[go: up one dir, main page]

EP1245736A2 - Apparatus for maintaining ski tracks with pivotable mounted milling tool - Google Patents

Apparatus for maintaining ski tracks with pivotable mounted milling tool Download PDF

Info

Publication number
EP1245736A2
EP1245736A2 EP02076031A EP02076031A EP1245736A2 EP 1245736 A2 EP1245736 A2 EP 1245736A2 EP 02076031 A EP02076031 A EP 02076031A EP 02076031 A EP02076031 A EP 02076031A EP 1245736 A2 EP1245736 A2 EP 1245736A2
Authority
EP
European Patent Office
Prior art keywords
pump
snow
speed
working cylinder
algorithm
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.)
Granted
Application number
EP02076031A
Other languages
German (de)
French (fr)
Other versions
EP1245736A3 (en
EP1245736B1 (en
Inventor
Ulrich Hammerle
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.)
Prinoth SpA
Original Assignee
Prinoth SpA
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 Prinoth SpA filed Critical Prinoth SpA
Publication of EP1245736A2 publication Critical patent/EP1245736A2/en
Publication of EP1245736A3 publication Critical patent/EP1245736A3/en
Application granted granted Critical
Publication of EP1245736B1 publication Critical patent/EP1245736B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • 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 present invention relates to a Snow grooming vehicle with swivel mounted Milling machine according to the preamble of claim 1.
  • the object of the present invention is in it, both a defined number of meshes the milling shaft towards the path maintain the cutting depth of the milling teeth in such a way that it should be possible the energy input into the snow if possible to keep low.
  • Figure 1 is generally with the reference number 1 the outline of a piste grooming vehicle according to of the present invention.
  • the snow grooming vehicle includes a diesel engine 2, which in a known manner with a Drive 3 and a drive 4 connected is, each operate a drive wheel 5 and 6.
  • the diesel engine 2 also drives one Control pump 9, which is a hydrostatic Circulation 10 circulates.
  • the hydrostatic circuit 10 has one Pressure line 11 with a hydraulic motor 12 is connected, which in turn has a Return line 13 fed back to the control pump 9 is.
  • the hydraulic motor 12 drives a milling machine 14, 15.
  • the pressure of the pressure line 11 is monitored by a sensor of a known type, not shown, which is connected to a control unit 17 via a line 8.
  • Sensors of a known and therefore not shown type detect the speed n F of the milling cutter 14, 15 and deliver the corresponding quantities via the lines 21 of the control unit 17.
  • the control unit 17 is also connected via lines 19 and 20 sensors, also of a known type, which detect the speeds n a1 , n a2 of the drive wheels 5 and 6. In a similar way, a sensor that detects the speed of the diesel engine is connected to the control unit 17 via a line 18.
  • a working cylinder 16 provided in a known manner and Move the swivel-mounted milling cutter around you Angle ⁇ regulates its inclination ( Figure 2).
  • On the path and / or pressure of the working cylinder 16 sensing sensor is connected via a line 7 the control unit 17 connected.
  • the control unit 17 is via a line 22 with the working cylinder 16 and via a line 23 with the regulating pump 9 for regulating the same as detailed below fed back.
  • the necessary to the respective snow conditions customized setting of work pro The operator runs a route using a Ratio of milling speed to driving speed and a torque specification.
  • the automatic adjustment is implemented by using the control unit 17, which is supplied with the following measured values from the corresponding sensors specified above, Speed of the diesel engine n D Speeds of the drive wheels n a1 , n a2 Pressure in the hydrostatic milling drive p F
  • n F is dependent on the diesel speed and the transmission ratio (n D / n F ), which in turn is influenced solely by the pump current I F.
  • n F f (n a (1,2) , n D , I F )
  • Engaging teeth / distance f (n a (1,2) , n D . I F )
  • the setpoint is specified for both variables with actuators, which, for example, output an analog signal as a value (eg potentiometer).
  • actuators which, for example, output an analog signal as a value (eg potentiometer).
  • N Fmax results from the limits of the drive, since at a given diesel speed and max. Gear ratio the limit speed is reached on the milling shaft.
  • V / Vu is corresponding a freely selectable setting, which creates different engagement curves of the teeth result (see Figures 5 and 6).

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Fluid Gearings (AREA)
  • Soil Working Implements (AREA)
  • Cleaning Of Streets, Tracks, Or Beaches (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Road Repair (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • High-Pressure Fuel Injection Pump Control (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The self-propelled machine to prepare the surfaces of ski pistes has swing surface scrapers operated by a motor (2) for the drive wheels (5,6) and the pump (9) for the hydromotor. The working of the pump and the working cylinder (16) is set by a control unit (17). The control unit is linked to sensors which register the motor rotary speed, the rotary speed of the drive wheels, the pressure in the scraper hydromotor and the movement path of the working cylinder. The control unit locks the measured values through an algorithm to give the required pump and motor operation. The algorithm ensures that the hydrostatic scraper drive pressure is constant.

Description

Die vorliegende Erfindung bezieht sich auf ein Pistenpflegefahrzeug mit schwenkbar angebauter Fräse gemäß dem Oberbegriff des Anspruchs 1.The present invention relates to a Snow grooming vehicle with swivel mounted Milling machine according to the preamble of claim 1.

Aus dem Dokument EP 0 895 495 B1 ist ein kettengetriebenes Pistenpflegefahrzeug bekannt, bei dem für den Antrieb einer Schneefräse mindestens ein elektrischer Antrieb für die Fräswelle der Schneefräse vorgesehen ist, der mit einem Elektromotor des Antriebs- bzw. Turasrades des Kettenfahrzeuges synchronisiert ist. Damit soll eine gleichmäßige und gleichmäßig gute Pistenpflege gewährleistet werden, da auf diese Weise die Fräswellendrehzahl und Fahrgeschwindigkeit aufeinander abgestimmt werden und sich eine definierte Anzahl von Zahneingriffen der Fräswelle je Wegstrecke ergibt. Damit sollen insbesondere vergleichbare oder bessere Fahrleistungen als bei einem hydrostatischen Antrieb erreicht werden.From document EP 0 895 495 B1 is a chain driven Snow grooming vehicle known, at least for driving a snow blower an electric drive for the milling shaft the snow blower is provided with an electric motor of the drive or Turasrad of the tracked vehicle is synchronized. This is said to be even and even good slope maintenance can be guaranteed as on this way the milling shaft speed and driving speed be coordinated and a defined number of tooth meshings the milling shaft per distance. With that especially comparable or better Mileage than with a hydrostatic Drive can be achieved.

Die Aufgabe der vorliegenden Erfindung liegt darin, sowohl eine definierte Anzahl von Zahneingriffen der Fräsewelle auf die Wegstrecke zu erhalten als auch die Schnitttiefe der Fräszähne derart zu legen, dass es möglich sein soll, den Energieeintrag in den Schnee möglichst niedrig zu halten. The object of the present invention is in it, both a defined number of meshes the milling shaft towards the path maintain the cutting depth of the milling teeth in such a way that it should be possible the energy input into the snow if possible to keep low.

Diese und weitere Aufgaben werden durch ein Pistenpflegefahrzeug mit schwenkbar angebauter Fräse gemäß den Merkmalen des kennzeichnenden Teils des Anspruchs 1 gelöst.These and other tasks are covered by a Snow grooming vehicle with swivel mounted Milling machine according to the characteristics of the characteristic Part of claim 1 solved.

Dadurch dass die vom Schnittwinkel α abhängige Schnitttiefe der Fräszähne und die Drehzahl der Fräswelle nF einer Fräse so gesteuert werden, dass die in den Schnee eingebrachte Arbeit pro Wegstrecke (J/m) konstant bleibt, wird eine gleichmäßige Pistenqualität unabhängig von Fahrgeschwindigkeitsänderungen bzw. Eingriffsgeometrieänderungen gewahrt.Because the depth of cut of the milling teeth, which is dependent on the cutting angle α, and the speed of the milling shaft n F of a milling machine are controlled in such a way that the amount of work done in the snow per path (J / m) remains constant, a uniform slope quality becomes independent of changes in driving speed or changes in the geometry of the engagement maintained.

Weitere Merkmale und Einzelheiten gehen aus der folgenden Beschreibung einer bevorzugten Ausführungsform des Pistenpflegefahrzeugs gemäß der vorliegenden Erfindung hervor. In der Zeichnung zeigen,

Figur 1
ein Blockschema einer Anlage zur automatischen Verstellung der Schnitttiefe und der Drehzahl einer Nachlauffräse für Pistenfahrzeuge,
Figur 2
schematisch eine Anbaufräse mit Angabe des Schnittwinkels,
Figur 3a,b
zwei Diagramme zur Darstellung der Drehzahl der Fräse in Abhängigkeit der Drehzahl des Antriebes,
Figur 4a,b
schematisch jeweils den Kreislauf der Drehzahlsteuerung mit Stromregler und jenen des Druckreglers,
Figur 5 und 6
verschiedene Eingriffskurven der Zähne.
Further features and details emerge from the following description of a preferred embodiment of the piste grooming vehicle according to the present invention. Show in the drawing
Figure 1
a block diagram of a system for the automatic adjustment of the cutting depth and the speed of a trail cutter for snow groomers,
Figure 2
schematically a cultivator with indication of the cutting angle,
Figure 3a, b
two diagrams to show the speed of the milling machine as a function of the speed of the drive,
Figure 4a, b
schematically the circuit of the speed control with current regulator and that of the pressure regulator,
Figures 5 and 6
different tooth engagement curves.

In Figur 1 ist insgesamt mit der Bezugsziffer 1 der Umriss eines Pistenpflegefahrzeuges gemäß der vorliegenden Erfindung angegeben.In Figure 1 is generally with the reference number 1 the outline of a piste grooming vehicle according to of the present invention.

Das Pistenpflegefahrzeug umfasst einen Dieselmotor 2, der auf bekannte Art und Weise mit einem Antrieb 3 und einem Antrieb 4 verbunden ist, die jeweils ein Antriebsrad 5 und 6 betätigen. Der Dieselmotor 2 treibt überdies eine Regelpumpe 9 an, die einen hydrostatischen Kreislauf 10 umwälzt.The snow grooming vehicle includes a diesel engine 2, which in a known manner with a Drive 3 and a drive 4 connected is, each operate a drive wheel 5 and 6. The diesel engine 2 also drives one Control pump 9, which is a hydrostatic Circulation 10 circulates.

Der hydrostatische Kreislauf 10 weist eine Druckleitung 11 auf, die mit einem Hydromotor 12 verbunden ist, der seinerseits über eine Rücklaufleitung 13 mit der Regelpumpe 9 rückgekoppelt ist. Der Hydromotor 12 treibt eine Fräse 14, 15 an.The hydrostatic circuit 10 has one Pressure line 11 with a hydraulic motor 12 is connected, which in turn has a Return line 13 fed back to the control pump 9 is. The hydraulic motor 12 drives a milling machine 14, 15.

Gemäß der Erfindung wird die Druckleitung 11 in ihrem Druck von einem nicht gezeigten Sensor bekannter Art überwacht, der über eine Leitung 8 mit einer Regeleinheit 17 verbunden ist. Sensoren bekannter und daher nicht gezeigter Art erfassen die Drehzahl nF der Fräse 14, 15 und liefern die entsprechenden Größen über die Leitungen 21 der Regeleinheit 17.According to the invention, the pressure of the pressure line 11 is monitored by a sensor of a known type, not shown, which is connected to a control unit 17 via a line 8. Sensors of a known and therefore not shown type detect the speed n F of the milling cutter 14, 15 and deliver the corresponding quantities via the lines 21 of the control unit 17.

Mit der Regeleinheit 17 sind überdies über Leitungen 19 und 20 Sensoren, auch diese bekannter Art und Weise, verbunden, welche die Drehzahlen na1, na2 der Antriebsräder 5 und 6 erfassen. Auf eine ähnliche Weise ist ein die Drehzahl des Dieselmotors erfassender Sensor über eine Leitung 18 mit der Regeleinheit 17 verbunden.The control unit 17 is also connected via lines 19 and 20 sensors, also of a known type, which detect the speeds n a1 , n a2 of the drive wheels 5 and 6. In a similar way, a sensor that detects the speed of the diesel engine is connected to the control unit 17 via a line 18.

Wie der Figur 2 entnehmbar ist ein Arbeitszylinder 16 vorgesehen, der auf bekannte Art und Weise die schwenkbar angebaute Fräse um einen Winkel α in ihrer Neigung regelt (Figur 2). Ein den Weg und/oder Druck des Arbeitszylinders 16 erfassender Sensor ist über eine Leitung 7 mit der Regeleinheit 17 verbunden.As can be seen in FIG. 2, a working cylinder 16 provided in a known manner and Move the swivel-mounted milling cutter around you Angle α regulates its inclination (Figure 2). On the path and / or pressure of the working cylinder 16 sensing sensor is connected via a line 7 the control unit 17 connected.

Die Regeleineinheit 17 ist über eine Leitung 22 mit dem Arbeitszylinder 16 und über eine Leitung 23 mit der Regelpumpe 9 zur Regelung derselben so wie nachstehend eingehend beschrieben zurückgekoppelt.The control unit 17 is via a line 22 with the working cylinder 16 and via a line 23 with the regulating pump 9 for regulating the same as detailed below fed back.

Die automatische Verstellung der Schnitttiefe und der Drehzahl der Fräse wickelt sich wie folgt ab.The automatic adjustment of the cutting depth and the speed of the milling machine winds like follows.

Die notwendige an die jeweiligen Schneeverhältnisse angepasste Einstellung der Arbeit pro Strecke erfolgt über den Bediener mittels eines Verhältnisses Fräsdrehzahl zu Fahrgeschwindigkeit und einer Drehmomentvorgabe.The necessary to the respective snow conditions customized setting of work pro The operator runs a route using a Ratio of milling speed to driving speed and a torque specification.

Verwirklicht wird die automatische Verstellung durch den Einsatz der Regeleinheit 17, die mit folgenden Messwerten aus entsprechenden oben angegebenen Sensoren versorgt wird,
   Drehzahl des Dieselmotors nD
   Drehzahlen der Antriebsräder na1, na2
   Druck im hydrostatischen Fräsantrieb pF The automatic adjustment is implemented by using the control unit 17, which is supplied with the following measured values from the corresponding sensors specified above,
Speed of the diesel engine n D
Speeds of the drive wheels n a1 , n a2
Pressure in the hydrostatic milling drive p F

In weiterer Folge ermittelt die Regeleinheit 17 den Wert für das Übersetzungsverhältnis Dieselmotor zu Fräsdrehzahl (nD/nF) in Form des

Pumpenstroms IF
Und die maßgebliche Größe für das Antriebsmoment, den
Schnittwinkel α
welcher somit die Regelgröße pF darstellt als Ergebnis.
Subsequently, the control unit 17 determines the value for the gear ratio of the diesel engine to the milling speed (n D / n F ) in the form of
Pump current I F
And the decisive factor for the drive torque, the
Cutting angle α
which thus represents the controlled variable p F as a result.

ZUSAMMENHÄNGE DER GRÖSSENRELATIONSHIPS OF SIZES

Um das Ziel W/s = konst. zu erreichen, wird zunächst davon ausgegangen, dass die Anzahl der pro Wegstrecke eingreifenden Fräszähne konstant zu halten ist. Diese Annahme beruht auf Versuchsergebnisse, die einen derartigen Zusammenhang aufgezeigt haben. Als Größe für dieses Verhältnis wird die Beziehung Fahrgeschwindigkeit zu Umfangsgeschwindigkeit der Fräswalze (v/vu) verwendet.In order to achieve the goal W / s = constant, it is initially assumed that the number of milling teeth engaging per path must be kept constant. This assumption is based on test results that have shown such a connection. The relationship between the driving speed and the peripheral speed of the milling drum (v / v u ) is used as the variable for this ratio.

Da die Fahrgeschwindigkeit direkt proportional zur Raddrehzahl, und die Umfangsgeschwindigkeit proportional zu Fräswalzendrehzahl ist, folgt: Anzahl der eingreifenden Zähne pro Wegstrecke = f(na(1,2), nF) Since the driving speed is directly proportional to the wheel speed and the peripheral speed is proportional to the milling drum speed, it follows: Number of engaging teeth per distance f (n a (1,2) , n F )

Des Weiteren ist die Fräsdrehzahl nF abhängig von der Dieseldrehzahl und dem Übersetzungsverhältnis (nD/nF), das wiederum alleine vom Pumpenstrom IF beeinflusst wird. Somit ist   nF = f(na(1,2), nD, IF) Eingreifende Zähne/Wegstrecke = f(na(1,2), nD, IF) Furthermore, the milling speed n F is dependent on the diesel speed and the transmission ratio (n D / n F ), which in turn is influenced solely by the pump current I F. Thus n F = f (n a (1,2) , n D , I F ) Engaging teeth / distance = f (n a (1,2) , n D . I F )

Durch die Ermittlung der beiden Drehzahlgrößen (siehe Bild 1) kann mit dem Pumpenstrom IF als Steuergröße die Vorgabe Zähne/Wegstrecke = konstant erreicht werden, womit das Ziel Eingreifende Zähne/Wegstrecke = konst. = f(na(1,2), nD, IF) verwirklicht wird. By determining the two speed variables (see Figure 1), the specified teeth / distance = constant can be achieved with the pump current I F as a control variable, thus achieving the goal Engaging teeth / distance = const. = f (n a (1,2) , n D , I F ) is realized.

Vor dem Hintergrund dieser "Drehzahlregelung" kann nun des Weiteren davon ausgegangen werden, dass mit einem konstanten Antriebsmoment an der Fräswalze auch die Arbeit pro Wegstrecke (W/s = M*ω = M*f(nf)) konstant ist. Also:   W/s=konst=f(na(1,2), nD, IF)konst, Mkonst) Against the background of this "speed control", it can further be assumed that with a constant drive torque on the milling drum, the work per path (W / s = M * ω = M * f (n f )) is also constant. So: W / s = const = f (n a (1,2) , n D , I F ) const , M const )

Neben dem untergeordneten Einfluss der Fräswellendrehzahl ist die dominierende Einflussgröße auf das Antriebsmoment der Fräswelle die Schnitttiefe der Fräszähne. Dieser Zusammenhang wird durch Untersuchungen an gängigen Nachlauffräsen gestützt.In addition to the minor influence of the milling shaft speed is the dominant influencing factor to the drive torque of the milling shaft Cutting depth of the milling teeth. This connection is carried out by investigations on common trailing cutters supported.

Aus geometrischen Gründen gilt: Schnitttiefe = f(α) womit also auch gilt: M = f(α) For geometric reasons: Depth of cut = f (α), which also means: M = f (α)

Aufgrund des üblichen hydrostatischen Fräsantriebes kann der Druck pF als Wert für das Antriebsmoment angesehen werden, da der Zusammenhang M = f(pF.) gilt .Due to the usual hydrostatic milling drive, the pressure p F can be regarded as a value for the drive torque, since the relationship M = f (p F. ) Applies.

Durch das Regeln der Größe α kann der Druck pF bzw. das dazu proportionale Moment M konstant gehalten werden.By regulating the quantity α, the pressure p F or the torque M proportional to it can be kept constant.

Durch die Kombination der beiden Teile "Drehzahlregelung" und "Druck- od. Momentregelung" wird das Ziel der beschriebenen Einrichtung (W/s = konst) erreicht.By combining the two parts "speed control" and "pressure or torque control" becomes the goal of the facility described (W / s = const) reached.

Zusammenfassend: na, nD = gegeben durch Fahrzustand nF = f(nD, IF) M = f (pF. ) - f(α) → W/s = konst., wenn Eingreifende Zähne/s =
f(na(1,2), nD, IF) = konstant und M = f (α) = konstant In summary: n a , n D = given by driving condition n F = f (n D , I F ) M = f (p F , ) - f (α) → W / s = constant if engaging teeth / s =
f (n a (1,2) , n D , I F ) = constant and M = f (α) = constant

Wie erwähnt werden die Vorgaben der Sollwerte für Drehzahlverhältnis und Antriebsmoment unabhängig voneinander vom Bediener vorgegeben, um eine den Schneeverhältnissen optimale Einstellung zu finden, die wie beschrieben anschließend konstant eingeregelt wird.As mentioned, the specifications of the target values for speed ratio and drive torque independently from each other specified by the operator an optimal setting for the snow conditions to find the subsequently described as is constantly adjusted.

Die Sollwertvorgabe erfolgt für beide Größen mit Stellgliedern, die z.B. ein analoges Signal als Wert ausgegeben (z.B. Potentiometer).
V ..... Wert für das Drehzahlverhältnis
P ..... Wert für die DruckvorgabeThe setpoint is specified for both variables with actuators, which, for example, output an analog signal as a value (eg potentiometer).
V ..... value for the speed ratio
P ..... value for the print specification

Da der praktische Einsatz von Nachlauffräsen auch bei Fahrgeschwindigkeit (na) = 0 eine Fräsdrehzahl > 0 verlangt, wird die Sollwertrechnung entsprechend einem der folgenden Zusammenhänge durchgeführt. Im Gegensatz dazu wird der Sollwert aus dem Stellglied für das Moment bzw. den Druck direkt übernommen.Since the practical use of caster milling requires a milling speed> 0 even at driving speed (n a ) = 0, the setpoint calculation is carried out according to one of the following relationships. In contrast to this, the setpoint from the actuator for the moment or the pressure is taken over directly.

Da sich in der praktischen Anwendung gezeigt hat, das besonders im Bereich kleiner Fahrgeschwindigkeiten mit überproportionalen Geschwindigkeitsverhältnissen gearbeitet wird, wurde für die praktische Ausführung die Variante 2a gewählt.As shown in practical application has, especially in the area of low driving speeds with disproportionate speed ratios is being worked became the variant for the practical execution 2a chosen.

NFmax ergibt sich durch die Grenzen des Antriebes, da bei gegebener Dieseldrehzahl und max. Übersetzungsverhältnis die Grenzdrehzahl an der Fräswelle erreicht wird.N Fmax results from the limits of the drive, since at a given diesel speed and max. Gear ratio the limit speed is reached on the milling shaft.

Ansonsten wird der Zusammenhang von V/Vu entsprechend einer frei wählbaren Einstellung vorgegeben, wodurch sich verschiedene Eingriffskurven der Zähne ergeben (siehe Figur 5 und 6).Otherwise, the relationship between V / Vu is corresponding a freely selectable setting, which creates different engagement curves of the teeth result (see Figures 5 and 6).

Steuerung bzw. Regelung für die Verwirklichung der Zielsetzung sind also wie in Figur 4 aufgebaut.Control for the realization The objective is thus structured as in FIG. 4.

Es liegt nahe, dass für den Antrieb der Pumpe auch andere Arten von Leistungsquellen vorgesehen werden können, wie beispielsweise ein durch einen Generator angetriebener Elektromotor oder auch Brennstoffzellen sowie jegliche weitere Arten von Kraftquellen bekannter oder noch zu entwickelnder Art.It stands to reason that for driving the pump other types of power sources are also provided can be, such as a through a generator driven electric motor or also fuel cells and any other Types of power sources known or still to be developing kind.

Claims (5)

Pistenpflegefahrzeug mit schwenkbar angebauter Fräse, umfassend durch eine Leistungsquelle angetriebene Pumpe, einen mit der Pumpe druckseitig und rücklaufseitig verbundenen Hydromotor, einen an einem Anbaurahmen abgestützten zur Verschwenkung der Fräse ausgelegten Arbeitszylinder und Antriebsräder,
dadurch gekennzeichnet, dass die Leistungsquelle durch einen Motor (2) gebildet ist, der die Antriebsräder (5, 6) und die Pumpe (9) antreibt und dass die Pumpe (9) und der Arbeitszylinder (16) durch eine Regeleinheit (17) beeinflusst werden, die mit einem Sensor der Motordrehzahl nD, mit jeweils einem Drehzahlsensor der Antriebsräder na1 und na2, mit einem Sensor des Druckes im Hydromotor der Fräse und mit einem Wegsensor des Arbeitszylinders verbunden ist, wobei die Regeleinheit (17) die durch die Sensoren erfassten Größen durch einen Algorithmus verbindet und aufgrund dieses letzteren jeweils die Pumpe (9) und den Arbeitszylinder regelt.Snow grooming vehicle with swivel-mounted tiller, comprising a pump driven by a power source, a hydraulic motor connected to the pump on the pressure side and return side, a working cylinder and drive wheels supported on a mounting frame for pivoting the tiller,
characterized in that the power source is formed by a motor (2) which drives the drive wheels (5, 6) and the pump (9) and in that the pump (9) and the working cylinder (16) are influenced by a control unit (17) are connected to a sensor of engine speed n D , each with a speed sensor of the drive wheels n a1 and n a2, with a sensor of the pressure in the hydraulic motor of the milling machine and with a displacement sensor of the working cylinder, the control unit (17) being controlled by the Sensors detect quantities connected by an algorithm and regulate the pump (9) and the working cylinder on the basis of the latter. Pistenpflegefahrzeug nach Anspruch 1, dadurch gekennzeichnet, dass der Algorithmus derart ausgelegt ist, dass der Druck im hydrostatischen Fräsantrieb (Hydromotor 12) konstant gehalten wird. Snow grooming vehicle according to claim 1, characterized in that the algorithm is designed such that the pressure in the hydrostatic milling drive (hydraulic motor 12) is kept constant. Pistenpflegefahrzeug nach Anspruch 1 und 2, dadurch gekennzeichnet, dass die Leistungseinheit durch Brennstoffzellen gebildet wird.Snow grooming vehicle according to claim 1 and 2, characterized in that the power unit is formed by fuel cells. Pistenpflegefahrzeug nach den vorstehenden Ansprüchen, dadurch gekennzeichnet, dass der Algorithmus derart ausgelegt ist, dass die Anzahl der in den Schnee eingreifenden Zähne der Fräse pro Wegstrecke konstant ist.Snow grooming vehicle according to the preceding claims, characterized in that the algorithm is designed such that the number of teeth of the tiller engaging in the snow is constant per path. Pistenpflegefahrzeug nach den vorstehenden Ansprüchen, dadurch gekennzeichnet, dass der Algorithmus derart ausgelegt ist, dass die Anzahl der in den Schnee eingreifenden Zähne der Fräse pro Wegstrecke und das Antriebsmoment der Fräse konstant sind.Snow grooming vehicle according to the preceding claims, characterized in that the algorithm is designed in such a way that the number of teeth of the cutter engaging in the snow per path and the drive torque of the cutter are constant.
EP02076031A 2001-03-30 2002-03-14 Apparatus for maintaining ski tracks with pivotably mounted milling tool Expired - Lifetime EP1245736B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT2001BZ000017A ITBZ20010017A1 (en) 2001-03-30 2001-03-30 MACHINE FOR THE PREPARATION OF THE SNOW SLOPES WITH ROTARY MOUNTED CUTTER.
ITBZ010017 2001-03-30

Publications (3)

Publication Number Publication Date
EP1245736A2 true EP1245736A2 (en) 2002-10-02
EP1245736A3 EP1245736A3 (en) 2004-04-07
EP1245736B1 EP1245736B1 (en) 2010-06-02

Family

ID=11440912

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02076031A Expired - Lifetime EP1245736B1 (en) 2001-03-30 2002-03-14 Apparatus for maintaining ski tracks with pivotably mounted milling tool

Country Status (7)

Country Link
US (1) US6637134B2 (en)
EP (1) EP1245736B1 (en)
JP (1) JP2002309531A (en)
AT (1) ATE470020T1 (en)
DE (1) DE50214460D1 (en)
IT (1) ITBZ20010017A1 (en)
NO (1) NO20020739L (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUA20162397A1 (en) * 2016-04-07 2017-10-07 Prinoth Spa HYDRAULIC EQUIPMENT FOR FEEDING A GROUP OF TRACING DEVICES FOR A TRACKED VEHICLE; THE GROUP OF TRACING DEVICES AND THE TRACKED VEHICLE
EP3608151B1 (en) * 2018-08-07 2025-04-16 Kässbohrer Geländefahrzeug AG Piste caterpillar with a chain drive

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060081381A1 (en) * 2004-09-07 2006-04-20 Kassbohrer All Terrain Vehicles, Inc. Material handling apparatus
ATE451290T1 (en) 2006-10-06 2009-12-15 Rolic Invest Sarl TRACKED VEHICLE
EP1908672B1 (en) * 2006-10-06 2010-04-07 Rolic Invest Sarl Tracked vehicle
ITMI20071249A1 (en) * 2007-06-21 2008-12-22 Rolic Invest Sarl RAMPONE FOR TRACKED VEHICLE TRACKS, IN PARTICULAR BAPTIST VEHICLES
US7930843B2 (en) 2007-06-29 2011-04-26 Vermeer Manufacturing Company Track trencher propulsion system with component feedback
US7778756B2 (en) * 2007-06-29 2010-08-17 Vermeer Manufacturing Company Track trencher propulsion system with load control
US7762013B2 (en) * 2007-06-29 2010-07-27 Vermeer Manufacturing Company Trencher with auto-plunge and boom depth control
ITMI20072091A1 (en) * 2007-10-30 2009-04-30 Rolic Invest Sarl ROLLING MILL OF SNOW AND METHOD FOR THE PREPARATION OF THE SNOWY SKI SLOPE
ITMI20072096A1 (en) * 2007-10-30 2009-04-30 Rolic Invest Sarl CONNECTION DEVICE BETWEEN A BAPTIST VEHICLE AND AN EQUIPMENT FOR THE PREPARATION OF THE SNOWY SLOPE OF THE SKI SLOPES AND METHOD OF CONTROL USING THIS LINKING DEVICE
ITMI20072105A1 (en) * 2007-10-31 2009-05-01 Rolic Invest Sarl ROTATING SNOW MILL FOR THE PREPARATION OF THE SNOWY SKI SLOPE
ITMI20072102A1 (en) * 2007-10-31 2009-05-01 Rolic Invest Sarl ROTATING SNOW MILL FOR THE PREPARATION OF THE SNOWY SKI SLOPE
ITMI20081001A1 (en) * 2008-05-29 2009-11-30 Rolic Invest Sarl TRACK FOR VEHICLES BAPTISTS AND VEHICLE BAPTISIST PROVIDED WITH THIS TRACK
IT1394923B1 (en) 2009-02-18 2012-07-27 Rolic Invest Sarl VEHICLE BATTIPISTA INCLUDING A GROUP WINDOW ASSEMBLY TO MOVE THE VEHICLE LONG DRIVER PENDIUMS SLOPES AND WINDOW GROUP DRIVING METHOD
IT1395088B1 (en) 2009-03-12 2012-09-05 Rolic Invest Sarl VEHICLE BAPTIST AND METHOD OF CONTROL OF THE SAME
WO2010117372A1 (en) 2009-04-09 2010-10-14 Vermeer Manufacturing Company Work machine attachment based speed control system
US9174525B2 (en) 2013-02-25 2015-11-03 Fairfield Manufacturing Company, Inc. Hybrid electric vehicle

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0895495A1 (en) 1996-04-26 1999-02-10 Kässbohrer Geländefahrzeug AG Road maintenance tracklaying vehicle

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA935284A (en) * 1971-11-15 1973-10-16 Fleurant Rolland Towable thrasher
US3779319A (en) * 1972-04-24 1973-12-18 T Pease Mobile snow working apparatus with adjustable height flailer
DE3247971A1 (en) * 1982-12-24 1984-06-28 Karl Kässbohrer Fahrzeugwerke GmbH, 7900 Ulm SNOW VEHICLE FOR CROSS-COUNTRY CARE
DE3613034A1 (en) * 1986-04-17 1987-10-22 Kaessbohrer Fahrzeug Karl METHOD FOR ADJUSTING THE SUBMERSIBLE DEPTH OF A SLOPE MAINTENANCE TOOL AND RELATED SLOPE VEHICLE
DE3812809A1 (en) * 1988-04-16 1989-11-02 Sauer Sundstrand Gmbh & Co Method for controlling the drive, steering and levelling control of vehicles with a surface cutter and arrangement for carrying out the method
US5809671A (en) * 1995-08-08 1998-09-22 Lmc Operating Corp. Tiller with adjustable depth cutter and snow comb entry angle
CA2256172A1 (en) * 1998-12-15 2000-06-15 Bombardier Inc. Multifunction joystick
US6295746B1 (en) * 1998-12-18 2001-10-02 Caterpillar Inc. Method and apparatus for controlling movement of a work implement
WO2001055511A2 (en) * 2000-01-28 2001-08-02 Bombardier Inc. Snow groomer having improved electronic controls

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0895495A1 (en) 1996-04-26 1999-02-10 Kässbohrer Geländefahrzeug AG Road maintenance tracklaying vehicle

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITUA20162397A1 (en) * 2016-04-07 2017-10-07 Prinoth Spa HYDRAULIC EQUIPMENT FOR FEEDING A GROUP OF TRACING DEVICES FOR A TRACKED VEHICLE; THE GROUP OF TRACING DEVICES AND THE TRACKED VEHICLE
WO2017175194A1 (en) * 2016-04-07 2017-10-12 Prinoth S.P.A. Hydraulic apparatus for supplying an assembly of track-setting devices for a tracked vehicle, the assembly of track-setting devices and the tracked vehicle
CN107923134A (en) * 2016-04-07 2018-04-17 普瑞诺斯股份公司 For for setting the hydraulic test of the component of device, racing track to set the component and endless-track vehicle of device applied to the racing track of endless-track vehicle
US10753056B2 (en) 2016-04-07 2020-08-25 Prinoth S.P.A. Hydraulic apparatus for supplying an assembly of track-setting devices for a tracked vehicle, the assembly of track-setting devices and the tracked vehicle
CN107923134B (en) * 2016-04-07 2021-04-09 普瑞诺斯股份公司 Assembly of track-setting devices for producing traditional ski runs and tracked vehicle
EP3608151B1 (en) * 2018-08-07 2025-04-16 Kässbohrer Geländefahrzeug AG Piste caterpillar with a chain drive

Also Published As

Publication number Publication date
DE50214460D1 (en) 2010-07-15
ITBZ20010017A1 (en) 2002-09-30
NO20020739D0 (en) 2002-02-14
NO20020739L (en) 2002-10-01
US20020139013A1 (en) 2002-10-03
EP1245736A3 (en) 2004-04-07
EP1245736B1 (en) 2010-06-02
ATE470020T1 (en) 2010-06-15
JP2002309531A (en) 2002-10-23
US6637134B2 (en) 2003-10-28

Similar Documents

Publication Publication Date Title
EP1245736B1 (en) Apparatus for maintaining ski tracks with pivotably mounted milling tool
EP1293113B1 (en) Control system for the propulsion of an agricultural vehicle power take off
EP3348130B1 (en) Model-based predictive speed control of a harvesting machine
DE19632977B4 (en) Device and method for intake control of a forage harvester
DE69726818T2 (en) Vehicle control device and method
DE69727191T2 (en) PTO control and monitoring system
DE69014245T2 (en) CONTROL ARRANGEMENT FOR HYDRAULIC TRANSMISSION.
EP1052388B1 (en) Method to set the engine rotation speed of a working machine
DE102008058748B4 (en) Control system and control method for operating a hydrostatically powered vehicle
DE102008058174B4 (en) Performance management system for compaction vehicles and method therefor
EP1818456B1 (en) Method of guiding a piste maintenance vehicle and piste maintenance vehicle
EP1118580B1 (en) Device for automatic tension control of a cable for a piste grooming device
EP1754643B1 (en) Method for regulating a drivetrain and electronic control unit
DE3317091A1 (en) TORQUE CONTROL SYSTEM WITH SPEED LIMITATION AND CONTROL METHOD FOR A HYDROSTATIC AUXILIARY DRIVE
EP0212304B1 (en) Electro-hydraulic device for controlling the lifting device of a tractor
DE3505887A1 (en) METHOD AND DEVICE FOR CONTROLLING AND REPRESENTING THE SPEED AND THE MACHINE LOAD OF A MOBILE CHOPPING MACHINE
DE10219270C1 (en) Agricultural tractor with drive slip regulation using central microprocessor box coupled to slip and minimal velocity setting regulators and mode switch for primary control of velocity dependent on slip
DE3820717C2 (en)
DE10045524B4 (en) Snow grooming device, snow grooming vehicle and method for operating a snow grooming device
DE3235818A1 (en) Device for controlling the working depth of a soil-cultivating appliance
DE102007003956A1 (en) Hydrostatic transmission control, for a cross country agricultural/forestry machine, limits motor speed on slow driving to ensure maximum wheel traction
EP3636060B1 (en) Method for operating a working vehicle - working appliance combination, system for a working vehicle - working appliance combination and a working vehicle - working appliance combination
DE69724214T2 (en) Improved cultivation process
DE3604218C2 (en) Electro-hydraulic device for regulating a hoist on an agricultural work vehicle
EP3827655A1 (en) Towing vehicle

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

AX Request for extension of the european patent

Extension state: AL LT LV MK RO SI

17P Request for examination filed

Effective date: 20040921

AKX Designation fees paid

Designated state(s): IT

REG Reference to a national code

Ref country code: DE

Ref legal event code: 8566

RBV Designated contracting states (corrected)

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

17Q First examination report despatched

Effective date: 20090309

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RTI1 Title (correction)

Free format text: APPARATUS FOR MAINTAINING SKI TRACKS WITH PIVOTABLY MOUNTED MILLING TOOL

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: PRINOTH S.P.A.

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REF Corresponds to:

Ref document number: 50214460

Country of ref document: DE

Date of ref document: 20100715

Kind code of ref document: P

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: HEPP WENGER RYFFEL AG

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20100602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100903

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100602

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100602

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101004

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100602

26N No opposition filed

Effective date: 20110303

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 50214460

Country of ref document: DE

Effective date: 20110302

BERE Be: lapsed

Owner name: PRINOTH S.P.A.

Effective date: 20110331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110331

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20110314

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110314

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110314

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100913

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 15

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 16

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 17

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20210310

Year of fee payment: 20

Ref country code: CH

Payment date: 20210322

Year of fee payment: 20

Ref country code: FR

Payment date: 20210326

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20210319

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20210329

Year of fee payment: 20

REG Reference to a national code

Ref country code: DE

Ref legal event code: R071

Ref document number: 50214460

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK07

Ref document number: 470020

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220314