EP3988495A1 - Method for controlling the operation of a capstan winch and capstan winch implementing such a method - Google Patents

Method for controlling the operation of a capstan winch and capstan winch implementing such a method Download PDF

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Publication number
EP3988495A1
EP3988495A1 EP21202043.2A EP21202043A EP3988495A1 EP 3988495 A1 EP3988495 A1 EP 3988495A1 EP 21202043 A EP21202043 A EP 21202043A EP 3988495 A1 EP3988495 A1 EP 3988495A1
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EP
European Patent Office
Prior art keywords
cable
drum
capstan
storage drum
winch
Prior art date
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Granted
Application number
EP21202043.2A
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German (de)
French (fr)
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EP3988495B1 (en
Inventor
Ronny DEBEVERE
Sébastien DECREUSEFOND
Thomas THUBET
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Reel SAS
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Reel SAS
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Publication of EP3988495A1 publication Critical patent/EP3988495A1/en
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Publication of EP3988495B1 publication Critical patent/EP3988495B1/en
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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
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
    • B66D1/74—Capstans
    • B66D1/7405—Capstans having two or more drums providing tractive force
    • B66D1/741—Capstans having two or more drums providing tractive force and having rope storing means
    • 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
    • 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
    • B66D1/74—Capstans
    • B66D1/76—Capstans having auxiliary drums or barrels for storing the ropes or cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
    • B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
    • B66D5/24—Operating devices
    • B66D5/30—Operating devices electrical

Definitions

  • the invention relates to the field of winches, and more specifically so-called capstan winches.
  • a capstan winch is conventionally made up of one or two traction drums, driven in rotation by means of a motor, generally electric, around the periphery of which a traction cable is wound according to general, a plurality of turns distributed over a single layer. Said cable is then stored on a storage drum, generally adjacent to the capstan, and traditionally with an axis of rotation parallel to the axis of rotation of the capstan, with a view in particular to allowing the storage of long lengths of cables, said drum being moved in rotation by means of a motor, also electric.
  • the well-known advantage of the implementation of a capstan lies in the ability to deploy a particularly strong force, in particular for lifting or hauling high loads.
  • Capstan winches have proven their effectiveness for many years. However, for a certain number of reasons, in particular linked to the nature of the outer surface of the drum(s) which constitute the capstan, the wear of the cable, or the conditions of use, in particular atmospheric (frost or ice on the surface ), it is not uncommon to observe a relative slippage of the cable on the drum or drums of the capstan, and therefore, as a corollary, a reduction in the effectiveness of the traction exerted on the cable and, moreover, in the efficiency of the motor rotating said capstan.
  • the process described in this document does indeed make it possible to achieve the desired result, on the other hand it requires the implementation of an additional device, in this case the device for measuring the cable at the entrance to the winch, typically mounted on a deflection pulley, therefore complicating the resulting winch, and accelerating the wear of the cable due to its passage within the groove of said deflection pulley, notwithstanding the free rotation of the latter.
  • the device described in this document implements, by reason of its mode of operation, a permanent regulation of the torque on the motor actuating the storage drum. In doing so, due to the permanent variations acting on said motor, the wear of the latter is accelerated, and in addition, reliability is lost.
  • the objective sought by the present invention is identical to that which aims to solve these various problems, while simplifying the winch in question.
  • the torque of the motor of the storage drum is fixed at a minimum and constant nominal value.
  • this minimum value is determined according to the number of turns on the capstan drum(s), the minimum coefficient of friction of the peripheral surface of the capstan drum(s) encountered in operation, and the minimum tension necessary to guarantee good winding the cable on the storage drum.
  • the invention no longer consists in adding an additional technical means for determining the relative speeds of the storage drum and the capstan by measuring an additional quantity, but in integrating within the fundamental elements constituting a capstan winch a device capable of simply measuring one of the quantities, in this case the theoretical unwinding length of the cable. In doing so, the management of said winch is considerably simplified.
  • the invention also relates to a capstan winch implementing this method.
  • an encoder is associated with the storage drum, able to deliver information corresponding to the number of rotations performed by said storage drum to management electronics, the latter being able to determine, according to this given the diameter of said storage drum, the diameter of the cable, and the maximum number of turns of cable per layer on said drum, the effective unwinding length of the cable.
  • This management electronics is connected to a management unit of said winch, at which the information relating to the speed of the motor rotating the drum or drums of the capstan ends up, and thus establishes a comparison between the theoretical unwinding length of the cable and the effective length of said unwinding. If a determined threshold is exceeded, the management unit causes the immediate activation of the mechanical brakes acting on the storage drum.
  • the figure 1 is a schematic representation of the capstan winch according to the invention.
  • the figure 1 clearly shows schematically, on the one hand the storage drum (2), and on the other hand the drum, in this case unique, constituting the capstan (4) with which the winch of the invention is provided.
  • the respective axes of rotation of the storage drum and of the capstan are parallel to each other.
  • the storage drum (2) is rotated by means of a first electric motor (3).
  • the capstan (4) is rotated by means of a second motor (5), also electric.
  • the electric motor (5) of the capstan is much more powerful, insofar as said capstan provides traction on the load (7).
  • the electric motor (3) of the storage drum develops significantly less power, since it is also only intended to provide a counterforce necessary for operation in order in particular to ensure a orderly winding of the cable on the storage drum, without participating in the traction of said load.
  • One of the ends of the cable (6) is mechanically fixed to the storage drum (2), so that there can be no slippage of the said cable at the level of the said storage drum.
  • the other free end of the cable receives a load (7), intended to be winched by means of the winch of the invention.
  • the electric motor (3) of the storage drum (2) is required to operate at a constant minimum nominal torque. In doing so, even under conditions likely to favor the sliding of the cable on the drum or drums of the capstan (4), for example due to the covering of the peripheral surface of the drum or drums of the capstan with a layer of frost or ice , there is always a tension T 1 exerted by the storage drum (2) on the cable strand (8) separating the storage drum (2) from the capstan (4) sufficient to ensure correct unwinding and winding said cable on said storage drum (2).
  • This provides a permanent and sufficient tension of the cable strand (8), to ensure correct operation of the winding screw, and as a corollary an orderly winding of the cable on the storage drum.
  • an encoder (1) which makes it possible to precisely determine the number of revolutions carried out by the storage drum ( 2).
  • This information is communicated to management electronics, programmed to determine, due to the knowledge of the diameter of said storage drum, the diameter of the cable and the number of turns of cables per layer of said storage drum, the theoretical unwinding length of the cable (6). This theoretical length constitutes one of the two values intended to be compared in accordance with the method of the invention.
  • the cable is wound around the capstan (4) of which, again, the outer diameter is known. It is known that the ratio of the tensions of the cable strand (8) to the tension resulting from the load (7) on the cable (6) is directly dependent, on the one hand, on the number of winding turns of the cable on the capstan (4), and on the other hand of a coefficient of friction of the cable on the periphery of said capstan, coefficient likely to vary according to the conditions of use of the winch, the wear of the cable or the external surface of the capstan (see relationship above).
  • the method according to the invention determines the theoretical unwinding length of the cable by determining the speed of the motor ( 5) ensuring the rotation of said capstan. A simple integration over time of this speed makes it possible to determine the theoretical unwinding length of the cable.
  • a resulting value is determined which is compared with a determined threshold, stored in a management unit (not shown ) of said winch. If this value exceeds a determined threshold, said management unit immediately generates the actuation of the brakes, mechanical in this case, on the storage drum (2), and therefore the blocking of the cable, for obvious safety reasons.
  • the thermal behavior and the lifetime of the motor of the storage drum are also optimized, although operating at minimum torque, simply by sufficient dimensioning of its power.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
  • Unwinding Of Filamentary Materials (AREA)

Abstract

Ce procédé a vocation à contrôler le fonctionnement d'un treuil à cabestan. Ce treuil comprend :▪ un tambour de stockage (2) d'un câble de levage ou de halage (6), actionné par un premier moteur (3) électrique, l'une des extrémités dudit câble étant solidaire du tambour (2);▪ un cabestan (4), constitué d'au moins un tambour autour duquel vient s'enrouler ledit câble issu du tambour de stockage selon une pluralité de spires réparties sur une seule couche, l'autre extrémité du câble étant destinée à lever ou haler une charge (7), ledit tambour du cabestan étant mu en rotation au moyen d'un second moteur électrique (5).Le procédé consiste à fixer le couple du moteur électrique (3) du tambour de stockage (2) à une valeur nominale minimum et constante.This process is intended to control the operation of a capstan winch. This winch comprises: ▪ a storage drum (2) for a lifting or towing cable (6), actuated by a first electric motor (3), one of the ends of said cable being integral with the drum (2); ▪ a capstan (4), consisting of at least one drum around which said cable coming from the storage drum is wound in a plurality of turns distributed over a single layer, the other end of the cable being intended to lift or haul a load (7), said capstan drum being rotated by means of a second electric motor (5).The method consists in fixing the torque of the electric motor (3) of the storage drum (2) to a nominal value minimum and constant.

Description

DOMAINE DE L'INVENTIONFIELD OF THE INVENTION

L'invention concerne le domaine des treuils, et plus spécifiquement des treuils dits à cabestan.The invention relates to the field of winches, and more specifically so-called capstan winches.

Un treuil à cabestan est classiquement constitué d'un ou de deux tambours de traction, mu(s) en rotation au moyen d'un moteur, généralement électrique, à la périphérie duquel ou desquels vient s'enrouler un câble de traction selon, en général, une pluralité de spires réparties sur une seule couche. Ledit câble est ensuite stocké sur un tambour de stockage, en général contigu au cabestan, et traditionnellement d'axe de rotation parallèle à l'axe de rotation du cabestan, en vue notamment de permettre le stockage de longueurs importantes de câbles, ledit tambour étant mu en rotation au moyen d'un moteur, également électrique.A capstan winch is conventionally made up of one or two traction drums, driven in rotation by means of a motor, generally electric, around the periphery of which a traction cable is wound according to general, a plurality of turns distributed over a single layer. Said cable is then stored on a storage drum, generally adjacent to the capstan, and traditionally with an axis of rotation parallel to the axis of rotation of the capstan, with a view in particular to allowing the storage of long lengths of cables, said drum being moved in rotation by means of a motor, also electric.

L'avantage bien connu de la mise en œuvre d'un cabestan réside dans la faculté de déployer une force particulièrement importante, notamment servant à lever ou hâler des charges élevées.The well-known advantage of the implementation of a capstan lies in the ability to deploy a particularly strong force, in particular for lifting or hauling high loads.

ETAT ANTERIEUR DE LA TECHNIQUEPRIOR STATE OF THE TECHNIQUE

Les treuils à cabestan ont démontré leur efficacité depuis de nombreuses années. Cependant, pour un certain nombre de raisons, notamment liées à la nature de la surface extérieure du ou des tambours qui constituent le cabestan, de l'usure du câble, ou des conditions d'utilisation, notamment atmosphériques (givre ou glace à la surface), il n'est pas rare d'observer un glissement relatif du câble sur le ou les tambours du cabestan, et donc corollairement, une diminution de l'efficacité de la traction exercée sur le câble et, en outre, du rendement du moteur actionnant en rotation ledit cabestan.Capstan winches have proven their effectiveness for many years. However, for a certain number of reasons, in particular linked to the nature of the outer surface of the drum(s) which constitute the capstan, the wear of the cable, or the conditions of use, in particular atmospheric (frost or ice on the surface ), it is not uncommon to observe a relative slippage of the cable on the drum or drums of the capstan, and therefore, as a corollary, a reduction in the effectiveness of the traction exerted on the cable and, moreover, in the efficiency of the motor rotating said capstan.

Afin de contrôler de manière plus efficace ce glissement relatif du câble autour du cabestan, on a proposé, par exemple dans le document EP 3 319 899 , de munir l'entrée du treuil d'un dispositif de mesure de la vitesse du câble, que l'on compare avec la vitesse de rotation du cabestan. En fonction de la comparaison de ces vitesses respectives, on modifie le couple du moteur actionnant en rotation le tambour de stockage, afin de générer une traction plus intense sur le câble entre le tambour de stockage et le cabestan, et corollairement, conférer à nouveau une certaine adhérence au câble sur le cabestan.In order to more effectively control this relative sliding of the cable around the capstan, it has been proposed, for example in the document EP 3 319 899 , to provide the entry of the winch with a device for measuring the speed of the cable, which is compared with the speed of rotation of the capstan. Depending on the comparison of these respective speeds, the torque of the motor rotating the storage drum is modified, in order to generate a more intense traction on the cable between the storage drum and the capstan, and as a corollary, again confer a some grip on the cable on the capstan.

Si le procédé décrit dans ce document permet effectivement d'aboutir au résultat recherché, en revanche il nécessite la mise en œuvre d'un organe supplémentaire, en l'espèce le dispositif de mesure du câble à l'entrée du treuil, typiquement monté sur une poulie de renvoi, complexifiant dès lors le treuil en résultant, et accélérant l'usure du câble en raison de son passage au sein de la gorge de ladite poulie de renvoi, nonobstant la libre rotation de cette dernière. Par ailleurs, le dispositif décrit dans ce document met en œuvre, en raison même de son mode de fonctionnement, une régulation permanente du couple sur le moteur actionnant le tambour de stockage. Ce faisant, en raison des variations permanentes agissant sur ledit moteur, on accélère l'usure de ce dernier, et en outre, on perd en fiabilité.If the process described in this document does indeed make it possible to achieve the desired result, on the other hand it requires the implementation of an additional device, in this case the device for measuring the cable at the entrance to the winch, typically mounted on a deflection pulley, therefore complicating the resulting winch, and accelerating the wear of the cable due to its passage within the groove of said deflection pulley, notwithstanding the free rotation of the latter. Furthermore, the device described in this document implements, by reason of its mode of operation, a permanent regulation of the torque on the motor actuating the storage drum. In doing so, due to the permanent variations acting on said motor, the wear of the latter is accelerated, and in addition, reliability is lost.

Une autre difficulté réside dans la réalisation d'un enroulement ordonné du câble issu du cabestan sur le tambour de stockage. En effet, classiquement, le câble issu du cabestan est guidé à la périphérie du tambour de stockage par le biais d'une vis de trancannage, qui permet, de manière connue, de réaliser l'enroulement spire par spire, puis couche par couche du câble sur ledit tambour de stockage. Cependant, afin de permettre le fonctionnement correct de cette vis de trancannage, la tension du câble en sortie du cabestan doit être suffisante, faute de quoi, on observe un enroulement désordonné sur le tambour de stockage, se traduisant in fine par un dysfonctionnement du treuil.Another difficulty lies in the realization of an orderly winding of the cable from the capstan on the storage drum. In fact, conventionally, the cable coming from the capstan is guided to the periphery of the storage drum by means of a winding screw, which, in a known manner, makes it possible to wind the cable turn by turn, then layer by layer. cable on said storage drum. However, in order to allow the correct operation of this winding screw, the tension of the cable at the output of the capstan must be sufficient, otherwise, there is a disorderly winding on the storage drum, ultimately resulting in a malfunction of the winch. .

L'objectif recherché par la présente invention est identique à celui qui vise à résoudre ces différents problèmes, tout en simplifiant le treuil en question.The objective sought by the present invention is identical to that which aims to solve these various problems, while simplifying the winch in question.

EXPOSE SOMMAIRE DE L'INVENTION SUMMARY OF THE INVENTION

A cet effet, l'invention vise un procédé pour contrôler le fonctionnement d'un treuil à cabestan, dans lequel ledit treuil comprend :

  • ▪ un tambour de stockage d'un câble, actionné par un premier moteur électrique, l'une des extrémités dudit câble étant solidaire du tambour ;
  • ▪ un cabestan, constitué d'au moins un tambour autour duquel vient s'enrouler ledit câble issu du tambour de stockage selon une pluralité de spires réparties sur une seule couche, ledit au moins un tambour étant mu en rotation au moyen d'un second moteur électrique.
To this end, the invention relates to a method for controlling the operation of a capstan winch, in which said winch comprises:
  • ▪ a drum for storing a cable, actuated by a first electric motor, one of the ends of said cable being integral with the drum;
  • ▪ a capstan, consisting of at least one drum around which said cable coming from the storage drum is wound in a plurality of turns distributed over a single layer, said at least one drum being rotated by means of a second electric motor.

Selon l'invention, on fixe le couple du moteur du tambour de stockage à une valeur nominale minimum et constante.According to the invention, the torque of the motor of the storage drum is fixed at a minimum and constant nominal value.

Typiquement, cette valeur minimum est déterminée en fonction du nombre de spires sur le ou les tambours du cabestan, du coefficient de frottement minimum de la surface périphérique du ou des tambours du cabestan rencontré en opération, et de la tension minimum nécessaire pour garantir un bon enroulement du câble sur le tambour de stockage.Typically, this minimum value is determined according to the number of turns on the capstan drum(s), the minimum coefficient of friction of the peripheral surface of the capstan drum(s) encountered in operation, and the minimum tension necessary to guarantee good winding the cable on the storage drum.

Ce faisant, quand bien même un glissement du câble intervient sur le ou les tambours du cabestan, la tension générée sur ledit câble par le tambour de stockage maintient l'enroulement ordonné de ce dernier sur ledit tambour de stockage. Ce principe, qui pourrait être considéré comme entrainant une surconsommation électrique du moteur du tambour de stockage, n'est dans les faits pas gênant, dans la mesure où la puissance de ce dernier est minimisée par le choix du nombre de spires sur le cabestan, le véritable effort étant assuré par le moteur actionnant le ou les tambours du cabestan, le tambour de stockage ne participant pas à l'effort de levage ou de halage.In doing so, even if the cable slips on the drum or drums of the capstan, the tension generated on said cable by the storage drum maintains the orderly winding of the latter on said storage drum. This principle, which could be considered as causing excessive electrical consumption of the storage drum motor, is in fact not a problem, insofar as the power of the latter is minimized by the choice of the number of turns on the capstan, the real effort being ensured by the motor actuating the drum or drums of the capstan, the storage drum not participating in the lifting or hauling effort.

Selon un autre aspect de l'invention, le glissement du câble sur le ou les tambours du cabestan peut avoir des conséquences importantes en termes de sécurité. Ainsi, afin de pallier cette difficulté, l'invention consiste également à détecter ce phénomène de glissement, pour permettre de déclencher une action positive. Typiquement, selon l'invention :

  • ▪ on mesure la longueur effective de déroulement du câble par la détermination du nombre de rotations du tambour de stockage ;
  • ▪ on compare ladite longueur effective avec la longueur théorique de déroulement du câble par intégration de la vitesse angulaire de rotation du moteur du cabestan sur le temps ;
  • ▪ en cas de dépassement de la valeur résultant de cette comparaison au-delà d'un seuil déterminé, on induit l'actionnement de freins mécaniques de blocage du tambour de stockage.
According to another aspect of the invention, the slipping of the cable on the drum or drums of the capstan can have significant consequences in terms of safety. Thus, in order to overcome this difficulty, the invention also consists in detecting this phenomenon of sliding, in order to make it possible to trigger a positive action. Typically, according to the invention:
  • ▪ the effective unwinding length of the cable is measured by determining the number of rotations of the storage drum;
  • ▪ said effective length is compared with the theoretical unwinding length of the cable by integrating the angular speed of rotation of the capstan motor over time;
  • ▪ if the value resulting from this comparison is exceeded beyond a determined threshold, the actuation of mechanical brakes for blocking the storage drum is induced.

En d'autres termes, l'invention consiste non plus à ajouter un moyen technique supplémentaire pour déterminer les vitesses relatives du tambour de stockage et du cabestan par mesure d'une grandeur additionnelle, mais à intégrer au sein des éléments fondamentaux constitutifs d'un treuil à cabestan un dispositif apte à mesurer de manière simple l'une des grandeurs, en l'espèce la longueur théorique de déroulement du câble. Ce faisant, on simplifie considérablement la gestion dudit treuil.In other words, the invention no longer consists in adding an additional technical means for determining the relative speeds of the storage drum and the capstan by measuring an additional quantity, but in integrating within the fundamental elements constituting a capstan winch a device capable of simply measuring one of the quantities, in this case the theoretical unwinding length of the cable. In doing so, the management of said winch is considerably simplified.

En outre, en raison de l'absence de recours à tout dispositif mécanique supplémentaire, tel que par exemple mis en œuvre dans l'art antérieur précité, le fonctionnement du dispositif de l'invention dans les conditions hostiles, telles que par exemple inhérentes aux turbulences, aux conditions climatiques, etc., n'est pas affecté.In addition, due to the absence of recourse to any additional mechanical device, such as for example implemented in the aforementioned prior art, the operation of the device of the invention under hostile conditions, such as for example inherent in turbulence, weather conditions, etc., is not affected.

L'invention concerne également un treuil à cabestan mettant en œuvre ce procédé.The invention also relates to a capstan winch implementing this method.

Ce treuil à cabestan comprend :

  • ▪ un tambour de stockage d'un câble, actionné par un premier moteur électrique, l'une des extrémités dudit câble étant solidaire du tambour ;
  • ▪ un cabestan, comportant au moins un tambour autour duquel vient s'enrouler ledit câble issu du tambour de stockage selon une pluralité de spires réparties sur une seule couche, l'autre extrémité du câble étant destinée à lever ou haler une charge, ledit cabestan étant mu en rotation au moyen d'un second moteur également électrique.
This capstan winch includes:
  • ▪ a drum for storing a cable, actuated by a first electric motor, one of the ends of said cable being integral with the drum;
  • ▪ a capstan, comprising at least one drum around which said cable coming from the storage drum is wound in a plurality of turns distributed over a single layer, the other end of the cable being intended to lift or haul a load, said capstan being moved in rotation by means of a second also electric motor.

Selon l'invention, on associe au tambour de stockage un codeur, apte à délivrer une information correspondant au nombre de rotations réalisées par ledit tambour de stockage à une électronique de gestion, cette dernière étant apte à déterminer, en fonction de cette donnée, du diamètre dudit tambour de stockage, du diamètre du câble, et du nombre de spires maximum de câble par couche sur ledit tambour, la longueur effective de déroulement du câble. Cette électronique de gestion est reliée à une unité de gestion dudit treuil, au niveau de laquelle aboutit l'information relative à la vitesse du moteur actionnant en rotation le ou les tambours du cabestan, et ainsi établir une comparaison entre la longueur théorique de déroulement du câble et la longueur effective dudit déroulement. En cas de dépassement d'un seuil déterminé, l'unité de gestion engendre l'activation immédiate des freins mécaniques agissant sur le tambour de stockage.According to the invention, an encoder is associated with the storage drum, able to deliver information corresponding to the number of rotations performed by said storage drum to management electronics, the latter being able to determine, according to this given the diameter of said storage drum, the diameter of the cable, and the maximum number of turns of cable per layer on said drum, the effective unwinding length of the cable. This management electronics is connected to a management unit of said winch, at which the information relating to the speed of the motor rotating the drum or drums of the capstan ends up, and thus establishes a comparison between the theoretical unwinding length of the cable and the effective length of said unwinding. If a determined threshold is exceeded, the management unit causes the immediate activation of the mechanical brakes acting on the storage drum.

BREVE DESCRIPTION DES FIGURESBRIEF DESCRIPTION OF FIGURES

La manière dont l'invention peut être réalisée et les avantages qui en découlent ressortiront mieux de l'exemple de réalisation qui suit, donné à titre indicatif et non limitatif, à l'appui de la figure unique annexée.The manner in which the invention can be implemented and the resulting advantages will emerge more clearly from the example embodiment which follows, given by way of indication and not limitation, in support of the single appended FIGURE.

La figure 1 est une représentation schématique du treuil à cabestan conforme à l'invention.The figure 1 is a schematic representation of the capstan winch according to the invention.

DESCRIPTION DETAILLEE DE L'INVENTIONDETAILED DESCRIPTION OF THE INVENTION

La figure 1 fait clairement apparaître de manière schématique, d'une part le tambour de stockage (2), et d'autre part le tambour, en l'espèce unique, constitutif du cabestan (4) dont est muni le treuil de l'invention. Les axes de rotation respectifs du tambour de stockage et du cabestan sont parallèles entre eux.The figure 1 clearly shows schematically, on the one hand the storage drum (2), and on the other hand the drum, in this case unique, constituting the capstan (4) with which the winch of the invention is provided. The respective axes of rotation of the storage drum and of the capstan are parallel to each other.

Le tambour de stockage (2) est mû en rotation au moyen d'un premier moteur électrique (3). Le cabestan (4) est mu en rotation au moyen d'un second moteur (5), également électrique.The storage drum (2) is rotated by means of a first electric motor (3). The capstan (4) is rotated by means of a second motor (5), also electric.

Ces deux moteurs électriques développent des puissances différentes. En effet, le moteur électrique (5) du cabestan est beaucoup plus puissant, dans la mesure où ledit cabestan assure la traction sur la charge (7). Corollairement, le moteur électrique (3) du tambour de stockage développe une puissance nettement moindre, puisqu'aussi bien, il n'est destiné qu'à assurer un contre effort nécessaire au fonctionnement afin notamment d'assurer un enroulement ordonné du câble sur le tambour de stockage, sans participer à la traction de ladite charge.These two electric motors develop different powers. Indeed, the electric motor (5) of the capstan is much more powerful, insofar as said capstan provides traction on the load (7). As a corollary, the electric motor (3) of the storage drum develops significantly less power, since it is also only intended to provide a counterforce necessary for operation in order in particular to ensure a orderly winding of the cable on the storage drum, without participating in the traction of said load.

Entre le tambour de stockage (2) et le cabestan (4), s'étend un brin de câble (8), en principe systématiquement sous tension. On n'a pas représenté aux fins de simplification, la vis de trancannage ou système équivalent, assurant de manière connue, un enroulement régulier du câble sur le tambour de stockage.Between the storage drum (2) and the capstan (4), extends a strand of cable (8), in principle systematically under tension. For the sake of simplification, the winding screw or equivalent system has not been shown, ensuring, in a known manner, a regular winding of the cable on the storage drum.

L'une des extrémités du câble (6) est fixée mécaniquement au tambour de stockage (2), de sorte qu'il ne peut y avoir de glissement dudit câble au niveau dudit tambour de stockage.One of the ends of the cable (6) is mechanically fixed to the storage drum (2), so that there can be no slippage of the said cable at the level of the said storage drum.

L'autre extrémité libre du câble reçoit une charge (7), destinée à être treuillée au moyen du treuil de l'invention.The other free end of the cable receives a load (7), intended to be winched by means of the winch of the invention.

Selon l'invention, on impose au moteur électrique (3) du tambour de stockage (2) un fonctionnement à couple nominal minimum constant. Ce faisant, même dans des conditions susceptibles de favoriser le glissement du câble sur le ou les tambours du cabestan (4), par exemple en raison du recouvrement de la surface périphérique du ou des tambours du cabestan d'une couche de givre ou de glace, on dispose toujours d'une tension T1 exercée par le tambour de stockage (2) sur le brin de câble (8) séparant le tambour de stockage (2) du cabestan (4) suffisante pour assurer le déroulement et l'enroulement corrects dudit câble sur ledit tambour de stockage (2).According to the invention, the electric motor (3) of the storage drum (2) is required to operate at a constant minimum nominal torque. In doing so, even under conditions likely to favor the sliding of the cable on the drum or drums of the capstan (4), for example due to the covering of the peripheral surface of the drum or drums of the capstan with a layer of frost or ice , there is always a tension T 1 exerted by the storage drum (2) on the cable strand (8) separating the storage drum (2) from the capstan (4) sufficient to ensure correct unwinding and winding said cable on said storage drum (2).

A titre illustratif, on indique les données numériques suivantes :

  • charge (7) à lever ou à haler : 350 kg
  • nombre de tours θ du câble sur le cabestan : 6,6
  • coefficient de frottement f de la surface périphérique du tambour du cabestan : 0,05
By way of illustration, the following numerical data is indicated:
  • load (7) to be lifted or towed: 350 kg
  • number of turns θ of the cable on the capstan: 6.6
  • coefficient of friction f of the peripheral surface of the capstan drum: 0.05

Il est connu que le rapport des tensions, respectivement la tension T1 du brin de câble (8) séparant le tambour de stockage (2) du cabestan (4) sur la tension T2 inhérente à la charge (7) halée ou levée par ledit cabestan répond à l'équation suivante : T 2 T 1 = e f . θ

Figure imgb0001
It is known that the ratio of the tensions, respectively the tension T 1 of the cable strand (8) separating the storage drum (2) from the capstan (4) on the tension T 2 inherent in the load (7) hauled or lifted by said capstan responds to the following equation: T 2 T 1 = and f . θ
Figure imgb0001

Ainsi, dans l'hypothèse la plus extrême en termes d'adhérence du câble sur le tambour du cabestan (f ≈ 0,05), on aboutit pour une charge de 350 kg environ, à une valeur de T1 voisine de 20 Kg. Cette tension maximum est facilement atteignable, sans nécessiter de surdimensionner le moteur électrique actionnant le tambour de stockage, simplement en fixant le couple à sa valeur minimum.Thus, in the most extreme hypothesis in terms of adhesion of the cable to the drum of the capstan (f ≈ 0.05), we arrive for a load of approximately 350 kg, at a value of T 1 close to 20 Kg. This maximum voltage is easily achievable, without requiring oversizing the electric motor actuating the storage drum, simply by setting the torque to its minimum value.

On dispose ce faisant d'une tension permanente et suffisante du brin de câble (8), pour assurer un fonctionnement correct de la vis de trancannage, et corollairement un enroulement ordonné du câble sur le tambour de stockage.This provides a permanent and sufficient tension of the cable strand (8), to ensure correct operation of the winding screw, and as a corollary an orderly winding of the cable on the storage drum.

Par ailleurs, selon un autre aspect de l'invention, est associé à l'axe de rotation du tambour de stockage (2), un codeur (1), qui permet de déterminer précisément le nombre de tours effectués par le tambour de stockage (2). Cette information est communiquée à une électronique de gestion, programmée pour déterminer, en raison de la connaissance du diamètre dudit tambour de stockage, du diamètre du câble et du nombre de spires de câbles par couche dudit tambour de stockage, la longueur théorique de déroulement du câble (6). Cette longueur théorique constitue l'une des deux valeurs destinées à être comparée conformément au procédé de l'invention.Furthermore, according to another aspect of the invention, is associated with the axis of rotation of the storage drum (2), an encoder (1), which makes it possible to precisely determine the number of revolutions carried out by the storage drum ( 2). This information is communicated to management electronics, programmed to determine, due to the knowledge of the diameter of said storage drum, the diameter of the cable and the number of turns of cables per layer of said storage drum, the theoretical unwinding length of the cable (6). This theoretical length constitutes one of the two values intended to be compared in accordance with the method of the invention.

En sortie du tambour de stockage (2), le câble vient s'enrouler autour du cabestan (4) dont, là encore, le diamètre externe est connu. On sait que le rapport des tensions du brin de câble (8) sur la tension résultant de la charge (7) sur le câble (6), est directement dépendant, d'une part du nombre de spires d'enroulement du câble sur le cabestan (4), et d'autre part d'un coefficient de frottement du câble sur la périphérie dudit cabestan, coefficient susceptible de varier en fonction des conditions d'utilisation du treuil, de l'usure du câble ou de la surface extérieure du cabestan (voir la relation ci-dessus).At the outlet of the storage drum (2), the cable is wound around the capstan (4) of which, again, the outer diameter is known. It is known that the ratio of the tensions of the cable strand (8) to the tension resulting from the load (7) on the cable (6) is directly dependent, on the one hand, on the number of winding turns of the cable on the capstan (4), and on the other hand of a coefficient of friction of the cable on the periphery of said capstan, coefficient likely to vary according to the conditions of use of the winch, the wear of the cable or the external surface of the capstan (see relationship above).

Si nonobstant le fonctionnement du moteur électrique du tambour de stockage à couple minimum, un glissement du câble sur le tambour du cabestan devait survenir, le procédé conforme à l'invention détermine la longueur théorique de déroulement du câble par détermination de la vitesse du moteur (5) assurant la rotation dudit cabestan. Une simple intégration sur le temps de cette vitesse permet de déterminer la longueur théorique de déroulement du câble.If, notwithstanding the operation of the electric motor of the storage drum at minimum torque, slipping of the cable on the drum of the capstan should occur, the method according to the invention determines the theoretical unwinding length of the cable by determining the speed of the motor ( 5) ensuring the rotation of said capstan. A simple integration over time of this speed makes it possible to determine the theoretical unwinding length of the cable.

En comparant la longueur théorique de déroulement du câble d'une part et la longueur effective de déroulement du câble d'autre part, on détermine une valeur résultante que l'on compare à un seuil déterminé, stocké dans une unité de gestion (non représentée) dudit treuil. Si cette valeur dépasse un seuil déterminé, ladite unité de gestion engendre immédiatement l'actionnement des freins, mécaniques en l'espèce, sur le tambour de stockage (2), et donc le blocage du câble, pour des raisons évidentes de sécurité.By comparing the theoretical unwinding length of the cable on the one hand and the actual unwinding length of the cable on the other hand, a resulting value is determined which is compared with a determined threshold, stored in a management unit (not shown ) of said winch. If this value exceeds a determined threshold, said management unit immediately generates the actuation of the brakes, mechanical in this case, on the storage drum (2), and therefore the blocking of the cable, for obvious safety reasons.

On conçoit tout l'intérêt du procédé de gestion du treuil conforme à l'invention, qui permet d'optimiser le fonctionnement dudit treuil sans nécessiter la mise en œuvre d'un dispositif supplémentaire, tel que par exemple décrit dans l'art antérieur.One can see the whole advantage of the method for managing the winch in accordance with the invention, which makes it possible to optimize the operation of said winch without requiring the implementation of an additional device, such as for example described in the prior art.

Corollairement, on optimise également le comportement thermique et la durée de vie du moteur du tambour de stockage, bien que fonctionnement à couple minimum, par simple dimensionnement suffisant de sa puissance.As a corollary, the thermal behavior and the lifetime of the motor of the storage drum are also optimized, although operating at minimum torque, simply by sufficient dimensioning of its power.

Claims (4)

Procédé pour contrôler le fonctionnement d'un treuil à cabestan, dans lequel ledit treuil comprend : ▪ un tambour de stockage (2) d'un câble de levage ou de halage (6), ledit tambour étant actionné par un premier moteur (3) électrique, l'une des extrémités dudit câble étant solidaire du tambour (2); ▪ un cabestan (4), constitué d'au moins un tambour autour duquel vient s'enrouler ledit câble issu du tambour de stockage (2) selon une pluralité de spires réparties sur une seule couche, l'autre extrémité du câble étant destinée à lever ou haler une charge (7), ledit au moins un tambour du cabestan étant mu en rotation au moyen d'un second moteur électrique (5), procédé dans lequel on fixe le couple du moteur électrique (3) du tambour de stockage (2) à une valeur nominale minimum et constante, déterminée en fonction du nombre de spires de câble sur le ou les tambours du cabestan (4), du coefficient de frottement minimum de la surface périphérique du ou des tambours du cabestan rencontré en opération, et de la tension minimum nécessaire pour garantir un bon enroulement du câble sur le tambour de stockage (2), et procédé dans lequel : ▪ on mesure la longueur effective du déroulement du câble par la détermination du nombre effectif de rotations du tambour de stockage (2) ; ▪ on compare ladite longueur effective avec la longueur théorique de déroulement du câble par intégration sur le temps de la vitesse de rotation du moteur (5) du cabestan (4) ; ▪ en cas de dépassement par la valeur résultant de cette comparaison, d'un seuil déterminé, on induit l'actionnement de freins mécaniques de blocage du tambour de stockage. A method for controlling the operation of a capstan winch, wherein said winch comprises: ▪ a storage drum (2) for a lifting or towing cable (6), said drum being actuated by a first electric motor (3), one of the ends of said cable being integral with the drum (2); ▪ a capstan (4), consisting of at least one drum around which said cable coming from the storage drum (2) is wound in a plurality of turns distributed over a single layer, the other end of the cable being intended to lifting or hauling a load (7), said at least one drum of the capstan being rotated by means of a second electric motor (5), process in which the torque of the electric motor (3) of the storage drum (2) is fixed at a minimum and constant nominal value, determined according to the number of turns of cable on the drum or drums of the capstan (4), the coefficient minimum friction of the peripheral surface of the drum or drums of the capstan encountered in operation, and the minimum tension necessary to guarantee a good winding of the cable on the storage drum (2), and process in which: ▪ the effective length of the unwinding of the cable is measured by determining the effective number of rotations of the storage drum (2); ▪ said effective length is compared with the theoretical unwinding length of the cable by integration over time of the speed of rotation of the motor (5) of the capstan (4); ▪ if the value resulting from this comparison exceeds a determined threshold, the actuation of mechanical brakes for blocking the storage drum is induced. Procédé pour contrôler le fonctionnement d'un treuil à cabestan selon la revendication 1, dans lequel on détermine la longueur effective de déroulement du câble au moyen d'une électronique de gestion intégrée dans le treuil, au niveau de laquelle aboutit l'information émanant d'un codeur (1) monté sur l'axe de rotation du tambour de stockage (2), et apte à déterminer ladite longueur effective en fonction du nombre de rotation du tambour de stockage, du diamètre dudit tambour de stockage, du diamètre du câble (6), et du nombre de spires maximum de câble par couche sur ledit tambour.Method for controlling the operation of a capstan winch according to claim 1, in which the effective unwinding length of the cable is determined by means of management electronics integrated in the winch, at the level of which the information emanating from an encoder (1) mounted on the axis of rotation of the storage drum (2), and capable of determining said effective length as a function of the number of rotations of the storage drum, of the diameter of said storage drum, the diameter of the cable (6), and the maximum number of turns of cable per layer on said drum. Treuil à cabestan comprenant : ▪ un tambour de stockage (2) d'un câble de levage ou de halage (6), ledit tambour étant actionné en rotation par un premier moteur électrique (3), l'une des extrémités dudit câble étant solidaire du tambour, et ledit tambour de stockage (2) étant muni de freins mécaniques ; ▪ un cabestan (4), constitué d'au moins un tambour autour duquel vient s'enrouler ledit câble issu du tambour de stockage (2) selon une pluralité de spires réparties sur une seule couche, l'autre extrémité du câble étant destinée à lever ou haler une charge (7), ledit au moins un tambour étant mu en rotation au moyen d'un second moteur (5), également électrique ; caractérisé en ce qu'un codeur (1) est associé à l'axe de rotation du tambour de stockage (2) afin de déterminer le nombre de rotations dudit tambour de stockage (2), et en ce que le treuil intègre en outre une électronique de gestion, apte à déterminer, en fonction dudit nombre de rotation, du diamètre dudit tambour de stockage (2), du diamètre du câble (6) et du nombre maximum de spires de câble par couche, la longueur effective de déroulement du câble (6).Capstan winch including: ▪ a storage drum (2) for a lifting or towing cable (6), said drum being actuated in rotation by a first electric motor (3), one of the ends of said cable being integral with the drum, and said storage drum (2) being provided with mechanical brakes; ▪ a capstan (4), consisting of at least one drum around which said cable coming from the storage drum (2) is wound in a plurality of turns distributed over a single layer, the other end of the cable being intended to lifting or hauling a load (7), said at least one drum being moved in rotation by means of a second motor (5), also electric; characterized in that an encoder (1) is associated with the axis of rotation of the storage drum (2) in order to determine the number of rotations of said storage drum (2), and in that the winch further incorporates a management electronics, capable of determining, as a function of said number of rotations, of the diameter of said storage drum (2), of the diameter of the cable (6) and of the maximum number of turns of cable per layer, the effective unwinding length of the cable (6). Treuil à cabestan selon la revendication 3, caractérisé en ce qu'il comprend une unité de gestion, au niveau de laquelle aboutit l'information relative à la longueur théorique de déroulement du câble d'une part, et la vitesse du moteur (5) actionnant en rotation ledit au moins un tambour du cabestan (4) d'autre part, ladite unité de gestion étant apte à établir une comparaison entre la longueur théorique de déroulement du câble et la longueur effective dudit déroulement, qui, si elle dépasse un seuil déterminé, engendre l'activation des freins mécaniques du tambour de stockage.Capstan winch according to Claim 3, characterized in that it comprises a management unit, at which the information relating to the theoretical unwinding length of the cable on the one hand, and the speed of the motor (5) rotating said at least one drum of the capstan (4) on the other hand, said management unit being able to establish a comparison between the theoretical unwinding length of the cable and the actual length of said unwinding, which, if it exceeds a threshold determined, generates the activation of the mechanical brakes of the storage drum.
EP21202043.2A 2020-10-26 2021-10-12 Method for controlling the operation of a capstan winch and capstan winch implementing such a method Active EP3988495B1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4234167A (en) * 1978-08-18 1980-11-18 Otis Engineering Corporation Automatic inhaul winch system
FR2843954A1 (en) * 2002-08-28 2004-03-05 Kley France Bicapstan winch for marine use has sprung shock absorber with spring position determined to control winch speed
EP3319899A1 (en) 2015-07-07 2018-05-16 JENOPTIK Advanced Systems GmbH Winch, method for controlling operation of a winch and method for operating a winch

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4234167A (en) * 1978-08-18 1980-11-18 Otis Engineering Corporation Automatic inhaul winch system
FR2843954A1 (en) * 2002-08-28 2004-03-05 Kley France Bicapstan winch for marine use has sprung shock absorber with spring position determined to control winch speed
EP3319899A1 (en) 2015-07-07 2018-05-16 JENOPTIK Advanced Systems GmbH Winch, method for controlling operation of a winch and method for operating a winch

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