EP4003895B1 - Cable winch and hoisting device having such a cable winch - Google Patents

Description

The present invention relates to a cable winch, in particular a hoist winch of a hoist, with a cable drum, an inlet guide for a cable to be wound onto the cable drum, and an actuator for adjusting the inlet guide relative to the cable drum. The invention further relates to a lifting device, in particular in the form of a crane, with such a cable winch.

Cable winches wind up and unwind the same cable over and over again under different conditions. Without any fixed rule, the cable tension can vary greatly depending on the load the cable is carrying. For example, the cable may be wound up a short distance under strong tension and then, after the load has been removed, it may be wound up a further distance without a load or even loosely. Likewise, the cable may be under strong tension when unwinding or it may be unwound loosely. These conditions can mix or complement each other in different ways. One lower winding layer may be wound under strong tension and the layer above it may be wound loosely, and a layer wound above it may be wound tightly, or only part of a lower layer, for example, may be wound tightly and another part may be wound loosely.

Such changes in the cable tension or other cable or operating parameters, which vary during winding and unwinding and are not subject to any fixed rule, not only have an influence on the winding pattern per se and can, for example, lead to the cable cutting into a loosely wound cable layer underneath when winding or unwinding under strong tension, but also result in further changes in the cable parameters, which in turn can affect the winding pattern. For example, the varying strand tension changes the cable diameter, so that a section of cable wound up or unwound under strong tension has a smaller diameter than a loosely wound section of cable, which can, for example, cause the cable to taper in cross-section when stretched longitudinally. At the same time, the transverse elasticity or longitudinal elasticity of the cable can also change. On the other hand, a varying strand tension also leads to deformations and crushing or different deformations and different crushing of the cable in the winding layers, so that winding problems can occur when winding up and occasionally when unwinding. Since the changes in relevant winding parameters mentioned above can occur without a fixed rule in different phases of winding and unwinding, it is difficult to control the infeed guide appropriately in order to produce a uniform, "nice" winding pattern.

The problem mentioned generally exists with steel ropes, which can consist of steel strands, and is even worse with high-strength fiber ropes. More recently, high-strength fiber ropes have been used in lifting devices such as cranes, in which a low rope weight with high rope strength is of greater importance, which, compared to conventional steel ropes, have a lower rope weight with higher rope strength and also a longer service life. Such high-strength fiber ropes can be made from high-strength synthetic fibers such as aramid fibers, aramid/carbon fiber mixtures, high-modulus polyethylene fibers (HMPE), liquid crystal polymer (LCP)-Vektran or poly(p-phenylene-2,6-benzobisoxazole) fibers (PBO ) exist or at least have such fibers. Thanks to the weight savings compared to steel cables of up to 80% with approximately the same breaking strength, the load or the permissible lifting load can be increased, since the dead weight of the rope that has to be taken into account for the load is significantly lower. Especially in cranes with a large lifting height, or in booms or mast adjustment systems with pulleys with a high number of reevings, considerable rope lengths and therefore a corresponding rope weight are required, so that the weight reduction possible through high-strength fiber ropes is very advantageous. In addition to the weight advantage of the fiber rope itself, the use of fiber ropes also enables weight savings in other components. For example, the load hook can be made lighter because less load hook weight is required to tension a fiber rope.

In addition to the weight advantages mentioned, cable drives with synthetic fiber cables are characterized by a considerably longer service life, easy handling and good flexibility, as well as the elimination of the need for cable lubrication. Overall, greater device availability can be achieved.

However, one difficulty with such high-strength fiber ropes is achieving proper winding on the rope drum. High-strength fiber ropes actually have a low transverse compressive stiffness, so that high-strength fiber ropes can deform more in cross-section in the winding aisles when being wound onto the rope drum. This can, for example, result in the fiber rope cutting between two winding courses of an underlying winding layer when the drum is wound in multiple layers, which can lead to increased wear and major irregularities in the rope tension when unwinding. On the other hand, it can happen that the rope wrap builds up unevenly over the length of the drum, for example piling up in several layers towards one drum flange, before the rope runs to the opposite flange and forms new layers there. On the one hand, this can be due to the rope cutting between two previous winding layers due to deforming cross-sections, and on the other hand, it can lead to that the flange and also the cable drum are loaded unevenly and more than necessary.

In order to counteract this problem, it has already been proposed to design fiber ropes with a pressure-resistant sheath in order to approximate the properties of the fiber ropes in the transverse pressure direction of the steel rope and thus ensure smoother winding onto a rope drum, whereby the winding system of the rope winch, which is known for steel ropes, can remain unchanged in principle with a special groove for multi-layer winding. However, the sheathing of the fiber ropes is very complex and expensive, and the rope diameters are also increased by the sheathing. In this respect, it would be desirable to improve the winding system of the rope winch to such an extent that high-strength fiber ropes can be neatly wound up even without a pressure-resistant sheath or generally ropes with limited transverse pressure stiffness.

In order to achieve a clean winding pattern on the cable drum with evenly structured winding layers, an inlet guide is used which guides the cable to be wound back and forth from right to left over the length of the drum. Such inlet guides, sometimes referred to as compensators, usually guide the rope back and forth between the flanges of the winch at a transverse speed that depends on the winch speed. The feed of the cable guide is usually mechanically kinematically coupled to the rotation of the cable winch, so that a predetermined transverse travel path of the inlet guide results depending on the drum rotation.

The inlet guide is usually moved transversely. However, it is also already known to achieve the relative movement between the inlet guide and the cable drum by adjusting the cable drum in the direction of the drum's longitudinal axis, see for example EP 28 07 108 B1 .

From the US 6,443,385 B1 a winding drum according to the preamble of claim 1 is also known, the position of the winding material being observed by means of a television camera and the data thus obtained about the winding being fed to a computing unit, which initiates an adjustment in order to carry out an adjustment in the event of a deviation in the vertices of the winding layers to be provided in the radial direction.

Similar spools or drums with adjustment devices for controlling the winding pattern are known from the documents JP H01 203174 A and US 4,570,875 A Other rope drums with control measures for controlling the winding pattern are known from the documents WO 2015/139842 A1 , CN1586934A , JP 2009 057 126 A , CN 101 832 760 B , JP 2003 121 376 A and GB 2 456 626 A known.

However, it has also been proposed that the infeed guide should not be mechanically coupled to the drum rotation, but should be controlled electronically and adapted to different winding conditions. For example, the AT 11687 U1 a cable winch whose inlet guide carriage is adjusted by a carriage drive which is operated by a controller depending on the inlet angle of the cable so that the inlet angle of the cable onto the drum assumes a predetermined value or comes as close to it as possible.

The font US6811112B1 also describes a cable winch that is to be used for different cable diameters and provides different transverse speeds for the inlet guide. The carriage drive of the inlet guide carriage is also controlled depending on the cable angle, whereby a cable outlet angle and a cable inlet angle are mechanically sensed and used to set the carriage speed.

Such controllable or adjustable inlet guides can be used to maintain the desired inlet angle of the rope to be wound up and to adapt it to different rope diameters or rope types. However, with high-strength fiber ropes or generally ropes with low transverse compressive stiffness, the problems and winding errors mentioned above can still occur, in particular the rope cutting between two underlying rope windings.

The present invention is therefore based on the object of creating an improved cable winch and an improved lifting device of the type mentioned at the beginning, which avoid the disadvantages of the prior art and develop the latter further in an advantageous manner. In particular, clean winding should also be achieved with cables with low transverse compressive stiffness, so that even high-strength fiber cables without a pressure-stable sheath can be cleanly wound up.

According to the invention, the stated object is achieved by a cable winch according to claim 1 and a lifting device according to claim 15. Preferred embodiments of the invention are the subject of the dependent claims.

According to one aspect of the present invention, the actual state of flanges is monitored and recorded, which limit the cable drum on the right and left or at the end or laterally limit the winding area on the cable drum, so that the rope can only be wound onto the cable drum between the two flanges is. When winding ropes in multiple layers, the two flanges mentioned are usually subjected to high lateral forces and the rope drum is loaded by the rope stack. Due to the axial load on the end or flanges, i.e. in the direction of the drum's longitudinal axis, the flanges can experience elastic deformation. In particular, the flanges can be deformed outwards, i.e. away from the rope winding area. A detection device can detect such a deformation of the flanges.

If the detected flange deformation reaches a predetermined level or exceeds it, and/or if the detected flange deformation does not match the detected winding layer pattern, the control device can, for example, change the adjustment of the inlet guide, for example in such a way that the inlet guide no longer guides the rope to be wound up all the way to the flanges, but reverses the adjustment movement prematurely. Alternatively or additionally, the control device can emit a warning signal if the flange deformation exceeds a predetermined level or does not match the detected winding layer pattern, as this can be an indicator of damage to the flange and/or the winding drum, for example of a crack in the area of the flange base.

The detected flange deformation can be compared with an absolute limit value, which indicates the maximum permissible flange deformation. This can, for example, be a displacement and/or absolute position of the outer peripheral edge of a flange in the direction of be the longitudinal axis of the drum. Alternatively or additionally, a variable, permissible threshold value for the flange deformation can also be specified, which depends on the winding of the cable drum. For example, if there is only one winding layer on the cable drum, the flange itself should not show any significant deformation because there is a lack of lateral forces caused by several winding layers. In this respect, the permissible threshold value can be set differently, for example, depending on the winding layers located on the cable drum, in particular identified in the recorded winding pattern. The permissible deformation value can be set to become increasingly larger as the winding layers increase.

The flanges mentioned can, in a conventional manner, have a substantially radial extension to the cable drum axis and/or rise essentially at a right angle from the cable drum. Alternatively, the flanges mentioned can also be set at an angle and/or extend inclined relative to a radial plane, for example, they can be essentially truncated in shape. Such inclined flanges can be particularly helpful when winding the cable drums crosswise.

The monitoring of the flange deformation can be carried out independently of a radial or oblique contouring of the flanges and can be helpful for monitoring safe operation of the cable winch, regardless of the previously explained inlet guide for the rope to be wound up and its adjustment.

Due to the improved monitoring of the winding pattern or the improved control of the adjustment of the inlet guide relative to the cable drum, the cable drum can, if necessary, be designed without cable grooving. In principle, the cable drum can also have grooves.

It is also proposed to monitor the rope during winding and the winding pattern that appears on the drum and to adjust the inlet guide to intervene relative to the cable drum if the winding pattern changes due to varying strand tensions and the associated changes in cable diameter. A detection device for detecting the rope and a winding pattern of the rope wound on the rope drum is provided and the control device is designed to adjust the inlet guide relative to the rope drum depending on the recorded winding pattern if there are changes in the rope and/or in the winding pattern due to varying strand tensions result. The adjustment of the relative position of the inlet guide and cable drum depending on the winding pattern recorded on the cable drum is based on the consideration that even if a predetermined inlet or winding angle of the rope is strictly adhered to, winding errors can occur and the desired winding pattern is not necessarily achieved. if, despite the same rope being wound up and unwound again and again, changes in relevant rope parameters occur due to different rope pulls during winding and/or unwinding, and winding errors can be better addressed if the real winding pattern that results on the drum is actually monitored and not just an influencing variable like how the entry angle of the rope is measured.

In particular, the detection device can detect the changing rope diameter or rope diameter changes and, depending on such rope diameter changes that can arise from the varying rope tension during winding and/or unwinding, the control or adjustment of the inlet guide and its movement relative to the rope drum can be adapted in order to achieve a clean winding pattern. The control of the inlet guide can be dynamically adapted depending on the varying rope tension and/or an associated change in a rope parameter such as the rope diameter and/or the transverse elasticity or the longitudinal elasticity of the rope. If, for example, the rope diameter becomes thinner due to increasing rope tension, the travel speed of the inlet guide can be reduced in order to avoid gaps forming between the rope turns, or, if necessary, increased in order to get over the valleys of a winding layer below more quickly.

In a further development of the invention, the detection device can in particular detect the envelope contour of the rope winding on the rope drum or determine it as a characteristic of the winding pattern, wherein the control device can then carry out the transverse adjustment of the inlet guide relative to the rope drum depending on the detected envelope curve.

The envelope contour of the rope wrap on the rope drum means the envelope curve placed over the uppermost rope courses when the rope drum and the rope wrap located on it are viewed in a cross-sectional plane containing the drum's longitudinal axis. If the cable drum has a single layer and is correctly wrapped completely between the two flanges, the envelope contour mentioned is, for example, a straight line, while if a second layer is additionally wound up to, for example, the drum half, a step or step contour is obtained as the envelope contour. However, if there is uneven winding with, for example, three or four layers on one flange, one or two layers in the middle of the drum and five or six layers towards the other flange, the envelope contour mentioned takes on a curved course.

The envelope contour mentioned does not necessarily have to be recorded or determined in a cross-sectional plane, but envelope contours can also be recorded or determined in several cross-sectional planes, which each contain the longitudinal axis of the drum and can be rotated relative to one another, in which case the envelope contour is then, for example, an average value of different envelope curves in the different viewing levels can be used or determined. In particular, the envelope curve mentioned can also be determined during the ongoing winding operation, i.e. with the cable drum rotating, the envelope curve being able to change continuously in a cross-sectional plane monitored by the detection device, so that the specific envelope curve can be continuously corrected, for example by incrementally changing changes in the signal of the detection device be recalculated or integrated into the existing envelope.

The winding pattern of the rope wrap on the rope drum can basically be detected or determined in various ways, for example by means of a light barrier that detects the shading generated by the winding paths, whereby the contour of the detected shading can be determined as an envelope contour.

In particular, however, the detection device can comprise optical image detection means for detecting an image of the rope winding on the rope drum and an image evaluation device for evaluating the detected rope winding image.

The optical image capture means can in particular comprise at least one camera which provides a camera image of the rope wrap or the wrap image on the rope drum, wherein said camera can provide a continuous image or a live image even when the rope winch is running, which is then evaluated by the image evaluation device, in particular to determine the envelope curve of the rope wrap on the rope drum.

Alternatively or in addition to a camera, the optical image capture device can also have another optical sensor system, in particular in the form of at least one imaging sensor, in order to provide an image of the rope wrap on the rope drum, which is then evaluated by the image evaluation device.

The image evaluation device can basically include various evaluation modes. For example, a pixel analysis, a light-dark analysis, a grayscale analysis and/or a contour analysis can be carried out.

For example, the image evaluation device can have contour evaluation means that determine visible contours in the camera and/or sensor image and can determine the envelope contour of the rope winding from the position of the contours.

Alternatively or additionally, the image evaluation device can also include color area proportion evaluation means in order to be able to determine the area proportion of a respective color in the captured image and from this to be able to determine the winding pattern of the wound rope, in particular rope course courses and/or rope route crossings and/or rope route distances and/or the envelope contour of the rope coil.

Alternatively or additionally, the image evaluation device can also have grayscale evaluation means in order to determine visible grayscales in the image and from this to determine the parameters of the winding image mentioned, in particular the envelope curve of the rope winding. In particular, the image evaluation device can also comprise rope diameter determination means in order to be able to detect a changing rope diameter or rope diameter changes in order to be able to take such diameter changes into account when controlling the inlet guide.

The control device can adjust the adjustment of the inlet guide in various ways, depending on which winding pattern and/or envelope contour is desired and what the recorded, actual winding pattern or envelope contour looks like. In order to avoid major winding errors, the control device can have a comparison device that compares the recorded winding pattern with a predetermined target winding pattern and controls the inlet guide depending on the comparison so that deviations between the recorded winding pattern and the target winding pattern are as small as possible. In particular, the above-mentioned comparison device can compare the specific envelope curve of the rope winding on the drum with a target envelope contour and control the adjustment drive of the inlet guide so that the recorded envelope contour is adjusted as closely as possible to the predetermined target contour. If, for example, a dent is found in the casing contour in a section of the cable drum, which implies one or more missing rope turns, the inlet guide can be adjusted so that the rope runs onto the drum in the area of the dent mentioned in order to fill the dent. Conversely, if a winding hill, ie protruding parts compared to the winding height, If a bulge is detected in the envelope contour, the drum area in which the winding bulge occurs can be left out during winding in order to first wind the remaining drum sections more heavily.

Alternatively or in addition to such a comparison of the recorded envelope contour with a target envelope contour, the winding pattern can also be examined for the course of the winding threads on the drum and compared with a target winding thread pattern. For example, a specified target winding pattern can provide for cross-winding of the drum, in which the rope windings of superimposed winding layers do not run parallel to one another, but the rope threads of a winding layer above cross the winding threads of the winding layer below. The aforementioned comparison device can compare the course of the rope threads determined in the recorded winding pattern with the desired, cross-winding target winding thread and adjust the inlet guide accordingly in order to achieve the desired cross-winding thread.

The predetermined target envelope contour or the specifiable target wrapping pattern can, for example, be stored in a memory in order to be read out for comparison. Alternatively or additionally, the control device or the comparison device mentioned can dynamically adapt the respective target envelope contour or the target winding pattern to the progress of the winding process, which can be done iteratively, for example, by successively adapting an initial target envelope contour or an initial target winding pattern to the progression of the winding process is adjusted, for example depending on the additional winding courses and / or additional winding layers. For example, the number of winding layers and/or the number of winding cycles can be determined in the respectively recorded winding layer image or based on the recorded envelope contour in order to adapt the stored target images. Alternatively or additionally, the number of revolutions of the cable drum can also be recorded and from this it can be determined how many winding layers and / or cable courses are or must be wound on the drum in order to adapt the specified target images of the envelope contour or the winding pattern accordingly.

The number of revolutions of the cable drum can also be recorded by the image capture device. For example, the cable can include markings that the image capture device records, for example when the respective markings pass the camera. The image evaluation device can determine which length of cable is wound up and/or unwound or how many layers of cable are wound up on the cable drum based on the number and/or, in the case of different markings, based on the respective passing marking. Based on the speed of the passing markings and/or based on the time period elapsed between two markings, the image capture device can also determine the speed of the cable drum, in particular, for example, an overspeed.

Advantageously, the control device can use the detected winding pattern and/or the detected envelope contour of the rope wrap not only to control the inlet guide mentioned, but also to use it as the basis for operational monitoring, which provides a warning signal if necessary or in the event of imminent danger and/or automatically stops winch operation and / or suitable countermeasures, for example re-unwinding the rope. For example, if, despite the above-described readjustment of the rope winding envelope contour, the formation of a winding mountain or excessive cutting of the rope between two rope winding courses below is detected by appropriately adjusting the inlet guide, in particular identified in the recorded winding image by the image evaluation device, the control device can emit the warning signal mentioned or .stop winch operation or cause unwinding.

Advantageously, the monitoring of the winding pattern on the rope drum by the detection device can also be used to determine relevant rope parameters of the rope to be wound up, for example its readiness for discarding and/or its rope diameter and/or its rope elongation. In particular, in the winding image captured by the optical image capture means Defects or wear points on the rope can be identified, for example by the image evaluation device detecting splices in the rope sheath and / or color changes on the rope sheath in the captured image, which can occur, for example, when a sheath layer wears out and an underlying, different colored rope layer or rope strand is visible becomes.

Alternatively or additionally, the image evaluation device can comprise a rope diameter determining device in order to determine the rope diameter of the rope to be wound onto the drum. Based on the specific rope diameter, the control device can draw conclusions about the state of wear of the rope, especially if a reduction in diameter exceeds a predetermined amount.

In particular, the control device can also adapt the control of the inlet guide depending on detected changes in the diameter of the rope to be wound up or unwound, for example increasing or decreasing the adjustment speed when the rope diameter increases or decreases.

For example, a rope diameter can be determined in a simple manner using a rope diameter marking, which can be determined by the image evaluation means in an image depicting the rope. For example, the rope diameter can be marked in color, for example in such a way that an outer layer is colored differently than a rope layer located further inside or underneath. If the color of an inner layer is recognized, it can be assumed that the permissible minimum rope diameter is undershot. Alternatively or additionally, the rope diameter can also be determined based on the distance between the edge contours of the rope or measured in an image depicting the rope, in particular if a distance of the camera from the rope and/or a focal length are known and/or a scale and/or or length indicator are displayed in the image.

Advantageously, the detection device and the control device are designed to work continuously and/or online in order to continuously detect and evaluate the winding pattern and/or the further rope parameters mentioned and to take the corresponding control measures mentioned. The measurement data acquisition and their evaluation can be carried out particularly when the rope is running.

Alternatively or additionally, the image evaluation device can comprise rope length determination means that can determine the length of rope wound onto the rope drum and/or the length of rope unwound from it. For example, markings can be provided on the rope at a predetermined distance from one another, for example in the form of color-predetermined and/or geometrically predetermined rope sheath sections, so that the image evaluation device can determine the color- and/or geometrically identifiable markings in the recorded winding pattern and/or rope pattern of the incoming rope. If necessary in conjunction with the signal from a winch encoder that records or indicates the revolutions of the rope drums, the image evaluation device and/or the control device can determine how many winding turns and/or winding layers there should be on the drum and/or what a target winding pattern and/or a target envelope contour should look like.

Alternatively or additionally, according to a further aspect of the present invention, the temperature of the rope to be wound onto the rope drum can also be detected or determined. In an advantageous development of the invention, the temperature detection device can have non-contact temperature determination means by means of which the rope temperature can be measured or determined non-contact.

In particular, such rope temperature detection means can be integrated into the aforementioned camera and/or have a thermal imaging camera that is directed at the winding area of the rope drum or the rope to be wound up. Alternatively or additionally, other temperature determination means such as for example, an infrared measuring sensor and/or a pyrometer measuring device can be used, wherein the said temperature determination means can be integrated into the camera independently thereof or can also be arranged separately, preferably in such a way that the temperature determination means observe the rope winding or determine the temperature of the rope wound onto the rope drum.

Particularly in the case of high-strength fibre ropes, exceeding a temperature threshold has a significant influence on the service life of the rope, whereby a noticeable reduction in the remaining service life can occur at a rope temperature of 50° C or more.

An electronic evaluation device can be assigned to the rope temperature determination means mentioned, which determines a remaining service life of the rope based on the determined rope temperature or changes a remaining service life, in particular when a predetermined temperature threshold is exceeded. In this case, the evaluation device mentioned can also take into account how long and/or how often the temperature threshold mentioned is exceeded and/or by what amount the temperature threshold is exceeded. If necessary, the evaluation device can work with several threshold values in order to assume different influences on the remaining service life at different rope temperatures.

Alternatively or in addition to determining the change in the remaining service life, the electronic evaluation device can also send a warning signal to the machine operator based on the specific rope temperature signal and/or provide another control signal. Monitoring the rope temperature can achieve or at least support safe rope winch operation regardless of the previously explained inlet guide for the rope and its adjustment. When integrating the temperature determination means into the cameras monitoring the winding image, not only the combinatorial effect of the monitoring functions mentioned can be taken into account achieved, but also a particularly compact, small design and a dual function of the camera.

Fig. 1:

eine Hubvorrichtung in Form eines Krans, von dessen Ausleger ein Hubseil abläuft, das auf eine Seilwinde aufwickelbar ist,

Fig. 2:

eine Darstellung der Seilwinde der Hubvorrichtung aus Fig. 1, wobei die Teilansicht (a) eine Draufsicht und die Teilansicht (b) eine Seitenansicht der Hubwinde zeigt, wobei auf der Seiltrommel ein ungleichmäßiger Seilwickel mit einer entsprechend kurvigen Hüllkurve gezeigt ist, wie sie bei einer mangelnden Ausregelung der Verstellung der Einlaufführung entstehen kann,

Fig. 3:

eine Draufsicht auf die Seiltrommel aus Fig. 2, wobei ein gleichmäßiger Seilwickel mit einer stufigen Hüllkontur bei erfolgter Ausregelung der Verstellung der Einlaufführung dargestellt ist, und

Fig. 4:

eine Draufsicht auf eine Seilwinde ähnlich Fig. 2, wobei die Seilwinde schräg angestellte Bordscheiben besitzt, um ein kreuzweises Bewickeln der Trommel zu vereinfachen.

The invention is explained in more detail below using a preferred embodiment and associated drawings. In the drawings:

Fig.1:

a lifting device in the form of a crane, from the boom of which a hoist rope runs, which can be wound onto a cable winch,

Fig. 2:

a representation of the cable winch of the lifting device from Fig.1 , whereby the partial view (a) shows a top view and the partial view (b) a side view of the hoist winch, whereby an uneven rope winding with a correspondingly curved envelope curve is shown on the rope drum, as can occur if the adjustment of the inlet guide is not properly regulated,

Fig. 3:

a top view of the cable drum Fig. 2 , where a uniform rope winding with a stepped envelope contour is shown when the adjustment of the inlet guide has been adjusted, and

Fig.4:

a top view of a cable winch similar Fig. 2 , whereby the cable winch has inclined flanges to simplify cross-winding of the drum.

How Fig. 1 shows, the cable winch 5 can be used in a lifting device 1, which can be designed as a crane, for example in the form of a tower crane.

Regardless of this, the cable winch 5 is used to wind up a cable 6, which can be the lifting cable when the cable winch 5 is used in the lifting device 1. If the lifting device 1 is designed as a crane, the rope 6 can, for example, run from a boom 2 and carry a load hook, which can be raised and lowered by retrieving or unwinding the rope 6. Regardless of this, the cable winch 5 can be attached, for example, to a counter-jib 3 of the crane or a Revolving platform 4 can be arranged, which can carry the boom 2 directly or a tower to which the boom 2 can be articulated.

The rope 6 mentioned can in particular be a high-strength fiber rope of the type described above or another rope which has a limited compressive deformation stiffness. In principle, however, the cable winch 5 can also be used to wind up conventional steel cables.

As the Figures 2-4 show, the cable winch 5 comprises a cable drum 7, which can have a substantially cylindrical drum casing 8. On the outer circumference, the drum casing 8 can be smooth, ie without rope grooves, although grooving could also be provided.

Flange disks 9 can be arranged on the right and left or on the front end sections of the cable drum 7, which delimit the cable winding area together with the drum casing 8. The flange disks 9 project outwards over the drum casing 8 transversely to the drum longitudinal axis 10, whereby the flange disks 9 can extend essentially radially or perpendicularly to the drum longitudinal axis 10, as is the case with the Figures 2 and 3 Alternatively, it may also be advantageous to use inclined flanges 9, which can extend at an acute angle to planes perpendicular to the drum longitudinal axis 10. In particular, the flanges 9 mentioned can, as Fig.4 shows, extend inclined away from each other, so that the sides of the flanged disks 9 facing the winding area are V-shaped. In other words, the flanged disks 9 can be inclined in such a way that the distance between the flanged disks 9 from each other, measured in the direction of the drum's longitudinal axis 10, increases with increasing distance from the drum shell 8. Irrespective of the inclination of the flanged disks 9, their inner contour can be formed straight when viewed in a cross-section of the cable winch, cf. Figures 2 , 3 and 4 .

Such inclined or oblique end disks can in particular facilitate cross-winding.

The cable drum 7 can be driven in rotation by a winch drive 11, wherein the said winch drive 11 can have, for example, a hydraulic motor or an electric motor, the drive movement of which can be transmitted to the cable drum 7 directly or via a winch gear 12. The winch drive 11 and/or the winch gear 12 can be arranged partially or completely recessed inside the cable drum 7.

The rope 6 to be wound onto the rope drum 7 is guided by means of an inlet guide 13 during winding. The said inlet guide 13 can, for example, comprise two guide rollers between which the rope 6 runs, or also comprise a sliding guide eyelet that guides the rope. The said inlet guide 13 guides the rope transversely to the longitudinal direction of the rope, in particular in a direction at least approximately parallel to the drum longitudinal axis 10.

The inlet guide 13 is adjustable transversely to the longitudinal direction of the rope, in particular the adjustment direction of the inlet guide 13 can be at least approximately parallel to the longitudinal axis 10 of the drum.

The adjusting device for the inlet guide 13 can have a spindle or a carriage guide or a similar linear guide, so that the inlet guide 13 can be adjusted approximately parallel to the longitudinal axis 10 of the drum.

An adjustment drive 14 for adjusting the inlet guide 13 relative to the cable drum 7 can, for example, have an electric or hydraulic motor 15 that drives a drive spindle in rotation. Alternatively or additionally, however, a pressure medium cylinder can also be provided for adjusting the inlet guide 13.

The adjustment drive 14 is controlled by an electronic control device 15, which controls the speed and/or rotational speed of the cable drum 7 for the adjustment of the inlet guide 13 can be taken into account. The said rotational speed and/or rotational position and/or rotational speed of the cable drum 7 can be detected by a winch encoder 16 or another rotation detection device and reported to the control device 15.

As the Figures 2-4 show, a detection device 17 is also provided which detects the winding pattern of the rope winding 18 on the rope drum 7, so that the control device 15 can adapt the adjustment of the inlet guide 13 to the resulting winding pattern.

The aforementioned detection device 17 can have at least one camera 19 and/or at least one imaging sensor and/or generally an optical image detection device 20 that observes the cable drum 7, in particular its winding area, and provides an image of the cable 6 winding on the cable drum 7. If necessary, the image detection device 20 can also have several cameras 19 and/or several imaging sensors that observe different sections or different sectors of the cable drum 7, for example opposite sectors or four quadrants of the cable drum 7.

The image capture device 20 monitors the cable drum 7, in particular its cable winding 18 and/or the cable 6, even during the ongoing winding operation, whereby images of the cable winding can be provided continuously or at least cyclically. In particular, a live image can be transmitted to the control device 15 and/or an image evaluation device 21.

Said image evaluation device 21 analyzes the image transmitted by image capture device 20, whereby at least one characteristic of the winding layer image can be determined. In particular, said image evaluation device 21 can determine the envelope contour 22 of the rope coil 18 on the rope drum 7. How Fig. 2 shows, the said envelope contour 22 can have a curved or snake-shaped or at least partially curved, for example, have a dented or bulged course, especially if the adjustment of the inlet guide 13 is not controlled and / or regulated in order to adapt the resulting envelope contour to a predeterminable target envelope contour. The target envelope contour mentioned can in particular be essentially cylindrical or, when viewed in cross-section, be designed to be straight or stepped, in particular with longer, straight contour sections that are approximately parallel to the drum's longitudinal axis 10, as is the case Figures 3 and 4 show. Advantageously, a step in the enveloping contour can only be provided in the transition area between a smaller-layered wrapping and a multi-layered wrapping, but otherwise straight contour sections can be provided, viewed approximately in section.

The said envelope contour 22 can be determined by the image evaluation device 21 in principle by connecting the radially outermost cable surface sections, whereby a polygon profile resulting from this can be rounded if necessary, as Fig.2 clarified.

As explained above, the said image evaluation device 21 can analyze pixels and/or evaluate pixel patterns, identify and/or determine contour gradients, identify or evaluate grayscale and/or light-dark patterns, identify colors and/or determine color deviations and/or gradients and/or determine color area proportions in the captured image.

In particular, the image evaluation device 21 can include contour evaluation means 21a, which can determine the envelope contour 22 mentioned and possibly also the course of the cable routes on the cable drum 7.

Furthermore, the image evaluation device 21 can comprise color pattern evaluation means 21b, which can determine color patterns in the captured image and from this determine the envelope contour 22 and/or identify colored markings on the rope 6.

Furthermore, the said image evaluation device 21 can also comprise color area portion evaluation means 21c, which determine color area portions in the captured image and from this, if necessary, determine the envelope contour 22 and/or the number of winding layers.

Furthermore, the image evaluation device 21 can comprise rope length determination means 21d, which can determine a length of the rope 6 wound onto the rope drum 7 and/or the length of the rope unwound therefrom, for example based on colored and/or grayscale characteristic and/or geometric markings on the rope 6, which can be attached to the rope 6 at predetermined intervals and/or incorporated therein. The aforementioned rope length determination means 21d can identify markings in the running rope that pass the image capture device 20 and determine the wound rope length based on their number.

Furthermore, the image evaluation device 21 can have diameter determination means 21e in order to determine the rope diameter of the rope 6, in particular of a rope section to be wound onto the rope drum 7. Alternatively or additionally, the rope diameter of a rope section that has already been wound up can also be determined.

The control device 15 can variably control the adjustment drive 14 of the inlet guide 13 depending on the recorded winding layer pattern. In particular, a comparison device 23 can compare the envelope contour 22 of the cable winding 18 recorded or determined by the detection device 17 with a predetermined target envelope contour, wherein the adjustment device 15 can adjust the inlet guide 13 based on determined deviations between the actual envelope contour 22 and the target envelope contour in order to adjust the actual winding pattern as closely as possible to the target winding pattern or to adjust the actual envelope contour as closely as possible to the target envelope contour.

Alternatively or additionally, the control device 15 can adjust the inlet guide 13 in such a way that the cable drum 7 is wound crosswise and a desired, crosswise target winding position pattern is maintained as far as possible.

Alternatively or additionally, the control device 15 can emit a warning signal and/or a discard readiness signal and/or a control signal if the image evaluation device 21 determines a predetermined change in the detected or determined rope diameter in the manner already explained at the beginning and/or detects predetermined deviations between the detected or determined rope diameter .Determined rope length of the rope wound onto the rope drum 7 and the rotational speed and/or rotational speed and/or rotational position of the rope drum 7 determined by the winch encoder 16 occur.

In particular, the control device 15 can be designed to dynamically adapt the control of the inlet guide 13 depending on a detected change in the rope diameter, in particular to increase or decrease the adjustment speed of the inlet guide 13 if the rope diameter decreases or increases, for example by varying the rope tensile forces. Such an adjustment can be carried out in particular online during the winding and/or unwinding of the rope.

Furthermore, the image capture device 20 can also serve to monitor deformation of the flanges 9. In particular, the image evaluation device 21 can include flange deformation determining means 21f, which evaluates the captured image of the cable drum 7 for deformation of the flanges 9, in particular whether and to what extent the flanges 9, for example their outer peripheral edge sections, bend in the direction of the drum longitudinal axis 10. For example, in the camera image of the cable drum 7, which is provided by the camera 19, the distance between the flanges 9 can be determined, which can be taken as a measure for the deformation of the flanges 9. Alternatively or additionally, the distance of each flange 9 can be determined individually from a drum center and taken as a measure of the flange deformation. In this way, effects can be hidden that can distort the actual detection, for example if both flanges are deformed in the same direction.

In a further development of the invention, a temperature determining device can determine the rope temperature of the rope 6 to be wound onto the rope drum 7, wherein said temperature determining device can advantageously be integrated into said camera 19 and/or can be combined with said camera 19 to form a detection assembly or unit. The temperature determination device mentioned can be designed independently of this to observe the rope running onto the rope drum 7 and/or the rope coil that forms there.

The temperature determination device mentioned advantageously comprises non-contact temperature determination means, for example in the form of an infrared temperature sensor and/or a thermal imaging camera, the image of which can be evaluated by an image evaluation device in order to determine the rope temperature.

An electronic evaluation device, which can be integrated, for example, into the electronic control device 15, can determine or change a remaining service life of the rope and/or determine its discard maturity based on the determined rope temperature, whereby other parameters can also be taken into account for this purpose, as already explained above.

• Erfassung des Wickelbildes und Regelung der Seilführungseinrichtung (der Wickelvorgang kann hier nicht nur, wie bekannt, Seillage neben Seillage erfolgen, sondern auch kreuzweise stattfinden, je nach Ausführung des Seiles).
• Um das kreuzweise Wickeln einfacher zu ermöglichen, können die Endscheiben auch schräg ausgeführt werden, vgl. bspw. Figur 3.
• Vorgabe einer Hüllgeometrie als Sollgeometrie und Nachregelung der Seilführungseinrichtung.
• Vermessen des Seildurchmessers, um Rückschlüsse auf den Verschleißzustand des Seiles zu erhalten.
• Bei farblich markierten Mindestseildurchmesser kann eine Ausgabe einer Warnung erfolgen, oder bei kontinuierlicher Farbmarkierung kann eine Ausgabe einer Restlebensdauer des Seiles erfolgen.
• Bei farblich oder geometrisch markierten Abstandskennzeichnungen in Längsrichtung des Seiles kann die Durchführung einer Längenmessung des auf- bzw. abgewickelten Seiles erfolgen.
• Erfassen der Endscheibenverformungen erlaubt Rückschlüsse auf sich anbahnende Defekte in den Endscheiben oder in der Trommel des Seiltriebes; bei der Endscheibenverformung ist auch gleichzeitig die Seiltrommel im Kraftfluss.
• Ferner kann die Seiltrommel ohne Verrillung ausgeführt werden oder diese gänzlich neu aufgesetzt werden, entsprechend den Seilsteifigkeiten.
• Bei Entfall der Verrillung oder Vereinfachung der Seiltrommelverrillung gehen Fertigungsvorteile einher.
• Die Standzeit des Seiles kann gegenüber einem ungeführten Spulsystem wesentlich erhöht werden.
• Bis zum Beginn der Ablegereife des Seiles wird dieses kontinuierlich überwacht.
• Mit dem Kamerasystem kann noch eine in die Kamera integrierte Temperaturerfassung für das Seil erfolgen. Die Wichtigkeit der Temperaturerfassung erklärt sich damit, dass Faserseile bei einem Überschreiten einer Temperaturschwelle, einen nicht zu vernachlässigenden Einfluss auf die Seillebensdauer darstellen. Dieser Einfluss stellt sich je nach Zusammensetzung der Seilkonfiguration bereits ab 50°C ein und nimmt natürlich mit steigender Temperatur zu.

As can be seen from the above explanations, considerable advantages can be achieved by controlling the feed rate at the inlet guide with an optical camera or image capture system, which in particular include the following aspects:

• Recording of the winding pattern and control of the rope guide device (the winding process can not only take place, as is known, rope layer next to rope layer, but can also take place crosswise, depending on the design of the rope).
• To make cross winding easier, the end plates can also be designed at an angle, see e.g. Figure 3 .
• Specification of an envelope geometry as target geometry and readjustment of the cable guide device.
• Measuring the rope diameter to obtain conclusions about the wear condition of the rope.
• If the minimum rope diameter is color-coded, a warning can be issued, or if the color is continuous, the remaining service life of the rope can be displayed.
• If distance markings are coloured or geometrically marked in the longitudinal direction of the rope, a length measurement of the wound or unwound rope can be carried out.
• Recording the end plate deformations allows conclusions to be drawn about impending defects in the end plates or in the drum of the rope drive; when the end plate deforms, the rope drum is also simultaneously in the force flow.
• Furthermore, the rope drum can be designed without grooving or it can be completely re-installed, depending on the rope stiffness.
• Eliminating the grooving or simplifying the rope drum grooving results in manufacturing advantages.
• The service life of the rope can be significantly increased compared to an unguided spooling system.
• The rope is continuously monitored until it is ready for discard.
• The camera system can also be used to measure the temperature of the rope, which is integrated into the camera. The importance of temperature measurement is explained by the fact that fiber ropes have a significant influence on the service life of the rope when a temperature threshold is exceeded. Depending on the composition of the rope configuration, this influence occurs at temperatures as low as 50°C and naturally increases as the temperature rises.

Claims (15)

1. A cable winch, in particular a hoisting gear winch of a hoisting device (1), for winding and unwinding a cable (6), having a cable drum (7), an entry guide (13) for guiding the cable (6) to be wound onto and unwound from the cable drum (7), an actuating drive (14) for adjusting the entry guide (13) relative to the cable drum (7), and a controller (15) for controlling the actuating drive (14), characterized in that image evaluation means are provided for determining a deformation of flanged wheels (9), which together with a drum shell (8) delimit a winding region of the cable drum (7) and project beyond said drum shell (8), from a captured image of the cable drum (7).
2. The cable winch according to the preceding claim, wherein a detection device (17) is provided for detecting the cable and an image of the progression of the winding of the cable (6) on the cable drum (7), the controller (15) being configured to adjust the entry guide (13) relative to the cable drum (7) depending on the detected cable and the winding progression image captured.
3. The cable winch according to the preceding claim, wherein the controller (15) is configured to dynamically adapt the adjustment of the entry guide (13) depending on a change in a cable parameter detected during the winding and/or unwinding of the cable (6), in particular to increase and/or decrease the adjustment speed depending on a cable diameter changing due to the varying cable tension forces.
4. The cable winch according to any of the preceding claims, wherein the detection device (17) is configured to determine an envelope contour (22) of a cable winding (18) on the cable drum (7), wherein the controller (15) is designed to variably adjust the entry guide (13) relative to the cable drum (7) as a function of the detected envelope contour (22).
5. The cable winch according to any of the preceding claims, wherein the detection device (17) comprises an optical image acquisition device (20) for detecting an image of the cable winding (18) and an image evaluation device (21) for evaluating the detected image of the cable winding and determining a parameter of interest of an image of the progression of the winding of the cable and/or of a cable, in particular the envelope contour (22) of the cable winding and/or the cable diameter (18), wherein the optical image acquisition device (20) comprises at least one camera (19) observing the cable drum (7) and the image evaluation device (21) is configured to determine the envelope contour (22) of the cable winding (18) and/or a pitch and/or a spacing of the winding turns on the cable drum (7) from the captured image thereof.
6. The cable winch according to any of the preceding claims, wherein the controller (15) has a comparison device (23) for comparing the detected or determined actual envelope contour (22) with a predetermined target envelope contour (22) and is configured to adjust the entry guide (13) depending on the deviations between the actual envelope contour and the target envelope contour determined during the comparison, wherein the controller (15) is configured to dynamically adapt the target envelope contour as the cable winding and/or cable unwinding progresses.
7. The cable winch according to any of the preceding claims, wherein the controller (15) has a cross-winding mode of operation in which the controller (15) adjusts the entry guide (13) such that the cable (6) is wound crosswise onto the cable drum (7), wherein the controller (15) is configured to compare the detected actual winding progression image with a predetermined target crosswise winding progression image and to adjust the entry guide (13) depending on the deviations between the actual winding progression image and the target crosswise winding progression image.
8. The cable winch according to any of the preceding claims, wherein image evaluation means are provided for determining a cable diameter of the cable (6) to be wound onto the cable drum (7), wherein the controller (15) is configured to emit a warning signal and/or discard signal and/or predetermined control signal when a predetermined cable diameter is exceeded or cannot be reached.
9. The cable winch according to any of the preceding claims, wherein image evaluation means are provided for determining a cable length of the cable wound onto the cable drum (7) and/or the cable (6) unwound from the cable drum (7) on the basis of cable markings identified in the image captured.
10. The cable winch according to any of the preceding claims, wherein the image evaluation means identify a distance of the flanged wheels (9) in a camera image and/or determine a distance of each flanged wheel (9) from a drum center.
11. The cable winch according to any of the preceding claims, wherein the controller (15) is configured to change the adjustment of the entry guide (13) and/or to emit a warning signal and/or to stop winch operation when a predetermined flanged wheel deformation is exceeded.
12. The cable winch according to any of the preceding claims, wherein temperature determining means are provided for determining a temperature of the cable (6), wherein the controller (15) is configured to change a remaining service life of the cable (6) depending on the determined cable temperature and/or to emit a warning signal and/or a predetermined control signal when a predetermined cable temperature is exceeded or cannot be reached, wherein the temperature determining means comprise a thermal imaging camera directed at the cable drum (7) or the cable (6) and/or are integrated into the camera (19) of the image acquisition device (20) observing the cable drum (7), wherein image evaluating means are provided for determining the cable temperature from a captured image of the cable drum (7) and/or the cable (6).
13. The cable winch according to any of the preceding claims, wherein the cable drum (7) has a smooth, grooves-free drum shell (8).
14. The cable winch according to any of the preceding claims, wherein the cable drum (7) has inclined flanged wheels (9) which delimit between them a winding region which widens outwards with increasing distance from the drum shell (8).
15. A hoisting device, in particular a crane, having a cable winch (5) which is configured according to any of the preceding claims.

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