and object gripping actuator; the anti-sway actuator is located at the bottom of the hoisting equipment; the upper end of the flexible hoisting cable is connected to the anti-sway actuator, and the lower end of the flexible hoisting cable is connected to the object gripping actuator; The anti-sway actuator is divided into two structural types: a rotary-translational coupling structure and a cross-shaped double-translational coupling structure. When the anti-sway actuator adopts the rotary-translational coupling structure, it includes a rotary attitude control unit and a translational attitude control unit. The rotary attitude control unit is installed on the hoisting equipment, and the translational attitude control unit is installed on the rotary attitude control unit. The upper end of the flexible hoisting cable is connected to the translational attitude control unit. When the anti-sway actuator adopts the cross-shaped double-translational coupling structure, it includes a lateral attitude control unit and a longitudinal attitude control unit. The lateral attitude control unit is installed on the hoisting equipment, and the longitudinal attitude control unit is installed on the lateral attitude control unit. The upper end of the flexible hoisting cable is connected to the longitudinal attitude control unit. The rotation attitude control unit includes a rotation attitude control motor, a rotation attitude control motor frame, a transfer base plate, and a bearing turntable; the transfer base plate is horizontally arranged and fixedly connected to the hoisting equipment; the rotation attitude control motor frame is fixedly installed above the transfer base plate; the rotation attitude control motor is vertically fixedly installed on the rotation attitude control motor frame, with the motor shaft of the rotation attitude control motor facing downwards; the bearing turntable is horizontally arranged below the transfer base plate, and the upper plate of the bearing turntable is fixedly connected to the transfer base plate; The translation attitude control unit includes a translation attitude control motor, a translation attitude control motor frame, a translation attitude control lead screw, a translation attitude control lead screw nut slider seat, and a translation attitude control guide rail; the translation attitude control motor frame is horizontally arranged below the bearing turntable, and the lower plate of the bearing turntable is fixedly connected to the translation attitude control motor frame; the translation attitude control motor is horizontally fixed on the translation attitude control motor frame; the translation attitude control lead screw is horizontally arranged below the translation attitude control motor frame, and both ends of the translation attitude control lead screw are rotatably connected to the translation attitude control motor frame through bearing seats, and anti-collision blocks are installed on the bearing seats; The motor shaft of the translation attitude control motor is coaxially fixed to the end of the translation attitude control lead screw via a coupling; the translation attitude control guide rail is horizontally set and fixedly installed on the translation attitude control motor frame, and the translation attitude control guide rail and the translation attitude control lead screw are distributed parallel to each other; the nut end of the translation attitude control lead screw nut slider seat is connected to the translation attitude control lead screw, and the slider end of the translation attitude control lead screw nut slider seat is connected to the translation attitude control guide rail; the upper suspension cable lock is fixedly set at the bottom of the translation attitude control lead screw nut slider seat, and the flexible suspension cable is fixedly connected to the translation attitude control lead screw nut slider seat through the upper suspension cable lock.

2. The automatic anti-sway device for under-constrained hoisting according to claim 1, characterized in that: An upper cable lock is provided between the flexible cable and the anti-sway actuator, and a redundant cable storage box is provided between the flexible cable and the object grasping actuator. A lower cable lock is provided on the top of the redundant cable storage box.

3. An automatic anti-sway device for under-constrained hoisting according to claim 1, characterized in that: The lateral attitude control unit includes a lateral attitude control motor, a lateral attitude control motor frame, a lateral attitude control lead screw, a lateral attitude control lead screw nut slider seat, and a lateral attitude control guide rail. The lateral attitude control motor frame is horizontally arranged and fixedly connected to the hoisting equipment. The lateral attitude control motor is horizontally fixedly mounted on the lateral attitude control motor frame. The lateral attitude control lead screw is horizontally arranged below the lateral attitude control motor frame, and both ends of the lateral attitude control lead screw are rotatably connected to the lateral attitude control motor frame through bearing seats, with anti-collision blocks installed on the bearing seats. The motor shaft of the lateral attitude control motor is coaxially fixedly connected to the end of the lateral attitude control lead screw through a coupling. The lateral attitude control guide rail is horizontally arranged and fixedly mounted on the lateral attitude control motor frame, and is parallel to the lateral attitude control lead screw. The lead screw nut end of the lateral attitude control lead screw nut slider seat is connected to the lateral attitude control lead screw, and the slider end of the lateral attitude control lead screw nut slider seat is connected to the lateral attitude control guide rail.

4. An automatic anti-sway device for under-constrained hoisting according to claim 3, characterized in that: The longitudinal attitude control unit includes a longitudinal attitude control motor, a longitudinal attitude control motor frame, a longitudinal attitude control lead screw, a longitudinal attitude control lead screw nut slider seat, and a longitudinal attitude control guide rail. The longitudinal attitude control motor frame is horizontally arranged and fixedly connected to the bottom of the transverse attitude control lead screw nut slider seat. The longitudinal attitude control motor is horizontally fixedly mounted on the longitudinal attitude control motor frame. The longitudinal attitude control lead screw is horizontally arranged below the longitudinal attitude control motor frame, and the longitudinal attitude control lead screw is perpendicular to the transverse attitude control lead screw. Both ends of the longitudinal attitude control lead screw are rotatably connected to the longitudinal attitude control motor frame through bearing seats. A bearing seat is mounted on the bearing seat. The system includes: a collision avoidance block; a motor shaft of the longitudinal attitude control motor coaxially fixed to the end of the longitudinal attitude control lead screw via a coupling; a horizontally arranged and fixedly installed longitudinal attitude control motor frame, with the longitudinal attitude control guide rail and the longitudinal attitude control lead screw distributed parallel to each other; a lead screw end of the longitudinal attitude control lead screw nut slider seat connected to the longitudinal attitude control lead screw, and a slider end of the longitudinal attitude control lead screw nut slider seat connected to the longitudinal attitude control guide rail; an upper suspension cable lock fixedly installed at the bottom of the longitudinal attitude control lead screw nut slider seat, and a flexible suspension cable fixedly connected to the longitudinal attitude control lead screw nut slider seat via the upper suspension cable lock.

5. An automatic anti-sway device for under-constrained hoisting according to claim 2, characterized in that: The object grasping actuator includes an object grasping actuator servo, an object grasping actuator servo frame, an active hook, an active gear, an active gear shaft, a driven hook, a driven gear, and a driven gear shaft; the top of the object grasping actuator servo frame is fixedly connected to the bottom of a redundant cable storage box; the object grasping actuator servo is horizontally fixedly mounted on the object grasping actuator servo frame; the active gear shaft is horizontally arranged, one end of the active gear shaft is coaxially fixedly connected to the power output shaft of the object grasping actuator servo, and the other end of the active gear shaft is rotatably connected to the object via a bearing. The gripping actuator is mounted on a servo frame; the driven gear shaft is horizontally arranged and parallel to the drive gear shaft, with both ends of the driven gear shaft rotatably connected to the gripping actuator frame via bearings; the drive gear is coaxially and fixedly mounted on the drive gear shaft; the driven gear is coaxially and fixedly mounted on the driven gear shaft, and the driven gear meshes with the drive gear; the root of the drive claw is fixedly connected to the drive gear shaft; the root of the driven claw is fixedly connected to the driven gear shaft, and the hook head of the driven claw faces the hook head of the drive claw.

6. An automatic anti-sway device for under-constrained hoisting according to claim 5, characterized in that: An acceleration sensor is installed on the object-grabbing actuator frame; a vision sensor is installed below the hoisting equipment.

7. An automatic sway elimination method for under-constrained hoisting, employing the automatic sway elimination device for under-constrained hoisting as described in claim 6, characterized in that, Specifically: Upon starting the hoisting equipment, the unloaded object-grabbing actuator is first vertically raised and suspended in the air. The hoisting equipment does not output horizontal displacement, and the flexible cable remains vertically drooping under the gravity of the object-grabbing actuator. At this point, the instantaneous tilt angle and velocity detected by the accelerometer are both zero. Subsequently, the hoisting equipment outputs horizontal displacement. Due to inertia, the object-grabbing actuator maintains a stationary tendency, while the hoisting equipment is in a translational motion. At this time, a relative displacement occurs between the object-grabbing actuator and the hoisting equipment. Simultaneously, the flexible cable tends to tilt from its initial vertical drooping state, and the object-grabbing actuator begins to accelerate. During this process, the accelerometer continuously detects the instantaneous tilt angle and velocity, and the onboard computer within the hoisting equipment adjusts the accelerometer readings accordingly. The detection data is synchronously sent to the anti-sway actuator for attitude control commands. The swing trend is predicted by the Kalman filter algorithm, and the anti-sway actuator dynamically corrects the horizontal position of the upper cable lock in real time, so that the upper cable lock is dynamically positioned directly above the object grasping actuator, thereby keeping the flexible cable dynamically in a vertical hanging state, realizing automatic anti-sway in the unloaded lifting state. At the same time, the anti-sway effect is visually inspected in real time by a vision sensor. When the unloaded object grasping actuator moves above the target object, it automatically grasps the target object, and then the object grasping actuator holding the target object rises vertically and hovers in the air. Then the lifting equipment outputs horizontal displacement and continues to execute the automatic anti-sway process in the loaded state until the target object is transported to the target area.

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