A bell and spigot reinforced concrete pipe sling
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GANSU JIAN TOU TUNNEL ENG CO LTD
- Filing Date
- 2025-08-25
- Publication Date
- 2026-06-26
Smart Images

Figure CN224411204U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of lifting equipment technology, specifically a socket-type reinforced concrete pipe lifting equipment. Background Technology
[0002] Lifting refers to the process of moving concrete pipes from one place to another using lifting equipment. In this process, the lifting gear, as a key connecting device between the lifting equipment and the pipe being lifted, plays an important role in securing the pipe to the lifting equipment to achieve safe transfer.
[0003] Existing socket-type reinforced concrete pipe lifting devices mostly rely on hooks or chains to simply hook or bind the outside of the pipe. Due to the lack of internal support structure, they are prone to slippage due to the smooth surface of the pipe and uneven lifting force. Although some lifting devices are equipped with internal support structures, the two C-shaped hooks cannot tighten in opposite directions, which makes the pipe prone to slippage and displacement due to shaking during the lifting process. This can lead to pipe tilting, local overload, and damage, thus restricting the safety and efficiency of the operation. Utility Model Content
[0004] The purpose of this utility model is to provide a socket-type reinforced concrete pipe lifting tool to solve the problem that, although the existing socket-type reinforced concrete pipe lifting tool has internal support, the two C-shaped hooks cannot be tightened towards each other, causing the pipe to shake, slip, tilt and be damaged, thus affecting the safety and efficiency of the operation.
[0005] To achieve the above objectives, this utility model provides the following technical solution: a socket-type reinforced concrete pipe lifting device, comprising a lifting frame, a lifting ring located in the middle of the upper side of the lifting frame, load-bearing iron chains located at both ends of the lower side of the lifting frame, and C-shaped hooks symmetrically arranged and connected to the lower ends of the two load-bearing iron chains, further comprising a release and release tensioning mechanism located inside the upper side of the two C-shaped hooks, a telescopic drive mechanism located in the middle of the lower side of the lifting frame, and an inner support clamping mechanism symmetrically arranged below the two C-shaped hooks; the output end of the telescopic drive mechanism is connected to the upper middle of the release and release tensioning mechanism.
[0006] Furthermore, the release and tensioning mechanism includes a U-shaped frame respectively disposed on the upper side inside the two C-shaped hooks, a guide wheel assembly rotatably connected inside the U-shaped frame, and a traction rope slidably engaged with the two guide wheel assemblies; the two ends of the traction rope are connected to the output end of the telescopic drive mechanism.
[0007] Furthermore, the telescopic drive mechanism includes an electric push rod located in the middle of the lower side of the hanger, and a connecting block located at the output end of the electric push rod; the connecting block has an inverted U-shaped structure, and the two ends of the traction rope are symmetrically fixed to the two side walls of the connecting block; the telescopic direction of the electric push rod is perpendicular to the length direction of the hanger.
[0008] Furthermore, the guide wheel assembly includes a rotating shaft rotatably connected to both sides inside the U-shaped frame, a guide roller sleeved on the outer wall of the rotating shaft, and baffles respectively disposed at both ends of the guide roller; the traction rope is in rolling cooperation with the guide roller and is confined between the two baffles.
[0009] Furthermore, the internal support clamping mechanism includes an L-shaped plate located below the C-shaped hook, a mounting cylinder fixed inside one side of the L-shaped plate, a fixing ring fixed to one end of the outer wall of the mounting cylinder, four sliding grooves formed on the outer wall of the mounting cylinder along its axial direction, a sliding ring sleeved on the outer wall of the mounting cylinder, a lead screw rotatably connected to both ends inside the mounting cylinder, a threaded block threaded with the lead screw, a slider located on the outer wall of the threaded block and corresponding to each of the four sliding grooves, a servo motor located on the outside of the L-shaped plate, and four folding internal support assemblies hinged to the outer walls of the fixing ring and the sliding ring and evenly spaced along the circumference; the axis of the lead screw coincides with the axis of the mounting cylinder; the output end of the servo motor is connected to one end of the lead screw via a coupling; the slider passes through the corresponding sliding groove and is fixedly connected to the inner wall of the sliding ring.
[0010] Furthermore, a protective cover is provided on the outer side of the L-shaped plate, and the servo motor is located inside the protective cover.
[0011] Furthermore, the folding inner support assembly includes a second link hinged to the outer wall of the fixed ring, a first link hinged to the outer wall of the sliding ring, and an arc-shaped clamping plate hinged together with the free ends of the second link and the first link; the first link and the second link are arranged intersectingly and are hinged to each other at the middle.
[0012] Furthermore, the outer wall of the arc-shaped clamp is provided with a second protective pad; the inner wall of the C-shaped hook is provided with a first protective pad; both the first and second protective pads are made of rubber.
[0013] Furthermore, the upper side of the hanger is provided with a battery pack and a controller arranged at intervals; the servo motor and the electric push rod are both electrically connected to the controller; the controller is equipped with a wireless remote control module for remote operation; the battery pack provides working power for the servo motor, the electric push rod and the controller.
[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0015] This utility model discloses a socket-type reinforced concrete pipe lifting device that integrates components such as a lifting frame, lifting ring, load-bearing iron chain, C-shaped hook, release and release tensioning mechanism, telescopic drive mechanism, and internal support clamping mechanism. It adopts a dual fixing mode of external clamping and internal support. The release and release tensioning mechanism drives the C-shaped hook to tighten towards each other through the telescopic drive mechanism to form an external clamping force. The internal support clamping mechanism achieves tight clamping of the inside of the pipe body by means of the radial expansion and contraction of the folded internal support assembly. The lifting device can form reliable constraints from both the inside and outside by the cooperation of the two, eliminating the risk of pipe slippage during the lifting process and improving the safety of operation. Attached Figure Description
[0016] Figure 1 This is a cross-sectional schematic diagram of the socket-type reinforced concrete pipe lifting device of this utility model;
[0017] Figure 2 For the present utility model Figure 1 An enlarged structural diagram of the internal support clamping mechanism corresponding to point A in the middle;
[0018] Figure 3 This is a system control block diagram of the socket-type reinforced concrete pipe lifting tool of this utility model.
[0019] In the diagram: 1. Hanger; 2. Lifting ring; 3. Load-bearing chain; 4. C-shaped hook; 5. First protective pad; 6. Electric push rod; 7. Connecting block; 8. Traction rope; 9. U-shaped frame; 10. Rotating shaft; 11. Guide roller; 12. Baffle; 13. Internal support clamping mechanism; 14. L-shaped plate; 15. Mounting cylinder; 16. Sliding groove; 17. Servo motor; 18. Lead screw; 19. Threaded block; 20. Slider; 21. Sliding ring; 22. Fixed ring; 23. First connecting rod; 24. Second connecting rod; 25. Arc-shaped clamp; 26. Second protective pad; 27. Protective cover; 28. Controller; 29. Battery pack. Detailed Implementation
[0020] Please see Figure 1-3 A socket-type reinforced concrete pipe lifting device includes a lifting frame 1, a lifting ring 2 welded and fixed to the upper middle part of the lifting frame 1 (for connection to lifting equipment), load-bearing iron chains 3 respectively connected to the lower ends of the lifting frame 1, and C-shaped hooks 4 respectively connected to the lower ends of the two load-bearing iron chains 3 and symmetrically arranged. It also includes a release and release tensioning mechanism located inside the upper side of the two C-shaped hooks 4, a telescopic drive mechanism located in the lower middle part of the lifting frame 1, and an inner support clamping mechanism 13 respectively located in the lower side of the two C-shaped hooks 4 and symmetrically arranged. The output end of the telescopic drive mechanism is connected to the upper middle part of the release and release tensioning mechanism.
[0021] This application further proposes a release and release tensioning mechanism including a U-shaped frame 9 welded and fixed to the upper side of the inside of two C-shaped hooks 4, a guide wheel assembly rotatably connected to the U-shaped frame 9, and a traction rope 8 that slides with the two guide wheel assemblies; the two ends of the traction rope 8 are connected to the output end of the telescopic drive mechanism.
[0022] The openings of the two U-shaped frames 9 face the inside of the C-shaped hooks 4; the traction rope 8 passes through the two guide wheel sets in sequence and slides with them, and its two ends are fixedly connected to the output end of the telescopic drive mechanism, forming a tensioning structure spanning the two C-shaped hooks 4.
[0023] Specifically, the sliding engagement between the guide wheel assembly and the traction rope 8 reduces frictional resistance during tensioning, allowing the power transmission of the telescopic drive mechanism to be achieved. Through the tensioning of the traction rope 8, the two C-shaped hooks 4 tighten towards each other, forming an external clamping force on the concrete pipe and preventing the pipe from falling off during hoisting. At the same time, the symmetrical arrangement of the structure on both sides ensures that the C-shaped hooks 4 are subjected to balanced forces, preventing the pipe from tilting due to excessive force on one side, further improving the stability and safety of the hoisting process.
[0024] This application further proposes a telescopic drive mechanism including an electric push rod 6 bolted to the lower middle part of the hanger 1 and a connecting block 7 welded to the output end of the electric push rod 6; the connecting block 7 has an inverted U-shaped structure, and the two ends of the traction rope 8 are symmetrically fixed to the two side walls of the connecting block 7; the telescopic direction of the electric push rod 6 is perpendicular to the length direction of the hanger 1.
[0025] The connecting block 7 has symmetrical rope holes on both sides; the two ends of the traction rope 8 pass through the corresponding rope holes and are fixedly connected to the two sides of the connecting block 7 by rope clamps or crimping.
[0026] Specifically, the electric push rod 6 can transmit linear driving force to both ends of the traction rope 8, ensuring that the traction rope 8 is subjected to symmetrical force and avoiding skewing or breakage.
[0027] This application further proposes a guide wheel assembly including a horizontally arranged rotating shaft 10 rotatably connected to both sides of the inside of the U-shaped frame 9 via bearings, a guide roller 11 with an interference fit sleeve on the outer wall of the rotating shaft 10, and baffles 12 respectively welded to both ends of the guide roller 11; the outer wall of the guide roller 11 has an annular groove adapted to the traction rope 8; the traction rope 8 rolls with the guide roller 11 and is limited to the two baffles 12.
[0028] The diameter of the baffle 12 is larger than the outer diameter of the guide roller 11; the traction rope 8 is embedded in the annular groove of the guide roller 11, forming a rolling fit with the guide roller 11, and is confined between the two baffles 12 to avoid lateral displacement; the traction rope 8 is preferably made of high-strength synthetic fiber material (such as polyester industrial filament rope or ultra-high molecular weight polyethylene rope).
[0029] Specifically, the annular groove on the outer wall of the guide roller 11 provides precise guidance for the traction rope 8, and the limiting effect of the baffles 12 at both ends prevents the traction rope 8 from falling off or shifting during tensioning or slack-off. At the same time, the traction rope 8 and the guide roller 11 adopt a rolling contact, which greatly reduces friction loss compared to sliding contact. The wrapping support of the annular groove can also avoid local stress concentration in the traction rope 8 and extend its service life. The rotating shaft 10 and the U-shaped frame 9 are connected by bearings, which reduces rotational resistance and allows the guide roller 11 to rotate flexibly with the traction rope 8, reducing energy loss in power transmission.
[0030] This application further proposes an internal support clamping mechanism 13, including an L-shaped plate 14 welded and fixed to the lower side of the C-shaped hook 4, a mounting cylinder 15 welded and fixed to one side of the interior of the L-shaped plate 14, a fixing ring 22 integrally formed on one end of the outer wall of the mounting cylinder 15, four sliding grooves 16 formed on the outer wall of the mounting cylinder 15 along the axial direction, a sliding ring 21 sleeved on the outer wall of the mounting cylinder 15, a lead screw 18 rotatably connected to both ends of the interior of the mounting cylinder 15 via bearings, a threaded block 19 threadedly engaged with the lead screw 18, and a ring connected to the outer wall of the threaded block 19. The system includes sliders 20 corresponding to the four sliding grooves 16, servo motors 17 mounted on the outside of the L-shaped plate 14, and four folding inner support assemblies hinged to the outer walls of the fixed ring 22 and the sliding ring 21 and evenly spaced along the circumference; the axis of the lead screw 18 coincides with the axis of the mounting cylinder 15; the output end of the servo motor 17 is connected to one end of the lead screw 18 via a coupling; the sliders 20 pass through the corresponding sliding grooves 16 and are welded and fixed to the inner wall of the sliding ring 21; the sliding ring 21 is sleeved on the outer wall of the mounting cylinder 15 and can slide along its axial direction.
[0031] Specifically, the servo motor 17 drives the lead screw 18 to rotate, and the screw 18 is used to convert the rotational motion into the axial movement of the sliding ring 21. The sliding ring 21 is then guided by the slider 20 and the sliding groove 16 to ensure stable movement, which in turn drives the folding inner support assembly to unfold or retract, thereby achieving adaptive inner support fixation for concrete pipes of different diameters and strong adaptability.
[0032] This application further proposes that a protective cover 27 is fixedly installed on the outer side of the L-shaped plate 14 by bolts, and the servo motor 17 is located inside the protective cover 27.
[0033] The protective cover 27 is a cavity structure with one open end. Its open end is tightly fitted to the outer wall of the L-shaped plate 14 and sealed and fixed by bolts. The outer wall of the protective cover 27 is evenly provided with multiple heat dissipation holes. The hole diameter and hole spacing are adapted to the heat dissipation requirements of the servo motor 17, which not only ensures air circulation inside the cavity, but also prevents foreign objects from entering.
[0034] Specifically, the protective cover 27 can block impurities such as dust, sand, and rainwater commonly encountered during hoisting operations, preventing wear and tear on internal components of the servo motor 17 or short circuits, thus improving the durability of the equipment.
[0035] This application further proposes a folding inner support assembly including a second link 24 hinged to the outer wall of the fixed ring 22, a first link 23 hinged to the outer wall of the sliding ring 21, and an arc-shaped clamping plate 25 hinged together with the free ends of the second link 24 and the first link 23; the first link 23 and the second link 24 are arranged crosswise and hinged to each other in the middle.
[0036] One end of the second connecting rod 24 is hinged to the outer wall of the fixed ring 22 via a pin, allowing it to rotate freely around the hinge point. One end of the first connecting rod 23 is hinged to the outer wall of the sliding ring 21 via a pin of the same specification, and is in a cross state with the second connecting rod 24. The middle parts of the two are hinged to each other via pins to form a scissor structure. Scissor structure: The first connecting rod 23 and the second connecting rod 24 are cross-hinged to form a telescopic structure similar to scissors, realizing the radial movement of the arc-shaped clamp 25. The back of the arc-shaped clamp 25 is hinged to the free ends of the first connecting rod 23 and the second connecting rod 24 via pins, so that the movements of the first connecting rod 23 and the second connecting rod 24 can be transmitted to the arc-shaped clamp 25 simultaneously, realizing its radial extension and contraction.
[0037] Specifically, when the sliding ring 21 moves axially, the first connecting rod 23 and the second connecting rod 24 can be extended or retracted simultaneously, driving the arc-shaped clamping plate 25 to achieve radial extension and contraction, ensuring adaptability to concrete pipes of different diameters.
[0038] This application further proposes that the outer wall of the arc-shaped clamp 25 is bonded with a second protective pad 26 by a vulcanization bonding process; the inner wall of the C-shaped hook 4 is also bonded with a first protective pad 5 by a vulcanization bonding process; both the first protective pad 5 and the second protective pad 26 are made of wear-resistant and highly elastic rubber material.
[0039] Among them, the shape of the first protective pad 5 is perfectly matched with the inner wall contour of the C-shaped hook 4, and the curvature of the second protective pad 26 is consistent with the outer wall curvature of the arc-shaped clamp 25; vulcanization bonding process: the second protective pad 26 is firmly bonded to the surface of the arc-shaped clamp 25 and the inner wall of the first protective pad 5 and the C-shaped hook 4 through high-temperature vulcanization, thereby improving durability.
[0040] Specifically, the first protective pad 5 and the second protective pad 26, made of rubber, can prevent rigid contact between the C-shaped hook 4, the arc-shaped clamp 25 and the concrete pipe, reduce damage to the pipe surface caused by collision and friction during hoisting, and protect the integrity of the pipeline. At the same time, the high coefficient of friction of rubber can increase the static friction between the lifting device and the pipeline, further improve the anti-slip effect, and reduce the risk of pipe slippage. In addition, the elasticity of rubber can buffer the slight vibration during hoisting, reduce stress concentration damage to the pipe joints, and extend the service life of the pipeline.
[0041] This application further proposes that a battery pack 29 and a controller 28 are installed at intervals on the upper side of the hanger 1; two servo motors 17 and an electric push rod 6 are electrically connected to the controller 28; the controller 28 is equipped with a wireless remote control module for remote operation; the battery pack 29 provides working power for the servo motors 17, the electric push rod 6 and the controller 28.
[0042] The battery pack 29 is connected to the power interfaces of the servo motor 17, the electric push rod 6 and the controller 28 via wires to provide power to the three. The signal output terminal of the controller 28 is connected to the control terminals of the two servo motors 17 and the control terminal of the electric push rod 6 via cables to realize the action control of the two. At the same time, the wireless remote control module built into the controller 28 establishes a communication connection with an external remote control via radio frequency signals, forming a complete circuit system of power supply, control and execution to ensure that all components work together.
[0043] Specifically, by integrating the battery pack 29 and the controller 28, the constraints of external cables are eliminated, making it suitable for outdoor hoisting scenarios without a fixed power source, thus improving the portability and operational flexibility of the equipment; the wireless remote control module enables remote operation, reducing close contact between operators and the hoisting area and lowering safety risks.
[0044] It should be noted that the servo motor 17, electric actuator 6, controller 28, battery pack 29 and other components are all commercially available and mature products that can be purchased directly. Their specific models and specifications can be selected according to the actual application scenario. The staff does not need to understand the specific structure and working principle of these components. As long as the purchased products can operate normally, it will not affect the specific implementation of this utility model. Therefore, they will not be described in detail here.
[0045] Working process and principle: During hoisting operations, the controller 28 first controls the extension of the electric push rod 6, which drives the inverted U-shaped connecting block 7 to move downward, so that the traction rope 8 is in a slack state, leaving enough space for the C-type hook 4 to be fastened. Then, the two C-type hooks 4 are fastened to the sockets at both ends of the concrete pipe. At this time, the two internal support clamping mechanisms 13 extend into the pipe simultaneously, so that the first protective pad 5 on the inner wall of the C-type hook 4 is tightly attached to the outer wall of the pipe.
[0046] After the operation controller 28 remotely starts the servo motor 17, the servo motor 17 drives the lead screw 18 to rotate. The threaded block 19 translates along the axial direction of the lead screw 18. Through the directional sliding of the four sliders 20 in the four sliding grooves 16 respectively, the sliding ring 21 is pushed to move along the axial direction of the mounting cylinder 15. This causes the first connecting rod 23 and the second connecting rod 24 of the four folding inner support components to unfold synchronously and crosswise. This causes the four annularly spaced arc-shaped clamps 25 and the second protective pads 26 to extend radially. For concrete pipes of different diameters, the displacement of the sliding ring 21 can be adjusted by the forward and reverse rotation of the servo motor 17 to precisely control the extension range of the arc-shaped clamps 25, ensuring that they are tightly pressed against the inner wall of the corresponding pipe diameter, thus achieving adaptive inner support fixation.
[0047] During this process, the controller 28 synchronously controls the electric push rod 6 to retract, and pulls the traction rope 8 through the inverted U-shaped connecting block 7. The traction rope 8 slides smoothly upward along the annular groove of the guide roller 11 (the baffle 12 effectively prevents derailment), and applies a symmetrical upward tension force to the C-shaped hook 4, so that the two C-shaped hooks 4 tighten towards each other, and work together with the inner support clamping mechanism 13 to form a double fixing structure of outer clamp and inner support, eliminating the risk of pipe slippage during hoisting.
[0048] The entire operation process is continuously powered by the battery pack 29, and is remotely controlled throughout via a wireless remote control module.
[0049] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A bell and spigot reinforced concrete pipe lifting device, comprising a lifting frame (1), a lifting ring (2) arranged at the middle of the upper side of the lifting frame (1), load bearing iron chains (3) arranged at the lower side of the two ends of the lifting frame (1) respectively, and C-shaped lifting hooks (4) connected with the lower ends of the two load bearing iron chains (3) respectively and arranged symmetrically, characterized in that, It also includes a release and release tensioning mechanism located on the upper side inside the two C-shaped hooks (4), a telescopic drive mechanism located in the middle of the lower side of the hanger (1), and an inner support clamping mechanism (13) located on the lower side of the two C-shaped hooks (4) and symmetrically arranged; the output end of the telescopic drive mechanism is connected to the middle of the upper side of the release and release tensioning mechanism.
2. The concrete pipe lifting tool according to claim 1, characterized in that, The release and release tensioning mechanism includes a U-shaped frame (9) respectively located on the upper side inside the two C-shaped hooks (4), a guide wheel assembly rotatably connected inside the U-shaped frame (9), and a traction rope (8) that slides with the two guide wheel assemblies; the two ends of the traction rope (8) are connected to the output end of the telescopic drive mechanism.
3. The concrete pipe lifting device according to claim 2, characterized in that, The telescopic drive mechanism includes an electric push rod (6) located in the middle of the lower side of the hanger (1) and a connecting block (7) located at the output end of the electric push rod (6); the connecting block (7) has an inverted U-shaped structure, and the two ends of the traction rope (8) are symmetrically fixed to the two side walls of the connecting block (7); the telescopic direction of the electric push rod (6) is perpendicular to the length direction of the hanger (1).
4. The concrete pipe lifting tool according to claim 2, characterized in that, The guide wheel assembly includes a rotating shaft (10) rotatably connected to both sides inside the U-shaped frame (9), a guide roller (11) sleeved on the outer wall of the rotating shaft (10), and baffles (12) respectively provided at both ends of the guide roller (11); the traction rope (8) rolls with the guide roller (11) and is limited between the two baffles (12).
5. The concrete pipe lifting device according to claim 1, characterized in that, The internal support clamping mechanism (13) includes an L-shaped plate (14) located below the C-shaped hook (4), an mounting cylinder (15) fixed inside one side of the L-shaped plate (14), a fixing ring (22) fixed to one end of the outer wall of the mounting cylinder (15), four sliding grooves (16) opened on the outer wall of the mounting cylinder (15) along the axial direction, a sliding ring (21) sleeved on the outer wall of the mounting cylinder (15), a lead screw (18) rotatably connected to both ends inside the mounting cylinder (15), a threaded block (19) threadedly engaged with the lead screw (18), and a ring located outside the threaded block (19). The wall has a slider (20) that corresponds to each of the four sliding grooves (16), a servo motor (17) located on the outside of the L-shaped plate (14), and four folding inner support assemblies that are hinged to the outer wall of the fixed ring (22) and the sliding ring (21) and are evenly spaced along the circumference; the axis of the lead screw (18) coincides with the axis of the mounting cylinder (15); the output end of the servo motor (17) is connected to one end of the lead screw (18) through a coupling; the slider (20) passes through the corresponding sliding groove (16) and is fixedly connected to the inner wall of the sliding ring (21).
6. The concrete pipe lifting tool according to claim 5, characterized in that, The L-shaped plate (14) is provided with a protective cover (27) on the outside, and the servo motor (17) is located inside the protective cover (27).
7. The concrete pipe lifting device according to claim 5, characterized in that, The folding inner support assembly includes a second link (24) hinged to the outer wall of the fixed ring (22), a first link (23) hinged to the outer wall of the sliding ring (21), and an arc-shaped clamp (25) hinged to the free ends of the second link (24) and the first link (23); the first link (23) and the second link (24) are arranged crosswise and hinged to each other in the middle.
8. The concrete pipe lifting device according to claim 7, characterized in that, The outer wall of the arc-shaped clamp (25) is provided with a second protective pad (26); the inner wall of the C-shaped hook (4) is provided with a first protective pad (5); both the first protective pad (5) and the second protective pad (26) are made of rubber.
9. The concrete pipe lifting device according to claim 5, characterized in that, The upper side of the hanger (1) is provided with a battery pack (29) and a controller (28) arranged at intervals; the servo motor (17) and the electric push rod (6) are both electrically connected to the controller (28); the controller (28) is equipped with a wireless remote control module for remote operation; the battery pack (29) provides working power for the servo motor (17), the electric push rod (6) and the controller (28).