CRAWLER VEHICLE FOR THE PREPARATION OF SKI RUNS AND METHOD TO CONTROL A WINCH OF THE CRAWLER VEHICLE

Abstract

A crawler vehicle for the preparation of ski runs; the crawler vehicle comprising: a frame; a winch mounted on the frame for selectively unwinding and winding a cable that can be anchored to a point outside the crawler vehicle; an arm, which is mounted swivelling with respect to the frame around a determined axis, and is configured to guide the cable; an actuating system of the arm around the determined axis; a control device of the actuating system of the arm for selectively setting one of the following operating modes when the cable is under tension: enabling the free rotation of the arm around the determined axis; rotating the arm around the determined axis; locking the position of the arm with respect to the frame.

Claims

1-13. (canceled)

14. A crawler vehicle comprising: a frame; a winch mounted on the frame and configured to selectively unwind and wind a cable anchorable to a point spaced apart from the crawler vehicle; an arm configured to guide the cable, the arm swivelably mounted with respect to the frame around a determined axis; an actuating system of the arm; and a control device of the actuating system of the arm configured to select an operating mode of: enabling a free rotation of the arm around the determined axis when the cable is under tension, rotating the arm around the determined axis when the cable is under tension, and locking a position of the arm with respect to the frame when the cable is under tension.

15. The crawler vehicle of claim 14, wherein the actuating system comprises at least one actuator coupled to the arm and configured to selectively transmit to the arm a torque around the determined axis.

16. The crawler vehicle of claim 15, wherein the at least one actuator is configured to transmit a variable torque between a minimum value and a maximum value.

17. The crawler vehicle of claim 15, wherein the actuating system comprises two actuators.

18. The crawler vehicle of claim 15, wherein the at least one actuator comprises a two-way flow hydraulic motor supplied with a pressure variable between a minimum value and a maximum value.

19. The crawler vehicle of claim 18, wherein the actuating system comprises a hydraulic circuit supplied by a pressure source and comprising a pressure regulating valve.

20. The crawler vehicle of claim 19, wherein the control device is configured to manually control the pressure regulating valve.

21. The crawler vehicle of claim 18, wherein the actuating system comprises, for the two-way flow hydraulic motor, a direction control valve configured to one of: selectively exclude the supply to the two-way flow hydraulic motor, selectively supply the two-way flow hydraulic motor in a first direction of flow, and selectively supply the two-way flow hydraulic motor in a second direction of flow opposite to the first direction of flow.

22. The crawler vehicle of claim 21, wherein the control device is configured to control the direction control valve.

23. The crawler vehicle of claim 14, wherein the control device comprises a joystick.

24. A method to control a winch of a crawler vehicle comprising a frame, the winch mounted on the frame and configured to selectively unwind and wind a cable anchorable to a point spaced apart from the crawler vehicle, an arm configured to guide the cable, the arm swivelably mounted with respect to the frame around a determined axis, an actuating system of the arm comprising two actuators coupled to the arm, and a control device of the actuating system of the arm configured to select an operating mode of: enabling a free rotation of the arm around the determined axis when the cable is under tension, rotating the arm around the determined axis when the cable is under tension, and locking a position of the arm with respect to the frame when the cable is under tension, the method comprising applying a minimum torque to the arm through each actuator and opposite to the minimum torque applied by the other actuator to enable the arm to align with the cable.

25. A method to control a winch of a crawler vehicle comprising a frame, the winch mounted on the frame and configured to selectively unwind and wind a cable anchorable to a point spaced apart from the crawler vehicle, an arm configured to guide the cable, the arm swivelably mounted with respect to the frame around a determined axis, an actuating system of the arm comprising at least one actuator coupled to the arm and a control device of the actuating system of the arm configured to select an operating mode of: enabling a free rotation of the arm around the determined axis when the cable is under tension, rotating the arm around the determined axis when the cable is under tension, and locking a position of the arm with respect to the frame when the cable is under tension, the method comprising applying a torque through the at least one actuator to rotate the arm around the determined axis.

26. A method to control a winch of a crawler vehicle comprising a frame, the winch mounted on the frame and configured to selectively unwind and wind a cable anchorable to a point spaced apart from the crawler vehicle, an arm configured to guide the cable, the arm swivelably mounted with respect to the frame around a determined axis, an actuating system of the arm comprising two actuators coupled to the arm, and a control device of the actuating system of the arm configured to select an operating mode of: enabling a free rotation of the arm around the determined axis when the cable is under tension, rotating the arm around the determined axis when the cable is under tension, and locking a position of the arm with respect to the frame when the cable is under tension, the method comprising applying a maximum torque to the arm through each actuator and opposite to the maximum torque applied by the other actuator.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Further characteristics and advantages of the present disclosure will be apparent from the following description of a non-limiting example embodiment, with reference to the attached figures, wherein:

[0024] FIG. 1 is a side elevation view, with parts removed for clarity and with schematic parts, of a crawler vehicle realised according to the present disclosure;

[0025] FIGS. 2 and 3 are top views, with parts removed for clarity and with schematic parts, of the crawler vehicle of FIG. 1 in respective operating configurations; and

[0026] FIG. 4 is a schematic view of a detail of the crawler vehicle of FIG. 1.

DETAILED DESCRIPTION

[0027] With reference to FIG. 1, reference numeral 1 indicates, as a whole, a crawler vehicle for the preparation of ski runs. The crawler vehicle 1 comprises a frame 2; a track 3 (FIGS. 2 and 3); a track 4; a driving wheel 5 (FIGS. 2 and 3) and a driving wheel 6 independent of one another and coupled to the track 3 (FIGS. 2 and 3) and to the track 4 respectively; a plurality of tools 7 hydraulically actuated and connected to the frame 2; a cabin 8 mounted on the frame 2; and a user interface 9 arranged inside the cabin 8.

[0028] In particular, the tools 7 comprise a miller 10 connected in movable manner to the frame 2; a shovel 11 connected in movable manner to the frame 2; and a winch 12 mounted on the frame 2 and configured to selectively unwind and wind a cable 13 that can be anchored to a point 14 (FIGS. 2 and 3) outside the crawler vehicle 1.

[0029] In accordance with a non-limiting embodiment of the present disclosure, the cabin 8 is arranged at the front of the crawler vehicle 1 and faces the shovel 11. In such configuration, the winch 12 comprises a drum 15 which swivels around a rotation axis A1 for the winding and unwinding of the cable 13 and is arranged at the back of the crawler vehicle 1, behind the cabin 8.

[0030] Furthermore, the crawler vehicle 1 comprises an arm 16, which is mounted swivelling with respect to the frame 2 around a determined axis A2, and is configured to guide the cable 13; an actuating system 17 of the arm 16 around the determined axis A2; and a control device 18 of the actuating system 17 of the arm 16 configured to selectively set one of the following operating modes when the cable 13 is under tension: enabling or allowing the free rotation of the arm 16 around the determined axis A2; rotating the arm 16 around the determined axis A2; and locking the position of the arm 16 with respect to the frame 2.

[0031] More specifically, the crawler vehicle 1 comprises a supporting structure 19 fixed to the frame 2, which supports the drum 15 of the winch 12 and supports in a swivelling manner the arm 16; and a series of idle pulleys 20, 21, 22 and 23 which are mounted in a swivelling manner on the supporting structure 19 and on the arm 16 and have the function of guiding the cable 13 along a determined path.

[0032] The actuating system 17 comprises two actuators 24 and 25 (FIGS. 2 and 3) coupled to the arm 16 and configured to selectively transmit to the arm 16 respective torques around the determined axis A2.

[0033] In accordance with further embodiments, the number of the actuators can vary and is not to be understood as limiting of the present disclosure. By way of example, the actuating system 17 can comprise one single actuator or, alternatively, four actuators.

[0034] The control device 18 uses the user interface 9 configured to enable an operator U of the crawler vehicle 1 to control the actuating system 17 and comprises a joystick 26 controllable by the operator U.

[0035] With reference to FIGS. 2 and 3, the crawler vehicle 1 has a barycentre C, which is arranged at a distance from the determined axis A2.

[0036] In the case described and illustrated herein, the actuators 24 and 25 are supported by the supporting structure 19 and are arranged on opposite sides with respect to the arm 16.

[0037] In particular, the actuators 24 and 25 are two-way flow hydraulic motors supplied with a pressure variable between a minimum and a maximum value so as to transmit a variable torque between a minimum and a maximum value.

[0038] With reference to FIG. 4, the actuating system 17 comprises a hydraulic circuit 27, which is supplied by a pressure source 28 and comprises a pressure regulating valve 29 configured to adjust the supply pressure of each actuator 24 and 25 between a minimum and a maximum value.

[0039] Furthermore, the actuating system 17 comprises a direction control valve 30 and a direction control valve 31, each of which is configured to selectively exchide the supply to the respective actuator 24, 25 or to supply the respective actuator 24, 25 in a first direction of flow or to supply the respective actuator 24, 25 in a second direction of flow opposite to the first direction of flow.

[0040] In particular, the actuating system comprises control modules 32, 33 and 34, which are configured to control the pressure regulating valve 29, the direction control valve 30 and the direction control valve 31 respectively, depending on the commands given by the joystick 26 and on the operating mode selected.

[0041] More specifically, each control module 32, 33, 34 is configured to control the respective valve 29, 30, 31 so that the commands given by the joystick 26 supply the actuators 24 and 25 with a pressure and a direction of flow suitable to the selected operating mode.

[0042] In use and with reference to FIG. 2, when the cable 13 is under tension, the operator U of the crawler vehicle 1 through the joystick 26 selects the desired operating mode depending on the particular operational needs and on the driving sensations.

[0043] With the purpose to enable or otherwise allow the free rotation of the arm 16 around the determined axis A2, to arrange the arm 16 aligned with the portion of cable 13 outside the arm 16, the operator U of the crawler vehicle 1 controls the joystick 26, actuating the pressure regulating valve 29 (FIG. 4) so as to apply a minimum torque to the arm 16 through each actuator 24, 25 and opposite to the minimum torque applied by the other actuator 24, 25.

[0044] In the case where the operator U of the crawler vehicle 1 wants to compensate the yawing torque exerted by the cable 13 under tension on the crawler vehicle 1, the operator U controls the joystick 26 so as to adjust, through the pressure regulating valve 29 (FIG. 4), the intensity of the torque exerted by each actuator 24, 25 on the arm 16 and, through each direction control valve 30, 31 (FIG. 4), the direction of the torque exerted by the respective actuator 24, 25 on the arm 16. In such circumstances, the actuators 24 and 25 apply on the arm 16 a torque concordant in direction with the yawing torque and the arm 16 is rotated around the determined axis A2 so as to substantially align the portion of cable 13 outside the arm 16 with the barycentre C of the crawler vehicle 1. This operation is repeated by the operator until the latter deems it necessary.

[0045] With reference to FIG. 3, in the case where the operator U of the crawler vehicle 1 wants to steer the crawler vehicle 1 in a desired steering direction, the operator U controls the joystick 26 so that the actuators 24 and 25 apply on the arm 16 a torque opposite in direction to the direction of the desired steering and with an intensity manually adjusted. In such circumstances, the arm 16 is rotated around the determined axis A2 so as to follow the yaw of the crawler vehicle 1 around the barycentre C.

[0046] In the case where the operator U of the crawler vehicle 1 wants to move the crawler vehicle 1 forward in a substantially rectilinear direction, the operator U controls the joystick 26 so as to apply a maximum torque to the arm 16 through each actuator 24, 25 and opposite to the maximum torque applied by the other actuator 24, 25. More specifically, the pressure regulating valve 29 (FIG. 4) is adjusted so as to supply with the maximum pressure the actuators 24 and 25 and the direction control valves 30 and 31 (FIG. 4) are adjusted so that the respective actuators 24 and 25 apply on the arm 16 torques of opposite direction. In such circumstances, the arm 16 is substantially locked with respect to the frame 2 in the forward direction of the crawler vehicle 1. The operating mode described above is particularly indicated in the case where the crawler vehicle 1 moves downhill, allowing maintaining the crawler vehicle 1 aligned with the forward direction and preventing unwanted yaws of the crawler vehicle 1.

[0047] It is clear that variants to the present disclosure can be made without thereby departing from the scope of protection of the appended claims. That is, the present disclosure also covers embodiments that are not described in the detailed description above as well as equivalent embodiments that are part of the scope of protection set forth in the claims. Accordingly, various changes and modifications to the presently disclosed embodiments will be apparent to those skilled in the art.