EP1328461A2

EP1328461A2 - System and device for controlling a load lifting device

Info

Publication number: EP1328461A2
Application number: EP00907537A
Authority: EP
Inventors: Gerd Münnekehoff
Original assignee: Individual
Current assignee: Individual
Priority date: 1999-02-11
Filing date: 2000-02-10
Publication date: 2003-07-23
Anticipated expiration: 2020-02-10
Also published as: DE29902364U1; KR100630351B1; EP1328461B1; DE50008553D1; AU2909300A; KR20010105348A; ATE281398T1; WO2000047512A2; WO2000047512A3; US6974044B1; JP2002536274A

Abstract

The invention relates to a system for controlling a load lifting device (1) with a controllable drive (2) and a lifting element (5) which is linked with the drive (2) and which is - at least in a non-operational position due to the gravitational force - vertically (Z-Z) aligned. A load receiving element (7) is linked with the lifting element (5). The system further comprises a control circuit for balancing the loads. Said control circuit encompasses a device for producing a path-dependent signal which corresponds to a substantially vertical (Z-Z) movement of the lifting element (5) and which represents the input signal for the control of the drive (2).

Description

System and method for controlling a load lifting device

The present invention relates to a system for controlling a load lifting device, with a controllable drive, with a support element connected to the drive, which is oriented vertically, at least in a rest position due to gravity, with a load receiving device connected to the support element and with a control circuit for load balancing. Furthermore, the invention relates to a control method which can be carried out in particular by means of such a system.

Systems of the type mentioned are known with electromotive and fluidically driven load lifting devices. They serve to avoid a higher physical effort in the case of hand-guided movements of loads of all kinds held on the load suspension device. As a result of the load balancing, the load hovers at a selected height and can be guided into its intended position with minimal effort. Such a system, which comprises a crane trolley guided on a running track construction in at least one horizontal direction, is known, for example, from German utility model DE 297 19 865 U1. The support element of the known load lifting devices can be flexible and can be wound on a drum (rope, chain) or be rigid.

A load lifting device with a rigid support element is known for example from DE 4342715 AI. In this laid-open specification, a hand-operated manipulator is described which has a vertical bearing journal about which a horizontally projecting support arm can be pivoted. At its end facing away from the bearing journal, the support arm carries a lifting device which has a load suspension means at its lower end. The support arm consists of two partial arms connected in series, which are connected to each other by a joint with a vertical swivel axis and thus form a so-called articulated arm. The support arm has a further articulated arm formed from two partial arms, which complements the first to form a changeable parallelogram lying in a horizontal plane.

In some known control systems for load lifting devices, the size of the empty weight or the load to be absorbed must be preset on a controller. To avoid this disadvantage, as is known from EP 0 733 579 AI, means for weight determination can also be provided on the load lifting device.

The present invention has for its object to provide a control system of the type mentioned and a corresponding method with which the load balancing can be implemented in a simple manner from a control point of view without presetting the weight, and comfortable operation with a high level of security should also be ensured.

According to the invention, this is achieved in that the control circuit for load balancing comprises a device for generating a path-dependent signal which corresponds to a substantially vertical movement of the support element and serves as an input signal for the control of the drive.

After the load has been picked up in the load suspension device, a force applied by the drive or a corresponding moment can advantageously be automatically increased rapidly until it corresponds to the weight of the load. In the case of electromotive drive, the drive force can be increased by a motor current control or, in the case of a fluid drive, by a control of the fluid pressure, for example with the aid of a servo valve. The point in time of the weight compensation achieved can be determined with the aid of the device for generating the path-dependent signal. The state of balance has set in when the essentially vertical movement of the support element begins under the action of the drive. The size of the path-dependent signal can advantageously be compared with a target value and, when this has been reached, the force applied by the drive or the torque can be kept constant at the value reached. Weight balancing is therefore completely automatic. The detection of the setpoint takes place in the millisecond range and is therefore so fast that the vertical movement of the support element is not perceived by the operator and therefore cannot be disruptive during operation.

The drive can primarily be an electric motor which has the device for generating the path-dependent signal, as is the case in particular with an electric servomotor in which the path-dependent signal is a Angle of rotation corresponds and can be tapped directly from the motor. In the case of other electric motors, it can advantageously be provided, for example, that the device for generating the path-dependent signal is an incremental angle of rotation measuring disk arranged coaxially to the drive shaft of the motor.

The invention can advantageously also be used in load lifting devices in which the drive is a fluidically acting drive device, such as a pneumatic piston-cylinder arrangement or a pneumatically actuated ball roller spindle.

In the sense of a further user-friendly design of the system, a control for the vertical movement of the support element can be provided, which comprises a control element, a handling device for the load-bearing device and a device for generating a force-dependent signal, the force-dependent signal corresponding to a manipulation force acting vertically on the handling device and the control element is designed in such a way that, depending on the deviation of the force-dependent signal from a desired value, it outputs a control signal for the drive for triggering a movement of the support element which corresponds to the direction and preferably also the magnitude of the manipulation force.

In a further embodiment of the invention, both the setpoint specification and the transmission behavior of the control element can be changed by an adjusting element as a function of a signal corresponding to the load. Such a guidance regulation advantageously allows compensation of occurring load-related frictional forces.

Another advantage of the invention is that all elements of the system according to the invention that have a control or regulating function, such as the control element of the control for the vertical movement of the support element, the setting element for the setpoint of this control, etc., are components of a single programmable logic controller can.

Further advantageous design features of the invention are contained in the subclaims and the description below.

The invention will now be explained in more detail with reference to preferred exemplary embodiments illustrated in the drawing. Show:

1 is a schematic representation of the application of a system for controlling a load lifting device,

2 shows a section through a lifting unit of a system according to the invention with an electric motor drive,

3 shows a schematic representation of the control of a system according to the invention,

4 shows a front view of a handling device of a system according to the invention in a first embodiment,

5 is a partially sectioned side view of a handle exercise device of a system according to the invention in a second embodiment,

Fig. 6 shows a section through a lifting unit of a system according to the invention with a fluidically acting drive, in a simplified representation

7 shows a longitudinal section through a safety device for a system according to the invention, in particular with a fluidically acting drive,

Fig. 8 shows a further embodiment of a system according to the invention, with a rigid support element.

In the various figures of the drawing, the same parts are always provided with the same reference numerals, so that they are generally only described once.

As shown in FIG. 1, a system for controlling a load lifting device 1 has a controllable drive 2, which is arranged in a lifting unit 3. The lifting unit 3 is designed as a crane trolley guided on a running rail construction 4 in at least one horizontal direction X-X. Connected to the drive 2 is a vertically Z-Z oriented support element 5, at least in a rest position due to gravity. The support element 5 is a rope that is flexible (pliable) and can be wound onto a drum 6 located in the interior of the lifting unit 3.

How the lifting unit 3 can be designed in detail is shown in a first variant in FIG. 2 Sectional view. The lifting unit 3 has a housing 3a in which a servo motor and the drum 6 for winding the rope are located as the drive 2 acting as an electric motor.

A load suspension device 7 is connected to the support element 5. In the case shown, this is a device with a load suspension mechanism that can be operated manually by an operator 8, in particular with a collet for receiving a load 9 with a cylindrical receiving opening, such as e.g. a coil.

At the free end of the support element 5, a handling device 10 for the load-bearing device 7 is fastened, which also serves to guide the movement.

As the schematic representation of the control of a system according to the invention shown in FIG. 3 shows, this comprises a control circuit for load balancing. In this control circuit, a device 11 is provided for generating a path-dependent signal S, which corresponds to an essentially vertical movement of the support element 5 and serves as an input signal for controlling the drive 2. The control circuit further includes a control element 12, which is designed such that it can emit a control signal R for the movement of the support element 5 as a function of a deviation ΔS of the path-dependent signal S from a desired value W to an actuator 13 for the drive 2. The actuator 13 can be, for example, a device for changing the motor torque (manipulated variable I) of an electric motor, such as the servo controller shown in FIG. 2, or the pressure Q in a fluidic device, such as the servo valve shown in FIG. 6. After picking up a load 9 by means of the load pickup device 7, a moment applied by the drive 2 is automatically increased rapidly until it corresponds to the weight of the picked up load 9. The path-dependent signal S is determined in order to determine the setting of an achieved balance state for the load 9. This signal S contains information about the beginning or the beginning of a load movement that begins after weight compensation. The path-dependent signal S is compared with the target value W (formation of the deviation ΔS). If there is agreement between signal S and setpoint W (ΔS = 0), the torque applied by drive 2 is kept constant at the value reached. The control signal R is used for constant switching. The movement of the support element 5 or the load 9 comes to a standstill as a result. The setpoint W can advantageously be set extremely small. The constant engine torque or the pressure Q represents a measure of the weight of the load 9 located on the load suspension device 7 and can be processed as a corresponding signal.

The use of a servo motor as drive 2 offers the advantage that it already has or forms the device 11 for generating the path-dependent signal itself, since it supplies a path-dependent signal S (for an angle of rotation α of the drive shaft).

The system according to the invention can, as can also be seen from FIG. 3, advantageously have a control for the vertical ZZ movement of the support element 5. The control shown comprises a control member 14, the handling device 10 for the load-bearing device 7 and a device 15 for generating a force-dependent gene signal P, which corresponds to a manipulation force F which acts on the handling device 10 essentially vertically ZZ. The control element 14 can be designed in such a way that it outputs a control signal T for the drive 2 for triggering a movement of the support element 5 as a function of a deviation ΔP of the force-dependent signal P from a desired value V. This movement can then preferably correspond to the direction and preferably also the size of the manipulation force F.

Fig. 3 further illustrates that the system according to the invention can have an adjusting element 16 which, depending on a signal corresponding to the load 9 (eg current I, pressure Q), changes the setpoint value V for the force signal P which is applied vertically to the handling device Manipulation force F corresponds. In addition, the setting element 16 can also be designed such that it changes the transmission behavior of the control element 14, which emits the control signal T for the drive as a function of the deviation ΔP of the force signal P from the desired value V. As already mentioned, such a guide control is advantageously suitable for compensating for load-related frictional forces occurring in the system according to the invention, for example on the drum 6 for the support element 5 or in a gearbox. The manipulation force F can be minimized in this way.

The control for the vertical ZZ movement of the support element 5 - including the force for the load movement - can be used (with and without guide control) regardless of the presence or the type of control of the load balancing. For example, the drive 2 of a system without a level circuit for load balancing can can be controlled indirectly via the manipulation force F. Such a control is particularly suitable, for example, for the palletizing of loads 9, in which a vertical Z-Z movement of the support element 5 takes place as the main infeed movement from top to bottom. The vertical ZZ movement of the support element 5 (downward movement) can advantageously be braked depending on the size of the path-dependent signal S. For example, the load 9 can be set down very "gently" because the setpoint V or the transmission behavior of the actuator 16 can be designed on the last piece of the vertical ZZ transport path in such a way that one - compared to the conditions on the rest of the transport path - Greater manipulation force F corresponds to a smaller path of the support element 5 or the load-bearing device located thereon. Such a possibility is illustrated by the signal flow path for the path-dependent signal S, shown as a dashed line in FIG. 3.

The system according to the invention can be equipped with several safety functions to increase the occupational safety of the operator 8. 3 - a safety controller for a manually operable load-carrying mechanism of the load-carrying device 7, in particular for a clamping or gripping mechanism, such as the collet shown in FIG. 1, can be provided. Such a safety controller can have a safety control element 17 which is connected to the device 11 for generating the path-dependent signal S and to the device 15 for generating the path-dependent signal P, which blocks the manual operation of the load suspension mechanism and only then releases it (signal B) , if there is no path-dependent signal P with a force-dependent signal Signal S is present. The latter is the case when the load 9 is placed on a support. In spite of a manipulation force F, in particular vertically ZZ directed downwards, the load 9 then no longer moves and consequently no path-dependent signal S is also detected.

The path-dependent signal S can also be used to bring about braking when the maximum travel speed of the support element 5 is exceeded.

A further safety controller can be integrated in the system according to the invention for the drive 2 and / or for blocking the movement of the support element 5. This safety controller can also have a sensor 18, in particular a light barrier, for registering the use of the handling device 10 and a switching element 19 which switches off the drive 2 or blocks the movement of the support element 5 and only then switches on or releases (signal U) when the sensor 18 signals the use of the handling device 10 (signal A).

The control element 12 of the control circuit for load balancing and / or the control element 14 of the control for the vertical movement of the support element 5 and / or the setting element 16 for the setpoint V of this control and / or the switching element 19 of the safety control for the drive 2 or to block the support element 5 and / or the safety control element 17 of the safety control for the load-carrying device 10 can advantageously be components of a programmable logic controller PLC, individually or jointly. This is indicated in FIG. 3 by the line train comprising the components mentioned. tet. In particular, in addition to the possibility of individual adaptation to a wide variety of handling tasks by the programmable logic controller PLC, digital signal processing means that the dynamic behavior of the control system can be influenced very cheaply and flexibly.

The programmable logic controller PLC can advantageously be arranged in the vicinity of the drive 2, in particular in the lifting unit 3 receiving the drive 2, as is already shown in FIG. 2.

FIG. 4 shows by way of example how a handling device of a system according to the invention, designated by reference number 10 in FIG. 1, can be designed. The handling device 10 is designed for two-handed operation by the operator 9 and has a frame-like shape. It is essential for the illustrated embodiment that the handling device 10 consists of at least two main parts 101, 102, of which the first part 101 on the one hand fixed to an upper cross strut 103 with the support element 5 (fastening point 5a) and on the other hand fixed to a lower cross strut 104 the load-carrying device 7 (collet) is connected. The two cross struts 103, 104 of the first part 101 are fastened to one another via laterally arranged tubular connectors 105, so that the aforementioned frame-like basic shape is produced.

The second part 102, which serves to attack the manipulation force F, is arranged to be movable relative to the first part 101 and has a shorter overall length than the first part 101. It also has a cross strut 106, which is located in particular between the two cross struts 103, 104 is located near the upper cross strut 103, the first part 101. Laterally arranged tubular connectors 107 are also fastened to the cross strut 106 of the second part 102, each of which form handles for manual operation, concentrically enclose the tubular connectors 105 of the first part 101 and are resiliently mounted on the underside of the first part 101. Around half the manipulation force F / 2 is effective on each handle.

As a device 15 for providing the force-dependent signal P, as was explained with reference to FIG. 4, at least one, in particular inductive, displacement transducer for detecting the relative change in position of the two parts 101 occurring under the effect of the manipulation force F is provided on the handling device 10, 102 arranged. The displacement sensor signals in particular a change ΔH (cf. also FIG. 4) of a distance H between the upper cross strut 103 of the first part 101 and the cross strut 106 of the second part 102 of the handling device 10.

FIG. 4 also shows connections 108, 109 for the compressed air supply to the load suspension device 7 and for the voltage supply, which are located on the upper cross strut 103 of the first part 101. In addition, a switch 110 and a switch 111 for controlling the vertical ZZ movement of the support element 5 are arranged on the cross strut 106 of the second part. Further switches 112, 113 for manual operation (two-hand operation) are located on the two tubular connectors 107 of the second part 102 designed as handles. These serve to activate the pivoting or releasing function of the Collet. As already mentioned, the manual control, in particular the release function, of the load suspension mechanism can be blocked by the safety control by means of a safety control element 17 and can only be released if there is no path-dependent signal S when the force-dependent signal P is present.

5 shows a further embodiment of a handling device 10 of a system according to the invention. This handling device 10 is designed for one-handed operation by the operator 8 and has an elongated shape. It is also important for this embodiment that the handling device 10 consists of at least two main parts 101, 102, of which the first part 101 is on the one hand firmly connected to the support element 5 and on the other hand firmly connected to the load-carrying device 7 on the underside. In this embodiment, the second part 102 is designed as a hand lever, which is connected to the device 15 for providing the force-dependent signal P - likewise an, in particular inductive, displacement transducer. The displacement transducer is located in the interior of the first part 101 and supplies a signal P for a distance between the two main parts 101, 102, which is variable due to the manipulation force F applied to the hand lever, not shown in FIG. 5. For guiding the movement of the handling device 10 a handle 114 fixedly mounted on the first part 101 is provided.

With this sensor arrangement and selection, in both embodiments (FIGS. 4, 5) of the handling device 10, a highly precise detection of the manipulation force F is possible. Both versions of the handling device 10 can be combined with an electromotive as well can be used with a fluidic drive 2.

A system according to the invention with an already mentioned second drive variant - a fluidically acting drive 2 - is shown in analogy to FIG. 2 in FIG. 6. The lifting unit 3 in turn has a housing 3a in which the drum 6 for winding the rope (supporting element 5) and as a fluidically acting drive 2 can be a pneumatic cylinder in the simplest case. In the drawing, however, another pneumatic drive 2 known per se is indicated. Such a drive 2 can consist, for example, of a laterally closed cylinder jacket and a ball screw permanently installed in between. By means of the ball screw, a translatory movement, which occurs when compressed air is applied to a piston located within the cylinder jacket, can be converted into a rotary movement for driving the drum 6. In this embodiment, the device 11 for generating the path-dependent signal S is an incremental angle-of-rotation measuring disk (encoder), which can preferably be arranged coaxially to the drum 6 or - as shown - on a deflection roller 6a for the support element 5. The path-dependent signal S thus corresponds to an angle of rotation α of the drum 6. A further safety device can be provided for a system according to the invention with a fluidically acting drive 2, as the drawing shows. It is a fluidic, in particular pneumatic, brake 20 for the flexible support element 5, in particular for a rope.

The brake 20 is shown in FIG. 9 as an individual part. It has a cylindrical housing 21 with a housing 21 on the top closing lid 22 and a bottom plate 23 closing the housing 21 on the underside. A piston 24 is guided in a longitudinally movable manner and divides the housing 21 into a sealed pressure chamber 25 for a pressure-generating fluid and into a spring chamber 26. Cover 22, base plate 23 and piston 24 each have a passage opening for the support element 5, which is not shown in detail. At least two locking elements 27, in particular balls in the embodiment shown, are arranged in the spring chamber 26 around the supporting element 5. The locking elements 27 are acted upon on the one hand by springs 28 and on the other hand by the piston 24 under the pressure effect of the fluid. The spring chamber 26 has a region 29 which tapers in the direction of the piston 24 in such a way that the blocking elements 27, when they are in a spring-side part of this region 29 when the fluid is under pressure, release the support element 5 and when they are in the absence of pressure of the fluid under the action of the springs 28 are moved into a piston-side part of the area 29, clamp the support element 5 in the housing 21. This safety device can prevent the load 9 from falling if the working pressure of the fluid fails.

A serious disadvantage of fluidic drives 2 is the dangers that arise when a load 9 suddenly unintentionally detaches itself from the load suspension device 7. As a result of the sudden absence of the load 9, there is an explosive reaction in the drive 2, the support element 5 being torn upwards. The brake 20 described can also advantageously be used to prevent such situations from a safety perspective. For this purpose, the brake 20 can be installed in the lifting unit 3 are mounted, which is rotated by 180 ° with respect to the installation position shown in FIGS. 6 and 7. The path-dependent signal S, which corresponds to an essentially vertical ZZ movement - in this case upward movement - of the support element 5 can then also be used as an input signal for controlling the brake 20, specifically for opening a pressure relief valve for the pressure chamber 25. A sudden upward movement of the support element 5 can thus be prevented, a counterforce to the force of the fluidic drive 2 being generated in the brake 20, which prevents destruction of the drive 2 and the occurrence of dangerous situations. A brake 20 in the installation position shown in FIGS. 6 and 7 can advantageously be combined with a brake 20 in the position rotated by 180 °.

In particular, if a fluidically acting drive device is provided, a particularly interchangeable accumulator can advantageously be provided for supplying power to the control circuit for load balancing, the control for the vertical Z-Z movement of the support element 5, the safety control (s) and / or the programmable logic controller PLC. A mains power supply is then not necessary. Such an accumulator can e.g. be arranged on or in the handling device 10 so that it can simply be removed from the system and reconnected after charging.

In contrast to the described embodiments, the support element 5 can also be rigid, for example as a rack or the like. If such a toothed rack is to be used, a corresponding pinion can be attached to the drive 2 to trigger the movement. intervention in the rod may be provided. The device 11 for generating the path-dependent signal S can then also be designed so that an essentially vertical ZZ movement of such a rod can be detected. For this purpose, sensors can also be used to provide the path-dependent signal S, through which a linear path of the support element 5 is directly detected.

Another possibility of a rigid construction of the support element was already mentioned at the beginning. Such a, the manipulator known from DE 4342715 AI similar arrangement - see Fig. 8 - can also be designed such that the support element 5 comprises a support parallelogram in which the partial arms 30 are connected in joints 31 with a horizontal pivot axis, the Angular position and the lengths of the partial arms 30 of the parallel parallelogram lying within a vertical plane can be changed (representation in dashed lines). With such an arrangement, the path-dependent signal S can also correspond to an angle of rotation, specifically an angle by which two partial arms 30 of the supporting parallelogram, which are connected to one another via a joint 31, move relative to one another. The device 11 for generating the path-dependent signal S can then again advantageously be an incremental angle of rotation measuring disc which is arranged coaxially to the pivot axis of the joints. The system shown in FIG. 8 is in turn a system with a fluidic drive 2 (pneumatic or hydraulic cylinder). For such a system, the device 11 for generating the path-dependent signal S can also be a sensor arranged on the piston rod for linear path detection. The load suspension device 10 is here simply formed by a load hook. It is already clear from the above statements that the present invention is not limited to the exemplary embodiments shown, but also includes all means and measures having the same effect in the sense of the invention, such as versions of drive 2 not described here. For example, drive 2 is also a combination a linearly acting fluidic piston-cylinder arrangement with a roller arrangement constructed in the manner of a pulley block for deflection of motion is possible, an incremental angle of rotation measuring disc being able to be arranged as a device 11 for generating the path-dependent signal S coaxially to the rollers.

Sensors other than those described here can also be used as sensors for detecting the manipulation force F or for providing the path-dependent signal S.

Furthermore, the person skilled in the art has numerous possibilities for further developing the invention. For example, the load lifting device 1 can also be assigned at least one drive device for its movements in the horizontal direction XX and / or YY, which can be controlled as a function of a deflection of the support element 5, which is forced on the basis of the vertical orientation ZZ which is automatically set in the rest position due to gravity, and has a special control system. In this regard, reference is made in full to the German utility model DE 297 19 865 Ul mentioned at the beginning.

Furthermore, the invention is not limited to the combination of features defined in claim 1, but can also by any other combination of certain Characteristics of all of the individual characteristics disclosed can be defined. This means that in principle practically every single feature of claim 1 can be omitted or replaced by at least one single feature disclosed elsewhere in the application. In this respect, claim 1 is only to be understood as a first attempt at formulation for an invention.

Claims

Expectations

1. System for controlling a load lifting device (1), with a controllable drive (2), with a connected to the drive (2), - at least in a rest position due to gravity - vertically (ZZ) aligned support element (5), with a Supporting element (5) connected to the load-receiving device (7) and having a control circuit for load balancing, characterized in that the control circuit for load balancing comprises a device (11) for generating a path-dependent signal (S) which corresponds to an essentially vertical (ZZ) movement of the support element ( 5) corresponds and serves as an input signal for the control of the drive (2).

2. System according to claim 1, d a d u r c h g e k e n n z e i c h n e t that the drive (2) is an electric motor and the device (11) for generating the path-dependent signal (S), and in particular is designed as an electric servo motor.

3. System according to claim 1, characterized in that the Drive (2) is a fluidically acting drive device, such as a pneumatic piston-cylinder arrangement or a pneumatically actuated ball screw.

System according to one of claims 1 to 3, d a d u r c h g e k e n n z e i c h n e t that the support element (5), at least partially, rigid, e.g. is designed as a rack.

System according to one of claims 1 to 4, characterized in that the supporting element (5) comprises a supporting parallelogram in which four partial arms are connected to one another in joints with a horizontal pivot axis, the angular position and the lengths of the partial arms of the supporting parallelogram preferably being within a vertical plane can be changed horizontally.

System according to one of Claims 1 to 3, that the support element (5) is flexible and can be wound on a drum (6).

System according to one of claims 1 to 6, characterized in that the path-dependent signal (S) an angle of rotation (), in particular an angle of rotation of the drum (6) or an angle by which two arms of the supporting parallelogram connected to one another move with respect to one another , corresponds.

System according to one of claims 1 to 7, characterized in that the device (11) for generating the path-dependent signal (S) is an incremental angle of rotation measuring disc which is coaxial to the drum (6), to the drive shaft of the drive (2), such as the drive shaft of an electric motor, or to a deflection disc or to one Pivot axis of joints of a parallelogram is arranged.

9. System according to one of claims 1 to 8, characterized in that the control circuit comprises a control element (12) which is designed such that it is a function of a deviation (ΔS) of the path-dependent signal (S) from a target value (W) to an actuator (13) for the drive

(2) outputs a control signal (R) for the vertical (Z-Z) movement of the support element (5).

10. System, in particular according to one of claims 1 to 9, characterized by a control for the vertical (ZZ) movement of the support element (5), comprising a control member (14), a handling device (10) for the / a load bearing device (7) and a device (15) for generating a force-dependent signal (P) which the handling device (10) essentially vertically

(ZZ) corresponding manipulation force (F), the control element (14) being designed such that it generates a control signal (T) for the / depending on a deviation (ΔP) of the force-dependent signal (P) from a desired value (V). a drive (2) for triggering a vertical (ZZ) movement of the support element (5) which gives the direction and preferred also corresponds to the size of the manipulation force (F).

11. System according to claim 1.0, so that the handling device (10) consists of at least two main parts (101, 102), of which the first part

(101) on the one hand is firmly connected to the supporting element (5) and on the other hand is firmly connected to the load-bearing device (7) and the second part (102) serving to attack the manipulation force (F) is arranged so as to be movable relative to the first part (101), whereby as a device (15) for generating the force-dependent signal (P) in or on the handling device (10) at least one, preferably inductive, displacement transducer for detecting the relative change in position occurring under the effect of the manipulation force (F)

(ΔH) of the two parts (101, 102) is arranged.

12. System, in particular according to claim 10 or 11, characterized by an in particular with the / a drive (2) or its actuator (13) connected to the adjusting element (16) which, depending on a load (9) corresponding signal (I, Q ) and / or from the / a path-dependent signal (S), which corresponds to a substantially vertical (ZZ) movement of the / a support element (5), the / a setpoint (V) for the / a force signal (P), the the / the handling device

(10) corresponds to the vertical (ZZ) manipulating force (F), and / or changes the transmission behavior of the / a control element (14), which is a function of the / a deviation (ΔP) of the force Signals (P) from the setpoint (V) the / a control signal (T) for the / a drive (2) for triggering a vertical (ZZ) movement of the support element (5).

13. System according to one or more of claims 1 to 12, characterized by at least one fluidic, in particular pneumatic, acting brake (20) for the support element (5), with a cylindrical housing (21), with a housing (21) closing on the top Cover (22) and a base plate (23) which closes the housing (21) on the underside, and with a housing (21) which is longitudinally movable in the housing (21) in a sealed pressure chamber (25) for a pressure-generating fluid and in a spring chamber (26 ) dividing piston (24), the cover (22), base plate (23) and piston (24) each having a passage opening for the support element (5), with at least two locking elements (5) in the spring chamber (26) around the support element (5) 27), in particular balls, are arranged which are acted upon on the one hand by springs (28) and on the other hand by the piston (24) under the pressure effect of the fluid, the spring chamber (26) being such a s I have in the direction of the piston (24) tapering region (29) that the locking elements (27), if they are in a spring-side part of the region (29) when the fluid is under pressure, release the support element (5), and if they are moved in the absence of pressure from the fluid under the action of the springs (28) into a piston-side part of the area (29), the support element (5) in the housing (21 ⁾ jam.

14. System according to claim 13, characterized in that the path-dependent signal (S), which corresponds to a substantially vertical (ZZ) movement of the support element (5), as an input signal for controlling the brake (20), in particular for opening a pressure relief valve for the Pressure chamber (25) is used.

15. System according to claim 13 or 14, g e k e n n z e i c h n e t d u r ch two brakes (20) mounted in 180 ° rotated against each other.

16. System according to one or more of claims 1 to 15, characterized by a safety controller for the drive (2) and / or for blocking the vertical (ZZ) movement of the support element (5), which has a sensor (18), in particular a light barrier, for registering the use of the handling device (10) and a switching element (19) which switches off the drive (2) or blocks the vertical (ZZ) movement of the support element (5) and only then switches on or releases (signal U ) when the sensor (19) signals the use of the handling device (10) (signal A).

17. System according to one or more of claims 10 to 16, characterized by a safety controller for a manually operated Load suspension mechanism, in particular for a clamping or gripping mechanism, of the load suspension device (10). Unit control element (17), which blocks the manual operation of the load suspension mechanism and only releases (signal B) when there is no path-dependent signal (S) when there is a force-dependent signal (P).

18. System according to one or more of claims 9 to 17, characterized in that the control element (12) of the control circuit for load balancing and / or the control element (14) of the control for the vertical (ZZ) movement of the support element (5) and / or the setting element (16) for the setpoint (V) of this control and / or the switching element (19) of the safety control for the drive (2) or for blocking the support element (5) and / or the safety control element (17) the safety controller is / are part (s) of a programmable logic controller (PLC).

19. System according to claim 18, so that the programmable logic controller (PLC) is arranged in the vicinity of the drive (2), in particular in a lifting unit (3) receiving the drive (2).

20. System according to one or more of claims 1 to 19, characterized by an exchangeable accumulator for supplying power to the control circuit for load balancing, the control for the vertical (ZZ) movement of the support element (5), the safety controller (s) and / or the programmable logic controller (PLC), in particular in the presence of a fluidically acting drive device .

21. System according to claim 20, so that the accumulator is arranged on or in the handling device (10).

22. System according to one or more of claims 1 to 21, a crane trolley guided on a running rail construction (4) in at least one horizontal (X-X) direction in accordance with one or more of the claims.

23. System according to one or more of claims 1 to 22, characterized in that the load lifting device (1) for its movements in the horizontal direction (XX and / or YY) is assigned at least one drive device which, depending on one - starting from the due to gravity in the rest position automatically adjusting vertical alignment (ZZ) - forced deflection of the support element (5) can be controlled.

24. Method for controlling a load lifting device (1), in particular by means of a system according to one or more of claims 1 to 23, characterized in that after taking up a load (9) a force applied by a / the drive (2) or a corresponding moment is automatically increased rapidly until this (s) Weight of the load (9) corresponds, a path-dependent signal (S) for an essentially vertical (ZZ) movement of a / the support element (5) being determined to determine the setting of an achieved balance state for the load (9).

25. The method according to claim 24, characterized in that the path-dependent signal (S) is compared with a target value (W) and, if the signal (S) and target value (W) match (ΔS = 0) by the drive (2nd ) applied force or the moment is kept constant at an reached value.