CN218520941U - Floating crane suitable for medium-long period sea waves - Google Patents

Abstract

The utility model relates to a crane equipment technical field specifically indicates a floating crane suitable for long period wave. Comprises a base, a chassis, a suspension arm, a trolley, a lifting winch, a variable-amplitude winch and a swing-inhibiting structure; the chassis can rotate around the vertical axial direction through a slewing mechanism and is connected to the base; the lower end of the suspension arm can be hinged with the chassis around the horizontal axis; the trolley is positioned at the upper end of the suspension arm, and a lifting hook is arranged on the trolley; the lifting winch is arranged on the chassis; the amplitude-variable winch is arranged on the chassis; the swing restraining structure is arranged between the trolley and the upper end of the suspension arm and used for controlling the trolley to move according to the swing condition of the suspended object on the lifting hook so as to eliminate the swing of the suspended object. The utility model discloses a hoist simple structure, through the swing of inhibiting that swing structure can be fine on davit top hangs the thing, the operation safety has obtained very big promotion, and it is simple to inhibit swing structure regulation control, realizes the safe construction of floating crane under long and medium cycle wave operation environment.

Description

Floating crane suitable for medium-long period sea waves

Technical Field

The utility model relates to a crane equipment technical field specifically indicates a floating crane suitable for long period wave.

Background

With the continuous expansion of human living space to the ocean, the construction of human ocean engineering gradually moves to deep water, and the construction difficulty is gradually increased. When no wind waves or small wind waves exist, the traditional floating crane can still complete the operation task, and when the crane is under the coupling influence of wind load, waves and water flow, the suspended objects of the floating crane are easy to swing, so that the construction difficulty of offshore engineering is increased to a great extent. How to restrain the swing of the suspended object of the floating crane is a difficult problem that modern ocean engineering construction equipment needs to overcome urgently.

The traditional ways for inhibiting the swinging of the suspended object of the floating crane mainly comprise two ways: mechanical and electronic oscillation suppression. Mechanical type suppresses the pendulum and mainly suppresses the pendulum through install mechanical structure additional on the hoist or adopt special hoist and mount mode, but installation mechanical type suppresses the pendulum and puts and need reequip original hoist, leads to its structure complicacy, maintains the degree of difficulty and increases, and can produce certain influence to the operation scope of hoist. The traditional electronic swing suppression method achieves the purpose of suppressing the swing of a hoisted object by controlling the rotation, lifting and amplitude variation of the crane, and the crane cannot perform normal construction operation during the period of suppressing the swing of the hoisted object, so that the working efficiency is reduced, and the time cost is increased.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects of the prior art and providing a floating crane suitable for medium and long period sea waves.

The technical scheme of the utility model is that: a floating crane suitable for medium and long period sea waves is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

a base;

the chassis can rotate around the vertical axial direction through a slewing mechanism and is connected to the base;

the lower end of the suspension arm can be hinged with the chassis around a horizontal axis;

the trolley is positioned at the upper end of the suspension arm, and a lifting hook is arranged on the trolley;

the lifting winch is arranged on the chassis, connected with the lifting hook through a lifting pull rope and used for driving the lifting hook to move up and down;

the variable-amplitude winch is arranged on the chassis, is connected with the upper end of the suspension arm through a variable-amplitude pull rope and is used for driving the suspension arm to rotate around a connection point with the chassis;

and the swing restraining structure is arranged between the trolley and the upper end of the suspension arm and used for controlling the trolley to move according to the swing condition of the suspended object on the lifting hook so as to eliminate the swing of the suspended object.

According to the utility model provides a floating crane suitable for medium and long cycle sea waves, the swing restraining structure comprises,

the transverse adjusting structure is arranged at the upper end of the suspension arm and is used for driving the trolley to move along the transverse direction;

the longitudinal adjusting structure is arranged on the transverse adjusting structure and is used for driving the trolley to move longitudinally;

the trolley is mounted on the longitudinal adjusting structure.

According to the utility model, the floating crane suitable for medium and long period sea waves is provided, the transverse adjusting structure comprises,

the transverse sliding rail is arranged at the upper end of the suspension arm along the transverse direction;

the first sliding shoes are arranged at the two longitudinal ends of the bracket and are connected with the transverse sliding rails in a sliding manner;

and one end of the transverse moving servo motor is fixed on the transverse sliding rail, and the other end of the transverse moving servo motor is connected to the support and used for driving the support to move along the transverse sliding rail.

According to the utility model, the floating crane suitable for medium and long period sea waves is provided, the longitudinal adjusting structure comprises,

the longitudinal sliding rail is arranged on the bracket along the longitudinal direction;

the second sliding shoes are arranged at the two transverse ends of the trolley and are connected with the longitudinal sliding rails in a sliding manner;

and one end of the longitudinal moving servo motor is fixed on the support, and the other end of the longitudinal moving servo motor is connected with the trolley and used for driving the trolley to move along the longitudinal sliding rail.

According to the utility model, the floating crane suitable for medium and long period sea waves also comprises an automatic control system; the automatic control system comprises a control unit for controlling the automatic control system,

the swing angle monitoring module is positioned below the hoisted object and used for monitoring the swing angle of the hoisted object;

and the control module is used for receiving the data transmitted by the swing angle monitoring module, processing the data and then sending corresponding control instructions to the transverse moving servo motor and the longitudinal moving servo motor.

According to the utility model, the floating crane suitable for medium and long period sea waves is provided, the swing angle monitoring module comprises,

two sets of cameras, two sets of cameras arrange in hanging the thing below, and the thing is hung to the camera lens orientation of two sets of cameras, and the contained angle of the projection of the camera lens orientation on the horizontal plane of two sets of cameras is 90.

According to the utility model provides a floating crane suitable for medium and long period sea waves, the chassis is provided with,

the lower end of the support rod is hinged to the chassis near the lower end of the suspension arm;

the lower end of the pull rod is connected with the chassis, and the upper end of the pull rod is connected with the upper end of the support rod and forms a triangular support structure with the support rod;

and the upper end of the support rod is provided with a second pulley block connected with the amplitude-variable pull rope.

According to the utility model provides a pair of floating crane suitable for well long period wave, transverse slide has two sets ofly, and two sets of transverse slide arrange in the davit upper end along longitudinal separation, have arranged the sideslip servo motor of a set of correspondence on every transverse slide of group.

According to the utility model provides a pair of floating crane suitable for medium and long period wave, be provided with on the dolly and play to rise the first assembly pulley that the stay cord is connected.

According to the utility model provides a pair of floating crane suitable for well long period wave, the upper end of davit is surpassed at the both ends of lateral slide rail, is provided with the bracing between lateral slide rail and the davit.

The utility model has the advantages that: 1. the utility model discloses install between davit top and dolly and restrain the swing structure, utilize and restrain the swing structure and remove the dolly to eliminate the swing of hanging the thing, the utility model discloses a structure of suppressing the swing is that the dolly is adjusted directly, and not the removal of direct control davit or chassis is suppressed the swing, the utility model discloses a it is more targeted to restrain the swing and adjust, adjusts the response more in time, and the effect of suppressing the swing is better, and the regulation mode is more simple, and control is more high-efficient;

2. the swing restraining structure of the utility model comprises a transverse adjusting structure and a longitudinal adjusting structure, and the transverse adjusting structure and the longitudinal adjusting structure are utilized to carry out transverse and longitudinal linear adjustment on the trolley, so that the swing of the suspended object can be better restrained by adopting the adjusting mode, and the transverse and longitudinal linear adjusting modes are more convenient to control and adjust;

3. the utility model discloses a horizontal adjustment structure is very simple, through the integrated configuration of sideslip servo motor, support, first piston shoes and transverse slide rail, can realize the swing-inhibiting regulation of whole dolly along horizontal direction, and the sideslip servo motor cooperates corresponding remote control system, can realize the remote automatic control of horizontal adjustment, and whole simple structure controls also very high-efficiently;

4. the longitudinal adjusting structure of the utility model is arranged on the transverse adjusting structure, the longitudinal displacement adjustment of the trolley can be realized through the combined structure of the longitudinal moving servo motor, the middle-phase slide rail and the second sliding shoes, the whole adjusting process is simple, the adjusting precision is high, and the swing restraining effect is good;

5. the utility model also comprises an automatic control system, the automatic control system carries out corresponding control and adjustment to the transverse moving servo motor and the longitudinal moving servo motor according to the swing angle of the hanging object by collecting the swing angle of the hanging object, so that the trolley can move in time according to the swing of the hanging object, thereby quickly eliminating the swing of the hanging object, the whole control system has high automation degree, does not need personnel to watch, has simple operation and great popularization value;

6. the utility model discloses an install two sets of cameras below hanging the thing, utilize two sets of cameras that separate 90 degrees each other to obtain the image information who hangs the thing, remove the swing angle who judges hanging the thing through handling two sets of image information, such swing angle acquisition mode is simple and accurate, and the precision is high, receives environmental impact little;

7. the utility model utilizes the transverse moving servo motor and the longitudinal moving servo motor to carry out precise control and adjustment on the transverse moving and the longitudinal moving of the trolley, the control precision of the servo motor is high, and the servo motor is matched with the control module, so that the swinging of the hoisted objects can be effectively controlled;

8. the triangular support frame structure is arranged on the chassis, and the amplitude-variable operation can be conveniently carried out on the suspension arm by matching with the amplitude-variable winch, so that the utility model has the advantages of simple arrangement structure, good stability and strong environmental interference resistance;

9. the utility model arranges two groups of transverse slide rails at the upper end of the suspension arm, the two groups of transverse slide rails have good stability and high structural strength, and the adjustment of the transverse movement of the trolley is safer;

10. the utility model discloses set up the bracing between horizontal slide rail and davit, utilize the bracing to support horizontal slide rail, stability is good.

The utility model discloses a hoist simple structure, through the swing of inhibiting that the swing structure that restrains on davit top can be fine and hang the thing, the operation safety has obtained very big promotion, and it is simple to restrain swing structure regulation control, through the removal of real-time control dolly, realizes the safe construction of floating crane under long and medium cycle wave operation environment.

Drawings

FIG. 1: the structure schematic diagram of the crane of the utility model;

FIG. 2 is a schematic diagram: the enlarged schematic view of part a in fig. 1 of the present invention;

wherein: 1-a base; 2, a chassis; 3, hanging a boom; 4, carrying a trolley; 5, lifting the winch; 6-variable amplitude winch; 7, lifting a rope; 8-amplitude-variable pull rope; 9-transverse slide rail; 10-a support; 11-a traverse servo motor; 12-longitudinal slide rail; 13-a longitudinal movement servo motor; 14 — a first slipper; 15-a second slipper; 16-a first pulley block; 17-a second pulley block; 18-a strut; 19-a pull rod; 20-inclined strut; 21-a turning mechanism.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, wherein like reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

The present invention will be described in further detail with reference to the following drawings and specific embodiments.

The utility model relates to a floating crane suitable for medium and long period wave mainly is used for the marine floating to lift by crane, relies on marine floating platform or ship structure etc. to lift by crane the operation as the basis, and the floating crane of this application mainly is used for the waters of medium and long period wave, in order to deal with the swing of hanging the thing, the hoist of this application has the function of restraining the pendulum. Specifically, as shown in fig. 1-2, the crane of the present application includes a base 1, a chassis 2, a boom 3, a trolley 4, a hoisting winch 5, a luffing winch 6, and a swing-inhibiting structure, where the base 1 is a foundation fixed on a floating platform or a ship. The chassis 2 is connected to the base 1 through a swing mechanism 21 capable of rotating around a vertical axis, and the swing mechanism 21 is a driving structure including a swing servo motor and has a function of driving the chassis 2 to rotate around a swing center (vertical axis). The suspension arm 3 is a steel truss structure, the lower end of the suspension arm 3 is hinged to the chassis 2 and can rotate around a horizontal axis, and the suspension arm 3 is actually installed on one side of the chassis 2. The trolley 4 is positioned at the upper end of the suspension arm 3, and the trolley 4 is provided with a lifting hook which is connected with a suspended object. The lifting winch 5 is arranged on the chassis 2 and is connected with the lifting hook through a lifting stay rope 7, and the lifting winch 5 is used for driving the lifting hook to move up and down so as to realize lifting and falling of a lifted object. The variable-amplitude winch 6 is arranged on the chassis 2, is connected with the upper end of the suspension arm 3 through a variable-amplitude pull rope 8 and is used for driving the suspension arm 3 to rotate around a connection point with the chassis 2, and the variable-amplitude winch 6 drives the suspension arm 3 to rotate so as to realize variable-amplitude operation of the whole crane. The hoist is applied to the waters that has the medium-long period wave, the hoist can follow the wave swing in the hoist and mount work progress that rises to rise or fall and hang the thing, in order to eliminate the swing, this application is provided with and suppresses the pendulum structure, it sets up between dolly 4 and davit 3 upper end to suppress the pendulum structure, a condition control dolly 4 that is used for hanging the thing on the lifting hook removes the swing of hanging the thing with this, it drives dolly 4 and moves on davit 3 top promptly to suppress pendulum structure (the direction of removal is relevant with the swing direction of hanging the thing (the direction of removal can be calculated through a function equation based on the swing direction of hanging the thing), the distance of removal is relevant with the swing angle of hanging the thing (the distance of removal can be calculated through a function equation based on the swing angle of hanging the thing), the swing of hanging the thing is eliminated through such mode.

The variable-amplitude structure further comprises a support rod 18 and a pull rod 19 which are arranged on the chassis 2, the lower end of the support rod 18 is hinged to the chassis 2 near the lower end of the suspension arm 3, the lower end of the pull rod 19 is connected to the chassis 2, the upper end of the pull rod is connected with the upper end of the support rod 18 and forms a triangular support structure with the support rod 18, a second pulley block 17 connected with the variable-amplitude pull rope 8 is arranged at the upper end of the support rod 18, the variable-amplitude pull rope 8 penetrates through the second pulley block 17 at the upper end of the support rod 18 and is connected with the upper end of the suspension arm 3, and the variable-amplitude winch 6 stretches the variable-amplitude pull rope 8 so as to adjust the rotating position of the suspension arm 3 and realize variable-amplitude operation.

In some embodiments of the present application, the swing inhibiting structure described above is optimized in this embodiment, and the specific swing inhibiting structure of this embodiment includes a transverse adjusting structure and a longitudinal adjusting structure, where the transverse adjusting structure is disposed at the upper end of the suspension arm 3 and is used for driving the trolley 4 to move along the transverse direction; the longitudinal adjusting structure is arranged on the transverse adjusting structure and is used for driving the trolley 4 to move longitudinally; the trolley 4 is mounted on the longitudinal adjustment structure.

When the suspended object swings along the transverse direction, the transverse adjusting structure drives the trolley to move along the transverse direction, so that the transverse swing of the suspended object is eliminated. When the hoisted object swings in the longitudinal direction, the longitudinal adjusting structure drives the trolley to move in the longitudinal direction, so that the longitudinal swing of the hoisted object is eliminated. In practice, the swinging of the suspended object may not necessarily move only in the longitudinal direction or the transverse direction, but may have swinging in both the longitudinal direction and the transverse direction, so that the trolley 4 can be adjusted by driving the transverse adjusting structure and the longitudinal adjusting structure simultaneously, thereby achieving the purpose of swinging suppression. The transverse adjusting structure firstly adjusts the transverse position of the longitudinal adjusting structure, and the trolley 4 is positioned on the longitudinal adjusting structure and moves along with the longitudinal adjusting structure.

In a further embodiment of the present application, the present embodiment optimizes the above-mentioned lateral adjustment structure, specifically, as shown in fig. 2, the lateral adjustment structure includes lateral slide rails 9, a support 10 and lateral servo motors 11, the lateral slide rails 9 are transversely disposed at the upper end of the boom 3, there are two sets of lateral slide rails 9, the two sets of lateral slide rails 9 are longitudinally disposed at the upper end of the boom 3 at intervals, two ends of the lateral slide rails 9 exceed the upper end of the boom 3, an inclined strut 20 is disposed between the lateral slide rails 9 and the boom 3, and a set of corresponding lateral servo motors 11 is disposed on each set of lateral slide rails 9; the first sliding shoes 14 are arranged at the two longitudinal ends of the bracket 10, the first sliding shoes 14 are slidably connected to the transverse sliding rails 9, the first sliding shoes 14 are actually a group of rollers, and the first sliding shoes 14 at the two ends of the bracket 10 are clamped on the transverse sliding rails 9 at the two sides to limit the longitudinal movement of the bracket 10 but not limit the transverse movement of the bracket 10; one end of a transverse servo motor 11 is fixed on the transverse slide rail 9, and the other end of the transverse servo motor is connected to the support 10 and used for driving the support 10 to move along the transverse slide rail 9.

When the lifting appliance swings transversely in use, the swinging angle of the lifting appliance is acquired, the transverse moving servo motor 11 is controlled to drive the support 10 to move along the transverse sliding rail 9, the moving direction of the support 10 can be calculated through the swinging direction of the lifting appliance, and the moving distance or amplitude can be calculated through the swinging angle of the lifting appliance, so that the transverse swinging of the lifting appliance is eliminated.

In a preferred embodiment of the present application, the longitudinal adjustment structure described above is optimized in this embodiment, and a specific longitudinal adjustment structure of this embodiment includes a longitudinal slide rail 12, a second shoe 15, and a longitudinal movement servo motor 13, where the longitudinal slide rail 12 is longitudinally disposed on the bracket 10, there are two longitudinal slide rails 12, and the two longitudinal slide rails 12 are laterally spaced; the second sliding shoes 15 are arranged at the two transverse ends of the trolley 4, the second sliding shoes 15 are connected to the longitudinal sliding rails 12 in a sliding manner, the second sliding shoes 15 are also of a roller structure and clamped on the longitudinal sliding rails 12 at the two sides to limit the transverse movement of the trolley 4, but not the longitudinal movement of the trolley 4, the trolley 4 is actually of a support structure, a first pulley block 16 is arranged on the trolley 4, and the lifting pull rope 7 passes through the first pulley block 16 and is connected with a lifting hook; one end of a longitudinal movement servo motor 13 is fixed on the support 10, and the other end of the longitudinal movement servo motor is connected with the trolley 4 and used for driving the trolley 4 to move along the longitudinal sliding rail 12.

When the lifting device is used, when the lifting object longitudinally swings, the swinging angle of the lifting object is obtained, the longitudinal movement servo motor 13 is controlled to drive the support 10 to move along the longitudinal slide rail 12, the moving direction of the trolley 4 can be calculated according to the swinging direction of the lifting object, and the moving distance or amplitude can be calculated according to the swinging angle of the lifting object, so that the longitudinal swinging of the lifting object is eliminated.

In some embodiments of the application, an automatic control system is further arranged on the crane, the automatic control system is used for automatically controlling the action of the crane and the movement of the trolley 4, the function of automatically restraining the swing is achieved, the movement of the trolley is automatically moved completely according to the swing condition of the hoisted object, and the operation of personnel is not needed. The automatic control system of the embodiment specifically comprises a swing angle monitoring module and a control module, wherein the swing angle monitoring module is positioned below the hoisted object and used for monitoring the swing angle of the hoisted object; the control module is used for receiving the data transmitted by the swing angle monitoring module, processing the data and sending corresponding control instructions to the transverse moving servo motor 11 and the longitudinal moving servo motor 13, and the control module is actually a PLC installed in a control room of the crane.

The specific control mode is that the swing angle monitoring module acquires the swing condition of the suspended object, the acquired swing condition is sent to the control module through the wireless transmission module, the control module performs data processing on the acquired swing condition, corresponding control instructions are sent to the transverse moving servo motor 11 and the longitudinal moving servo motor 13 according to the processing result, and the transverse moving servo motor 11 and the longitudinal moving servo motor 13 perform control adjustment on the trolley 4 according to the sent control instructions, so that the suspended object is restrained from swinging.

The software system of the control module of the embodiment mainly comprises a suspended object swing suppression algorithm based on time-lag feedback control, the suppression of the suspended object swing can be realized through the algorithm, and the control equation of the algorithm is as follows:

f _p (t)＝f(l,θ,τ,k)

wherein f is _p (t) the trolley restrains the transverse and longitudinal displacements of the swinging of the suspended object at the moment t; l is the distance between the trolley and the hoisted object; theta is based on machine visionThe swing angle detection module detects the swing angle of the hanging object; tau is a time lag coefficient; k is a gain factor.

The control module also comprises a human-computer interaction module, the human-computer interaction module comprises a display and is mainly used for realizing the setting of control parameters of the trolley and the display of longitudinal displacement and transverse displacement of the trolley, the main control parameters are tau and k in the control equation, and the moving direction and the moving displacement of the trolley are calculated by the swing angle of the hanging object and the tau and k in the equation during application.

The control module of this embodiment can also control other components of the crane, the crane of this embodiment plays to rise to install on the hoist 5 and plays to rise servo motor, install change width of cloth servo motor on change width of cloth hoist 6, install gyration servo motor on rotation mechanism 21, control module plays to rise or the whereabouts of thing control through sending control command to playing to rise servo motor, through sending the rotation of control command control davit 3 to change width of cloth servo, realize changing width of cloth of davit, through sending the rotation of control command control chassis 2 to gyration servo motor. The above operations can be realized by the man-machine interaction module.

In other embodiments of this application, this embodiment has optimized foretell pivot angle monitoring module, and the pivot angle monitoring module of specific this embodiment includes two sets of cameras, and two sets of cameras arrange on hanging the fixed knot structure of thing below on, can be near base 1 subaerial or on the pier that has built, the position that conveniently erects the camera can. The camera is in the below of hanging the thing, and the camera lens orientation of camera hangs the thing, and the image information that can accurate clear acquireing hangs the thing. In addition, the relative positions of the two groups of cameras are also required, and in order to accurately acquire the swing angle of the suspended object, the included angle of the projections of the lens directions of the two groups of cameras on the horizontal plane is 90 °. A connecting line of a lens of the camera and the hanging object is taken as the lens direction of the camera, and the projection of the connecting line and the horizontal plane is the projection of the lens direction on the horizontal plane.

Specifically, the acquisition frequency of the camera is 10Hz, the hanging object is always within the shooting range of the camera, the marker can be arranged on the hanging object to facilitate the acquisition and identification of the camera, the position data of the hanging object in the air is acquired in real time through a machine vision technology, and then the swing angle of the hanging object is further calculated.

In summary, the specific control measures of the crane of the present application are as follows:

s1, acquiring image information of a hanging object by a camera, and acquiring a swing angle of the hanging object in real time by a machine vision technology;

s2, the wireless transmission module sends the swing angle of the hoisted object to the control module, the control module calculates the distance and the direction of the trolley needing to move longitudinally and transversely under the condition of the current swing angle based on a prestored equation and control parameters, generates a control command and sends the control command to the longitudinal movement servo motor and the transverse movement servo motor;

and S3, the longitudinal movement servo motor and the transverse movement servo motor respectively control the trolley to perform longitudinal and transverse displacement adjustment, so that the swing suppression of the hung object is completed.

The control measures describe a single working process, the single working process is a specific working process of the floating crane at a certain moment in operation, the actual working process is a cycle of the single working process in time, and the swinging of a suspended object can be inhibited by continuously driving the transverse and longitudinal movement of the trolley, so that the floating crane achieves the effect of being suitable for medium-long period sea waves.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A floating crane suitable for medium and long period sea waves is characterized in that: comprises the steps of (a) preparing a substrate,

a base (1);

the chassis (2) is connected to the base (1) through a rotary mechanism and can rotate around the vertical axial direction;

the lower end of the suspension arm (3) is hinged to the chassis (2) in a way of rotating around a horizontal axis;

the trolley (4), the trolley (4) is positioned at the upper end of the suspension arm (3), and a lifting hook is arranged on the trolley (4);

the lifting winch (5) is arranged on the chassis (2), is connected with the lifting hook through a lifting pull rope (7) and is used for driving the lifting hook to move up and down;

the variable-amplitude winch (6) is arranged on the chassis (2), is connected with the upper end of the suspension arm (3) through a variable-amplitude pull rope (8) and is used for driving the suspension arm (3) to rotate around a connection point with the chassis (2);

the swing restraining structure is arranged between the upper ends of the trolley (4) and the suspension arm (3) and used for controlling the trolley (4) to move according to the swing condition of the suspended object on the lifting hook so as to eliminate the swing of the suspended object.

2. A floating crane for medium and long cycle ocean waves as defined in claim 1, wherein: the swing inhibiting structure comprises a swing inhibiting structure which comprises,

the transverse adjusting structure is arranged at the upper end of the suspension arm (3) and is used for driving the trolley (4) to move transversely;

the longitudinal adjusting structure is arranged on the transverse adjusting structure and is used for driving the trolley (4) to move longitudinally;

the trolley (4) is arranged on the longitudinal adjusting structure.

3. A floating crane adapted for use with long and medium cycle ocean waves as defined in claim 2, wherein: the transverse adjusting structure comprises a transverse adjusting mechanism,

the transverse sliding rail (9), the transverse sliding rail (9) is arranged at the upper end of the suspension arm (3) along the transverse direction;

the device comprises a bracket (10), wherein first sliding shoes (14) are arranged at two longitudinal ends of the bracket (10), and the first sliding shoes (14) are connected to a transverse sliding rail (9) in a sliding manner;

and one end of the transverse moving servo motor (11) is fixed on the transverse sliding rail (9), and the other end of the transverse moving servo motor (11) is connected to the support (10) and used for driving the support (10) to move along the transverse sliding rail (9).

4. A floating crane adapted for use with long and medium cycle ocean waves as defined in claim 3, wherein: the longitudinal adjustment structure comprises a longitudinal adjustment structure,

a longitudinal slide rail (12), the longitudinal slide rail (12) being arranged on the support (10) in the longitudinal direction;

the second sliding shoes (15), the second sliding shoes (15) are arranged at the two transverse ends of the trolley (4), and the second sliding shoes (15) are connected to the longitudinal sliding rails (12) in a sliding mode;

and one end of the longitudinal movement servo motor (13) is fixed on the support (10), and the other end of the longitudinal movement servo motor (13) is connected with the trolley (4) and is used for driving the trolley (4) to move along the longitudinal sliding rail (12).

5. A floating crane adapted for use with long and medium cycle ocean waves as defined in claim 4, wherein: the automatic control system is also included; the automatic control system comprises a control system and a control system,

the swing angle monitoring module is positioned below the hoisted object and used for monitoring the swing angle of the hoisted object;

and the control module is used for receiving the data transmitted by the swing angle monitoring module, processing the data and sending corresponding control instructions to the transverse moving servo motor (11) and the longitudinal moving servo motor (13).

6. A floating crane for medium and long cycle ocean waves as defined in claim 5, wherein: the swing angle monitoring module comprises a swing angle monitoring module,

two sets of cameras, two sets of cameras are arranged in hanging the thing below, and the object is hung to the camera lens orientation of two sets of cameras, and the contained angle of the projection of the camera lens orientation of two sets of cameras on the horizontal plane is 90.

7. A floating crane adapted for use with long and medium cycle ocean waves as defined in claim 1, wherein: the chassis (2) is provided with a base,

the lower end of the support rod (18) is hinged and connected to the chassis (2) near the lower end of the suspension arm (3);

the lower end of the pull rod (19) is connected to the chassis (2), and the upper end of the pull rod (19) is connected with the upper end of the support rod (18) and forms a triangular support structure with the support rod (18);

and a second pulley block (17) connected with the amplitude-variable pull rope (8) is arranged at the upper end of the support rod (18).

8. A floating crane suitable for use with long and medium cycle ocean waves as defined in claim 3 or 4, wherein: the transverse sliding rails (9) are arranged in two groups, the two groups of transverse sliding rails (9) are arranged at the upper end of the suspension arm (3) at intervals along the longitudinal direction, and a group of corresponding transverse moving servo motors (11) are arranged on each group of transverse sliding rails (9).

9. A floating crane for medium and long cycle ocean waves as defined in claim 8, wherein: two ends of the transverse sliding rail (9) exceed the upper end of the suspension arm (3), and an inclined strut (20) is arranged between the transverse sliding rail (9) and the suspension arm (3).

10. A floating crane adapted for use with long and medium cycle ocean waves as defined in claim 1, wherein: the trolley (4) is provided with a first pulley block (16) connected with the lifting pull rope (7).

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