CN112850516B - Marine hoisting device with movable anti-shaking frame - Google Patents
Marine hoisting device with movable anti-shaking frame Download PDFInfo
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- CN112850516B CN112850516B CN202110083927.6A CN202110083927A CN112850516B CN 112850516 B CN112850516 B CN 112850516B CN 202110083927 A CN202110083927 A CN 202110083927A CN 112850516 B CN112850516 B CN 112850516B
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- block
- frame
- pulley
- sway
- pull block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/68—Jibs foldable or otherwise adjustable in configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to a marine hoisting device with a movable anti-sway frame, which comprises a base unit, a suspension arm linear driver, a movable anti-sway frame unit, a pull block, a lifting hook, a hoisting rope, a pull block rope and an anti-sway rope, wherein a base column in the base unit is installed on a ship deck, a first end of the suspension arm is connected with a rotary table, a first end and a second end of the suspension arm linear driver are respectively connected with the suspension arm and the rotary table, the movable anti-sway frame unit is arranged on the rotary frame, a first end of the hoisting rope is wound on the hoisting rope winch, a second end of the hoisting rope sequentially penetrates through a plurality of guide pulleys to be connected with the lifting hook, a first end of the pull block rope is wound on the pull block rope winch, a second end of the anti-sway rope sequentially penetrates through a plurality of guide pulleys to be connected with the pull block, a first end of the anti-sway rope is wound on the hoisting winch, and a second end of the anti-sway rope sequentially penetrates through a plurality of guide pulleys to be connected with the pull block. The invention adopts the lifting type movable anti-shaking frame, can quickly adjust and compensate the influence of sea waves and sea wind on goods, realizes multi-dimensional anti-shaking, and has the advantages of strong operability and high integration level.
Description
Technical Field
The invention belongs to the technical field of marine anti-shaking cranes, and particularly relates to a marine hoisting device with a movable anti-shaking frame.
Background
The crane device, also called crane, is a cargo transshipping device on board, the ship can be influenced by sea wave and sea wind during the offshore operation, six-dimensional motion such as swaying, surging, rolling, pitching, yawing and heaving is generated, the crane needs to realize actions such as lifting and rotating during the operation, and the cargo can be influenced by the sea wind during the transportation process, so that the cargo under the dragline of the crane can swing in space due to inertia, especially under the condition of severe sea conditions, the cargo and the cargo receiving platform can generate relative motion, thereby not only increasing the operation difficulty, but also being easy to generate safety accidents. Therefore, it is necessary to improve and reform the anti-sloshing technology of the traditional crane.
The prior art of preventing shaking a crane adopts a parallel mechanism to prevent shaking, adopts a supporting arm to support and prevent shaking, adopts a rotating beam to control and restrain goods from preventing shaking along the direction of a suspension arm, and adopts a mode of reducing the shaking of the suspension arm to prevent shaking. The anti-shaking technology of the existing crane has the problems that the control part is too much, the occupied space of the parallel mechanism is too large, the problem of storing goods in a narrow space cannot be adapted to, and the shaking problem can be prevented only by a single dimension. Therefore, the anti-shaking crane which is compact in structure, can adapt to different working conditions and can prevent shaking in multiple dimensions is necessary.
Disclosure of Invention
In view of the above situation, the invention provides a marine hoisting device with a movable anti-sway frame, and the retractable structure of the marine hoisting device can quickly adjust and compensate the influence of sea waves and sea wind on goods, so that multi-dimensional anti-sway is realized, and the application scene is wider.
The invention adopts the technical scheme that the marine hoisting device with the movable anti-sway frame comprises a base unit, a suspension arm linear driver, a movable anti-sway frame unit, a pull block, a lifting hook, a hoisting rope, a pull block rope and an anti-sway rope, wherein the base unit comprises a base column, a rotary table, a rotary driver and a rotary frame, the base column is connected with the rotary table through a first rotary pair, the first rotary pair is driven through the rotary driver, the upper end of the rotary frame is fixedly connected with the rotary table, the lower end of the rotary frame is rotatably connected with a second rotary pair of the base column through press wheels uniformly distributed at the bottom of the rotary frame, the axis of the second rotary pair is superposed with the axis of the first rotary pair, the first end of the suspension arm is connected with the rotary table through a third rotary pair, and the axis of the third rotary pair is vertical to the axis of the first rotary pair, the suspension arm linear drivers are symmetrically arranged on two sides of the suspension arm, the first end of each suspension arm linear driver is connected with the suspension arm through a fourth revolute pair, and the second end of each suspension arm linear driver is connected with the rotary table through a fifth revolute pair; the movable anti-shaking frame unit is arranged on the revolving frame and comprises a sliding table, a sliding table linear driving device, a sliding table linear guiding device, a movable anti-shaking frame, an anti-shaking frame linear driving device, an anti-shaking rope winch and an anti-shaking guiding wheel set, the sliding table linear guiding device is symmetrically arranged on two sides of the sliding table and is connected with a first sliding pair of the revolving frame through the sliding table linear guiding device, the central line of the first sliding pair is parallel to the axis of the first rotating pair, the sliding table linear driving device is arranged in the middle of the sliding table, a driving gear in the sliding table linear driving device is in meshing transmission with a revolving rack on the revolving frame, the first end of the movable anti-shaking frame is connected with the upper end of the sliding table through a seventh rotating pair, and the axis of the seventh rotating pair is parallel to the axis of the third rotating pair, the lower end of the sliding table is connected with the first end of the anti-shaking frame linear driving device through an eighth revolute pair, the second end of the anti-shaking frame linear driving device is connected with the middle part of the movable anti-shaking frame through a ninth revolute pair, the anti-shaking rope winches are symmetrically arranged on the movable anti-shaking frame, and the anti-shaking guide wheel sets are symmetrically arranged at the first end of the movable anti-shaking frame; the first end of the hoisting rope is wound on the hoisting rope winch at the first end of the suspension arm, the second end of the hoisting rope sequentially penetrates through the head guide pulley at the second end of the suspension arm, the first guide pulley block of the pull block in the pull block, the load pulley block of the lifting hook in the lifting hook and the second guide pulley block of the pull block in the pull block to be connected with the lifting hook, the first end of the pull block rope is wound on the pull block rope winch arranged on the suspension arm, the second end of the pull block rope sequentially penetrates through the suspension arm guide pulley arranged on the suspension arm, the load pulley block of the pull block in the pull block and the head guide pulley at the second end of the suspension arm to be connected with the pull block, the anti-sway ropes are positioned at two sides of the movable anti-sway frame unit, the first end of the anti-sway rope is wound on the anti-sway rope winch, and the second end of the anti-sway rope sequentially penetrates through the guide pulleys of the anti-sway actuator in the anti-sway guide pulley block, The first guide wheel, the second guide wheel and the rotatable guide wheel are connected with the pulling block.
Preferably, be equipped with the hoist rope capstan winch, draw a rope capstan winch, head guide pulley, head pinch roller and davit guide pulley on the davit, the hoist rope capstan winch is located the upside of davit first end, the davit is close to the downside of first end and is equipped with draw a rope capstan winch, the davit is close to the downside of second end and is equipped with the davit guide pulley, head guide pulley and head pinch roller are all located the second end of davit.
Further, the pull block comprises a pull block frame, a first guide pulley block of the pull block, a second guide pulley block of the pull block, a load pulley block of the pull block and a pull block eyebolt, the first guide pulley block of the pull block, the second guide pulley block of the pull block and the load pulley block of the pull block are spatially arranged in the pull block frame, the first guide pulley block of the pull block is positioned at the first end of the pull block frame, the pulley axis of the first guide pulley block of the pull block is parallel to the third auxiliary rotating axis, the second guide pulley block of the pull block is symmetrically arranged at the second end and the third end of the pull block frame, the pulley axis of the second guide pulley block of the pull block is perpendicular to the pulley axis of the first guide pulley block of the pull block and the first auxiliary rotating axis, the load pulley block is positioned between the first guide pulley block of the pull block and the second guide pulley block, and the pulley axis of the load pulley block is parallel to the pulley axis of the first guide pulley block of the pull block The line, draw a lifting bolt to be located draw a frame upside, draw the first guide pulley block's of piece guiding hole and two sets of guide pulley block's of drawing the second guide pulley block guiding hole to constitute equilateral triangle's three summit in the plane, just equilateral triangle summit interconnect constitutes first equilateral triangle, just the plane at first equilateral triangle place is first plane.
Further, the lifting hook includes lifting hook frame, lifting hook load assembly pulley and lifting hook eye bolt, lifting hook load assembly pulley symmetric position is in the first end and the second end of lifting hook frame, just two sets of lifting hook load assembly pulley's pulley axis constitutes the second plane, the second plane is on a parallel with first plane, lifting hook eye bolt is located lifting hook frame upside, just lifting hook eye bolt mounted position is in projection point on the second plane with two sets of lifting hook load assembly pulley's guiding hole is in constitute equilateral triangle's three summit in the second plane, just equilateral triangle summit interconnect constitutes second equilateral triangle.
Preferably, the connecting line of the three vertexes of the first equilateral triangle and the three vertexes of the second equilateral triangle can form a triangular prism in space and also can form a triangular frustum.
Preferably, prevent shaking the leading wheel group including preventing shaking the actuator, preventing shaking the actuator leading wheel, first leading wheel, second leading wheel and can gyration leading wheel, prevent shaking the first end of actuator with movable prevent shaking frame fixed connection, just prevent shaking the second end of actuator and be equipped with prevent shaking the actuator leading wheel, first leading wheel, second leading wheel and can gyration leading wheel all locate movable prevent shaking on the frame, just first leading wheel, second leading wheel are located movable prevent shaking the inboard of frame, can gyration leading wheel is located movable prevent shaking the outside of frame.
Preferably, the guide pulleys in the pull block can also be arranged in a plane, the pull block comprises a pull block frame, a first pull block guide pulley block, a second pull block guide pulley block, a pull block load-carrying pulley block and a pull block eye bolt, the first pull block guide pulley block, the second pull block guide pulley block and the pull block load-carrying pulley block are arranged in the pull block frame in a plane, the first pull block guide pulley block is positioned at the first end of the pull block frame, the pulley axis of the first pull block guide pulley block is vertical to the first end surface of the pull block frame, the second pull block guide pulley block and the pull block load-carrying pulley block are both positioned at the second end of the pull block frame, the second pull block guide pulley block is positioned below the pull block load-carrying pulley block, the pulley axis of the second pull block guide pulley block and the pulley axis of the pull block load-carrying pulley block are both parallel to the pulley axis of the first pull block guide, the pull block eye bolt comprises 3 pull block eye bolts, and the 3 pull block eye bolts are respectively positioned at the upper end of the pull block frame and the first end face and the second end face of the pull block frame.
Preferably, guide pulley in the lifting hook also can the plane arrangement, just the lifting hook includes lifting hook frame, lifting hook load assembly pulley and lifting hook eye bolt, lifting hook load assembly pulley symmetry position in the first end and the second end of lifting hook frame, just lifting hook load assembly pulley's pulley axis perpendicular to the first terminal surface of lifting hook frame, the first terminal surface of lifting hook frame is on a parallel with the first terminal surface of lacing wire frame, just lifting hook eye bolt is located the upper end of lifting hook frame.
The second aspect of the invention adopts the technical proposal that the marine hoisting device with the movable anti-shaking frame, which comprises a base unit, a suspension arm linear driver, a movable anti-shaking frame unit, a pulling block, a lifting hook, a hoisting rope, a pulling block rope and an anti-shaking rope, the base unit comprises a base column, a rotary table, a rotary driver and a rotary frame, the base column is connected with the rotary table through a first revolute pair, the first rotating pair is driven by the rotating driver, the rotating frame is arranged on the base column, the first end of the suspension arm is connected with the rotating platform by a third rotating pair, the third rotary pair axis is vertical to the first rotary pair axis, the suspension arm linear drivers are symmetrically arranged at two sides of the suspension arm, the first end of the suspension arm linear driver is connected with the suspension arm through a fourth revolute pair, and the second end of the suspension arm linear driver is connected with the rotary table through a fifth revolute pair; the movable anti-sway frame unit is arranged on the revolving platform and comprises a movable anti-sway frame, a front support, a rear support, an anti-sway rope winch, a middle anti-sway rope winch and an anti-sway guide wheel set, the first end of the movable anti-sway frame is connected with the revolving platform through a tenth revolute pair, the front support and the rear support are respectively arranged at the middle part and the second end of the movable anti-sway frame, the lower ends of the front support and the rear support are respectively connected with the movable anti-sway frame through an eleventh revolute pair and a twelfth revolute pair, the upper ends of the front support and the rear support are respectively connected with the suspension arm through a thirteenth revolute pair and a fourteenth revolute pair, and the axes of the tenth revolute pair, the eleventh revolute pair, the twelfth revolute pair, the thirteenth revolute pair and the fourteenth revolute pair are all parallel to the axis of the third revolute pair, the suspension arm, the front support, the rear support, the rotary table and the movable anti-shaking frame form a double-parallelogram mechanism, the anti-shaking rope winches are symmetrically arranged on the movable anti-shaking frame, the middle anti-shaking rope winch is arranged in the middle of the movable anti-shaking frame, and the anti-shaking guide wheel sets are symmetrically arranged at the second end of the movable anti-shaking frame; the first end of the hoisting rope is wound on the hoisting rope winch at the first end of the suspension arm, the second end of the hoisting rope sequentially passes through the head guide pulley at the second end of the suspension arm, the first guide pulley block of the pull block in the pull block, the load pulley block of the lifting hook in the lifting hook and the second guide pulley block of the pull block in the pull block to be connected with the lifting hook, the first end of the pull block rope is wound on the middle anti-sway rope winch at the middle part of the movable anti-sway frame, the second end of the pull block rope sequentially passes through the suspension arm guide pulley arranged on the suspension arm, the load pulley block of the pull block in the pull block and the head guide pulley at the second end of the suspension arm to be connected with the pull block, the anti-sway ropes are positioned at two sides of the movable anti-sway frame unit, the first end of the anti-sway rope is wound on the winch of the anti-sway rope, and the second end of the anti-sway rope sequentially passes through the anti-sway guide pulley block in the anti-sway guide pulley block, The first guide wheel, the second guide wheel and the rotatable guide wheel are connected with the pulling block.
Preferably, the thirteenth revolute pair and the fourteenth revolute pair, which are connected with the boom at the upper ends of the front support and the rear support, can also be replaced by ball pairs.
The invention has the characteristics and beneficial effects that:
1. according to the marine hoisting device with the movable anti-shaking frame, the movable anti-shaking frame can move up and down along rotation, so that the hoisting device can realize conversion between an upward pulling type anti-shaking mode and a downward pulling type anti-shaking mode, and the movable anti-shaking frame can rotate at a large angle to increase the working space; when not in work, the movable anti-shaking frame can be folded, the integration level is high, and the occupied space can be reduced.
2. The marine hoisting device with the movable anti-shaking frame provided by the invention has the advantages that the movable anti-shaking frame unit can be matched with the pull block rope winch to realize multi-dimensional anti-shaking of the hoisting device through combined action of the anti-shaking rope and the pull block rope.
3. The marine hoisting device with the movable anti-shaking frame provided by the invention can drive the anti-shaking rope to change in length through the quick response of the anti-shaking actuator, so that the quick response of the hoisting device to the cargo shaking adjustment is realized.
4. The invention provides a marine hoisting device with a movable anti-shaking frame, which can adopt an upward pulling type anti-shaking frame when the space of a deck of a ship is limited, can arrange a movable anti-shaking frame unit on a rotary table when adopting the upward pulling type anti-shaking frame, and can strengthen the rigidity and the strength of the movable anti-shaking frame by using a front support and a rear support to replace a linear driving device of the movable anti-shaking frame.
Drawings
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of internal routing of a boom head according to embodiment 1 of the present invention;
FIG. 3 is a bottom assembly view of embodiment 1 of the present invention;
FIG. 4 is a partially enlarged view of the slide table and the slide table linear guide of the present invention;
FIG. 5 is a schematic view of the spatial arrangement of the pull blocks of the present invention;
FIG. 6 is a schematic view of the spatial arrangement of the hooks of the present invention;
FIG. 7 is a schematic plan view of the pull block and hook of the present invention;
FIG. 8 is a schematic view of the overall structure of embodiment 2 of the present invention;
FIG. 9 is a front and rear support assembly view according to embodiment 2 of the present invention;
FIG. 10 is a schematic view of the connection of the front and rear supports and the boom ball pair of embodiment 2 of the invention.
The main reference numbers:
1-foundation column, 2-revolving platform, 3-revolving drive, 4-boom, 401-hoist rope winch, 402-block rope winch, 403-head guide pulley, 404-head press wheel, 405-boom guide pulley, 5-boom linear drive, 6-revolving frame, 601-press wheel, 602-fence, 603-ladder, 604-revolving rack, 7-slide, 8-slide linear drive, 9-slide linear guide, 10-movable anti-sway stand, 11-movable anti-sway stand linear drive, 12-anti-sway rope winch, 13-anti-sway actuator, 14-intermediate anti-sway rope winch, 141-anti-sway actuator guide wheel, 142-first guide wheel, 143-second guide wheel, 15-rotatable guide wheels, 16-pull block, 1601-pull block frame, 1602-pull block first guide pulley block, 1603-pull block second guide pulley block, 1604-pull block load pulley block, 1605-pull block eyebolt, 17-hook, 1701-hook frame, 1702-hook load pulley block, 1703-hook eyebolt, 18-sling rope, 19-pull block rope, 20-anti-sway rope, 21-front support, 22-rear support.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides a marine hoisting device with a movable anti-sway frame, which comprises a base unit, a boom 4, a boom linear actuator 5, a movable anti-sway frame unit, a pulling block 16, a lifting hook 17, a hoisting rope 18, a pulling block rope 19 and an anti-sway rope 20, as shown in figure 1.
As shown in fig. 1, the base unit includes a base column 1, a rotary table 2, a rotary driver 3 and a rotary frame 6, the base column 1 is connected with the rotary table 2 through a first revolute pair, the first revolute pair is driven by the rotary driver 3, the upper end of the rotary frame 6 is fixedly connected with the rotary table 2, the lower end of the rotary frame 6 is rotatably connected with a second revolute pair of the base column 1 through press wheels 601 uniformly distributed at the bottom of the rotary frame 6, the axis of the second revolute pair is overlapped with the axis of the first revolute pair, the first end of the suspension arm 4 is connected with the rotary table 2 through a third revolute pair, the axis of the third revolute pair is perpendicular to the axis of the first revolute pair, the suspension arm linear drivers 5 are symmetrically arranged at two sides of the suspension arm 4, the first end of the suspension arm linear driver 5 is connected with the suspension arm 4 through a fourth revolute pair, and the second end of the suspension arm linear driver 5 is connected with the rotary table 2 through a fifth revolute pair.
As shown in fig. 1 and 2, a hoist rope winch 401, a pull block rope winch 402, a head guide pulley 403, a head pinch roller 404 and a boom guide pulley 405 are arranged on the boom 4, the hoist rope winch 401 is arranged on the upper side of the first end of the boom 4, the pull block rope winch 402 is arranged on the lower side of the boom 4 close to the first end, the boom guide pulley 405 is arranged on the lower side of the boom 4 close to the second end, and the head guide pulley 403 and the head pinch roller 404 are both arranged on the second end of the boom 4.
In a preferred embodiment, the hoist rope winch 401 and the block rope winch 402 may be disposed on the upper side of the turntable 2 according to the working space of the boom 4.
As shown in fig. 3, the revolving frame 6 includes pressing wheels 601, fences 602, a ladder 603 and a revolving rack 604, the pressing wheels 601 are uniformly distributed at the bottom of the revolving frame 6, a revolving platform is arranged at the middle of the revolving frame 6, the fences 602 are arranged on the revolving platform, and the ladder 603 and the revolving rack 604 are respectively arranged at the first side surface and the second side surface of the revolving frame 6.
As shown in fig. 3 and 4, the movable anti-sway frame unit is disposed on the revolving frame 6, and the movable anti-sway frame unit includes a sliding table 7, a sliding table linear driving device 8, a sliding table linear guiding device 9, a movable anti-sway frame 10, an anti-sway frame linear driving device 11, an anti-sway rope winch 12 and an anti-sway guiding wheel set, the sliding table 7 is symmetrically provided with the sliding table linear guiding device 9 at both sides, and the sliding table 7 is connected with a first sliding pair of the revolving frame 6 through the sliding table linear guiding device 9, a first sliding pair central line is parallel to a first rotating pair axis, the sliding table linear driving device 8 is disposed at a middle position of the sliding table 7, and a driving gear in the sliding table linear driving device 8 is in meshing transmission with a revolving rack 604 on the revolving frame 6, a first end of the movable anti-sway frame 10 is connected with an upper end of the sliding table 7 through a seventh rotating pair, and a seventh rotating pair axis is parallel to a third rotating pair axis, a lower end of the sliding table 7 is connected with a first end of the anti-sway frame linear driving device 11 through an eighth rotating pair, the second end of the anti-shaking frame linear driving device 11 is connected with the middle part of the movable anti-shaking frame 10 through a ninth revolute pair, the anti-shaking rope winches 12 are symmetrically arranged on the movable anti-shaking frame 10, the anti-shaking guide wheel sets are symmetrically arranged at the first end of the movable anti-shaking frame 10, and the axes of the seventh revolute pair, the eighth revolute pair and the ninth revolute pair are all parallel to the axis of the third revolute pair.
As shown in fig. 4, the anti-shaking guide wheel set includes an anti-shaking actuator 13, an anti-shaking actuator guide wheel 141, a first guide wheel 142, a second guide wheel 143, and a rotatable guide wheel 15, a first end of the anti-shaking actuator 13 is fixedly connected to the movable anti-shaking frame 10, and a second end of the anti-shaking actuator 13 is provided with the anti-shaking actuator guide wheel 141, the first guide wheel 142, the second guide wheel 143, and the rotatable guide wheel 15 are all provided on the movable anti-shaking frame 10, and the first guide wheel 142, the second guide wheel 143 are located inside the movable anti-shaking frame 10, and the rotatable guide wheel 15 is located outside the movable anti-shaking frame 10. When preventing shaking rope capstan 12 during operation, prevent shaking actuator 13 simultaneous working, utilize and prevent shaking the inside motor fast response characteristic of actuator 13, remedy and prevent shaking the slow problem of rope capstan 12 response of shaking, realize preventing shaking the rope prevent shaking fast response.
As shown in fig. 1 to 4, a first end of a hoist rope 18 is wound around a hoist rope winch 401 at a first end of a boom 4, a second end of the hoist rope 18 is connected to the hook 17 by passing through a head guide pulley 403 at a second end of the boom 4, a pull block first guide pulley block 1602 in the pull block 16, a hook load pulley block 1702 in the hook 17, and a pull block second guide pulley block 1603 in the pull block 16 in this order, a first end of a pull block rope 19 is wound around a pull block rope winch 402 provided on the boom 4, a second end of the pull block rope 19 is connected to the pull block 16 by passing through a boom guide pulley 405 provided on the boom 4, a pull block pulley block 1604 in the pull block 16, and a head guide pulley 403 at a second end of the boom 4 in this order, anti-sway ropes 20 are disposed on both sides of a movable anti-sway frame unit, a first end of the anti-sway rope 20 is wound around an anti-sway rope winch 12, a second end of the anti-sway rope 20 passes through an anti-sway guide pulley 141 in this order, The first guide wheel 142, the second guide wheel 143 and the rotatable guide wheel 15 are connected to the pulling block 16.
In a preferred embodiment, when the load is heavy, the first end of the load rope 18 may be wound around the load rope winch 401 at the first end of the boom 4, the second end of the load rope 18 sequentially passes through the head guide pulley 403 at the second end of the boom 4, the pull block first guide pulley block 1602 in the pull block 16, the hook load pulley block 1702 in the hook 17, the head guide pulley 403 at the second end of the boom 4, and the pull block second guide pulley block 1603 in the pull block 16 to be connected to the hook 17, the first end of the pull block rope 19 may be wound around the pull block rope winch 402 disposed on the boom 4, and the second end of the pull block rope 19 sequentially passes through the boom guide pulley 405 disposed on the boom 4, the head guide pulley 403 at the second end of the boom 4, and the pull block load pulley block 1604 in the pull block 6 to be connected to the second end of the boom 4.
As shown in fig. 5, the pulling block 16 comprises a pulling block frame 1601, a pulling block first guide pulley block 1602, a pulling block second guide pulley block 1603, a pulling block load pulley block 1604 and a pulling block eyebolt 1605, and the pulling block first guide pulley block 1602, the pulling block second guide pulley block 1603 and the pulling block load pulley block 1604 are spatially arranged in the pulling block frame 1601, the pulling block first guide pulley block 1602 is located at a first end of the pulling block frame 1601, and a pulley axis of the pulling block first guide pulley block 1602 is parallel to a third rotation pair axis, the pulling block second guide pulley block 1603 is symmetrically arranged at a second end and a third end of the pulling block frame 1601, and a pulley axis of the pulling block second guide pulley block 1603 is perpendicular to a pulley axis of the pulling block first guide pulley block 1602 and the first rotation pair axis, the pulling block load pulley block 1604 is located between the pulling block first guide pulley block 1602 and the pulling block second pulley block guide pulley block 1603, and a pulley axis of the pulling block load pulley block 1604 is parallel to a pulley axis of the pulling block first guide pulley block 1602, the pull block eyebolt 1605 is located on the upper side of the pull block frame 1601, the guide holes of the first guide pulley block 1602 of the pull block and the guide holes of the second guide pulley blocks 1603 of the two groups of pull blocks form three vertexes of an equilateral triangle in a plane, the vertexes of the equilateral triangle are connected with each other to form a first equilateral triangle, and the plane where the first equilateral triangle is located is a first plane.
As shown in fig. 6, the hook 17 includes a hook frame 1701, hook load pulley blocks 1702 and hook eyebolts 1703, the hook load pulley blocks 1702 are symmetrically located at the first end and the second end of the hook frame 1701, and the pulley axes of the two groups of hook load pulley blocks 1702 form a second plane, the second plane is parallel to the first plane, the hook eyebolts 1703 are located at the upper side of the hook frame 1701, and the projection point of the installation position of the hook eyebolts 1703 on the second plane and the guide holes of the two groups of hook load pulley blocks 1702 form three vertexes of an equilateral triangle in the second plane, and the vertexes of the equilateral triangle are connected to form a second equilateral triangle. And the connecting lines of the three vertexes of the first equilateral triangle and the three vertexes of the second equilateral triangle can form a triangular prism in space and also can form a triangular prism table.
In a preferred mode, when the crane does not work, the two anti-sway frame linear driving devices 11 on both sides of the movable anti-sway frame 10 act, the movable anti-sway frame 10 is folded and attached to the rotating frame 6, and the movable anti-sway frame 10 is folded; when the crane works, the anti-shaking frame linear driving device 11 acts to drive the movable anti-shaking frame 10 to realize the stop of any angle between 0 and 120 degrees.
In a preferred embodiment, the boom linear actuator 5, the movable anti-sway frame linear actuator 11 and the anti-sway actuator 13 can be hydraulic cylinders, electric cylinders, gas springs or the like.
In a preferred mode, the sliding table linear guide device 9 can be a pulley bearing and a matched guide rail, a sliding block and the like.
As shown in fig. 7, the guide pulleys in the pulling block 16 can also be arranged in a plane, and the pulling block 16 comprises a pulling block frame 1601, a pulling block first guide pulley block 1602, a pulling block second guide pulley block 1603, a pulling block load pulley block 1604 and a pulling block eyebolt 1605, and the pulling block first guide pulley block 1602, the pulling block second guide pulley block 1603 and the pulling block load pulley block 1604 are arranged in the pulling block frame 1601 in a plane, the pulling block first guide pulley block 1602 set is located at a first end of the pulling block frame 1601, and a pulley axis of the pulling block first guide pulley block 1602 is perpendicular to a first end face of the pulling block frame 1601, the pulling block second guide pulley block 1603 and the pulling block load pulley block 1604 are both located at a second end of the pulling block frame 1601, and the pulling block second guide pulley block 1603 is located below the pulling block load pulley block 1604, a pulley axis of the pulling block second guide pulley block 1603 and a pulley axis of the pulling block load pulley block are both parallel to the pulley axis of the pulling block first guide pulley block 1602, the pull block eye bolt 1605 comprises 3 pull block eye bolts 1605, and the 3 pull block eye bolts 1605 are respectively located at the upper end of the pull block frame 1601 and the first end face and the second end face of the pull block frame 1601.
As shown in fig. 7, the guide pulleys in the hook 17 can also be arranged in a plane, and the hook 17 includes a hook frame 1701, a hook load pulley block 1702 and a hook eye bolt 1703, the hook load pulley block 1702 is symmetrically located at the first end and the second end of the hook frame 1701, and the pulley axis of the hook load pulley block 1702 is perpendicular to the first end surface of the hook frame 1701, the first end surface of the hook frame 1701 is parallel to the first end surface of the pull block frame 1601, and the hook eye bolt 1703 is located at the upper end of the hook frame 1701.
In a second aspect of the present invention, there is provided a lifting apparatus for a ship having a movable anti-sloshing frame, as shown in fig. 8, the base unit comprises a base unit, a suspension arm 4, a suspension arm linear driver 5, a movable anti-shaking frame unit, a pulling block 16, a lifting hook 17, a lifting rope 18, a pulling block rope 19 and an anti-shaking rope 20, wherein the base unit comprises a base column 1, a rotary table 2, a rotary driver 3 and a rotary frame 6, the base column 1 is connected with the rotary table 2 through a first revolute pair, the first rotating pair is driven by a rotating driver 3, a rotating frame 6 is arranged on the base column 1, the first end of a suspension arm 4 is connected with the rotating platform 2 by a third rotating pair, and the third rotary pair axis is vertical to the first rotary pair axis, the suspension arm linear drivers 5 are symmetrically arranged at two sides of the suspension arm 4, and the first end of the suspension arm linear driver 5 is connected with the suspension arm 4 through a fourth revolute pair, and the second end of the suspension arm linear driver 5 is connected with the rotary table 2 through a fifth revolute pair.
As shown in fig. 8, the movable anti-sway frame unit is provided on the revolving platform 2, and the movable anti-sway frame unit includes a movable anti-sway frame 10, a front bracket 21, a rear bracket 22, an anti-sway rope winch 12, an intermediate anti-sway rope winch 14 and an anti-sway guide wheel set, a first end of the movable anti-sway frame 10 is connected to a revolving pair of the revolving platform 2 through a tenth revolving pair, the front bracket 21 and the rear bracket 22 are provided at an intermediate portion and a second end of the movable anti-sway frame 10, respectively, and lower ends of the front bracket 21 and the rear bracket 22 are connected to the movable anti-sway frame 10 through an eleventh revolving pair and a twelfth revolving pair, respectively, upper ends of the front bracket 21 and the rear bracket 22 are connected to a revolving pair of the boom 4 through a thirteenth revolving pair and a fourteenth revolving pair, respectively, axes of the tenth revolving pair, the eleventh revolving pair, the twelfth revolving pair, the thirteenth revolving pair, and a fourteenth revolving pair are parallel to an axis of the third revolving pair, and the boom 4, the front bracket 21, the rear bracket 22, the turntable 2 and the movable anti-sway frame 10 constitute a double parallelogram mechanism, the anti-sway rope winches 12 are symmetrically arranged on the movable anti-sway frame 10, the middle anti-sway rope winch 14 is arranged in the middle of the movable anti-sway frame 10, and the anti-sway guide wheel sets are symmetrically arranged at the second end of the movable anti-sway frame 10.
As shown in fig. 8 and 9, a first end of the hoist rope 18 is wound on the hoist rope winch 401 at the first end of the boom 4, and a second end of the hoist rope 18 is connected to the hook 17 through the head guide pulley 403 at the second end of the boom 4, the first guide pulley block 1602 in the pull block 16, the load bearing pulley block 1702 in the hook 17, and the second guide pulley block 1603 in the pull block 16 in sequence, a first end of the pull block rope is wound on the middle anti-sway rope winch 14 at the middle portion of the movable anti-sway frame 10, a second end of the pull block rope 19 is connected to the pull block 16 through the boom guide pulley 405 provided on the boom 4, the load bearing pulley block 1604 in the pull block 16, and the head guide pulley 403 at the second end of the boom 4 in sequence, the anti-sway ropes 20 are located at both sides of the movable anti-sway frame unit, and a first end of the anti-sway rope 20 is wound on the anti-sway rope winch 12, and a second end of the anti-sway rope 20 is connected to the anti-sway rope winch 12 in sequence, The first guide wheel 142, the second guide wheel 143 and the rotatable guide wheel 15 are connected to the pulling block 16.
As shown in fig. 10, the thirteenth revolute pair and the fourteenth revolute pair, at the upper ends of the front bracket 21 and the rear bracket 22, connected to the boom 4 can also be replaced by ball pairs, so that the torque transmitted to the boom 4 during the anti-sway process of the movable anti-sway frame 10 is reduced by the ball pairs, and the boom 4 has good rigidity and strength.
The method comprises the following specific operation steps:
example 1
As shown in fig. 1, a foundation column is firstly installed on a ship deck, when goods are hoisted, a rotary driver 3 is firstly driven to drive a rotary table 2 to rotate so as to adjust the azimuth, meanwhile, a boom linear driver 5 is driven to drive a lifting hook 17 below the second end of a boom 4 to move to a specified position, at the moment, a sliding table 7 is driven by a sliding table linear driving device 8 through a sliding table linear guiding device 9 to move up and down along a rotary frame 6, and when the space of the ship deck is limited, the sliding table linear driving device 8 is driven by the sliding table linear driving device 8 through the sliding table linear guiding device 9 to drive the sliding table 7 to move up along the rotary frame 6, so that pull-up type anti-shaking is formed; when the ship deck space is sufficient, the slipway 7 is driven to move downwards along the rotating frame 6 through the slipway linear driving device 8 and the slipway linear guide device 9, so that the pull-down type anti-shaking is formed. The hoisting rope winch 401 drives the hoisting rope 18 to bear a main load through the pull block 16 and the lifting hook 17, the rotary driver 3 drives the rotary table 2 to rotate to compensate the yawing motion of the goods, the pull block rope winch 402 drives the pull block rope 19 to pass through the guide wheel to drive the pull block 16 to move up and down, when the speed of the pull block rope 19 is the same as that of the hoisting rope 18, the heaving motion of the goods is compensated, when the speed of the pull block rope 19 is different from that of the hoisting rope 18, the pitching motion of the goods is compensated, the suspension arm linear driver 5 drives the suspension arm 4 to pitch to compensate the pitching motion of the goods in an auxiliary manner, the anti-sway rope winch 12 drives the anti-sway rope 20 to pass through the guide wheel and the anti-sway actuator 13 to drive the pull block 16 to move, when the speeds of the anti-sway ropes 20 on two sides are different, the rolling motion of the goods is compensated, the response speed of the anti-sway actuator 13 is high, the rapid compensation can be ensured, and when the speeds of the anti-sway ropes 20 on two sides are the same, the pull block rope 19 acts together, to a certain extent compensate for cargo surge motion.
Example 2
As shown in fig. 8, the foundation column is first installed on the deck of the ship, when the cargo is hoisted, the revolving drive 3 is first driven to drive the revolving platform 2 to rotate to adjust the orientation, and the boom linear drive 5 is simultaneously driven to drive the hook 17 under the second end of the boom 4 to move to a designated position, at this time, when the pull-up type anti-sway frame unit is to be arranged on the revolving platform, and the front support and the rear support are used to replace the movable anti-sway frame linear drive device and are connected with the boom 4 through the front support 21 and the rear support 22 to form a double parallelogram structure, which can enhance the rigidity and strength of the boom 4 and the movable anti-sway frame 10. The hoisting rope winch 401 drives the hoisting rope 18 to bear the main load through the pull block 16 and the lifting hook 17, the rotary driver 3 drives the rotary platform 2 to rotate to compensate the yawing motion of the goods, the middle anti-sway rope winch 14 drives the pull block rope 19 to pass through the guide wheel to drive the pull block 16 to move up and down, when the speed of the pull block rope 19 is the same as that of the hoisting rope 18, the heaving motion of the goods is compensated, when the speed of the pull block rope 19 is different from that of the hoisting rope 18, the pitching motion of the goods is compensated, the suspension arm linear driver 5 drives the suspension arm 4 to pitch to assist in compensating the pitching motion of the goods, the anti-sway rope winch 12 drives the anti-sway rope 20 to pass through the guide wheel and the anti-sway actuator 13 to drive the pull block 16 to move, when the speeds of the anti-sway ropes 20 on two sides are different, the rolling motion of the goods is compensated, the response speed of the anti-sway actuator 13 is high, the rapid compensation can be ensured, and when the speeds of the anti-sway ropes 20 on two sides are the same, the pull block rope 19 acts together, to a certain extent compensate for cargo surge motion.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (8)
1. A marine hoisting device with a movable anti-sway frame is characterized by comprising a base unit, a suspension arm linear driver, a movable anti-sway frame unit, a pull block, a lifting hook, a hoisting rope, a pull block rope and an anti-sway rope,
the base unit comprises a base column, a rotary table, a rotary driver and a rotary frame, the base column is connected with the rotary table through a first revolute pair, the first rotating pair is driven by the rotating driver, the upper end of the rotating frame is fixedly connected with the rotating table, the lower end of the rotary frame is rotationally connected with the second revolute pair of the foundation column through press wheels which are uniformly distributed at the bottom of the rotary frame, the axis of the second revolute pair is superposed with the axis of the first revolute pair, the first end of the suspension arm is connected with the rotary table through a third revolute pair, the third rotary pair axis is vertical to the first rotary pair axis, the suspension arm linear drivers are symmetrically arranged at two sides of the suspension arm, the first end of the suspension arm linear driver is connected with the suspension arm through a fourth revolute pair, and the second end of the suspension arm linear driver is connected with the rotary table through a fifth revolute pair;
the movable anti-shaking frame unit is arranged on the revolving frame and comprises a sliding table, a sliding table linear driving device, a sliding table linear guiding device, a movable anti-shaking frame, an anti-shaking frame linear driving device, an anti-shaking rope winch and an anti-shaking guiding wheel set, the sliding table linear guiding device is symmetrically arranged on two sides of the sliding table and is connected with a first sliding pair of the revolving frame through the sliding table linear guiding device, the central line of the first sliding pair is parallel to the axis of the first rotating pair, the sliding table linear driving device is arranged in the middle of the sliding table, a driving gear in the sliding table linear driving device is in meshing transmission with a revolving rack on the revolving frame, the first end of the movable anti-shaking frame is connected with the upper end of the sliding table through a seventh rotating pair, and the axis of the seventh rotating pair is parallel to the axis of the third rotating pair, the lower end of the sliding table is connected with the first end of the anti-shaking frame linear driving device through an eighth revolute pair, the second end of the anti-shaking frame linear driving device is connected with the middle part of the movable anti-shaking frame through a ninth revolute pair, the anti-shaking rope winches are symmetrically arranged on the movable anti-shaking frame, and the anti-shaking guide wheel sets are symmetrically arranged at the first end of the movable anti-shaking frame;
the first end of the hoisting rope is wound on the hoisting rope winch at the first end of the suspension arm, the second end of the hoisting rope sequentially penetrates through the head guide pulley at the second end of the suspension arm, the first guide pulley block of the pull block in the pull block, the load pulley block of the lifting hook in the lifting hook and the second guide pulley block of the pull block in the pull block to be connected with the lifting hook, the first end of the pull block rope is wound on the pull block rope winch arranged on the suspension arm, the second end of the pull block rope sequentially penetrates through the suspension arm guide pulley arranged on the suspension arm, the load pulley block of the pull block in the pull block and the head guide pulley at the second end of the suspension arm to be connected with the pull block, the anti-sway ropes are positioned at two sides of the movable anti-sway frame unit, the first end of the anti-sway rope is wound on the anti-sway rope winch, and the second end of the anti-sway rope sequentially penetrates through the guide pulleys of the anti-sway actuator in the anti-sway guide pulley block, The first guide wheel, the second guide wheel and the rotatable guide wheel are connected with the pulling block.
2. The marine crane apparatus with a movable sway brace of claim 1 wherein the boom is provided with a hoist rope winch, a pull block rope winch, a head guide pulley, a head pinch roller and a boom guide pulley, the hoist rope winch is disposed on the upper side of the first end of the boom, the pull block rope winch is disposed on the lower side of the boom close to the first end, the boom guide pulley is disposed on the lower side of the boom close to the second end, and the head guide pulley and the head pinch roller are both disposed on the second end of the boom.
3. The marine lifting device with the movable sway brace of claim 1, wherein the pulling block comprises a pulling block frame, a pulling block first guide pulley block, a pulling block second guide pulley block, a pulling block load bearing pulley block and a pulling block eye bolt, and the pulling block first guide pulley block, the pulling block second guide pulley block and the pulling block load bearing pulley block are spatially arranged in the pulling block frame, the pulling block first guide pulley block is located at a first end of the pulling block frame, and a pulley axis of the pulling block first guide pulley block is parallel to a third rotation pair axis, the pulling block second guide pulley blocks are symmetrically located at a second end and a third end of the pulling block frame, and a pulley axis of the pulling block second guide pulley block is perpendicular to a pulley axis of the pulling block first guide pulley block and the first rotation pair axis, and the pulling block load bearing pulley block is located between the pulling block first guide pulley block and the pulling block second guide pulley block, just the pulley axis of drawing a piece load assembly pulley is on a parallel with draw the pulley axis of the first guide assembly pulley of piece, draw a piece eyebolt to be located draw a piece frame upside, draw the first guide assembly pulley's of piece guiding hole and two sets of guiding holes that draw a piece second guide assembly pulley constitute equilateral triangle's three summit in the plane, just equilateral triangle summit interconnect constitutes first equilateral triangle, just the plane that first equilateral triangle belonged to is first plane.
4. The marine lifting apparatus with the movable sway preventing frame as claimed in claim 3, wherein the lifting hook comprises a lifting hook frame, lifting hook load-carrying pulley blocks and lifting hook eye bolts, the lifting hook load-carrying pulley blocks are symmetrically located at a first end and a second end of the lifting hook frame, pulley axes of the two sets of lifting hook load-carrying pulley blocks form a second plane, the second plane is parallel to the first plane, the lifting hook eye bolts are located at an upper side of the lifting hook frame, projection points of installation positions of the lifting hook eye bolts on the second plane and guide holes of the two sets of lifting hook load-carrying pulley blocks form three vertexes of an equilateral triangle in the second plane, and vertexes of the equilateral triangle are connected with each other to form a second equilateral triangle.
5. The marine crane apparatus with movable sway preventing frame as claimed in claim 4, wherein the connecting lines of the three vertices of said first equilateral triangle and the three vertices of said second equilateral triangle form a triangular prism or a triangular prism table in space.
6. The marine hoisting apparatus with a movable anti-sway frame of claim 1, wherein the anti-sway guide wheel set comprises an anti-sway actuator, an anti-sway actuator guide wheel, a first guide wheel, a second guide wheel and a rotatable guide wheel, wherein a first end of the anti-sway actuator is fixedly connected to the movable anti-sway frame, and a second end of the anti-sway actuator is provided with the anti-sway actuator guide wheel, the first guide wheel, the second guide wheel and the rotatable guide wheel are all disposed on the movable anti-sway frame, and the first guide wheel and the second guide wheel are disposed on an inner side of the movable anti-sway frame, and the rotatable guide wheel is disposed on an outer side of the movable anti-sway frame.
7. The marine lifting device with movable sway brace of claim 3, wherein the guide pulleys in the pull block are also capable of being arranged in a plane, and the pull block comprises a pull block frame, a pull block first guide pulley block, a pull block second guide pulley block, a pull block load bearing pulley block and a pull block eye bolt, and the pull block first guide pulley block, the pull block second guide pulley block and the pull block load bearing pulley block are arranged in the pull block frame in a plane, the pull block first guide pulley block is located at the first end of the pull block frame, and the pulley axis of the pull block first guide pulley block is perpendicular to the first end surface of the pull block frame, the pull block second guide pulley block and the pull block load bearing pulley block are both located at the second end of the pull block frame, and the pull block second guide pulley block is located below the pull block load bearing block, the pulley axis of the pull block second guide pulley block and the pulley axis of the pull block load bearing pulley block are both parallel to the pulley axis of the pull block load bearing block The pulley axis of the first guide pulley block of the pull block, the pull block eyebolt includes 3 pull block eyebolts, just 3 pull block eyebolts are located respectively the upper end of the pull block frame and the first terminal surface and the second terminal surface of the pull block frame.
8. The marine lifting apparatus with the movable anti-sway frame as claimed in claim 4, wherein the guide pulleys in the hook are also arranged in a plane, and the hook comprises a hook frame, a hook load pulley block and a hook eye bolt, the hook load pulley block is symmetrically located at the first end and the second end of the hook frame, the pulley axis of the hook load pulley block is perpendicular to the first end face of the hook frame, the first end face of the hook frame is parallel to the first end face of the pull block frame, and the hook eye bolt is located at the upper end of the hook frame.
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| CN114275687B (en) * | 2021-12-28 | 2023-01-24 | 中铁四局集团电气化工程有限公司 | Single-arm adjustable multifunctional mechanical and electric material lifting device |
| CN115140249B (en) * | 2022-06-24 | 2024-07-26 | 燕山大学 | Load self-balancing sways compensation offshore operation crane |
| CN117228529B (en) * | 2023-11-09 | 2024-01-16 | 江苏澳构矿业科技股份有限公司 | Hoisting device for maintenance equipment platform of offshore wind turbine |
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| GB2252295B (en) * | 1991-01-31 | 1994-08-03 | James Daniel Davidson | Offshore crane control system |
| JP2758568B2 (en) * | 1994-10-28 | 1998-05-28 | 寄神建設株式会社 | Anti-swing device for hanging hooks on a hoist ship |
| CN204265311U (en) * | 2014-11-04 | 2015-04-15 | 无锡晟欧船舶设备有限公司 | A kind of ship hydraulic rotary crane |
| CN104973513B (en) * | 2015-07-24 | 2017-01-25 | 大连海事大学 | Embedded roller type hanging scaffold stabilization device of ship crane |
| CN105858507B (en) * | 2016-06-03 | 2017-07-11 | 大连海事大学 | A kind of ship's crane, which is folded, subtracts rocker-arm stabilizer |
| CN106672817B (en) * | 2016-11-28 | 2018-11-02 | 大连海事大学 | Peculiar to vessel subtract of one kind shaking crane |
| CN107082373A (en) * | 2017-05-22 | 2017-08-22 | 无锡石油化工起重机有限公司 | The derrick crane of the windproof sleeve of extensibility is installed |
| CN107381379B (en) * | 2017-09-13 | 2020-09-01 | 青岛海西重机有限责任公司 | Floating crane goods stabilizing device |
| CN109896410B (en) * | 2019-03-20 | 2020-03-13 | 燕山大学 | Four-degree-of-freedom vertical mounting platform |
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