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EP2444355B1 - Method for operating a winch of a tracked vehicle and snow groomer - Google Patents

Method for operating a winch of a tracked vehicle and snow groomer Download PDF

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Publication number
EP2444355B1
EP2444355B1 EP11185068.1A EP11185068A EP2444355B1 EP 2444355 B1 EP2444355 B1 EP 2444355B1 EP 11185068 A EP11185068 A EP 11185068A EP 2444355 B1 EP2444355 B1 EP 2444355B1
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EP
European Patent Office
Prior art keywords
cable
winch
reel
sensor
winding
Prior art date
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Application number
EP11185068.1A
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German (de)
French (fr)
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EP2444355B2 (en
EP2444355A1 (en
Inventor
Andreas Behmüller
Peter Betz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kassbohrer Gelandefahrzeug AG
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Kassbohrer Gelandefahrzeug AG
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Classifications

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

Definitions

  • the invention relates to a method for controlling a winch of a vehicle according to the preamble of claim 1 and a snowcat with a winch according to the preamble of claim 2.
  • a method and such a snowcat are for example by WO2010 / 095016 disclosed.
  • a method for controlling a winch of a tracked vehicle is from the EP 1 431 236 B1 known.
  • the rope speed of the winch rope is regulated.
  • the winch cable control comprises a comparator block which compares a current position of a cable guide device with a calculated position. The current position is detected by a sensor. The winch cable control may correct the current position of the cable guide device depending on a result of the comparison. In addition, the tangential speeds of the reel and a deflection roller can be calculated by means of the winch cable control become.
  • a comparator block within the winch control compares the tangential velocities with a predetermined limit. Once the limit is exceeded, the reel is stopped when unwinding the winch rope.
  • the object of the invention is to provide a method and a snowcat of the type mentioned, which allow a small load on the winch rope in winch operation of the snow groomer and a monitoring of the winding of the winch rope.
  • the object underlying the invention is achieved for a snow groomer described above in that an apparatus for performing a method described above with the features of claim 2 is provided.
  • the snowcat is provided in a particularly advantageous manner for the processing of snow.
  • the solution according to the invention enables a particularly economical operation of the snowcat in winching operation, ie in steep terrain.
  • a low and therefore gentle load on the winch rope is achieved by the invention.
  • the sensor device for detecting the cable speed advantageously also has a time measuring device in order to convert the cable path detectable by the residual cable length sensor into the cable speed.
  • the absolute value transmitter is preferably arranged coaxially to a rotation axis of the reel and permanently detects the angle of rotation or the rotation angle change of the reel.
  • the absolute value encoder can also be provided with a time module, so that the cable speed can be calculated directly via the data of the absolute value encoder.
  • the absolute encoder is designed as a rotary encoder and measures the angle of rotation.
  • the absolute encoder is designed as a multi-turn encoder to detect several revolutions of the reel.
  • a snowcat 1 according to the Fig. 1 to 3 is provided in a basically known manner with a winch 2, which supports a drive of the snowcat 1 especially in steep snowy terrain.
  • a winch cable 13 ( Fig. 3 ) of the winch anchored to an upper portion of a steep slope to be machined stationary.
  • the winch 2 has a winch arm 3, which about an unspecified, in the vehicle vertical direction extending axis of rotation relative to a vehicle longitudinal axis F ( Fig. 2 ) is rotatable by 360 °.
  • the winch 2 is provided with a winch drive 7 shown only schematically, which will be described in more detail below.
  • the snowcat 1 has a pair of drive chains 4, which are driven by a respective Turasrad.
  • the winch arm 3 is - in the present embodiment together with the winch drive 7 - rotatably mounted on a mounted on a loading platform of the snowcat 1 socket about the axis of rotation described.
  • the Turas render as part of a traction drive of the snowcat 1 are hydraulically driven by hydraulic motors.
  • Embodiment of the invention are provided instead of hydraulic motors electric motors.
  • the wrapping arm 12 is - relative to a cable extension direction - mounted in front of the reel 10 in the winch housing by means of a pivot bearing 14 pivotally.
  • a pivoting plane of the winding arm 12 is parallel to a mantle surface of the cylindrical shape of the reel 10 and thus also parallel to the axis of rotation of the reel 10.
  • a rotational angle ⁇ of the wrapping arm 12 is matched to the usable width of the reel 10, that the winch rope through the wrapping 12th for each of the windings distributed over the reel 10 of each winding layer can be performed.
  • the winch cable 13 is withdrawn via a spill gear not shown in detail from the reel 10 or wound onto the reel 10.
  • the spool gear is part of the winch drive 7.
  • the reel 10 has a reel drive, not shown, which is part of the winch drive 7.
  • Both the reel drive and a drive for the capstan are hydraulically designed.
  • the spill gear is preferably assigned a hydraulic motor.
  • the reel drive can also be formed by an electric drive instead of a hydraulic drive be.
  • the spill gear can be provided instead of a hydraulic motor with a sufficiently sized electric motor.
  • the winch drive 7 is executed exclusively hydraulically.
  • a regulation of the winch drive in the manner described in more detail below.
  • the regulation is in angular amount ranges ⁇ according to Fig. 2 effective.
  • the corresponding angular ranges extend, starting from an extension of the winch arm 3 along the vehicle longitudinal axis F in the direction of travel or counter to the direction of travel by 50 ° in both directions.
  • alignment of the winch arm 3 is the winch arm 3 in a zero position. In a correspondingly reverse orientation, it is in a 180 ° position.
  • At least one Turasrad is associated with a speed sensor 5, by means of which a chain speed can be detected.
  • a speed sensor 5 by means of which a chain speed can be detected.
  • two Turaszumn the opposite chains 4 speed sensors 5 are assigned to make the determination of the chain speed via appropriate rotation direction and speed detection of the Turas.
  • an angle sensor 8 is provided, which detects the angle of rotation of the winch arm 3 relative to the vehicle longitudinal axis F.
  • a cable force sensor 9 is provided in the winch 2 in the range of Guide the winch rope.
  • the winch 2 is associated with a sensor device 6 for detecting a rope speed when winding or unwinding of the winch cable.
  • the winch drive 7 comprises a hydraulic spill drive, not shown, with a spill gear and spill heads, over which the winch cable is deflected for withdrawal from the reel 10 or for winding onto the reel 10.
  • the winch drive 7 also includes a drive for the reel 10, which drives the reel 10 at least in the winding direction.
  • the reel drive is realized by a hydraulic constant motor.
  • the spill drive has a controllable hydraulic motor which acts on the spill gear.
  • a force measuring pin is provided in the region of a displaceable deflection roller in the winch arm 3 in the present embodiment.
  • the snowcat 1 has an electronic control unit S, with which the tension force sensor 9, the sensor device 6, the angle sensor 8 and the speed sensor 5 are connected in order to transmit corresponding actual data to the control unit S.
  • the difference between chain speed and calculated driving speed can be positive or negative, because when driving downhill calculated by the rope speed and the angle of the winch speed can be lower than the chain speed to achieve a braking effect .
  • increased slippage of the chains 4 can be compensated by a higher travel speed relative to the chain speed and, consequently, a higher cable speed.
  • the control unit S is taking into account these different driving conditions, a defined difference target range before, which is also called slip target range. Compliance with this differential or slip target range is achieved by regulating the cable traction, which is controlled so that the lowest possible traction, which still allows driving the snowcat 1 within the desired slip range is set.
  • the regulation of the cable pull force is effected by means of a regulation of the hydraulic pressure of the winch drive 7.
  • the hydraulic pressure of the hydraulic motor of the capstan drive is preferably controlled accordingly.
  • the reel drive itself is not involved in this cable tension control. It is merely controlled so that a permanent tension for the winch cable between the capstan and reel 10 is given to allow a perfect winding or unwinding of the winch cable 13.
  • the central control unit S for controlling the winch 2 is assigned a control module S 1 , which monitors the winding or unwinding of the winch cable 13 relative to the reel 10 and upon detection of a winding fault, which also means a rope fault, an error message to the driver of the snowcat first outputs.
  • a winding fault which also means a rope fault, an error message to the driver of the snowcat first outputs.
  • the angle arm 12 in the region of its pivot bearing 14 is associated with a rotation angle sensor 15 which is connected to the control module S 1 .
  • the absolute encoder 11 also is connected to the control module S 1, sitting on the axis of rotation of the reel 10 degrees.
  • the control module S 1 Based on the detected actual values for the angle of rotation of the winding arm 12 and the counted revolutions for the reel 10, the control module S 1 in comparison with the stored target data for the number of turns per winding and for the pivot angle ⁇ of the winding arm 12 between Begin and end of a winding layer determine whether a proper winding or unwinding has occurred, or whether the winch cable 13 performs a wrong winding or unwinding. As soon as the control module S 1 has detected this, it controls a signal generator 16, which sends the corresponding error message to the driver's cabin of the snowcat, preferably in a quickly recognizable for the driver display area transmitted.
  • the signal generator is preferably designed optically and / or acoustically.
  • control module S 1 via the central control unit S is suitably connected to a functional unit within the traction drive and / or the winch drive.

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

Description

Die Erfindung betrifft ein Verfahren zur Steuerung einer Seilwinde eines Fahrzeugs nach dem Oberbegriff des Anspruchs 1 sowie eine Pistenraupe mit einer Seilwinde nach dem Oberbegriff des Anspruchs 2. Ein derartiges Verfahren und eine derartige Pistenraupe werden z.B. durch WO2010/095016 offenbart.The invention relates to a method for controlling a winch of a vehicle according to the preamble of claim 1 and a snowcat with a winch according to the preamble of claim 2. Such a method and such a snowcat are for example by WO2010 / 095016 disclosed.

Ein Verfahren zur Steuerung einer Seilwinde eines Kettenfahrzeugs ist aus der EP 1 431 236 B1 bekannt. Durch das bekannte Verfahren wird die Seilgeschwindigkeit des Windenseils geregelt.A method for controlling a winch of a tracked vehicle is from the EP 1 431 236 B1 known. By the known method, the rope speed of the winch rope is regulated.

Aus der WO 2010/095016 A1 sind ein Verfahren und eine Vorrichtung zum korrekten Ablegen eines Windenseiles auf einer Haspel bei einer Pistenraupe bekannt. Die Windenseilsteuerung umfasst einen Vergleicherblock, der eine aktuelle Position einer Seilführungseinrichtung mit einer berechneten Position vergleicht. Die aktuelle Position wird durch einen Sensor erfasst. Die Windenseilsteuerung kann abhängig von einem Ergebnis des Vergleichs die aktuelle Position der Seilführungseinrichtung korrigieren. Zudem können mittels der Windenseilsteuerung die Tangentialgeschwindigkeiten der Haspel und einer Umlenkrolle berechnet werden. Ein Vergleicherblock innerhalb der Windenseilsteuerung vergleicht die Tangentialgeschwindigkeiten mit einem vorgegebenen Grenzwert. Sobald der Grenzwert überstiegen wird, wird die Haspel beim Abwickeln des Windenseiles gestoppt.From the WO 2010/095016 A1 For example, a method and a device for correctly depositing a winch rope on a reel in a snow groomer are known. The winch cable control comprises a comparator block which compares a current position of a cable guide device with a calculated position. The current position is detected by a sensor. The winch cable control may correct the current position of the cable guide device depending on a result of the comparison. In addition, the tangential speeds of the reel and a deflection roller can be calculated by means of the winch cable control become. A comparator block within the winch control compares the tangential velocities with a predetermined limit. Once the limit is exceeded, the reel is stopped when unwinding the winch rope.

Aufgabe der Erfindung ist es, ein Verfahren und eine Pistenraupe der eingangs genannten Art zu schaffen, die eine geringe Belastung des Windenseiles im Windenbetrieb der Pistenraupe sowie eine Überwachung der Wicklung des Windenseiles ermöglichen.The object of the invention is to provide a method and a snowcat of the type mentioned, which allow a small load on the winch rope in winch operation of the snow groomer and a monitoring of the winding of the winch rope.

Diese Aufgabe wird durch ein Verfahren gemäß dem Anspruch 1 gelöst.This object is achieved by a method according to claim 1.

Durch das erfindungsgemäße Verfahren ist es möglich, frühzeitig Fehlaufwicklungen des Windenseiles und demzufolge Fehler im Windenseil selbst zu erkennen. Ein entsprechendes Fehlersignal veranlasst den Fahrer des Fahrzeugs dann, den Seilwindenbetrieb abzubrechen und eine Seilüberprüfung sowie eine Fehlerbehebung vorzunehmen. Die Vorgabe einer definierten Anzahl von Seilwindungen pro Wickellage auf der Haspel wird berechnet aufgrund der nutzbaren Breite der Haspel und der Seildicke.By the method according to the invention, it is possible to detect early false windings of the winch rope and consequently errors in the winch rope itself. A corresponding error signal then causes the driver of the vehicle to cancel the cable winch operation and perform a rope check and troubleshooting. The specification of a defined number of cable turns per winding position on the reel is calculated on the basis of the usable width of the reel and the rope thickness.

Die der Erfindung zugrundeliegende Aufgabe wird für eine zuvor beschriebene Pistenraupe dadurch gelöst, dass eine Vorrichtung zur Durchführung eines zuvor beschriebenen Verfahrens mit den Merkmalen des Anspruchs 2 vorgesehen ist.The object underlying the invention is achieved for a snow groomer described above in that an apparatus for performing a method described above with the features of claim 2 is provided.

Dadurch können Wicklungsfehler oder Fehlstellen des Windenseiles erkannt und signalisiert werden. Die Funktionseinheit kann statt eines Signalgebers, der dem Fahrer einen Wicklungsfehler signalisiert, auch eine Steuereinheit sein, die direkt in den Windenantrieb oder den Fahrantrieb eingreift, um insbesondere das Windenseil zu entlasten.As a result, winding errors or defects of the winch rope can be detected and signaled. The functional unit can instead of a signal generator, which signals the driver a winding error, also be a control unit which engages directly into the winch drive or the traction drive, in particular to relieve the winch rope.

Die Pistenraupe ist in besonders vorteilhafter Weise für die Bearbeitung von Schneegelände vorgesehen. Die erfindungsgemäße Lösung ermöglicht einen besonders ökonomischen Betrieb der Pistenraupe im Windenbetrieb, d.h. in steilem Gelände. Zudem wird durch die Erfindung eine geringe und daher schonende Belastung des Windenseiles erreicht.The snowcat is provided in a particularly advantageous manner for the processing of snow. The solution according to the invention enables a particularly economical operation of the snowcat in winching operation, ie in steep terrain. In addition, a low and therefore gentle load on the winch rope is achieved by the invention.

Da eine Gesamtlänge des Seiles bekannt ist, ist unter Berücksichtigung der Daten des Restseillängensensors auch der jeweilige Abstand des Windenarmes und auch der Pistenraupe zu dem Verankerungspunkt an der Oberseite des Geländes bestimmbar. Unter Zuhilfenahme des Winkels des Windenarmes relativ zur Fahrzeuglängsachse kann hierdurch auch die momentane Fahrzeugposition berechnet werden. Die Sensoreinrichtung zur Erfassung der Seilgeschwindigkeit weist in vorteilhafter Weise noch eine Zeitmesseinrichtung auf, um den durch den Restseillängensensor erfassbaren Seilweg in die Seilgeschwindigkeit umzurechnen.Since a total length of the rope is known, the respective distance of the winch arm and also the snowcat to the anchoring point at the top of the terrain can be determined taking into account the data of the residual cable length sensor. With the aid of the angle of the winch arm relative to the vehicle longitudinal axis, the instantaneous vehicle position can thereby also be calculated. The sensor device for detecting the cable speed advantageously also has a time measuring device in order to convert the cable path detectable by the residual cable length sensor into the cable speed.

In Ausgestaltung der Erfindung ist als Restseillängensensor ein Umdrehungen der Haspel erfassender Absolutwertgeber vorgesehen. Der Absolutwertgeber ist vorzugsweise koaxial zu einer Drehachse der Haspel angeordnet und erfasst permanent den Drehwinkel bzw. die Drehwinkeländerung der Haspel. In vorteilhafter Weise kann auch der Absolutwertgeber mit einem Zeitmodul versehen sein, so dass die Seilgeschwindigkeit direkt über die Daten des Absolutwertgebers berechnet werden kann. Der Absolutwertgeber ist als rotatorischer Geber ausgeführt und misst den Drehwinkel. Der Absolutwertgeber ist als Multiturn-Drehgeber ausgeführt, um mehrere Umdrehungen der Haspel erfassen zu können.In an embodiment of the invention is provided as a residual cable length sensor revolutions of the reel detecting absolute encoder. The absolute value transmitter is preferably arranged coaxially to a rotation axis of the reel and permanently detects the angle of rotation or the rotation angle change of the reel. Advantageously, the absolute value encoder can also be provided with a time module, so that the cable speed can be calculated directly via the data of the absolute value encoder. The absolute encoder is designed as a rotary encoder and measures the angle of rotation. The absolute encoder is designed as a multi-turn encoder to detect several revolutions of the reel.

Weitere Vorteile und Merkmale der Erfindung ergeben sich aus den Ansprüchen sowie aus der nachfolgenden Beschreibung eines bevorzugten Ausführungsbeispiels der Erfindung, das anhand der Zeichnungen dargestellt ist.

Fig. 1
zeigt schematisch in einer Seitenansicht eine Ausführungsform einer erfindungsgemäßen Pistenraupe mit einem Blockschaltbild für ein erfindungsgemäßes Verfahren zur Steuerung einer Seilwinde,
Fig. 2
schematisch in einer Draufsicht die Pistenraupe nach Fig. 1 und
Fig. 3
schematisch einen Ausschnitt der Seilwinde nach Fig. 1 im Bereich einer Haspel.
Further advantages and features of the invention will become apparent from the claims and from the following description of a preferred embodiment of the invention, which is illustrated by the drawings.
Fig. 1
3 shows schematically in a side view an embodiment of a snowcat according to the invention with a block diagram for a method according to the invention for controlling a cable winch,
Fig. 2
schematically in a plan view of the snow groomer after Fig. 1 and
Fig. 3
schematically a section of the winch after Fig. 1 in the area of a reel.

Eine Pistenraupe 1 gemäß den Fig. 1 bis 3 ist in grundsätzlich bekannter Weise mit einer Seilwinde 2 versehen, die insbesondere in steilem Schneegelände einen Fahrantrieb der Pistenraupe 1 unterstützt. Hierzu wird ein Windenseil 13 (Fig. 3) der Seilwinde an einem oberen Abschnitt eines zu bearbeitenden Steilhanges ortsfest verankert. Die Seilwinde 2 weist einen Windenarm 3 auf, der um eine nicht näher bezeichnete, in Fahrzeughochrichtung erstreckte Drehachse relativ zu einer Fahrzeuglängsachse F (Fig. 2) um 360° verdrehbar ist. Die Seilwinde 2 ist mit einem lediglich schematisch dargestellten Windenantrieb 7 versehen, der nachfolgend näher beschrieben wird.A snowcat 1 according to the Fig. 1 to 3 is provided in a basically known manner with a winch 2, which supports a drive of the snowcat 1 especially in steep snowy terrain. For this purpose, a winch cable 13 ( Fig. 3 ) of the winch anchored to an upper portion of a steep slope to be machined stationary. The winch 2 has a winch arm 3, which about an unspecified, in the vehicle vertical direction extending axis of rotation relative to a vehicle longitudinal axis F ( Fig. 2 ) is rotatable by 360 °. The winch 2 is provided with a winch drive 7 shown only schematically, which will be described in more detail below.

Die Pistenraupe 1 weist ein Paar von Antriebsketten 4 auf, die durch jeweils ein Turasrad angetrieben werden.The snowcat 1 has a pair of drive chains 4, which are driven by a respective Turasrad.

Der Windenarm 3 ist - bei der vorliegenden Ausführungsform gemeinsam mit dem Windenantrieb 7 - auf einem auf einer Ladeplattform der Pistenraupe 1 befestigten Sockel um die beschriebene Drehachse drehbar gelagert.The winch arm 3 is - in the present embodiment together with the winch drive 7 - rotatably mounted on a mounted on a loading platform of the snowcat 1 socket about the axis of rotation described.

Die Turasräder als Teil eines Fahrantriebes der Pistenraupe 1 sind durch Hydromotoren hydraulisch angetrieben. Bei einer nicht dargestellten Ausführungsform der Erfindung sind anstelle von Hydromotoren Elektromotoren vorgesehen.The Turasräder as part of a traction drive of the snowcat 1 are hydraulically driven by hydraulic motors. In a not shown Embodiment of the invention are provided instead of hydraulic motors electric motors.

Die Seilwinde 2 weist eine in einem nicht näher bezeichneten Windengehäuse drehbar gelagerte Haspel 10 auf, auf der das Windenseil 2 auf- und abwickelbar gehalten ist (Fig. 3). Die Haspel 10 weist beim dargestellten Ausführungsbeispiel auf ihrer Trommeloberfläche eine nutzbare Breite auf, die derart auf eine Dicke des Windenseiles abgestimmt ist, dass in einer Wicklungslage jeweils 50 Windungen nebeneinander auf die Haspel gelegt werden können. Bei anderen Ausführungsformen der Erfindung ist eine je nach Einsatzzweck geringere oder größere Breite vorgesehen. Um ein sorgfältiges und gleichmäßiges Aneinanderlegen der Windungen jeweils einer Wicklungslage zu gewährleisten, ist für die Auf- und Abwicklung des Windenseiles 13 relativ zur Haspel 10 ein Wickelarm 12 vorgesehen. Der Wickelarm 12 ist - auf eine Seilauszugrichtung bezogen - vor der Haspel 10 im Windengehäuse mittels einer Drehlagerung 14 schwenkbeweglich gelagert. Eine Schwenkebene des Wickelarmes 12 liegt parallel zu einer Manteloberfläche der Zylinderform der Haspel 10 und damit auch parallel zu der Drehachse der Haspel 10. Ein Drehwinkel β des Wickelarmes 12 ist derart auf die nutzbare Breite der Haspel 10 abgestimmt, dass das Windenseil durch den Wickelarm 12 für jede der über die Haspel 10 verteilten Windungen jeder Wickellage geführt werden kann.The winch 2 has a reel 10 rotatably mounted in an unspecified winch housing, on which the winch rope 2 is held up and unwound ( Fig. 3 ). The reel 10 has in the illustrated embodiment on its drum surface on a usable width, which is tuned to a thickness of the winch rope that in a winding layer 50 turns each side by side can be placed on the reel. In other embodiments of the invention, a smaller or larger depending on the purpose width is provided. In order to ensure a careful and uniform juxtaposition of the turns of a respective winding layer, a winding arm 12 is provided for the winding and unwinding of the winch cable 13 relative to the reel 10. The wrapping arm 12 is - relative to a cable extension direction - mounted in front of the reel 10 in the winch housing by means of a pivot bearing 14 pivotally. A pivoting plane of the winding arm 12 is parallel to a mantle surface of the cylindrical shape of the reel 10 and thus also parallel to the axis of rotation of the reel 10. A rotational angle β of the wrapping arm 12 is matched to the usable width of the reel 10, that the winch rope through the wrapping 12th for each of the windings distributed over the reel 10 of each winding layer can be performed.

Das Windenseil 13 wird über ein nicht näher dargestelltes Spillgetriebe von der Haspel 10 abgezogen oder auf die Haspel 10 aufgewickelt. Das Spillgetriebe ist Teil des Windenantriebes 7. Auch die Haspel 10 weist einen nicht näher dargestellten Haspelantrieb auf, der Teil des Windenantriebes 7 ist. Sowohl der Haspelantrieb als auch ein Antrieb für das Spillgetriebe sind hydraulisch ausgeführt. Hierzu ist dem Spillgetriebe vorzugsweise ein Hydromotor zugeordnet. Der Haspelantrieb kann anstatt eines Hydraulikantriebes auch durch einen Elektroantrieb gebildet sein. Auch das Spillgetriebe kann anstatt eines Hydromotors mit einem ausreichend dimensionierten Elektromotor versehen sein. Beim vorliegenden Ausführungsbeispiel gemäß den Fig. 1 bis 3 ist der Windenantrieb 7 jedoch ausschließlich hydraulisch ausgeführt.The winch cable 13 is withdrawn via a spill gear not shown in detail from the reel 10 or wound onto the reel 10. The spool gear is part of the winch drive 7. The reel 10 has a reel drive, not shown, which is part of the winch drive 7. Both the reel drive and a drive for the capstan are hydraulically designed. For this purpose, the spill gear is preferably assigned a hydraulic motor. The reel drive can also be formed by an electric drive instead of a hydraulic drive be. Also, the spill gear can be provided instead of a hydraulic motor with a sufficiently sized electric motor. In the present embodiment according to the Fig. 1 to 3 However, the winch drive 7 is executed exclusively hydraulically.

In einem Windenbetrieb der Pistenraupe 1 erfolgt in vorgegebenen Winkelbereichen des Windenarmes 3 relativ zu einer Fahrzeuglängsachse F eine Regelung des Windenantriebs in nachfolgend näher beschriebener Weise. Die Regelung ist in Winkelbetragsbereichen α gemäß Fig. 2 wirksam. Die entsprechenden Winkelbereiche erstrecken sich ausgehend von einer Erstreckung des Windenarmes 3 längs der Fahrzeuglängsachse F in Fahrtrichtung oder entgegen der Fahrtrichtung um jeweils 50° in beiden Richtungen. In der in Fig. 2 dargestellten Ausrichtung des Windenarmes 3 ist der Windenarm 3 in einer Nullstellung. In entsprechend umgekehrter Ausrichtung ist er in einer 180°-Stellung. Dadurch ergeben sich die übrigen, gestrichelt dargestellten Winkelendbereiche für die beschriebenen Winkelbetragsbereiche. In Fahrtrichtung ist die Regelung wirksam zwischen einem Winkel des Windenarmes 3 relativ zur Fahrzeuglängsachse F von -50° bis +50°. Entgegen der Fahrtrichtung reicht der Winkelbereich des Windenarmes 3, in dem eine wirksame Regelung des Windenantriebes erfolgt, von 130° über 180° bis 230°. Eine entsprechende Drehachse für die beschriebenen Winkelbereiche wird durch die Drehachse des Windenarmes 3 definiert.In a winch operation of the snowcat 1 takes place in predetermined angular ranges of the winch arm 3 relative to a vehicle longitudinal axis F, a regulation of the winch drive in the manner described in more detail below. The regulation is in angular amount ranges α according to Fig. 2 effective. The corresponding angular ranges extend, starting from an extension of the winch arm 3 along the vehicle longitudinal axis F in the direction of travel or counter to the direction of travel by 50 ° in both directions. In the in Fig. 2 shown alignment of the winch arm 3 is the winch arm 3 in a zero position. In a correspondingly reverse orientation, it is in a 180 ° position. This results in the remaining Winkelendbereiche dashed lines for the described Winkelbetragsbereiche. In the direction of travel, the control is effective between an angle of the winch arm 3 relative to the vehicle longitudinal axis F of -50 ° to + 50 °. Contrary to the direction of travel, the angular range of the winch arm 3, in which an effective control of the winch drive takes place, extends from 130 ° through 180 ° to 230 °. A corresponding axis of rotation for the angular ranges described is defined by the axis of rotation of the winch arm 3.

Wenigstens einem Turasrad ist ein Drehzahlsensor 5 zugeordnet, mittels dessen eine Kettengeschwindigkeit erfassbar ist. Vorzugsweise sind beiden Turasrädern der gegenüberliegenden Ketten 4 Drehzahlsensoren 5 zugeordnet, die über entsprechende Drehrichtungs- und Drehzahlerfassung der Turasräder die Ermittlung der Kettengeschwindigkeit vornehmen. Im Bereich der Drehachse des Windenarmes 3 ist ein Winkelsensor 8 vorgesehen, der den Drehwinkel des Windenarmes 3 relativ zur Fahrzeuglängsachse F erfasst. Im Windenarm 3 ist im Bereich einer Führung des Windenseiles ein Seilzugkraftsensor 9 vorgesehen. Zudem ist der Seilwinde 2 eine Sensoreinrichtung 6 zur Erfassung einer Seilgeschwindigkeit beim Auf- oder Abwickeln des Windenseiles zugeordnet.At least one Turasrad is associated with a speed sensor 5, by means of which a chain speed can be detected. Preferably, two Turasrädern the opposite chains 4 speed sensors 5 are assigned to make the determination of the chain speed via appropriate rotation direction and speed detection of the Turas. In the region of the axis of rotation of the winch arm 3, an angle sensor 8 is provided, which detects the angle of rotation of the winch arm 3 relative to the vehicle longitudinal axis F. In the winch arm 3 is in the range of Guide the winch rope a cable force sensor 9 is provided. In addition, the winch 2 is associated with a sensor device 6 for detecting a rope speed when winding or unwinding of the winch cable.

Der Windenantrieb 7 umfasst einen nicht näher dargestellten hydraulischen Spillantrieb mit einem Spillgetriebe und Spillköpfen, über die das Windenseil für einen Abzug von der Haspel 10 oder für ein Aufwickeln auf die Haspel 10 umgelenkt wird. Der Windenantrieb 7 umfasst zudem einen Antrieb für die Haspel 10, der die Haspel 10 wenigstens in Aufwickelrichtung antreibt. Der Haspelantrieb wird durch einen hydraulischen Konstantmotor verwirklicht. Der Spillantrieb weist einen steuerbaren Hydromotor auf, der auf das Spillgetriebe wirkt.The winch drive 7 comprises a hydraulic spill drive, not shown, with a spill gear and spill heads, over which the winch cable is deflected for withdrawal from the reel 10 or for winding onto the reel 10. The winch drive 7 also includes a drive for the reel 10, which drives the reel 10 at least in the winding direction. The reel drive is realized by a hydraulic constant motor. The spill drive has a controllable hydraulic motor which acts on the spill gear.

Als Seilzugkraftsensor 9 ist beim vorliegenden Ausführungsbeispiel ein Kraftmessbolzen im Bereich einer verlagerbaren Umlenkrolle im Windenarm 3 vorgesehen.As a cable tension force sensor 9, a force measuring pin is provided in the region of a displaceable deflection roller in the winch arm 3 in the present embodiment.

Die Sensoreinrichtung 6 weist einen Restseillängensensor 11 auf, der durch einen Absolutwertgeber in Form eines Drehgebers gebildet ist. Der Absolutwertgeber erfasst die Umdrehungen der Haspel in Auf- oder Abwickelrichtung. Zusätzlich weist die Sensoreinrichtung ein nicht näher dargestelltes Zeitmodul auf, um eine ergänzende Zeitmessung zu der durch den Restseillängensensor erzielten Wegmessung zu erreichen. Eine Gesamtseillänge oder zumindest eine nutzbare Seillänge des Windenseils 13 ist bekannt. Auch Durchmesser und Umfang der zylindrischen Trommeloberfläche der Haspel 10 sind bekannt. Schließlich ist auch die Anzahl von Seilwindungen, die in einer Wicklungslage auf der Haspel 10 nebeneinandergereiht werden können, bekannt. Hierdurch ist über den Restseillängensensor 11 die jeweils momentan auf der Haspel aufgewickelte bzw. ausgezogene und gespannte Seillänge ermittelbar. Durch die zusätzliche Zeitmessung bei einem entsprechenden Auf- oder Abwickelvorgang wird die Seilgeschwindigkeit ermittelt.The sensor device 6 has a residual length sensor 11, which is formed by an absolute value encoder in the form of a rotary encoder. The absolute encoder detects the revolutions of the reel in the winding or unwinding direction. In addition, the sensor device has a time module not shown in detail in order to achieve a supplementary time measurement to the distance measurement achieved by the residual cable length sensor. A total pitch or at least one usable pitch of the winch rope 13 is known. The diameter and circumference of the cylindrical drum surface of the reel 10 are known. Finally, the number of cable turns that can be lined up in a winding position on the reel 10, known. As a result, the cable length currently wound on the reel or extended and tensioned cable length can be determined via the residual cable length sensor 11. By additional time measurement with a corresponding winding or unwinding the rope speed is determined.

Mit Hilfe des Winkelsensors 8, der den jeweiligen Winkel des Windenarmes 3 relativ zur Fahrzeuglängsachse erfasst, ist es möglich, über die erfasste Seilgeschwindigkeit die Fahrgeschwindigkeit der Pistenraupe 1 zu ermitteln. Die Pistenraupe 1 weist eine elektronische Steuereinheit S auf, mit der der Zugkraftsensor 9, die Sensoreinrichtung 6, der Winkelsensor 8 und der Drehzahlsensor 5 verbunden sind, um entsprechende Istdaten an die Steuereinheit S zu übermitteln. Die Steuereinheit S steuert abhängig von Vergleichen, Berechnungen und Auswertungen der erfassten Istdaten den Windenantrieb 7 an, um die Seilzugkraft für das Windenseil 13 so zu regeln, dass sich zwischen der aus Seilgeschwindigkeit und Winkel des Winkelarmes 3 relativ zur Fahrzeuglängsachse berechneten Fahrgeschwindigkeit und Kettengeschwindigkeit eine Differenz ergibt, wobei diese Differenz zwischen errechneter Fahrgeschwindigkeit und Kettengeschwindigkeit in einem konstanten Differenzbereich liegen soll. Ergänzend ist die Pistenraupe 1 in nicht näher dargestellter Weise mit einem Neigungssensor versehen, der eine Fahrzeugneigung relativ zur Horizontalen und damit insbesondere eine Bergauffahrt oder eine Bergabfahrt der Pistenraupe 1 erkennen soll. Dieser zusätzliche Neigungssensor ist optional, da alternativ die Erfassung einer Bergauf- oder Bergabfahrt der Pistenraupe auch durch die Stellung des Windenarmes gemäß Fig. 2 erfassbar ist. Je nach Stellung des Windenarmes für Bergauf- oder Bergabfahrt kann die Differenz zwischen Kettengeschwindigkeit und berechneter Fahrgeschwindigkeit positiv oder negativ ausfallen, denn bei einer Bergabfahrt kann die durch die Seilgeschwindigkeit und den Winkel des Windenarmes berechnete Fahrgeschwindigkeit geringer ausfallen als die Kettengeschwindigkeit, um eine Bremswirkung zu erzielen. Bei der Bergauffahrt hingegen kann ein erhöhter Schlupf der Ketten 4 durch eine relativ zur Kettengeschwindigkeit höhere Fahrgeschwindigkeit und demzufolge eine höhere Seilgeschwindigkeit ausgeglichen werden. Die Steuereinheit S gibt unter Berücksichtigung dieser unterschiedlichen Fahrzustände einen definierten Differenzsollbereich vor, der auch als Schlupfsollbereich bezeichnet wird. Die Einhaltung dieses Differenz- oder Schlupfsollbereiches wird durch eine Regelung der Seilzugkraft erzielt, wobei diese derart geregelt wird, dass die jeweils geringstmögliche Seilzugkraft, die noch ein Fahren der Pistenraupe 1 innerhalb des Schlupfsollbereichs ermöglicht, eingestellt wird. Die Regelung der Seilzugkraft erfolgt über eine Regelung des Hydraulikdruckes des Windenantriebes 7. Bevorzugt wird hierzu der Hydraulikdruck des Hydromotors des Spillantriebes entsprechend angesteuert. Der Haspelantrieb selbst ist in diese Seilzugkraftregelung nicht eingebunden. Er wird lediglich so gesteuert, dass eine permanente Zugspannung für das Windenseil zwischen Spillgetriebe und Haspel 10 gegeben ist, um ein einwandfreies Auf- oder Abwickeln des Windenseiles 13 zu ermöglichen.With the aid of the angle sensor 8, which detects the respective angle of the winch arm 3 relative to the vehicle longitudinal axis, it is possible to determine the traveling speed of the snowcat 1 via the detected cable speed. The snowcat 1 has an electronic control unit S, with which the tension force sensor 9, the sensor device 6, the angle sensor 8 and the speed sensor 5 are connected in order to transmit corresponding actual data to the control unit S. Depending on comparisons, calculations and evaluations of the detected actual data, the control unit S controls the winch drive 7 in order to regulate the cable pull force for the winch cable 13 in such a way that there is a difference between the travel speed and chain speed calculated from cable speed and angle of the angle arm 3 relative to the vehicle longitudinal axis results, this difference between the calculated driving speed and chain speed should be in a constant range of differences. In addition, the snowcat 1 is provided in a manner not shown with a tilt sensor, which is to detect a vehicle inclination relative to the horizontal and thus in particular an uphill or downhill of the snowcat 1. This additional inclination sensor is optional, as alternatively the detection of an uphill or downhill slope of the snow groomer also by the position of the winch arm according to Fig. 2 is detectable. Depending on the position of the winch arm for uphill or downhill, the difference between chain speed and calculated driving speed can be positive or negative, because when driving downhill calculated by the rope speed and the angle of the winch speed can be lower than the chain speed to achieve a braking effect , In contrast, when driving uphill, increased slippage of the chains 4 can be compensated by a higher travel speed relative to the chain speed and, consequently, a higher cable speed. The control unit S is taking into account these different driving conditions, a defined difference target range before, which is also called slip target range. Compliance with this differential or slip target range is achieved by regulating the cable traction, which is controlled so that the lowest possible traction, which still allows driving the snowcat 1 within the desired slip range is set. The regulation of the cable pull force is effected by means of a regulation of the hydraulic pressure of the winch drive 7. For this purpose, the hydraulic pressure of the hydraulic motor of the capstan drive is preferably controlled accordingly. The reel drive itself is not involved in this cable tension control. It is merely controlled so that a permanent tension for the winch cable between the capstan and reel 10 is given to allow a perfect winding or unwinding of the winch cable 13.

Der zentralen Steuereinheit S zur Steuerung der Seilwinde 2 ist ein Steuermodul S1 zugeordnet, das Auf- oder Abwickelvorgänge des Windenseiles 13 relativ zur Haspel 10 überwacht und bei Erfassung eines Wickelfehlers, der gleichzeitig auch einen Seilfehler bedeutet, eine Fehlermeldung an den Fahrer der Pistenraupe 1 ausgibt. Hierzu ist dem Winkelarm 12 im Bereich seiner Schwenklagerung 14 ein Drehwinkelsensor 15 zugeordnet, der mit dem Steuermodul S1 verbunden ist. An das Steuermodul S1 ist zudem auch der Absolutwertgeber 11 angeschlossen, der auf der Drehachse der Haspel 10 sitzt. Anhand der erfassten Istwerte für den Drehwinkel des Wickelarmes 12 und der gezählten Umdrehungen für die Haspel 10 kann das Steuermodul S1 im Vergleich mit den abgelegten Solldaten für die Anzahl von Seilwindungen pro Wicklung und für den Schwenkwinkel β des Wickelarmes 12 zwischen Begin und Ende einer Wicklungslage ermitteln, ob eine ordnungsgemäße Auf- oder Abwicklung erfolgt ist, oder ob das Windenseil 13 eine falsche Auf- oder Abwicklung vornimmt. Sobald das Steuermodul S1 dies erkannt hat, steuert es einen Signalgeber 16 an, der die entsprechende Fehlermeldung ins Fahrerhaus des Fahrers der Pistenraupe, vorzugsweise in einem für den Fahrer schnell erkennbaren Displaybereich, übermittelt. Der Signalgeber ist vorzugsweise optisch und/oder akustisch ausgeführt. Ergänzend oder alternativ kann es auch vorgesehen sein, dass bei Erfassung einer entsprechenden Fehlermeldung in den Fahrantrieb oder in den Windenantrieb eingegriffen werden kann. Für diesen Fall ist das Steuermodul S1 über die zentrale Steuereinheit S in geeigneter Weise mit einer Funktionseinheit innerhalb des Fahrantriebs und/oder des Windenantriebs verbunden.The central control unit S for controlling the winch 2 is assigned a control module S 1 , which monitors the winding or unwinding of the winch cable 13 relative to the reel 10 and upon detection of a winding fault, which also means a rope fault, an error message to the driver of the snowcat first outputs. For this purpose, the angle arm 12 in the region of its pivot bearing 14 is associated with a rotation angle sensor 15 which is connected to the control module S 1 . And the absolute encoder 11 also is connected to the control module S 1, sitting on the axis of rotation of the reel 10 degrees. Based on the detected actual values for the angle of rotation of the winding arm 12 and the counted revolutions for the reel 10, the control module S 1 in comparison with the stored target data for the number of turns per winding and for the pivot angle β of the winding arm 12 between Begin and end of a winding layer determine whether a proper winding or unwinding has occurred, or whether the winch cable 13 performs a wrong winding or unwinding. As soon as the control module S 1 has detected this, it controls a signal generator 16, which sends the corresponding error message to the driver's cabin of the snowcat, preferably in a quickly recognizable for the driver display area transmitted. The signal generator is preferably designed optically and / or acoustically. Additionally or alternatively, it can also be provided that it can be intervened in the traction drive or in the winch drive upon detection of a corresponding error message. For this case, the control module S 1 via the central control unit S is suitably connected to a functional unit within the traction drive and / or the winch drive.

Claims (3)

  1. Method for controlling a cable winch (2) of a tracked piste grooming vehicle having the following steps:
    - counting the revolutions of a reel (10) on which a cable (13) is held to be windable and unwindable,
    - detecting a rotation angle of a winding arm (12) guiding the cable (13) during winding or unwinding from the reel (10),
    - specifying a number of cable windings per winding layer on the reel,
    - comparing the detected revolutions and rotation angles to a specification, and
    - signalling an error message in response to a result of the comparison, characterized in that the method has the following step:
    - transmitting the error message to a drivers cab of a driver of the piste grooming vehicle.
  2. Piste grooming vehicle (1) with a cable winch (2) and with a device for performing a method according to claim 1 with at least one sensor (5) for detecting the track speed, with a sensor device (6) for detecting a cable speed, with an angle sensor (8) for detecting an angle of a winch arm (3) relative to a vehicle longitudinal axis (F), wherein the device has the following further features:
    - including a remaining cable length sensor (11) for detecting the cable length unwound from the reel (10) or wound onto the reel (10),
    - including a rotation angle sensor (15) for the winding arm (12) guiding the cable (13) during winding and unwinding relative to the reel (10),
    - including a control module (S1) comprising a data processing unit which module detects data of the remaining cable length sensor (11) and the rotation angle sensor (15) and compares them to filed set values, and depending on a result of the comparison controls a signal encoder (16),
    characterized in that the device has a signal encoder for signalling and transmitting a cable winding error to a drivers cab of the piste grooming vehicle.
  3. Piste grooming vehicle according to claim 2, characterized in that an absolute value encoder detecting revolutions of the reel (10) is provided as the remaining cable length sensor (L).
EP11185068.1A 2010-10-19 2011-10-13 Method for operating a winch of a tracked vehicle and snow groomer Active EP2444355B2 (en)

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