EP3470363A1 - Procédé et système de commande d'enroulement ou de déroulement d'une section de câble sur ou d'un tambour rotatif - Google Patents

Procédé et système de commande d'enroulement ou de déroulement d'une section de câble sur ou d'un tambour rotatif Download PDF

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Publication number
EP3470363A1
EP3470363A1 EP17196595.7A EP17196595A EP3470363A1 EP 3470363 A1 EP3470363 A1 EP 3470363A1 EP 17196595 A EP17196595 A EP 17196595A EP 3470363 A1 EP3470363 A1 EP 3470363A1
Authority
EP
European Patent Office
Prior art keywords
rotary drum
cable
mark
sensor
length
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.)
Pending
Application number
EP17196595.7A
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German (de)
English (en)
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.)
Skysails Power GmbH
Original Assignee
Skysails Power GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Skysails Power GmbH filed Critical Skysails Power GmbH
Priority to EP17196595.7A priority Critical patent/EP3470363A1/fr
Priority to US16/157,297 priority patent/US11034558B2/en
Publication of EP3470363A1 publication Critical patent/EP3470363A1/fr
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H9/00—Marine propulsion provided directly by wind power
    • B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
    • B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
    • B63H9/069—Kite-sails for vessels
    • 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
    • B66D1/485—Control devices automatic electrical

Definitions

  • the present invention relates to a method and a system for controlling the winding or unwinding of a cable section on or from a rotary drum.
  • a rotary drum to pull a rope therefrom.
  • Such rotary drums usually have a circular cylindrical winding surface on which the cable wound by rotation of the drum and stored so as to save space and can be handled again when needed.
  • the unwinding is done by an opposite rotation of the rotary drum.
  • Such rotary drums are used, for example, to fieren (unwind) and to bring (pull) a pull rope on which a designed for flying wind attack element is held.
  • the catching and finning of the pull rope must be done in such applications with the highest possible precision. This is especially true when recovering the hawser in preparation for a landing of the windage element, in which the windage element is docked by catching to a landing device.
  • the Holetician is in the context of the invention, a point at which the rope is limited so far in its mobility that the rope when acting on the other side of the Holeddlings pulling force between the rope exit position of the rotary drum (ie a point where the rope leaves the rotary drum) and the Holeddling runs on the defined path, that is stretched between the drum and the Holeddling.
  • the Holetician may for example be a deflection, which is formed for example by a deflection roller.
  • the defined path usually runs straight from the rope exit position of the rotary drum to the break point. It is also possible that the rope is deflected along the defined path, for example by rolling.
  • the invention is based on the recognition that the simple assignment of the angle of rotation to a unwound or wound cable length section known from the prior art often leads to erroneous results. This is due, inter alia, to the fact that the rope can stretch plastically and / or elastically during use and is thus subject to a change in length. A plastic stretch leads to a permanent extension of the rope. Such occurs, for example, in synthetic fiber ropes and in particular at the beginning of the period of use of such ropes. In addition, a load-dependent elastic change in length may occur, in which the rope extends with attacking tensile force and shortened again in a reversible manner with decreasing tensile force.
  • the effective drum circumference of a winding pattern which is produced by winding the cable on the rotary drum, may depend on which tensile force acts during winding.
  • the effective drum circumference designates the length of a cable section which is unwound or wound up during a 360 ° revolution of the rotary drum. If the cable is stretched elastically due to strong tensile forces during winding, this can lead to a reduction of the effective drum circumference, especially in multi-layer winding, since the rope diameter decreases due to the elongation.
  • the effective drum circumference can also be influenced by the type of winding or, for example, by winding faults.
  • the present invention proposes to guide a rope from the rotary drum along a defined path to a break point so that the rope, when unwound between the rotary drum and the break point, runs along the defined path.
  • This makes it possible in a simple manner, in the area of the defined path, to determine the length of a defined cable section wound off or wound by the rotation of the rotary drum and, at the same time, the associated angular difference.
  • a measurement can be carried out by the invention which can be taken into account directly in the further control of the rotary drum in order to improve the accuracy of the control.
  • length changes of the rope be taken directly into account by the inventive method and it can be done during use calibration to control the rotary drum with increased accuracy.
  • the cable has a first mark and a second mark spaced from the first, the defined web having a sensor position.
  • step b. unwind or rewind the rope so that the first marker passes the sensor position and the second marker passes or at least reaches the sensor position, the first marker and the second marker being detected as the sensor position passes or arrives.
  • the length is preferred in step c. determined by the distance of the markers, wherein the angular difference between the angular position of the rotary drum upon detection of the first mark and the angular position of the rotary drum is determined upon detection of the second mark.
  • the invention thus proposes to use a rope with two spaced-apart markings.
  • the markings When winding or unwinding the cable by rotating the rotary drum, the markings can be guided past the sensor position in a defined manner, namely along the defined path, and detected there. At the same time, the angular difference between the detection of the first mark and the detection of the second mark by the rotary drum can be determined. This angular difference can then be set in relation to the distance of the two markings from one another and thus taken into account in the further control. Since the distance of the markings is known, a calibration can thus be carried out by the method according to the invention, so that a cable section is desired Can be length by a corresponding rotation of the rotary drum in an exact manner or wound up.
  • the rope can, as explained above, be subject to a tensile force-dependent elastic elongation which influences the distance between the markings.
  • an error may result in the above-explained calibration if the length of the defined cable section is determined by the distance of the markings. It can therefore be provided that the distance between the markings is corrected taking into account a rope elongation.
  • the distance between the markers can be remeasured, for example, in a state in which no tensile force acts on the rope. A plastic strain of the rope in the area between the markings can be determined in this way.
  • an elastic elongation of the rope can be estimated by how strong the tensile force acting on the rope is during the detection of the markings. It can be provided for this purpose a force sensor for measuring the tensile force acting on the rope, wherein from the tensile force an elastic rope elongation can be estimated.
  • the cable has a marking, the defined path having a first sensor position and a second sensor position spaced from the first, wherein in step b. the rope is wound off or wound up in such a way that the marking passes the first sensor position and passes or at least reaches the second sensor position.
  • the marking is preferably detected when passing or reaching the sensor positions, wherein the length in step c. through the distance the sensor positions (measured along the defined path) is determined and wherein the angular difference between the angular position of the rotary drum upon detection of the mark at the first sensor position and the angular position of the rotary drum is determined upon detection of the mark at the second sensor position.
  • the tensile force is exerted by a trained for flying and attached to the rope wind engagement element.
  • the wind engagement element is dockable out of the flight out, recovering the rope to a docking adapter, wherein the detection of the mark or the marks is preferably carried out during the hauling of the rope and wherein the wind engaging element taking into account in the steps c. and d. docked to certain sizes.
  • a corresponding wind engagement element which is designed for docking to a docking adapter, is for example from the WO 2005/100150 A1 known.
  • the present invention furthermore relates to a system for controlling the winding or unwinding of a cable section onto or from a rotary drum, comprising a rotary drum with a cable which can be unwound or unwound from the rotary drum and with an angle sensor for detecting a cable Rotary angle of the rotary drum and for outputting an angle signal
  • the system further comprises a Holeddling, a length measuring device and a control unit, wherein the cable is guided by the rotary drum along a defined path to the Holeddling, wherein the length measuring device is adapted to the length a determined by rotating the rotary drum along the defined path defined cable section to determine and output a length signal, the control unit for receiving the angle signal and the length signal and for controlling the rotary drum taking into account the length signal and the angle signal e is formed.
  • the length measuring device comprises a sensor, wherein the cable has a first mark and a second mark spaced from the first, wherein the sensor for detecting the markings arranged in the region of the defined path and for outputting a first length signal upon detection of the first mark and is designed to output a second length signal upon detection of the second mark, wherein the control unit is designed to determine an angular difference based on the angle signal and the length signals.
  • the length measuring device comprises a first sensor and a second sensor spaced apart from the first, the cable having a marking, the first sensor for detecting the marking in the region the defined path is arranged and designed to emit a first length signal, wherein the second sensor for detecting the mark in the region of the defined path and formed to deliver a second length signal, wherein the control unit for determining an angular difference formed on the basis of the angle signal and the length signals is.
  • the system according to the invention can be further developed by further features which have already been described in connection with the method according to the invention.
  • the system may be designed to carry out the method.
  • the detection of the markings by the sensor can be carried out, for example, in an optical, electromagnetic or mechanical manner.
  • the at least one marking is formed by a metallic element integrated in the cable, the sensor being designed as an inductive sensor.
  • the system may include a wind-engaging element connected to the rope for flying out.
  • the wind-engaging element can be docked out of the outbound flight while the rope is being retrieved to a docking adapter.
  • the distance between the first marking and the second marking may, for example, be between 1 m and 30 m, preferably between 2 m and 20 m, more preferably between 5 m and 15 m. It has been found that distances in this area, in particular in the use of the system for recovery (and landing and docking) of a windage element are advantageous because sufficient accuracy in the control of the rotary drum can be achieved.
  • the system may have a distance (measured along the defined path) between 0.1 m and 5 m, preferably between 0.2 m and 3 m, more preferably between 1 m and 2 m ,
  • the marker (s) may be used according to the invention as indicators of how far the rope has already been hauled.
  • the marking or the markings are arranged at a defined position of the rope.
  • the markers may be located near the end of the rope remote from the rotary drum so as to provide an indication when the rope is being retrieved that the rope has been almost completely hauled.
  • the marker (s) may have a defined distance from an attachment point at which the cable is connected to the wind-engaging element.
  • the marking or (in the case of two markings) the marking remote from the rotary drum has a distance from an attachment point at which the cable is connected to the wind-engaging element, which is between 5 m and 40 m, preferably between 10 m and 30 m and more preferably between 15 m and 25 m.
  • the distance between the marking remote from the rotary drum and the sensor position is at least 2 m, preferably at least 4 m, more preferably at least 5 m, when the wind engagement element docked to the docking adapter.
  • the distance is measured along the rope.
  • the wind engagement element can be obtained in this embodiment at high speed and decelerated by detecting the remote mark by the sensor, the above minimum distances allow the windage element can be safely braked before reaching the docking adapter.
  • FIG. 1 shows a first embodiment of the system according to the invention for controlling a rotary drum in a schematic view.
  • the system includes a trained as a winch 13 rotary drum. On the winch 13, a synthetic fiber rope 14 is partially wound up.
  • the winch 13 has a drive 31, which drives the winch 13 to perform a winding movement.
  • the drive is connected to a control unit 30 so that the control unit 30 can control the winch 13 in order to wind or unwind the cable 14.
  • the system also includes an angle sensor 32 which is connected to the winch 13. The angle sensor detects the angular position the winch and is adapted to deliver a corresponding angle signal to the control unit 30.
  • the deflection roller 16 From a rope exit position 15 of the winch 13 to a deflection roller 16, the cable is guided along a defined path 17.
  • the deflection roller 16 forms a break point in the sense of the present invention.
  • a wind engaging element 18 is attached at the Switzerlandseilwinde 13 opposite end of the rope 14.
  • the wind engaging element 18 is under the action of wind, so that it exerts a pulling force on the cable 14.
  • the wind engagement element 18 has a control pod 23, from which the cable 14 fans out into a plurality of control lines, which are connected to the wind engagement element 18.
  • the control pod 23 is formed in a generally known manner to shorten or extend the control lines for controlling the windage element 18.
  • the control pod 23 receives control commands from the control unit 30 via a wireless connection.
  • the cable 14 is provided with a first mark 20a and with a second mark 20b spaced from the first mark.
  • the distance between the markers 20a, 20b is about 19 m.
  • a sensor 22 is arranged, which is connected to the control unit. By a corresponding unwinding or winding of the cable 14, the markings 20a, 20b can be guided past the sensor 22.
  • the sensor 22 is designed to detect the passage of the markings 20a, 20b and to emit a length signal to the control unit when the markings are detected.
  • the markings 20a, 20b are formed by metallic elements, which are integrated in the synthetic fiber rope 14, wherein the sensor is designed as an inductive sensor.
  • the rope 14 is wound by appropriate control of the drive 31.
  • the marking 20a approaches the sensor 22.
  • the sensor 22 outputs a first length signal to the control unit 30, whereupon the control unit 30 interrogates the instantaneous angular position of the winch 13 via the angle sensor 32. If, after further retrieval of the cable 14, the second marking 20b passes the sensor, this emits a second length signal to the control unit 30, whereupon the control unit 30 via the angle sensor 32 again queries the instantaneous angular position of the winch 13.
  • the control unit 30 Based on the two queried angular positions, the control unit 30 then calculates an angular difference. This angular difference is then related to the known distance between the marks 20a, 20b to determine an "effective drum circumference". Upon further recovery of the rope 14 for docking the wind engaging element 18 to an in FIG. 1 not shown docking adapter, the determined "effective drum circumference" is taken into account. With the help of the system according to the invention can be done in this way docking with great accuracy.
  • the recovery can be done until the detection of the mark 20b by the sensor 22 at high speed.
  • the windage element is still about 5 m away from its docking position. This distance is sufficient to "decelerate” the windage element to then securely dock it in consideration of the determined "effective drum circumference".
  • FIG. 2 shows a schematic view of an alternative embodiment of the present invention.
  • the second embodiment differs from the first embodiment in that the cable 14 has only one marker 20.
  • two spaced-apart sensors 22a, 22b are arranged along the defined path 17, in contrast to the first embodiment.
  • the sensors 22a, 22b are designed to detect the mark 20 and to output a length signal to the control unit 30.
  • the angular difference is determined by a query of the angular position upon detection of the mark 20 by the first sensor 22a and a subsequent query the angular position upon detection of the mark 20 by the second angle sensor 22b.
  • the angular difference is then set in relation to the distance of the sensors 22a, 22b along the defined path 17.
  • the operation of this embodiment corresponds to that of FIG. 1 ,

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
EP17196595.7A 2017-10-16 2017-10-16 Procédé et système de commande d'enroulement ou de déroulement d'une section de câble sur ou d'un tambour rotatif Pending EP3470363A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP17196595.7A EP3470363A1 (fr) 2017-10-16 2017-10-16 Procédé et système de commande d'enroulement ou de déroulement d'une section de câble sur ou d'un tambour rotatif
US16/157,297 US11034558B2 (en) 2017-10-16 2018-10-11 Method and system for controlling the winding/unwinding of a rope portion onto/from a rotary drum

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17196595.7A EP3470363A1 (fr) 2017-10-16 2017-10-16 Procédé et système de commande d'enroulement ou de déroulement d'une section de câble sur ou d'un tambour rotatif

Publications (1)

Publication Number Publication Date
EP3470363A1 true EP3470363A1 (fr) 2019-04-17

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EP17196595.7A Pending EP3470363A1 (fr) 2017-10-16 2017-10-16 Procédé et système de commande d'enroulement ou de déroulement d'une section de câble sur ou d'un tambour rotatif

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US (1) US11034558B2 (fr)
EP (1) EP3470363A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0103162A2 (fr) * 1982-08-13 1984-03-21 Bayerische Bühnenbau GmbH Dispositif de mesure et de commande pour charges suspendues à des câbles, en particulier pour soulever des décors de théatre
WO2005100150A1 (fr) 2004-04-19 2005-10-27 Skysails Gmbh & Co. Kg Systeme de mise en place pour element volant, du type cerf-volant, soumis a l'action du vent, dans un bateau a propulsion par energie eolienne
CN203855344U (zh) * 2014-01-28 2014-10-01 丁志岩 一种测定放线长度的箱式卷扬机

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DE102004018838A1 (de) * 2004-04-19 2005-11-03 Skysails Gmbh Positionierungsvorrichtung für ein frei ausfliegendes drachenartiges Windangriffselement bei einem Wasserfahrzeug mit Windantrieb
ITTO20060491A1 (it) * 2006-07-04 2006-10-03 Massimo Ippolito Sistema eolico per la conversione di energia mediante una turbina ad asse verticale azionata per mezzo di profili alari di potenza e procedimento di produzione di energia elettrica mediante tale sistema
CA2773855C (fr) * 2009-09-16 2018-02-27 Prysmian S.P.A. Procede de surveillance et systeme pour la detection de la torsion le long d'un cable comportant des etiquettes d'identification
DE202011001845U1 (de) * 2011-01-24 2012-04-30 Liebherr-Components Biberach Gmbh Seiltrommel und Seilrolle für Faserseiltriebe
DE102011113210A1 (de) * 2011-09-12 2013-03-14 Liebherr-Werk Nenzing Gmbh Seilwindenvorrichtung
WO2013101791A1 (fr) * 2011-12-28 2013-07-04 Leonid Goldstein Système de conversion d'énergie éolienne fonctionnant sur l'eau
US10796674B2 (en) * 2013-01-11 2020-10-06 Bedson Drum Co. Drumhead tuning rim system and method of use
EP2765112A1 (fr) * 2013-02-07 2014-08-13 Aker Pusnes AS Treuil de traction
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WO2018194026A1 (fr) * 2017-04-17 2018-10-25 グローブライド株式会社 Machine de levage électrique et dispositif de commande et son procédé de commande
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JP6683209B2 (ja) * 2018-01-16 2020-04-15 コベルコ建機株式会社 ウインチドラム及びこれを備えたクレーン
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Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0103162A2 (fr) * 1982-08-13 1984-03-21 Bayerische Bühnenbau GmbH Dispositif de mesure et de commande pour charges suspendues à des câbles, en particulier pour soulever des décors de théatre
WO2005100150A1 (fr) 2004-04-19 2005-10-27 Skysails Gmbh & Co. Kg Systeme de mise en place pour element volant, du type cerf-volant, soumis a l'action du vent, dans un bateau a propulsion par energie eolienne
CN203855344U (zh) * 2014-01-28 2014-10-01 丁志岩 一种测定放线长度的箱式卷扬机

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US11034558B2 (en) 2021-06-15
US20190112169A1 (en) 2019-04-18

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