67 results about "Swing bridge" patented technology

The invention discloses a field laser intelligent weeding and thinning robot which comprises four sets of wheel leg assemblies driven by servo motors, a front telescopic swing bridge, a rear telescopic fixed bridge, a base assembly, a liftable laser striking platform and electric control equipment such as a power generator and a three-dimensional laser terrain scanning radar. A plurality of modularized high-power carbon dioxide laser modules, four groups of laser range finders and five groups of double-axis tilt angle sensors are respectively mounted on and around a laser striking platform, each laser module comprises a digital galvanometer, a pseudo-coaxial camera and a miniature windscreen wiper dust removal system, and a digital galvanometer, a pseudo-coaxial camera and a miniature windscreen wiper dust removal system are mounted below the laser striking platform. A plurality of AI intelligent identification and positioning cameras and lighting devices are installed. Therefore, the robot can automatically identify and position weeds and seedlings through the AI intelligent camera and guide the laser to accurately strike the target, has the advantages of easy realization of modularization, universalization and standardization in the later period, is beneficial to cost saving, and is suitable for large-scale popularization and application in the later period.

The utility model discloses a blade polishing mechanism which comprises a telescopic arm arranged on a lifting frame and a polishing assembly connected to the tail end of the telescopic arm. The polishing assembly comprises a swing bridge and a swing head which are sequentially connected with the telescopic arm, and the middle of the swing bridge is movably connected with the swing head through a longitudinal fixing shaft. Elastic pieces are arranged at the two ends of the face, connected with the swing bridge, of the swing head respectively, and the other ends of the elastic pieces are connected with the two ends of the swing bridge respectively; the end, connected with the telescopic arm, of the swing bridge is provided with a transversely-arranged driving shaft, and the swing bridge is driven by the driving shaft to swing up and down; the two sides of the driving shaft are connected with driving pieces correspondingly, and the driving pieces are connected with the elastic pieces on the sides where the driving pieces are located and drive the elastic pieces to push the swing head to swing left and right. The polishing mechanism is further provided with an inductor. And through the polishing assembly, the posture of the swing head and the pressure in contact with the blade are adjusted in a self-adaptive mode, and the polishing effect and pressure control are guaranteed.

The invention provides a prefabricated height-adjustable support system for a swivel bridge and a construction method. The system comprises an embedded base, a lower support plate, a height-adjustable core module, an upper support plate and a locking device. The pre-embedded base is of a reinforced concrete structure, the pre-embedded base and a side pier cover beam are cast and formed at the same time before swivel construction, and an anchoring part used for subsequent connection is pre-embedded in the top of the pre-embedded base; the lower support plate is fixedly mounted on the embedded base through the anchoring part; the height-adjustable core module is arranged on the lower support plate, is used for bearing and transmitting an upper structure load and can realize stepless height adjustment in the vertical direction; the upper support plate is supported on the height-adjustable core module, and the top of the upper support plate is used for making contact with a beam bottom embedded part of a swivel beam and transmitting loads. The locking device comprises a temporary locking mechanism and a final locking mechanism. The construction safety and efficiency are remarkably improved, and it is ensured that the stress state of the structure is highly matched with the design.

The utility model discloses a universal test bench for axle fatigue test, which belongs to the field of axle test equipment and comprises an upper support assembly, a lower support assembly and an axle mounting seat. The upper support assembly comprises an upper support main body, and a vertical loading hydraulic cylinder for applying a vertical load to the axle is arranged on the upper support main body; the lower support assembly is fixedly connected with the upper support assembly, and the lower support assembly comprises a gantry bridge frame; the axle mounting seat is used for being mounted below a gantry bridge frame, the axle mounting seat comprises a rigid bridge mounting seat for mounting a test rigid bridge and a swing bridge mounting seat for mounting a test swing bridge, and the rigid bridge mounting seat and the swing bridge mounting seat have the same connecting port with the gantry bridge frame. According to the invention, a real stress condition can be simulated relatively truly, and different types of axle tests can be carried out.

The invention relates to the technical field of automatic carrying equipment, and discloses an omni-directional driving stacking type robot which comprises a vehicle body, two steering wheel assemblies are fixedly arranged on one side of the bottom of the vehicle body, a swing bridge frame is rotationally connected to the inner side of the vehicle body through a connecting shaft, and two driving steering wheel assemblies are fixedly arranged at the bottom of the swing bridge frame; the two sides of the top of the swing bridge are fixedly connected with speed reducers. The walking absolute value motor is used for controlling the vehicle body to walk, the steering absolute value motor is used for controlling and driving the steering wheel assembly to deflect, and the steering wheel assembly on one side of the vehicle body is matched to realize four-fulcrum full-servo-driven movement control, so that the stability and flexibility of vehicle body running are ensured; and meanwhile, the driving mechanism is matched with the moving mechanism to drive the adjusting roller to adjust the position of the tray according to the pressure sensor, the influence of tray cargo stacking eccentricity on omni-directional movement is reduced, and the running stability of the stacking type robot is further improved.

1. Name of the designed product: connecting side plate of swing bridge (frog). 2. Use of the designed product: the designed product is used for components of children's playground facilities. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

The application discloses a shearing pin embedded outer package super high performance concrete-steel pipe concrete swing bridge pier, which is applied to a bridge and comprises a bearing platform and a composite pier column arranged on the bearing platform, a shearing resistance assembly is embedded in the lower part of the composite pier column and matched with the bearing platform, and a UHPC layer of the composite pier column and a steel pipe layer-concrete column (steel pipe concrete CFST) form a swing bridge pier (UHPC-CFST swing pier); this makes the scheme capable of utilizing UHPC and CFST to improve the toughness of the body, and capable of solving the swing rotation and shearing limiting contradiction of the bridge pier system through a connecting structure; the scheme improves the impact resistance and compression crushing resistance through the collaborative stress of the UHPC shell and the internal CFST, realizes the compatibility of high shearing bearing capacity and excellent self-resetting capacity through the 'limiting translation and releasing rotation' mechanism of the CFST shearing pin and the steel sleeve ring cooperation, and can solve the problems of insufficient interface shearing capacity of the existing swing bridge pier under strong earthquakes and impact loads and easy compression crushing of the pier bottom.

A swing bridge for a rocker arm assembly is provided. The swing bridge may be configured to be selectively actuated by a first rocker arm or a second rocker arm and span a first valve and a second valve. The swing bridge may have a bridge body, and a swing mechanism disposed at least partially in the bridge body. The swing mechanism may have a first surface for receiving motion from the first rocker arm and be configured to transfer the motion to the first valve through a rotary portion that is rotatable relative to the bridge body. The swing bridge may swing angularly upon actuation by the first rocker arm so as to actuate the first valve without actuating the second valve and actuate both the first valve and the second valve upon actuation by the second rocker arm.

The present application relates to the field of image processing, and relates to a kind of based on point cloud model algorithm's rotary bridge weighing method and system;Through the point cloud video set of preset training having been weighed key point cloud video collected, all point cloud video set is cut after using cutting algorithm, based on the frequency of having been weighed gray picture transformation in point cloud video set, having been weighed gray picture is sorted, the mapping of having been weighed gray picture and the repair bridge sample to be weighed is generated Association table, and the point cloud video frame vector of each point cloud video frame corresponding in association table is pre-trained, and the point cloud video frame vector of each point cloud video frame corresponding in association table is pre-trained, using strategy gradient algorithm to train detection completion, input is the weighed gray picture sequence of bridge q to be weighed, and output is the weighed gray picture of detection completion;The present application has the beneficial effects as follows: the present application proposes an efficient and practical interactive detection method, and promotes the exploration in this aspect in the field of picture detection.

The invention relates to a socket type energy dissipation swing pier-cover beam joint structure and a construction method thereof, and belongs to the technical field of bridge engineering. Comprising a pier prefabricated and assembled upper section, a cover beam, a swinging device, a limiting type energy dissipation device, an amplification type energy dissipation device and unbonded prestressed tendons. The prefabricated and assembled upper section of the bridge pier is embedded into the cover beam in a socket manner, and a swinging device is arranged between the top and the bottom of the cover beam; limiting type energy dissipation devices are arranged on the portion, embedded into the bent cap, of the prefabricated and assembled upper segment of the bridge pier and the side wall of the bent cap. An amplification type energy consumption device is arranged at the connection position of the side wall of the prefabricated and assembled upper segment of the pier and the bottom face pier-cover beam of the cover beam; unbonded prestressed tendons are arranged among the prefabricated and assembled upper section of the bridge pier, the cover beam and the swinging device in a penetrating manner. The problems that a traditional swing bridge pier and bent cap joint is insufficient in shear resistance and concentrated in stress are solved, the shear resistance, the energy dissipation capacity and the function restorability of the bridge pier-bent cap joint are improved, and the requirements for post-earthquake maintenance and reinforcement are reduced.

The utility model discloses a kind of support devices for railway wide-span swivel bridge construction, including swivel bridge body, the bottom end of swivel bridge body is provided with rotating support assembly, rotating support assembly includes support base and rotating support body, rotating support body has auxiliary support mechanism in annular array of circumferential side, each group of auxiliary support mechanism has at least one auxiliary wheel, so that rotating support body rotates on support base to realize the swivel operation of swivel bridge body, multiple auxiliary wheels rotate on rotating support body and support base circumferential side and landing with rotating support body synchronous operation, the side of each auxiliary wheel is provided with anti-inclination positioning assembly, the end of anti-inclination positioning assembly away from auxiliary wheel and support base sliding friction contact, so that when auxiliary wheel rotates around support base, anti-inclination positioning assembly can support auxiliary wheel stable anti-inclination misplacement.The utility model can expand support area, improve the effect of structural stability in rotation process.

This invention relates to the field of bridge construction technology, specifically to a multifunctional pressure monitoring support device for a rotating bridge support. The device includes: a support cylinder mounted on a walkway; a pressure sensor mounted on the lower surface of the walkway; the walkway is mounted on a slide rail; an inner support plate and an outer support plate are mounted on the slide rail; side support plates are mounted on both sides of the inner and outer support plates; and limit components are provided at the connections between the inner and outer support plates and the side support plates. The advantages are: this device can accurately sense and monitor the stress on the support itself in real time; this device is installed simultaneously with the support during construction, improving safety during bridge construction and providing reliability for rotating bridge construction.

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

The application relates to the technical field of motion regulation and driving, in particular to a reciprocating motion amplification device and method of a flexible structure of a swing bridge. The reciprocating motion amplification device comprises a loading unit, an excitation execution unit, a self-adaptive identification unit and an energy supply unit. The excitation execution unit and the self-adaptive identification unit are both installed in the loading unit. The self-adaptive identification unit collects vibration response signals of the flexible target structure in real time and identifies the real-time natural frequency, controls the excitation execution unit to adjust the excitation frequency, so that the excitation frequency is automatically matched with the real-time natural frequency, resonance effect is excited, and reciprocating motion amplification is realized. Through closed-loop self-adaptive control, frequency drift is automatically tracked without manual intervention, excitation power consumption is reduced while the significant amplification effect is maintained, and the system adaptability and intelligent level are improved.

The invention belongs to the technical field of robots, and discloses a movable chassis and a composite robot. The mobile chassis comprises a chassis body; the first walking unit is arranged on the first installation side of the chassis body and comprises a first walking wheel and a second walking wheel, and the first walking wheel and the second walking wheel are arranged on the chassis body in the first direction in a spaced mode. The second walking unit is arranged on the second installation side of the chassis body and comprises a swing bridge, a third walking wheel and a fourth walking wheel, the third walking wheel and the fourth walking wheel are arranged at the two ends of the swing bridge respectively, the swing bridge is rotationally connected with the chassis body, and a protruding part is arranged on the side, away from the chassis body, of the swing bridge; the positioning unit comprises a supporting frame and a locking assembly, the supporting frame is arranged on the chassis body, the locking assembly is arranged on the supporting frame, and the locking assembly can clamp or loosen the protruding part. The robot can adapt to complex terrains and can also be prevented from shaking during clamping work, and the grabbing and positioning precision is improved.

The utility model provides a swing bridge and fork truck for fork truck, include: drive wheel mechanism, including drive wheel and drive connection frame, drive wheel rotatable installation in drive connection frame on, swing bridge mechanism, its one end with drive connection frame's upper end swing joint, the other end with fork truck car body swing joint, lower swing bridge mechanism, be located below swing bridge mechanism, its one end with drive connection frame's lower end swing joint, middle part with fork truck car body swing joint, auxiliary wheel mechanism, including auxiliary wheel, install below lower swing bridge mechanism other end, first buffer mechanism, set up in lower swing bridge mechanism, its one end with lower swing bridge mechanism fixed connection, the other end with fork truck car body fixed connection, first gap adjusting structure, set up in the connecting place of lower swing bridge mechanism and fork truck car body, second gap adjusting structure, set up in the connecting place of lower swing bridge mechanism and drive connection frame. Realize drive wheel posture stable, effective shock attenuation, reduce abrasion and abnormal sound, simplify assembly and reduce cost.

The utility model provides a fixing device for a fatigue test of a swing bridge. The fixing device comprises a supporting seat; the limiting seat is detachably arranged above the supporting seat, and a limiting part used for abutting against the swing bridge is arranged on the limiting seat; the positioning assembly and the limiting seat are arranged on the supporting seat in a spaced mode, and the positioning assembly is detachably arranged; a positioning shaft of the positioning assembly is inserted into a pin hole of the swing bridge, the side, away from the pin hole, of the swing bridge abuts against the limiting part, and therefore the swing bridge is fixed between the limiting base and the positioning shaft. The fixing device for the swing bridge fatigue test solves the technical problems that a swing bridge fatigue test tool of a special structure cannot be accurately positioned and is not firmly fixed in the prior art.

The invention discloses a novel swinging self-resetting bridge pier with curved prestressed tendons, and belongs to the technical field of impact resistance toughness improvement of swinging bridge piers. Two prestressed tendons which are arranged in a preset parabola shape are pre-buried in the bridge pier and are symmetrically arranged relative to the central axis of the section of the bridge pier; the prestressed steel bars penetrate through the pier body through a post-tensioning process to form a transverse and longitudinal bidirectional pre-compression field, and the prestressed steel bars are subjected to unbonded treatment at the joint interface in the pier body. The curved prestressed tendons are adopted to replace traditional linear prestressed tendons, the equivalent restoring force which is evenly distributed can be provided under the action of impact loads, spatial dislocation and complex deformation of a swing interface are effectively adapted, and the anti-collision performance and function restorability of the swing bridge in the service period are improved.

A rocker arm assembly comprises a first rocker arm having a first valve end, a second rocker arm having a second valve end, a first valve, a second valve, a hydraulic capsule disposed in the first valve end and movable between an extended and retracted position, and a swing bridge selectively actuatable by the first or second rocker arm and span the first and second valve. In engine brake mode, the hydraulic capsule moves to the extended position, causing the swing bridge to swing angularly as the first rocker arm rotates so as to actuate the first valve without actuating the second valve. In drive mode, the hydraulic capsule moves to the retracted position, and the swing bridge is actuated by the second valve end of the second rocker arm as the second rocker arm rotates so as to actuate both the first valve and the second valve.

The invention discloses a friction pendulum type pier capable of resetting after collision, and belongs to the technical field of improvement of anti-collision toughness of swinging piers, linear unbonded prestressed steel strands are arranged in the pier in a full-length mode, the pier bottom of the pier is in friction pendulum type interface contact with a foundation platform, and the pier bottom of the pier is connected with the foundation platform through an external energy dissipater. The prestressed steel strands are arranged in a manner of penetrating through the pier body by adopting a post-tensioning process to form a longitudinal pre-pressure field, and the prestressed steel strands and the whole pier are subjected to unbonded treatment. The friction pendulum type interface is adopted at the pier bottom of the pier to replace a traditional plane interface, large displacement can be generated under the action of impact loads, most energy is absorbed through the external energy dissipater, damage to the pier is effectively reduced, restoring force is provided through the prestress steel strand and structural gravity, residual displacement of the pier is reduced, and the service life of the pier is prolonged. And the anti-collision performance and the function restorability of the swing bridge in the service period are improved.

The utility model discloses a kind of rotary bridge, including pier and the beam body installed on its upper end, the lower end of the pier is connected with spherical hinge upper support, and the lower surface center of spherical hinge upper support is connected with the upper surface center of spherical hinge lower support by pin shaft, sliding sheet is also laid between the lower surface of spherical hinge upper support and the upper surface of spherical hinge lower support, and high-end lubricating grease is also daubed between the lower surface of spherical hinge upper support and the upper surface of spherical hinge lower support.The utility model in the process of rotating, the length of steel strand exposed in the part outside pier is shorter, and connected with winding board in group, as long as not group steel strand is synchronously pulled apart, it can avoid the occurrence of safety accident, in addition, through the hydraulic jack of PLC hydraulic synchronous closed-loop control system series connection, it can guarantee that pier can only rotate shorter angle within the stroke of hydraulic jack, and then can gradually rotate pier, it is beneficial to guarantee the stable rotation of pier.

This invention provides a trajectory planning and intelligent control method for a three-stage swing-type overhead crane, relating to the technical field of intelligent overhead crane systems. The method includes: defining a planar coordinate system and determining the position coordinates of the crane's trolley, hook, frame, and load within the planar coordinate system; obtaining a dynamic model using the Lagrange equation based on the position coordinates; designing a controller based on the dynamic model; setting up a two-layer radial basis function neural network and determining the control force; and determining the overall control law based on the position coordinates, the controller, and the control force. According to this invention, intelligent anti-sway control of the three-stage swing system improves control quality, enhances the system's anti-interference capability, and improves the overall system safety level.

A swing bridge for amusement equipment. It is mainly used to solve the problem that the swing bridge structure of existing amusement equipment is unstable and has potential safety hazards. It is characterized by: it also includes a first rope (2), the two ends of the first rope are connected to two opposite columns; a second rope (3), the two ends of the first rope are connected to two opposite columns; a pedal (4), one end of which is connected to the first rope through a third rope (41), and the other end is connected to the second rope through a fourth rope (42); at least two fifth ropes (5), both ends of which are used to connect to a fixed surface, and the bottom of the pedal is installed on the fifth rope. The utility model provides a swing bridge for amusement equipment, which is provided with a plurality of connecting ropes, fixed in multiple directions, and has a stable overall structure.

The invention relates to the technical field of forward-moving forklifts, and discloses a single-drive double-steering swing axle mechanism which comprises a swing axle frame, a drive mechanism, two steering mechanisms and two walking wheels. The driving mechanism is located on the left side of the swing bridge and connected with the walking wheels to form a driving system to achieve whole vehicle walking. The two steering mechanisms are located on the two sides of the swing bridge frame respectively and connected with the walking wheels to drive the walking wheels to rotate to achieve steering. The driving mechanism and the steering mechanism are both provided with detection electrical elements, and accurate speed control and steering angle control are achieved. The steering driving assembly comprises a steering motor, a steering gear and a second steering driven gear, and the steering motor drives the steering gear to rotate to drive the walking wheels to steer. In addition, the steering system further comprises a speed change assembly used for adjusting the height of the steering motor, changing the transmission efficiency and achieving adjustment of the steering response speed and the steering angle under different driving conditions so as to improve the driving comfort and safety.

The utility model discloses an automobile press line heavy load lifting and carrying AGV which comprises a vehicle body, a lifting mechanism and a swing bridge mechanism, the lifting mechanism is arranged on the vehicle body and used for carrying out lifting operation on heavy load materials, the swing bridge mechanism is arranged on one side of the vehicle body, the two ends of the swing bridge mechanism are each provided with a steering engine, and the steering engines are arranged on the two sides of the swing bridge mechanism. Two steering engines are further arranged on the other side of the vehicle body; according to the heavy-load lifting and carrying AGV for the automobile press line, reliable operation of the AGV in a complex industrial environment is guaranteed, a scissor type lifting device is adopted in the lifting mechanism, power is provided through a liquid driving system, the heavy-load material lifting process is more stable, lifting action synchronism can be achieved, and through combination of a swing bridge mechanism and the scissor type lifting device, the AGV can be lifted more stably, and the AGV can be lifted more stably. The adaptability of equipment under complex ground conditions is improved, accurate control is achieved through a multi-steering-engine driving mode, and the operation flexibility and the high-load operation capacity are improved.

The utility model belongs to the AGV technical field, and disclose a parking robot, include: frame, clamping arm subassembly, drive walking component, drive walking component setting in the frame bottom and ground contact, the clamping arm subassembly symmetry sets up in the frame both sides telescopic clamping tire, the utility model drive subassembly's swing bridge structure realizes drive unit movement by the swing of connecting rod no.

The present invention relates to the field of earthquake-resistant safety technology, and in particular to a shock-absorbing and energy-absorbing assembled swing pier component and a construction method thereof, comprising a steel box, a swing structure, a rubber layer and a steel sleeve, wherein the steel box is a hollow box structure with an open top, and its longitudinal section is composed of a square structure at the top and an isosceles trapezoidal structure at the bottom that is wide at the top and narrow at the bottom; the bottom of the steel box is fixed to a base steel plate, and the base steel plate is connected to a foundation pedestal below it through anchor bolts; the swing structure is sleeved inside the steel box, and a gap for setting a rubber layer is provided between the swing structure and the steel box; the steel sleeve is sleeved on a connecting column at the axial top of the swing structure, and the swing structure is connected to the pier through the steel sleeve and the pier steel bars arranged along the circumference of the steel sleeve. The present invention causes the pier to swing to release the bending moment at the top and bottom of the pier, has a simple structure, clear force, and has efficient energy dissipation and self-reset capabilities.

This application discloses a bridge span support structure and construction method for a hybrid box girder continuous beam swing bridge, specifically relating to the field of bridge support technology. The structure includes a pile foundation, with a pile cap fixedly connected to the top of the pile foundation. A swing system component is located at the center of the top of the pile cap, and a pier component is fixedly connected to the top of the swing system component. A main beam is located on the top of the pier component, comprising a box girder segment and a channel girder segment. A box girder segment is fixedly connected to the center of the top of the pier component, and channel girder segments are fixedly connected to both sides of the box girder segment. The swing system component includes a ball joint, support legs, a slide rail, an upper turntable, a lower turntable, a swing locking block, and an adaptive composite liner. This application dynamically adjusts the friction coefficient through the adaptive composite liner, achieving zero-interference construction across the bridge using the swing system. The hybrid box girder optimizes material distribution, reduces structural weight, and the modular design of the components facilitates construction.

The invention relates to the technical field of cable bridges, in particular to a cable anti-swing bridge comprising a U-shaped bracket detachably mounted on an L-shaped support; the anti-swing part comprises a supporting groove assembly which is detachably installed in the U-shaped supporting base, and a clamping base unit is installed in the supporting groove assembly in a sliding mode in the swing direction of the cable body; side blocking units used for blocking the cable body from swinging are arranged in the bracket assembly and located on the two sides of the clamping base unit. According to the cable anti-swing bridge, the displacement side blocking unit and the clamping seat unit arranged in the anti-swing part can transmit the swing condition of the cable, and the problem that the rigidity is damaged when the cable swings can be solved; and meanwhile, the side blocking units are matched with the air bags, so that compression force can be provided when the cable swings, the clamping seat units drive the cable to timely and effectively recover the static state, the problems caused by continuous swinging are avoided, and reliable operation of the cable is guaranteed.

The invention discloses an anti-swing control method for a self-adaptive double-swing bridge type crane, and belongs to the technical field of intelligent control. According to the method, a double-pendulum dynamic model containing mass coupling of a trolley, a lifting hook and a load is constructed through an Euler-Lagrange equation, and a hybrid strategy combining PD control and RBF neural network layered sliding mode control is provided; and designing a composite sliding mode surface and a smooth saturation function by combining layered sliding mode control, and coordinating position tracking and double pendulum to suppress multiple targets and buffeting. According to the method, the problems of modeling deviation, insufficient nonlinear control precision and multi-target coordination of a traditional simple pendulum are solved, the system robustness and the engineering practicability are remarkably improved, and a novel technical scheme is provided for intelligent anti-swing control of the crane.