Abstract:
A hoist frame ( 150 ) for engaging a pair of spreaders in an expanded position and a single spreader in a retracted position comprising, a first and second head frame ( 65   a, b ), each for engaging a lifting device; a rigid first frame ( 160   a ) fixed to the first head frame and a rigid second frame ( 160   b ) fixed to the second head frame; a plurality of assemblies ( 155   a,b ) pivotably mounted to each fixed frame so as to be intermediate the head frames, wherein, each assembly comprises an upper horizontal member ( 175 ), a first inclined outer member ( 165 ) pivotally mounted to the first fixed frame and pivotally mounted to a first end of the upper horizontal member, a second inclined outer member ( 185 ) pivotally mounted to the second fixed frame and pivotally mounted to a second end of the upper horizontal member, a first inclined inner member ( 170   a ) pivotally mounted to the first fixed frame and pivotally mounted to a mid-point of the upper horizontal member so as to be parallel to the first outer inclined member in a first position of the hoist frame and a second inclined inner member ( 180 ) pivotally mounted to the second fixed frame and pivotally mounted to a mid-point of the upper horizontal member so as to be parallel to the second outer inclined member in a first position of the hoist frame, such that the first members and the first fixed frame define a first parallelogram ( 217 ), and the second member and the second fixed frame define a second parallelogram ( 216 ).

Description:
FIELD OF INVENTION 
       [0001]    The invention relates to the movement of freight devices, for instance, a container. Specifically the invention relates to the apparatus used for the movement of said freight devices and in particular, the apparatus and method of engaging a freight device and manipulating said freight device in order to facilitate its movement. Whilst the use of the present invention is not restricted to any particular type of freight device, it will be convenient to describe its applicability to containers as these represent the most common form of freight device. 
       BACKGROUND 
       [0002]    In order to increase the flow of freight through, for instance, a port, systems have been developed whereby multiple freight devices such as containers may be engaged by hoisting systems simultaneously. Theoretically, these systems increase the flow of freight by a factor of two. However, these theoretical increases in freight flow depend upon the containers being of identical size, shape and location, when, in fact, such a variation can occur often enough to disrupt and reduce this theoretical efficiency. A variation in any of these factors can slow the flow of freight because of increased complexity in engaging the containers, a slower rate of transport because of the difficult terrain or even abandoning a double engagement because of, for instance a sizeable differential in weight and/or height 
         [0003]    It follows therefore that the promise of the multiple container lifting apparatus that have been developed is rarely met because of the non-homogeneity of the loading conditions and of the containers themselves. 
       SUMMARY OF INVENTION 
       [0004]    It is therefore an object of the present invention to more effectively accommodate variations in loading conditions and so be more universally applicable to different situations. 
         [0005]    Therefore in a first aspect, the invention provides a hoist frame for engaging a pair of spreaders in an expanded position and a single spreader in a retracted position comprising, a first and second head frame, each for engaging a lifting device; a rigid first frame fixed to the first head frame and a rigid second frame fixed to the second head frame; a plurality of assemblies pivotably mounted to each fixed frame so as to be intermediate the head frames, wherein, each assembly comprises an upper horizontal member, a first inclined outer member pivotally mounted to the first fixed frame and pivotally mounted to a first end of the upper horizontal member, a second inclined outer member pivotally mounted to the second fixed frame and pivotally mounted to a second end of the upper horizontal member, a first inclined inner member pivotally mounted to the first fixed frame and pivotally mounted to a mid-point of the upper horizontal member so as to be parallel to the first outer inclined member in a first position of the hoist frame and a second inclined inner member pivotally mounted to the second fixed frame and pivotally mounted to a mid-point of the upper horizontal member so as to be parallel to the second outer inclined member in a first position of the hoist frame, such that the first members and the first fixed frame define a first parallelogram, and the second members and the second fixed frame define a second parallelogram. 
         [0006]    In a second aspect, the invention provides a hoist frame for engaging a pair of spreaders in an expanded position and a single spreader in a retracted position comprising, a first and second head frame, each for engaging a lifting device 
         [0007]    A rigid first frame fixed to the first head frame and a rigid second frame fixed to the second head frame; a plurality of assemblies pivotably mounted to each fixed frame so as to be intermediate the head frames, wherein, the assemblies comprise first and second inclined members respectively mounted to the fixed frames, and connected through an apex connection. 
         [0008]    In a third aspect, the invention provides a hoist frame for engaging a pair of spreaders in an expanded position and a single spreader in a retracted position comprising, a first and second head frame, each for engaging a lifting device; a rigid first frame fixed to the first head frame and a rigid second frame fixed to the second head frame; a plurality of nestable driven assemblies pivotably mounted to each fixed frame so as to be intermediate the head frames, wherein the nestable driven assemblies cause selective relative movement of the head frames and retract to nest so as to permit contact between the head frames through interleaving of the fixed frames. 
         [0009]    It will be clear to the skilled addressee that lifting device encompasses known variations in this field, including a spreader or an intermediate device such as an adapter frame. 
         [0010]    The invention accommodates a plurality of assemblies to manipulate the head frames in a relative fashion. It further provides for a retracted position that decreases the space required by the hoist frame, leading to less weight, and less manufacturing cost. Thus, in a preferred embodiment, the hoist frame may operate at a fully extended width of 6 metres, but be able to retract to a width of 1 metre. 
         [0011]    In a preferred embodiment, the assemblies may be biased by a plurality of integrally mounted actuators. In a more preferred embodiment, said actuators may be electrically hydraulically or pneumatically driven. 
         [0012]    In a preferred embodiment, relative longitudinal movement may be effected by at least a pair of orthogonal actuators are mounted generally in a direction orthogonal to longitudinal axes of the head frames. In a further preferred embodiment, activation of one of said actuators, may cause the head frames to be rotated relative to each other within a plane defined by the head frames. 
         [0013]    In a preferred embodiment, the driven assemblies may comprise first and second inclined members respectively mounted to the fixed frames, and connected through an apex connection, said orthogonal actuators mounted from the first fixed frame to the second inclined members. In this embodiment, the assemblies may resemble A-frames directed upwards. Alternatively, the members may be located in a plane parallel to that defined by the head frames, so long as the arrangement meets the essential criteria of being nestable. 
         [0014]    In a preferred embodiment, the apex connection may include an intermediate portion pivotally connected to the first inclined member and pivotally connected to the second inclined member, the longitudinal actuator mounted between the intermediate portion an end of the first inclined member, such that on activation of the longitudinal actuator, the distance from the end of the first inclined member to the pivotal connection with the intermediate portion acts as a lever arm to achieve the longitudinal relative movement of the head frames. In this way, rather than the actuator bearing directly on the head frame for longitudinal movement, the head frames may be levered in this direction, with the assemblies ensuring the motion is purely longitudinal without a transverse component. 
         [0015]    In a more preferred embodiment each nestable assembly may include an upper horizontal member, a first inclined outer member pivotally mounted to the first fixed frame and pivotally mounted to a first end of the upper horizontal member, a second inclined outer member pivotally mounted to the second fixed frame and pivotally mounted to a second end of the upper horizontal member, a first inclined inner member pivotally mounted to the first fixed frame and pivotally mounted to a mid-point of the upper horizontal member so as to be parallel to the first outer inclined member in a first position of the hoist frame and a second inclined inner member pivotally mounted to the second fixed frame and pivotally mounted to a mid-point of the upper horizontal member so as to be parallel to the second outer inclined member in a first position of the hoist frame, such that the first members and the first fixed frame define a first parallelogram, and the second members and the second fixed frame define a second parallelogram. The parallelogram provides the advantage of pivotal movement whilst maintaining the parallel relationship of the members. Further, by adding preferable locking components, the parallelogram orientation is particularly rigid, adding strength to the hoist frame. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0016]      FIG. 1A  is a an isometric schematic view of the axes used to define the orientation of the hoist frame; 
           [0017]      FIGS. 1B to 1G  are schematic views of the relative degrees of freedom that are possible for two head frames; 
           [0018]      FIG. 2  is an isometric view of an adapter frame and a spreader for use with the present invention; 
           [0019]      FIG. 3  is an isometric view of a hoist frame according to one aspect of the present invention; 
           [0020]      FIG. 4  is an isometric view of a hoist frame according to another aspect of the present invention; 
           [0021]      FIG. 5  is an isometric view of the hoist frame of  FIG. 4  following transverse translation of the head frames; 
           [0022]      FIG. 6  is an isometric view of the hoist frame of  FIG. 4  in the fully retracted position; 
           [0023]      FIG. 7  is a plan view of the hoist frame of  FIG. 4 ; 
           [0024]      FIG. 8  is an isometric view of the hoist frame of  FIG. 4  following longitudinal translation of the head frames; 
           [0025]      FIG. 9  is an end elevation view of the hoist frame of  FIG. 4  following relative rotation of the head frames about the longitudinal axis; 
           [0026]      FIG. 10  is an end elevation view of the hoist frame of  FIG. 4  following relative lifting of the head frames; 
           [0027]      FIGS. 11A to 11C  show the process lowering two dissimilar sized containers according to one embodiment of the present invention; 
           [0028]      FIGS. 12A to 12C  and  13  show an alternative process of lowering dissimilar sized containers according to another embodiment of the present invention. 
       
    
    
     DESCRIPTION OF PREFERRED EMBODIMENT 
       [0029]    It will be convenient to further describe the present invention with respect to the accompanying drawings, which illustrate possible arrangements of the invention. Other arrangements of the invention are possible and consequently, the particularity of the accompanying drawings is not to be understood as superceding the generality of the proceeding description of the invention. 
         [0030]    In describing the applicability of the invention, it is important to recognize the variations in position that must be accommodated by the apparatus of the present invention. To this end,  FIG. 1   a  shows an axis system defining X, Y and Z axes and rotation about each axis defined as Mx, My and Mz. Each of these designations define a degree of freedom which the apparatus may preferably accommodate in order to be applicable to a variety of situations. A schematic view of two containers  5   a,b  are aligned parallel to each other with their longitudinal axis parallel to the Y axis. Thus, the containers are placed in spatial relation to each other along the X axis with the Z axis directed downward. By defining relative positions of the two containers, and equating these with each degree of freedom, the various embodiments of the present invention may be compared so as to determine which relative positions may be accommodated by the various embodiments of the present invention. 
         [0031]      FIG. 1   b  indicates a relative change in position moving the containers relative to each other along the X axis. This will be defined for clarity as “separation”. 
         [0032]      FIG. 1   c  shows a relative change in position of the containers along a longitudinal path and so a relative movement parallel to the Y axis. This will be defined as an “off-set”. 
         [0033]      FIG. 1   d  shows a relative change of position parallel to the Z axis, which equates to a height differential between the containers. 
         [0034]      FIG. 1   e  shows a relative rotation about the X axis equating to one end of one container rising relative to other container, which will be defined as “trim”. 
         [0035]      FIG. 1   f  shows a rolling of one container relative to the other about the Y axis. 
         [0036]      FIG. 1   g  shows a relative rotation of the containers about the Z axis, which will be defined as “skew”. 
         [0037]    These degrees of freedom are based on relative movement of the containers. The containers acting as a single unit are also capable of six degrees of freedom being both translation and rotation. These are normally accommodated by the crane and therefore are not subject to control by the head frame per se. Therefore an assessment of the various embodiments of the present invention will be confined to those degrees of freedom based upon relative movement. 
         [0038]      FIG. 2  shows an intermediate frame  40  to which any one of the head frames according to the present invention may attach. In particular, the intermediate frame  40  comprises an adapter frame  45  and a spreader  50  adapted to engage a container through twist lock engagements devices  55 . 
         [0039]      FIG. 3  shows one aspect according to the present invention, comprising a hoist frame  60 . The hoist frame  60  includes two head frames  65   a,b , which may engage the intermediate frame  40 . The head frames  65   a,b  are connected through assemblies  85   a,b  located at opposed ends of the head frames. It is these assemblies  85   a,b  that facilitate the relative movement of the head frames  65   a,b . The hoisting frame  60  is connected to the crane or trolley controlling the movement of the hoisting frame  60  through sheaves  70   a,b,c  and  d  by cables connecting these portions. Further, the hoisting frame  60  may contain a cable basket  80 . 
         [0040]    Referring now to the assemblies  85   a,b  said frames are similar in appearance comprising members  90 ,  91  integrally fixed to each of the head frames  65   a,b . Attached to these fixed members  90 ,  91  are inclined members  95 ,  100  which are pivotally connected to the fixed members  90 ,  91  and also pivotally connected to each other to form a vertically extending A-frame. The pivotal joints  105 , 110  vary from the inclined members  95 ,  100  in that on the first head frame  65   a , the inclined members  95  are connected to the fixed frame  90  through universal joints  105  permitting rotation in at least two orthogonal directions. Conversely the second head frame  65   b  has at least two inclined members,  100   a,b , which are both connected to the fixed frame  91  through a pin-joint  110  permitting a rotation about the Y axis as discussed in  FIG. 1   a , but preventing rotation in any other direction. 
         [0041]    The apex connection  115  connecting inclined members  100   a,b  &amp;  95  also involve a universal joint. Given the universal connection  105 , this permits the inclined member  95  to rotate in any direction and consequently the first head frame  65   a , subject to the inclusion of other elements, is permitted to move a relative to the second head frame  65   b  in several directions. 
         [0042]    The assemblies  85   a,b  further include actuators  125 ,  126  having a reaction bearing from the first fixed frame  90  and a second reaction point bearing on second inclined members  100   a,b . The actuators are inclined upwards, but at a flatter angle to first inclined members  95 . On simultaneous actuation, actuators  125 ,  126  will move the second frame  65   b  parallel to the X axis and thus affect a translation along the X axis of the frames  65   a,b . However, if one actuator  126  is activated, and the second actuator  125  held at a fixed length, then the head frames  65   a,b  will tend to rotate in a skew fashion as shown in  FIG. 1   g , being a relative rotation Mz about the Z axis. 
         [0043]    Thus, the selective actuation of the actuators  125 ,  126  achieve two degrees of freedom or relative movement of the head frames  65   a,b.    
         [0044]    The apex connection  115  further includes a sub-assembly whereby the inclined member  95  includes an extension  135 , having a free end. Further a pivotal portion  140  permitting limited rotation is attached at one end, a further actuator  130  bearing between the pivotal portion  140  and the free end  135  of the inclined member  95 . The actuator is generally directed parallel to the Y axis and the rotational portion  140  is connected to the apex connection  115 . On actuation of the actuator  130 , the rotational portion connected to the apex connection  115  will stay fixed causing the free end  135  to move relative to the apex connection and consequently, given the universal connections of the inclined member  95 , cause a relative movement of the head frame  65   a,b  parallel to the Y axis corresponding to the off-set shown in  FIG. 1   c . Consequently, the inclusion of this actuator  130  within the apex connection  115  leads to a further degree of freedom of relative movement. 
         [0045]    The  FIG. 4  shows a second aspect of the hoist frame  150 . As with the previous aspect shown in  FIG. 3 , the hoist frame  150  includes two head frames  65   a,b  which are attachable to adapter frame  45 . Further the head frame  65   a,b  are connected through two assemblies  155   a,b  and it is through these assemblies  155   a,b  that this embodiment differs from that shown in  FIG. 3 . 
         [0046]    The intent of this aspect is to create assemblies  155   a,b  having a frame work of members forming parallelograms and so introduce a marked increase in strength and rigidity. Again the assemblies  155   a,b  are similar in the construction. Taking the first assembly  155   a , the framework of members comprises an upper horizontal member  175  which is connected to the first head frame  65   a  through two inclined parallel members  165  and  170 , both which are pivotally connected to a fixed frame  160   a  and pivotally connected to the horizontal member  175 . The second head frame  65   b  includes pairs of inclined members  180  and  185  again pivotally connecting the horizontal member  175  to the fixed frame  160   b . Thus, the first parallelogram is formed by first inclined members  165  and  170 , the fixed frame  160   a  and a portion of the upper horizontal member  175 . The second parallelogram is formed by pairs of inclined members  180  and  185  with second fixed frame  160   b  and the remaining portion of the upper horizontal member  175 . 
         [0047]    A further variation of this aspect is the placement of the actuator  190 . In this aspect, the actuator is positioned parallel to and beneath the upper horizontal member  175 , finding reaction with the outer inclined members  165  and  185 . With the similar assemblies  155   a,b  having similar actuators, the separation mode shown in  FIG. 1   b  is achieved through a simultaneous actuation of the actuators  190   a,b.    
         [0048]      FIG. 5  shows the result of simultaneous retraction of the actuators  190   a,b . In this orientation, the relative movement  200  draws the head frames  65   a,b  towards each other until the fixed frames  160   a,b  are adjacent.  FIG. 6  shows the result of further retraction of the actuators  190   a,b  and demonstrate the “nestability” of the invention that is inherent with both the embodiments shown in  FIGS. 3 and 4 . In the fully retracted position, the fixed frames  160   a,b  have interleaved following the assemblies  155   a,b  folding within themselves into a more compact arrangement. The result is the head frames  65   a,b  coming into imminent or actual contact  205  for attachment to a single adapter frame  45  such that the hoist frame  150  is adapted for use for attachment to a single container. 
         [0049]      FIG. 7  shows a plan view of the hoist frame  150  as shown in the fully extended arrangement according to  FIG. 4 . This view provides a more clear view of the third actuator  210 , which is oriented at an angle to the Y axis on the second assembly  155   b . The actuator is mounted between the peripheral member  185   b  and the inner inclined member  170   b  mounted on the first head frame  65   a  of the second assembly  155   b . As shown in  FIG. 7 , actuation of this inclined actuator  210  leads to a relative motion of the head frames  65   a,b  parallel to the Y axis corresponding to the off-set shown by the motion of  FIG. 1   c.    
         [0050]      FIG. 9  shows an elevation view of the first assembly  155   a  showing the framework of members forming the parallelograms. In particular the parallelogram  216  associated with the second head frame  65   b , comprises inclined members  180 ,  185  and horizontal members  160   b  and a portion of the upper horizontal member  175 . The first parallelogram  217  associated with the first head frame  65   a  comprises horizontal members  160   a  and the remaining portion of the upper horizontal member  175  and inclined members  165  and  170 . A feature of inclined member  165 , however, is its connection to an actuator  220 , which lies parallel to the inclined member  165 . Further, the inclined member  165  differs from the corresponding inclined member  185  on the second parallelogram  216  in that it can lengthen  225  according to the extension or retraction of the parallel actuator  220 . To achieve a relative rotation  235  about the Y axis, the actuator  220  is extended so as to extend the length  225  of the inclined member  165 . This causes rotation at the vertices of the first parallelogram  217  deforming the parallelogram shape to form a quadrilateral. Consequently, member  160   a  rotates about vertex  230  and so is no longer parallel to upper horizontal member  175 , which remains fixed in position and length, and the first head frame  65   a  rotates according to the distortion in shape of the first parallelogram (now quadrilateral)  217 . Consequently, the relative rotation  235  about the Y axis, as shown in the motion of  FIG. 1   f  is achieved. It will be noted also that, in the situation where the head frame  65   a  is lowered such that the attached container contacts an inclined surface, on release of the actuator  220 , the frame will self adjust through the application of force applied by contact with the ground as the container is lowered. 
         [0051]    A further example of the self adjustment of the invention is shown in  FIG. 10 . On application of an upward load  240 , such as the situation when the container engaged with head frame  65   b  contacts the ground before the container engaged with the other head frame  65   a , the frame will adjust in shape, maintaining the upper horizontal member  175  horizontal, permitting a relative shift upwards of the second head frame  65   b . This relative shift  240  may also be effected by the trolley, whereby the second head frame  65   b  is lifted by cables relative to the first head frame  65   a.    
         [0052]      FIGS. 11   a ,  11   b  and  11   c  show a particular application of the movement shown in  FIG. 10 .  FIG. 11  shows the first and second head frames  65   a,b  at the same height with the first head frame  65   a  engaged with a container  245   a , which is smaller than the container  245   b  engaged by the second head frame  65   b . In this example, it is desired to place both containers  245   a,b  on the flat surface  246 . On contact with the ground, the second container  245   b  deforms the parallelogram of the second head frame  65   b , as the assembly self-adjusts its shape to accommodate the differential in height between the containers  245   a,b . The effect is to change the relative height of the head frames  65   a,b  and reducing the gap  251  between the bottom of the container  245   a  and the ground  246 , until both containers contact the ground as shown in  FIG. 11C . 
         [0053]    An alternative example is shown in  FIGS. 12   a ,  12   b ,  12   c  and  13 . Whereas the examples shown in  FIGS. 11   a  to  11   c  did not require the containers  245   a  to  245   b  to be in close proximity. The examples shown in  FIGS. 12   a  to  12   c  and  13  require the containers to be placed in close proximity. Thus as shown in  FIG. 12   a , the containers are held at a full separation  260  and the containers are then lowered to the ground as shown in  FIG. 12   b . As the second container  245   b  is larger, it will contact the ground first. Further retraction of the horizontal actuators  190  whilst permitting free movement of actuator  220 , drawing the first container  245   a  into close proximity with the second container  245   b  whilst the first container  245   a  is still above the ground. The first container  245   a  is then lowered to the ground, adjusting the assembly until the desired position is achieved, as shown in  FIG. 13 . 
         [0054]    The self adjustment feature of this aspect of the invention is also possible to achieve the movement as shown in  FIG. 1E . By lowering the containers  5   a,b  onto surfaces having differential slope, has the same effect as with the height adjustment shown in  FIG. 10 . Thus, without the need for complex control systems to manipulate the containers, the assembly is capable of self-adjustment to automatically achieve the desired arrangement. 
         [0055]    A further example of the benefit of the self adjustment is the application of wind loads or eccentric loadings of the containers. The containers present a significant surface area, resulting in a considerable force applied to the head frame, as does the potential for shifted or poorly packed containers, creating an eccentric load. Prior art systems accommodate unbalanced loads through rotation/swing about the head frame, and consequently, an undesirable arrangement of the containers. However, the head frames of the present invention are constrained by the rigid structure of the assemblies, and so prevented from moving. Because of the upper horizontal member  175  maintaining horizontal position, the containers remain square to the ground, until a further force causes the arrangement to self-adjust to a new desired orientation.