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EP1896661B1 - Vehicule d'entretien de pistes pourvu d'une compensation du couple de traction par cable - Google Patents

Vehicule d'entretien de pistes pourvu d'une compensation du couple de traction par cable Download PDF

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Publication number
EP1896661B1
EP1896661B1 EP06742987A EP06742987A EP1896661B1 EP 1896661 B1 EP1896661 B1 EP 1896661B1 EP 06742987 A EP06742987 A EP 06742987A EP 06742987 A EP06742987 A EP 06742987A EP 1896661 B1 EP1896661 B1 EP 1896661B1
Authority
EP
European Patent Office
Prior art keywords
cable
piste grooming
grooming vehicle
piste
winch
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.)
Active
Application number
EP06742987A
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German (de)
English (en)
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EP1896661A1 (fr
Inventor
Helmut Kanzler
Michael Kuhn
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
Kaessbohrer Gelaendefahrzeug AG
Original Assignee
Kassbohrer Gelandefahrzeug AG
Kaessbohrer Gelaendefahrzeug AG
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Application filed by Kassbohrer Gelandefahrzeug AG, Kaessbohrer Gelaendefahrzeug AG filed Critical Kassbohrer Gelandefahrzeug AG
Publication of EP1896661A1 publication Critical patent/EP1896661A1/fr
Application granted granted Critical
Publication of EP1896661B1 publication Critical patent/EP1896661B1/fr
Active legal-status Critical Current
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
    • B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes

Definitions

  • the invention relates to a piste grooming vehicle with a cable winch assigned attack point for cable forces, which is spaced from a yaw axis of the PistenfplegeMails, wherein at least one control device is provided, which is operatively connected to at least one control means for compensation at least one of a cable traction of the winch against the Yaw axis applied rope pull torque is formed.
  • the piste maintenance vehicle has a winch, which forms a point of attack for rope forces of a winch rope. This point of application is spaced from a yaw axis of the piste grooming vehicle.
  • the piste grooming vehicle is designed as a tracked vehicle whose crawler tracks are controlled by the driver of the piste grooming vehicle in order to be able to drive in the desired direction. By appropriate control of the crawler, a cable torque is compensated manually, which acts on the snow rope and the winch on the piste grooming vehicle.
  • the EP 0719726 A1 discloses a piste grooming vehicle for processing snowcars formed as a tracked vehicle.
  • the piste grooming vehicle has at the front a plow blade and at the rear a tail mill, which are designed as an attachment to the piste grooming vehicle.
  • the piste grooming vehicle is equipped with a winch, which is built on the piste grooming vehicle.
  • a piste care vehicle which can be used in particular for the care of ski slopes, known.
  • the well-known Pistennostintz can be equipped with a winch to be used in slope areas with great slope.
  • the DE 102 61 944 A1 describes a equipped with a winch grooming vehicle in which a chain speed of a drive chain and a rope speed of a pull-up or unwinding of a winch rope is determined.
  • a control device an adaptation of the cable speed is made to the chain speed of the piste grooming vehicle.
  • a piste grooming vehicle is associated with at least one piste grooming device that can be designed, in particular, as a snow blower, scraper blade or screed.
  • the piste grooming device In conjunction with the topography of the subsurface on which the piste grooming vehicle travels, the piste grooming device has a significant impact on the driving force to be applied by the piste grooming vehicle drive motor.
  • the driving force is transmitted via drive chains from the drive motor to the ground, wherein the drive chains determine the position of a yaw axis of the piste grooming vehicle.
  • the yaw axis is aligned at least substantially parallel to a vertical axis of the piste grooming vehicle, ie it runs perpendicular to a flat ground when the piste grooming vehicle is placed Surface of the underground.
  • the yaw axis is the axis of rotation about which the piste grooming vehicle rotates when torque is applied about a vertical axis of the piste grooming vehicle.
  • the yaw axis is largely determined by the geometry and arrangement of the drive chains and the center of gravity of the piste grooming vehicle.
  • the center of gravity is determined in particular by the position of the drive motor and the position and position of the at least one piste grooming device.
  • dynamic effects such as external forces acting on the piste grooming vehicle on the one or more piste grooming equipment and / or acceleration and braking operations of the piste grooming vehicle in the plane or on slope to be observed.
  • the yaw axis is spaced from a point of application of the rope forces that can be applied by the winch.
  • the point of application for rope forces is that point on the piste grooming vehicle at which the pull rope, which is acted upon by rope forces, can initiate the rope forces into the piste grooming vehicle on a point permanently connected to the piste grooming vehicle.
  • the point of application for rope forces is, in particular, a deflection pulley for the pull rope which is fixedly connected to the winch.
  • the point of application for the rope forces can be arranged on an end region of the support arm facing away from the winch.
  • the towing rope is secured during operation of the piste grooming vehicle at a terrain-fixed point, typically centrally over a larger, to be processed by the piste grooming vehicle Piste section is arranged, it can not be guaranteed that the rope forces are aligned only in the direction of travel of the piste grooming vehicle. Rather, due to the rope force applied by the cable winch also rope force components that are aligned orthogonal to a direction of travel of the piste grooming vehicle and are referred to as lateral forces.
  • the lateral forces depend in terms of their amount and their direction substantially from an angle between the direction of travel of the piste grooming vehicle and the orientation of the hawser from the winch to the off-road point and from the cable force in the pull rope.
  • the object underlying the invention is to provide a piste grooming vehicle and a method for compensating a cable pull torque, which realize for a driver of the piste grooming vehicle easier operation and increased ride comfort.
  • control device is designed for at least substantially automatic compensation of the cable torque.
  • the control device is provided in particular as a hydraulic, pneumatic, mechanical, electrical or electronic influencing device or as a combination thereof on the piste grooming vehicle and designed for direct or indirect intervention in energy flows of the piste grooming vehicle.
  • the control device can be provided, in particular, for a direct control of, in particular, hydraulic, pneumatic, mechanical or electrical energy flows which are delivered to at least one control means. It may additionally or alternatively also be provided for intervention in control units of the snow grooming vehicle, which control or regulate the energy flows to be delivered to the control means.
  • the control means is adapted to at least partially compensate for the yaw moment, i. allow the cable pull torque applied by the cable pull force of the winch relative to the yaw axis.
  • the at least partially automated compensation of the yaw moment is achieved that the operator of the snow grooming vehicle with greater attention Dedicated to grooming. Due to the at least partially automated compensation of the yawing moment, the piste grooming vehicle also has a more comfortable driving behavior, since rotational movements about the yaw axis can be reduced or minimized, which otherwise lead to an unstable driving behavior of the piste grooming vehicle.
  • the winch is designed as a control means and has an actuating device for the implementation of pivoting movements about a cable winch pivot axis and a support arm for cable management.
  • An adjusting device which may be designed in particular as an electrically, pneumatically or hydraulically driven servomotor or actuating cylinder, allows the alignment of the equipped with the support arm winch against the cable force.
  • a powerful adjusting device is necessary, which can not only pivot the winch against its own weight, but is able to raise due to the high rope forces and the length of the support arm, considerable torque to the winch pivot axis to the winch to compensate for the yawing moment to pivot.
  • the support arm of the winch can deviate from a substantially straight-line connection between the piste grooming vehicle and the off-road point to which the pull rope is anchored during operation of the piste grooming vehicle aligned.
  • pivot axis can be caused by the yaw axis a counter-torque to the force applied by the cable pull cable torque.
  • the compensation of the yawing moment can be done either manually by the operator of the piste grooming vehicle, the adjusting device via a hand wheel or a Stellpotentionmeter controls, wherein the adjusting device may be assigned in particular a hydraulic proportional valve.
  • an automatic compensation of the yaw moment by the winch is provided, in which the adjusting device is controlled by the control device, so that the desired relief of the operator is ensured.
  • the support arm which serves as a point of attack for cable forces on an end region facing away from the winch, forms a lever arm which permits a force introduction of the cable force deviating from the cable winch pivot axis. Rather, with a deflection of the support arm of the winch against the cable force to assume the position of the point of application of the cable force in an end region of the support arm and to observe for the determination of the yaw moment.
  • the winch is rotatably mounted on the piste care vehicle via a ball slewing ring and the adjusting device is designed as a rotary drive, in particular as an electric or hydraulic motor.
  • the slewing drive is designed to be controllable by the control device and acts via a pinion on a provided on the winch, at least partially encircling teeth.
  • At least one cable angle measuring device is provided and the control device is designed for processing cable angle signals.
  • a rope angle measuring device enables an automated determination of the angle between the direction of travel of the piste grooming vehicle and the substantially rectilinear alignment of the pull rope to a terrain-fixed point.
  • the control device can generate an actuating signal for at least one control device, by means of which the desired compensation of the yawing moment can be produced.
  • the cable angle measuring device on a support arm of the winch, in particular at an exit point of the traction cable from the support arm, and thereby enables a particularly advantageous and exact determination of the cable angle.
  • At least one position sensor is provided and the control device is designed for processing position sensor signals.
  • a position sensor makes it possible to determine a position of a piste grooming device or of the winch relative to the piste grooming vehicle and thereby in particular allows a determination of the position of the yaw axis by the control device as a function of the position of the piste grooming device and / or the winch.
  • the angle between the direction of travel of the piste grooming vehicle and the orientation of the pull rope can be determined on the off-road point in a simple manner.
  • the winch is freely pivotally mounted in operation relative to the piste grooming vehicle and in particular has a support arm for deflecting the hawser from the winch in the direction of the terrain-fixed point.
  • the position sensor may in particular be designed as a linear displacement measuring device or as an angle sensor and based on an electrical, electronic, optical, mechanical, pneumatic or hydraulic measuring principle or a combination thereof.
  • At least one tilt sensor is provided.
  • the inclination sensor may be attached to the piste grooming vehicle such that it detects a slope of the piste grooming vehicle about a transverse axis.
  • the transverse axis is both orthogonal to the vertical axis and to aligned with a central longitudinal axis of the vehicle, wherein the central longitudinal axis corresponds substantially to the main direction of travel of the piste grooming vehicle.
  • the tilt sensor allows the determination of an angle between the vertical axis of the piste grooming vehicle with respect to a vertical axis.
  • the angle determined by the inclination sensor in cooperation with the position of the piste grooming equipment and the forces acting on the piste grooming equipment, affects the position of the yaw axis of the piste grooming vehicle.
  • the steeper the slope on which the piste grooming device moves the more the position of the yaw axis deviates from its position when the piste grooming vehicle is positioned horizontally.
  • the control device is designed to process inclination sensor signals and thus allows a more accurate calculation of the yaw axis of the piste grooming vehicle.
  • a piste care device pivotally mounted in the front or rear area of the piste care vehicle is designed as a control means.
  • the piste grooming device which can be configured in particular as a front-mounted plow blade or as a snow blower attached to the rear, is adjustable relative to the piste grooming vehicle typically in the direction of the vertical axis and in the direction of the transverse axis by corresponding adjusting devices and is controlled by the control device or by a control unit of the piste grooming vehicle. Due to the orientation of the piste grooming device relative to the piste grooming vehicle, an asymmetric introduction of force into the piste grooming vehicle can take place, which leads to a yawing moment about the yaw axis.
  • the use of at least one piste grooming device as a control means is particularly then particularly advantageous when the winch has no support arm or is freely rotatable about the vertical axis during operation of the piste grooming vehicle.
  • the control of at least one piste grooming device by the control device allows a particularly advantageous compensation of the cable pull torque.
  • At least one drive unit which is associated with at least one drive chain, designed as a control means.
  • a drive unit can be assigned, for example, as an electric or hydraulic drive motor at least one drive chain and allows the transmission of a drive torque to the drive chain via a Turasrad.
  • the drive unit may also be designed as a mechanical transfer case, in particular as a differential, wherein at least one drive chain is associated with a brake device that allows a different distribution of the drive torque to the drive chains.
  • the use of the drive unit as a control means enables a particularly simple compensation of the cable pull moment about the yaw axis, since only one of the typically two drive chains of the piste care vehicle must be subjected to a higher drive torque or a braking torque.
  • the support arm is designed for alignment of the traction cable such that an extension of a central longitudinal axis of the traction cable can be approached at least to the yaw axis.
  • the support arm is mounted together with the winch by the adjusting device rotatably mounted on the piste grooming vehicle, which can be displaced by the rotation of the support arm of the point of the cable forces in the direction of the yaw axis.
  • the pull rope In order to achieve at least almost complete compensation of the cable pull torque caused by the cable pull force about the yaw axis, the pull rope must by pivoting the with the support arm provided winch are aligned with respect to the snow grooming vehicle, that a central longitudinal axis of the pull rope, which extends from the off-land point on the point of application for cable forces, in a straight line extension intersects the yaw axis of the piste grooming vehicle.
  • a dynamic displacement of the yaw axis can take place.
  • the location of the yaw axis is determined essentially by forces acting on the piste grooming equipment, by the location of the piste grooming equipment and the slope of the ground on which the snow grooming vehicle travels.
  • a damping algorithm can be stored in the control device, which prevents actuation of the actuating device within a predefinable tolerance range for an angular deviation between the direction of travel and the cable force.
  • the angle of inclination ie the angle between the direction of travel of the piste grooming vehicle and the pull rope, which runs between the piste grooming vehicle and a terrain-fixed point, in the case of a freely attached to the piste care vehicle winch fixed in particular by means of a provided on the winch position sensor .
  • a cable pull moment is calculated, for which purpose, in particular, a cable pull force exerted by the cable winch is determined by a cable pull force sensor.
  • the determined cable pull force is related to a distance between a point of application for rope forces on the piste grooming vehicle and the yaw axis, whereby the cable pull torque occurring as yaw moment can be calculated.
  • the control device can now control at least one control means, in particular a piste grooming device or a drive device for at least partially compensating the cable pull torque.
  • the angle of draft angle is determined from signals of the position sensor attached to the cable winch and from signals of a cable angle measuring device. This process step is required if the winch is not freely rotatably attached to the piste grooming vehicle, but is held by an adjusting device in a predetermined position or is firmly connected to the piste grooming vehicle. For these cases, the signal of the position sensor provided on the cable winch is not sufficient to determine the angle of draft. Rather, the oblique draw angle can be determined by a combination of the signal of the position sensor with a signal of a cable angle sensor become.
  • the cable angle sensor determines the orientation of the pull rope relative to the support arm of the winch, while the position sensor determines the orientation of the support arm relative to the direction of travel of the snow grooming vehicle.
  • the position sensor determines the orientation of the support arm relative to the direction of travel of the snow grooming vehicle.
  • the position of the point of application for cable forces can be determined, which is arranged in the end region of the support arm and which is displaceable substantially on a circular path about a pivot axis of the winch.
  • the control device is provided with an arithmetic unit which determines from the signals of the position sensor and the cable angle measuring device the diagonal pull angle between the traction cable and the piste grooming vehicle and the distance between the point of application for rope forces and the yaw axis and thus calculates the amount and the direction of the yaw moment about the yaw axis.
  • At least one signal of a position sensor of a piste grooming device is included in the control device for determining a position of the yaw axis.
  • the piste grooming equipment such as a front-mounted plow blade or a rear-mounted snow blower influence by their considerable weight, the center of gravity of the piste grooming vehicle and determine the orientation and position of the yaw axis.
  • a signal of a position sensor which is assigned to the piste grooming device, passed to the control device and used there to calculate the yaw axis.
  • force sensors may additionally be provided on at least one piste grooming device, which determine a force application of the piste grooming device and thus a allow additional specification of the dynamic position of the yaw axis.
  • At least one signal of a tilt sensor is included in the control device for determining the position of the yaw axis.
  • the inclination sensor makes it possible to determine an angle between the vertical axis of the piste grooming vehicle and a vertical, i. in particular from the center of gravity of the snow grooming vehicle on the center of gravity aligned vertical axis and thereby allows a more accurate determination of the position of the yaw axis.
  • the yaw axis location may be affected by dynamic center of gravity displacement caused by the alignment of the piste grooming vehicle on an uphill or downhill slope, the position of the piste grooming equipment, and forces acting on the piste grooming equipment.
  • At least one in the front area or in the rear area of the piste care vehicle pivotally mounted Pistennostizier is used as a control means for generating a counter-torque relative to the cable winch torque.
  • This can be done in particular by pivoting the piste grooming equipment or devices around the vertical axis of the piste grooming vehicle, which results in an effect similar to a rudder of a ship.
  • the pivoting causes an asymmetric force distribution on the piste grooming device, which leads to a torque about the yaw axis.
  • the provided on the winch support arm is used in operative connection with an actuating means as a control means for generating a counter-torque relative to the cable winch torque.
  • the adjusting means of the rotatably arranged on piste care vehicle winch is associated and allows pivoting of the winch and possibly attached thereto jib so that an extension of the central axis of the hawser is approximated to the yaw axis.
  • a counter-torque is caused about the yaw axis, which leads to an at least partial compensation of the yaw moment caused by the cable pull force.
  • the support arm can be displaced in such a way that the extension of the center line of the traction cable intersects the yaw axis, the yaw moment and the counter-torque cancel each other out and the track grooming vehicle is torque-free around the vertical axis or yaw axis with regard to the traction forces.
  • At least one control means is used for compensation of a drift caused by the cable force.
  • a compensation of the yawing moment, which is exerted on the piste grooming vehicle by the cable pull force, can lead to an increased cable force, in particular when using the support arm of the cable winch to generate a counter-torque.
  • the cable force in turn has a force component orthogonal to the direction of travel of the piste grooming vehicle. This force component results in lateral displacement of the piste grooming vehicle during forward or backward movement, with the lateral force component dynamically varying during forward and rearward movement of the piste grooming vehicle.
  • at least one control means in particular a piste grooming device and / or a drive unit of the piste grooming vehicle is used to counteract this lateral offset movement and thus to ensure straightforward movement of the piste grooming vehicle.
  • control device controls the at least one control means such that an approach of a central longitudinal axis of a traction cable takes place on a yaw axis of the piste grooming vehicle.
  • a complete cancellation of the yawing moment by the counter-momentum does not seem necessary.
  • the control device controls the at least one control means such that a predefinable drift value is maintained. Since compensation for drift requires alignment of the piste grooming vehicle with an angle relative to the effective direction of travel, stresses on the piste grooming vehicle occur which can lead to increased wear. In order to keep the wear to an acceptable level, a drift value can be preset via the control device, which represents an advantageous compromise between the wear on the one hand and an occurring drift on the other hand.
  • the specifiable drift value can in particular be set by the operator, wherein a maximum or minimum drift value can be stored in the control device, which can not be exceeded or undershot by the operator.
  • a piste care vehicle 1 which is designed as a driven by a non-illustrated internal combustion engine tracked vehicle, has in a front area designed as a plow blade 2 piste grooming device and in a rear area as a snow blower 3 runway maintenance device.
  • the internal combustion engine and a drive unit are mounted at a frame construction of the piste care vehicle, not shown.
  • the drive unit is provided for driving a Turasrades 5, which is provided for driving a drive chain 4.
  • the drive chain 4 is supported by support wheels 6 and allows the transmission of driving forces even on loose ground such as snow or sand.
  • the base frame is also associated with a drivable by the internal combustion engine, in particular via a hydraulic motor winch 7, which unwind a pull cable 10 from a drum-shaped reel 8 and can wind on this.
  • the traction cable 10 is guided by the reel 8 via pulleys 9 along a support arm 18 to the driver's cabin 29 of the piste grooming vehicle 1 and extends from there to a ground-anchored peg 11, which is designed for receiving cable forces.
  • a center of gravity 12 of the piste grooming vehicle 1 is essentially influenced by the weight of the internal combustion engine, the weight of the winch 7 and the weight of the piste grooming equipment 2, 3 and is shown below the driver's cabin 29 by way of example.
  • a yaw axis 13 is plotted, the position of which depends on the position of the piste grooming devices 2, 3, on the forces acting on the piste grooming devices 2, 3 and on the slope of the ground on which the piste grooming device 1 travels.
  • the yaw axis is displaceably arranged by these influences along a central longitudinal axis 19 and extends in Fig. 1 by the center of gravity 12.
  • the pivotally attached to the base frame winch 7 has a pivot axis 14 which is spaced from the yaw axis 13.
  • a control device 16 is provided, which is shown for clarity outside of the piste grooming device 1, but is practically integrated into the piste grooming device 1. Both Fig. 2 and 3 was omitted for reasons of simplification on the presentation of the control device.
  • the control device 16 is connected via control lines 17 with the piste care devices 2 and 3, the winch 7 and with sensor means, in particular attached to the plow blade 2, the rotary trommel 3 and the winch 7 position sensors 26, 27, 28.
  • the control lines 17 allow the transmission of energy flows to energy consumers of the piste grooming equipment 2 and 3 and the winch 7 as well as the transmission of sensor signals of the position sensors 26, 27, 28 towards the control device 16 allow.
  • the control device 16 is assigned, by way of example, an inclination sensor 15, which is attached to the runway care vehicle 1.
  • the inclination sensor 15 makes it possible to determine an angle of inclination between a vertical axis of the piste grooming vehicle 1, as indicated by the yaw axis 13, and a vertical axis extending, for example, from the center of gravity 12 to a center of the earth.
  • a schematically illustrated cable angle sensor 25 is provided, which is provided for determining a cable position relative to the support arm 18, as in FIG Fig. 3 shown in more detail.
  • the cable angle sensor 25 is connected to the control device 16 via a control line 17.
  • the control device 16 is also associated with a satellite receiver 20, which is designed for the reception of position signals of one or more positioning satellites and which enables an exact position determination of the piste grooming vehicle even in rough terrain.
  • a relationship between the forces acting on the piste grooming vehicle 1 and in the control device 16 including further sensor data, in particular position sensors 26, 27, 28 of the winch 7 or the piste care devices 2, 3 and / or the cable angle sensor 25 Moments and the area treated by the piste care vehicle 1 are calculated and about an optimization of the control of the piste grooming equipment 2, 3, the winch 7 and / or the drive unit are made.
  • the piste grooming vehicle 1 moves predominantly in the main direction of travel 21, whereby snow can be displaced by the snow grooming vehicle 1 through the snow blade 2, while the snow blower 3 can treat and smooth the surface traveled by the snow grooming vehicle 1.
  • the winch 7 is provided, which allows the cable 10, which is attached to the peg 11, a transmission of cable forces on the piste grooming vehicle 1 and thus the driving forces applied by the drive chains 4 for propulsion of the piste grooming vehicle.
  • the traction cable 10 is arranged in a straight line between the peg 11 and the pivot axis 14 of the cable winch 7, so that a Switzerlandseilicide 30 is identical to the orientation of the support arm 18.
  • the winch 7 is freely rotatable relative to the piste grooming vehicle 1, so that the rectilinear orientation of the pull rope 10 is ensured in a forward or backward movement of the piste grooming vehicle 1 relative to the peg 11.
  • the force applied by the winch 7 cable force Fs1 which is schematically in the Fig.
  • the lateral force Fq1 engages with freely rotatable winch on the reel 8 of the winch 7, so that in a first approximation, the pivot axis 14 is the point of attack for the cable force.
  • This point of application for the cable force is compared with the example by the center of gravity 12 out, in Fig. 2 not shown yaw axis spaced at a distance x.
  • the transverse force Fq1 acting in the point of application for the cable force causes a yawing moment Mq1 on the piste grooming vehicle 1 via the lever arm x.
  • the yawing moment Mq1 can be at least partially compensated by an acceleration of the right drive chain 4.1, by a deceleration of the left drive chain 4.2 or by a pivoting of the rake blade 2 or the snowthrower 3. This is brought about by reaction forces which the drive chains 4.1, 4.2 or the piste care devices 2 and 3 exert on the piste grooming vehicle and which engage at a distance from the yaw axis and can thus exert countermeasures to the yawing moment Mq1.
  • the yawing moment Mq1 is determined by the in the Fig. 2 control device, not shown, compensated automatically by determining the angle of inclination ⁇ between the traction cable 10 and the main running direction 21 of the piste care vehicle 1 by the control device 16 and by controlling at least one control means, ie at least one drive chain 41, 4.2, and / or the plow blade 2 and / or or the snow blower 3 a corresponding counter-torque is applied.
  • the winch 7 with the attached support arm 18 via a designed as a hydraulic motor rotary drive 22, which engages with a pinion on a not-shown, circumferentially provided on the winch 7 toothing, from the in Fig. 2 shown configuration is adjusted.
  • the slewing drive 22 In order to adjust the cable winch 7 against the cable force Fs2, the slewing drive 22 must exert a torque on the cable winch 7, which is opposite to the torque exerted by the transverse force Fq. This is one Deviation between the orientation of the support arm 18 and the cable direction 30 before.
  • the yawing moment can be compensated for by manually influencing the slewing gear drive 22 of the winch 7, for this purpose the operator must align the winch 7 so that an extension of the extension 23 of the middle axis of the pull rope 10 is approximated to the yaw axis.
  • control device therefore be programmed so that caused by the lateral force Fq2 drift orthogonal to the direction of travel 21 in particular by control means such as the drive chains 4.1, 4.2, the dozer blade 2 and / or the snowthrower 3 can be at least partially compensated.
  • the support arm 18 of the winch 7 is aligned by the rotary drive 22 so that the cable force relative to the main direction 21 in an angular range between the angle ⁇ according to Fig. 2 and the angle ⁇ according to Fig. 3 is located and thus takes place by the winch 7 only a partial compensation of the yawing moment.
  • the yaw moment counteracting torque is in particular by the plow blade 2, the snow blower 3 and / or one applied with the drive chain 4, so that the piste grooming vehicle 1 is aligned with its central longitudinal axis 19 substantially parallel to the main direction of travel 21.
  • a damping device which is designed for damping cable force fluctuations.
  • the damping device can be realized by an elastic or pivotally mounted support boom section, which can be deflected from a rest position with a rapid increase in the cable force and thus prevents undamped action of the increase on the piste grooming vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Jib Cranes (AREA)
  • Supports For Pipes And Cables (AREA)
  • Vehicle Body Suspensions (AREA)
  • Manipulator (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
  • Control Of Metal Rolling (AREA)
  • Transmission Devices (AREA)

Claims (17)

  1. Véhicule d'entretien de pistes (1) avec un point d'application de forces de câble (24) associé à un treuil (7) et situé à distance d'un axe de lacet (13) du véhicule d'entretien de pistes, sachant qu'est prévu au moins un dispositif de commande (16) qui, en coopération avec au moins un moyen de commande (2, 3, 4, 7), est conçu pour compenser au moins un couple de traction par câble (Mq) produit par une force de traction par câble (Fs1, Fs2) du treuil (7) par rapport à l'axe de lacet (13), caractérisé en ce que le dispositif de commande est conçu pour une compensation au moins essentiellement automatique du couple de traction par câble (Mq).
  2. Véhicule d'entretien de pistes selon la revendication 1, caractérisé en ce que le treuil (7) est conçu comme un moyen de commande et présente un dispositif de commande (22) pour la réalisation de pivotements autour d'un axe (14) du treuil, ainsi qu'un bras d'appui (18) pour guider le câble.
  3. Véhicule d'entretien de pistes selon la revendication 2, caractérisé en ce que le bras d'appui (18) est conçu de telle manière pour orienter un câble de traction (10) qu'un prolongement (23) d'un axe médian longitudinal du câble de traction (10) peut être au moins rapproché de l'axe de lacet (13).
  4. Véhicule d'entretien de pistes selon la revendication 1, caractérisé en ce qu'est prévu au moins un dispositif de mesure angulaire du câble (25), en particulier sur un bras d'appui (18) du treuil (7), et que le dispositif de commande (16) est conçu pour traiter des signaux d'angle du câble.
  5. Véhicule d'entretien de pistes selon la revendication 1 ou 4, caractérisé en ce qu'est prévu au moins un capteur de position (26, 27, 28), en particulier sur un appareil d'entretien de pistes (2, 3) et/ou sur le treuil (7), et que le dispositif de commande (16) est conçu pour traiter des signaux du capteur de position.
  6. Véhicule d'entretien de pistes selon la revendication 1 ou 4, caractérisé en ce qu'est prévu au moins un capteur d'inclinaison (15), et que le dispositif de commande (16) est conçu pour traiter des signaux du capteur d'inclinaison.
  7. Véhicule d'entretien de pistes selon la revendication 1, caractérisé en ce qu'un appareil d'entretien de pistes (2, 3) placé de manière orientable dans la zone avant ou arrière du véhicule d'entretien de pistes, en particulier une lame de niveleuse ou un chasse-neige, est conçu comme un moyen de commande.
  8. Véhicule d'entretien de pistes selon la revendication 1, caractérisé en ce qu'au moins une unité d'entraînement, associée à au moins une chaîne d'entraînement (4), est conçue comme un moyen de commande.
  9. Procédé de compensation d'un couple de traction par câble sur un véhicule d'entretien de pistes, en particulier selon l'une des revendications précédentes, comprenant les étapes suivantes : détermination d'un angle de traction oblique (α) entre un sens de circulation (21) du véhicule d'entretien de pistes (1) et une direction du câble de traction (30), détermination d'un couple de traction par câble (Mq) agissant via une force de traction par câble (Fs1, Fs2) sur le véhicule d'entretien de pistes autour d'un axe vertical, en fonction d'une distance (x) entre un point d'application (24) des forces de câble et un axe de lacet (13), à l'aide d'un dispositif de commande (16), activation d'au moins un moyen de commande (2, 3, 4, 7) pour une compensation au moins partielle du couple de traction par câble (Mq) par le dispositif de commande (16).
  10. Procédé selon la revendication 9, caractérisé en ce que l'angle de traction oblique (β) est déterminé à partir de signaux du capteur de position (26) disposé sur le treuil (7) ainsi qu'à partir de signaux d'un dispositif de mesure angulaire du câble (25) prévu en particulier sur le bras d'appui (18).
  11. Procédé selon la revendication 9 ou 10, caractérisé en ce qu'au moins un signal d'un capteur de position (27, 28) d'un appareil d'entretien de pistes (2, 3) est utilisé dans le dispositif de commande (16) pour déterminer une position de l'axe de lacet (13).
  12. Procédé selon la revendication 9, 10 ou 11, caractérisé en ce qu'au moins un signal d'un capteur d'inclinaison (15) est utilisé dans le dispositif de commande (16) pour déterminer une position de l'axe de lacet (13).
  13. Procédé selon l'une des revendications 9 à 12, caractérisé en ce qu'est utilisé en tant que moyen de commande au moins un appareil d'entretien de pistes (2, 3) disposé de manière orientable dans la zone avant ou arrière du véhicule d'entretien de pistes pour produire un couple résistant face au couple du treuil (Mq).
  14. Procédé selon l'une des revendications 9 à 13, caractérisé en ce que le bras d'appui (18) prévu sur le treuil (7) est utilisé en coopération avec un moyen de réglage (22) en tant que moyen de commande pour produire un couple résistant face au couple du treuil (Mq).
  15. Procédé selon l'une des revendications 9 à 14, caractérisé en ce qu'au moins un moyen de commande (2, 3, 4, 7), en particulier un appareil d'entretien de pistes et/ou une chaîne d'entraînement, est utilisé pour compenser une dérive entraînée par la force du câble.
  16. Procédé selon l'une des revendications 9 à 15, caractérisé en ce que le dispositif de commande active l'au moins un moyen de commande (2, 3, 4, 7) de telle manière qu'est assuré un rapprochement d'un axe médian d'un câble de traction (10) vers un axe de lacet (13) du véhicule d'entretien de pistes (1).
  17. Procédé selon la revendication 16, caractérisé en ce que le dispositif de commande (16) active l'au moins un moyen de commande (2, 3, 4, 7) de telle manière qu'est maintenue une valeur de dérive pouvant être prédéterminée.
EP06742987A 2005-06-27 2006-05-19 Vehicule d'entretien de pistes pourvu d'une compensation du couple de traction par cable Active EP1896661B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005031076A DE102005031076B4 (de) 2005-06-27 2005-06-27 Pistenpflegefahrzeug mit Seilzugmoment-Kompensation
PCT/EP2006/004762 WO2007000216A1 (fr) 2005-06-27 2006-05-19 Vehicule d'entretien de pistes pourvu d'une compensation du couple de traction par cable

Publications (2)

Publication Number Publication Date
EP1896661A1 EP1896661A1 (fr) 2008-03-12
EP1896661B1 true EP1896661B1 (fr) 2011-01-19

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EP06742987A Active EP1896661B1 (fr) 2005-06-27 2006-05-19 Vehicule d'entretien de pistes pourvu d'une compensation du couple de traction par cable

Country Status (6)

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US (1) US8201349B2 (fr)
EP (1) EP1896661B1 (fr)
AT (1) ATE496175T1 (fr)
CA (1) CA2612954C (fr)
DE (2) DE102005031076B4 (fr)
WO (1) WO2007000216A1 (fr)

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DE102009024644B4 (de) * 2009-06-03 2012-11-15 Kässbohrer Geländefahrzeug AG Pistenraupe mit einer Seilwindenanordnung
AT508123B1 (de) * 2009-07-22 2010-11-15 Schardax Christian Dipl Ing Fh Neigungssensitives überwachungsmodul für funkferngesteuerte forstseilwinden
AT12086U1 (de) 2010-06-17 2011-10-15 Palfinger Ag Fahrzeugkran
US9243965B2 (en) * 2010-11-08 2016-01-26 Tulsa Winch, Inc. System and method for calculating winch line pull
DE102011004614B4 (de) * 2011-02-23 2012-10-25 Kässbohrer Geländefahrzeug AG Windenarm für eine Windenanordnung einer Pistenraupe
FR2981300B1 (fr) * 2011-10-13 2013-12-20 Aztec Bati retractable pour vehicule d'entretien de pistes skiables
US20140248089A1 (en) * 2013-03-04 2014-09-04 Earth Tool Company Llc Wire Rope Payout Upon Tensile Demand
US10078923B2 (en) 2014-06-06 2018-09-18 Tulsa Winch, Inc. Embedded hoist human-machine interface
JP6716400B2 (ja) * 2016-09-06 2020-07-01 シャープ株式会社 自律走行車両
CN114537060A (zh) * 2020-11-24 2022-05-27 普瑞诺斯股份公司 用于准备滑雪道的履带式车辆和控制履带式车辆的绞盘的方法
EP4134489B1 (fr) * 2021-08-12 2025-09-17 BAUER Maschinen GmbH Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur
IT202100032639A1 (it) * 2021-12-24 2023-06-24 Prinoth Spa Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo
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Publication number Publication date
US20100236107A1 (en) 2010-09-23
EP1896661A1 (fr) 2008-03-12
WO2007000216A1 (fr) 2007-01-04
DE502006008766D1 (de) 2011-03-03
CA2612954C (fr) 2014-09-30
DE102005031076A1 (de) 2007-01-25
CA2612954A1 (fr) 2007-01-04
US8201349B2 (en) 2012-06-19
ATE496175T1 (de) 2011-02-15
DE102005031076B4 (de) 2007-11-29

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