Gear package hoisting tool for differential reduction gearbox of ship unloader

Abstract

The invention relates to the technical field of wharf transportation equipment, in particular to a ship unloader differential reduction gearbox gear package lifting tool which comprises a rack, a lifting appliance and a control system. Four sets of adjusting mechanisms are arranged on the machine frame, the lifting appliance is arranged below the machine frame, each adjusting mechanism can independently adjust one corner of the lifting appliance, slings are fixedly connected to the four corners of the lifting appliance respectively, and lifting hooks are installed at the ends, away from the lifting appliance, of the slings. The control system comprises a microcontroller and a plurality of torque sensors, and the plurality of torque sensors are respectively connected in series between the sling and the lifting hook and are used for directly measuring the real-time tension of the single sling. When the deviation exceeds the limit, the winch is triggered to precisely adjust the length of the steel cable, so that the four corners of the lifting appliance are self-adaptively inclined through differentiated steel cable winding and unwinding, the sling is uniformly stressed, the weight of the gear package is flatly spread, local overload is eliminated, the loosening hidden danger is completely eradicated, and the safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dock transportation equipment, and particularly relates to a hoisting tool for a gear package of a differential speed reducer of a ship unloader. Background Art

[0002] The differential speed reducer is the core part of the hoisting, opening and closing, and trolley mechanisms of the ship unloader, and the gear package is an important component of the differential speed reducer. When repairing the differential speed reducer, the removal of the functional package components needs to be hoisted by a crane. The hoisting operation of the gear package components is a very dangerous operation. There is no special tooling for hoisting the gear package components. The operation is not only time-consuming and laborious, but also has great potential safety hazards.

[0003] At present, in the existing hoisting schemes for gear package components, due to the irregular shape and offset center of gravity of the gear package, when using traditional steel cables for hoisting, the tension differences of multiple steel cables are significant. Some of the steel cables are overstretched and overloaded, and the local tension exceeds the rated value by more than %, while other steel cables are slack, and the tension is only %-% of the rated value. The overloaded steel cables are prone to wire breakage and fatigue fracture, resulting in the falling accident of the gear package, or the slack steel cables may unhook under dynamic loads, causing equipment damage or personal injury. Summary of the Invention

[0004] In order to solve the above technical problems existing in the prior art, the present invention provides a hoisting tool for a gear package of a differential speed reducer of a ship unloader. When the deviation exceeds the limit, the winch is triggered to precisely adjust the length of the steel cable, so that the four corners of the spreader achieve adaptive inclination through differential steel cable retraction and release, the sling forces are evenly distributed and the weight of the gear package is evenly spread, eliminating local overload and preventing the risk of loosening, and improving safety.

[0005] To achieve the above object, the present invention provides the following technical solutions: A hoisting tool for a gear package of a differential speed reducer of a ship unloader, comprising a frame, a spreader and a control system; Four groups of adjusting mechanisms are arranged on the frame. The spreader is arranged below the frame. Each adjusting mechanism can independently adjust one of the four corners of the spreader. Each of the four corners of the spreader is fixedly connected with a sling. A hook is installed at the end of the sling far from the spreader. The control system includes a microcontroller and a number of torque sensors. The number of torque sensors are respectively installed in series between the sling and the hook to directly measure the real-time tension of a single sling. Wherein, the adjusting mechanism includes a winch, a steel cable installed on the winch, and a pulley block arranged between the frame and the spreader. The torque sensor transmits data to the microcontroller. The microcontroller processes the data and is electrically connected to the winch through a wire to achieve control. The microcontroller and the winch are both fixedly installed on the frame. One end of the steel cable passes through the pulley block and is connected to the frame. Each adjusting mechanism independently adjusts one of the four corners of the spreader by retracting or releasing the steel cable through the winch.

[0006] The present invention is further configured such that: the pulley block includes a combined pulley fixedly connected to the lower part of the frame and the spreader respectively, and a fixed single pulley fixedly connected to the spreader. A fixed seat cooperating with the steel cable is fixedly connected to the frame. The end of the steel cable is fixedly connected to the fixed seat after passing around the two combined pulleys and the fixed single pulley in sequence to form a multi-segment winding structure.

[0007] By adopting the above technical solution, after forming a multi-segment winding path, it is finally fixed through the fixed seat. Through the lever effect of the pulley block, the multi-segment winding disperses the contact stress between the steel cable and the pulley. When the winch winds and unwinds the steel cable, the adjustment stroke accuracy can be amplified, realizing millimeter-level fine adjustment at the four corners of the spreader, reducing the adjustment error, meeting the precise hoisting requirements of the gearbox, and the mechanical gain of the pulley block reduces the torque required by the winch, saving energy and effort.

[0008] The present invention is further configured such that: the combined pulley includes a base, and the base is correspondingly installed on the frame or the spreader. A front roller, a steering roller and a rear roller are rotatably arranged in the fixed seat, and the steel cable passes around the front roller, the steering roller and the rear roller in sequence when passing through the fixed seat.

[0009] By adopting the above technical solution, the front roller guides the steel cable into the fixed seat, the steering roller changes the direction of the steel cable, and the rear roller stabilizes the outlet angle of the steel cable. The three rollers cooperate to ensure that the steel cable always fits with the pulley groove during movement, reducing the risks of friction and wire jumping, eliminating the torsional stress of the steel cable, and reducing the risk of wire breakage.

[0010] The present invention is further configured such that: the torque sensor uses strain gauge or piezoelectric ceramic technology to convert the tension into an electrical signal and transmit it to the microcontroller to directly detect the real-time tension of the sling. The tension calibration formula is:

[0011] Wherein, is the real-time tension of the th sling, is the real-time voltage value output by the sensor, is the zero-load voltage, is the sensitivity coefficient.

[0012] By adopting the above technical solution, the torque sensor converts the sling tension into an electrical signal through a strain gauge or piezoelectric ceramic, measures the tension of each sling in real time, and transmits it to the microcontroller. The sensitivity coefficient k is calibrated through experiments, and the measurement error ≤ 1%, realizing directly reflecting the load distribution state and providing a data basis for dynamic adjustment.

[0013] The present invention is further configured such that: the microcontroller collects the signals of the four torque sensors and calculates the tension of each sling respectively according to the calibration formula , , , ; Calculate the average tension , and the formula is as follows:

[0014] Calculate the standard deviation of tension , and the formula is as follows:

[0015] Where, when , determine load imbalance and trigger the adjustment mechanism, is the rated load.

[0016] By adopting the above technical solution, when the standard deviation exceeds of the rated load, it is determined that the load is unbalanced and the adjustment is triggered, and the offload (such as the inclination of the unilateral gear box) is recognized in real time, preventing the steel cable from breaking or the equipment from being damaged due to offload, and improving the safety performance.

[0017] The present invention is further configured that: the microcontroller is built-in with a PID control algorithm module and a data fusion module, and the PID control algorithm module calculates the steel cable adjustment amount according to the average tension, and the formula is as follows:

[0018] Where, is the adjustment amount of the th steel cable, a positive value means winding, and a negative value means unwinding, , and are the proportional coefficient, integral coefficient and differential system respectively, and are all calibrated through experiments.

[0019] By adopting the above technical solution, the microcontroller outputs an adjustment instruction to the winch to achieve control, and adjusts the spreader by winding or unwinding the steel cable, so that the tension received by each sling is balanced, evenly distributing the weight of the gear box, avoiding too much overload on some slings, preventing structural damage caused by local overload, and also avoiding the loosening of some slings without overload, and improving the safety performance.

[0020] The present invention is further configured as follows: The microcontroller selects an STM32H743 industrial-grade microcontroller, which is built-in with a wireless communication module and supports dual-mode communication of Bluetooth 5.0 and Wi-Fi 6. The torque sensor uses an HBMT12WN wireless digital torque sensor, which integrates a wireless transmission function and is built-in with a high-precision strain gauge and a signal processing unit. The microcontroller is wirelessly connected to the torque sensor, and the wireless signal connection uses an industrial-grade low-latency communication protocol; The microcontroller is provided with a TI CC2652R multi-protocol wireless chip. The microcontroller suppresses electromagnetic interference in the port environment through frequency-hopping spread spectrum (FHSS) technology. The microcontroller is provided with a data encryption unit, which uses the AES-256 encryption algorithm to dynamically encrypt the transmitted data to prevent signal tampering.

[0021] By adopting the above technical solution, wireless transmission replaces traditional signal cables, eliminating problems such as cable wear and connector oxidation caused by mechanical movement, realizing multi-terminal synchronous communication between the lifting tooling and the main control system of the ship unloader and the port scheduling center, and avoiding strong electromagnetic interference sources generated by equipment such as cranes, frequency converters, and high-voltage cables in the port environment during communication. Wireless transmission not only solves the communication pain points in the complex port environment, but also endows the lifting tooling with the core competitiveness of intelligence, networking, and high reliability.

[0022] The present invention is further configured as follows: Both the frame and the spreader are made of 460C high-strength steel, with a web thickness of 20 mm and a flange thickness of 25 mm. The interior is filled with a honeycomb-shaped aluminum alloy core board. The surfaces of the frame and the spreader are coated with an epoxy zinc-rich primer and a polyurethane topcoat, with a total coating thickness of ≥120 μm and a salt spray resistance performance of ≥1000 hours.

[0023] By adopting the above technical solution, the structural strength is increased by 40%, the total weight is reduced by 30%, the load-bearing capacity is ≥50 tons, the salt spray resistance is ≥1000 hours (GB / T 10125), and the service life is extended to 15 years.

[0024] The present invention is further configured as follows: The front roller, the rear roller, and the fixed single pulley are made of high-strength aluminum alloy and are surface-treated by hard anodization. The grooves of the front roller, the rear roller, and the fixed single pulley (34) are of a V-shaped structure and the bottom arc radius of the groove is 1.5 times the diameter of the steel cable; The steering roller is a 42CrMo alloy steel treated by nitriding. The steering roller is of a hyperboloid design and is provided with anti-derailment flanges on both sides.

[0025] By adopting the above technical solution, the V-shaped groove reduces the lateral slippage of the steel cable (32), the friction coefficient is ≤0.08, the hardness of the nitrided layer is HRC58, the service life is ≥100,000 cycle times, the wear rate of the steel cable is reduced by 70%, and the anti-derailment flange can withstand a lateral impact force of 5 kN.

[0026] Compared with the prior art, the present invention has the following beneficial effects: 1. Torque sensors are installed at the ends of the four slings to directly measure the tension of a single sling. Based on the PID control algorithm, the microcontroller calculates the average value and standard deviation of the tension. When triggered for adjustment, the winch winds or unwinds to achieve dynamic adjustment. The spreader tilts due to the length difference of the four corner steel cables, making the tension on each sling balanced, evenly distributing the weight of the gearbox, avoiding excessive overload on some slings, preventing structural damage caused by local overload, keeping the four slings always taut without the risk of loosening, and improving safety performance.

[0027] 2. After the steel cable forms a multi-segment winding path, it is finally fixed through a fixed seat. Through the lever effect of the pulley block, the multi-segment winding disperses the contact stress between the steel cable and the pulley. When the winch winds or unwinds the steel cable, the adjustment stroke accuracy can be amplified, realizing millimeter-level fine adjustment at the four corners of the spreader, reducing the adjustment error, meeting the precise hoisting requirements of the gearbox, and the mechanical gain of the pulley block reduces the torque required by the winch, saving energy and effort. Description of the Drawings

[0028] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure 1 is a three-dimensional structural schematic diagram of an embodiment of the present invention; Figure 2 is a structural schematic diagram of the adjusting mechanism of an embodiment of the present invention.

[0029] Figure 3 is a partial structural schematic diagram of an embodiment of the present invention; Figure 4 is a partial sectional structural schematic diagram of the combined pulley of an embodiment of the present invention.

[0030] Figure 5 is a flow schematic diagram of an embodiment of the present invention.

[0031] Description of the reference numerals in the drawings: 1. Frame; 2. Spreader; 3. Adjusting mechanism; 31. Winch; 32. Steel cable; 33. Combined pulley; 331. Base; 332. Front roller; 333. Steering roller; 334. Rear roller; 34. Fixed single pulley; 35. Fixed seat; 4. Sling; 5. Hook; 6. Microcontroller; 7. Torque sensor. Detailed Embodiments

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but only represents the selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0033] As Figure 1 - Figure 5 shown, this embodiment proposes a hoisting tooling for the gear package of the differential speed reducer of a ship unloader, which includes a frame 1, a lifting tool 2 and a control system; Four groups of adjusting mechanisms 3 are arranged on the frame 1, the lifting tool 2 is arranged below the frame 1, each adjusting mechanism 3 can independently adjust one corner of the lifting tool 2, four corners of the lifting tool 2 are respectively fixedly connected with suspension ropes 4, a hook 5 is installed at one end of the suspension rope 4 away from the lifting tool 2, and the control system includes a microcontroller 6 and a number of torque sensors 7. A number of torque sensors 7 are respectively installed in series between the suspension rope 4 and the hook 5 to directly measure the real-time tension of a single suspension rope 4; Among them, the adjusting mechanism 3 includes a winch 31, a steel cable 32 installed on the winch 31, and a pulley block arranged between the frame 1 and the lifting tool 2. The torque sensor 7 transmits data to the microcontroller 6, the microcontroller 6 processes the data and is electrically connected to the winch 31 through a wire to achieve control. Both the microcontroller 6 and the winch 31 are fixedly installed on the frame 1. One end of the steel cable 32 passes through the pulley block and is connected to the frame 1. Each adjusting mechanism 3 respectively and independently adjusts one corner of the lifting tool 2 by winding or unwinding the steel cable 32 through the winch 31.

[0034] Further, the torque sensor 7 uses strain gauge or piezoelectric ceramic technology to convert the tension into an electrical signal and transmit it to the microcontroller 6 to directly detect the real-time tension of the suspension rope 4. The tension calibration formula is:

[0035] Among them, is the real-time tension of the th suspension rope 4, is the real-time voltage value output by the sensor, is the zero-load voltage, is the sensitivity coefficient; The microcontroller 6 collects the signals of the four torque sensors 7 and calculates the tensions of the respective suspension ropes 4 according to the calibration formula , , , ; Calculate the average tension , and the formula is as follows:

[0036] Calculate the standard deviation of tension , and the formula is as follows:

[0037] Among them, when , it is determined that the load is unbalanced and the adjustment mechanism 3 is triggered, is the rated load; The microcontroller 6 is built-in with a PID control algorithm module and a data fusion module. The PID control algorithm module calculates the adjustment amount of the steel cable 32 according to the average tension, and the formula is as follows:

[0038] Among them, is the adjustment amount of the th steel cable 32. A positive value means winding, and a negative value means unwinding, , and are the proportional coefficient, integral coefficient and differential system respectively, and are all calibrated through experiments.

[0039] Specifically, torque sensors 7 are installed at the ends of the four sling ropes 4, and the tension is converted into an electrical signal through strain gauges or piezoelectric ceramic technology and transmitted to the microcontroller 6 in real time. The sensitivity coefficient k is calibrated through experiments. The tension of each sling rope 4 is measured in real time, which directly reflects the load distribution state and provides a data basis for dynamic adjustment. Subsequently, the average tension and the standard deviation of tension are calculated. The average tension reflects the overall balance value of the four-corner tensions, and the standard deviation of tension characterizes the dispersion degree of the load distribution, and a judgment is made. When the standard deviation exceeds of the rated load, it is determined that the load is unbalanced to calculate the adjustment amount of the steel cable 32 and trigger the adjustment. The spreader 2 is tilted by the length difference of the four-corner steel cables 32, so that the center of gravity of the gear package is aligned with the geometric center of the spreader 2. The tension balance error < 3%, so that the tension received by each sling rope 4 is balanced, evenly distributing the weight of the gear package, avoiding too much overload on some sling ropes 4, preventing structural damage caused by local overload, keeping the four sling ropes 4 always taut, without the risk of loosening, and improving the safety performance.

[0040] In some embodiments, the pulley block includes a combined pulley 33 fixedly connected to the lower part of the frame 1 and the sling 2 respectively, and a fixed single pulley 34 fixedly connected to the sling 2. A fixed seat 35 matched with the steel cable 32 is fixedly connected to the frame 1. The steel cable 32 sequentially passes around the two combined pulleys 33 and the fixed single pulley 34 to form a multi-segment winding structure, and then its end is fixedly connected to the fixed seat 35.

[0041] Specifically, the pulley block enables the steel cable 32 to be finally fixed through the fixed seat 35 after forming a multi-segment winding path. Through the lever effect of the pulley block, the multi-segment winding disperses the contact stress between the steel cable 32 and the pulley. When the winch 31 winds and unwinds the steel cable 32, the adjustment stroke accuracy can be amplified, realizing millimeter-level fine adjustment at the four corners of the sling 2, reducing the adjustment error, meeting the precise hoisting requirements of the gearbox, and the mechanical gain of the pulley block reduces the torque required by the winch 31, saving energy and effort.

[0042] Further, the combined pulley 33 includes a base 331, and the base 331 is correspondingly installed on the frame 1 or the sling 2. A front roller 332, a steering roller 333 and a rear roller 334 are rotatably arranged in the fixed seat 35. When the steel cable 32 passes through the fixed seat 35, it sequentially passes around the front roller 332, the steering roller 333 and the rear roller 334. The front roller 332, the rear roller 334 and the fixed single pulley 34 are made of high-strength aluminum alloy and their surfaces are treated by hard anodizing. The grooves of the front roller 332, the rear roller 334 and the fixed single pulley 34 are of V-shaped structure and the arc radius of the groove bottom is 1.5 times the diameter of the steel cable 32; the steering roller 333 is a 42CrMo alloy steel treated by nitriding, and the steering roller 333 is of double-curved surface design and anti-derailment flanges are arranged on both sides.

[0043] Specifically, the front roller 332 guides the steel cable 32 into the fixed seat 35, the steering roller 333 changes the direction of the steel cable 32, and the rear roller 334 stabilizes the outlet angle of the steel cable 32. The three rollers cooperate to ensure that the steel cable 32 always fits with the pulley groove during the movement process, reducing the risks of friction and running off the groove, eliminating the torsional stress of the steel cable 32, reducing the risk of wire breakage, the V-shaped groove reduces the lateral slip of the steel cable 32, the friction coefficient ≤ 0.08, the hardness of the nitrided layer is HRC58, the service life ≥ 100,000 cycles, the wear rate of the steel cable 32 is reduced by 70%, and the anti-derailment flange can withstand a lateral impact force of 5 kN.

[0044] In some embodiments, the microcontroller 6 is the STM32H743 industrial-grade microcontroller 6, which has a built-in wireless communication module and supports dual-mode communication of Bluetooth 5.0 and Wi-Fi 6. The torque sensor 7 is the HBMT12WN wireless digital torque sensor 7, which integrates a wireless transmission function and has a high-precision strain gauge and a signal processing unit built-in. The microcontroller 6 and the torque sensor 7 are connected by a wireless signal, and the wireless signal connection uses an industrial-grade low-latency communication protocol; the microcontroller 6 is provided with a TI CC2652R multi-protocol wireless chip. The microcontroller 6 suppresses electromagnetic interference in the port environment through frequency-hopping spread spectrum (FHSS) technology. The microcontroller 6 is provided with a data encryption unit, and the AES-256 encryption algorithm is used to dynamically encrypt the transmitted data to prevent signal tampering.

[0045] Specifically, wireless transmission replaces traditional signal cables, eliminates problems such as cable wear and connector oxidation caused by mechanical movement, realizes multi-terminal synchronous communication between the lifting tooling and the main control system of the ship unloader and the port dispatching center, and avoids strong electromagnetic interference sources generated by equipment such as cranes, frequency converters, and high-voltage cables in the port environment during communication. Wireless transmission not only solves the communication pain points in the complex port environment, but also endows the lifting tooling with the core competitiveness of intelligence, networking, and high reliability.

[0046] In some embodiments, both the frame 1 and the spreader 2 are made of 460C high-strength steel, with a web thickness of 20 mm and a flange thickness of 25 mm. The inside is filled with a honeycomb-shaped aluminum alloy core board. The surfaces of the frame 1 and the spreader 2 are coated with an epoxy zinc-rich primer and a polyurethane topcoat, and the total thickness of the coating is ≥120 μm, and the salt spray resistance is ≥1000 hours.

[0047] Specifically, the structural strength is increased by 40%, the total weight is reduced by 30%, the load-bearing capacity is ≥50 tons, the salt spray resistance is ≥1000 hours (GB / T 10125), and the service life is extended to 15 years.

[0048] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A hoisting tooling for the gear package of the differential speed reducer of a ship unloader, characterized in that Including: A frame (1) with four groups of adjusting mechanisms (3) arranged thereon; A sling (2) disposed below the frame (1). Each of the adjusting mechanisms (3) can independently adjust one corner of the sling (2). Four corners of the sling (2) are respectively fixedly connected with suspension ropes (4), and a hook (5) is installed at one end of the suspension rope (4) far from the sling (2); A control system including a microcontroller (6) and several torque sensors (7). The several torque sensors (7) are respectively connected in series between the suspension rope (4) and the hook (5) to directly measure the real-time tension of a single suspension rope (4); Wherein, the adjusting mechanism (3) includes a winch (31), a steel cable (32) installed on the winch (31), and a pulley block disposed between the frame (1) and the sling (2). The torque sensor (7) transmits data to the microcontroller (6), and the microcontroller (6) processes the data and is electrically connected to the winch (31) through a wire to achieve control. The microcontroller (6) and the winch (31) are both fixedly installed on the frame (1). One end of the steel cable (32) passes through the pulley block and is connected to the frame (1). Each adjusting mechanism (3) respectively and independently adjusts one corner of the sling (2) by the winch (31) winding or unwinding the steel cable (32).

2. The hoisting tooling for the gear package of the differential speed reducer of the ship unloader according to claim 1, characterized in that The pulley block includes combined pulleys (33) respectively fixedly connected to the lower part of the frame (1) and the sling (2), and a fixed single pulley (34) fixedly connected to the sling (2). A fixed seat (35) matched with the steel cable (32) is fixedly connected to the frame (1). The steel cable (32) sequentially bypasses the two combined pulleys (33) and the fixed single pulley (34) to form a multi-segment winding structure, and then its end is fixedly connected to the fixed seat (35).

3. The hoisting tooling for the gear set of the differential speed reducer of the ship unloader according to claim 2, characterized in that, The combined pulley (33) includes a base (331) correspondingly installed on the frame (1) or the sling (2). A front roller (332), a steering roller (333) and a rear roller (334) are rotatably arranged in the fixed seat (35). When the steel cable (32) passes through the fixed seat (35), it sequentially bypasses the front roller (332), the steering roller (333) and the rear roller (334).

4. A hoisting tool for the gear package of the differential speed reducer of a ship unloader according to claim 1, characterized in that, The torque sensor (7) uses strain gauge or piezoelectric ceramic technology to convert the tensile force into an electrical signal and transmits it to the microcontroller (6) to directly detect the real-time tension of the suspension rope (4). The tension calibration formula is: , where is the real-time tension of the nth sling (4), is the real-time voltage value output by the sensor, is the zero-load voltage, is the sensitivity coefficient.

5. The hoisting tooling for the gear set of the differential speed reducer of a ship unloader according to claim 4, characterized in that, The microcontroller (6) collects the signals of the four torque sensors (7) and calculates the tensions of the respective suspension cables (4) according to the calibration formula , , , ; Calculate the average tension , the formula is as follows: , calculate the standard deviation of the tension , the formula is as follows: , wherein, when , it is determined that there is load imbalance and the adjusting mechanism (3) is triggered. is the rated load.

6. The lifting tool for the gear set of the differential speed reducer of the ship unloader according to claim 5, characterized in that The microcontroller (6) is built-in with a PID control algorithm module and a data fusion module. The PID control algorithm module calculates the adjustment amount of the steel cable (32) according to the average tension value. The formula is as follows: , where is the adjustment amount of the th steel cable (32). A positive value indicates winding, and a negative value indicates unwinding. , and are the proportional coefficient, integral coefficient, and differential coefficient respectively, and are all calibrated through experiments.

7. A hoisting tool for the gear package of the differential speed reducer of a ship unloader according to claim 1, characterized in that, The microcontroller (6) is an STM32H743 industrial-grade microcontroller (6), which is built-in with a wireless communication module and supports Bluetooth 5.0 and Wi-Fi6 dual-mode communication. The torque sensor (7) is an HBMT12WN wireless digital torque sensor (7), which integrates a wireless transmission function and is built-in with a high-precision strain gauge and a signal processing unit. The microcontroller (6) and the torque sensor (7) are connected by a wireless signal, and the wireless signal connection uses an industrial-grade low-latency communication protocol.

8. A hoisting tooling for the gear pack of the differential speed reducer of a ship unloader according to claim 1, characterized in that The microcontroller (6) is provided with a TI CC2652R multi-protocol wireless chip. The microcontroller (6) suppresses electromagnetic interference in the port environment through frequency-hopping spread spectrum (FHSS) technology. The microcontroller (6) is provided with a data encryption unit, and uses the AES-256 encryption algorithm to dynamically encrypt the transmitted data to prevent signal tampering.

9. The hoisting tooling for the gear set of the differential speed reducer of a ship unloader according to claim 1, characterized in that, Both the frame (1) and the spreader (2) are made of 460C high-strength steel, with a web thickness of 20 mm and a flange thickness of 25 mm. The interior is filled with a honeycomb-shaped aluminum alloy core board. The surfaces of the frame (1) and the spreader (2) are coated with an epoxy zinc-rich primer and a polyurethane topcoat, with a total coating thickness of ≥120 μm and a salt spray resistance of ≥1000 hours.

10. A hoisting tool for the gear package of the differential reduction gearbox of a ship unloader according to claim 3, characterized in that The front roller (332), the rear roller (334), and the fixed single pulley (34) are made of high-strength aluminum alloy and are surface-treated by hard anodization. The grooves of the front roller (332), the rear roller (334), and the fixed single pulley (34) are of a V-shaped structure, and the radius of the bottom arc of the groove is 1.5 times the diameter of the steel cable (32); the steering roller (333) is a 42CrMo alloy steel treated by nitriding, and the steering roller (333) is designed with a hyperboloid and is provided with anti-derailment flanges on both sides.

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