A hoist damping control device

Abstract

The utility model relates to hoist equipment technical field especially, it relates to a hoist damping control device, including balance beam subassembly, damper, connecting structure, hoist rigging and controller. Balance beam subassembly is used for connecting hoisting equipment, damper is used for providing adjustable damping force, connecting structure is used for connecting balance beam subassembly and damper, the upper end of hoist rigging is connected with damper, and the lower end of hoist rigging is used for connecting hoisted module. The angle sensor for detecting the swing angle of balance beam subassembly and the wind load sensor for monitoring the wind load intensity are equipped on the balance beam subassembly. The controller is electrically connected with damper, angle sensor and wind load sensor respectively, and the controller is configured to control the damping force output by damper in real time according to swing angle signal and wind load intensity signal to suppress the swing of hoist rigging. Thus can effectively reduce the influence of inertial force and wind load on the stress of sling, and be applicable to the hoisting operation of large module.

Description

Technical Field

[0001] This utility model relates to the field of hoisting equipment technology, and in particular to a hoisting damping control device. Background Technology

[0002] In modern engineering construction, large-module hoisting technology is widely used in bridges, buildings, and marine engineering. Ensuring the stability and safety of the modules during hoisting is crucial. However, hoisted modules are often affected by wind loads and dynamic swaying during high-altitude operations, leading to decreased hoisting accuracy and even safety hazards. Traditional hoisting equipment typically uses fixed damping or simple mechanical buffers, which are difficult to adaptively adjust based on real-time wind loads and module sway angles. This not only limits hoisting efficiency but also increases equipment wear and operational risks. Especially when module weight and wind conditions vary significantly, the single damping characteristic of traditional damping controllers is insufficient to meet the demands of complex working conditions, resulting in excessive module sway or insufficient damping force, affecting construction quality and safety. Furthermore, the connection mechanisms and balance beam structures of existing hoisting devices lack flexibility and dynamic response capabilities, making it difficult to adapt to hoisting requirements of different module sizes and complex environments. Utility Model Content

[0003] In view of the above-mentioned defects in the prior art, the technical problem to be solved by this utility model is to provide a hoisting damping control device that can dynamically adjust the damping force during the hoisting process of the module.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] This utility model provides a hoisting damping control device, comprising:

[0006] Balance beam assembly, used to connect lifting equipment;

[0007] Dampers are used to provide adjustable damping force.

[0008] A connection structure is used to connect the balance beam assembly and the damper;

[0009] The lifting sling has its upper end connected to the damper and its lower end used to connect to the module being lifted.

[0010] The balance beam assembly is equipped with an angle sensor and a wind load sensor. The angle sensor is used to detect the swing angle of the balance beam assembly, and the wind load sensor is used to monitor the wind load intensity.

[0011] The controller is electrically connected to the damper, angle sensor and wind load sensor respectively;

[0012] The controller is configured as follows:

[0013] Based on the swing angle signal fed back by the angle sensor and the wind load intensity signal fed back by the wind load sensor, the damping force output by the damper is controlled in real time to suppress the swing of the lifting sling.

[0014] Preferably, the balance beam assembly includes a first balance beam and a second balance beam that are cross-connected to each other.

[0015] Preferably, the angle sensor is located at the intersection of the first balance beam and the second balance beam, and the two wind load sensors are symmetrically located at both ends of the first balance beam.

[0016] Preferably, the first balance beam includes a telescopic cylinder, a first telescopic beam, and a second telescopic beam. The first telescopic beam is slidably inserted into the second telescopic beam. The telescopic cylinder is sleeved at the connection between the first and second telescopic beams. The telescopic cylinder is provided with a locking bolt, which is used to fix the relative position of the first and second telescopic beams.

[0017] Preferably, the damper includes:

[0018] The outer shell is filled with magnetorheological damping fluid.

[0019] A rotating shaft is rotatably connected inside the outer casing;

[0020] Damping blades are fixedly connected to the rotating shaft and immersed in magnetorheological damping fluid.

[0021] An electromagnetic coil is wound around the outside of the housing;

[0022] The upper end of the lifting sling is fixedly connected to the rotating shaft.

[0023] Preferably, it also includes a coupling, with two dampers symmetrically arranged on both sides of the coupling, the shafts of the two dampers being rigidly connected coaxially through the coupling, and the upper end of the hoisting sling being synchronously linked with the two shafts through the coupling.

[0024] Preferably, the controller includes a signal processing module and a drive module. The signal processing module is used to receive detection signals from the angle sensor and the wind load sensor, and the drive module is used to adjust the current intensity of the electromagnetic coil according to the detection signals to change the viscosity of the magnetorheological damping fluid.

[0025] Preferably, the connecting structure is a buffer spring, which is used to provide cushioning and limit the swing amplitude of the lifting sling.

[0026] Compared with the prior art, this utility model has significant progress:

[0027] This utility model's hoisting damping control device connects to the hoisting equipment via a balance beam assembly and utilizes angle sensors and wind load sensors to monitor the swing angle and wind load intensity of the balance beam assembly in real time. When the hoisting module swings during hoisting, the swing amplitude is transmitted to the damper through the hoisting slings. The damper, according to the controller's instructions, generates an adjustable damping force opposite to the swing direction through its internal mechanical structure or electronic components to suppress the swing of the hoisting slings. The controller calculates and adjusts the damping force in real time according to the signals transmitted from the sensors and a preset control algorithm, thereby achieving effective control of the hoisting module's swing. This intelligent damping control technology effectively reduces the impact of inertial forces and wind loads on the sling force, prevents excessive swinging of the module during hoisting, ensures the safety and stability of the hoisting operation, improves hoisting efficiency, and reduces safety risks. It is particularly suitable for hoisting large modules. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the hoisting damping control device according to an embodiment of the present invention, with the damper on one side hidden.

[0029] Figure 2 This is a schematic diagram of the overall structure of the first balance beam of the hoisting damping control device according to an embodiment of this utility model;

[0030] Figure 3 This is an exploded view of the first balance beam of the hoisting damping control device according to an embodiment of this utility model;

[0031] Figure 4 This is a schematic diagram of the structure in which the two dampers and the coupling cooperate with each other in an embodiment of this utility model;

[0032] Figure 5 This is an exploded view of the damper of the hoisting damping control device according to an embodiment of the present invention, after the electromagnetic coil has been removed.

[0033] The reference numerals in the attached figures are explained as follows:

[0034] 1. Balance beam assembly

[0035] 11 First Balance Beam

[0036] 111 Telescopic cylinder

[0037] 112 First Expansion Beam

[0038] 113 Second telescopic beam

[0039] 114 Locking Bolt

[0040] 12 Second Balance Beam

[0041] 2 Dampers

[0042] 21. Outer shell

[0043] 22-spindle

[0044] 23 Damping blades

[0045] 24 Electromagnetic coil

[0046] 3. Connection Structure

[0047] 31. Buffer spring

[0048] 4. Lifting slings

[0049] 5 Angle Sensors

[0050] 6 Wind load sensor

[0051] 7 Controller

[0052] 8 couplings Detailed Implementation

[0053] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. These embodiments are only used to illustrate this utility model and are not intended to limit it.

[0054] In the description of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0056] Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0057] like Figures 1 to 5The image shows an embodiment of the hoisting damping control device provided by this utility model.

[0058] See Figure 1 The hoisting damping control device in this embodiment includes a balance beam assembly 1, a damper 2, a connecting structure 3, hoisting slings 4, an angle sensor 5, a wind load sensor 6, and a controller 7. This hoisting damping control device is mainly used during the hoisting of large modules to effectively reduce the influence of inertial forces and wind loads on the sling force through intelligent damping control technology, preventing excessive swaying of the module during hoisting and ensuring the safety and stability of the hoisting operation.

[0059] The balance beam assembly 1 is used to connect the lifting equipment and serves as the connecting bridge between the lifting damping control device and the lifting equipment in this embodiment. The entire lifting damping control device is fixed to the lifting equipment via mechanical connections (such as bolts, pins, etc.), ensuring that the lifting damping control device moves with the lifting equipment. Preferably, when the lifting damping control device of this embodiment is connected to the winch, the upper end of the balance beam assembly 1 is connected to the winch hook via a high-strength connector (such as a dedicated lifting ring or connecting plate). The connector is made of high-strength steel to ensure it can withstand the enormous tensile force during lifting. During connection, the upper end of the connector is firmly fixed to the winch hook, and the lower end is tightly connected to the connection part of the balance beam assembly 1, which can be secured using bolts or clips. Furthermore, anti-detachment devices, such as safety pins or limit devices, can be installed at the connection points to prevent the connection from loosening or falling off due to accidental impacts or vibrations during hoisting. This ensures a safer and more reliable connection between the hoisting damping control device and the winch, allowing the hoisting damping control device to move stably with the hoisting action of the winch and perform its damping control function.

[0060] Damper 2 provides adjustable damping force, which is a force opposite to the direction of motion that dissipates the system's energy and thus suppresses module swaying during hoisting. Damper 2 generates this damping force through internal mechanical structures (such as hydraulic cylinders or springs) or electronic components (such as electromagnetic dampers). When the hoisting module sways during hoisting, damper 2, according to the instructions of controller 7, generates a force opposite to the swaying direction through its internal moving parts. In this embodiment, damper 2 can dynamically adjust the magnitude of the damping force according to different working conditions (such as module weight, hoisting speed, wind load intensity, etc.) to achieve optimal control.

[0061] The connecting structure 3 is used to connect the balance beam assembly 1 and the damper 2. The connecting structure 3 firmly connects the balance beam assembly 1 and the damper 2 together, ensuring that force and motion can be reliably transmitted between them. When the hoisted module swings during the hoisting process, the swing amplitude of the hoisted module is transmitted to the damper 2, and then to the balance beam assembly 1 through the connecting structure 3, causing the balance beam assembly 1 to swing slightly. The swing angle of the balance beam assembly 1 is then detected by the angle sensor 5 to calculate the swing amplitude of the hoisted module.

[0062] The upper end of the lifting sling 4 is connected to the damper 2, and the lower end of the lifting sling 4 is used to connect to the module being lifted. The lifting sling 4 has sufficient strength and reliability to withstand the weight of the module being lifted and various forces generated during the lifting process (such as inertial forces, wind loads, etc.). The lifting sling 4 also has a certain degree of flexibility to accommodate the movement of the module during the lifting process. When the module swings during the lifting process, the lifting sling 4 transmits this movement to the damper 2, and the damper 2 then suppresses the swing by adjusting the damping force.

[0063] The balance beam assembly 1 is equipped with an angle sensor 5 and a wind load sensor 6. The angle sensor 5 detects the sway angle of the balance beam assembly 1, and the wind load sensor 6 monitors the wind load intensity. The main function of the angle sensor 5 is to detect the sway angle of the balance beam assembly 1 in real time. During hoisting, the balance beam assembly 1 may sway due to inertial forces, wind loads, or other external forces. The angle sensor 5 can accurately measure these sway angles and transmit the data to the controller 7. The main function of the wind load sensor 6 is to monitor the intensity of the wind load during hoisting in real time. In outdoor hoisting operations, wind load is a significant external force factor that can exacerbate the swaying of the hoisting module. The wind load sensor 6 can measure wind speed and direction and convert them into a wind load intensity signal.

[0064] Controller 7 is electrically connected to damper 2, angle sensor 5, and wind load sensor 6. Controller 7 is configured to control the damping force output by damper 2 in real time to suppress the swaying of lifting sling 4 based on the swing angle signal fed back by angle sensor 5 and the wind load intensity signal fed back by wind load sensor. The processing unit (such as a microprocessor or PLC) inside controller 7 processes and analyzes the received signals, including the magnitude and rate of change of the swing angle, as well as the intensity and direction of the wind load. Controller 7 calculates the required damping force based on a preset control algorithm, combining the swing angle signal and the wind load intensity signal. The control algorithm is based on PID (proportional-integral-derivative) control or other advanced control strategies. Based on the calculation results, controller 7 sends control commands to damper 2 to adjust the output damping force of damper 2. Damper 2 adjusts its internal mechanical or hydraulic structure according to the commands, thereby changing the magnitude of the damping force. Controller 7 continuously receives signals from the sensors, monitors the swaying state of lifting sling 4 in real time, and dynamically adjusts the damping force as needed to achieve the best control effect.

[0065] Therefore, the hoisting damping control device in this embodiment is connected to the hoisting equipment through the balance beam assembly 1, and uses the angle sensor 5 and wind load sensor 6 to monitor the swing angle and wind load intensity of the balance beam assembly 1 in real time. When the hoisting module swings during the hoisting process, the swing amplitude is transmitted to the damper 2 through the hoisting sling 4. The damper 2, according to the instructions of the controller 7, generates an adjustable damping force opposite to the swing direction through its internal mechanical structure or electronic components to suppress the swing of the hoisting sling 4. The controller 7 calculates and adjusts the magnitude of the damping force in real time according to the signals transmitted by the sensors and a preset control algorithm, thereby achieving effective control of the swing of the hoisting module. This intelligent damping control technology can effectively reduce the influence of inertial force and wind load on the force on the sling, prevent the module from swinging excessively during the hoisting process, ensure the safety and stability of the hoisting operation, improve hoisting efficiency, and reduce safety risks. It is particularly suitable for the hoisting operation of large modules.

[0066] See Figure 1 Preferably, the balance beam assembly 1 includes a first balance beam 11 and a second balance beam 12 that are interconnected in a cross shape. This cross-connection design allows the balance beam assembly 1 to form a rigid frame structure in the horizontal plane, better distributing and bearing various forces generated during hoisting, including the weight of the hoisting module, inertial forces, and wind loads. The cross-shaped structure also provides a more stable and reliable platform for the installation of the angle sensor 5 and the wind load sensor 6, ensuring that the angle sensor 5 and the wind load sensor 6 can accurately detect the sway angle and wind load intensity.

[0067] join Figure 1Preferably, the angle sensor 5 is located at the intersection of the first balance beam 11 and the second balance beam 12. The angle sensor 5 is a high-precision gyroscope or tilt sensor, used to detect the swing angle of the first balance beam 11 and the second balance beam 12 in real time, with a detection accuracy of up to 0.1 degrees and a response time of less than 10 milliseconds. Two wind load sensors 6 are symmetrically arranged at both ends of the first balance beam 11. The wind load sensors 6 are pressure sensor arrays used to monitor the wind load intensity in different directions, with a measurement range of 0-200 N / m. 2 By using the angle sensor 5 and the wind load sensor 6 together, external disturbance factors during the hoisting process can be fully perceived, providing accurate feedback information to the controller 7.

[0068] See Figure 2 and Figure 3 Preferably, the first balance beam 11 includes a telescopic cylinder 111, a first telescopic beam 112, and a second telescopic beam 113. The first telescopic beam 112 is slidably inserted into the second telescopic beam 113. The telescopic cylinder 111 is sleeved at the connection between the first telescopic beam 112 and the second telescopic beam 113. The telescopic cylinder 111 is provided with a locking bolt 114, which is used to fix the relative position of the first telescopic beam 112 and the second telescopic beam 113. The telescopic cylinder 111, as an outer sleeve, serves a protective and guiding function, while also providing support for the connection between the first telescopic beam 112 and the second telescopic beam 113. The first telescopic beam 112 slides within the second telescopic beam 113, and the overall length of the first balance beam 11 is adjusted by changing the relative position of the two beams. The telescopic cylinder 111 has a threaded hole, into which the locking bolt 114 is screwed. The locking bolt 114 also passes through a slotted hole in the second telescopic beam 113 and directly abuts against the outer side of the first telescopic beam 112. The clamping force on the first telescopic beam 112 then acts on the second telescopic beam 113. Thus, the locking bolt 114, through threaded tightening, contacts the first and second telescopic beams 112 and 113, generating clamping force and static friction, thereby fixing their relative positions. This locking method ensures that the adjusted length remains stable during hoisting, preventing loosening due to vibration or external forces. By adjusting the length of the first balance beam 11, the balancing force of the balance beam assembly 1 is changed, allowing the balance beam assembly 1 to provide appropriate balancing forces for hoisting modules of different sizes, improving the versatility and applicability of the hoisting damping control device.

[0069] See Figure 4 and Figure 5Preferably, the damper 2 includes a housing 21, a rotating shaft 22, damping blades 23, and an electromagnetic coil 24. The housing 21 serves as the main structure of the damper 2, and is filled with magnetorheological damping fluid, providing support and protection for the damping blades 23 and the rotating shaft 22. The magnetorheological damping fluid is a smart material, mainly composed of a carrier fluid, magnetic particles, and additives. The carrier fluid is typically silicone oil or mineral oil, and the magnetic particles are micron-sized ferromagnetic particles with a volume fraction of 20-40%. In the absence of a magnetic field, the magnetorheological damping fluid exhibits a low-viscosity fluid state; when a magnetic field is applied, the magnetic particles align along the direction of the magnetic field to form a chain-like structure, causing a sharp increase in the apparent viscosity of the liquid, thereby achieving rapid adjustment of the damping force. This characteristic allows the damper 2 to change its damping characteristics within milliseconds, achieving true intelligent adaptive control.

[0070] The rotating shaft 22 is rotatably connected to the inside of the outer casing 21. The damping blades 23 are fixedly connected to the rotating shaft 22 and immersed in the magnetorheological damping fluid. The electromagnetic coil 24 is arranged around the outside of the outer casing 21. The upper end of the lifting sling 4 is fixedly connected to the rotating shaft 22. In this embodiment, the electromagnetic coil 24 adopts a multi-layer winding structure with 800-1200 turns, an operating voltage of 12-24V, and a maximum operating current of 3A. The controller 7 adjusts the current in the electromagnetic coil 24 according to the received sensor signals. When the module swings or wind load changes are detected, the controller 7 calculates the optimal magnetic field strength and changes the magnetic field strength by adjusting the current in the electromagnetic coil 24, thereby adjusting the viscosity of the magnetorheological damping fluid to achieve precise control of the damping force.

[0071] When the lifting sling 4 swings and drives the rotating shaft 22 to rotate, the damping blades 23 fixed on the rotating shaft 22 move in the magnetorheological damping fluid to generate damping force, thereby suppressing the swing of the lifting sling 4. By adjusting the damping force, the damper 2 can effectively suppress the swing of the lifting sling 4, thereby reducing the swing amplitude of the lifting module and ensuring the stability and safety of the lifting process.

[0072] See Figure 4 and Figure 5Preferably, the hoisting damping control device in this embodiment further includes a coupling 8. Two dampers 2 are symmetrically arranged on both sides of the coupling 8. The rotating shafts 22 of the two dampers 2 are rigidly connected coaxially through the coupling 8. The two rotating shafts 22 remain synchronized during rotation, resulting in high force transmission efficiency. The upper end of the hoisting sling 4 is synchronously linked to the two rotating shafts 22 via the coupling 8. When the hoisting sling 4 swings, the motion is synchronously transmitted to the rotating shafts 22 of the two dampers 2 through the coupling 8. The damping blades 23 of the two dampers 2 synchronously generate damping force in the magnetorheological damping fluid, jointly suppressing the swing of the hoisting sling 4. The symmetrical arrangement of the two dampers 2 and their synchronous linkage through the coupling 8 better balances the forces generated during hoisting and provides greater damping force, dispersing the swing force of the hoisting sling 4, reducing the swing amplitude of the hoisting module, and improving the stability of the hoisting process. Meanwhile, by setting two dampers 2 to work together, the risk of system failure due to the failure of a single damper can be reduced, thereby improving the reliability and stability of the entire device.

[0073] In this embodiment, preferably, the controller 7 includes a signal processing module and a drive module. The signal processing module receives detection signals from the angle sensor 5 and the wind load sensor 6, while the drive module adjusts the current intensity of the electromagnetic coil 24 according to the detection signals to change the viscosity of the magnetorheological damping fluid. The angle sensor 5 and the wind load sensor 6 convert the detected swing angle and wind load intensity signals into electrical signals and transmit them to the signal processing module of the controller 7. The signal processing module processes and analyzes these signals, extracting key information such as the magnitude and rate of change of the swing angle and the intensity of the wind load. The signal processing module calculates the required damping force according to a preset control algorithm (such as PID control or other advanced control strategies) and transmits the command to the drive module. The drive module adjusts the current intensity of the electromagnetic coil 24 according to the command, thereby changing the magnetic field strength, which in turn changes the viscosity of the magnetorheological damping fluid, ultimately adjusting the output damping force of the damper 2. By continuously receiving signals from the sensors, the controller 7 monitors the swing state of the lifting sling 4 in real time and dynamically adjusts the current intensity of the electromagnetic coil 24 as needed to achieve the best control effect.

[0074] See Figure 1 Preferably, the connecting structure 3 is a buffer spring 31, which provides cushioning and limits the swing amplitude of the lifting sling 4. The buffer spring 31 absorbs and buffers the impact force and vibration generated during the lifting process through its own elastic deformation. Within its elastic range, the buffer spring 31 can generate a restoring force, which can limit the swing amplitude of the lifting sling 4. When the lifting module swings, the buffer spring 31 generates a counterforce through elastic deformation, thereby suppressing the swing of the lifting sling 4 and ensuring the smoothness and reliability of the lifting process.

[0075] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present utility model, and these improvements and substitutions should also be considered within the protection scope of the present utility model.

Claims

1. A hoisting damping control device, characterized in that, include: A balance beam assembly (1) is used to connect lifting equipment; A damper (2) is used to provide an adjustable damping force; A connection structure (3) is provided for connecting the balance beam assembly (1) and the damper (2); Lifting sling (4), the upper end of which is connected to the damper (2), and the lower end of which is used to connect to the module being lifted; The balance beam assembly (1) is equipped with an angle sensor (5) and a wind load sensor (6). The angle sensor (5) is used to detect the swing angle of the balance beam assembly (1), and the wind load sensor (6) is used to monitor the wind load intensity. The controller (7) is electrically connected to the damper (2), the angle sensor (5) and the wind load sensor (6) respectively; The controller (7) is configured as follows: Based on the swing angle signal fed back by the angle sensor (5) and the wind load intensity signal fed back by the wind load sensor (6), the damping force output by the damper (2) is controlled in real time to suppress the swing of the hoisting sling (4).

2. The hoisting damping control device according to claim 1, characterized in that, The balance beam assembly (1) includes a first balance beam (11) and a second balance beam (12) that are cross-connected to each other.

3. The hoisting damping control device according to claim 2, characterized in that, The angle sensor (5) is located at the intersection of the first balance beam (11) and the second balance beam (12), and the two wind load sensors (6) are symmetrically located at both ends of the first balance beam (11).

4. The hoisting damping control device according to claim 2, characterized in that, The first balance beam (11) includes a telescopic cylinder (111), a first telescopic beam (112), and a second telescopic beam (113). The first telescopic beam (112) is slidably inserted into the second telescopic beam (113). The telescopic cylinder (111) is sleeved at the connection between the first telescopic beam (112) and the second telescopic beam (113). The telescopic cylinder (111) is provided with a locking bolt (114), which is used to fix the relative position of the first telescopic beam (112) and the second telescopic beam (113).

5. The hoisting damping control device according to claim 1, characterized in that, The damper (2) includes: The outer shell (21) is filled with magnetorheological damping fluid; A rotating shaft (22) is rotatably connected to the interior of the outer casing (21); Damping blade (23), the damping blade (23) is fixedly connected to the rotating shaft (22) and immersed in the magnetorheological damping fluid; An electromagnetic coil (24) is provided around the outside of the outer casing (21); The upper end of the hoisting sling (4) is fixedly connected to the rotating shaft (22).

6. The hoisting damping control device according to claim 5, characterized in that, It also includes a coupling (8), two dampers (2) are provided and symmetrically arranged on both sides of the coupling (8), the rotating shafts (22) of the two dampers (2) are rigidly connected coaxially through the coupling (8), and the upper end of the hoisting sling (4) is synchronously linked with the two rotating shafts (22) through the coupling (8).

7. The hoisting damping control device according to claim 5 or 6, characterized in that, The controller (7) includes a signal processing module and a drive module. The signal processing module is used to receive the detection signals from the angle sensor (5) and the wind load sensor (6). The drive module is used to adjust the current intensity of the electromagnetic coil (24) according to the detection signals to change the viscosity of the magnetorheological damping fluid.

8. The hoisting damping control device according to claim 1, characterized in that, The connecting structure (3) is a buffer spring (31), which is used to provide buffering and limit the swing amplitude of the lifting sling (4).

Images