Eight-rope four-drum hoist

Abstract

This invention provides an eight-rope four-drum lifting device, comprising: an upper frame with first pulley groups on both sides in a first direction and second pulley groups on both sides in a second direction, and a lifting device connected to the bottom; a first lifting drum group including first and second lifting drums; a second lifting drum group including third and fourth lifting drums; four first steel wire ropes, each with one end wound around both ends of the first and second lifting drums, extending obliquely around the second pulley groups, and the other end connected to the second lifting point connector of a second micro-motion mechanism; and four second steel wire ropes, each with one end wound around both ends of the third and fourth lifting drums, extending obliquely around the first pulley groups, and the other end connected to the first lifting point connector of a first micro-motion mechanism that can move in a second direction. This invention enables the lifting device to move freely in six directions, improving work efficiency and pulley life.

Description

Technical Field

[0001] This invention relates to the field of lifting equipment, and more specifically, to an eight-rope four-drum lifting device. Background Technology

[0002] With the continued growth of global trade and the rapid development of the shipping industry, the requirements for efficiency and automation in port container handling operations are increasing. As the core equipment for port handling operations, the performance of container cranes directly determines the throughput capacity of the entire port. Among them, the lifting and micro-motion control system of the spreader is one of the key technologies of the crane, and its performance directly affects the anti-sway effect, operating accuracy, operating efficiency, and the energy consumption level of the entire machine.

[0003] In existing technologies, to achieve rapid horizontal stabilization of the lifting device and sling operation, engineers have developed various wire rope winding systems and micro-adjustment mechanisms. Currently, the mainstream solutions fall into two main categories: traditional single-drum, single-rate eight-rope winding lifting devices and existing double-drum, double-rate eight-rope winding lifting devices.

[0004] Traditional single-drum, single-rate, eight-rope winding lifting devices typically employ a single lifting drum, with eight wire ropes connected to the lifting device through complex winding. This approach offers relatively good anti-sway performance, suppressing the swaying of the lifting device during operation to a certain extent. However, this solution suffers from several insurmountable drawbacks. First, due to the single-drum design, the translation mechanism can only be mounted on the upper frame, preventing the lifting device from tilting in either horizontal direction, severely limiting its functionality and failing to meet the precise alignment requirements under complex working conditions. Second, to drive the massive winding system, the lifting motor, gearbox, and other transmission components on the trolley frame are huge. Combined with the need for up to twelve large-diameter transition pulleys, this results in an extremely complex wire rope winding path and an exceptionally heavy trolley assembly. This significantly increases the overall weight and manufacturing cost, directly leading to high energy consumption. Furthermore, the complex winding method exacerbates wear between the wire ropes and pulleys, shortening the lifespan of critical components and increasing the workload and difficulty of maintenance.

[0005] To address the shortcomings of traditional solutions, existing technologies have developed dual-drum, double-rate, eight-rope winding hoisting devices. This solution uses two hoisting drums, simplifying the winding path and reducing weight to some extent. However, significant technical bottlenecks remain. Depending on the placement of the translation mechanism, the solution is divided into two types, but neither type can simultaneously guarantee excellent anti-sway performance and full-function micro-adjustment. Specifically, when the translation mechanism is placed on the upper frame, although the structure is relatively compact, the anti-sway effect is still unsatisfactory, especially in high-speed operation and automated operation modes, where residual sway amplitude is large, failing to meet the high-precision, highly automated operation requirements of modern ports. When the translation mechanism is placed on the trolley frame, although micro-adjustment performance is improved to some extent, the overall system stability and anti-sway capability are not fundamentally enhanced. More importantly, regardless of the arrangement, the existing double-drum double-rate system still cannot simultaneously realize the six complete degrees of freedom of the spreader: translation in two directions, tilting in two directions, and horizontal rotation. This functional deficiency creates blind spots when dealing with specific box-type or special working conditions.

[0006] In summary, existing lifting devices generally suffer from the following technical problems: First, it is difficult to achieve both anti-sway performance and functional integrity, often sacrificing some functions for limited anti-sway effect; second, the wire rope winding system is complex with a large number of transition pulleys, resulting in low system efficiency, short component life, and high maintenance costs; third, the entire machine is heavy and consumes a lot of energy, which does not conform to the development trend of green energy conservation; fourth, it is impossible to achieve six degrees of freedom full-function motion of the lifting device, which limits the operational flexibility and efficiency of the crane.

[0007] Therefore, how to design a new type of eight-rope winding system that can simultaneously possess excellent anti-sway performance, complete six-degree-of-freedom micro-motion function, simple and efficient wire rope winding path, and lightweight trolley structure, thereby comprehensively improving the crane's operating performance and reducing energy consumption, is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0008] In view of the problems in the prior art, the purpose of this invention is to provide an eight-rope four-drum lifting device that overcomes the difficulties of the prior art, enables the lifting device to move in six degrees of freedom, and has excellent anti-sway performance, significantly reduced system weight and energy consumption, and extended service life of key components.

[0009] An embodiment of the present invention provides an eight-rope four-drum lifting device, comprising: The upper frame is provided with two sets of first pulleys at the middle of each side of the first direction, and two sets of second pulleys at the middle of each side of the second direction. The bottom of the upper frame is connected to a lifting device, and the first direction is perpendicular to the second direction. The first lifting drum assembly includes a first lifting drum and a second lifting drum, which are respectively connected to the two ends of the trolley frame located above the upper frame along a first direction. The rotation axis of the first lifting drum assembly is parallel to the rotation axis of the second pulley assembly. The second lifting drum assembly includes a third lifting drum and a fourth lifting drum, which are respectively connected to the two ends of the trolley frame located above the upper frame along the second direction. The rotation axis of the second lifting drum assembly is parallel to the rotation axis of the first pulley assembly. Four first steel wire ropes, each with its first end wound around both ends of the first and second lifting drums and extending obliquely, passing over the second pulley block, with the second end of each first steel wire rope connected to the four second lifting point connectors of the second micro-motion mechanism. The second micro-motion mechanism can translate along the first direction and rotate around the first direction. The direction of the first segment of the same first steel wire rope before passing over the second pulley block and the direction of the second segment after passing over the second pulley block are approximately parallel. Four second steel wire ropes, each with its first end wound around both ends of the third and fourth lifting drums and extending obliquely, passing over the first pulley group. The second end of each second steel wire rope is connected to the first lifting point connector of four first micro-motion mechanisms that can move along the second direction. The direction of the third segment of the same second steel wire rope before passing over the first pulley group and the direction of the fourth segment after passing over the first pulley group are approximately parallel.

[0010] Preferably, the first plane containing the first segment and the second segment is perpendicular to the second direction; the second plane containing the third segment and the fourth segment is perpendicular to the first direction. The angle between the direction of the first segment or the direction of the second segment and the vertical plane, when the upper frame (5) is at the lifting apex, is approximately 30°; the angle between the direction of the third segment or the direction of the fourth segment and the vertical plane, when the upper frame (5) is at the lifting apex, is approximately 30°.

[0011] Preferably, when the first and second lifting drums rotate in opposite directions; simultaneously, when the third and fourth lifting drums rotate in opposite directions, the lifting device moves up and down along a third direction, which is perpendicular to the plane containing the first and second directions.

[0012] Preferably, the first micro-motion mechanism is connected above the lifting device, and each first micro-motion mechanism includes: Two parallel first tracks extend along the second direction; Four independent first trolleys, each with a first roller on both sides, are arranged in pairs of first trolleys, and each pair is slidably set in the first track. A first pivot seat is disposed at the bottom of the first trolley; and a first lifting point connector is pivotally connected to the first pivot seat and connected to the second end of the second wire rope.

[0013] Preferably, in the first micro-motion mechanism, when the four first trolleys move together in the same direction along the first track, they drive the lifting device to translate in the second direction.

[0014] Preferably, in the first micro-motion mechanism, when the two first trolleys located on one side of the second direction move closer to each other along the first track, while the two first trolleys located on the other side move further apart along the first track, the lifting device is driven to tilt around the second direction.

[0015] Preferably, in the first micro-motion mechanism, when the two first trolleys located on one side of the second direction move together along the positive direction of the first track, and the two first trolleys located on the other side move together along the opposite direction of the first track, the lifting device is driven to tilt around the third direction.

[0016] Preferably, the second micro-motion mechanism is connected above the lifting device, and each second micro-motion mechanism includes: Two parallel second tracks, extending along the first direction; and Four independent second trolleys are provided, each with a second roller on both sides. Each pair of second trolleys forms a group, and each group is slidably set in the second track. Each second trolley has a second lifting point connector at both ends of its bottom. The second end of each first steel wire rope is connected to the corresponding second lifting point connector.

[0017] Preferably, in the second micro-motion mechanism, when the four second trolleys move together in the same direction along the second track, the lifting device is driven to translate along the first direction.

[0018] Preferably, in the second micro-motion mechanism, when the two second trolleys located on one side of the first direction move closer to each other along the second track, while the two second trolleys located on the other side move further apart along the second track, the lifting device is driven to tilt around the first direction.

[0019] Preferably, in the second micro-motion mechanism, when the two second trolleys located on one side of the first direction move together along the positive direction of the second track, and the two second trolleys located on the other side move together along the opposite direction of the second track, the lifting device is driven to tilt around the third direction.

[0020] Preferably, the two second tracks and the two first tracks are integrally formed to form a first frame, and the first hoisting drum assembly and the second hoisting drum assembly form a second frame, wherein the first projection of the first frame based on the ground is within the range of the second projection of the second frame based on the ground.

[0021] The eight-rope four-drum lifting device of the present invention, through its unique four-drum arrangement, eight-rope double-rate winding path and single-layer frame micro-motion mechanism design, can realize full-function movement of the lifting device in six degrees of freedom, while having excellent anti-sway performance, significantly reduced system weight and energy consumption, and extended service life of key components. Attached Figure Description

[0022] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0023] Figure 1 This is a side view of the eight-rope four-drum lifting device of the present invention along the second direction.

[0024] Figure 2 This is a side view of the eight-rope four-drum lifting device of the present invention along the first direction.

[0025] Figure 3 This is a top view of the eight-rope four-drum lifting device of the present invention along a third direction.

[0026] Figure 4 This is a schematic diagram of the principle of the eight-rope four-drum lifting device of the present invention.

[0027] Figure 5 This is a three-dimensional schematic diagram of the combination of the first micro-motion mechanism and the second micro-motion mechanism in the eight-rope four-drum lifting device of the present invention.

[0028] Figure 6 This is a side view of the combination of the first micro-motion mechanism and the second micro-motion mechanism in the eight-rope four-drum lifting device of the present invention.

[0029] Figure 7 This is a top view of the combination of the first micro-motion mechanism and the second micro-motion mechanism in the eight-rope four-drum lifting device of the present invention.

[0030] Figure 8 This is a perspective view of the first micro-motion mechanism in the eight-rope four-drum lifting device of the present invention.

[0031] Figure 9 This is a side view of the first micro-motion mechanism in the eight-rope four-drum lifting device of the present invention.

[0032] Figure 10 This is a side view of the second micro-motion mechanism in the eight-rope four-drum lifting device of the present invention. Detailed Implementation

[0033] The following specific examples illustrate the implementation methods of this application. Those skilled in the art can easily understand the other advantages and effects of this application from the content disclosed herein. This application can also be implemented or applied through other different specific embodiments, and various details in this application can be modified or changed according to different viewpoints and application systems without departing from the spirit of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0034] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily implement the application. This application may be embodied in many different forms and is not limited to the embodiments described herein.

[0035] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics represented in connection with that embodiment or example, which are included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate different embodiments or examples represented in this application, as well as features of different embodiments or examples.

[0036] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] For the purpose of clearly describing this application, devices that are not relevant to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0038] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0039] When we say that a device is "above" another device, this can mean that it is directly above the other device, or it can mean that other devices are present in between. Conversely, when we say that a device is "directly" "above" another device, there are no other devices present in between.

[0040] Although the terms first, second, etc., are used in some instances herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0041] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this application. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in the specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0042] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the content of this present application, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0043] Figure 1This is a side view of the eight-rope four-drum lifting device of the present invention along the second direction. Figure 2 This is a side view of the eight-rope four-drum lifting device of the present invention along the first direction. Figure 3 This is a top view of the eight-rope four-drum lifting device of the present invention along a third direction. Figure 4 This is a schematic diagram illustrating the principle of the eight-rope, four-drum lifting device of the present invention. Figures 1 to 4 As shown, the eight-rope four-drum lifting device of the present invention includes: an upper frame 5, with two sets of first pulley groups 41 respectively located at the middle of both sides in a first direction X, and two sets of second pulley groups 42 respectively located at the middle of both sides in a second direction Y. A lifting device 6 is connected to the bottom of the upper frame 5, and the first direction X is perpendicular to the second direction Y. The first lifting drum group includes a first lifting drum 1a and a second lifting drum 1c, which are respectively connected to the two ends of the trolley frame 2 located above the upper frame 5 along the first direction X. The rotation axis of the first lifting drum group is parallel to the rotation axis of the second pulley group 42. The second lifting drum group includes a third lifting drum 1b and a fourth lifting drum 1d, which are respectively connected to the two ends of the trolley frame 2 located above the upper frame 5 along the second direction Y. The rotation axis of the second lifting drum group is parallel to the rotation axis of the first pulley group 41. Four first wire ropes 31, each with its first end wound around the two ends of the first lifting drum 1a and the second lifting drum 1c, and extending obliquely. After passing over the second pulley block 42, the second end of each first wire rope 31 is connected to the four second lifting point connectors of the second micro-motion mechanism 8. The second micro-motion mechanism 8 can translate along the first direction X and rotate around the first direction X. The direction of the first segment of the same first wire rope 31 before passing over the second pulley block 42 and the direction of the second segment after passing over the second pulley block 42 are approximately parallel (normally the first segment and the second segment are basically parallel, and in the optimal case, the first segment and the second segment are completely parallel). The invention also includes four second steel wire ropes 32. The first end of each second steel wire rope 32 is wound around both ends of the third lifting drum 1b and the fourth lifting drum 1d, extending obliquely. After passing over the first pulley group 41, the second end of each second steel wire rope 32 is connected to the first lifting point connector of four first micro-motion mechanisms 7 that can move along the second direction Y. The direction of the third segment of the same second steel wire rope 32 before passing over the first pulley group 41 and the direction of the fourth segment after passing over the first pulley group 41 are approximately parallel. This invention constructs a highly stable spatial force system through the orthogonal arrangement of the four lifting drums and the spatial oblique symmetrical winding of eight steel wire ropes. Its technical advantages are: for the first time, it provides a structural foundation for subsequent multi-degree-of-freedom micro-motion control while maintaining excellent anti-sway performance; at the same time, it eliminates all transition pulleys on the trolley frame, reducing the trolley's weight by approximately 30% and reducing the number of steel wire rope bends from 5-6 times to 1 time, significantly extending the service life of the steel wire ropes and pulleys.

[0044] In a preferred embodiment, the first plane containing the first and second segments is perpendicular to the second direction Y. The second plane containing the third and fourth segments is perpendicular to the first direction X. The angle between the direction of the first or second segment and the vertical plane, when the upper frame (5) is at the lifting apex, is approximately 30° (the optional range of the first angle is 20° to 40°, which can be selected within this range according to engineering requirements). The angle between the direction of the third or fourth segment and the vertical plane, when the upper frame (5) is at the lifting apex, is approximately 30° (the optional range of the second angle is 20° to 40°, which can be selected within this range according to engineering requirements). The present invention sets the angle between the wire rope and the vertical plane to approximately 30°. The technical effect is that it significantly increases the horizontal component of the wire rope tension, giving the system a stronger horizontal restoring force and anti-interference ability. Even under severe working conditions such as strong crosswinds or rapid acceleration and deceleration of large vehicles, the lifting device can quickly restore stability, and the anti-sway performance is significantly improved compared with the traditional small-angle solution.

[0045] In a preferred embodiment, when the first hoisting drum 1a and the second hoisting drum 1c rotate in opposite directions, the spreader 6 rises and falls along a third direction Z; simultaneously, when the third hoisting drum 1b and the fourth hoisting drum 1d rotate in opposite directions, the spreader 6 rises and falls along a third direction Z, which is perpendicular to the plane containing the first direction X and the second direction Y. This embodiment achieves spreader lifting and lowering by controlling the synchronous counter-rotation of the four sets of hoisting drums. Its technical advantage lies in providing a redundant drive method for the lifting function, greatly improving the system's reliability and safety redundancy.

[0046] Figure 5 This is a three-dimensional schematic diagram of the combination of the first micro-motion mechanism and the second micro-motion mechanism in the eight-rope four-drum lifting device of the present invention. Figure 6 This is a side view of the combination of the first micro-motion mechanism and the second micro-motion mechanism in the eight-rope four-drum lifting device of the present invention. Figure 7 This is a top view of the combination of the first micro-motion mechanism and the second micro-motion mechanism in the eight-rope four-drum lifting device of the present invention. Figure 8 This is a perspective view of the first micro-motion mechanism in the eight-rope four-drum lifting device of the present invention. Figure 9 This is a side view of the first micro-motion mechanism in the eight-rope four-drum lifting device of the present invention. Figures 5 to 9As shown, in a preferred embodiment, the first micro-motion mechanism 7 of the present invention is connected above the lifting device 6. Each first micro-motion mechanism 7 includes: two parallel first tracks 71 extending along a second direction Y; four independent first trolleys 72, each with a first roller 73 on both sides, with two first trolleys 72 forming a group, each group slidably disposed in the first track 71; a first pivot seat 74 disposed at the bottom of the first trolley 72; and a first lifting point connector 75 pivotally connected to the first pivot seat 74 and connected to the second end of the second wire rope 32. This embodiment, through the combined design of tracks, trolleys, pivot seats, and lifting point connectors, achieves the following technical effects: the pivot structure can automatically adapt to changes in the angle of the wire rope, avoiding additional bending moments and protecting the wire rope and connection points; simultaneously, the four independent trolleys can be controlled separately, providing a hardware foundation for realizing multiple functions such as translation, tilting, and rotation.

[0047] In a preferred embodiment, in the first micro-motion mechanism 7, when the four first trolleys 72 move together in the same direction along the first track 71, they drive the spreader 6 to translate along the second direction Y. The technical effect of the four first trolleys moving together in the same direction along the first track is that it achieves smooth translation of the spreader along the second direction Y. The translation stroke is not limited by the width of the upper frame. Compared with the traditional method of arranging the translation mechanism on the upper frame, the translation range is greatly increased, which can meet the long-distance positioning requirements of loading and unloading large ships.

[0048] In a preferred embodiment, in the first micro-motion mechanism 7, when the two first trolleys 72 located on one side of the second direction Y move closer to each other along the first track 71, while the two first trolleys 72 located on the other side move further away from each other along the first track 71, the spreader 6 is driven to tilt around the second direction Y. This embodiment, by having the trolleys on both sides of the second direction Y move closer and further away from each other, achieves the technical effect of tilting the spreader around the second direction Y (i.e., tilting forward and backward), a function that is completely impossible to achieve with traditional single-drum eight-rope systems, filling a functional gap in the prior art.

[0049] In a preferred embodiment, in the first micro-motion mechanism 7, when the two first trolleys 72 located on one side of the second direction Y move together along the positive direction of the first track 71, and the two first trolleys 72 located on the other side move together along the opposite direction of the first track 71, the spreader 6 is driven to tilt around the third direction Z. The technical effect of the trolleys on both sides of the second direction Y moving in the positive and opposite directions respectively is that, in conjunction with the second micro-motion mechanism, the spreader achieves a horizontal rotation function around the third direction Z, enabling the spreader to rotate and align in the horizontal plane, significantly improving the flexibility and efficiency of loading and unloading operations.

[0050] Figure 10This is a side view of the second micro-motion mechanism in the eight-rope four-drum lifting device of the present invention. Figure 10 As shown, in a preferred embodiment, the second micro-motion mechanism 8 is connected above the lifting device 6. Each second micro-motion mechanism 8 includes: two parallel second tracks 81 extending along the first direction X; and four independent second trolleys 82, each with a second roller on both sides. Every two second trolleys 82 form a group, and each group is slidably disposed in the second track 81. Each second trolley 82 has a second lifting point connector 83 at both ends of its bottom, and the second end of each first steel wire rope 31 is connected to the corresponding second lifting point connector 83. In this embodiment, each second trolley has a lifting point connector at both ends of its bottom. The technical effect is that it increases the number of connection points between the steel wire rope and the micro-motion mechanism, making the force more uniform and the structure more compact, providing reliable structural support for realizing translation in the first direction X and tilting around the first direction X.

[0051] In a preferred embodiment, in the second micro-motion mechanism 8, when the four second trolleys 82 move together in the same direction along the second track 81, they drive the spreader 6 to translate along the first direction X. The technical effect of the four second trolleys moving together in the same direction along the second track is that it realizes the smooth translation function of the spreader along the first direction X, and in conjunction with the first micro-motion mechanism, enables the spreader to translate in any direction in the horizontal plane.

[0052] In a preferred embodiment, in the second micro-motion mechanism 8, when the two second trolleys 82 located on one side of the first direction X move closer to each other along the second track 81, while the two second trolleys 82 located on the other side move further apart along the second track 81, the spreader 6 is driven to tilt around the first direction X. By having the trolleys on both sides of the first direction X move closer and further apart respectively, the technical effect is that the spreader's tilting function (i.e., left and right tilting) around the first direction X is achieved, enabling the spreader to adjust its attitude in two orthogonal directions, meeting the precise positioning requirements under complex working conditions.

[0053] In a preferred embodiment, in the second micro-motion mechanism 8, when the two second trolleys 82 located on one side of the first direction X move together in the positive direction of the second track 81, and the two second trolleys 82 located on the other side move together in the opposite direction of the second track 81, the spreader 6 is driven to tilt around the third direction Z. The technical effect of having the trolleys on both sides of the first direction X move in the positive and negative directions respectively is that it provides another control path for achieving horizontal rotation, which can work in conjunction with the first micro-motion mechanism to achieve a more precise and stable rotation control effect.

[0054] In a preferred embodiment, two second rails 81 and two first rails 71 are integrally formed to form a first frame, and a first hoisting drum assembly and a second hoisting drum assembly form a second frame. The first projection of the first frame onto the ground falls within the range of the second projection of the second frame onto the ground. By ensuring that the projection of the first frame falls entirely within the range of the second frame projection, the technical effect is that all eight wire ropes are tilted outwards. This is a prerequisite for achieving a large tilt angle of approximately 30° and is also the geometric basis for ensuring that the system has high horizontal restoring force and high stability, thus guaranteeing the full utilization of anti-sway performance from the structural root.

[0055] The following is in conjunction with the instruction manual. Figures 1 to 10 Specific embodiments of the present invention are described below.

[0056] This embodiment provides a new full-function four-drum double-rate eight-rope winding system, namely an eight-rope four-drum lifting device. The device mainly includes: an upper frame 5, a trolley frame 2, a first lifting drum group (including a first lifting drum 1a and a second lifting drum 1c), a second lifting drum group (including a third lifting drum 1b and a fourth lifting drum 1d), four first steel wire ropes 31, four second steel wire ropes 32, a first pulley group 41, a second pulley group 42, a first micro-motion mechanism 7, a second micro-motion mechanism 8, and a lifting device 6.

[0057] The upper frame 5 is the core load-bearing and connecting component of the entire device. The bottom of the upper frame 5 is connected to the spreader 6, which is used to directly grip the container. To clearly describe the spatial orientation, a three-dimensional coordinate system is defined: a first direction X, a second direction Y, and a third direction Z. The first direction X is perpendicular to the second direction Y, and the third direction Z is perpendicular to the horizontal plane containing the first direction X and the second direction Y, i.e., the vertical direction.

[0058] In the structural layout of shelf 5, along both sides of the first direction X (i.e. Figure 1 At the center of each of the left and right sides (i.e., along the second direction Y), two sets of first pulley groups 41 are respectively provided. Figure 2 Two sets of second pulley blocks 42 are installed in the middle of each of the left and right sides of the cable. These pulley blocks provide support for the turning and guiding of the wire rope.

[0059] The trolley frame 2 is located above the upper frame 5 and supports the lifting drum assembly. The first lifting drum assembly includes a first lifting drum 1a and a second lifting drum 1c, which are respectively connected to the two ends of the trolley frame 2 along the first direction X. The rotation axis of the first lifting drum assembly is parallel to the rotation axis of the second pulley group 42. The second lifting drum assembly includes a third lifting drum 1b and a fourth lifting drum 1d, which are respectively connected to the two ends of the trolley frame 2 along the second direction Y. The rotation axis of the second lifting drum assembly is parallel to the rotation axis of the first pulley group 41. This orthogonal arrangement lays the foundation for subsequent multi-directional motion control.

[0060] One of the core innovations of this invention lies in its unique wire rope winding path. There are four first wire ropes 31. The first end (fixed end) of each first wire rope 31 is wound and fixed to the end of either the first lifting drum 1a or the second lifting drum 1c. Specifically, both the first lifting drum 1a and the second lifting drum 1c are double-grooved drums, with one first wire rope 31 wound around each end of each drum. After these wire ropes are led out from the drum ends, they extend obliquely downwards, passing over the second pulley groups 42 located on both sides of the upper frame 5 in the second direction Y. After the second pulley groups 42 reverse direction, the second end (free end) of each first wire rope 31 continues to extend and finally connects to the second micro-motion mechanism 8. Importantly, the second micro-motion mechanism 8 is equipped with four second lifting point connectors 83, each corresponding to one of the second ends of the four first wire ropes 31. The second micro-motion mechanism 8 is designed to be able to translate along the first direction X and to rotate (tilt) around the first direction X as its axis.

[0061] A key geometric feature is that, for the same first wire rope 31, the direction of its first segment before passing over the second pulley block 42 is approximately parallel to the direction of its second segment after passing over the second pulley block 42. This means that the second pulley block 42 mainly serves to change the line of action and spatial position of the force, while essentially not changing the direction angle of the wire rope, thus achieving efficient force transmission and minimizing bending losses.

[0062] There are also four second wire ropes 32. The first end of each second wire rope 32 is wound and fixed to the end of either the third lifting drum 1b or the fourth lifting drum 1d. Similar to the first lifting drum assembly, each end of the third lifting drum 1b and the fourth lifting drum 1d is also wound with a second wire rope 32. These wire ropes extend diagonally after being led out, passing over the first pulley assembly 41 located on both sides of the upper frame 5 in the first direction X. After the first pulley assembly 41 reverses direction, the second end of each second wire rope 32 is connected to the first lifting point connector 75 on one of the four first micro-motion mechanisms 7 that can move in the second direction Y. Each first micro-motion mechanism 7 is connected to the second end of one second wire rope 32.

[0063] Similarly, for the same second wire rope 32, the direction of its third segment before passing over the first pulley block 41 is approximately parallel to the direction of its fourth segment after passing over the first pulley block 41. This design ensures the smoothness of the wire rope path and the rationality of the force distribution.

[0064] With the above layout, the device of the present invention achieves eight-rope double-ratio winding. Ratio refers to the number of wire rope branches between the drum and the lifting device. In this scheme, it is double ratio (or 2 ratio), that is, the wire rope leading from each drum is ultimately divided into two strands to share the load, ensuring lifting capacity and safety.

[0065] Continue to refer to Figure 1 , Figure 2 and Figure 4 A significant optimization of this invention lies in the angle between the wire rope and the vertical plane. In conventional designs, this angle is typically small to control the width of the trolley frame and the pulley layout. However, in this invention, because four drums are arranged at the four corners and the wire rope extends diagonally directly to the upper pulley block near the lifting device, this angle can be designed to be very large.

[0066] Specifically, the direction of the first segment or the second segment makes a first angle α with the vertical plane (e.g., Figure 1 (As shown) is set at approximately 30°. Simultaneously, the direction of the third or fourth segment makes a second angle β with the vertical plane (as shown). Figure 2 (As shown) is also set at approximately 30°. This large angle design brings two benefits: Extremely high horizontal stiffness: The horizontal component of the wire rope tension is equal to the tension multiplied by the sine of the included angle. When the average included angle between the first and second segments increases from the conventional approximately 20° to 30°, the sine value increases from 0.342 to 0.5, and the horizontal component increases by approximately 46%. This means that when the spreader 6 is subjected to external forces in the horizontal direction (such as the acceleration and deceleration inertial forces of the trolley and the gantry, and crosswind loads) and attempts to swing, the wire rope system can generate a stronger horizontal restoring force, thereby greatly improving anti-sway performance. This enables the system to achieve extremely fast box alignment and minimal residual sway in high-speed automated operations.

[0067] Reduced energy consumption: To achieve the same horizontal restoring torque, the total tension of the wire rope can be reduced due to the larger lever arm (horizontal component). This directly reduces the drive torque requirement of the hoisting drum assembly, allowing for the selection of smaller models of transmission components such as motors and gearboxes, resulting in lower power consumption and achieving high efficiency and energy saving.

[0068] Another major innovation of this invention is the integration of a first micro-motion mechanism 7 and a second micro-motion mechanism 8, which enable multi-degree-of-freedom micro-motion adjustment. Both mechanisms are connected to the lower part of the trolley frame 2.

[0069] Structure and function of the first micro-motion mechanism 7: like Figure 5 , 7 As shown in Figures 8 and 9, each first micro-motion mechanism 7 includes a first track 71, a first trolley 72, a first roller 73, a first pivot seat 74, and a first lifting point connector 75. The first micro-motion mechanism 7 has a single-layer double-track micro-motion mechanism, and its whole can translate along the second direction Y, rotate around the second direction Y as a rotation axis, or rotate around the third direction Z.

[0070] Two first tracks 71 are arranged in parallel and extend along the second direction Y. Four independent first carriages 72 are provided, each with first rollers 73 on both sides, allowing the first carriages 72 to roll and slide smoothly on the first tracks 71. The four first carriages 72 are arranged in pairs, each pair slidably mounted on one first track 71. Each first carriage 72 has a first pivot seat 74 fixed to its bottom. The upper end of a first lifting point connector 75 is pivotally connected to the first pivot seat 74, and its lower end is connected to the second end of the second wire rope 32. This pivot design allows the first lifting point connector 75 to swing within a certain angle range to adapt to changes in the angle of the wire rope, avoiding stress concentration due to bending of the wire rope.

[0071] Translation of the spreader 6 along the second direction Y: When the four first trolleys 72 move together in the same direction along the first track 71 under the drive of the drive mechanism (such as an electric push rod, hydraulic cylinder, or lead screw mechanism, not shown in the figure), for example, all moving in the positive direction of the second direction Y, then the four second steel wire ropes 32 connected to them will synchronously pull the spreader 6 to translate in the positive direction of the second direction Y. By controlling the synchronous displacement of the four first trolleys 72, precise micro-adjustment of the spreader 6 in the second direction Y can be achieved.

[0072] The tilting of the spreader 6 about the second direction Y: when the two first trolleys 72 located on one side of the second direction Y (e.g. Figure 5 The two first trolleys 72 on the lower left side of the middle move closer to each other along the first track 71, while the two first trolleys 72 on the other side (e.g.) Figure 5 When the two first trolleys 72 on the upper right side of the spreader 6 move away from each other along the first track 71, this will apply a torque to the spreader 6, causing it to tilt about the second direction Y (Y-axis). This tilting function is crucial for adjusting the entry angle of containers in ship hatches and adapting to special working conditions such as the slope of the quay surface.

[0073] The spreader 6 rotates around the third direction Z (in coordination with the second micro-motion mechanism 8): When the two first trolleys 72 on one side of the second direction Y move together along the positive direction of the first track 71, and the two first trolleys 72 on the other side move together along the opposite direction of the first track 71, combined with the symmetrical reverse movement of the second trolley 82 in the second micro-motion mechanism 8 (described below), they can jointly drive the spreader 6 to rotate horizontally around its center and parallel to the third direction Z axis. This rotation function is very useful for adjusting the placement direction of containers and aligning the lock hole positions.

[0074] Structure and function of the second micro-motion mechanism 8: like Figure 5 , 6 As shown in Figures 7 and 10, the second micro-motion mechanism 8 includes a second track 81, a second trolley 82, and a second lifting point connector 83. It is worth noting that the second micro-motion mechanism 8 also integrates a mechanism for tilting around the first direction X. The second micro-motion mechanism 8 has a single-layer double-track micro-motion mechanism, and its entirety can translate along the first direction X, rotate around the first direction X as a rotation axis, or rotate around the third direction Z.

[0075] Two second tracks 81 are arranged in parallel and extend along the first direction X. Four independent second trolleys 82 are provided, each sliding on a second track 81 via rollers (not shown in the figure). The four second trolleys 82 are arranged in pairs, each pair slidably mounted on one second track 81. Each second trolley 82 has a second lifting point connector 83 at both ends of its bottom, thus each second trolley 82 connects to the second ends of two first steel wire ropes 31 (each second steel wire rope 32 connects to one first lifting point connector 75, but each second trolley 82 has two second lifting point connectors 83 at its bottom; this design further optimizes force distribution and provides redundancy safety; see [reference]). Figure 10 The entire second micro-motion mechanism 8 is connected to the lifting device 6 via its bottom rotary support structure and can tilt as a whole around the axis of the first direction X.

[0076] Translation of lifting device 6 along the first direction X: Refer to Figure 5 When the four second trolleys 82 move together along the second track 81 in the same direction under the drive mechanism, for example, they all move in the positive direction of the first direction X, then the four first steel wire ropes 31 connected to them will synchronously pull the lifting device 6 to translate in the positive direction of the first direction X.

[0077] The tilt of the spreader 6 about the first direction X: when the two second trolleys 82 located on one side of the first direction X (e.g. Figure 5 The two second trolleys 82 on the upper left side of the middle section move closer to each other along the second track 81, while the two second trolleys 82 on the other side (e.g.) Figure 5When the two second trolleys (82) on the lower right side move away from each other along the second track 81, this will apply a torque to the spreader 6, causing it to tilt about the first direction X (X-axis). This function, combined with the tilting about the second direction Y achieved by the first micro-motion mechanism 7, enables the spreader to achieve horizontal tilting attitude adjustment in any direction.

[0078] The rotation of the spreader 6 around the third direction Z (in coordination with the first micro-motion mechanism 7): When the two second trolleys 82 located on the first direction X move together along the positive direction of the second track 81, and the two second trolleys 82 located on the other side move together along the opposite direction of the second track 81, combined with the symmetrical reverse movement of the first trolley 72 in the aforementioned first micro-motion mechanism 7, the two sets of micro-motion mechanisms exert force diagonally together, driving the spreader 6 to rotate around the third direction Z.

[0079] As a further optimization, the two second tracks 81 and the two first tracks 71 can be integrally molded and combined into a single first frame structure (e.g., Figure 5 , 7 (As shown). Simultaneously, the first hoisting drum assembly (first hoisting drum 1a, second hoisting drum 1c) and the second hoisting drum assembly (third hoisting drum 1b, fourth hoisting drum 1d) spatially enclose a large second frame. Viewed from the ground via vertical projection, the ground projection of the first frame falls entirely within the ground projection range of the second frame. This nested layout ensures that the center of gravity of the entire device is located near its geometric center, resulting in a compact structure, a short force transmission path, and reasonable stress distribution, reducing unnecessary bending moments and torques.

[0080] The lifting motion of the spreader 6 along the third direction Z (vertical direction) is mainly achieved through the coordinated rotation of the hoisting drum assembly. Specifically, when smooth lifting of the spreader 6 is required, two equivalent control methods can be used: controlling the first hoisting drum 1a, the third hoisting drum 1b, the second hoisting drum 1c, and the fourth hoisting drum 1d to rotate synchronously in opposite directions. For example, the first hoisting drum 1a and the third hoisting drum 1b wind up the rope clockwise, while the second hoisting drum 1c and the fourth hoisting drum 1d wind up the rope counterclockwise (or vice versa), and the four first wire ropes 31 and the four second wire ropes 32 are simultaneously tightened or released, thereby driving the spreader 6 to rise or fall. This four-motor, four-drum configuration can distribute the load and greatly improve the system's safety redundancy.

[0081] Based on the above structure and working principle, this eight-rope four-drum lifting device can perfectly realize the six degrees of freedom of the lifting device 6 in space: 1. Translation along the X direction: This is achieved by the four second carriages 82 in the second micro-motion mechanism 8 moving in the same direction along the second track 81.

[0082] 2. Translation along the Y direction: This is achieved by the four first trolleys 72 in the first micro-motion mechanism 7 moving in the same direction along the first track 71.

[0083] 3. Lifting and lowering along the Z direction: This is achieved by synchronously rotating the drums in the first or second lifting drum group in opposite directions.

[0084] 4. Tilting around the X direction: The entire second micro-motion mechanism 8 rotates around the first direction X, which is specifically achieved by the opposite or opposite movement of the two sets of second trolleys 82 located on both sides of the first direction X.

[0085] 5. Tilting around the Y direction: This is achieved by the relative or opposite movement of the two sets of first trolleys 72 located on both sides of the second direction Y in the first micro-motion mechanism 7.

[0086] 6. Rotation around the Z direction: This is achieved by the synchronous reverse translation of the first carriage 72 on the diagonal in the first micro-motion mechanism 7, in conjunction with the synchronous reverse translation of the second carriage 82 on the diagonal in the second micro-motion mechanism 8.

[0087] The eight-rope four-drum lifting device provided by this invention, namely the new full-function four-drum double-ratio eight-rope winding system, successfully unifies the two core requirements of "top-level anti-sway performance" and "full-function flexible operation" that traditional solutions could not achieve simultaneously, thanks to its innovative four-drum layout, optimized ultra-large angle wire rope winding path, and integrated dual-axis micro-motion mechanism. At the same time, by eliminating a large number of transition pulleys and simplifying the trolley frame structure, the overall weight and energy consumption are significantly reduced, and the lifespan of components is extended. This device represents a major technological advancement in container crane spreader systems, possessing extremely high industrial application value and broad market prospects.

[0088] In summary, the eight-rope four-drum lifting device of the present invention, through its unique four-drum arrangement, eight-rope double-ratio winding path, and single-layer frame micro-motion mechanism design, can realize full-function movement of the lifting device in six degrees of freedom, while possessing excellent anti-sway performance, significantly reduced system weight and energy consumption, and extended service life of key components.

[0089] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. An eight-rope, four-drum lifting device, characterized in that, include: The upper frame (5) has two sets of first pulley groups (41) on each side of the middle of the first direction (X) of the upper frame (5), and two sets of second pulley groups (42) on each side of the middle of the second direction (Y) of the upper frame (5). The bottom of the upper frame (5) is connected to a lifting device (6), and the first direction (X) is perpendicular to the second direction (Y). The first lifting drum assembly includes a first lifting drum (1a) and a second lifting drum (1c), which are respectively connected to the two ends of the trolley frame (2) located above the upper frame (5) along the first direction (X). The rotation axis of the first lifting drum assembly is parallel to the rotation axis of the second pulley assembly (42). The second lifting drum assembly includes a third lifting drum (1b) and a fourth lifting drum (1d), which are respectively connected to the two ends of the trolley frame (2) located above the upper frame (5) along the second direction (Y). The rotation axis of the second lifting drum assembly is parallel to the rotation axis of the first pulley assembly (41). Four first wire ropes (31), each first wire rope (31) having its first end wound around both ends of the first lifting drum (1a) and the second lifting drum (1c), and extending obliquely, passing over the second pulley group (42). The second end of each first wire rope (31) is connected to the four second lifting point connectors of the second micro-motion mechanism (8). The second micro-motion mechanism (8) can translate along the first direction (X). The direction of the first segment of the same first wire rope (31) before passing over the second pulley group (42) and the direction of the second segment after passing over the second pulley group (42) are approximately parallel. Four second wire ropes (32), each second wire rope (32) has its first end wound around the two ends of the third lifting drum (1b) and the fourth lifting drum (1d) and extends obliquely. After passing over the first pulley group (41), the second end of each second wire rope (32) is connected to the first lifting point connector of the four first micro-motion mechanisms (7) that can move along the second direction (Y). The direction of the third segment before passing over the first pulley group (41) and the direction of the fourth segment after passing over the first pulley group (41) are approximately parallel.

2. The eight-rope four-drum lifting device as described in claim 1, characterized in that, The first plane containing the first segment and the second segment is perpendicular to the second direction (Y); the second plane containing the third segment and the fourth segment is perpendicular to the first direction (X). The first angle between the direction of the first segment or the direction of the second segment and the vertical plane is 30° when the upper frame (5) is at the lifting apex; the second angle between the direction of the third segment or the direction of the fourth segment and the vertical plane is 30° when the upper frame (5) is at the lifting apex.

3. The eight-rope four-drum lifting device as described in claim 1, characterized in that, When the first lifting drum (1a) and the second lifting drum (1c) rotate in opposite directions, and the third lifting drum (1b) and the fourth lifting drum (1d) rotate in opposite directions, the lifting device (6) is raised and lowered along a third direction (Z); the third direction (Z) is perpendicular to the plane containing the first direction (X) and the second direction (Y).

4. The eight-rope four-drum lifting device as described in claim 3, characterized in that, The first micro-motion mechanism (7) is connected above the lifting device (6), and each first micro-motion mechanism (7) includes: Two parallel first tracks (71) extend along the second direction (Y); Four independent first trolleys (72), each with a first roller (73) on both sides, and two first trolleys (72) together form a group, each group being slidably set in the first track (71); The first pivot seat (74) is disposed at the bottom of the first trolley (72); and The first lifting point connector (75) is pivotally connected to the first pivot seat (74) and connected to the second end of the second wire rope (32).

5. The eight-rope four-drum lifting device as described in claim 4, characterized in that, In the first micro-motion mechanism (7), when the four first trolleys (72) move together along the first track (71) in the same direction, the lifting device (6) is driven to translate along the second direction (Y).

6. The eight-rope four-drum lifting device as described in claim 4, characterized in that, In the first micro-motion mechanism (7), when the two first trolleys (72) located on one side of the second direction (Y) move closer to each other along the first track (71), while the two first trolleys (72) located on the other side move further away from each other along the first track (71), the lifting device (6) is driven to tilt around the second direction (Y).

7. The eight-rope four-drum lifting device as described in claim 4, characterized in that, In the first micro-motion mechanism (7), when the two first trolleys (72) located on the second direction (Y) move together along the positive direction of the first track (71), and the two first trolleys (72) located on the other side move together along the opposite direction of the first track (71), the lifting device (6) is driven to tilt around the third direction (Z).

8. The eight-rope four-drum lifting device as described in claim 4, characterized in that, The second micro-motion mechanism (8) is connected above the lifting device (6), and each second micro-motion mechanism (8) includes: Two parallel second tracks (81) extending along the first direction (X); and Four independent second trolleys (82) are provided with second rollers on both sides of each second trolley (82). Each pair of second trolleys (82) forms a group, and each group is slidably set in the second track (81). Each second trolley (82) has a second lifting point connector (83) at both ends of its bottom. The second end of each first wire rope (31) is connected to the corresponding second lifting point connector (83).

9. The eight-rope four-drum lifting device as described in claim 8, characterized in that, In the second micro-motion mechanism (8), when the four second trolleys (82) move together along the second track (81) in the same direction, the lifting device (6) is driven to translate along the first direction (X).

10. The eight-rope four-drum lifting device as described in claim 8, characterized in that, In the second micro-motion mechanism (8), when the two second trolleys (82) located on one side of the first direction (X) move closer to each other along the second track (81), while the two second trolleys (82) located on the other side move further away from each other along the second track (81), the lifting device (6) is driven to tilt around the first direction (X).

11. The eight-rope four-drum lifting device as described in claim 8, characterized in that, In the second micro-motion mechanism (8), when the two second trolleys (82) located on the first direction (X) move together along the positive direction of the second track (81), and the two second trolleys (82) located on the other side move together along the opposite direction of the second track (81), the lifting device (6) is driven to tilt around the third direction (Z).

12. The eight-rope four-drum lifting device as described in claim 8, characterized in that, The two second rails (81) and the two first rails (71) are integrally formed to form a first frame, and the first hoisting drum assembly and the second hoisting drum assembly form a second frame. The first projection of the first frame based on the ground is within the range of the second projection of the second frame based on the ground.

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