Classifications

• • 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
• • 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
• • 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
  • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes

Definitions

• the invention relates to a piste grooming vehicle with a winch associated with a point of application for cable forces, which is arranged at a distance from a yaw axis of the piste grooming vehicle and a method for compensating a cable pulling torque.
• a piste grooming vehicle which can be used in particular for the care of ski slopes, known.
• the well-known Pistennostintz can be equipped with a winch to be used in slope areas with great slope.
• DE 102 61 944 A1 describes a piste maintenance vehicle equipped with a winch, in which a chain speed of a drive chain and a rope speed of a pull rope to be wound up or unwound from a winch are determined.
• a control device an adaptation of the cable speed is made to the chain speed of the piste grooming vehicle.
• a piste grooming vehicle is assigned at least one piste grooming device, which can be designed, in particular, as a snow blower, rake blade or screed.
• the piste grooming device In conjunction with the topography of the subsoil on which the piste grooming vehicle travels, the piste grooming device has a considerable influence on the drive force to be applied by the drive motor of the piste grooming vehicle.
• the driving force is transmitted via drive chains from the drive motor to the ground, wherein the drive chains determine the position of a yaw axis of the piste grooming vehicle.
• the yaw axis is aligned at least substantially parallel to a vertical axis of the piste grooming vehicle, ie it runs perpendicular to the surface of the ground when the piste grooming vehicle is placed on a level surface.
• the yaw axis is the axis of rotation around which the piste grooming vehicle rotates when a torque about a vertical axis of the Pistennostischs exercised.
• the yaw axis is largely determined by the geometry and arrangement of the drive chains and the center of gravity of the piste grooming vehicle.
• the center of gravity is determined in particular by the position of the drive motor and the position and position of the at least one piste grooming device.
• the determination of the position of the yaw axis also includes dynamic effects such as external forces acting on the piste grooming vehicle via the piste grooming device (s) and / or acceleration and braking operations of the piste grooming vehicle in the plane or on the slope.
• the yaw axis is spaced from a point of application of the rope forces that can be applied by the winch.
• the point of application for rope forces is that point on the piste grooming vehicle at which the pull rope, which is acted upon by rope forces, can initiate the rope forces into the piste grooming vehicle on a point permanently connected to the piste grooming vehicle.
• the point of application for rope forces is, in particular, a deflection pulley for the pull rope which is fixedly connected to the winch.
• the point of application for the rope forces can be arranged on an end region of the support arm facing away from the winch.
• the towing rope is fastened to a terrain-fixed point during operation of the piste grooming vehicle, which is typically arranged centrally above a larger piste section to be worked by the piste grooming vehicle, it can not be ensured that the rope forces are aligned exclusively in the direction of travel of the piste grooming vehicle. Rather, the result of the winch applied cable force also Seilkraftkomponenten that are aligned orthogonal to a direction of travel of the piste grooming vehicle and are referred to as lateral forces.
• the lateral forces depend in terms of their amount and their direction essentially from an angle between the direction of travel of the piste grooming vehicle and the orientation of the hawser from the winch to the off-road point and from the cable force in the pull rope.
• the object underlying the invention is to provide a piste grooming vehicle and a method for compensating a cable pulling torque, which realize a facilitated operation and increased comfort.
• a piste care vehicle of the type mentioned in which at least one control device is provided, which is formed in operative connection with at least one control means for compensating at least one cable pull torque which can be applied by a cable pull force of the cable winch relative to the yaw axis.
• the control device is provided in particular as a hydraulic, pneumatic, mechanical, electrical or electronic influencing device or as a combination thereof on the piste grooming vehicle and designed for direct or indirect intervention in energy streams of the piste grooming vehicle.
• the control device can be provided, in particular, for a direct control of, in particular, hydraulic, pneumatic, mechanical or electrical energy flows which are delivered to at least one control means.
• control units of the snow grooming vehicle which control or regulate the energy flows to be delivered to the control means.
• the control means is adapted to at least partially compensate for the yaw moment, i. allow the cable pull torque applied by the cable pull force of the winch relative to the yaw axis.
• the control device for an at least substantially automatic compensation of the cable torque (Mq) is formed. Due to the at least partially automated compensation of the yaw moment is achieved that the operator of the piste grooming vehicle can devote greater attention to the grooming.
• the piste care vehicle also has at least partially automated compensation of the yawing moment more comfortable driving behavior, since rotational movements around the yaw axis can be reduced or minimized, which otherwise lead to unstable driving behavior of the piste grooming vehicle.
• At least one Seilwinkel- measuring device is provided and the control device is designed for processing cable angle signals.
• a Seilwinkelmessein- direction allows an automated determination of the angle between the direction of travel of the piste grooming vehicle and the substantially rectilinear alignment of the pull rope to a terrain fixed point.
• the control device can generate an actuating signal for at least one control device, by means of which the desired compensation of the yawing moment can be produced.
• the cable angle measuring device is provided on a support arm of the cable winch, in particular at an exit point of the pull cable from the support arm, thereby enabling a particularly advantageous and exact determination of the cable angle.
• At least one position sensor is provided and the control device is designed for processing position sensor signals.
• a position sensor makes it possible to determine a position of a piste grooming device or of the winch relative to the piste grooming vehicle and thereby in particular permits a determination of the position of the yaw axis by the control device as a function of the position of the piste grooming device and / or the winch.
• the angle between the direction of travel of the piste grooming vehicle and the orientation of the pull rope to the off-road point can be determined in a simple manner.
• the winch during operation is freely pivotable relative to the piste grooming vehicle mounted and in particular has a support arm for deflecting the hawser from the winch in the direction of the off-road point.
• the position sensor may in particular be designed as a linear displacement measuring device or as an angle sensor and based on an electrical, electronic, optical, mechanical, pneumatic or hydraulic measuring principle or a combination thereof.
• the inclination sensor may be attached to the piste grooming vehicle in such a way that it determines an inclination of the piste grooming vehicle about a transverse axis.
• the transverse axis is aligned both orthogonally to the vertical axis as well as to a central longitudinal axis of the vehicle, wherein the central longitudinal axis corresponds substantially to the main direction of travel of the piste grooming vehicle.
• the inclination sensor makes it possible to determine an angle between the vertical axis of the piste grooming vehicle and a vertical axis.
• the angle determined by the inclination sensor in conjunction with the position of the piste grooming equipment and the forces acting on the piste grooming implements, influences the position of the yaw axis of the piste grooming vehicle.
• the steeper the slope on which the piste grooming device moves the more the position of the yaw axis deviates from its position when the piste grooming vehicle is positioned horizontally.
• the control device is designed to process inclination sensor signals and thus allows a more accurate calculation of the yaw axis of the piste grooming vehicle.
• a piste grooming device pivotally mounted in the front or rear area of the piste care vehicle is designed as a control means.
• the piste grooming device which In particular, it may be designed as a front-mounted plow blade or as a snowthrower mounted on the rear side. It is typically adjustable in the direction of the vertical axis and in the direction of the transverse axis by corresponding adjusting devices and is actuated by the control device or by a control unit of the Pistennostidigs.
• the use of at least one piste grooming device as a control means is especially advantageous when the winch has no support arm or is freely rotatable about the vertical axis during operation of the piste grooming vehicle.
• the control of at least one piste grooming device by the control device allows a particularly advantageous compensation of the cable pull torque.
• At least one drive unit which is associated with at least one drive chain, designed as a control means.
• a drive unit can be assigned, for example, as an electric or hydraulic drive motor at least one drive chain and allows the transmission of a drive torque to the drive chain via a Turasrad.
• the drive unit may also be designed as a mechanical transfer case, in particular as a differential, wherein at least one drive chain is associated with a brake device that allows a different distribution of the drive torque to the drive chains.
• the use of the drive unit as a control means allows a particularly simple compensation of the cable pull torque about the yaw axis, since only one of the typically two drive chains of the piste care vehicle with a higher drive torque or a braking torque must be applied.
• the winch is designed as a control means and has an actuating device for the implementation of pivoting movements about a cable winch pivot axis and a support arm for cable management.
• An adjusting device which may be designed in particular as an electrically, pneumatically or hydraulically driven servomotor or actuating cylinder, allows the alignment of the equipped with the support arm winch against the cable force.
• a powerful adjusting device is necessary, which can not only pivot the winch against its own weight, but is able to apply the conditional by the high rope forces and the length of the support arm, considerable torque to the winch pivot axis to the winch for compensation to swing the yaw moment.
• the support arm of the winch can deviate from a substantially straight-line connection between the piste grooming vehicle and the off-road point to which the pull rope is anchored during operation of the piste grooming vehicle aligned.
• pivot axis can be caused by the yaw axis a counter-torque to the force applied by the cable pull cable torque.
• the compensation of the yaw moment can be done either manually by the operator of the piste grooming vehicle, which controls the adjusting device via a hand wheel or a Stellpotentionmeter, wherein the adjusting device can be assigned in particular a hydraulic proportional valve.
• an automatic compensation of the yaw moment by the winch is provided, in which the adjusting device is controlled by the control device, so that the desired relief of the operator is ensured.
• the support arm which serves as a point of attack for rope forces on an end region facing away from the cable winch, forms a lever arm which permits a force introduction of the cable force deviating from the cable winch pivot axis. Rather, with a deflection of the support arm of the winch against the cable force to assume the position of the point of application of the cable force in an end region of the support arm and to observe for the determination of the yaw moment.
• the cable winch is rotatably mounted on the runway care vehicle via a turntable and the adjusting device is designed as a slewing gear drive, in particular as an electric or hydraulic motor.
• the slewing drive is designed to be controllable by the control device and acts via a pinion on a provided on the winch, at least partially encircling teeth.
• the support arm is designed for alignment of the traction cable such that an extension of a central longitudinal axis of the traction cable can be approached at least to the yaw axis.
• the support arm is mounted together with the winch by the adjusting device rotatably mounted on the piste grooming vehicle, which can be displaced by the rotation of the support arm of the point of the cable forces in the direction of the yaw axis.
• the pull rope In order to achieve an at least almost complete compensation of the cable pull torque caused by the cable pull force about the yaw axis, the pull rope must be aligned by pivoting the winch provided with the support boom against the piste grooming vehicle such that a central longitudinal axis of the pull rope extending from the off-road point extending to the point of application for cable forces, the yaw axis of the piste grooming vehicle cuts in a straight line extension.
• a dynamic displacement of the yaw axis can take place.
• the position of the yaw axis is essentially by forces acting on the piste grooming, through the The location of the piste grooming equipment and the slope of the subsoil on which the piste grooming vehicle travels are determined.
• a damping algorithm can be stored in the control device, which prevents actuation of the actuating device within a predefinable tolerance range for an angular deviation between the direction of travel and the cable force.
• the object on which the invention is based is also achieved by a method for compensating a cable pull moment on a piste grooming vehicle, which has the following steps:
• the angle of inclination ie the angle between the direction of travel of the piste grooming vehicle and the pull rope, which runs between the piste grooming vehicle and a terrain-fixed point, in the case of a freely attached to the piste care vehicle winch fixed in particular by means of a provided on the winch position sensor .
• a cable ment for which purpose, in particular, a cable pull force exerted by the cable winch is determined by a cable pull force sensor.
• the determined cable pull force is related to a distance between a point of application for rope forces on the piste grooming vehicle and the yaw axis, whereby the cable pull torque occurring as yaw moment can be calculated.
• the control device can now control at least one control device, in particular a slope care device or a drive device for at least partial compensation of the cable pull torque.
• the angle of draft angle is determined from signals of the position sensor attached to the cable winch and from signals of a cable angle measuring device. This process step is required if the winch is not freely rotatably attached to the piste grooming vehicle, but is held by an adjusting device in a predetermined position or is firmly connected to the piste grooming vehicle. For these cases, the signal of the position sensor provided on the cable winch is not sufficient to determine the angle of draft. Rather, the angle of draft can be determined by a combination of the signal of the position sensor with a signal of a rope angle sensor.
• the cable angle sensor determines the orientation of the pull rope relative to the support arm of the winch, while the position sensor determines the orientation of the support arm relative to the direction of travel of the piste grooming vehicle.
• the position sensor determines the orientation of the support arm relative to the direction of travel of the piste grooming vehicle.
• the position of the point of application for cable forces can be determined, which is arranged in the end region of the support arm and which is displaceable substantially on a circular path about a pivot axis of the winch.
• the control device is provided with a computing unit which uses the signals of the position sensor and the cable angle measuring device to determine the angle of inclination between the traction cable and the piste maintenance vehicle and the distance between the point of application for cable forces and the yaw axis determined and thus calculates the amount and the direction of the yaw moment about the yaw axis.
• At least one signal of a position sensor of a piste grooming device is included in the control device for determining a position of the yaw axis.
• the piste grooming equipment such as a front-mounted plow blade or a rear-mounted snow blower influence by their considerable weight, the center of gravity of the piste grooming vehicle and determine the orientation and position of the yaw axis.
• a signal of a position sensor which is assigned to the piste grooming device, passed to the control device and used there to calculate the yaw axis.
• at least one piste grooming device may additionally be provided with force sensors which determine a force application of the piste grooming device and thus make possible an additional clarification of the dynamic position of the yaw axis.
• At least one signal of a tilt sensor is included in the control device for determining the position of the yaw axis.
• the inclination sensor makes it possible to determine an angle between the vertical axis of the piste grooming vehicle and a vertical axis, that is, in particular aligned with the center of gravity of the piste care vehicle to the center of gravity and thereby allows a more accurate determination of the position of the yaw axis.
• the position of the yaw axis may be determined, in particular, by a dynamic center of gravity shift, which results from the alignment of the piste grooming vehicle on an uphill or downhill slope, the position of the piste grooming equipment and forces related to piste grooming. influenced devices, is caused to be influenced.
• At least one in the front area or in the rear area of the piste care vehicle pivotally mounted Pistennostizier is used as a control means for generating a counter-torque relative to the cable winch torque.
• This can be done in particular by pivoting the piste grooming equipment or devices around the vertical axis of the piste grooming vehicle, which results in an effect similar to a rudder of a ship.
• the tilt causes an asymmetric force distribution on the piste grooming device, which results in a torque about the yaw axis.
• suitable pivoting of the piste grooming device can thus be caused in a simple manner, especially in loosely mounted winch, an at least partial compensation of the cable winch torque.
• the provided on the winch support arm is used in operative connection with an actuating means as a control means for generating a counter-torque relative to the cable winch torque.
• the adjusting means is associated with the winch which is rotatably mounted on the piste care vehicle and makes it possible to pivot the winch and possibly the support arm attached thereto in such a way that an extension of the center axis of the pull rope is approximated to the yaw axis. This approach causes a counter-moment about the yaw axis, which leads to an at least partial compensation of the yawing moment caused by the cable pull force.
• the support arm can be displaced in such a way that the extension of the center line of the pull rope intersects the yaw axis, the yawing moment and the counterweight cancel each other out. ment and the piste grooming vehicle is torque-free around the vertical axis or yaw axis with regard to the cable pull forces.
• At least one control means is used for compensation of a drift caused by the cable force.
• a compensation of the yawing moment, which is exerted on the piste grooming vehicle by the cable pull force, can lead to an increased cable force, in particular when using the support arm of the cable winch to generate a counter-torque.
• the cable force in turn has a force component orthogonal to the direction of travel of the piste grooming vehicle. This force component results in a lateral displacement of the piste grooming vehicle during forward or backward movement, wherein the lateral force component dynamically changes during forward and backward movement of the piste grooming vehicle.
• At least one control means in particular a piste grooming device and / or a drive unit of the piste grooming vehicle, is used to counteract this lateral offset movement and thus to ensure straightforward movement of the piste grooming vehicle ,
• the control device controls the at least one control means such that an approach of a central longitudinal axis of a traction cable takes place on a yaw axis of the piste grooming vehicle.
• the control device controls the at least one control means such that a predeterminable drift value is maintained.
• a drift value can be preset via the control device, which represents an advantageous compromise between wear on the one hand and drift occurring on the other hand.
• the specifiable drift value can in particular be set by the operator, wherein a maximum or minimum drift value can be stored in the control device, which can not be exceeded or undershot by the operator.
• 1 is a side view of a piste grooming vehicle with winch and control device
• FIG. 2 is a plan view of the piste grooming vehicle according to FIG. 1 with a support arm aligned to a terrain-fixed point and freely rotatable winch, and FIG
• Fig. 3 in a plan view of the piste grooming vehicle according to FIG. 1 with a pivoted support arm of the winch.
• a piste grooming vehicle 1 which is designed as a tracked vehicle, which is driven by an internal combustion engine (not shown), has in a front area a piste grooming unit designed as a plow blade 2. device and in a rear area as a snow blower 3 performed piste grooming device.
• the internal combustion engine and a drive unit is mounted at a frame construction of the piste care vehicle, not shown.
• the drive unit is provided for driving a Turasrades 5, which is provided for driving a drive chain 4.
• the drive chain 4 is supported by support wheels 6 and allows the transmission of driving forces even on loose ground such as snow or sand.
• the base frame is also associated with a drivable by the internal combustion engine, in particular via a hydraulic motor winch 7, which unwind a pull cable 10 from a drum-shaped reel 8 and can wind on this.
• the traction cable 10 is guided by the reel 8 via pulleys 9 along a support arm 18 to the driver's cabin 29 of the piste grooming vehicle 1 and extends from there to a ground-anchored peg 11, which is designed for receiving cable forces.
• a center of gravity 12 of the piste grooming vehicle 1 is essentially influenced by the weight of the internal combustion engine, the weight of the winch 7 and the weight of the piste grooming equipment 2, 3 and is shown below the driver's cabin 29 by way of example.
• a yaw axis 13 is plotted, the position of which depends on the position of the piste grooming devices 2, 3, on the forces acting on the piste grooming devices 2, 3 and on the slope of the ground on which the piste grooming device 1 travels.
• the yaw axis is displaceably arranged along a central longitudinal axis 19 and runs in FIG. 1 by way of the center of gravity 12.
• a control device 16 is provided on the piste grooming device 1 according to FIG. 1, which is shown for clarification outside of the piste grooming device 1, but is practically integrated into the piste grooming device 1. 2 and 3 has been omitted for reasons of simplification on the representation of the control device.
• the control device 16 is connected via control lines 17 with the piste care devices 2 and 3, the winch 7 and with sensor means, in particular attached to the plow blade 2, the rotary trommel 3 and the winch 7 position sensors 26, 27, 28.
• the control lines 17 make it possible to transmit energy flows to energy consumers of the piste care devices 2 and 3 and the winch 7 as well as to enable the transmission of sensor signals from the position sensors 26, 27, 28 to the control device 16.
• the control device 16 is assigned an inclination sensor 15 as an example, which is attached to the runway care vehicle 1.
• the inclination sensor 15 makes it possible to determine an angle of inclination between a vertical axis of the piste grooming vehicle 1, as indicated by the yaw axis 13, and a vertical axis extending, for example, from the center of gravity 12 to a center of the earth.
• a schematically illustrated cable angle sensor 25 is provided, which is provided for determining a cable position relative to the support arm 18, as shown in more detail in FIG.
• the cable angle sensor 25 is connected to the control device 16 via a control line 17.
• the control device 16 is also assigned a satellite receiver 20, which is designed to receive position signals of one or more positioning satellites and which enables an exact position determination of the piste care vehicle even in rough terrain.
• the piste grooming vehicle 1 moves predominantly in the main direction of travel 21, whereby snow can be displaced by the snow plow 1 through the plow blade 2, while the ground covered by the piste grooming vehicle 1 can be processed and smoothed by the snow blower 3.
• the winch 7 is provided, which allows the cable 10, which is attached to the peg 11, a transmission of cable forces on the piste grooming vehicle 1 and thus the drive chains applied by the drive chains 4 to propel the piste grooming vehicle.
• the pull cable 10 is arranged in a straight line between the peg 11 and the pivot axis 14 of the cable winch 7, so that a pull cable direction 30 is identical to the alignment of the support arm 18.
• the winch 7 is freely rotatable relative to the piste grooming vehicle 1, so that the rectilinear orientation of the pull rope 10 is ensured in a forward or backward movement of the piste grooming vehicle 1 relative to the peg 11.
• the cable force Fs1 applied by the cable winch 7, which is shown schematically in FIG. 2, can be split into a tensile force Fz1 which extends in the direction of travel 21 of the piste grooming vehicle 1 and into a transverse force Fq1 which acts orthogonally to the tensile force Fz1.
• the lateral force Fq1 engages with freely rotatable winch on the reel 8 of the winch 7, so that in a first approximation, the pivot axis 14 is the point of attack for the cable force.
• This point of application for the cable force is compared with the example by the center of gravity 12 led th, not shown in Fig. 2 yaw axis spaced at a distance x.
• the lateral force Fq1 acting in the point of application for the cable force causes a yawing moment Mq1 on the grooming vehicle 1 via the lever arm x.
• the yawing moment Mq 1 can be at least partially compensated by an acceleration of the right drive chain 4.1, by a deceleration of the left drive chain 4.2 or by a pivoting of the plow blade 2 or the snow blower 3. This is brought about by reaction forces which the drive chains 4.1, 4.2 or the piste care devices 2 and 3 exert on the piste grooming vehicle and which engage at a distance from the yaw axis and can thus exert countermeasures to the yawing moment Mq1.
• the yawing moment Mq1 is automatically compensated by the control device, not shown in FIG. 2, by ascertaining the oblique draft angle ⁇ between the traction cable 10 and the main traveling direction 21 of the piste grooming vehicle 1 by the control device 16 and by controlling at least one control means, ie at least one drive chain 41, 4.2, and / or the dozer blade 2 and / or the snowthrower 3 a corresponding counter-torque is applied.
• the cable winch 7 with the support arm 18 attached thereto engages via a toothed-rotor drive 22 designed as a hydraulic motor, which engages with a pinion on a toothing, which is not shown in detail and is provided on the winch 7 is adjusted from the configuration shown in Fig. 2.
• the slewing drive 22 In order to adjust the cable winch 7 against the cable force Fs2, the slewing drive 22 must exert a torque on the cable winch 7, which is opposite to the torque exerted by the transverse force Fq. This is one Deviation between the orientation of the support arm 18 and the cable direction 30 before.
• the yawing moment can be compensated for by manually influencing the slewing gear drive 22 of the winch 7, for this purpose the operator must align the winch 7 so that an extension of the extension 23 of the center axis of the pull rope 10 is brought closer to the yaw axis.
• the control device not shown in FIG. 3 can therefore be programmed such that the drift movement caused by the transverse force Fq2 orthogonal to the direction of travel 21 in particular by control means such as the drive chains 4.1, 4.2, the plow blade 2 and / or the snowthrower 3 - At least partially compensated.
• the support arm 18 of the winch 7 is aligned by the rotary drive 22 such that the cable force relative to the main direction of travel 21 in an angular range between the angle ⁇ according to FIG. 2 and the angle ß according to FIG .. 3 is located and thus takes place by the winch 7 only a partial compensation of the yawing moment.
• Another torque, which is directed counter to the yawing moment, is in particular through the plow blade 2, the snow blower 3 and / or one applied to the drive chain 4, so that the piste grooming vehicle 1 is aligned with its central longitudinal axis 19 substantially parallel to the main direction of travel 21.
• a damping device which is designed for damping cable force fluctuations.
• the damping device can be realized by an elastic or pivotally mounted Stützausle- ger section, which can be deflected from a rest position with a rapid increase in the cable force and thus prevents undamped action of the increase on the piste grooming vehicle.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Architecture (AREA)
• Civil Engineering (AREA)
• Structural Engineering (AREA)
• Jib Cranes (AREA)
• Supports For Pipes And Cables (AREA)
• Vehicle Body Suspensions (AREA)
• Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
• Control Of Metal Rolling (AREA)
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• Manipulator (AREA)

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• 2005
  • 2005-06-27 DE DE102005031076A patent/DE102005031076B4/de not_active Expired - Fee Related
• 2006
  • 2006-05-19 WO PCT/EP2006/004762 patent/WO2007000216A1/fr active Application Filing
  • 2006-05-19 CA CA2612954A patent/CA2612954C/fr active Active
  • 2006-05-19 US US11/988,084 patent/US8201349B2/en active Active
  • 2006-05-19 DE DE502006008766T patent/DE502006008766D1/de active Active
  • 2006-05-19 EP EP06742987A patent/EP1896661B1/fr active Active
  • 2006-05-19 AT AT06742987T patent/ATE496175T1/de active

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