EP2444356B1 - Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse - Google Patents

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

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Publication number
EP2444356B1
EP2444356B1 EP11185066.5A EP11185066A EP2444356B1 EP 2444356 B1 EP2444356 B1 EP 2444356B1 EP 11185066 A EP11185066 A EP 11185066A EP 2444356 B1 EP2444356 B1 EP 2444356B1
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EP
European Patent Office
Prior art keywords
cable
winch
sensor
speed
recording
Prior art date
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Active
Application number
EP11185066.5A
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German (de)
English (en)
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EP2444356A1 (fr
Inventor
Andreas Behmüller
Peter Betz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kassbohrer Gelandefahrzeug AG
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Kassbohrer Gelandefahrzeug AG
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Classifications

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

Definitions

  • the invention relates to a method according to the preamble of claim 1 and a snowcat according to the preamble of claim 2.
  • Such a method for controlling a winch of a tracked vehicle and such a snowcat are from the EP 1 431 236 B1 known.
  • the rope speed of the pull 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 the winch operation of the snow groomer.
  • this object is solved by the features of claim 1 and for the snowcat, this object is achieved by the features of claim 2.
  • a cable traction control is achieved, which is superimposed on a slip control within a predetermined differential or slip target range.
  • the angle of the winch arm relative to the vehicle longitudinal axis can also be detected together with the selected direction of travel, whether the tracked vehicle is going downhill or uphill. Because in winching operation of the tracked vehicle, especially a snow groomer for snow grooming, the winch arm is always aligned relative to a stationary anchorage at the top of a snow field to be machined, whereas the snow groomer turns away under this winch arm.
  • a differential target range also referred to as the target slip range, instead of a predetermined desired slip value is provided, since different control criteria may be present when driving downhill or uphill.
  • the rope speed is less than or equal to the chain speed chosen-to achieve a braking effect.
  • the desired slip value can be defined so that the rope speed is greater than or equal to the chain speed. Due to the permanent monitoring of the cable traction and the corresponding control of the cable pull force, it is only possible to control the cable pull force in low load ranges, which are just sufficient to achieve the slip range for the difference between chain speed and travel speed. This makes it possible, in winching operation, to load the winch cable relatively lightly, and thereby the service life of the winch side to increase compared to conventional side winch controls.
  • the solution according to the invention results in a slip-back within the desired slip range by regulating the lateral tensile force.
  • the control of the cable tensile force can be carried out in a particularly advantageous manner by controlling a winch drive and in particular by regulating a hydraulic pressure within a drive system of the winch drive. This results in a triple cascaded control, namely the slip control, the traction control and a pressure control of the winch drive.
  • a maximum angular amount of the winch arm is predetermined relative to the vehicle longitudinal axis, in which the cable pull force control is switched off.
  • This embodiment is based on the recognition that a determination of the desired slip range can not be calculated over all angles of the winch arm relative to the vehicle longitudinal axis. Thus, especially at an angle of the winch cable and the winch arm relative to the vehicle longitudinal axis of 90 ° no rope speed more available. In angular ranges close to this right angle only a relatively low cable speed with respect to the vehicle is present. Therefore, a cable tension control does not make sense for these areas.
  • a Seilzugkraftquelung only in angular amounts ranges between 0 ° and 50 ° - based on an orientation of the winch arm in the direction of travel - and between 180 ° and 130 ° - based on an orientation of the winch arm against the direction of travel - made.
  • the object underlying the invention is achieved in that a tensile force sensor for detecting a cable traction and a data processing unit comprehensive control unit are provided, which is connected for the reception and evaluation of data to the sensor, the sensor device, the angle sensor and the tension sensor is, and which drives a winch drive to control a cable traction 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 encoder is preferably arranged coaxially to a rotational 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 above 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 designed as a multi-turn encoder to detect several revolutions of the reel.
  • 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.
  • electric motors are provided instead of hydraulic 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.
  • 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 tensile force sensor 9 is provided in the region of a guide of the winch cable.
  • the winch 2 is associated with a sensor device 6 for detecting a rope speed during 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, since 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 control unit S predefines a defined difference target range, which is also referred to as the desired slip range.
  • the Compliance with this difference or slip target range is achieved by regulating the cable pull force, wherein this is controlled in such a way that the lowest possible cable pull force, 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 encoder 11 also is connected to the control module S 1, sitting on the axis of rotation of the reel 10 degrees.
  • 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 activates a signal generator 16, which sends the corresponding error message to the driver's cabin of the snow groomer, preferably in a display region which can be quickly recognized by the driver. 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.

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

Claims (4)

  1. Procédé de commande d'un treuil à câble (2) d'un véhicule chenillé, comprenant les étapes suivantes :
    - saisie d'une vitesse de chenille,
    - saisie d'une vitesse de câble,
    - saisie d'un angle d'un bras de treuil (3) par rapport à un axe longitudinal du véhicule (F),
    - détermination d'une vitesse de translation à partir de la vitesse de câble saisie et de l'angle du bras de treuil (3) par rapport à l'axe longitudinal du véhicule (F) et
    - comparaison de la vitesse de chenille saisie avec la vitesse de translation déterminée,
    - saisie d'une force de traction du câble,
    - détermination d'une plage théorique pour une différence entre la vitesse de chenille et la vitesse de translation, et
    - détermination d'une valeur théorique pour une force de traction du câble en tenant compte de la plage théorique de différence,
    caractérisé en ce
    - qu'est consignée une valeur maximale de l'angle du bras de treuil (3) par rapport à l'axe longitudinal du véhicule (F) pour laquelle la régulation de la force de traction du câble est désactivée.
  2. Dameuse (1) avec au moins un treuil à câble (2) ainsi qu'au moins un capteur (5) destiné à saisir la vitesse de chenille, avec un dispositif détecteur (6) destiné à saisir une vitesse de câble, avec un capteur d'angle (8) destiné à saisir un angle d'un bras de treuil (3) par rapport à un axe longitudinal du véhicule (F), sachant qu'est prévu un capteur de force de traction (9) destiné à saisir une force de traction du câble, qu'est prévue une unité de commande (S) comprenant une unité de traitement des données, qui, pour la réception et l'analyse de données, est reliée au capteur (5), au dispositif détecteur (6), au capteur d'angle (8) et au capteur de force de traction (9), et qui commande un entraînement de treuil (7) afin de réguler une force de traction du câble en fonction d'une analyse des données reçues, caractérisée en ce que la dameuse présente un dispositif pour réaliser un procédé selon la revendication 1.
  3. Dameuse selon la revendication 2, caractérisée en ce que le dispositif détecteur (6) destiné à saisir la vitesse de câble comprend un capteur de longueur résiduelle de câble (11) destiné à saisir la longueur de câble déroulée du tambour de treuil (10) ou enroulée sur le tambour de treuil (10).
  4. Dameuse selon la revendication 3, caractérisée en ce qu'en tant que capteur de longueur résiduelle de câble (L) est prévu un transmetteur de valeurs absolues saisissant le nombre de tours effectués par le tambour de treuil (10).
EP11185066.5A 2010-10-19 2011-10-13 Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse Active EP2444356B1 (fr)

Applications Claiming Priority (1)

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

Publications (2)

Publication Number Publication Date
EP2444356A1 EP2444356A1 (fr) 2012-04-25
EP2444356B1 true EP2444356B1 (fr) 2015-04-29

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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
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

Family Applications After (1)

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

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EP (2) EP2444356B1 (fr)
DE (1) DE102010049984A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMI20120922A1 (it) 2012-05-28 2013-11-29 Snowgrolic S A R L Metodo di controllo, programma per elaboratore elettronico e dispositivo di controllo di un veicolo cingolato
IT201700064293A1 (it) * 2017-06-09 2018-12-09 Prinoth Spa Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo
DE102022202414A1 (de) 2022-03-10 2023-09-14 Kässbohrer Geländefahrzeug Aktiengesellschaft Verfahren zur Steuerung einer Windenanordnung einer Pistenraupe, Vorrichtung zur Durchführung des Verfahrens und Pistenraupe
AT526150B1 (de) * 2022-10-03 2023-12-15 Konrad Forsttechnik Gmbh Vorrichtung und Verfahren zum Transportieren von Holz in steilem Gelände

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4475163A (en) * 1980-11-03 1984-10-02 Continental Emsco System for calculating and displaying cable payout from a rotatable drum storage device
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
CA2441650C (fr) * 2002-10-08 2008-12-02 Bombardier Recreational Products Enrouleur de cable pour vehicule a damer les pistes de ski
DE10261944A1 (de) 2002-12-17 2004-07-01 Kässbohrer Geländefahrzeug AG Verfahren zur Steuerung einer Seilwinde eines Pistenpflegefahrzeugs und Pistenpflegefahrzeug
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
IT1394923B1 (it) * 2009-02-18 2012-07-27 Rolic Invest Sarl Veicolo battipista comprendente un gruppo verricello di ausilio alla movimentazione del veicolo battipista lungo pendii ripidi e metodo di azionamento del gruppo verricello

Also Published As

Publication number Publication date
EP2444355B1 (fr) 2015-09-02
EP2444355B2 (fr) 2022-08-17
EP2444356A1 (fr) 2012-04-25
EP2444355A1 (fr) 2012-04-25
DE102010049984A1 (de) 2012-04-19

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