EP2444355A1 - 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 PDFInfo
- Publication number
- EP2444355A1 EP2444355A1 EP11185068A EP11185068A EP2444355A1 EP 2444355 A1 EP2444355 A1 EP 2444355A1 EP 11185068 A EP11185068 A EP 11185068A EP 11185068 A EP11185068 A EP 11185068A EP 2444355 A1 EP2444355 A1 EP 2444355A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- winch
- sensor
- reel
- cable
- detecting
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004804 winding Methods 0.000 claims description 38
- 238000011156 evaluation Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 230000011664 signaling Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Images
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 winch of a vehicle according to claim 1 and a snowcat with a winch and with a device for carrying out such a method.
- a method for controlling a winch of a tracked vehicle is from the EP 1 431 236 B1 known.
- the rope speed of the winch rope is regulated.
- the object of the invention is to provide a method and a snowcat of the type mentioned, which allow a small load on the winch rope in winch operation of the snow groomer and a monitoring of the winding of the winch rope.
- the method according to the invention it is possible to detect early false windings of the winch rope and consequently errors in the winch rope itself. A corresponding error signal then causes the driver of the vehicle to cancel the cable winch operation and perform a rope check and troubleshooting.
- the specification of a defined number of cable turns per winding position on the reel is calculated on the basis of the usable width of the reel and the rope thickness.
- the method is suitable for tracked vehicles, especially snow groomers, but also for other vehicles, especially commercial and cargo vehicles.
- a tensile force sensor for detecting a cable traction and a data processing unit comprehensive control unit are provided which for the reception and evaluation of data with the sensor, the sensor device, the angle sensor and the tensile force sensor is connected, and which drives a winch drive for controlling a cable pulling force depending on an evaluation of the received data.
- the snowcat is provided in a particularly advantageous manner for the processing of snow.
- the solution according to the invention enables a particularly economical operation of the snowcat in winching operation, ie in steep terrain. In addition, a low and therefore gentle load on the winch rope is achieved by the invention.
- the sensor device for detecting the rope speed comprises a residual rope length sensor for detecting the withdrawn from the reel or wound on the reel rope length. Since a total length of the rope is known, the respective distance of the winch arm and also the snowcat to the anchoring point at the top of the terrain can be determined taking into account the data of the residual cable length sensor. With the aid of the angle of the winch arm relative to the vehicle longitudinal axis, the instantaneous vehicle position can thereby also be calculated.
- the sensor device for detecting the cable speed advantageously also has a time measuring device in order to convert the cable path detectable by the residual cable length sensor into the cable speed.
- the absolute value transmitter is preferably arranged coaxially to a rotation axis of the reel and permanently detects the angle of rotation or the rotation angle change of the reel.
- the absolute value encoder can also be provided with a time module, so that the cable speed can be calculated directly via the data of the absolute value encoder.
- the absolute encoder is designed as a rotary encoder and measures the angle of rotation.
- the absolute encoder is a multi-turn encoder executed in order to detect several revolutions of the reel can.
- the functional unit can instead of a signal generator, which signals the driver a winding error, also be a control unit which engages directly into the winch drive or the traction drive, in particular to relieve the winch rope.
- a snowcat 1 according to the Fig. 1 to 3 is provided in a basically known manner with a winch 2, which supports a drive of the snowcat 1 especially in steep snowy terrain.
- a winch cable 13 ( Fig. 3 ) of the winch anchored to an upper portion of a steep slope to be machined stationary.
- the winch 2 has a winch arm 3, which about an unspecified, in the vehicle vertical direction extending axis of rotation relative to a vehicle longitudinal axis F ( Fig. 2 ) is rotatable by 360 °.
- the winch 2 is provided with a winch drive 7 shown only schematically, which will be described in more detail below.
- the snowcat 1 has a pair of drive chains 4, which are driven by a respective Turasrad.
- the winch arm 3 is - in the present embodiment together with the winch drive 7 - rotatably mounted on a mounted on a loading platform of the snowcat 1 socket about the axis of rotation described.
- the Turas render as part of a traction drive of the snowcat 1 are hydraulically driven by hydraulic motors.
- Embodiment of the invention are provided instead of hydraulic motors electric motors.
- the winch 2 has a reel 10 rotatably mounted in an unspecified winch housing, on which the winch rope 2 is held up and unwound ( Fig. 3 ).
- the reel 10 has in the illustrated embodiment on its drum surface on a usable width, which is tuned to a thickness of the winch rope that in a winding layer 50 turns each side by side can be placed on the reel. In other embodiments of the invention, a smaller or larger depending on the purpose width is provided.
- a winding arm 12 is provided for the winding and unwinding of the winch cable 13 relative to the reel 10.
- the wrapping arm 12 is - relative to a cable extension direction - mounted in front of the reel 10 in the winch housing by means of a pivot bearing 14 pivotally.
- a pivoting plane of the winding arm 12 is parallel to a mantle surface of the cylindrical shape of the reel 10 and thus also parallel to the axis of rotation of the reel 10.
- a rotational angle ⁇ of the wrapping arm 12 is matched to the usable width of the reel 10, that the winch rope through the wrapping 12th for each of the windings distributed over the reel 10 of each winding layer can be performed.
- the winch cable 13 is withdrawn via a spill gear not shown in detail from the reel 10 or wound onto the reel 10.
- the spool gear is part of the winch drive 7.
- the reel 10 has a reel drive, not shown, which is part of the winch drive 7.
- Both the reel drive and a drive for the capstan are hydraulically designed.
- the spill gear is preferably assigned a hydraulic motor.
- the reel drive can also be formed by an electric drive instead of a hydraulic drive be.
- the spill gear can be provided instead of a hydraulic motor with a sufficiently sized electric motor.
- the winch drive 7 is executed exclusively hydraulically.
- a regulation of the winch drive in the manner described in more detail below.
- the regulation is in angular amount ranges ⁇ according to Fig. 2 effective.
- the corresponding angular ranges extend, starting from an extension of the winch arm 3 along the vehicle longitudinal axis F in the direction of travel or counter to the direction of travel by 50 ° in both directions.
- alignment of the winch arm 3 is the winch arm 3 in a zero position. In a correspondingly reverse orientation, it is in a 180 ° position.
- the control is effective between an angle of the winch arm 3 relative to the vehicle longitudinal axis F of -50 ° to + 50 °.
- the angular range of the winch arm 3, in which an effective control of the winch drive takes place extends from 130 ° through 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.
- At least one Turasrad is associated with a speed sensor 5, by means of which a chain speed can be detected.
- a speed sensor 5 by means of which a chain speed can be detected.
- two Turaszumn the opposite chains 4 speed sensors 5 are assigned to make the determination of the chain speed via appropriate rotation direction and speed detection of the Turas.
- an angle sensor 8 is provided, which detects the angle of rotation of the winch arm 3 relative to the vehicle longitudinal axis F.
- a cable force sensor 9 is provided in the winch 2 in the range of Guide the winch rope.
- the winch 2 is associated with a sensor device 6 for detecting a rope speed when winding or unwinding of the winch cable.
- the winch drive 7 comprises a hydraulic spill drive, not shown, with a spill gear and spill heads, over which the winch cable is deflected for withdrawal from the reel 10 or for winding 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 spill drive has a controllable hydraulic motor which acts on the spill gear.
- a force measuring pin is provided in the region of a displaceable deflection roller in the winch arm 3 in the present embodiment.
- the sensor device 6 has a residual length sensor 11, which is formed by an absolute value encoder in the form of a rotary encoder.
- the absolute encoder detects the revolutions of the reel in the winding or unwinding direction.
- the sensor device has a time module not shown in detail in order to achieve a supplementary time measurement to the distance measurement achieved by the residual cable length sensor.
- a total pitch or at least one usable pitch of the winch rope 13 is known.
- the diameter and circumference of the cylindrical drum surface of the reel 10 are known.
- the cable length currently wound on the reel or extended and tensioned cable length can be determined via the residual cable length sensor 11.
- By additional time measurement with a corresponding winding or unwinding the rope speed is determined.
- the snowcat 1 has an electronic control unit S, with which the tension force 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 force for the winch cable 13 in such a way that there is a difference between the travel speed and chain speed calculated from cable speed and angle of the angle arm 3 relative to the vehicle longitudinal axis results, this difference between the calculated driving speed and chain speed should be in a constant range of differences.
- the snowcat 1 is provided in a manner not shown with a tilt sensor, which is to detect a vehicle inclination relative to the horizontal and thus in particular an uphill or downhill of the snowcat 1. This additional inclination sensor is optional, as alternatively the detection of an uphill or downhill slope of the snow groomer also by the position of the winch arm according to Fig.
- the difference between chain speed and calculated driving speed can be positive or negative, because when driving downhill calculated by the rope speed and the angle of the winch speed can be lower than the chain speed to achieve a braking effect .
- increased slippage of the chains 4 can be compensated by a higher travel speed relative to the chain speed and, consequently, a higher cable speed.
- the control unit S is taking into account these different driving conditions, a defined difference target range before, which is also called slip target range. Compliance with this differential or slip target range is achieved by regulating the cable pulling force, wherein this is controlled such that the lowest possible traction, which still allows driving of the snowcat 1 within the desired slip range is set.
- the regulation of the cable pull force is effected by means of a regulation of the hydraulic pressure of the winch drive 7.
- the hydraulic pressure of the hydraulic motor of the capstan drive is preferably controlled accordingly.
- the reel drive itself is not involved in this cable tension control. It is merely controlled so that a permanent tension for the winch cable between the capstan and reel 10 is given to allow a perfect winding or unwinding of the winch cable 13.
- the central control unit S for controlling the winch 2 is assigned a control module S 1 , which monitors the winding or unwinding of the winch cable 13 relative to the reel 10 and upon detection of a winding fault, which also means a rope fault, an error message to the driver of the snowcat first outputs.
- a winding fault which also means a rope fault, an error message to the driver of the snowcat first outputs.
- the angle arm 12 in the region of its pivot bearing 14 is associated with a rotation angle sensor 15 which is connected to the control module S 1 .
- the absolute value encoder 11 is connected, which sits on the axis of rotation of the reel 10.
- the control module S 1 Based on the detected actual values for the angle of rotation of the winding arm 12 and the counted revolutions for the reel 10, the control module S 1 in comparison with the stored target data for the number of turns per winding and for the pivot angle ⁇ of the winding arm 12 between Begin and end of a winding layer determine whether a proper winding or unwinding has occurred, or whether the winch cable 13 performs a wrong winding or unwinding. As soon as the control module S 1 has detected this, it controls a signal generator 16, which sends the corresponding error message to the driver's cabin of the snowcat, preferably in a quickly recognizable for the driver display area transmitted.
- the signal generator is preferably designed optically and / or acoustically.
- control module S 1 via the central control unit S is suitably connected to a functional unit within the traction drive and / or the winch drive.
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical 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)
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 true EP2444355A1 (fr) | 2012-04-25 |
EP2444355B1 EP2444355B1 (fr) | 2015-09-02 |
EP2444355B2 EP2444355B2 (fr) | 2022-08-17 |
Family
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 |
Country Status (2)
Country | Link |
---|---|
EP (2) | EP2444355B2 (fr) |
DE (1) | DE102010049984A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT526150A4 (de) * | 2022-10-03 | 2023-12-15 | Konrad Forsttechnik Gmbh | Vorrichtung und Verfahren zum Transportieren von Holz in steilem Gelände |
Families Citing this family (3)
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 |
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 |
Citations (4)
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 |
EP1431236B1 (fr) | 2002-12-17 | 2009-12-09 | 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)
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 |
-
2010
- 2010-10-19 DE DE102010049984A patent/DE102010049984A1/de not_active Withdrawn
-
2011
- 2011-10-13 EP EP11185068.1A patent/EP2444355B2/fr active Active
- 2011-10-13 EP EP11185066.5A patent/EP2444356B1/fr active Active
Patent Citations (4)
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 |
EP1431236B1 (fr) | 2002-12-17 | 2009-12-09 | 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 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT526150A4 (de) * | 2022-10-03 | 2023-12-15 | Konrad Forsttechnik Gmbh | Vorrichtung und Verfahren zum Transportieren von Holz in steilem Gelände |
AT526150B1 (de) * | 2022-10-03 | 2023-12-15 | Konrad Forsttechnik Gmbh | Vorrichtung und Verfahren zum Transportieren von Holz in steilem Gelände |
WO2024073783A1 (fr) * | 2022-10-03 | 2024-04-11 | Konrad Forsttechnik Gmbh | Appareil et procédé de transport de bois en terrain escarpé |
Also Published As
Publication number | Publication date |
---|---|
DE102010049984A1 (de) | 2012-04-19 |
EP2444356B1 (fr) | 2015-04-29 |
EP2444355B1 (fr) | 2015-09-02 |
EP2444356A1 (fr) | 2012-04-25 |
EP2444355B2 (fr) | 2022-08-17 |
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