EP4003895B1 - Treuil à câble et dispositif de levage doté d'un tel treuil à câble - Google Patents

Treuil à câble et dispositif de levage doté d'un tel treuil à câble Download PDF

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Publication number
EP4003895B1
EP4003895B1 EP20750642.9A EP20750642A EP4003895B1 EP 4003895 B1 EP4003895 B1 EP 4003895B1 EP 20750642 A EP20750642 A EP 20750642A EP 4003895 B1 EP4003895 B1 EP 4003895B1
Authority
EP
European Patent Office
Prior art keywords
cable
winding
drum
rope
image
Prior art date
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Application number
EP20750642.9A
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German (de)
English (en)
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EP4003895A2 (fr
Inventor
Norbert Hausladen
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.)
Liebherr Components Biberach GmbH
Original Assignee
Liebherr Components Biberach GmbH
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Publication of EP4003895A2 publication Critical patent/EP4003895A2/fr
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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
    • B66D1/485—Control devices automatic electrical
    • 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
    • B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
    • B66D1/38—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains by means of guides movable relative to drum or barrel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/28—Traversing devices; Package-shaping arrangements
    • B65H54/2848—Arrangements for aligned winding
    • B65H54/2854—Detection or control of aligned winding or reversal
    • B65H54/2869—Control of the rotating speed of the reel or the traversing speed for aligned winding
    • B65H54/2875—Control of the rotating speed of the reel or the traversing speed for aligned winding by detecting or following the already wound material, e.g. contour following
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
    • B66D1/525—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water electrical
    • 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
    • B66D1/54—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/35—Ropes, lines

Definitions

  • the present invention relates to a cable winch, in particular a hoist winch of a hoist, with a cable drum, an inlet guide for a cable to be wound onto the cable drum, and an actuator for adjusting the inlet guide relative to the cable drum.
  • the invention further relates to a lifting device, in particular in the form of a crane, with such a cable winch.
  • the cable tension can vary greatly depending on the load the cable is carrying.
  • the cable may be wound up a short distance under strong tension and then, after the load has been removed, it may be wound up a further distance without a load or even loosely.
  • the cable may be under strong tension when unwinding or it may be unwound loosely.
  • One lower winding layer may be wound under strong tension and the layer above it may be wound loosely, and a layer wound above it may be wound tightly, or only part of a lower layer, for example, may be wound tightly and another part may be wound loosely.
  • Such changes in the cable tension or other cable or operating parameters which vary during winding and unwinding and are not subject to any fixed rule, not only have an influence on the winding pattern per se and can, for example, lead to the cable cutting into a loosely wound cable layer underneath when winding or unwinding under strong tension, but also result in further changes in the cable parameters, which in turn can affect the winding pattern.
  • the varying strand tension changes the cable diameter, so that a section of cable wound up or unwound under strong tension has a smaller diameter than a loosely wound section of cable, which can, for example, cause the cable to taper in cross-section when stretched longitudinally.
  • the transverse elasticity or longitudinal elasticity of the cable can also change.
  • a varying strand tension also leads to deformations and crushing or different deformations and different crushing of the cable in the winding layers, so that winding problems can occur when winding up and occasionally when unwinding. Since the changes in relevant winding parameters mentioned above can occur without a fixed rule in different phases of winding and unwinding, it is difficult to control the infeed guide appropriately in order to produce a uniform, "nice" winding pattern.
  • Such high-strength fiber ropes can be made from high-strength synthetic fibers such as aramid fibers, aramid/carbon fiber mixtures, high-modulus polyethylene fibers (HMPE), liquid crystal polymer (LCP)-Vektran or poly(p-phenylene-2,6-benzobisoxazole) fibers (PBO ) exist or at least have such fibers. Thanks to the weight savings compared to steel cables of up to 80% with approximately the same breaking strength, the load or the permissible lifting load can be increased, since the dead weight of the rope that has to be taken into account for the load is significantly lower.
  • high-strength synthetic fibers such as aramid fibers, aramid/carbon fiber mixtures, high-modulus polyethylene fibers (HMPE), liquid crystal polymer (LCP)-Vektran or poly(p-phenylene-2,6-benzobisoxazole) fibers (PBO ) exist or at least have such fibers. Thanks to the weight savings compared to
  • the load hook can be made lighter because less load hook weight is required to tension a fiber rope.
  • cable drives with synthetic fiber cables are characterized by a considerably longer service life, easy handling and good flexibility, as well as the elimination of the need for cable lubrication. Overall, greater device availability can be achieved.
  • High-strength fiber ropes actually have a low transverse compressive stiffness, so that high-strength fiber ropes can deform more in cross-section in the winding aisles when being wound onto the rope drum. This can, for example, result in the fiber rope cutting between two winding courses of an underlying winding layer when the drum is wound in multiple layers, which can lead to increased wear and major irregularities in the rope tension when unwinding.
  • the rope wrap builds up unevenly over the length of the drum, for example piling up in several layers towards one drum flange, before the rope runs to the opposite flange and forms new layers there. On the one hand, this can be due to the rope cutting between two previous winding layers due to deforming cross-sections, and on the other hand, it can lead to that the flange and also the cable drum are loaded unevenly and more than necessary.
  • an inlet guide which guides the cable to be wound back and forth from right to left over the length of the drum.
  • Such inlet guides sometimes referred to as compensators, usually guide the rope back and forth between the flanges of the winch at a transverse speed that depends on the winch speed.
  • the feed of the cable guide is usually mechanically kinematically coupled to the rotation of the cable winch, so that a predetermined transverse travel path of the inlet guide results depending on the drum rotation.
  • the inlet guide is usually moved transversely. However, it is also already known to achieve the relative movement between the inlet guide and the cable drum by adjusting the cable drum in the direction of the drum's longitudinal axis, see for example EP 28 07 108 B1 .
  • a winding drum according to the preamble of claim 1 is also known, the position of the winding material being observed by means of a television camera and the data thus obtained about the winding being fed to a computing unit, which initiates an adjustment in order to carry out an adjustment in the event of a deviation in the vertices of the winding layers to be provided in the radial direction.
  • the infeed guide should not be mechanically coupled to the drum rotation, but should be controlled electronically and adapted to different winding conditions.
  • the AT 11687 U1 a cable winch whose inlet guide carriage is adjusted by a carriage drive which is operated by a controller depending on the inlet angle of the cable so that the inlet angle of the cable onto the drum assumes a predetermined value or comes as close to it as possible.
  • the font US6811112B1 also describes a cable winch that is to be used for different cable diameters and provides different transverse speeds for the inlet guide.
  • the carriage drive of the inlet guide carriage is also controlled depending on the cable angle, whereby a cable outlet angle and a cable inlet angle are mechanically sensed and used to set the carriage speed.
  • controllable or adjustable inlet guides can be used to maintain the desired inlet angle of the rope to be wound up and to adapt it to different rope diameters or rope types.
  • problems and winding errors mentioned above can still occur, in particular the rope cutting between two underlying rope windings.
  • the present invention is therefore based on the object of creating an improved cable winch and an improved lifting device of the type mentioned at the beginning, which avoid the disadvantages of the prior art and develop the latter further in an advantageous manner.
  • clean winding should also be achieved with cables with low transverse compressive stiffness, so that even high-strength fiber cables without a pressure-stable sheath can be cleanly wound up.
  • the actual state of flanges is monitored and recorded, which limit the cable drum on the right and left or at the end or laterally limit the winding area on the cable drum, so that the rope can only be wound onto the cable drum between the two flanges is.
  • the two flanges mentioned are usually subjected to high lateral forces and the rope drum is loaded by the rope stack. Due to the axial load on the end or flanges, i.e. in the direction of the drum's longitudinal axis, the flanges can experience elastic deformation. In particular, the flanges can be deformed outwards, i.e. away from the rope winding area.
  • a detection device can detect such a deformation of the flanges.
  • the control device can, for example, change the adjustment of the inlet guide, for example in such a way that the inlet guide no longer guides the rope to be wound up all the way to the flanges, but reverses the adjustment movement prematurely.
  • the control device can emit a warning signal if the flange deformation exceeds a predetermined level or does not match the detected winding layer pattern, as this can be an indicator of damage to the flange and/or the winding drum, for example of a crack in the area of the flange base.
  • the detected flange deformation can be compared with an absolute limit value, which indicates the maximum permissible flange deformation.
  • This can, for example, be a displacement and/or absolute position of the outer peripheral edge of a flange in the direction of be the longitudinal axis of the drum.
  • a variable, permissible threshold value for the flange deformation can also be specified, which depends on the winding of the cable drum. For example, if there is only one winding layer on the cable drum, the flange itself should not show any significant deformation because there is a lack of lateral forces caused by several winding layers.
  • the permissible threshold value can be set differently, for example, depending on the winding layers located on the cable drum, in particular identified in the recorded winding pattern. The permissible deformation value can be set to become increasingly larger as the winding layers increase.
  • the flanges mentioned can, in a conventional manner, have a substantially radial extension to the cable drum axis and/or rise essentially at a right angle from the cable drum.
  • the flanges mentioned can also be set at an angle and/or extend inclined relative to a radial plane, for example, they can be essentially truncated in shape. Such inclined flanges can be particularly helpful when winding the cable drums crosswise.
  • the monitoring of the flange deformation can be carried out independently of a radial or oblique contouring of the flanges and can be helpful for monitoring safe operation of the cable winch, regardless of the previously explained inlet guide for the rope to be wound up and its adjustment.
  • the cable drum can, if necessary, be designed without cable grooving.
  • the cable drum can also have grooves.
  • a detection device for detecting the rope and a winding pattern of the rope wound on the rope drum is provided and the control device is designed to adjust the inlet guide relative to the rope drum depending on the recorded winding pattern if there are changes in the rope and/or in the winding pattern due to varying strand tensions result.
  • the adjustment of the relative position of the inlet guide and cable drum depending on the winding pattern recorded on the cable drum is based on the consideration that even if a predetermined inlet or winding angle of the rope is strictly adhered to, winding errors can occur and the desired winding pattern is not necessarily achieved. if, despite the same rope being wound up and unwound again and again, changes in relevant rope parameters occur due to different rope pulls during winding and/or unwinding, and winding errors can be better addressed if the real winding pattern that results on the drum is actually monitored and not just an influencing variable like how the entry angle of the rope is measured.
  • the detection device can detect the changing rope diameter or rope diameter changes and, depending on such rope diameter changes that can arise from the varying rope tension during winding and/or unwinding, the control or adjustment of the inlet guide and its movement relative to the rope drum can be adapted in order to achieve a clean winding pattern.
  • the control of the inlet guide can be dynamically adapted depending on the varying rope tension and/or an associated change in a rope parameter such as the rope diameter and/or the transverse elasticity or the longitudinal elasticity of the rope. If, for example, the rope diameter becomes thinner due to increasing rope tension, the travel speed of the inlet guide can be reduced in order to avoid gaps forming between the rope turns, or, if necessary, increased in order to get over the valleys of a winding layer below more quickly.
  • the detection device can in particular detect the envelope contour of the rope winding on the rope drum or determine it as a characteristic of the winding pattern, wherein the control device can then carry out the transverse adjustment of the inlet guide relative to the rope drum depending on the detected envelope curve.
  • the envelope contour of the rope wrap on the rope drum means the envelope curve placed over the uppermost rope courses when the rope drum and the rope wrap located on it are viewed in a cross-sectional plane containing the drum's longitudinal axis. If the cable drum has a single layer and is correctly wrapped completely between the two flanges, the envelope contour mentioned is, for example, a straight line, while if a second layer is additionally wound up to, for example, the drum half, a step or step contour is obtained as the envelope contour. However, if there is uneven winding with, for example, three or four layers on one flange, one or two layers in the middle of the drum and five or six layers towards the other flange, the envelope contour mentioned takes on a curved course.
  • envelope contour mentioned does not necessarily have to be recorded or determined in a cross-sectional plane, but envelope contours can also be recorded or determined in several cross-sectional planes, which each contain the longitudinal axis of the drum and can be rotated relative to one another, in which case the envelope contour is then, for example, an average value of different envelope curves in the different viewing levels can be used or determined.
  • the envelope curve mentioned can also be determined during the ongoing winding operation, i.e. with the cable drum rotating, the envelope curve being able to change continuously in a cross-sectional plane monitored by the detection device, so that the specific envelope curve can be continuously corrected, for example by incrementally changing changes in the signal of the detection device be recalculated or integrated into the existing envelope.
  • the winding pattern of the rope wrap on the rope drum can basically be detected or determined in various ways, for example by means of a light barrier that detects the shading generated by the winding paths, whereby the contour of the detected shading can be determined as an envelope contour.
  • the detection device can comprise optical image detection means for detecting an image of the rope winding on the rope drum and an image evaluation device for evaluating the detected rope winding image.
  • the optical image capture means can in particular comprise at least one camera which provides a camera image of the rope wrap or the wrap image on the rope drum, wherein said camera can provide a continuous image or a live image even when the rope winch is running, which is then evaluated by the image evaluation device, in particular to determine the envelope curve of the rope wrap on the rope drum.
  • the optical image capture device can also have another optical sensor system, in particular in the form of at least one imaging sensor, in order to provide an image of the rope wrap on the rope drum, which is then evaluated by the image evaluation device.
  • another optical sensor system in particular in the form of at least one imaging sensor, in order to provide an image of the rope wrap on the rope drum, which is then evaluated by the image evaluation device.
  • the image evaluation device can basically include various evaluation modes. For example, a pixel analysis, a light-dark analysis, a grayscale analysis and/or a contour analysis can be carried out.
  • the image evaluation device can have contour evaluation means that determine visible contours in the camera and/or sensor image and can determine the envelope contour of the rope winding from the position of the contours.
  • the image evaluation device can also include color area proportion evaluation means in order to be able to determine the area proportion of a respective color in the captured image and from this to be able to determine the winding pattern of the wound rope, in particular rope course courses and/or rope route crossings and/or rope route distances and/or the envelope contour of the rope coil.
  • the image evaluation device can also have grayscale evaluation means in order to determine visible grayscales in the image and from this to determine the parameters of the winding image mentioned, in particular the envelope curve of the rope winding.
  • the image evaluation device can also comprise rope diameter determination means in order to be able to detect a changing rope diameter or rope diameter changes in order to be able to take such diameter changes into account when controlling the inlet guide.
  • the control device can adjust the adjustment of the inlet guide in various ways, depending on which winding pattern and/or envelope contour is desired and what the recorded, actual winding pattern or envelope contour looks like.
  • the control device can have a comparison device that compares the recorded winding pattern with a predetermined target winding pattern and controls the inlet guide depending on the comparison so that deviations between the recorded winding pattern and the target winding pattern are as small as possible.
  • the above-mentioned comparison device can compare the specific envelope curve of the rope winding on the drum with a target envelope contour and control the adjustment drive of the inlet guide so that the recorded envelope contour is adjusted as closely as possible to the predetermined target contour.
  • the inlet guide can be adjusted so that the rope runs onto the drum in the area of the dent mentioned in order to fill the dent.
  • a winding hill ie protruding parts compared to the winding height
  • the drum area in which the winding bulge occurs can be left out during winding in order to first wind the remaining drum sections more heavily.
  • the winding pattern can also be examined for the course of the winding threads on the drum and compared with a target winding thread pattern.
  • a specified target winding pattern can provide for cross-winding of the drum, in which the rope windings of superimposed winding layers do not run parallel to one another, but the rope threads of a winding layer above cross the winding threads of the winding layer below.
  • the aforementioned comparison device can compare the course of the rope threads determined in the recorded winding pattern with the desired, cross-winding target winding thread and adjust the inlet guide accordingly in order to achieve the desired cross-winding thread.
  • the predetermined target envelope contour or the specifiable target wrapping pattern can, for example, be stored in a memory in order to be read out for comparison.
  • the control device or the comparison device mentioned can dynamically adapt the respective target envelope contour or the target winding pattern to the progress of the winding process, which can be done iteratively, for example, by successively adapting an initial target envelope contour or an initial target winding pattern to the progression of the winding process is adjusted, for example depending on the additional winding courses and / or additional winding layers.
  • the number of winding layers and/or the number of winding cycles can be determined in the respectively recorded winding layer image or based on the recorded envelope contour in order to adapt the stored target images.
  • the number of revolutions of the cable drum can also be recorded and from this it can be determined how many winding layers and / or cable courses are or must be wound on the drum in order to adapt the specified target images of the envelope contour or the winding pattern accordingly.
  • the number of revolutions of the cable drum can also be recorded by the image capture device.
  • the cable can include markings that the image capture device records, for example when the respective markings pass the camera.
  • the image evaluation device can determine which length of cable is wound up and/or unwound or how many layers of cable are wound up on the cable drum based on the number and/or, in the case of different markings, based on the respective passing marking. Based on the speed of the passing markings and/or based on the time period elapsed between two markings, the image capture device can also determine the speed of the cable drum, in particular, for example, an overspeed.
  • control device can use the detected winding pattern and/or the detected envelope contour of the rope wrap not only to control the inlet guide mentioned, but also to use it as the basis for operational monitoring, which provides a warning signal if necessary or in the event of imminent danger and/or automatically stops winch operation and / or suitable countermeasures, for example re-unwinding the rope.
  • operational monitoring which provides a warning signal if necessary or in the event of imminent danger and/or automatically stops winch operation and / or suitable countermeasures, for example re-unwinding the rope.
  • the control device can emit the warning signal mentioned or .stop winch operation or cause unwinding.
  • the monitoring of the winding pattern on the rope drum by the detection device can also be used to determine relevant rope parameters of the rope to be wound up, for example its readiness for discarding and/or its rope diameter and/or its rope elongation.
  • Defects or wear points on the rope can be identified, for example by the image evaluation device detecting splices in the rope sheath and / or color changes on the rope sheath in the captured image, which can occur, for example, when a sheath layer wears out and an underlying, different colored rope layer or rope strand is visible becomes.
  • the image evaluation device can comprise a rope diameter determining device in order to determine the rope diameter of the rope to be wound onto the drum. Based on the specific rope diameter, the control device can draw conclusions about the state of wear of the rope, especially if a reduction in diameter exceeds a predetermined amount.
  • control device can also adapt the control of the inlet guide depending on detected changes in the diameter of the rope to be wound up or unwound, for example increasing or decreasing the adjustment speed when the rope diameter increases or decreases.
  • a rope diameter can be determined in a simple manner using a rope diameter marking, which can be determined by the image evaluation means in an image depicting the rope.
  • the rope diameter can be marked in color, for example in such a way that an outer layer is colored differently than a rope layer located further inside or underneath. If the color of an inner layer is recognized, it can be assumed that the permissible minimum rope diameter is undershot.
  • the rope diameter can also be determined based on the distance between the edge contours of the rope or measured in an image depicting the rope, in particular if a distance of the camera from the rope and/or a focal length are known and/or a scale and/or or length indicator are displayed in the image.
  • the detection device and the control device are designed to work continuously and/or online in order to continuously detect and evaluate the winding pattern and/or the further rope parameters mentioned and to take the corresponding control measures mentioned.
  • the measurement data acquisition and their evaluation can be carried out particularly when the rope is running.
  • the image evaluation device can comprise rope length determination means that can determine the length of rope wound onto the rope drum and/or the length of rope unwound from it.
  • markings can be provided on the rope at a predetermined distance from one another, for example in the form of color-predetermined and/or geometrically predetermined rope sheath sections, so that the image evaluation device can determine the color- and/or geometrically identifiable markings in the recorded winding pattern and/or rope pattern of the incoming rope.
  • the image evaluation device and/or the control device can determine how many winding turns and/or winding layers there should be on the drum and/or what a target winding pattern and/or a target envelope contour should look like.
  • the temperature of the rope to be wound onto the rope drum can also be detected or determined.
  • the temperature detection device can have non-contact temperature determination means by means of which the rope temperature can be measured or determined non-contact.
  • such rope temperature detection means can be integrated into the aforementioned camera and/or have a thermal imaging camera that is directed at the winding area of the rope drum or the rope to be wound up.
  • other temperature determination means such as for example, an infrared measuring sensor and/or a pyrometer measuring device can be used, wherein the said temperature determination means can be integrated into the camera independently thereof or can also be arranged separately, preferably in such a way that the temperature determination means observe the rope winding or determine the temperature of the rope wound onto the rope drum.
  • An electronic evaluation device can be assigned to the rope temperature determination means mentioned, which determines a remaining service life of the rope based on the determined rope temperature or changes a remaining service life, in particular when a predetermined temperature threshold is exceeded.
  • the evaluation device mentioned can also take into account how long and/or how often the temperature threshold mentioned is exceeded and/or by what amount the temperature threshold is exceeded. If necessary, the evaluation device can work with several threshold values in order to assume different influences on the remaining service life at different rope temperatures.
  • the electronic evaluation device can also send a warning signal to the machine operator based on the specific rope temperature signal and/or provide another control signal.
  • Monitoring the rope temperature can achieve or at least support safe rope winch operation regardless of the previously explained inlet guide for the rope and its adjustment.
  • the cable winch 5 can be used in a lifting device 1, which can be designed as a crane, for example in the form of a tower crane.
  • the cable winch 5 is used to wind up a cable 6, which can be the lifting cable when the cable winch 5 is used in the lifting device 1.
  • the rope 6 can, for example, run from a boom 2 and carry a load hook, which can be raised and lowered by retrieving or unwinding the rope 6.
  • the cable winch 5 can be attached, for example, to a counter-jib 3 of the crane or a Revolving platform 4 can be arranged, which can carry the boom 2 directly or a tower to which the boom 2 can be articulated.
  • the rope 6 mentioned can in particular be a high-strength fiber rope of the type described above or another rope which has a limited compressive deformation stiffness.
  • the cable winch 5 can also be used to wind up conventional steel cables.
  • the cable winch 5 comprises a cable drum 7, which can have a substantially cylindrical drum casing 8.
  • the drum casing 8 can be smooth, ie without rope grooves, although grooving could also be provided.
  • Flange disks 9 can be arranged on the right and left or on the front end sections of the cable drum 7, which delimit the cable winding area together with the drum casing 8.
  • the flange disks 9 project outwards over the drum casing 8 transversely to the drum longitudinal axis 10, whereby the flange disks 9 can extend essentially radially or perpendicularly to the drum longitudinal axis 10, as is the case with the Figures 2 and 3 Alternatively, it may also be advantageous to use inclined flanges 9, which can extend at an acute angle to planes perpendicular to the drum longitudinal axis 10.
  • the flanges 9 mentioned can, as Fig.4 shows, extend inclined away from each other, so that the sides of the flanged disks 9 facing the winding area are V-shaped.
  • the flanged disks 9 can be inclined in such a way that the distance between the flanged disks 9 from each other, measured in the direction of the drum's longitudinal axis 10, increases with increasing distance from the drum shell 8. Irrespective of the inclination of the flanged disks 9, their inner contour can be formed straight when viewed in a cross-section of the cable winch, cf. Figures 2 , 3 and 4 .
  • Such inclined or oblique end disks can in particular facilitate cross-winding.
  • the cable drum 7 can be driven in rotation by a winch drive 11, wherein the said winch drive 11 can have, for example, a hydraulic motor or an electric motor, the drive movement of which can be transmitted to the cable drum 7 directly or via a winch gear 12.
  • the winch drive 11 and/or the winch gear 12 can be arranged partially or completely recessed inside the cable drum 7.
  • the rope 6 to be wound onto the rope drum 7 is guided by means of an inlet guide 13 during winding.
  • the said inlet guide 13 can, for example, comprise two guide rollers between which the rope 6 runs, or also comprise a sliding guide eyelet that guides the rope.
  • the said inlet guide 13 guides the rope transversely to the longitudinal direction of the rope, in particular in a direction at least approximately parallel to the drum longitudinal axis 10.
  • the inlet guide 13 is adjustable transversely to the longitudinal direction of the rope, in particular the adjustment direction of the inlet guide 13 can be at least approximately parallel to the longitudinal axis 10 of the drum.
  • the adjusting device for the inlet guide 13 can have a spindle or a carriage guide or a similar linear guide, so that the inlet guide 13 can be adjusted approximately parallel to the longitudinal axis 10 of the drum.
  • An adjustment drive 14 for adjusting the inlet guide 13 relative to the cable drum 7 can, for example, have an electric or hydraulic motor 15 that drives a drive spindle in rotation.
  • a pressure medium cylinder can also be provided for adjusting the inlet guide 13.
  • the adjustment drive 14 is controlled by an electronic control device 15, which controls the speed and/or rotational speed of the cable drum 7 for the adjustment of the inlet guide 13 can be taken into account.
  • the said rotational speed and/or rotational position and/or rotational speed of the cable drum 7 can be detected by a winch encoder 16 or another rotation detection device and reported to the control device 15.
  • a detection device 17 is also provided which detects the winding pattern of the rope winding 18 on the rope drum 7, so that the control device 15 can adapt the adjustment of the inlet guide 13 to the resulting winding pattern.
  • the aforementioned detection device 17 can have at least one camera 19 and/or at least one imaging sensor and/or generally an optical image detection device 20 that observes the cable drum 7, in particular its winding area, and provides an image of the cable 6 winding on the cable drum 7. If necessary, the image detection device 20 can also have several cameras 19 and/or several imaging sensors that observe different sections or different sectors of the cable drum 7, for example opposite sectors or four quadrants of the cable drum 7.
  • the image capture device 20 monitors the cable drum 7, in particular its cable winding 18 and/or the cable 6, even during the ongoing winding operation, whereby images of the cable winding can be provided continuously or at least cyclically.
  • a live image can be transmitted to the control device 15 and/or an image evaluation device 21.
  • Said image evaluation device 21 analyzes the image transmitted by image capture device 20, whereby at least one characteristic of the winding layer image can be determined.
  • said image evaluation device 21 can determine the envelope contour 22 of the rope coil 18 on the rope drum 7.
  • the said envelope contour 22 can have a curved or snake-shaped or at least partially curved, for example, have a dented or bulged course, especially if the adjustment of the inlet guide 13 is not controlled and / or regulated in order to adapt the resulting envelope contour to a predeterminable target envelope contour.
  • the target envelope contour mentioned can in particular be essentially cylindrical or, when viewed in cross-section, be designed to be straight or stepped, in particular with longer, straight contour sections that are approximately parallel to the drum's longitudinal axis 10, as is the case Figures 3 and 4 show.
  • a step in the enveloping contour can only be provided in the transition area between a smaller-layered wrapping and a multi-layered wrapping, but otherwise straight contour sections can be provided, viewed approximately in section.
  • the said envelope contour 22 can be determined by the image evaluation device 21 in principle by connecting the radially outermost cable surface sections, whereby a polygon profile resulting from this can be rounded if necessary, as Fig.2 clarified.
  • the said image evaluation device 21 can analyze pixels and/or evaluate pixel patterns, identify and/or determine contour gradients, identify or evaluate grayscale and/or light-dark patterns, identify colors and/or determine color deviations and/or gradients and/or determine color area proportions in the captured image.
  • the image evaluation device 21 can include contour evaluation means 21a, which can determine the envelope contour 22 mentioned and possibly also the course of the cable routes on the cable drum 7.
  • the image evaluation device 21 can comprise color pattern evaluation means 21b, which can determine color patterns in the captured image and from this determine the envelope contour 22 and/or identify colored markings on the rope 6.
  • the said image evaluation device 21 can also comprise color area portion evaluation means 21c, which determine color area portions in the captured image and from this, if necessary, determine the envelope contour 22 and/or the number of winding layers.
  • the image evaluation device 21 can comprise rope length determination means 21d, which can determine a length of the rope 6 wound onto the rope drum 7 and/or the length of the rope unwound therefrom, for example based on colored and/or grayscale characteristic and/or geometric markings on the rope 6, which can be attached to the rope 6 at predetermined intervals and/or incorporated therein.
  • the aforementioned rope length determination means 21d can identify markings in the running rope that pass the image capture device 20 and determine the wound rope length based on their number.
  • the image evaluation device 21 can have diameter determination means 21e in order to determine the rope diameter of the rope 6, in particular of a rope section to be wound onto the rope drum 7. Alternatively or additionally, the rope diameter of a rope section that has already been wound up can also be determined.
  • the control device 15 can variably control the adjustment drive 14 of the inlet guide 13 depending on the recorded winding layer pattern.
  • a comparison device 23 can compare the envelope contour 22 of the cable winding 18 recorded or determined by the detection device 17 with a predetermined target envelope contour, wherein the adjustment device 15 can adjust the inlet guide 13 based on determined deviations between the actual envelope contour 22 and the target envelope contour in order to adjust the actual winding pattern as closely as possible to the target winding pattern or to adjust the actual envelope contour as closely as possible to the target envelope contour.
  • control device 15 can adjust the inlet guide 13 in such a way that the cable drum 7 is wound crosswise and a desired, crosswise target winding position pattern is maintained as far as possible.
  • control device 15 can emit a warning signal and/or a discard readiness signal and/or a control signal if the image evaluation device 21 determines a predetermined change in the detected or determined rope diameter in the manner already explained at the beginning and/or detects predetermined deviations between the detected or determined rope diameter .Determined rope length of the rope wound onto the rope drum 7 and the rotational speed and/or rotational speed and/or rotational position of the rope drum 7 determined by the winch encoder 16 occur.
  • control device 15 can be designed to dynamically adapt the control of the inlet guide 13 depending on a detected change in the rope diameter, in particular to increase or decrease the adjustment speed of the inlet guide 13 if the rope diameter decreases or increases, for example by varying the rope tensile forces. Such an adjustment can be carried out in particular online during the winding and/or unwinding of the rope.
  • the image capture device 20 can also serve to monitor deformation of the flanges 9.
  • the image evaluation device 21 can include flange deformation determining means 21f, which evaluates the captured image of the cable drum 7 for deformation of the flanges 9, in particular whether and to what extent the flanges 9, for example their outer peripheral edge sections, bend in the direction of the drum longitudinal axis 10.
  • the distance between the flanges 9 can be determined, which can be taken as a measure for the deformation of the flanges 9.
  • the distance of each flange 9 can be determined individually from a drum center and taken as a measure of the flange deformation. In this way, effects can be hidden that can distort the actual detection, for example if both flanges are deformed in the same direction.
  • a temperature determining device can determine the rope temperature of the rope 6 to be wound onto the rope drum 7, wherein said temperature determining device can advantageously be integrated into said camera 19 and/or can be combined with said camera 19 to form a detection assembly or unit.
  • the temperature determination device mentioned can be designed independently of this to observe the rope running onto the rope drum 7 and/or the rope coil that forms there.
  • the temperature determination device mentioned advantageously comprises non-contact temperature determination means, for example in the form of an infrared temperature sensor and/or a thermal imaging camera, the image of which can be evaluated by an image evaluation device in order to determine the rope temperature.
  • An electronic evaluation device which can be integrated, for example, into the electronic control device 15, can determine or change a remaining service life of the rope and/or determine its discard maturity based on the determined rope temperature, whereby other parameters can also be taken into account for this purpose, as already explained above.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Storage Of Web-Like Or Filamentary Materials (AREA)
  • Winding Filamentary Materials (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)

Claims (15)

  1. Treuil à câble, en particulier treuil de mécanisme de levage d'un dispositif de levage (1), destiné à l'enroulement et au déroulement d'un câble (6), doté d'un tambour à câble (7), d'un guidage d'entrée (13) destiné au guidage du câble (6) à enrouler et dérouler sur le tambour à câble (7), d'un mécanisme de commande (14) destiné au réglage du guidage d'entrée (13) par rapport au tambour à câble (7), et d'un dispositif de commande (15) destiné à la commande du mécanisme de commande (14), caractérisé en ce que des moyens d'évaluation d'image sont prévus pour déterminer, à partir d'une image acquise du tambour à câble (7), une déformation de flasques (9), qui limitent, conjointement avec une surface latérale de tambour (8), une zone d'enroulement du tambour à câble (7) et qui font saillie au-dessus de ladite surface latérale de tambour (8).
  2. Treuil à câble selon la revendication précédente, dans lequel il est prévu un dispositif d'acquisition (17) destiné à la détection du câble et l'acquisition d'une image d'enroulement du câble (6) sur le tambour à câble (7) et le dispositif de commande (15) est conçu pour régler le guidage d'entrée (13) par rapport au tambour à câble (7) en fonction du câble détecté et de l'image d'enroulement acquise.
  3. Treuil à câble selon la revendication précédente, dans lequel le dispositif de commande (15) est conçu pour adapter de manière dynamique le réglage du guidage d'entrée (13) en fonction d'une modification d'un paramètre de câble détectée pendant l'enroulement et/ou le déroulement du câble (6), en particulier pour augmenter et/ou diminuer la vitesse de réglage en fonction d'un diamètre de câble se modifiant en raison d'une variation des efforts de traction de câble.
  4. Treuil à câble selon l'une des revendications précédentes, dans lequel le dispositif d'acquisition (17) est conçu pour déterminer un contour d'enveloppe (22) d'un enroulement de câble (18) sur le tambour à câble (7), le dispositif de commande (15) étant conçu pour régler de manière variable le guidage d'entrée (13) par rapport au tambour à câble (7) en fonction du contour d'enveloppe (22) détecté.
  5. Treuil à câble selon l'une des revendications précédentes, dans lequel le dispositif d'acquisition (17) présente un dispositif d'acquisition d'image optique (20) destiné à l'acquisition d'une image de l'enroulement de câble (18) et un dispositif d'évaluation d'image (21) destiné à l'évaluation de l'image d'enroulement de câble acquise et à la détermination d'un paramètre d'image d'enroulement et/ou de câble intéressant, en particulier du contour d'enveloppe (22) de l'enroulement de câble et/ou du diamètre de câble (18), le dispositif d'acquisition d'image optique (20) présentant au moins une caméra (19) observant le tambour à câble (7) et le dispositif d'évaluation d'image (21) étant conçu pour déterminer, à partir de l'image acquise de l'enroulement de câble (18), le contour d'enveloppe (22) de celui-ci et/ou un pas et/ou un espacement des filets d'enroulement sur le tambour à câble (7).
  6. Treuil à câble selon l'une des revendications précédentes, dans lequel le dispositif de commande (15) présente un dispositif de comparaison (23) destiné à la comparaison du contour d'enveloppe réel (22) détecté ou déterminé à un contour d'enveloppe théorique (22) prédéfini et est conçu pour régler le guidage d'entrée (13) en fonction d'écarts déterminés lors de la comparaison entre le contour d'enveloppe réel et le contour d'enveloppe théorique, le dispositif de commande (15) étant conçu pour adapter de manière dynamique le contour d'enveloppe théorique au fur et à mesure de la progression de l'enroulement de câble et/ou du déroulement de câble.
  7. Treuil à câble selon l'une des revendications précédentes, dans lequel le dispositif de commande (15) présente un mode de fonctionnement à enroulement croisé, dans lequel le dispositif de commande (15) règle le guidage d'entrée (13) de telle manière que le câble (6) est enroulé sur le tambour à câble (7) de manière croisée, le dispositif de commande (15) étant conçu pour comparer l'image d'enroulement réelle acquise à une image d'enroulement croisé théorique prédéfinie et régler le guidage d'entrée (13) en fonction d'écarts entre l'image d'enroulement réelle et l'image d'enroulement croisé théorique.
  8. Treuil à câble selon l'une des revendications précédentes, dans lequel des moyens d'évaluation d'image destinés à la détermination d'un diamètre de câble du câble (6) à enrouler sur le tambour à câble (7) sont prévus, le dispositif de commande (15) étant conçu pour émettre un signal d'avertissement et/ou un signal d'état d'usure nécessitant le remplacement et/ou un signal de commande prédéfini lorsque le diamètre du câble dépasse ou devient inférieur à un diamètre de câble prédéfini.
  9. Treuil à câble selon l'une des revendications précédentes, dans lequel des moyens d'évaluation d'image destinés à la détermination d'une longueur de câble du câble enroulé sur le tambour à câble (7) et/ou du câble (6) déroulé du tambour à câble (7) à l'aide de marquages de câble identifiés dans l'image acquise sont prévus.
  10. Treuil à câble selon l'une des revendications précédentes, dans lequel les moyens d'évaluation d'image identifient une distance entre les flasques (9) dans une image de caméra et/ou une distance entre chaque flasque (9) et un centre de tambour.
  11. Treuil à câble selon l'une des revendications précédentes, dans lequel le dispositif de commande (15) est conçu pour, lors du dépassement d'une déformation de flasque prédéfinie, modifier le réglage du guidage d'entrée (13) et/ou émettre un signal d'avertissement et/ou arrêter un fonctionnement de treuil.
  12. Treuil à câble selon l'une des revendications précédentes, dans lequel des moyens de détermination de température destinés à la détermination d'une température du câble (6) sont prévus, le dispositif de commande (15) étant conçu pour modifier une durée de vie restante du câble (6) en fonction de la température de câble déterminée et/ou, lors du dépassement ou du passage en dessous d'une température de câble prédéfinie, émettre un signal d'avertissement et/ou un signal de commande prédéfini, les moyens de détermination de température comprenant une caméra thermique dirigée vers le tambour à câble (7) ou le câble (6) et/ou étant intégrés dans la caméra (19) observant le tambour à câble (7) du dispositif d'acquisition d'image (20), des moyens d'évaluation d'image destinés à la détermination de la température de câble à partir d'une image acquise du tambour à câble (7) et/ou du câble (6) étant prévus.
  13. Treuil à câble selon l'une des revendications précédentes, dans lequel le treuil à câble (7) possède une surface latérale de tambour (8) lisse, sans rainure.
  14. Treuil à câble selon l'une des revendications précédentes, dans lequel le tambour à câble (7) possède des flasques (9) placés de manière oblique, qui limitent entre eux une zone d'enroulement s'élargissant vers l'extérieur au fur et à mesure que la distance par rapport à la surface latérale de tambour (8) s'accroît.
  15. Dispositif de levage, en particulier grue, doté d'un treuil à câble (5) qui est conçu selon l'une des revendications précédentes.
EP20750642.9A 2019-08-02 2020-07-31 Treuil à câble et dispositif de levage doté d'un tel treuil à câble Active EP4003895B1 (fr)

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DE102019120970 2019-08-02
DE102019126699.8A DE102019126699A1 (de) 2019-08-02 2019-10-02 Seilwinde sowie Hubvorrichtung mit einer solchen Seilwinde
PCT/EP2020/071650 WO2021023653A2 (fr) 2019-08-02 2020-07-31 Treuil à câble et dispositif de levage doté d'un tel treuil à câble

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EP4003895B1 true EP4003895B1 (fr) 2024-04-03

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EP (1) EP4003895B1 (fr)
CN (1) CN114450246B (fr)
DE (1) DE102019126699A1 (fr)
ES (1) ES2976051T3 (fr)
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CN114450246B (zh) 2023-12-08
CN114450246A (zh) 2022-05-06
WO2021023653A2 (fr) 2021-02-11
EP4003895A2 (fr) 2022-06-01
WO2021023653A3 (fr) 2021-04-01
US20220185638A1 (en) 2022-06-16
FI4003895T3 (fi) 2024-05-03
ES2976051T3 (es) 2024-07-22
DE102019126699A1 (de) 2021-02-04
US12240741B2 (en) 2025-03-04

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