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EP2444355B2 - Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse - Google Patents
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EP2444355B2 - Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse - Google Patents

Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse Download PDF

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Publication number
EP2444355B2
EP2444355B2 EP11185068.1A EP11185068A EP2444355B2 EP 2444355 B2 EP2444355 B2 EP 2444355B2 EP 11185068 A EP11185068 A EP 11185068A EP 2444355 B2 EP2444355 B2 EP 2444355B2
Authority
EP
European Patent Office
Prior art keywords
cable
winch
reel
sensor
winding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP11185068.1A
Other languages
German (de)
English (en)
Other versions
EP2444355B1 (fr
EP2444355A1 (fr
Inventor
Andreas Behmüller
Peter Betz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kassbohrer Gelandefahrzeug AG
Kaessbohrer Gelaendefahrzeug AG
Original Assignee
Kassbohrer Gelandefahrzeug AG
Kaessbohrer Gelaendefahrzeug AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=44799814&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2444355(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Kassbohrer Gelandefahrzeug AG, Kaessbohrer Gelaendefahrzeug AG filed Critical Kassbohrer Gelandefahrzeug AG
Publication of EP2444355A1 publication Critical patent/EP2444355A1/fr
Publication of EP2444355B1 publication Critical patent/EP2444355B1/fr
Application granted granted Critical
Publication of EP2444355B2 publication Critical patent/EP2444355B2/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
    • B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H4/00—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow
    • E01H4/02—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow for sporting purposes, e.g. preparation of ski trails; Construction of artificial surfacings for snow or ice sports ; Trails specially adapted for on-the-snow vehicles, e.g. devices adapted for ski-trails

Definitions

  • the invention relates to a method for controlling a cable winch of a vehicle according to the preamble of claim 1 and a snow groomer with a cable winch according to the preamble of claim 2.
  • a method and such a snow groomer are eg by WO2010/095016 disclosed.
  • a method for controlling a winch of a tracked vehicle is from EP 1 431 236 B1 known.
  • the rope speed of the winch rope is regulated by the known method.
  • the winch cable controller includes a comparator block that compares a current position of a cable guide device with a calculated position. The current position is recorded by a sensor. Depending on a result of the comparison, the winch cable control can correct the current position of the cable guide device. In addition, the tangential speeds of the reel and a deflection pulley can be calculated using the winch cable control.
  • a comparator block within the winch cable controller compares the tangential speeds to a predetermined limit. As soon as the limit value is exceeded, the reel is stopped when unwinding the winch cable.
  • the object of the invention is to provide a method and a snow groomer of the type mentioned at the outset, which allow a low load on the winch cable during winch operation of the snow groomer and allow the winding of the winch cable to be monitored.
  • the method according to the invention makes it possible to detect faulty winding of the winch cable and, as a result, faults in the winch cable itself at an early stage. A corresponding error signal then prompts the driver of the vehicle to interrupt the operation of the cable winch and to check the cable and troubleshoot the problem.
  • the specification of a defined number of rope windings per winding layer on the reel is calculated based on the usable width of the reel and the rope thickness.
  • the object on which the invention is based is achieved for a previously described snow groomer in that a device for carrying out a previously described method having the features of claim 2 is provided.
  • the functional unit can also be a control unit that intervenes directly in the winch drive or the traction drive in order to relieve the load on the winch cable in particular.
  • the snow groomer is intended in a particularly advantageous manner for processing snowy terrain.
  • the solution according to the invention enables a particularly economical operation of the snow groomer in winch operation, i.e. in steep terrain.
  • the invention achieves a low and therefore gentle loading of the winch cable.
  • the sensor device for detecting the cable speed advantageously also has a time measuring device in order to convert the cable path that can be detected by the remaining cable length sensor into the cable speed.
  • an absolute value encoder that detects revolutions of the reel is provided as the remaining rope length sensor.
  • the absolute encoder is preferably arranged coaxially to an axis of rotation of the reel and permanently records the angle of rotation or the change in the angle of rotation of the reel.
  • the absolute value transmitter can also be provided with a time module, so that the cable speed can be calculated directly using the data from the absolute value transmitter.
  • the absolute encoder is designed as a rotary encoder and measures the angle of rotation.
  • the absolute value encoder is designed as a multiturn rotary encoder in order to be able to record several revolutions of the reel.
  • a snow groomer 1 according to Figures 1 to 3 is provided in a fundamentally known manner with a cable winch 2, which supports a traction drive of the snow groomer 1, in particular in steep snowy terrain.
  • a winch cable 13 ( 3 ) of the cable winch is anchored in place on an upper section of a steep slope to be worked on.
  • the cable winch 2 has a winch arm 3 which rotates about an axis of rotation (not designated in more detail) that extends in the vertical direction of the vehicle relative to a vehicle longitudinal axis F ( 2 ) can be rotated by 360°.
  • the cable winch 2 is provided with a winch drive 7, shown only schematically, which is described in more detail below.
  • the snow groomer 1 has a pair of drive chains 4, which are each driven by a sprocket wheel.
  • the winch arm 3 is--in the present embodiment together with the winch drive 7--mounted on a base fastened on a loading platform of the snow groomer 1 so that it can rotate about the axis of rotation described.
  • the sprockets as part of a traction drive of the snow groomer 1 are driven hydraulically by hydraulic motors.
  • electric motors are provided instead of hydraulic motors.
  • the cable winch 2 has a reel 10 which is rotatably mounted in a winch housing (not designated in more detail) and on which the winch cable 2 is held so that it can be wound up and unwound ( 3 ).
  • the reel 10 has a usable width on its drum surface, which is matched to a thickness of the winch cable such that 50 turns can be placed next to one another on the reel in one winding layer. In other embodiments of the invention, a smaller or larger width is provided, depending on the application.
  • a winding arm 12 is provided for winding and unwinding the winch cable 13 relative to the reel 10 in order to ensure that the turns of a winding layer are laid carefully and evenly against one another.
  • the winding arm 12 is - in relation to a rope pull-out direction - mounted pivotably in front of the reel 10 in the winch housing by means of a pivot bearing 14 .
  • a pivot plane of the winding arm 12 lies parallel to a lateral surface of the cylindrical shape of the reel 10 and thus also parallel to the axis of rotation of the reel 10.
  • a rotation angle ⁇ of the winding arm 12 is matched to the usable width of the reel 10 in such a way that the winch cable passes through the winding arm 12 can be performed for each of the turns distributed over the reel 10 of each winding layer.
  • the winch cable 13 is pulled off the reel 10 or wound onto the reel 10 via a capstan gear, not shown in detail.
  • the capstan gear is part of the winch drive 7.
  • the reel 10 also has a reel drive, which is not shown in detail and is part of the winch drive 7.
  • Both the reel drive and a drive for the capstan gear are hydraulic.
  • a hydraulic motor is preferably assigned to the capstan gear.
  • the reel drive can also be formed by an electric drive instead of a hydraulic drive.
  • the capstan gear can also be provided with a sufficiently dimensioned electric motor instead of a hydraulic motor.
  • the winch drive 7 is exclusively hydraulic.
  • the winch drive is regulated in predetermined angular ranges of the winch arm 3 relative to a longitudinal axis F of the vehicle in the manner described in more detail below.
  • the control is in angle ranges ⁇ according to 2 effective.
  • the corresponding angular ranges extend in the direction of travel or counter to the direction of travel by 50° in both directions.
  • the winch arm 3 in a zero position. In a correspondingly reverse orientation, it is in a 180° position. This results in the remaining angular end ranges, shown in dashed lines, for the angular ranges described.
  • the regulation is effective between an angle of the winch arm 3 relative to the longitudinal axis F of the vehicle of -50° to +50°.
  • the angular range of the winch arm 3, in which effective control of the winch drive takes place extends from 130° to 180° to 230°.
  • a corresponding axis of rotation for the angular ranges described is defined by the axis of rotation of the winch arm 3 .
  • a speed sensor 5 is assigned to at least one sprocket wheel, by means of which a chain speed can be detected.
  • Speed sensors 5 are preferably assigned to both sprocket wheels of the opposite chains 4, which determine the chain speed by detecting the direction of rotation and the speed of rotation of the sprocket wheels.
  • An angle sensor 8 is provided in the area of the axis of rotation of the winch arm 3 , which detects the angle of rotation of the winch arm 3 relative to the longitudinal axis F of the vehicle.
  • a cable tension sensor 9 is provided in the winch arm 3 in the region of a guide for the winch cable.
  • the cable winch 2 is assigned a sensor device 6 for detecting a cable speed when winding or unwinding the winch cable.
  • the winch drive 7 comprises a hydraulic capstan drive, not shown in detail, with a capstan gear and capstan heads, via which the winch cable is deflected for being pulled off the reel 10 or for being wound onto the reel 10 .
  • the winch drive 7 also includes a drive for the reel 10, which drives the reel 10 at least in the winding direction.
  • the reel drive is realized by a hydraulic constant motor.
  • the capstan drive has a controllable hydraulic motor that acts on the capstan gear.
  • a force measuring bolt in the region of a displaceable deflection roller in the winch arm 3 is provided as the cable tension sensor 9 .
  • the sensor device 6 has a remaining rope length sensor 11, which is formed by an absolute value encoder in the form of a rotary encoder.
  • the absolute encoder records the revolutions of the reel in the winding or unwinding direction.
  • the sensor device has a not-shown time module to a to achieve additional time measurement to the distance measurement achieved by the residual rope length sensor.
  • a total cable length or at least a usable cable length of the winch cable 13 is known.
  • the diameter and circumference of the cylindrical drum surface of reel 10 are also known.
  • the number of rope windings that can be lined up next to one another in a winding layer on the reel 10 is also known.
  • the cable speed is determined by the additional time measurement during a corresponding winding or unwinding process.
  • the snow groomer 1 has an electronic control unit S to which the traction sensor 9, the sensor device 6, the angle sensor 8 and the speed sensor 5 are connected in order to transmit corresponding actual data to the control unit S.
  • the control unit S controls the winch drive 7 in order to regulate the cable pull for the winch cable 13 in such a way that there is a difference between the travel speed calculated from the cable speed and the angle of the angle arm 3 relative to the longitudinal axis of the vehicle and the chain speed results, whereby this difference between the calculated driving speed and chain speed should be in a constant difference range.
  • the snow groomer 1 is provided with an inclination sensor, which is not shown in detail, which is intended to detect a vehicle inclination relative to the horizontal and thus in particular when the snow groomer 1 is driving uphill or downhill.
  • This additional inclination sensor is optional, since alternatively, the position of the winch arm can also be used to detect whether the snow groomer is traveling uphill or downhill 2 is detectable.
  • the difference between the chain speed and the calculated driving speed can be positive or negative, because when driving downhill, the driving speed calculated from the cable speed and the angle of the winch arm can be lower than the chain speed in order to achieve a braking effect .
  • driving uphill on the other hand, an increased slippage of the chains 4 can be compensated for by a higher driving speed relative to the chain speed and consequently a higher cable speed.
  • the control unit S specifies a defined target differential range, which is also referred to as the target slip range. Compliance with this differential or slip target range is achieved by regulating the cable pull, which is regulated in such a way that the lowest possible cable pull that still allows the snow groomer 1 to be driven within the slip target range is set.
  • the rope pulling force is regulated by regulating the hydraulic pressure of the winch drive 7.
  • the hydraulic pressure of the hydraulic motor of the capstan drive is preferably controlled accordingly for this purpose.
  • the reel drive itself is not included in this rope tension control. It is only controlled in such a way that there is permanent tension for the winch cable between the capstan gear and the reel 10 in order to enable the winch cable 13 to be wound up or unwound properly.
  • a control module S1 is assigned to the central control unit S for controlling the cable winch 2 , which monitors the winding or unwinding processes of the winch cable 13 relative to the reel 10 and, if a winding error is detected, which also means a cable error, an error message is sent to the driver of the snow groomer 1 spends
  • a rotation angle sensor 15 is assigned to the angle arm 12 in the region of its pivot bearing 14 and is connected to the control module S 1 .
  • the absolute encoder 11 Also connected to the control module S 1 is the absolute encoder 11 , which is seated on the axis of rotation of the reel 10 .
  • the control module S 1 can compare the stored target data for the number of cable turns per winding and for the pivoting angle ⁇ of the winding arm 12 between the beginning and end of a winding layer determine whether proper winding or unwinding has taken place, or whether the winch cable 13 is winding or unwinding incorrectly. As soon as the control module S 1 has recognized this, it controls a signal generator 16 which transmits the corresponding error message to the driver's cab of the snow groomer, preferably in a display area which the driver can quickly identify.
  • the signal transmitter is preferably designed to be optical and/or acoustic.
  • control module S 1 is connected via the central control unit S in a suitable manner to a functional unit within the traction drive and/or the winch drive.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Claims (2)

  1. Procédé de commande d'un treuil à câble (2) d'une dameuse, comprenant les étapes suivantes :
    - comptage des tours d'un tambour de treuil (10) sur lequel le câble (13) est tenu de manière à être enroulable et déroulable,
    - détection d'un angle de rotation d'un bras enrouleur (12) guidant le câble (13) lors d'un enroulement ou déroulement du tambour de treuil (10),
    - spécification d'un nombre de spires de câble par couche d'enroulement sur le tambour de treuil,
    - comparaison des tours et angles de rotation détectés, à la spécification et
    - signalisation d'un message d'erreur en fonction d'un résultat de la comparaison, caractérisé en ce que le procédé comprend l'étape suivante :
    ∘ transmission du message d'erreur au poste de conduite d'un conducteur de la dameuse.
  2. Dameuse (1) avec un treuil à câble (2) et avec un dispositif pour réaliser un procédé selon la revendication 1 avec au moins un capteur (5) destiné à détecter la vitesse de chenille, avec un appareil de détection (6) destiné à détecter une vitesse de câble, avec un capteur d'angle (8) destiné à détecter un angle d'un bras de treuil (3) par rapport à un axe longitudinal du véhicule (F), sachant que le dispositif présente en outre les caractéristiques suivantes :
    - avec un capteur de longueur résiduelle de câble (11) destiné à détecter la longueur de câble déroulée du tambour de treuil (10) ou enroulée sur le tambour de treuil (10),
    - avec un capteur d'angle de rotation (15) du bras enrouleur (12) guidant le câble (13) lors d'un enroulement ou déroulement par rapport au tambour de treuil (10),
    - avec un module de commande (S1) comprenant une unité de traitement de données qui acquiert des données du capteur de longueur résiduelle de câble (11) et du capteur d'angle de rotation (15) et les compare à des valeurs de consigne enregistrées, et commande le signaleur (16) en fonction d'un résultat de la comparaison,
    caractérisé en ce que
    le dispositif comprend un signaleur destiné à signaler et transmettre une erreur de roulement de câble au poste de conduite de la dameuse.
EP11185068.1A 2010-10-19 2011-10-13 Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse Active EP2444355B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010049984A DE102010049984A1 (de) 2010-10-19 2010-10-19 Verfahren zur Steuerung einer Seilwinde eines Kettenfahrzeugs und Pistenraupe

Publications (3)

Publication Number Publication Date
EP2444355A1 EP2444355A1 (fr) 2012-04-25
EP2444355B1 EP2444355B1 (fr) 2015-09-02
EP2444355B2 true EP2444355B2 (fr) 2022-08-17

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ID=44799814

Family Applications (2)

Application Number Title Priority Date Filing Date
EP11185068.1A Active EP2444355B2 (fr) 2010-10-19 2011-10-13 Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse
EP11185066.5A Active EP2444356B1 (fr) 2010-10-19 2011-10-13 Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP11185066.5A Active EP2444356B1 (fr) 2010-10-19 2011-10-13 Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse

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EP (2) EP2444355B2 (fr)
DE (1) DE102010049984A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMI20120922A1 (it) 2012-05-28 2013-11-29 Snowgrolic S A R L Metodo di controllo, programma per elaboratore elettronico e dispositivo di controllo di un veicolo cingolato
IT201700064293A1 (it) * 2017-06-09 2018-12-09 Prinoth Spa Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo
DE102018213240A1 (de) * 2018-08-07 2020-02-13 Kässbohrer Geländefahrzeug AG Pistenraupe mit einem Kettenlaufwerk
IT202100032639A1 (it) 2021-12-24 2023-06-24 Prinoth Spa Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo
IT202200003908A1 (it) * 2022-03-02 2023-09-02 Prinoth Spa Veicolo cingolato per la preparazione di piste da sci e metodo di guida del veicolo cingolato
DE102022202414A1 (de) 2022-03-10 2023-09-14 Kässbohrer Geländefahrzeug Aktiengesellschaft Verfahren zur Steuerung einer Windenanordnung einer Pistenraupe, Vorrichtung zur Durchführung des Verfahrens und Pistenraupe
AT526150B1 (de) * 2022-10-03 2023-12-15 Konrad Forsttechnik Gmbh Vorrichtung und Verfahren zum Transportieren von Holz in steilem Gelände
AT527871A1 (de) * 2024-01-09 2025-07-15 Lechner Konrad Forstwirtschaftliches Nutzfahrzeug

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4475163A (en) † 1980-11-03 1984-10-02 Continental Emsco System for calculating and displaying cable payout from a rotatable drum storage device
CA2441650A1 (fr) † 2002-10-08 2004-04-08 Bombardier Recreational Products Enrouleur de cable pour vehicule a damer les pistes de ski
EP1431236A2 (fr) † 2002-12-17 2004-06-23 Kässbohrer Geländefahrzeug AG Procédé pour commander le treuil de halage d'un vehicule pour l'entretien des pistes et cedit vehicule
WO2010095016A1 (fr) † 2009-02-18 2010-08-26 Rolic Invest Sarl Dameuse comportant un treuil pour améliorer la manœuvrabilité de la dameuse sur les pentes raides et procédé d'exploitation du treuil

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1316116B1 (it) * 2000-01-21 2003-03-28 Leitner Spa Dispositivo per la impostazione e regolazione automatica della forzadi trazione di una fune di un verricello sopratesta per una macchina
US7097155B2 (en) * 2004-07-16 2006-08-29 Tulsa Winch, Inc. Winch or hoist including a device for signaling when a preset minimum number of cable windings are left on a winding drum

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4475163A (en) † 1980-11-03 1984-10-02 Continental Emsco System for calculating and displaying cable payout from a rotatable drum storage device
CA2441650A1 (fr) † 2002-10-08 2004-04-08 Bombardier Recreational Products Enrouleur de cable pour vehicule a damer les pistes de ski
EP1431236A2 (fr) † 2002-12-17 2004-06-23 Kässbohrer Geländefahrzeug AG Procédé pour commander le treuil de halage d'un vehicule pour l'entretien des pistes et cedit vehicule
WO2010095016A1 (fr) † 2009-02-18 2010-08-26 Rolic Invest Sarl Dameuse comportant un treuil pour améliorer la manœuvrabilité de la dameuse sur les pentes raides et procédé d'exploitation du treuil

Also Published As

Publication number Publication date
DE102010049984A1 (de) 2012-04-19
EP2444356A1 (fr) 2012-04-25
EP2444355B1 (fr) 2015-09-02
EP2444356B1 (fr) 2015-04-29
EP2444355A1 (fr) 2012-04-25

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