阅读说明：本技术 控制起重绳的垂直移动 (Control hoisting line vertically moves ) 是由 朱哈尼·克洛沃里 阿特·莱汀玛基 于 2018-03-28 设计创作，主要内容包括：与起重设备(1)的起重绳(3)连接的设备(10)包括：主悬挂元件(11),其将支撑起重绳(3)的绳轮(5)或楔形夹紧套(4)悬挂到起重设备(1)的主体(2)的紧固结构(8)上；以及用于检测作用于起重绳(3)的外部垂直力的装置(30)。(The equipment (10) connecting with the hoisting line (3) of lifting equipment (1) includes: main hanging element (11), on the fastening structure (8) for the main body (2) that the rope sheave (5) for supporting hoisting line (3) or wedge socket (4) are hanging to lifting equipment (1)；And the device (30) for detecting the external vertical power for acting on hoisting line (3).)

1. it is a kind of for controlling the equipment of hoisting line vertically moved, it is connect with the hoisting line of lifting equipment, which is characterized in that The equipment includes:

Main hanging element, the fastening knot of the main body for the rope sheave or wedge socket that support hoisting line to be suspended on to lifting equipment On structure, and

For detecting the device for the external vertical power being applied on hoisting line,

The external vertical power wherein acted on hoisting line can be by for detecting the external vertical power being applied on hoisting line Device detects.

2. equipment as described in claim 1, further includes:

Assisted suspension element connects in this way relative to rope sheave or wedge socket, even if rope sheave or wedge-shaped clamping The mobile of set is transmitted to assisted suspension element respectively, and

At least one at least flexible element in their longitudinal direction, is arranged in assisted suspension element and lifting equipment Extend between the fastening structure of main body, and directly or indirectly the fastening structure with assisted suspension element and lifting equipment main body connects Touching, so that the elastic force of bendable had not only acted on assisted suspension element, but also acts on the fastening structure of lifting equipment main body On,

Wherein, the device for detecting the external vertical power being applied on hoisting line includes that can hang rope sheave or wedge shape for detecting The detection device of the distance between gripping sleeve and the fastening structure of lifting equipment main body or its variation, and

Wherein, bendable can be moved and applying external vertical power on the hoisting line, and the wherein outside Vertical force can be detected based on rope sheave or the distance between wedge socket and the fastening structure of lifting equipment main body or its variation.

3. equipment as claimed in claim 2, wherein the elastic constant of selection bendable in this way, so that being applied to hoisting line On the external vertical power of 5N size be enough to make in this way the bendable mobile, i.e. detection device detection is by can Rope sheave caused by the length of bender element changes or the variation of the distance between wedge socket and lifting equipment main body, but apply The external vertical power of 100N size on hoisting line is insufficient to allow bendable to move to its extreme position.

4. equipment as claimed in claim 2 or claim 3, wherein bendable includes spring.

5. the equipment as described in any one of claim 2 to 4, wherein assisted suspension element relative to main hanging element fixedly Arrangement, and it is arranged in main hanging element in this way relative on the opposite side that can hang rope sheave or wedge socket, Even if at least part of assisted suspension element is arranged to be separated by a certain distance with main hanging element.

6. equipment the invention according to any one of claims 2 to 5, wherein assisted suspension element is arranged in the following manner: relative to Main hanging element is removable and relative to can hang rope sheave or wedge socket is substantially irremovable, and and wedge-shaped clamping The rope sheave of the fastening structure relative to main body is covered in the same side.

7. such as equipment described in any one of claims 1 to 6, wherein for detecting the external vertical power being applied on hoisting line Device include such detector, be adapted to detect for being applied to the external vertical power on hoisting line,

And the detector include it is below at least one: deformeter, force snesor, range sensor, pressure sensor, sense Answer range sensor, ultrasonic sensor, capacitance sensor, magnetic induction sensor, cable tension sensor, Hall sensor, Optical distance sensor, the sensor based on conductor, laser measuring apparatus and microswitch.

8. a kind of for controlling the device of the hoisting line of lifting equipment vertically moved, which includes:

The equipment being connect as described in any one of claims 1 to 7 with the hoisting line of lifting equipment,

For moving the lifting member of hoisting line, and

Control unit, be adapted at least the external vertical power that is applied on hoisting line of detection controlling lifting member so that Hoisting line moves in vertical direction.

9. device as claimed in claim 8, further includes:

Remote controler, provides user interface, and operator can influence remote controler by the user interface, control to issue to control unit System instruction,

Wherein, control unit is further adapted in response to while detecting the external vertical power being applied on the hoisting line and detection is logical The control instruction that the user interface of remote controler issues is crossed, to control lifting member so that hoisting line moves in vertical direction.

10. device as claimed in claim 7 or 8, wherein the external vertical power that detection is applied on hoisting line can including detection Hang the variation of the distance between fastening structure of rope sheave or wedge socket and lifting equipment main body.

11. device as claimed in claim 10, wherein control unit is further adapted for:

In response to the control instruction that user circle detected by remote controler issues, it can hang rope sheave or wedge socket to determine and rise The reference value of the distance between the fastening structure of main body of heavy equipment, and

In response to that can hang between rope sheave or wedge socket and the fastening structure of lifting equipment main body compared with the reference value Distance change direction, control hoisting line rise or fall.

12. device as claimed in claim 11, wherein control unit is further adapted for:

In response to that can hang between rope sheave or wedge socket and the fastening structure of lifting equipment main body compared with the reference value Distance variation size, to determine the movement speed of hoisting line.

13. the device as described in any one of claim 10 to 12, wherein control unit is suitable for:

Based on compared with the neutral position of not external force, the fastening structure of rope sheave or wedge socket and lifting equipment main body The distance between variation (being detected by detection device) detect the manual mitigation of hoisting line, and

In response to the manual mitigation of hoisting line, lifting member is controlled to promote hoisting line.

14. the device as described in any one of claim 10 to 13, wherein control unit is suitable for:

Based on compared with the neutral position of not external force, the fastening structure of rope sheave or wedge socket and lifting equipment main body The distance between variation (being detected by detection device) detect the manual drop-down of hoisting line, and

In response to the manual drawing of hoisting line, lifting member is controlled to reduce hoisting line.

15. the device as described in any one of claim 10 to 14, wherein control unit is suitable for:

Rope sheave can be hung or wedge socket has been declined to become and has been supported completely by main hanging element by being moved in response to bendable Position, load is provided on hoisting line to detect, wherein based on rope sheave or wedge socket and lifting equipment main body can be hung The distance between fastening structure or its variation, detect the compression position, and

In response to detecting the load being already provided on hoisting line, vertically moving for control hoisting line is interrupted, this is based on can suspension strop The distance between fastening structure of main body of wheel or wedge socket and lifting equipment or its variation.

16. a kind of for controlling the method for the hoisting line of lifting equipment vertically moved, which is characterized in that

By according to claim 1 to any one of 7 equipment be arranged to the rope sheave of the hoisting line that supports the lifting equipment or Wedge socket connection, to detect the external vertical power being applied on the hoisting line of lifting equipment,

And it is further characterized in that, this method comprises:

The outside being applied on hoisting line is detected by the device for detecting the external vertical power being applied on hoisting line to hang down Straight power, and

In response at least detecting the external vertical power being applied on hoisting line, rising for lifting equipment is controlled by control unit and is reconstructed Part is so that hoisting line moves in vertical direction.

17. the method described in claim 16 further includes

In response to having acted on the user interface of remote controler, control instruction is received by the user interface of remote controler,

Send control instruction to control unit,

It is issued in response to detecting the external vertical power being applied on hoisting line and detection simultaneously by the user interface of remote controler Control instruction, by control unit control lifting member so that hoisting line moves in vertical direction.

18. the method as described in claim 16 or 17, further includes

In response to the control command that the user interface detected by remote controler issues, determination can hang rope sheave or wedge in a control unit The fixed reference value with the distance between the fastening structure of main body of lifting equipment of clevis, and

In response to that can hang between rope sheave or wedge socket and the fastening structure of lifting equipment main body compared with the reference value Distance change direction, in a control unit control hoisting line rise or fall.

19. method as claimed in claim 18, further includes

In response to that can hang between rope sheave or wedge socket and the fastening structure of lifting equipment main body compared with the reference value Distance variation size, in a control unit determine hoisting line movement speed.

20. the method as described in any one of claim 16 to 19, including

Based on compared with the neutral position of not external force, the fastening structure of rope sheave or wedge socket and lifting equipment main body The distance between variation (being detected by detection device), in a control unit detect hoisting line manual mitigation, and

In response to the manual mitigation of hoisting line, lifting member is controlled to promote hoisting line by control unit, and/or

Based on compared with the neutral position of not external force, the fastening structure of rope sheave or wedge socket and lifting equipment main body The distance between variation (being detected by detection device), at control unit detect hoisting line manual drop-down, and

In response to the manual drawing of hoisting line, lifting member is controlled in a control unit to reduce hoisting line.

21. the method as described in any one of claim 16 to 20, including

Rope sheave can be hung or wedge socket has fallen to and supported completely by main hanging element by being moved in response to bendable Position, apply load on hoisting line to detect in a control unit, wherein based on can hang rope sheave or wedge socket with The distance between fastening structure of lifting equipment main body or its variation to detect compression position, and

Load is applied on hoisting line in response to detection, at control unit, interrupts vertically moving for control hoisting line, this Based on the distance between fastening structure of main body that can hang rope sheave or wedge socket and lifting equipment or its variation.

22. a kind of computer program product, which is characterized in that the computer program product is stored in computer-readable medium It can be executed above and by processor, the computer program product includes computer readable program code, works as said program code When running in the processor, it is arranged to execute the step of any one of 6 to 21 method according to claim 1.

Background technique

The present invention relates to lifting equipment (device), and equipment in particular to relevant to the hoisting line of lifting equipment, dress Set (arrangement) and method.

In the application that the load that will be promoted is manually secured hoisting line, the end of hoisting line and it is disposed thereon Loading clamp device such as suspension hook may be too high or too low there are putting, and in this case, load is fixed on hoisting line will not It can succeed.The end-of-pipe control of hoisting line may be difficult to accurate correct height by remote controler, and risen when close When heavy equipment works, the attention of operator may be concentrated on a remote control, this possibly even causes work safety to be compromised.

Summary of the invention

Therefore, the purpose of the present invention is to provide the equipments of a kind of method and implementation this method, to solve the above problems.This hair Bright purpose realizes that described method and system is characterized in that disclosed in independent claims by a kind of method and system Content.It has been disclosed in the dependent claims the preferred embodiments of the invention.

The present invention is based on detections to act on the external vertical power on rope, and vertically moving according to this control hoisting line.

According to the method for the present invention, equipment and the advantages of system, are, can be by influencing lifting with power upward or downward It restricts to control the movement of lifting equipment by hoisting line or the load clamp device being disposed thereon.In other words, operator can grab It firmly loads clamp device and lifting equipment is controlled by the movement load clamp device such as suspension hook.Therefore, it can control lifting The movement of equipment, without peripheral control unit.In this way, can get very intuitive user interface, to control the shifting of lifting equipment It is dynamic.

Detailed description of the invention

In conjunction with preferred embodiment and the present invention will be described in detail with reference to the accompanying drawings now, in which:

Fig. 1 is the schematic diagram of lifting equipment；

Fig. 2 a and 2b are that the equipment connecting with the hoisting line of lifting equipment is in the schematic diagram of the first operating position.

Fig. 3 is that the equipment according to an embodiment connecting with the hoisting line of lifting equipment is in the first operating position Schematic diagram.

The equipment that Fig. 4 shows Fig. 3 is in the second operating position.

The equipment that Fig. 5 shows Fig. 3 is in third operating position.

Fig. 6 is that the equipment according to the second embodiment connecting with the hoisting line of lifting equipment is in the first operating position Schematic diagram.

Fig. 7 is the schematic diagram for the device connecting with the hoisting line of lifting equipment；And

Fig. 8 shows the method for the hoisting line for controlling lifting equipment vertically moved.

Specific embodiment

Fig. 1 is the schematic diagram of lifting equipment 1.The lifting equipment may include that hoisting line or similar component are used to lift by crane wherein Any lifting equipment of load.The lifting equipment may include main body 2, hoisting line 3, for one end of hoisting line to be connected to main body Wedge socket (wedge socket) 4, the rope sheave (sheave) 5 for controlling hoisting line, at least promoted and reduce The lifting member 6 of hoisting line and/or lifting unit 7 for controlling lifting member.According to an embodiment, main body 2 can be consolidated Surely it is mounted on its position, or one kind can be moveable.Lifting equipment 1 may also include equipment 10, such as according to figure The equipment 10 of 2a to any of Fig. 6 is described in this specification for controlling other vertically moved of hoisting line 3 Equipment.Lifting equipment 1 may also include device 50, such as according to the device 50 of Fig. 7, or describe in the present specification for controlling Other devices of hoisting line 3 processed vertically moved.

Although Fig. 1 is the schematic diagram and very simplified view of bridge crane, presently disclosed unit and Method can be used in combination with the other kinds of lifting equipment for being intended to be promoted load.Lifting equipment may include such as pneumatic type balance Device/air type balancer, bridge crane, alternatively, further including electric overhead travelling crane (Electric if it is if electronic Overhead Travelling crane), gantry (such as gantry, rail-mounted gantry crane, RMG or rubber Tire gantry, RTG), derrick crane, revolution boom crane or it is known per se can manual fixed load in addition Lifting equipment.

Fig. 2 a is that the equipment 10 connecting with the hoisting line of lifting equipment is in an embodiment of the first operating position Schematic diagram.The equipment may include main hanging element 11, and the rope sheave 5 for supporting hoisting line 3 or wedge socket 4 are hanging to lifting On the fastening structure 8 of the main body 2 of equipment.The equipment for example can be used to control vertically moving for hoisting line.The equipment may also include For detecting the device (means) 30 of the external vertical power acted on hoisting line.In this case, it acts on hoisting line External vertical power can be detected by the device 30 for detecting the external vertical power being applied on hoisting line.The equipment can example Such as controlling vertically moving for hoisting line.

In one embodiment, the device 30 for detecting the external vertical power being applied on hoisting line may include detection Device.The detector may be adapted to detect the 5N to 100N being applied on hoisting line, the external vertical for being advantageously 10N to 30N size Power.

In one embodiment, detector may include it is below at least one: deformeter, force snesor, Distance-sensing Device and pressure sensor.The sensor may be configured as connecting with lower member: for example, hoisting line 3, rope sheave 5, wedge socket 4 or lifting equipment main body 2 fastening structure 8 or any one of these structure members between connector.

In one embodiment, sensor may include the pneumatically or hydraulically pressure of bellows and measuring bellow pressure Sensor.This bellows may be configured as connecting with lower member: for example, hoisting line 3, rope sheave 5, wedge socket 4 or lifting Connector between the fastening structure 8 or these structure members of the main body 2 of equipment, so that when external vertical power acts on hoisting line 3 When upper, the pressure in bellows changes.It can be based on the change of the internal pressure in the bellows detected by pressure sensor Change to detect the external vertical power acted on hoisting line.

Fig. 2 b is that the equipment 10 connecting with the hoisting line of lifting equipment is in an embodiment of the first operating position Schematic diagram.The equipment may include main hanging element 11, and the rope sheave 5 for supporting hoisting line 3 or wedge socket 4 are hanging to lifting On the fastening structure 8 of the main body 2 of equipment.The equipment can be used for for example controlling vertically moving for hoisting line.

Equipment 10 may also include assisted suspension element 12.Depending on embodiment, assisted suspension element 12 can fixedly cloth It sets in main hanging element 11, as shown in embodiment of the Fig. 3 to Fig. 5 or assisted suspension element 12 can be relative to main outstanding Element 11 is hung to be movably disposed in equipment 10.Be fixedly arranged refer to structure member in a manner of substantially immovable that This adaptation.

Assisted suspension element 12 can be connected relative to rope sheave 5 or wedge socket 4, so that rope sheave or wedge socket exist Movement under any time is passed to assisted suspension element.For example, assisted suspension element 12 can be substantially irremovable Mode connected relative to rope sheave 5 or wedge socket 4.In other words, substantially immovable herein to refer to such a company It connects, wherein the movement of rope sheave or wedge socket is passed to assisted suspension element.In one embodiment, assisted suspension member Part 12 can also neatly be connected relative to rope sheave 5 or wedge socket 4, if rope sheave or wedge socket at any time under Movement is passed to assisted suspension element.Assisted suspension element 12 may be coupled directly to rope sheave 5 or wedge socket 4 On, or pass through main hanging element 11 and/or specific clamp device 16.These clamp devices 16, which can be formed, is mounted on main suspension Element 11 or separate part in assisted suspension element 12 or they can be with main hanging element 11 and/or assisted suspension member Part 12 forms unified structure member, i.e., the unified component of main hanging element 11 and/or assisted suspension element 12.

In one embodiment, for example, similar to Fig. 3 to Fig. 5 embodiment, assisted suspension element 12 can pass through master Hanging element 11 and/or clamp device 16 are connected on rope sheave 5 or wedge socket 4.In other words, assisted suspension element 12 can be with It is substantially irremovably connected on main hanging element 11 as individual structure member or unified structure.With regard to itself Speech, main hanging element 11 can be connected to rope sheave directly or by clamp device 16 is for example substantially irremovable in this way 5 or wedge socket 4 on, even if the movement of rope sheave or wedge socket is passed to main hanging element.These clamp devices 16 The individual component being mounted in main hanging element 11 or they, which can be formed, to form unified knot with main hanging element 12 Structure component, that is, the unified component of main hanging element 12.Clamp device 16 may include the anchorage clip of such as rope sheave or for wedge grip Fixed fastening point.Therefore, in such embodiments, the movement of rope sheave 5 or wedge socket 4 can pass through at any time Main hanging element 11 and/or clamp device 16 are passed to assisted suspension element 12.

Equipment 10 may also include at least one flexible element 13 at least its longitudinal direction.Bendable 13 can Suitable for extending between assisted suspension element 12 and the fastening structure of the main body of lifting equipment 8.It, can depending on embodiment Bender element 13 is fixedly placed on the fastening structure 8 of main body or bendable 13 may be configured as fastening structure 8 The individual structure member of main body directly or indirectly contacted with the fastening structure 8 of the main body, and can be dismantled from thereon.It is flexible Element 13 may also be configured to directly or indirectly contact with the fastening structure 8 of the main body of assisted suspension element 12 and lifting equipment, make The elastic force for obtaining bendable 13 had not only acted on assisted suspension element 12, but also acted on the fastening structure of the main body of lifting equipment On 8.Herein, the longitudinal direction of bendable 13 refers to the direction extended from fastening structure 8 to assisted suspension element 12. Mediate contact refers to that bendable 13 does not need directly to contact with the fastening structure 8 of main body and/or assisted suspension element 12, and It is that the contact can be realized by for example individual structure member of neutral part.

In one embodiment, bendable 13 can be at least in their longitudinal direction along the entire of bendable 13 Curved in length.In this second embodiment, bendable 13 may include at least in their longitudinal direction flexible part and At least part of inflexibility in a longitudinal direction thereof.In different implementation scenarios, in bendable 13 in its longitudinal direction side The upward flexible part and part of inflexibility can be on the longitudinal direction of bendable 13 successively in a longitudinal direction thereof Setting is at least partly arranged interior each other.In the embodiment of Fig. 3 to Fig. 5, along its longitudinal direction in bendable 13 The flexible part in direction and along the part of its longitudinal direction inflexibility be partially disposed at each other in, such as will be in conjunction with described attached What the description of figure was described in detail.

In different implementation scenarios, bendable 13 or part thereof of material can be used in the bending of bendable 13 Material, structure or combinations thereof are realized.In other words, bendable 13 can be formed at least partly by bendable material and/or can The structure of bender element 13 is formed as at least flexible in a longitudinal direction.In one embodiment, bendable 13 It may include spring, such as helical spring or gas spring, or be adapted for use with the other spring of purpose；Or by least at it The structure member that flexible material is formed on longitudinal direction.In one embodiment, equipment 10 may include two or more A bendable.

Equipment 10 may also include detection device 17, can hang rope sheave 5 or wedge socket 4 and lifting equipment 2 to detect The distance between the fastening structure 8 of main body A or its variation.In this case, these detection devices 17 can be formed for detecting It is applied to the device 30 of the external vertical power on hoisting line, or is formed for detecting the external vertical power being applied on hoisting line Device 30 a part.In one embodiment, detection device 17 may be adapted to directly detect rope sheave 5 or wedge socket 4 The distance between the fastening structure 8 of main body 2 of lifting equipment A or its variation.In this second embodiment, such as Fig. 3 to Fig. 5 Embodiment, detection device 17 may be adapted to the fastening knot of detection with the main body 2 of rope sheave 5 or wedge socket 4 and lifting equipment The relevant distance B of the distance between structure 8 (such as a part of the distance) or its variation, in this case, for example, equipment 10 can further include such as mounting structure 18, substantially immovably be arranged in clamp device 16 or as clamp device 16 A part, and detection device 17 can be fixedly placed in the mounting structure 18.In different implementation scenarios, separately On the one hand, as long as detection device 17 may be adapted to the fastening structure 8 for detecting the main body 2 of rope sheave 5 or wedge socket 4 and lifting equipment The distance between or its variation, mounting structure 1, detection device 17 and/or its component i.e. may be provided at equipment 10 and/or rise reset In standby 1 other structures component.In one embodiment, the first assembly of detection device can for example be disposed relative to lifting In the immovable structure member of equipment body 2, and the second component can be suitable for directly or by the setting of mounting structure 18 With in the mobile structure member of rope sheave 5 or wedge socket 4.Mounting structure 18 may include such as plate or beam texture, detection Device 17 can be fixedly placed in the plate or beam texture.

In one embodiment, detection device 17 may include sensor, such as range sensor.In an embodiment In, range sensor may include it is below at least one: distance of reaction sensor, ultrasonic sensor, capacitance sensor, magnetic strength Inductive sensing device, cable tension sensor, Hall sensor, optical distance sensor, pressure sensor, the sensing based on conductor Device, laser measuring apparatus and microswitch.This detection device and its operating principle itself of distance and its variation are for this It is known for the technical staff of field, therefore is not described in detail herein.The solution described in the present specification Certainly in scheme, such as in disclosed equipment 10, device or method, bendable 13 can be by the way that external vertical power to be directed to It is shifted on hoisting line 3.Herein, external vertical power refers to such power: for example, when operator moves in vertical direction When hoisting line 3 or the load clamp device 26 being disposed thereon, the power generated due to acting manually on hoisting line 3, or The power generated due to the external loading in the load lock that is applied to hoisting line or is arranged on.In other words, external force is not Refer to the power for example generated by lifting equipment 1 or the structure member of equipment 10.Because when by applying external vertical on hoisting line 3 When power shifts bendable 13, the length of bendable 13 is changed, the vertical force being applied on hoisting line 3 can To be detected based on rope sheave 5 or the distance between wedge socket 4 and the fastening structure 8 of main body 2 of lifting equipment or its variation.

In other words, when do not have external force on device 10 when, in the present specification be known as neutral position The state of (neutral position).In the neutral position, bendable 13, or more precisely, bendable exists Length on the longitudinal direction of bendable is in its neutral position or neutral length, and rope sheave 5 or wedge socket 4 with And fastening structure 8, main hanging element 11 and assisted suspension element 12 are in their neutral position relative to each other.

When hoisting line 3 is shifted and mitigating upwards, therefore manually or by manually being influenced along lifting direction Hoisting line reduces drawing hoisting line or load lock 26 (such as suspension hook), rope sheave 5 or the wedge-shaped clamping being disposed thereon The power of set 4, that is, the load that bendable 13 is born becomes smaller.Depending on embodiment, this variation of power may be adapted to make can Bender element 13 shifts, so that length of the bendable 13 on the longitudinal direction of bendable increases or shortens.

In one embodiment, such as the embodiment of Fig. 3 to Fig. 5, the weight of hoisting line 3 and potential load 25 make to set The bendable on opposite sides 13 in the fastening structure 8 of the main body of lifting equipment is set relative to rope sheave 5 or wedge socket 4 Compression.When not loading on hoisting line 3, hoisting line 3 is moved up, to alleviate the negative of the receiving of bendable 13 It carries, this leads to the length for increasing bendable.In this case, when hoisting line 3 or the load being disposed thereon fasten When device 26 moves up, bendable 13 may be adapted to assisted suspension element 12 pushing away fastening structure 8, such as in Fig. 3 to Fig. 5 In move up.In this case, rope sheave 5 or the distance between wedge socket 4 and fastening structure 8 also correspondingly contract Short, this can be detected by detection device 17.Fig. 3 show equipment 10 according to an embodiment in a state in which, that is, locate In so-called first operating position.

In this second embodiment, such as the embodiment of Fig. 6, the setting of bendable 13 with rope sheave 5 or wedge grip The fixed 4 identical side of fastening structure 8 relative to main body.In this case, hoisting line 3 and the weight of potential load 25 will Bendable 13 is drawn longer.When being not provided with load on hoisting line 3, hoisting line 3 is moved up and is therefore mitigated Load suffered by bendable 13, this causes the length of bendable 13 to shorten.In this case, when hoisting line 3 Or the load clamp device 26 being disposed thereon, when moving up, bendable 13 may be adapted to pull to assisted suspension element 12 Fastening structure 8, it is upward such as in Fig. 6.In this case, between rope sheave 5 or wedge socket 4 and fastening structure 8 away from From also correspondingly shortening, this can be detected by detection device 17.Fig. 6 shows equipment 10 according to an embodiment and is in this Kind state, that is, be in so-called first operating position.

When by manually or when artificial drawing hoisting line 3 moves down, pull down hoisting line or load clamp device 26 (such as Suspension hook), the power of rope sheave 5 or the wedge socket 4 being disposed thereon will increase, that is to say, that bendable 13 is born negative It carries and increases.Compared with mitigating or reducing downward pulling force, the variation of this power may be adapted to make bendable 13 in opposite direction It is mobile.In other words, in an embodiment such as the embodiment of Fig. 3 to Fig. 5, bendable 13 is in the longitudinal direction of stave Length on direction can shorten, therefore bendable 13 can be more compressed.In this case, bendable 13 It may be adapted to make assisted suspension element 12 closer to fastening structure 8, it is such as downward into Fig. 5 in Fig. 3.Correspondingly, in the second embodiment party In case such as the embodiment of Fig. 6, bendable 13 is more extensible, therefore bendable is in the longitudinal direction side of stave The increase for the load that upward length can be born with bendable 13 and increase.In this case, at described two In the embodiment of the embodiment and Fig. 6 of embodiment such as Fig. 3 to Fig. 5, rope sheave 5 or wedge socket 4 and fastening structure 8 it Between distance also increase corresponding amount, can be detected by detection device 17.The equipment 10 that Fig. 4 shows Fig. 3 is in this State is in so-called second operating position.

When loaded article be secured to hoisting line 3 or the load clamp device 26 (such as suspension hook) that is disposed thereon on when, with The power for manually acting on hoisting line (in other words, promoting or pull hoisting line 3 by manpower) is compared, and rope sheave 5 is pulled downward on Or the power of wedge socket 4 may dramatically increase.Therefore, when with neutral position and act on hoisting line 3 (especially by people Power pulls down hoisting line 3) situation when comparing, the load that bendable 13 is born increases.This change of power may be adapted to Being moved to bendable 13 makes load 25 support the degree for becoming being supported by main hanging element 11 from from bendable 13. In other words, main hanging element 11, assisted suspension element 12 and fastening structure 8 can be arranged relative to each other, so that working as flexible member When the load that part 13 is born is increased above predetermined value, main hanging element 11 and fastening structure 8 and/or assisted suspension element 12 It meets, so that main hanging element bears the load.In this way, 13 excessive tensile of bendable or compression can be prevented and it is disconnected It splits.

In one embodiment, such as embodiment shown in Fig. 3 to Fig. 5 is, it can be achieved that by main 11 generation of hanging element For the movement of the support load of bendable 13, so that the reduction length of bendable 13 is no longer enough to support assisted suspension first Part 12 and main hanging element 11.In this case, main hanging element 11 may be adapted to be pressed against on fastening structure 8, thus rope sheave 5 Or wedge socket 4 and therefore hoisting line 3 and the load being fixed thereon are suitable for being supported by main hanging element 11.Therefore, may be used The length of bender element 13 is in its most weakness, and rope sheave 5 or wedge socket 4 are corresponding to the distance between fastening structure 8 Longer when ground is than hand hoisting or drop-down hoisting line, which can be detected by detection device 17.Fig. 5 shows the equipment of Fig. 3 10 in a state in which, that is, be in so-called third operating position.

In this second embodiment, such as embodiment shown in Fig. 6 is, it can be achieved that replace bendable by main hanging element 11 The movement of the bent support of element 13 load, so that when drawn, the length of such bendable 13 increase bendable 13 When scheduled maximum, the supporting surface 27 of assisted suspension element 12 is compressed against in the mating surface 28 on main hanging element.In In this case, main hanging element 11 may be adapted to support assisted suspension element 12, thus rope sheave 5 or wedge socket 4 and because This hoisting rope 3 and the load being fixed thereon are suitable for being supported by main hanging element 11.Therefore, at the length of bendable 13 In maximum, and rope sheave 5 or the distance between wedge socket 4 and fastening structure 8 are correspondingly than hand hoisting or lower pull-up Restrict Shi Gengchang again, can be detected by detection device 17.

In one embodiment, the elastic constant of bendable 13 can be so selected, so that being applied on hoisting line 5N, the external vertical power that is advantageously 10N size be enough mobile bendable 13, therefore depend on embodiment, such as institute It stretches or compresses as stating, so that detection device detects the length variation due to bendable 13 and leads to rope sheave or wedge The fixed variation the distance between with lifting equipment main body of clevis, but it is consequently exerted at that the 100N on hoisting line, to be advantageously 30N big Small external vertical power is not enough to for bendable being moved to the extreme position of its compression.In the present context, flexible member The extreme position of part 13 refers to such a state of bendable 13, wherein the external vertical power being applied on hoisting line makes Bendable 13, which is moved to, makes rope sheave 5 or wedge socket 4 and therefore hoisting line 3 and the load being fixed thereon be suitable for moving The dynamic degree to be supported completely by main hanging element 11.In other words, bendable 13 may be designed to that hoisting line is made to can be hand Dynamic, therefore there is no any help or special strength by operator, it is being promoted and is being moved to detection device in pull direction 17 degree that can detecte.On the other hand, bendable 13 may be designed to make bendable 13 is compressed to it most short Position, may be adapted to correspond to will load and be fastened on hoisting line 3, cannot establish manually or cannot be by lifting equipment operator It is established using a hand without any special strength or in the case where helping.

As mentioned, Fig. 3 is that the equipment 10 according to an embodiment connecting with the hoisting line of lifting equipment is in The schematic diagram of first operating position.More specifically, Fig. 3 shows an embodiment of this equipment 10.Public except Fig. 3 is combined In other aspects outside those of opening, equipment 10 can correspond to other embodiments described in this specification.It is also noteworthy that Although equipment 10 is connect with the suspension of rope sheave 5 (especially upper rope sheave), and tight in the embodiment of Fig. 3 to Fig. 5 Fixing structure 8 includes the suspension shaft of rope sheave, but equipment 10 can be accordingly adapted to be supported by the wedge socket 4 of lifting equipment 1.So Afterwards, main hanging element 11 can directly or indirectly be set to rope sheave 5 or wedge socket 4, and on the other hand with such side Formula is movably disposed in fastening structure 8, even if the movement of rope sheave 5 or wedge socket 4 is for example substantially immovably It is transmitted to main hanging element 11.

In one embodiment, such as the embodiment of Fig. 3 to Fig. 5, assisted suspension element 12 can be relative to main suspensions Element is fixedly arranged, and is disposed relative to opposite side or the main hanging element 11 of rope sheave 5 or wedge socket 4, so that At least part of assisted suspension element 12 is arranged to be separated by a certain distance with main hanging element 11.In this case, it assists Main hanging element 11 can be supported on neutral position by bendable 13 by hanging element 12.More precisely, flexible member Part may include at least flexible part and at least part of inflexibility in a longitudinal direction thereof in their longitudinal direction, institute as above It states.

In an embodiment such as the embodiment of Fig. 3 to Fig. 5, not bendable in a longitudinal direction in bendable 13 Bent part may include supporting pin 13b.Supporting pin 13b can be parallel to the longitudinal direction of the longitudinal direction of bendable 13 at it Upper includes shoulder 29.In this case, it can be formed in bendable along the flexible part of its longitudinal direction and for example be existed It is in the shape of a spiral or round on its cross section so that supporting pin 13b may be provided at it is at least partly flexible in their longitudinal direction In part, so that flexible part is leaned against at one end on shoulder 29 in their longitudinal direction.In this case, it supports Pin 13b can at one end, more particularly be not provided with one section of bendable portion in a longitudinal direction thereof and be adapted to abut against fastening structure 8. In other words, bendable 13 may be adapted to extend between assisted suspension element 12 and fastening structure 8, so that in bendable In in the flexible part 13a of its longitudinal direction include such a surface, that is, be suitable for the tension by bendable in master Hanging element side is contacted with the surface 14 of assisted suspension element 12.In other words, it is outstanding both to act on auxiliary for the elastic force of bendable It hangs on element, and acts on the fastening structure of main body of lifting equipment.Main hanging element 11 may also include the first opening 15, can Bender element 13 may be adapted to extend across first opening.In the present context, the longitudinal direction of bendable 13 refer to from The direction that fastening structure 8 passes through the first opening 15 and extends towards assisted suspension element 12.

In one embodiment, such as the embodiment of Fig. 3 to Fig. 5, at least one bendable 13 can its with The opposite end of one end that fastening structure 8 contacts includes at least one control element 19, and assisted suspension element includes that control is opened Mouthfuls 20 to control the movement of assisted suspension element 12.In one embodiment, in this case, control element 19 may include The end of the part 13b of the inflexibility in their longitudinal direction of bendable 13, i.e. control element 19 are formed as bendable The uniform part of bent element 13, thus bendable 13 forms control element.In this second embodiment, control element 19 can Including the separation member being arranged in bendable 13.In the third embodiment, control element 19 can be for independently of flexible The separate structural component of element 13.

Control element 19 may be at least partially disposed in control opening 20.In this case, control element 19 is controllable The assisted suspension element 12 processed direction mobile relative to fastening structure 8, this by bendable 13 bendable portion 13a exist The change of length on its longitudinal direction causes.Thus prevent assisted suspension element 12 along undesirable direction (that is, in addition to can Bender element is relative to the direction except the longitudinal direction of fastening structure 8) movement, and improve through 17 institute of detection device The measurement accuracy of the distance change detected.

In one embodiment, such as the embodiment of Fig. 3 to Fig. 5, bendable 13 at least in its longitudinal direction side Upward flexible part 13a can extend between assisted suspension element 12 and shoulder 29, can pass through without bendable portion 13b First opening 15 of main hanging element 11 and the control opening 20 of assisted suspension element, from fastening structure 8 to assisted suspension element 12 extend.In this second embodiment, embodiment disclosed in this specification such as Fig. 3 can be corresponded to extremely in other respects The embodiment of Fig. 5, bendable 13 can at least be flexible in their longitudinal direction over the whole length.For example, In this case, bendable 13 may be adapted to extend through the first opening 15.Such embodiment may also include auxiliary The control opening 20 or bendable 13 of hanging element can be suitable for for example with assisted suspension element 12 towards tight at one end The surface of fixing structure 8 contacts.

Fig. 6 is that the equipment according to the second embodiment connecting with the hoisting line of lifting equipment is in the first operating position Schematic diagram.Except combine Fig. 6 disclosed in those of in addition to other in terms of in, equipment 10 can correspond to it is described in this specification its His embodiment, as those of combined disclosed in Fig. 2 to Fig. 5.Although being further noted that embodiment shown in Fig. 6 In, equipment 10 is connect with the suspension of rope sheave 5, particularly top rope sheave, and fastening structure 8 includes the suspension shaft of rope sheave, but sets Standby 10 can be accordingly adapted to be supported by the wedge socket 4 of lifting equipment 1.In this case, assisted suspension element 12 can be straight Ground connection is substantially immovably arranged on rope sheave 5 or wedge socket 4 indirectly, and on the other hand can be relative to solid Determine structure 8 to be movably arranged.

On the contrary, for example, in the embodiment of Fig. 6, main hanging element 11 may be adapted to embodiment with Fig. 3 to Fig. 5 It is contacted in all operating positions of equipment 10 with fastening structure 8, the operating position for example neutral operating position, the first operative position It sets, the second operating position and third operating position.In other words, main support component 11 may be disposed to be supported by fastening structure 8, favorably Ground is substantially irremovable relative to fastening structure 8.

In one embodiment, such as the embodiment of Fig. 6, assisted suspension element 12 can be relative to main hanging elements 11 It is movably disposed, and is disposed relative to hang rope sheave 5 or wedge socket 4 on the same side of main hanging element 11, In other words, assisted suspension element 12 and rope sheave or wedge socket are settable relative to main hanging element 11 and fastening structure 8 On the same side.In this case, rope sheave or wedge socket can be directly or indirectly basic relative to assisted suspension element 12 On immovably arrange.In other words, rope sheave or wedge socket can directly by connection method known per se or indirectly Ground is substantially immovably arranged on assisted suspension element by individual structure member.

In one embodiment, such as in the embodiment of Fig. 6, bendable 13 can be at least in its longitudinal direction On along its whole length be substantially flexible or it may include in their longitudinal direction flexible part 13a and The part 13b of inflexibility on its longitudinal direction.In this case, bendable portion 13a and inflexibility part 13b can be Relative to each other or at least partly inside each other or by another appropriate on the longitudinal direction of bendable 13 Mode is successively arranged.

In one embodiment, such as in the embodiment of Fig. 6, bendable 13 can be directly or indirectly at it One of end place is substantially immovably arranged into fastening structure 8.In other words, the first end of bendable can pass through itself The structure that known connection method is fixedly arranged fastening structure 8 or is substantially immovably arranged on fastening structure 8 Component, such as main hanging element 11 or individual structure member.The second end of bendable 13, i.e., in the vertical of bendable To on direction relative to the opposite end of first end, it directly or indirectly substantially can immovably be arranged into assisted suspension element 12.In other words, bendable may be adapted in assisted suspension element 12 and fastening structure 8 or immovably be arranged in fastening knot Extend between structure member on structure 8.In this case, in neutral position, assisted suspension element 12 may be adapted to by bendable Bent element 13 supports rope sheave 5 or wedge socket 4.More specifically, in such an implementation, bendable 13 is sustainable Assisted suspension element 12, and in neutral position, the first and second operating positions, by it, support is arranged in assisted suspension The rope sheave 5 or wedge socket 4 of element 12.In this case, the elastic force of bendable 13 had both acted on assisted suspension member On part 12, and act on the fastening structure 8 of main body of lifting equipment.In one embodiment, such as one of Fig. 6 implementation Scheme, bendable 13 may include such as spring, or by structure that at least flexible material is formed in their longitudinal direction Component.

In one embodiment, such as an embodiment of Fig. 6, main hanging element 11 may include mating surface 28, when In applied force on hoisting line 3, the supporting surface 27 of assisted suspension element 12 can be pressed against the mating surface 28, and pass through it, with Increase rope sheave 5 and/or wedge socket 4 enough to height.In other words, in this case, the power meeting being applied on hoisting line 3 Bendable 13 is set to be moved to such degree, even if assisted suspension element 12 shifts to rope sheave 5 or wedge relative to neutral position Clevis fixed 4, which corresponds to the distance between supporting surface 27 and mating surface 28 in neutral position, therefore supporting surface 27 and matches Conjunction face 28 abuts against each other.Advantageously, this occurs in the third operating position of equipment 10, in other words, when load 25 is already provided at When on hoisting line 3.In the end of main hanging element 11, in the side of rope sheave 5 or wedge socket 4, mating surface 28 be may be provided at Such as at the horizontal flanges of main hanging element 11.Advantageously, the horizontal flanges of main hanging element can prolong far from bendable 13 It stretches, that is, extends outwardly.Supporting surface 27 may be formed in the horizontal flanges of assisted suspension element 12.Advantageously, assisted suspension element Horizontal flanges can extend towards bendable 13 and main hanging element 11.

In one embodiment, such as an embodiment of Fig. 6, assisted suspension element 12 can be with rope sheave 5 or wedge shapes Gripping sleeve 4 is movably disposed relative to main hanging element 11 together, and the main hanging element 11 is basic relative to fastening structure 8 On immovably arrange.In this case, detection device 17 may be adapted to detection for example, assisted suspension element 12 and main suspension The variation of the distance between element 11 or the distance, this is because the variation of the distance naturally with fastening structure 8 and rope sheave 5 or The variation of the distance between wedge socket 4 is related.In this case, detection device 17 can for example be set in a way known It is placed in main hanging element 11 and/or assisted suspension element 12, so that detection device 17 is suitable for measurement assisted suspension element 12 and master The variation of the distance between hanging element 11 and/or the distance.

Equipment 10 may also include at least one control element 19, in the embodiment of Fig. 6, including two control elements 19, to control the movement of assisted suspension element 12.Control element 19 may include such as longitudinal structural part.Main hanging element 11 can wrap It includes the first opening 15 and/or assisted suspension element 12 may include at least one control opening 20 of each control element 19, wherein controlling Element 19 processed may be adapted to be open at least partially through the first opening 15 and/or second to control the shifting of assisted suspension element 12 It is dynamic.Each control element 19 can immovably be arranged into main hanging element 11, assisted suspension element 12 in this way or rise Another structure member of heavy equipment 1, i.e. control element 19 can control mobile side of the assisted suspension element 12 relative to fastening structure 8 To this is caused by the length variation of the part 13a flexible in their longitudinal direction of bendable 13.

In one embodiment, the device 30 for detecting the external vertical power being applied on hoisting line includes detection Device.In one embodiment, the detector include it is below at least one: deformeter, force snesor, range sensor, pressure Force snesor, distance of reaction sensor, ultrasonic sensor, capacitance sensor, magnetic induction sensor, cable tension sensor, Hall sensor (Hall sensor), optical distance sensor, the sensor based on conductor, laser measuring apparatus and microswitch Device.In one embodiment, detector may be adapted to the size that is applied on hoisting line of detection and be advantageously 5N to 100N, most It is advantageously the external vertical power of 10N to 30N.In one embodiment, use at least one of following as distance biography Sensor: distance of reaction sensor, ultrasonic sensor, capacitance sensor, magnetic induction sensor, cable tension sensor, Hall pass Sensor, optical distance sensor, pressure sensor, the sensor based on conductor, laser measuring apparatus and microswitch.One In a embodiment, detection device 17 includes any of sensor, such as those as described above sensor.In a reality It applies in scheme, detector such as distance detector (one of such as above-mentioned range sensor) may be adapted to detect rope sheave or wedge socket The variation of the distance between fastening structure of lifting equipment main body or the distance.

It will be apparent for a person skilled in the art that attached drawing illustrates only some embodiments of solution, for example, Main hanging element and assisted suspension element can according to embodiment and in design and structure with the embodiment of Fig. 2 a to Fig. 6 and Associated description differs widely, as long as they operate by way of explanation and are functionally suitable for described purpose.

Fig. 7 is the schematic diagram for the device 50 connecting with the hoisting line of lifting equipment.Such device 50 can be used for controlling The hoisting line 3 of heavy equipment 1 vertically moves, that is, this can be related to for controlling vertically moving for hoisting line 3 or lifting equipment 1 Device.Device 50 may include any of the equipment 10 illustrated in the present specification.Such equipment can be used for detecting application External vertical power on hoisting line 3.Device 50 may also include the lifting member 6 for moving hoisting line 3.Such reconstruct Part 6 is known per se, therefore is not described in detail herein.

Device 50 may also include control unit 7.Control unit 7 may be adapted to be applied on hoisting line in response at least detecting External vertical power control lifting member 6 so that hoisting line 3 moves in the vertical direction.In this case, it is applied to lifting External vertical power on rope can be detected by the device 30 for detecting the external vertical power being applied on hoisting line.Change speech It can be detected using the device 30 for detecting the external vertical power being applied on hoisting line by mitigating hoisting line 3 manually Or pull hoisting line 3 downwards to influence hoisting line 3.Device 30 for detecting the external vertical power being applied on hoisting line can incite somebody to action Information about distance or its variation is sent to control unit 7.Control unit 7 may be adapted to be applied to based on the information to detect External vertical power on rope again, and lifting member 6 is controlled so that hoisting line 3 vertically moves in response to receiving the information It is dynamic.Device 30 for detecting the external vertical power being applied on hoisting line may include that bonding apparatus and method embodiment are retouched The device stated.

In one embodiment, the external vertical power that is applied on hoisting line of detection may include detection can hang rope sheave or The variation of the distance between wedge socket and the fastening structure of lifting equipment main body.In other words, it can be based on that rope sheave 5 or wedge can be hung The variation of the distance between clevis fixed 4 and the fastening structure of lifting equipment main body 2 is hung down to detect the outside being applied on hoisting line Straight power.In this case, control unit 7 may be adapted to hang rope sheave 5 or wedge socket 4 in response at least detecting and rise The distance between clamp device of heavy equipment main body 2 changes to control lifting member 6 so that hoisting line 3 moves in vertical direction It is dynamic.The detection can the information based on the distance change that is detected by detection device 17 and the distance change for being transmitted to control unit, It is carried out at control unit 7.In other words, detectable by mitigating hoisting line 3 manually or pulling downwards using detection device 17 Again rope 3 and the influence to hoisting line 3.Detection device 17 can send the information about distance or its variation to control unit 7.Control Unit 7 processed may be adapted to based on the distance between the fastening structure 8 for detecting rope sheave 5 or wedge socket 4 and lifting equipment main body 2 Or its variation is to detect the influence to hoisting line 3 in vertical direction.

Control unit 7 is also adapted for acting on hoisting line 3 in vertical direction in response to what is detected, by rise reconstruct Part 6 issues control instruction and/or control signal controls lifting member 6, with control hoisting line in vertical direction upwards or to Under.In one embodiment, control unit 7 may be adapted to issue control instruction and/or control signal to lifting member 6, to work as The load clamp device 26 (such as suspension hook) that external force directed downwardly is applied on hoisting line (i.e. hoisting line 3) or is disposed thereon When being pulled downwardly, the hoisting line 3 is reduced.Correspondingly, control unit 7 may be adapted to issue control instruction and/or control to lifting member 6 External force upward is applied to the load clamp device on hoisting line (i.e. hoisting line 3) or being disposed thereon to work as by signal processed When 26 (such as suspension hooks) are pulled up, the hoisting line 3 is promoted.In other words, operator can be by influencing due to the above reasons, Rope 3 or the load clamp device (such as suspension hook) that is disposed therein control lifting member 6 and hoisting line 3 hanging down by it again Translation is dynamic.In other words, operator can issue control instruction and/or control signal to control unit 7 by hoisting line 3.This makes Hoisting line can be easily and accurately located at the correct height beside load to be tightened.For example, being retouched in conjunction with Fig. 2 a to Fig. 6 The various embodiments of equipment 10 are stated.For simplicity, below control instruction and/or control signal are known as controlling and are referred to It enables.

In one embodiment, control unit 7 may include the control system of such as lifting equipment or can be programmed to The component of lifting equipment is controlled in response to the external vertical power being applied on hoisting line detected.In an embodiment In, control unit 7 may include PLC (programmable logic controller (PLC)).In this second embodiment, control unit 7 may include relay Device controller, the relay-operated controller are suitable for controlling lifting member 6 such as lifting based on by 17 received signal of detector means The contactor of motor.In yet another embodiment, control unit 7 may include the another suitable of frequency converter or lifting equipment Component can be programmed to control lifting equipment in response to the external vertical power acted on hoisting line detected.Control Unit 7 may also include memory 22 and processor 23, can form processing unit 24.

In one embodiment, device 50 may include remote controler 51.Remote controler 51 can provide user interface 52, by this User interface 52, operator can influence remote controler 51, to issue control instruction to control unit 7.Remote controler 51 can pass through Wired or wireless link connection is to control unit 7.Wireless connection may include wireless communication link, such as based on IEEE 802.11 WLAN (WLAN) connection, bluetooth connection or the connection of standardized radio frequency or the agreement according to manufacturer oneself One kind.User interface 52 may include at least one of following user interface device, and the user interface can be used in operator Device influences remote controler 51, to issue control instruction: control stick, button, touch screen and detection control hand to control unit The detector of gesture.

In one embodiment, control unit 7 is also adapted in response to while detecting the outside being applied on hoisting line Vertical force and detection control lifting member 6 so that hoisting line 3 exists by the control instruction that the user interface 52 of remote controler 51 issues Vertical Square moves up.In other words, control unit 7 may be adapted in response to operator's mobile hoisting line 3 direct simultaneously, or pass through The user interface 52 of the load clamp device 26 and influence remote controler 51 that are disposed thereon is to issue instruction, to lifting member 6 sending control instructions such as lift or reduce hoisting line to control hoisting line 3 in vertical direction.Remote controler 51 may include independent Control equipment, for example, it may be configured as individually controlling equipment or setting on load clamp device 26.As mentioned, In this case, only when having acted in remote controler 51, particularly its user interface 52, control unit 7 just consider by In the control instruction that hoisting line 3 issues so that hoisting line moves in vertical direction.This improves device 50 and lifting equipment 1 Safety refers to because the hoisting line that load clamp device was located in load or encountered barrier will not mistakenly be triggered control It enables.In one embodiment, user interface 52 or remote controler 51 may include so-called " dead person's switch in this case (dead man’s switch)”。

In one embodiment, control unit 7 is also adapted for being sent out in response to detecting by the user interface 52 of remote controler 51 Between fastening structure 8 of the control instruction out to determine the main body 2 that can hang rope sheave 5 or wedge socket 4 and lifting equipment The reference value of distance.In other words, control unit 7 may be adapted to (such as open in operator by the user interface 52 of remote controler 51 Beginning acts on user interface 52) when, it determines between the fastening structure 8 of the main body of rope sheave 5 or wedge socket 4 and lifting equipment 2 Distance, and be stored in the memory of control unit 7 using the reference value as the reference value of distance.

In another embodiment, the reference value of distance can be fixedly determined in advance.In the third embodiment, instead of The state of the reference value of distance, detector 17 can be changed between predetermined state based on distance.In this case, detector 17 State and therefore its state for being sent to control unit 7 can correspond to control instruction, with control hoisting line 3 upwards, with Stop the movement of hoisting line and to control hoisting line downward.Therefore, in this case, can be controlled based on the state of detector 17 Lifting member.

In one embodiment, control unit 7 may be adapted in response to that compared with reference value, can hang rope sheave 5 or wedge shape The change direction of the distance between the fastening structure 8 of gripping sleeve 4 and lifting equipment main body controls lifting member to control lifting Rope is upward or downward.In other words, control unit 7 may be adapted to select hoisting line relative to the change direction of reference value according to distance Control direction upward or downward.

In one embodiment, control unit 7 may be adapted in response to that compared with reference value, can hang rope sheave 5 or wedge shape The variation size of the distance between the fastening structure 8 of gripping sleeve 4 and lifting equipment main body limits the movement speed of hoisting line 3. It in other words, can be according to great external vertical power to be applied on hoisting line to the movement speed for controlling hoisting line 3.Control is single Member 7 can be for example suitable for quickly controlling its speed when bigger power acts on hoisting line 3, as a result, compared with reference value, The variation of distance is greater than the distance change when lesser power acts on hoisting line 3, and compared with reference value, which becomes Change also smaller.

In one embodiment, control unit 7 may be adapted to based on the neutral position with no external force on hoisting line It sets and compares, shortening the distance between fastening structure 8 of rope sheave 5 or wedge socket 4 and lifting equipment main body, (it is filled by detection 17 are set to detect) detect the manual mitigation of hoisting line 3.Depending on embodiment, this may be due to caused by following: bendable Bent element 13 is compressed to the position shorter than neutral position, as in the embodiment of Fig. 6, or is stretched to longer than neutral position Position, as in the embodiment of Fig. 3 to Fig. 5.In other words, the moving direction of bendable 13 may depend on auxiliary Help hanging element 12 whether with 4 phase of rope sheave 5 and/or wedge socket on the opposite side or same side relative to fastening structure 8 Adaptation.In this case, control unit 7 may be adapted to control lifting member 6 in response to the manual mitigation of hoisting line to be promoted Hoisting line 3.In other words, hoisting apparatus 6 can be for lifting hoisting line 3 when manually for example lifting the mitigation of hoisting line 3 Controller thus can lengthen flexible member wherein the power acted on hoisting line is smaller compared with 3 free suspension of hoisting line Part 13.In this case, compared with neutral position, bendable 13 lifts assisted suspension element relative to fastening structure 8 12, it, again can be by examining so as to shorten rope sheave 5 or the distance between the fastening structure 8 of wedge socket 4 and lifting equipment main body Device 17 is surveyed to detect.Mitigate manually and refer to the mitigation on direction of improvement or influence hoisting line, for example, operator can use a hand The mitigation is carried out in the case where no any special strength or help.Depending on embodiment and used power, can be promoted Hoisting line 3 or part of it, or act on rope and downwardly directed power will reduce.Advantageously, make bendable 13 Mobile required power very little, so that operator can make bendable upward or downward by controlling hoisting line 3 with a hand 13 is mobile.

Correspondingly, in one embodiment, control unit 7 may be adapted to be based on no external force on hoisting line 3 Neutral position compare, extend the distance between the fastening structure 8 of rope sheave 5 or wedge socket 4 and lifting equipment main body (its Detected by detection device 17) detect the manual drop-down of hoisting line 3.Depending on embodiment, this may be to be drawn due to following Rise: bendable 13 is compressed to the position shorter than neutral position, as in the embodiment of Fig. 3 to Fig. 5, Huo Zhela The position longer than neutral position is reached, as in the embodiment of Fig. 5 to Fig. 6.In other words, the movement of bendable 13 Direction may depend on assisted suspension element 12 whether on the opposite side or same side relative to fastening structure 8 rope sheave 5 and/ Or wedge socket 4 is adapted.In this case, control unit 7 may be adapted to control in response to pulling hoisting line manually Part 6 is reconstructed to reduce hoisting line.

In one embodiment, control unit 7 may be adapted to be moved to such position in response to bendable 13, i.e., Rope sheave 5 or wedge socket 4 and corresponding load 25 also have dropped to and are supported completely by main hanging element 11 here, to examine Survey the load clamp device 26 that the load 25 on such as hoisting line 3 is supplied directly to hoisting line 3 or is set on hoisting line.It can It is detected based on the distance between rope sheave 5 or wedge socket 4 and the fastening structure 8 of lifting equipment main body or its variation can be hung This shift position of bendable 13.In the embodiment for example in conjunction with Fig. 3 to equipment 10 shown in fig. 5, control is single Member 7 can be provided based on that can hang rope sheave 5 or the variation of the distance between wedge socket 4 and fastening structure 8 to detect to hoisting line 3 Load is such size, i.e., it shows that main hanging element 11 has dropped to and contacts with fastening structure 8.In this case, The suspension of hoisting line 3 is suitable for being supported by main hanging element 11 completely, and attempts the assisted suspension member for lifting bendable 13 The power of part 12 is insufficiently resistant to the power as caused by the load provided on hoisting line 3.In such as equipment 10 in conjunction with shown in Fig. 6 In second embodiment, control unit 7 can be examined based on rope sheave 5 or the variation of the distance between wedge socket 4 and fastening structure 8 Direction finding hoisting line 3 provides load, is such size, i.e., it shows that assisted suspension element 12 has dropped to and be set to fastening The main hanging element 11 of structure 8 contacts.In this case, the suspension of hoisting line 3 is suitable for being supported by main hanging element 11 completely, And the power for attempting the assisted suspension element 12 for lifting bendable 13 is insufficiently resistant to the load by being arranged on hoisting line Caused power.

In yet another embodiment, equipment 10 may include load sensor (not shown), is for example suitable for detection arrangement and exists The sensor of load 25 on hoisting line 3.Load sensor can be for example including sensor, such as pressure sensor, humidity sensor Device or other suitable sensor, may be adapted to the load 25 that instruction will be supported by main hanging element 11 completely decline or with Load 25 is arranged on hoisting line 3 by another way instruction.In one embodiment, in this case, control unit 7 It may be adapted to be applied with load on hoisting line and the control that vertically moves of the interruption to hoisting line 3 in response to detecting, this is based on The distance between fastening structure 8 of main body of rope sheave 5 or wedge socket 4 and lifting equipment or the variation of the distance can be hung.

Fig. 8 shows a kind of for controlling the method for the hoisting line of lifting equipment vertically moved.It in the method, can be with The external vertical being applied on hoisting line is detected by the device 30 for detecting the external vertical power being applied on hoisting line Power (81).The arbitrary equipment 10 described in the present specification is in combination with the rope sheave 5 or wedge socket 4 for for example supporting hoisting line 3 And be arranged in lifting equipment, to detect the external vertical power applied on the hoisting line 3 of lifting equipment.In the method, lead to Control unit 7 is crossed, the lifting of lifting equipment can be controlled in response at least detecting the external vertical power being applied on hoisting line Component 6 is so that hoisting line 3 moves (82) in vertical direction.

In one embodiment, the device 30 for detecting the external vertical power being applied on hoisting line may include detection Device 17, the detection device 17 is for detecting the fastening structure 8 that can hang rope sheave 5 or wedge socket 4 and lifting equipment main body The distance between or the distance variation.In the method, control unit 7 may be in response at least detection can hang rope sheave 5 or The variation of the distance between fastening structure 8 of wedge socket 4 and lifting equipment main body come control the lifting member 6 of lifting equipment with Hoisting line 3 is set to move (82) in vertical direction.

It in one embodiment, can be in response to the remote controler that acts on by the user interface 52 of control unit 51 51 user interface and receive control instruction in the method, and send control instruction to control unit 7, and in response to same When the external vertical power that is applied on hoisting line of detection and detect the control instruction issued by the user interface of remote controler 51, by controlling Unit 7 processed controls lifting member 6, so that hoisting line 3 moves in vertical direction.

In one embodiment, the device 30 for the external vertical power that detection is applied on hoisting line includes can for detection Hang the detection device of the distance between fastening structure of rope sheave or wedge socket and lifting equipment main body or its variation.

In one embodiment, in the method, control unit 7 may be in response to detect by the user interface of remote controler 51 52 control instructions issued, further determine that the fastening structure 8 that can hang rope sheave 5 or wedge socket 4 and lifting equipment main body The distance between reference value, and in response to rope sheave or wedge socket and lifting equipment main body compared with reference value, can be hung The distance between fastening structure change direction, control hoisting line 3 upward or downward at control unit 7.Second embodiment party Case can correspond to disclosed embodiment, but reference value can be scheduled fixed range value.Controlling hoisting line 3 can be by It is carried out in lifting member 6 and based on the control instruction that control unit 7 is issued to lifting member 6.

In one approach, it may also respond to hang between rope sheave or wedge socket and the fastening structure of rope Variation size of the distance compared with reference value, determines the movement speed of hoisting line 3 at control unit 7.

In one embodiment, in the method, control unit 7 can based on no external force on hoisting line Neutral position is compared, and shortens the distance between rope sheave 5 or wedge socket 4 and the fastening structure 8 of lifting equipment main body (by examining Device 17 is surveyed detect) detect the manual mitigation of hoisting line 3.Depending on embodiment, this may be due to caused by following: Bendable 13 is compressed to the position shorter than neutral position, as in the embodiment of Fig. 6, or is stretched to than neutrality The long position in position, as in the embodiment of Fig. 3 to Fig. 5.In other words, the moving direction of bendable 13 can depend on In assisted suspension element 12 whether with the rope sheave 5 and/or wedge socket on the opposite side or same side relative to fastening structure 8 4 are adapted.In the method, in this case, control unit 7 may be in response to mitigate hoisting line manually to control lifting member 6 to promote hoisting line 3.

It in one embodiment, in the method, can be based on the neutral position with no external force on hoisting line 3 It compares, increases the distance between fastening structure 8 of rope sheave 5 or wedge socket 4 and lifting equipment main body (by detection device 17 Detect) detect the manual drop-down of hoisting line 3.Depending on embodiment, this may be due to caused by following: flexible member Part 13 is compressed to the position shorter than neutral position, as in the embodiment of Fig. 3 to Fig. 5, or is stretched to and compares neutral position Long position is set, as in the embodiment of Fig. 6.In other words, the moving direction of bendable 13 may depend on auxiliary Hanging element 12 whether on the opposite side or same side relative to fastening structure 8 rope sheave 5 and/or 4 phase of wedge socket it is suitable Match.In the method, in this case, control unit 7 may be in response to pull hoisting line manually to control lifting member 6 to drop Low hoisting line 3.

In one embodiment, in the method, control unit 7 may be in response to bendable 13 be moved to it is such Position, i.e., rope sheave 5 or wedge socket 4 have dropped to and are supported completely by main hanging element 11 here, will load 25 to detect It is arranged on hoisting line 3, wherein based on that can hang between rope sheave 5 or wedge socket 4 and the fastening structure of lifting equipment main body 8 Distance or its variation detect the position of the movement, and in response to detecting the load being already provided on hoisting line, controlling The control vertically moved to hoisting line is interrupted at unit 7 processed, this is based on that rope sheave or wedge socket and lifting equipment can be hung The distance between fixed structure of main body or its variation.Therefore, disclosed equipment 10, device 50 and side in one embodiment Method can be used for controlling non-loaded hoisting line 3, in other words, especially when load is by means of loading clamp device 26 without direct When being applied on hoisting line.

One embodiment is related to a kind of computer program product, and it includes the computers to execute on computers to hold Line program code, when executing the computer executable program code on computers, offer is disclosed according in this specification Solution operation.The computer program can execute on computer or processing unit, and the computer or processing unit are suitable It is connect together in lifting equipment such as control unit 7.The computer program can be source code form, object identification code form or centre Form, and it is storable in certain transmitting device, and which can be that can store any entity of the program or set It is standby.This transmitting device include for example storage medium, computer storage, read-only memory, electric carrier wave, data traffic signals and Software distribution package.Memory can be volatile memory or nonvolatile memory, for example, EEPROM, ROM, PROM, RAM, DRAM, SRAM, software and/or programmable logic.