EP2444355B1 - 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
EP2444355B1
EP2444355B1 EP11185068.1A EP11185068A EP2444355B1 EP 2444355 B1 EP2444355 B1 EP 2444355B1 EP 11185068 A EP11185068 A EP 11185068A EP 2444355 B1 EP2444355 B1 EP 2444355B1
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EP
European Patent Office
Prior art keywords
cable
winch
reel
sensor
winding
Prior art date
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Active
Application number
EP11185068.1A
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German (de)
English (en)
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EP2444355A1 (fr
EP2444355B2 (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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Application filed by Kassbohrer Gelandefahrzeug AG filed Critical 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 for controlling a winch of a vehicle according to the preamble of claim 1 and a snowcat with a winch according to the preamble of claim 2.
  • a method and such a snowcat are for example by WO2010 / 095016 disclosed.
  • a method for controlling a winch of a tracked vehicle is from the EP 1 431 236 B1 known.
  • the rope speed of the winch rope is regulated.
  • the winch cable control comprises a comparator block which compares a current position of a cable guide device with a calculated position. The current position is detected by a sensor. The winch cable control may correct the current position of the cable guide device depending on a result of the comparison. In addition, the tangential speeds of the reel and a deflection roller can be calculated by means of the winch cable control become.
  • a comparator block within the winch control compares the tangential velocities with a predetermined limit. Once the limit is exceeded, the reel is stopped when unwinding the winch rope.
  • the object of the invention is to provide a method and a snowcat of the type mentioned, which allow a small load on the winch rope in winch operation of the snow groomer and a monitoring of the winding of the winch rope.
  • the object underlying the invention is achieved for a snow groomer described above in that an apparatus for performing a method described above with the features of claim 2 is provided.
  • 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.
  • a low and therefore gentle load on the winch rope is achieved by the invention.
  • the sensor device for detecting the cable speed advantageously also has a time measuring device in order to convert the cable path detectable by the residual cable length sensor into the cable speed.
  • the absolute value transmitter is preferably arranged coaxially to a rotation axis of the reel and permanently detects the angle of rotation or the rotation angle change of the reel.
  • the absolute value encoder can also be provided with a time module, so that the cable speed can be calculated directly via the data of the absolute value encoder.
  • the absolute encoder is designed as a rotary encoder and measures the angle of rotation.
  • the absolute encoder is 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.
  • Embodiment of the invention are provided instead of hydraulic motors electric motors.
  • the wrapping arm 12 is - relative to a cable extension direction - mounted in front of the reel 10 in the winch housing by means of a pivot bearing 14 pivotally.
  • a pivoting plane of the winding arm 12 is parallel to a mantle surface of the cylindrical shape of the reel 10 and thus also parallel to the axis of rotation of the reel 10.
  • a rotational angle ⁇ of the wrapping arm 12 is matched to the usable width of the reel 10, that the winch rope through the wrapping 12th for each of the windings distributed over the reel 10 of each winding layer can be performed.
  • the winch cable 13 is withdrawn via a spill gear not shown in detail from the reel 10 or wound onto the reel 10.
  • the spool gear is part of the winch drive 7.
  • the reel 10 has a reel drive, not shown, which is part of the winch drive 7.
  • Both the reel drive and a drive for the capstan are hydraulically designed.
  • the spill gear is preferably assigned a hydraulic motor.
  • the reel drive can also be formed by an electric drive instead of a hydraulic drive be.
  • the spill gear can be provided instead of a hydraulic motor with a sufficiently sized electric motor.
  • the winch drive 7 is executed exclusively hydraulically.
  • a regulation of the winch drive in the manner described in more detail below.
  • the regulation is in angular amount ranges ⁇ according to Fig. 2 effective.
  • the corresponding angular ranges extend, starting from an extension of the winch arm 3 along the vehicle longitudinal axis F in the direction of travel or counter to the direction of travel by 50 ° in both directions.
  • alignment of the winch arm 3 is the winch arm 3 in a zero position. In a correspondingly reverse orientation, it is in a 180 ° position.
  • At least one Turasrad is associated with a speed sensor 5, by means of which a chain speed can be detected.
  • a speed sensor 5 by means of which a chain speed can be detected.
  • two Turaszumn the opposite chains 4 speed sensors 5 are assigned to make the determination of the chain speed via appropriate rotation direction and speed detection of the Turas.
  • an angle sensor 8 is provided, which detects the angle of rotation of the winch arm 3 relative to the vehicle longitudinal axis F.
  • a cable force sensor 9 is provided in the winch 2 in the range of Guide the winch rope.
  • the winch 2 is associated with a sensor device 6 for detecting a rope speed when winding or unwinding of the winch cable.
  • the winch drive 7 comprises a hydraulic spill drive, not shown, with a spill gear and spill heads, over which the winch cable is deflected for withdrawal from the reel 10 or for winding onto the reel 10.
  • the winch drive 7 also includes a drive for the reel 10, which drives the reel 10 at least in the winding direction.
  • the reel drive is realized by a hydraulic constant motor.
  • the spill drive has a controllable hydraulic motor which acts on the spill gear.
  • a force measuring pin is provided in the region of a displaceable deflection roller in the winch arm 3 in the present embodiment.
  • the 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 difference between chain speed and calculated driving speed can be positive or negative, because when driving downhill calculated by the rope speed and the angle of the winch speed can be lower than the chain speed to achieve a braking effect .
  • increased slippage of the chains 4 can be compensated by a higher travel speed relative to the chain speed and, consequently, a higher cable speed.
  • the control unit S is taking into account these different driving conditions, a defined difference target range before, which is also called slip target range. Compliance with this differential or slip target range is achieved by regulating the cable traction, which is controlled so that the lowest possible traction, which still allows driving 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 controls a signal generator 16, which sends the corresponding error message to the driver's cabin of the snowcat, preferably in a quickly recognizable for the driver display area transmitted.
  • the signal generator is preferably designed optically and / or acoustically.
  • control module S 1 via the central control unit S is suitably connected to a functional unit within the traction drive and / or the winch drive.

Landscapes

  • Engineering & Computer Science (AREA)
  • 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 (3)

  1. Procédé de commande d'un treuil à câble (2) d'un véhicule chenillé et dameuse, comprenant les étapes suivantes :
    - comptage des tours d'un treuil (10) sur lequel le câble (13) est tenu adapté à être enroulable et déroulable,
    - saisie d'un angle de rotation d'un bras enrouleur (12) guidant le câble (13) lors d'un enroulement ou déroulement du treuil (10),
    - prédétermination d'un nombre de spires de câble per couche d'enroulement sur le treuil,
    - comparaison des tours et angles de rotation saisies avec la consigne et
    - signalisation d'un message d'erreur en fonction d'un résultat de la comparaison,
    caractérisé en ce que le procédé comprend l'étape suivante:
    - transmission du message d'erreur au poste de conduite d'un conducteur de la dameuse.
  2. Dameuse (1) avec un treuil à câble (2) et avec un dispositif pour réaliser un procédé selon la revendication 1 avec au moins un capteur (5) destiné à saisir la vitesse de chenille, avec un dispositif capteur (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 que le dispositif présente en outre les caractéristiques suivants:
    - avec 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),
    - avec un capteur d'angle de rotation (15) du bras enrouleur (12) guidant le câble (13) lors d'un enroulement ou déroulement par rapport au treuil (10),
    - avec un module de commande (S1) comprenant une unité de traitement de données, le module faisant saisie de données du capteur de longueur résiduelle de câble (11) et du capteur d'angle de rotation (15) et comparaison des données avec des consignes enregistrés, et en fonction d'un résultat de la comparaison, le module commande un signaleur (16),
    caractérisée en ce que
    le dispositif comprend un signaleur destiné à signaler et transmettre une erreur de roulement de câble au poste de conduite de la dameuse.
  3. Dameuse selon la revendication 2, 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).
EP11185068.1A 2010-10-19 2011-10-13 Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse Active EP2444355B2 (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 (3)

Publication Number Publication Date
EP2444355A1 EP2444355A1 (fr) 2012-04-25
EP2444355B1 true EP2444355B1 (fr) 2015-09-02
EP2444355B2 EP2444355B2 (fr) 2022-08-17

Family

ID=44799814

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EP11185068.1A Active EP2444355B2 (fr) 2010-10-19 2011-10-13 Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse
EP11185066.5A Active EP2444356B1 (fr) 2010-10-19 2011-10-13 Procédé de commande d'un treuil à câble d'un véhicule chenillé et dameuse

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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

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EP (2) EP2444355B2 (fr)
DE (1) DE102010049984A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200115202A1 (en) * 2017-06-09 2020-04-16 Prinoth S.P.A. Winch assembly for assisting the movement of a tracked vehicle and control method thereof
EP4516560A1 (fr) * 2018-08-07 2025-03-05 Kässbohrer Geländefahrzeug AG Dameuse avec un treuil et un entraînement à chaîne

Families Citing this family (6)

* 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
IT202100032639A1 (it) 2021-12-24 2023-06-24 Prinoth Spa Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo
IT202200003908A1 (it) * 2022-03-02 2023-09-02 Prinoth Spa Veicolo cingolato per la preparazione di piste da sci e metodo di guida del veicolo cingolato
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
AT527871A1 (de) * 2024-01-09 2025-07-15 Lechner Konrad Forstwirtschaftliches Nutzfahrzeug

Citations (4)

* 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
CA2441650A1 (fr) 2002-10-08 2004-04-08 Bombardier Recreational Products Enrouleur de cable pour vehicule a damer les pistes de ski
EP1431236A2 (fr) 2002-12-17 2004-06-23 Kässbohrer Geländefahrzeug AG Procédé pour commander le treuil de halage d'un vehicule pour l'entretien des pistes et cedit vehicule
WO2010095016A1 (fr) 2009-02-18 2010-08-26 Rolic Invest Sarl Dameuse comportant un treuil pour améliorer la manœuvrabilité de la dameuse sur les pentes raides et procédé d'exploitation du treuil

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1316116B1 (it) * 2000-01-21 2003-03-28 Leitner Spa Dispositivo per la impostazione e regolazione automatica della forzadi trazione di una fune di un verricello sopratesta per una macchina
US7097155B2 (en) * 2004-07-16 2006-08-29 Tulsa Winch, Inc. Winch or hoist including a device for signaling when a preset minimum number of cable windings are left on a winding drum

Patent Citations (4)

* 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
CA2441650A1 (fr) 2002-10-08 2004-04-08 Bombardier Recreational Products Enrouleur de cable pour vehicule a damer les pistes de ski
EP1431236A2 (fr) 2002-12-17 2004-06-23 Kässbohrer Geländefahrzeug AG Procédé pour commander le treuil de halage d'un vehicule pour l'entretien des pistes et cedit vehicule
WO2010095016A1 (fr) 2009-02-18 2010-08-26 Rolic Invest Sarl Dameuse comportant un treuil pour améliorer la manœuvrabilité de la dameuse sur les pentes raides et procédé d'exploitation du treuil

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200115202A1 (en) * 2017-06-09 2020-04-16 Prinoth S.P.A. Winch assembly for assisting the movement of a tracked vehicle and control method thereof
US11753283B2 (en) * 2017-06-09 2023-09-12 Prinoth S.P.A. Winch assembly for assisting the movement of a tracked vehicle and control method thereof
EP4516560A1 (fr) * 2018-08-07 2025-03-05 Kässbohrer Geländefahrzeug AG Dameuse avec un treuil et un entraînement à chaîne

Also Published As

Publication number Publication date
DE102010049984A1 (de) 2012-04-19
EP2444356A1 (fr) 2012-04-25
EP2444356B1 (fr) 2015-04-29
EP2444355A1 (fr) 2012-04-25
EP2444355B2 (fr) 2022-08-17

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