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WO2025110909A1 - System, machine, control unit, computer program and method for protecting a cable and/or hose - Google Patents

System, machine, control unit, computer program and method for protecting a cable and/or hose Download PDF

Info

Publication number
WO2025110909A1
WO2025110909A1 PCT/SE2023/051187 SE2023051187W WO2025110909A1 WO 2025110909 A1 WO2025110909 A1 WO 2025110909A1 SE 2023051187 W SE2023051187 W SE 2023051187W WO 2025110909 A1 WO2025110909 A1 WO 2025110909A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
hose
pushing force
protection assembly
drum
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.)
Pending
Application number
PCT/SE2023/051187
Other languages
French (fr)
Inventor
Robert Dahl
Peter Holmström
Jörgen ALBREKTSSON
Hans Westberg
Robert Pettersson
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.)
Epiroc Rock Drills AB
Original Assignee
Epiroc Rock Drills AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Epiroc Rock Drills AB filed Critical Epiroc Rock Drills AB
Priority to PCT/SE2023/051187 priority Critical patent/WO2025110909A1/en
Publication of WO2025110909A1 publication Critical patent/WO2025110909A1/en
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/18—Constructional details
    • B65H75/28—Arrangements for positively securing ends of material
    • B65H75/285—Holding devices to prevent the wound material from unwinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material

Definitions

  • the cable or hose may, when there is too much friction between the drum and the cable or hose outlet, raise up from the cable and/or hose reel drum instead of being feed out to the ground when winding out cable and/or hose.
  • the cable and/or hose When the cable and/or hose raise up from the cable and/or hose reel drum, it may cause the cable and/or hose to tangle itself on the drum and/or wear against parts on or around the cable and/or hose reel which in turn may damage or destroy the cable and/or hose.
  • An object of embodiments herein is to provide a mechanism that increases the protection of a cable and/or hose while unwinding and/or winding in the cable and/or hose.
  • the object is achieved by the independent claims.
  • a cable and/or hose protection system comprises:
  • a cable and/or hose drum mounted on a frame structure, a cable and/or hose arranged to wound onto or unwound from the cable and/or hose drum, at least one cable and/or hose protection assembly comprising a roller.
  • the at least one cable and/or hose protection assembly is arranged to be fastened to the frame structure.
  • the cable and/or hose protection assembly is arranged such that the roller is in contact with a part of the cable and/or hose that is located on the cable and/or hose drum such that the roller provides a pushing force onto the cable and/or hose.
  • an improved cable and/or hose protection system for which a cable and/or hose is arranged to be in contact with at least one roller of at least one cable and/or hose protection assembly, the at least one roller providing a pushing force directed at the cable and/or hose located on the cable and/or hose drum.
  • a pushing force provided onto, or directed at, the cable and/or hose as used herein, means that, by proviso of the pushing force, the cable and/or hose is pushed inwards onto the cable and/or hose drum, i.e. , the cable and/or hose is prevented from rising up from the cable and/or hose drum.
  • the position of the cable and/or hose may be controlled.
  • the cable and/or hose protection system controls the position of the cable and/or hose by providing a pushing force onto the cable and/or hose.
  • the pushing force is in a direction such the cable and/or hose is prohibited from raising up from the cable and/or hose drum.
  • the pushing force is any one or more out of: Spring controlled, hydraulically controlled, and electrically controlled. In some examples, a combination of two or more of the above may be used to control the pushing force.
  • the pushing force is adjustable.
  • the system further comprises one or more sensors.
  • the one or more sensors are configured to provide sensor data associated to any one or more out of: An amount of cable and/or hose currently wound onto the cable and/or hose drum, a rotational speed of the cable and/or hose drum, a position of the cable and/or hose protection assembly, and a pushing force value currently provided onto the cable and/or hose by the roller.
  • the sensor data may further be associated with a cable and/or hose tension, a direction of movement of a machine the cable and/or hose protection is comprised on, a radial movement of the cable and/or hose 2, and/or a speed of movement of a machine the cable and/or hose protection system is comprised on.
  • the pushing force is adjusted based on the sensor data.
  • the cable and/or hose protection assembly further comprises at least one arm.
  • the roller is fastened to a first end of the at least one arm.
  • a second end of the at least one arm is fastened to the frame structure such that the cable and/or hose protection assembly is movable towards and/or away from the cable and/or hose drum.
  • a method performed by a control unit for controlling a pushing force directed at a cable and/or hose arranged to wound onto or unwound from the cable and/or hose drum mounted on a frame structure is provided.
  • the pushing force is provided by a cable and/or hose protection assembly arranged to be fastened to the frame structure.
  • the control unit monitors sensor data obtained from one or more sensors.
  • the sensor data is related to one or more characteristics associated to any one or more out of the cable and/or hose protection assembly, the cable and/or hose drum and the cable and/or hose.
  • the control unit determines, based on the one or more characteristics, one or more parameters for controlling the pushing force.
  • the control unit controls the pushing force by applying the determined one or more parameters to the cable and/or hose protection assembly.
  • controlling the pushing force comprises any one out of: Increasing the pushing force, reducing pushing force, or releasing pushing force.
  • controlling the pushing force comprises adjusting the position of the cable and/or hose protection assembly.
  • determining the one or more parameters comprises determining a current pushing force value, and comparing the current pushing force value with a configured pushing force value, and determining whether current pushing force value is within a threshold of the configured pushing force value.
  • determining the one or more parameters such that the pushing force is increased, reduced and/or released wherein when determined that the current pushing force value is not within the threshold of the configured pushing force value, determining the one or more parameters such that the pushing force is increased, reduced and/or released.
  • a control unit configured to control a pushing force directed at a cable and/or hose arranged be to wound onto or unwound from a cable and/or hose drum mounted on a frame structure.
  • the pushing force is adapted to be provided by a cable and/or hose protection assembly arranged to be fastened to the frame structure.
  • the control unit is further configured to:
  • - Monitor sensor data adapted to be obtained from one or more sensors, wherein the sensor data is adapted to be related to one or more characteristics associated to any one or more out the cable and/or hose protection assembly, the cable and/or hose drum and the cable and/or hose,
  • a mining and/or construction machine comprising a cable and/or hose protection system is provided.
  • a computer program comprising instructions, which, when executed by a processing circuitry, causes the processing circuitry to perform method above, as performed by the control unit.
  • Figs. 1a-b shows a schematic view of a cable and/or hose protection system according to embodiments herein;
  • Figs. 2a-d shows a schematic view of a cable and/hose protection assembly according to embodiments herein;
  • Figs. 3a-b shows a schematic view of a cable and/hose protection assembly according to embodiments herein;
  • Fig. 4 shows a schematic view of a cable and/hose protection assembly according to embodiments herein;
  • Figs. 5a-d shows a schematic view of a cable and/hose protection assembly according to embodiments herein;
  • Fig. 6 shows a flowchart depicting embodiments of a method in a control unit
  • Fig. 7 shows a schematic view of a machine according to embodiments herein;
  • Figs. 8a-b shows schematic block diagrams illustrating embodiments of a control unit.
  • An object of embodiments herein is to provide a mechanism that increases the protection of a cable and/or hose while unwinding and/or winding in the cable and/or hose.
  • the object is achieved by the independent claims.
  • Embodiments herein may bring the advantage of an improved cable and/or hose handling. This may be achieved by, as mentioned above, making it possible to provide a pushing force onto a cable and/or hose located on the cable and/or hose drum, resulting in an improved cable and/or hose protection and e.g., keeping the cable and/or hose pushed against the cable and/or hose drum. Further, embodiments herein may bring the advantage of reducing the risk of the cable and/or hose rising up above or outside the cable and/or hose reel or drum, resulting in less cable and/or hose tangling, reduced risk of cable and/or hose damage and improved cable and/or hose management by the cable and/or hose staying in the correct pattern during unwinding.
  • Figs. 1a and 1b depict a cable and/or hose protection system 1 according to example embodiments of the present invention from two angles.
  • the cable and/or hose protection system 1 comprises a cable and/or hose protection assembly 4, a cable and/or hose drum 2, a frame structure 3 and a cable and/or hose 2a.
  • the cable and/or hose drum 2 is mounted on the frame structure 3.
  • the cable and/or hose protection assembly 4 is arranged to be fastened to the frame structure 3.
  • the cable and/or hose protection assembly comprises a roller 4a.
  • the cable and/or hose protection assembly 4 is arranged such that when the roller 4a is in contact with a part of the cable and/or hose 2a that is located on the cable and/or hose drum 2, the roller 4a provides a pushing force onto the cable and/or hose 2a.
  • the pushing force may be provided, or applied, onto the cable and/or hose 2a the roller 4a pushing against the cable and/or hose 2a.
  • the cable and/or hose protection system 1 may comprise more than one cable and/or hose protection assemblies 4.
  • the cable and/or hose protection system 1 protects the cable and/or hose 2a by prohibiting the cable and/or hose 2a from rising up from the cable and/or hose drum 2.
  • Figs. 2a and 2b depicts schematic views of the cable and/or hose protection assembly 4 from two angles according to an example of embodiments of the present invention.
  • the cable and/or hose protection assembly 4 comprises an arm 4b.
  • the roller 4a is fastened to a first end 4b’ of the arm 4b.
  • the roller 4a is in contact with the cable and/or hose 2a that is located on the cable and/or hose drum 2.
  • a pushing force is provided onto the cable and or hose 2a.
  • the shape of the roller 4a as depicted in Figs. 2a and 2b is only for illustrative purposes, and may be shaped in any suitable way.
  • Fig. 2c depicts a schematic view of the cable and/or hose protection assembly 4 according to an example of embodiments of the present invention.
  • the cable and/or hose protection assembly 4 comprises two arms 4b.
  • the roller 4a is fastened to the first end 4b’ of the two arms 4b.
  • the roller 4a is in contact with the cable and/or hose 2a that is located on the cable and/or hose drum 2. By this, a pushing force is provided onto the cable and or hose 2a.
  • the shape of the roller 4a as depicted in Fig. 2c is only for illustrative purposes, and may be shaped in any suitable way.
  • Fig. 2d depicts a schematic view of the cable and/or hose protection assembly 4 according to an example of embodiments of the present invention.
  • the cable and/or hose protection assembly 4 comprises one arm 4b and two rollers 4a.
  • the first roller 4a is fastened to one side of the first end 4b’ of the arm 4b and the second roller 4a is fastened to a second side, e.g., the opposite side, of the first end 4b’ of the arm 4b.
  • the rollers 4a is in contact with the cable and/or hose 2a that is located on the cable and/or hose drum 2. By this, a pushing force is provided onto the cable and/or hose 2a.
  • the shape of the rollers 4a as depicted in Fig. 2d is only for illustrative purposes, and may be shaped in any suitable way.
  • the examples above with one or two respective arms and rollers described above are only for illustrative purposes, and should not be seen as limiting.
  • the cable and/or hose protection assembly 4 may comprise any number of arms 4b and rollers 4a.
  • Fig. 3a depicts a schematic view of the cable and/or hose protection assembly 4 according to an example of embodiments of the present invention.
  • Fig. 3a shows the cable and/or hose protection assembly 4 fastened to the frame structure 3.
  • the cable and/or hose protection assembly 4 comprises one arm 4b and one roller 4a.
  • a second end 4b” of the arm 4b is fastened to the frame structure 3.
  • the second end 4b” of the arm 4b may e.g., be fastened to a first cross member 4c of the cable and/or hose protection assembly.
  • the first cross member 4c may e.g., be fastened between two sides of the frame structure 3 and thus crossing the cable and/or hose drum 2 mounted on the frame structure 3.
  • the cable and/or hose protection assembly 4 may comprise more than one arm 4b, and such examples the second ends 4b” of the more than one arm 4b may be fastened to the first cross member 4c.
  • Fig. 3b depicts a schematic view of the cable and/or hose protection assembly 4 according to an example of embodiments of the present invention.
  • Fig. 3b shows the cable and/or hose protection assembly 4 fastened to the frame structure 3.
  • the cable and/or hose protection assembly 4 comprises one arm 4b and one roller 4a.
  • the second end 4b” of the arm 4b is fastened to the frame structure 3.
  • the second end 4b” of the arm 4b may e.g., be fastened to a side of the frame structure 3
  • the cable and/or hose protection assembly 4 may comprise more than one arm 4b, and such examples the second ends 4b” of the more than one arm 4b may be fastened to the frame structure 3.
  • the pushing force may be adjustable. E.g., the pushing force may be adjusted by the cable and/or hose protection assembly 4 towards or away from the cable and/or hose 2a located on the cable and/or hose drum 2. This is shown by the arrow in Fig 4.
  • the pushing force may be adjusted by changing the position of the cable and/or hose protection assembly 4.
  • the second end 4b” of the arm 4b may be fastened the frame structure 3 or the first cross member 4c.
  • the cable and/or hose protection assembly 4 may be rotatable around the axis at the point the second end 4b” of the arm 4b is fastened to the frame structure or the first cross member 4c.
  • the pushing force may be increased by rotating the cable and/or hose protection assembly 4 such that the cable and/or hose protection assembly 4 is moved towards the cable and/or hose 2a.
  • the pushing force may be decreased by rotating the cable and/or hose protection assembly 4 such that the cable and/or hose protection assembly 4 is moved away from the cable and/or hose 2a.
  • the pushing force may e.g., spring controlled, hydraulically controlled and/or electrically controlled.
  • the cable and/or hose protection assembly may comprise one or more springs 4d, one or more linear actuators 4e and/or one or more rotary actuators 4f, explained further in Figs. 5a-d below.
  • Fig. 5a shows the cable and/or hose protection assembly 4 fastened to the frame structure 3 where the pushing force is spring controlled.
  • the spring 4d may e.g., be fastened to the cross member 4c.
  • the cable and/or hose protection assembly 4 comprises a second cross member 4c’.
  • a first part 4d’ of the spring 4d may push against the second cross member 4c’ and second part 4d” of the spring 4d may push against the frame structure 3. Moving the cable and/or hose protection assembly 4 way from the cable and/or hose 2a loads the spring, thus the spring provides a pushing force towards the cable and/or hose 2a located on the cable and/or hose drum 2.
  • the one or more springs 4d comprises one spring 4d. In other examples, the spring 4d may comprise more than one spring.
  • Fig. 5b-c shows the cable and/or hose protection assembly 4 fastened to the frame structure 3 where the pushing force is controlled by a linear actuator.
  • the linear actuator 4e may e.g., be fastened to the arm 4b in one end and to the first cross member 4c or frame structure 3 in another end.
  • the position of the cable and/or hose protection assembly may be changed, such as moved towards or away from the cable and/or hose 2a located on the cable and/or hose drum 2. This way, the pushing force may be adjusted.
  • the cable and/or hose protection assembly 4 comprises one linear actuator 4e.
  • the cable and/or hose protection assembly 4 may comprise more than one linear actuator 4e.
  • the linear actuator 4e may e.g., comprise a hydraulic actuator 4e and/or an electric actuator 4e.
  • Fig. 5d shows the cable and/or hose protection assembly 4 fastened to the frame structure 3 where the pushing force is controlled by a rotary actuator 4f.
  • the rotary actuator 4f may be connected to the first cross member 4c such that the rotary actuator 4f provides a rotational torque on the first cross member 4c.
  • the rotational torque rotates the first cross member 4c, and thus also the cable and/or hose protection assembly 4. This way, the pushing force may be provided towards the cable and/or hose 2a. Depending on the direction of the rotational torque, the pushing may be increased or decreased.
  • the cable and/or hose protection assembly 4 may comprise more than one rotary actuator 4f.
  • the rotary actuator 4f may e.g., comprise a hydraulic actuator 4f and/or an electric actuator 4f.
  • the cable and/or protection assembly 4 may comprise more than one actuator.
  • the more than one actuator may comprise any combination of linear actuators, rotary actuators and/or electric actuators.
  • the pushing force may be adjustable.
  • the amount of pushing force may e.g., be adjusted based on one or more characteristics.
  • characteristics may e.g., comprise an amount of cable and/or hose 2a currently located on the cable and/or hose drum 2, a rotational speed of the cable and/or hose drum 2, a position of the cable and/or hose drum 2, a pushing force, e.g., a pushing force value, currently provided onto the cable and/or hose 2 located on the cable and/or hose drum 2, a radial movement of the cable and/or hose 2, a cable and/or hose tension, e.g., a tension value, a direction of movement of a machine the cable and/or hose protection is comprised on and/or a speed of movement of a machine the cable and/or hose protection system is comprised on.
  • the characteristics may be used as a basis for determining a pushing force to apply.
  • the characteristics may e.g., be obtained as sensor data from one or more sensors 5.
  • the one or more sensors 5 may comprise any one or more out of: A tension sensor, a torque sensor, a pushing force sensor, a speed sensor, a flow sensor, a pressure sensor, direction of movement sensor, and a camera.
  • Fig. 6 shows an example embodiment of a method performed by a control unit 10 for controlling a pushing force directed at the cable and/or hose 2a arranged to wound onto or unwound from the cable and/or hose drum 2 mounted on the frame structure 3.
  • the pushing force is provided by the cable and/or hose protection assembly 4 arranged to be fastened to the frame structure 3.
  • the cable and/or hose protection assembly 4 may comprise the cable and/or hose protection assembly 4 according to any of the embodiments, or combination of embodiments, described above.
  • the method comprises the following actions, which may be taken in any suitable order. Optional actions are referred to as dashed boxes in Fig. 6.
  • control unit 10 obtains sensor data from the one or more sensors 5.
  • the sensor data is related to one or more characteristics associated to one or more out of the cable and/or hose protection assembly 4, the cable and/or hose drum 2 and, the cable and/or hose 2a.
  • the one or more sensors 11 may comprise any one or more out of: A tension sensor, a torque sensor, a pushing force sensor, a speed sensor, a flow sensor, a pressure sensor, a direction of movement sensor and a camera.
  • the tension sensor may e.g., provide sensor data related the tension of the cable and/or hose 2a.
  • the torque sensor may e.g., provide sensor data related to the rotational torque provided by the cable and/or hose drum 2.
  • the torque sensor may e.g., provide sensor data related to the torque of an electric motor or actuator driving the cable and/or hose drum 2, and/or an electric or hydraulic motor, such as the actuator 4f, controlling the pushing force provided by the cable and/or hose protection assembly 4.
  • a torque sensor may be able provide sensor data related to one or more types of torque related sensor data, such as explained above.
  • the one or more sensors 5 may comprise one or more torque sensors, where each torque sensor provides one or more types of torque related sensor data.
  • the pushing force sensor may e.g., provide sensor data related to the pushing force provided to the cable and/or hose 2a by the cable and/or hose protection assembly 4.
  • the speed sensor may e.g., provide sensor data related to the speed, e.g., rotational speed, of the cable and/or hose drum 2.
  • the speed sensor may e.g., provide sensor data related to the speed, e.g., rotational speed, of the actuator 4e and/or 4f.
  • the speed sensor may e.g., provide sensor data related to a speed at which the cable and/or hose 2a is unwound, and/or wound onto, the cable and/or hose drum 2.
  • the speed sensor may e.g., provide sensor data related to a speed of movement of a machine the cable and/or hose protection system 1 is comprised on.
  • a speed sensor may be able to provide sensor data related one or more type of speed related sensor data, such as explained above.
  • the one or more sensors 5 may comprise one or more speed sensors, where each speed sensor provides one or more types of speed related sensor data.
  • the pressure sensor may e.g., provide sensor data related to an oil pressure in a hydraulic system, such as a hydraulic pump and/or hydraulic motor, e.g., the actuator 4e and/or 4f, controlling the pushing force provided by the cable and/or hose protection assembly 4, and/or a hydraulic system, such as a hydraulic pump and/or hydraulic motor, controlling the pushing force provided by the cable and/or hose protection assembly 4.
  • a pressure sensor may be able provide sensor data related to one or more types of pressure related sensor data, such as explained above.
  • the one or more sensors 5 may comprise one or more flow sensors, where each flow sensor provides one or more types of flow related sensor data.
  • the camera may e.g., provide data related to the radial movement of the cable and/or hose 2a located on the cable and/or hose drum 2.
  • the direction of movement sensor may e.g., provide sensor data related to a direction of movement of a machine the cable and/or hose protection system 1 is comprised on.
  • the control unit 10 monitors the sensor data obtained from the one or more sensors 5.
  • the sensor data is related to one or more characteristics associated to any one or more out the cable and/or hose protection assembly 4, the cable and/or hose drum 2 and the cable and/or hose 2a.
  • the one or more characteristics may e.g., comprise an amount of cable and/or hose 2a currently located on the cable and/or hose drum 2, a rotational speed of the cable and/or hose drum 2, a position of the cable and/or hose drum 2, a pushing force, e.g., a pushing force value, currently provided onto the cable and/or hose 2 located on the cable and/or hose drum 2, a radial movement of the cable and/or hose 2, a cable and/or hose tension, a direction of movement of a machine the cable and/or hose protection is comprised on and/or a speed of movement of a machine the cable and/or hose protection system is comprised on.
  • a pushing force e.g., a pushing force value
  • the one or more sensor 5 may be connected to the control unit 10 wirelessly, or there may be a wired connection between the one or more sensors 11 and the control unit 11. In some examples, there may be combination of wired and wirelessly connected sensors 11 connected to the control unit 10.
  • Examples of the wireless connection may (but not limited to) be a Bluetooth connection, a WIFI connection, a cellular connection, such as a GSM, GPRS, EDGE, WCDMA, LTE and/or 5G cellular connection.
  • the control unit 10 determines, based on the one or more characteristics, one or more parameters for controlling the pushing force, such as the pushing force provided onto the cable and/or hose 2a by the cable and/or hose protection assembly 4.
  • the one or more parameters may e.g., comprise a parameter related to a position of the cable and/or hose protection assembly 4, and/or parameters related to the linear actuator 4e and/or the rotary actuator 4f controlling the position of the cable and/or hose protection assembly 4.
  • the pushing force on the cable and/or hose 2a may be increased or reduced.
  • the pushing force applied to the cable and/or hose 2a may be adjusted, or adapted, resulting in that the pushing force provided, applied, to the cable and/or hose 2a located on the cable and/or hose drum 2 may be adjusted, such as controlled.
  • the pushing force may, as mentioned above, be adjusted by changing the position of the cable and/or hose protection assembly 4.
  • This may e.g., adjusting parameters related to the linear actuator 4e and/or the rotary actuator 4f. These parameters may e.g., comprise a speed of the linear actuator 4e and/or the rotary actuator 4f, and oil flow and oil pressure of the linear actuator 4e and/or the rotary actuator 4f, a direction of movement of the linear actuator 4e and/or the rotary actuator 4f, and/or a direction of a rotational torque provided by the rotary actuator 4f.
  • the position of the cable and/or hose protection assembly 4 may be adapted, resulting in that the pushing force provided onto the cable and/or hose 2a may be adapted, such as controlled.
  • the control unit 10 determines the one or more parameters by determining a current pushing force value. The control unit 10 may compare the current pushing force value with a configured pushing force value. The control unit 10 may then determine whether the current pushing force value is within a threshold of the configured pushing force value.
  • the lower and upper thresholds may be configured in the control unit 10.
  • the control unit 10 may be configured with more than one configured pushing force value.
  • the thresholds may be relative thresholds, such as a percentage above and/or below the configured value. Alternatively, the thresholds may be absolute values.
  • the configured pushing force value to use may be selected by the control unit 10 and/or an operator, e.g., depending on the cable and/or hose 2a, such as the dimension, stiffness, flexibility, and/or strength of the cable and/or hose 2a.
  • control unit 10 may determine the one or more parameters such that the pushing force of the cable and/or hose 2a is increased, reduced and/or released.
  • the one or more parameters may be determined such that the pushing force provided onto the cable and/or hose 2a is increased.
  • the pushing force provided onto the cable and/or hose 2a is too high, such as the current pushing force value is above the upper threshold, the one or more parameters may be determined such that the pushing force provided onto the cable and/or hose 2a is reduced and/or released. Releasing the pushing force provided onto the cable and/or hose 2a may e.g., mean that no pushing force is applied to the cable and/or hose 2a.
  • the control unit 10 controls the pushing force by applying the determined one or more parameters to the cable and/or hose protection assembly 4.
  • controlling the pushing force provided onto the cable and/or hose 2a may comprise any one out of: Increasing the pushing force provided onto the cable and/or hose 2a, reducing the pushing force provided onto the cable and/or hose 2a, or releasing the pushing force provided onto the cable and/or hose 2a.
  • the control unit 10 may increase the pushing force provided onto the cable and/or hose 2a when the current pushing force is too low, such as when the current pushing force is below the lower threshold.
  • the control unit 10 may decrease the pushing force provided onto the cable and/or hose 2a when the current pushing force is too high, such as when the current pushing force is above the upper threshold.
  • the control unit 10 may release the pushing force provided onto the cable and/or hose 2a, e.g., when the configured pushing force value is zero.
  • Fig. 7 depicts a schematic view of the mining and/or construction machine 20 according to example of embodiments of the present invention.
  • the mining and/or construction machine 20 is depicted as a drill rig. This should not be seen as limiting to the scope, but is merely shown as an example of a mining and/or construction machine 20.
  • the mining and/or construction machine 20 may be any other type of mining and/or construction machine 20.
  • the mining and/or construction machine 20 comprises the cable and/or hose protection system 1 according to examples of embodiments herein.
  • the cable and/or hose protection system 1 comprises the cable and/or hose drum 2, the cable and/or hose 2a and the cable and/or hose protection assembly 4.
  • the cable and/or hose protection system 1 comprises two cable and/or hose protection assemblies 4.
  • the cable and/or hose drum 2 is mounted on the frame structure 3 which is mounted on the machine 20.
  • the mining and/or construction machine 20 in this example further comprises the control unit 10 and the one or more sensors 5.
  • the one or more sensors 5 may be configured to provide sensor data to the control unit 10.
  • the mining and/or construction machine 20 does not comprise the control unit 10 and/or the one or more sensors 5.
  • Fig. 8a discloses an example configuration of the control unit 10 configured to control the pushing force directed at the cable and/or hose 2a arranged be to wound onto or unwound from the cable and/or hose drum 2 mounted on the frame structure 3.
  • the pushing force is adapted to be provided by the cable and/or hose protection assembly 4 arranged to be fastened to the frame structure 3.
  • the control unit 10 comprises a memory 860 operable to store instructions and processing circuitry 850 operable to execute the instructions.
  • the control unit 10 may comprise an input and output interface 800 configured to communicate with, e.g., the one or more sensors 5.
  • Fig. 8b also discloses an example configuration of processing circuitry for a control unit 10, e.g., the processing circuitry 850 disclosed in Fig. 8a.
  • the processing circuitry may comprise a determining unit 810, a monitoring unit 820, a controlling unit 830 and an obtaining unit 840 configured to perform the methods above.
  • the embodiments herein may be implemented through the processing circuitry 850 in the control unit 10 depicted in Figure 8a, together with respective computer program code for performing the functions and actions of the embodiments herein.
  • the processing circuitry 850 may comprise one or more processors and one or more memory units.
  • the memory units may be the memory 860.
  • the program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code for performing the embodiments herein when being loaded into the control unit 10.
  • One such carrier may be in the form of a CD ROM disc, a USB flash drive, and/or an Over-the-Air (OTA) carrier. It is however feasible with other data carriers such as a memory stick.
  • the computer program code may furthermore be provided as pure program code on a server and downloaded to the control unit 10.
  • the memory 860 of the control unit 10 may further comprise one or more memory units.
  • the memory 860 is configured to store instructions executable by the processing circuitry 850.
  • the memory 860 is arranged to be used to store e.g., information, messages, indications, configurations, parameters, sensor data, characteristics, thresholds, pushing force values, rotational torques, measurements, locations, positions, and applications to perform the methods herein when being executed in executed in the control unit 10.
  • the control unit 10 and/or the processing circuitry 850 is configured to control the pushing force directed at the cable and/or hose 2a arranged be to wound onto or unwound from the cable and/or hose drum 2 mounted on the frame structure 3.
  • the pushing force is adapted to be provided by a cable and/or hose protection assembly 4 arranged to be fastened to the frame structure 3.
  • the control unit 10 and/or the processing circuitry 850 monitors sensor data adapted to be obtained from one or more sensors 5.
  • the sensor data is adapted to be related to one or more characteristics associated to any one or more out the cable and/or hose protection assembly 4, the cable and/or hose drum 2 and the cable and/or hose 2a.
  • the control unit 10 and/or the processing circuitry 850 determines based on the one or more characteristics, one or more parameters for controlling the pushing force.
  • the control unit 10 and/or the processing circuitry 850 controls the pushing force by applying the determined one or more parameters to the cable and/or hose protection assembly 4.
  • a computer program 870 comprises instructions, which when executed by the processing circuitry 850, e.g., of the respective at least one processor of the processing circuitry 850, cause the processing circuitry 850 of the control unit 10 to perform the actions above.
  • a respective carrier 880 comprises the respective computer program 870, wherein the carrier 880 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.
  • control unit 10 may refer to a combination of analogue and digital circuits, and/or one or more processors configured with software and/or firmware, e.g., stored in the control unit 10, that when executed by the respective one or more processors such as the processors described above.
  • processors as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip (SoC).
  • ASIC Application-Specific Integrated Circuitry
  • SoC system-on-a-chip

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  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)

Abstract

A cable and/or hose protection system (1) is provided. The system comprises: • - A cable and/or hose drum (2) mounted on a frame structure (3), • - a cable and/or hose (2a) arranged to wound onto or unwound from the cable and/or hose drum, • - at least one cable and/or hose protection assembly (4) comprising a roller (4a). The at least one cable and/or hose protection assembly is arranged to be fastened to the frame structure. The cable and/or hose protection assembly is arranged such that the roller is in contact with a part of the cable and/or hose that is located on the cable and/or hose drum such that the roller provides a pushing force onto the cable and/or hose.

Description

SYSTEM, MACHINE, CONTROL UNIT, COMPUTER PROGRAM AND METHOD FOR PROTECTING A CABLE AND/OR HOSE
TECHNICAL FIELD
Embodiments herein relate to a system, machine, control unit and method for protecting a cable and/or hose and controlling pushing force directed at a cable and/or hose located on a cable and/or hose drum comprised on machine.
BACKGROUND OF THE INVENTION
When using a cable or hose reel drum, especially together with a cable or hose arm, the cable or hose may, when there is too much friction between the drum and the cable or hose outlet, raise up from the cable and/or hose reel drum instead of being feed out to the ground when winding out cable and/or hose.
Consequently, there is a need for improvements of the cable and/or hose unwinding and/or winding in control.
SUMMARY OF THE INVENTION
As part of developing embodiments herein a problem has been identified and will first be discussed.
When the cable and/or hose raise up from the cable and/or hose reel drum, it may cause the cable and/or hose to tangle itself on the drum and/or wear against parts on or around the cable and/or hose reel which in turn may damage or destroy the cable and/or hose.
An object of embodiments herein is to provide a mechanism that increases the protection of a cable and/or hose while unwinding and/or winding in the cable and/or hose. The object is achieved by the independent claims.
According to a first aspect, a cable and/or hose protection system is provided. The system comprises:
A cable and/or hose drum mounted on a frame structure, a cable and/or hose arranged to wound onto or unwound from the cable and/or hose drum, at least one cable and/or hose protection assembly comprising a roller. The at least one cable and/or hose protection assembly is arranged to be fastened to the frame structure.
The cable and/or hose protection assembly is arranged such that the roller is in contact with a part of the cable and/or hose that is located on the cable and/or hose drum such that the roller provides a pushing force onto the cable and/or hose.
By provision of the cable and/or hose protection system as disclosed herein, an improved cable and/or hose protection system is provided, for which a cable and/or hose is arranged to be in contact with at least one roller of at least one cable and/or hose protection assembly, the at least one roller providing a pushing force directed at the cable and/or hose located on the cable and/or hose drum. In particular, it has been realized that by providing a pushing force onto the cable and/or hose when unwinding or winding in said cable and/or hose from the cable and/or hose drum, the risk of the cable and/or hose rising up above the cable and/or hose drum is reduced. Thereby, as cable and/or hose tangle and/or damage to the cable and/or hose, e.g., due to the cable and/or hose wearing against on or outside the cable and/or hose drum, may be avoided, a more robust and reliable cable and/or hose handling is achieved in a cost-effective manner. “A pushing force” provided onto, or directed at, the cable and/or hose as used herein, means that, by proviso of the pushing force, the cable and/or hose is pushed inwards onto the cable and/or hose drum, i.e. , the cable and/or hose is prevented from rising up from the cable and/or hose drum. Thus, by providing a pushing force onto the cable and/or hose, the cable and/or hose, the position of the cable and/or hose may be controlled. In other words, the cable and/or hose protection system controls the position of the cable and/or hose by providing a pushing force onto the cable and/or hose. By providing a pushing force onto the cable and/or hose located on the cable and/or hose drum, the risk of cable and/or hose tangle and/or damage may be avoided. This e.g., since the cable and/or hose is prevented from rising up above the cable and/or hose drum. Further, by providing the pushing force onto the cable and/or hose, the cable and/or hose may stay in the correct pattern when winding out the cable and/or hose.
According to some exemplary embodiments, the pushing force is in a direction such the cable and/or hose is prohibited from raising up from the cable and/or hose drum. According to some exemplary embodiments, the pushing force is any one or more out of: Spring controlled, hydraulically controlled, and electrically controlled. In some examples, a combination of two or more of the above may be used to control the pushing force.
According to some exemplary embodiments, wherein the pushing force is adjustable.
According to some exemplary embodiments, the system further comprises one or more sensors. The one or more sensors are configured to provide sensor data associated to any one or more out of: An amount of cable and/or hose currently wound onto the cable and/or hose drum, a rotational speed of the cable and/or hose drum, a position of the cable and/or hose protection assembly, and a pushing force value currently provided onto the cable and/or hose by the roller. The sensor data may further be associated with a cable and/or hose tension, a direction of movement of a machine the cable and/or hose protection is comprised on, a radial movement of the cable and/or hose 2, and/or a speed of movement of a machine the cable and/or hose protection system is comprised on.
According to some exemplary embodiments, the pushing force is adjusted based on the sensor data.
According to some exemplary embodiments, the cable and/or hose protection assembly further comprises at least one arm. The roller is fastened to a first end of the at least one arm.
According to some exemplary embodiments, a second end of the at least one arm is fastened to the frame structure such that the cable and/or hose protection assembly is movable towards and/or away from the cable and/or hose drum.
According to a second aspect, a method performed by a control unit for controlling a pushing force directed at a cable and/or hose arranged to wound onto or unwound from the cable and/or hose drum mounted on a frame structure is provided. The pushing force is provided by a cable and/or hose protection assembly arranged to be fastened to the frame structure.
The control unit monitors sensor data obtained from one or more sensors. The sensor data is related to one or more characteristics associated to any one or more out of the cable and/or hose protection assembly, the cable and/or hose drum and the cable and/or hose.
The control unit determines, based on the one or more characteristics, one or more parameters for controlling the pushing force. The control unit controls the pushing force by applying the determined one or more parameters to the cable and/or hose protection assembly.
According to some exemplary embodiments, controlling the pushing force comprises any one out of: Increasing the pushing force, reducing pushing force, or releasing pushing force.
According to some exemplary embodiments, controlling the pushing force comprises adjusting the position of the cable and/or hose protection assembly.
According to some exemplary embodiments, determining the one or more parameters comprises determining a current pushing force value, and comparing the current pushing force value with a configured pushing force value, and determining whether current pushing force value is within a threshold of the configured pushing force value.
According to some exemplary embodiments, wherein when determined that the current pushing force value is not within the threshold of the configured pushing force value, determining the one or more parameters such that the pushing force is increased, reduced and/or released.
According to a third aspect, a control unit configured to control a pushing force directed at a cable and/or hose arranged be to wound onto or unwound from a cable and/or hose drum mounted on a frame structure is provided. The pushing force is adapted to be provided by a cable and/or hose protection assembly arranged to be fastened to the frame structure. The control unit is further configured to:
- Monitor sensor data adapted to be obtained from one or more sensors, wherein the sensor data is adapted to be related to one or more characteristics associated to any one or more out the cable and/or hose protection assembly, the cable and/or hose drum and the cable and/or hose,
- determine based on the one or more characteristics, one or more parameters for controlling the pushing force, and
- control the pushing force by applying the determined one or more parameters to the cable and/or hose protection assembly.
According to a fourth aspect, a mining and/or construction machine comprising a cable and/or hose protection system is provided.
According to a fifth aspect it is furthermore provided herein a computer program comprising instructions, which, when executed by a processing circuitry, causes the processing circuitry to perform method above, as performed by the control unit. BRIEF DESCRIPTION OF THE DRAWINGS
The present invention will hereinafter be further explained by means of non-limiting examples with reference to the appended schematic figures where;
Figs. 1a-b shows a schematic view of a cable and/or hose protection system according to embodiments herein;
Figs. 2a-d shows a schematic view of a cable and/hose protection assembly according to embodiments herein;
Figs. 3a-b shows a schematic view of a cable and/hose protection assembly according to embodiments herein;
Fig. 4 shows a schematic view of a cable and/hose protection assembly according to embodiments herein;
Figs. 5a-d shows a schematic view of a cable and/hose protection assembly according to embodiments herein;
Fig. 6 shows a flowchart depicting embodiments of a method in a control unit;
Fig. 7 shows a schematic view of a machine according to embodiments herein;
Figs. 8a-b shows schematic block diagrams illustrating embodiments of a control unit.
It should be noted that the drawings have not necessarily been drawn to scale and that the dimensions of certain features may have been exaggerated for the sake of clarity. Like reference signs in the drawings refer to the same or similar element, unless expressed otherwise. DETAILED DESCRIPTION OF EMBODIMENTS
An object of embodiments herein is to provide a mechanism that increases the protection of a cable and/or hose while unwinding and/or winding in the cable and/or hose. The object is achieved by the independent claims.
Embodiments herein may bring the advantage of an improved cable and/or hose handling. This may be achieved by, as mentioned above, making it possible to provide a pushing force onto a cable and/or hose located on the cable and/or hose drum, resulting in an improved cable and/or hose protection and e.g., keeping the cable and/or hose pushed against the cable and/or hose drum. Further, embodiments herein may bring the advantage of reducing the risk of the cable and/or hose rising up above or outside the cable and/or hose reel or drum, resulting in less cable and/or hose tangling, reduced risk of cable and/or hose damage and improved cable and/or hose management by the cable and/or hose staying in the correct pattern during unwinding.
Figs. 1a and 1b depict a cable and/or hose protection system 1 according to example embodiments of the present invention from two angles. The cable and/or hose protection system 1 comprises a cable and/or hose protection assembly 4, a cable and/or hose drum 2, a frame structure 3 and a cable and/or hose 2a. The cable and/or hose drum 2 is mounted on the frame structure 3. The cable and/or hose protection assembly 4 is arranged to be fastened to the frame structure 3. The cable and/or hose protection assembly comprises a roller 4a. The cable and/or hose protection assembly 4 is arranged such that when the roller 4a is in contact with a part of the cable and/or hose 2a that is located on the cable and/or hose drum 2, the roller 4a provides a pushing force onto the cable and/or hose 2a. The pushing force may be provided, or applied, onto the cable and/or hose 2a the roller 4a pushing against the cable and/or hose 2a. The cable and/or hose protection system 1 may comprise more than one cable and/or hose protection assemblies 4. The cable and/or hose protection system 1 protects the cable and/or hose 2a by prohibiting the cable and/or hose 2a from rising up from the cable and/or hose drum 2.
Figs. 2a and 2b depicts schematic views of the cable and/or hose protection assembly 4 from two angles according to an example of embodiments of the present invention. In this example the cable and/or hose protection assembly 4 comprises an arm 4b. Here, the roller 4a is fastened to a first end 4b’ of the arm 4b. The roller 4a is in contact with the cable and/or hose 2a that is located on the cable and/or hose drum 2. By this, a pushing force is provided onto the cable and or hose 2a. The shape of the roller 4a as depicted in Figs. 2a and 2b is only for illustrative purposes, and may be shaped in any suitable way.
Fig. 2c depicts a schematic view of the cable and/or hose protection assembly 4 according to an example of embodiments of the present invention. In this example the cable and/or hose protection assembly 4 comprises two arms 4b. Here, the roller 4a is fastened to the first end 4b’ of the two arms 4b. The roller 4a is in contact with the cable and/or hose 2a that is located on the cable and/or hose drum 2. By this, a pushing force is provided onto the cable and or hose 2a. The shape of the roller 4a as depicted in Fig. 2c is only for illustrative purposes, and may be shaped in any suitable way.
Fig. 2d depicts a schematic view of the cable and/or hose protection assembly 4 according to an example of embodiments of the present invention. In this example the cable and/or hose protection assembly 4 comprises one arm 4b and two rollers 4a. Here, the first roller 4a is fastened to one side of the first end 4b’ of the arm 4b and the second roller 4a is fastened to a second side, e.g., the opposite side, of the first end 4b’ of the arm 4b. The rollers 4a is in contact with the cable and/or hose 2a that is located on the cable and/or hose drum 2. By this, a pushing force is provided onto the cable and/or hose 2a. The shape of the rollers 4a as depicted in Fig. 2d is only for illustrative purposes, and may be shaped in any suitable way.
The examples above with one or two respective arms and rollers described above are only for illustrative purposes, and should not be seen as limiting. The cable and/or hose protection assembly 4 may comprise any number of arms 4b and rollers 4a.
Fig. 3a depicts a schematic view of the cable and/or hose protection assembly 4 according to an example of embodiments of the present invention. Fig. 3a shows the cable and/or hose protection assembly 4 fastened to the frame structure 3. In this example, the cable and/or hose protection assembly 4 comprises one arm 4b and one roller 4a. A second end 4b” of the arm 4b is fastened to the frame structure 3. Here, the second end 4b” of the arm 4b may e.g., be fastened to a first cross member 4c of the cable and/or hose protection assembly. The first cross member 4c may e.g., be fastened between two sides of the frame structure 3 and thus crossing the cable and/or hose drum 2 mounted on the frame structure 3. As mentioned above, the cable and/or hose protection assembly 4 may comprise more than one arm 4b, and such examples the second ends 4b” of the more than one arm 4b may be fastened to the first cross member 4c.
Fig. 3b depicts a schematic view of the cable and/or hose protection assembly 4 according to an example of embodiments of the present invention. Fig. 3b shows the cable and/or hose protection assembly 4 fastened to the frame structure 3. In this example, the cable and/or hose protection assembly 4 comprises one arm 4b and one roller 4a. The second end 4b” of the arm 4b is fastened to the frame structure 3. Here, the second end 4b” of the arm 4b may e.g., be fastened to a side of the frame structure 3 As mentioned above, the cable and/or hose protection assembly 4 may comprise more than one arm 4b, and such examples the second ends 4b” of the more than one arm 4b may be fastened to the frame structure 3.
The pushing force may be adjustable. E.g., the pushing force may be adjusted by the cable and/or hose protection assembly 4 towards or away from the cable and/or hose 2a located on the cable and/or hose drum 2. This is shown by the arrow in Fig 4. The pushing force may be adjusted by changing the position of the cable and/or hose protection assembly 4. As mentioned above, the second end 4b” of the arm 4b may be fastened the frame structure 3 or the first cross member 4c. The cable and/or hose protection assembly 4 may be rotatable around the axis at the point the second end 4b” of the arm 4b is fastened to the frame structure or the first cross member 4c. The pushing force may be increased by rotating the cable and/or hose protection assembly 4 such that the cable and/or hose protection assembly 4 is moved towards the cable and/or hose 2a. Correspondingly, the pushing force may be decreased by rotating the cable and/or hose protection assembly 4 such that the cable and/or hose protection assembly 4 is moved away from the cable and/or hose 2a.
The pushing force may e.g., spring controlled, hydraulically controlled and/or electrically controlled. Thus, the cable and/or hose protection assembly may comprise one or more springs 4d, one or more linear actuators 4e and/or one or more rotary actuators 4f, explained further in Figs. 5a-d below. Fig. 5a shows the cable and/or hose protection assembly 4 fastened to the frame structure 3 where the pushing force is spring controlled. The spring 4d may e.g., be fastened to the cross member 4c. In this example, the cable and/or hose protection assembly 4 comprises a second cross member 4c’. A first part 4d’ of the spring 4d may push against the second cross member 4c’ and second part 4d” of the spring 4d may push against the frame structure 3. Moving the cable and/or hose protection assembly 4 way from the cable and/or hose 2a loads the spring, thus the spring provides a pushing force towards the cable and/or hose 2a located on the cable and/or hose drum 2. In this example, the one or more springs 4d comprises one spring 4d. In other examples, the spring 4d may comprise more than one spring.
Fig. 5b-c shows the cable and/or hose protection assembly 4 fastened to the frame structure 3 where the pushing force is controlled by a linear actuator. The linear actuator 4e may e.g., be fastened to the arm 4b in one end and to the first cross member 4c or frame structure 3 in another end. By adjusting the length of the linear actuator 4e, the position of the cable and/or hose protection assembly may be changed, such as moved towards or away from the cable and/or hose 2a located on the cable and/or hose drum 2. This way, the pushing force may be adjusted. In this example, the cable and/or hose protection assembly 4 comprises one linear actuator 4e. In some examples, the cable and/or hose protection assembly 4 may comprise more than one linear actuator 4e. The linear actuator 4e may e.g., comprise a hydraulic actuator 4e and/or an electric actuator 4e.
Fig. 5d shows the cable and/or hose protection assembly 4 fastened to the frame structure 3 where the pushing force is controlled by a rotary actuator 4f. The rotary actuator 4f may be connected to the first cross member 4c such that the rotary actuator 4f provides a rotational torque on the first cross member 4c. The rotational torque rotates the first cross member 4c, and thus also the cable and/or hose protection assembly 4. This way, the pushing force may be provided towards the cable and/or hose 2a. Depending on the direction of the rotational torque, the pushing may be increased or decreased. A direction of rotating torque that moves the cable and/or hose protection assembly 4 towards the cable and/or hose 2a located on the cable and/or hose drum 2 will increase the pushing force, while a direction of rotating torque that moves the cable and/or hose protection assembly 4 away from the cable and/or hose 2a located on the cable and/or hose drum 2 will decrease the pushing force. In some examples, the cable and/or hose protection assembly 4 may comprise more than one rotary actuator 4f. The rotary actuator 4f may e.g., comprise a hydraulic actuator 4f and/or an electric actuator 4f.
As mentioned above, the cable and/or protection assembly 4 may comprise more than one actuator. In such examples, the more than one actuator may comprise any combination of linear actuators, rotary actuators and/or electric actuators.
As mentioned above, the pushing force may be adjustable. Thus, the pushing force may be increased, decreased or released. The amount of pushing force may e.g., be adjusted based on one or more characteristics. Such characteristics may e.g., comprise an amount of cable and/or hose 2a currently located on the cable and/or hose drum 2, a rotational speed of the cable and/or hose drum 2, a position of the cable and/or hose drum 2, a pushing force, e.g., a pushing force value, currently provided onto the cable and/or hose 2 located on the cable and/or hose drum 2, a radial movement of the cable and/or hose 2, a cable and/or hose tension, e.g., a tension value, a direction of movement of a machine the cable and/or hose protection is comprised on and/or a speed of movement of a machine the cable and/or hose protection system is comprised on. Any one or more of these characteristics may be used as a basis for determining a pushing force to apply. The characteristics may e.g., be obtained as sensor data from one or more sensors 5. The one or more sensors 5 may comprise any one or more out of: A tension sensor, a torque sensor, a pushing force sensor, a speed sensor, a flow sensor, a pressure sensor, direction of movement sensor, and a camera.
Fig. 6 shows an example embodiment of a method performed by a control unit 10 for controlling a pushing force directed at the cable and/or hose 2a arranged to wound onto or unwound from the cable and/or hose drum 2 mounted on the frame structure 3. The pushing force is provided by the cable and/or hose protection assembly 4 arranged to be fastened to the frame structure 3. The cable and/or hose protection assembly 4 may comprise the cable and/or hose protection assembly 4 according to any of the embodiments, or combination of embodiments, described above. The method comprises the following actions, which may be taken in any suitable order. Optional actions are referred to as dashed boxes in Fig. 6.
Action 601 In some embodiments, the control unit 10 obtains sensor data from the one or more sensors 5. The sensor data is related to one or more characteristics associated to one or more out of the cable and/or hose protection assembly 4, the cable and/or hose drum 2 and, the cable and/or hose 2a.
The one or more sensors 11 may comprise any one or more out of: A tension sensor, a torque sensor, a pushing force sensor, a speed sensor, a flow sensor, a pressure sensor, a direction of movement sensor and a camera.
The tension sensor may e.g., provide sensor data related the tension of the cable and/or hose 2a.
The torque sensor may e.g., provide sensor data related to the rotational torque provided by the cable and/or hose drum 2. Alternatively, or additionally, the torque sensor may e.g., provide sensor data related to the torque of an electric motor or actuator driving the cable and/or hose drum 2, and/or an electric or hydraulic motor, such as the actuator 4f, controlling the pushing force provided by the cable and/or hose protection assembly 4. A torque sensor may be able provide sensor data related to one or more types of torque related sensor data, such as explained above. Thus, the one or more sensors 5 may comprise one or more torque sensors, where each torque sensor provides one or more types of torque related sensor data.
The pushing force sensor may e.g., provide sensor data related to the pushing force provided to the cable and/or hose 2a by the cable and/or hose protection assembly 4.
The speed sensor may e.g., provide sensor data related to the speed, e.g., rotational speed, of the cable and/or hose drum 2. Alternatively, or additionally, the speed sensor may e.g., provide sensor data related to the speed, e.g., rotational speed, of the actuator 4e and/or 4f. Alternatively, or additionally, the speed sensor may e.g., provide sensor data related to a speed at which the cable and/or hose 2a is unwound, and/or wound onto, the cable and/or hose drum 2. Alternatively, or additionally the speed sensor may e.g., provide sensor data related to a speed of movement of a machine the cable and/or hose protection system 1 is comprised on. A speed sensor may be able to provide sensor data related one or more type of speed related sensor data, such as explained above. Thus, the one or more sensors 5 may comprise one or more speed sensors, where each speed sensor provides one or more types of speed related sensor data.
The flow sensor may e.g., provide sensor data related to an oil flow in a hydraulic system, such as a hydraulic pump and/or hydraulic motor, e.g., the actuator 4e and/or 4f, controlling the pushing force provided by the cable and/or hose protection assembly 4, and/or a hydraulic system, such as a hydraulic pump and/or hydraulic motor, driving the cable and/or hose drum 2. A flow sensor may be able provide sensor data related to one or more types of flow related sensor data, such as explained above. Thus, the one or more sensors 5 may comprise one or more flow sensors, where each flow sensor provides one or more types of flow related sensor data.
The pressure sensor may e.g., provide sensor data related to an oil pressure in a hydraulic system, such as a hydraulic pump and/or hydraulic motor, e.g., the actuator 4e and/or 4f, controlling the pushing force provided by the cable and/or hose protection assembly 4, and/or a hydraulic system, such as a hydraulic pump and/or hydraulic motor, controlling the pushing force provided by the cable and/or hose protection assembly 4. A pressure sensor may be able provide sensor data related to one or more types of pressure related sensor data, such as explained above. Thus, the one or more sensors 5 may comprise one or more flow sensors, where each flow sensor provides one or more types of flow related sensor data.
The camera may e.g., provide data related to the radial movement of the cable and/or hose 2a located on the cable and/or hose drum 2.
The direction of movement sensor may e.g., provide sensor data related to a direction of movement of a machine the cable and/or hose protection system 1 is comprised on.
Action 602
The control unit 10 monitors the sensor data obtained from the one or more sensors 5. The sensor data is related to one or more characteristics associated to any one or more out the cable and/or hose protection assembly 4, the cable and/or hose drum 2 and the cable and/or hose 2a. The one or more characteristics may e.g., comprise an amount of cable and/or hose 2a currently located on the cable and/or hose drum 2, a rotational speed of the cable and/or hose drum 2, a position of the cable and/or hose drum 2, a pushing force, e.g., a pushing force value, currently provided onto the cable and/or hose 2 located on the cable and/or hose drum 2, a radial movement of the cable and/or hose 2, a cable and/or hose tension, a direction of movement of a machine the cable and/or hose protection is comprised on and/or a speed of movement of a machine the cable and/or hose protection system is comprised on.
The one or more sensor 5 may be connected to the control unit 10 wirelessly, or there may be a wired connection between the one or more sensors 11 and the control unit 11. In some examples, there may be combination of wired and wirelessly connected sensors 11 connected to the control unit 10. Examples of the wireless connection may (but not limited to) be a Bluetooth connection, a WIFI connection, a cellular connection, such as a GSM, GPRS, EDGE, WCDMA, LTE and/or 5G cellular connection.
Action 603
The control unit 10 determines, based on the one or more characteristics, one or more parameters for controlling the pushing force, such as the pushing force provided onto the cable and/or hose 2a by the cable and/or hose protection assembly 4.
The one or more parameters may e.g., comprise a parameter related to a position of the cable and/or hose protection assembly 4, and/or parameters related to the linear actuator 4e and/or the rotary actuator 4f controlling the position of the cable and/or hose protection assembly 4.
Depending on the position of the cable and/or hose protection assembly 4, the pushing force on the cable and/or hose 2a may be increased or reduced. Thus, by changing the position of the cable and/or hose protection assembly 4a, the pushing force applied to the cable and/or hose 2a may be adjusted, or adapted, resulting in that the pushing force provided, applied, to the cable and/or hose 2a located on the cable and/or hose drum 2 may be adjusted, such as controlled.
The pushing force may, as mentioned above, be adjusted by changing the position of the cable and/or hose protection assembly 4. This may e.g., adjusting parameters related to the linear actuator 4e and/or the rotary actuator 4f. These parameters may e.g., comprise a speed of the linear actuator 4e and/or the rotary actuator 4f, and oil flow and oil pressure of the linear actuator 4e and/or the rotary actuator 4f, a direction of movement of the linear actuator 4e and/or the rotary actuator 4f, and/or a direction of a rotational torque provided by the rotary actuator 4f. Thus, by determining the one or more parameters, the position of the cable and/or hose protection assembly 4 may be adapted, resulting in that the pushing force provided onto the cable and/or hose 2a may be adapted, such as controlled.
By combining parameters related to the position of the cable and/or hose protection assembly 4 and the parameters related to the linear actuator 4e and/or the rotary actuator 4f, an increased control of the pushing force provided onto the cable and/or hose 2a may be achieved, compared to using only one of the parameters. This since pushing force provided onto the cable and/or hose 2a may be more accurately controlled by adapting both the pushing force and the parameters related to the linear actuator 4e and/or the rotary actuator 4f. In some embodiments, the control unit 10 determines the one or more parameters by determining a current pushing force value. The control unit 10 may compare the current pushing force value with a configured pushing force value. The control unit 10 may then determine whether the current pushing force value is within a threshold of the configured pushing force value.
Being within a threshold of the configured pushing force value may e.g., mean that the current pushing force value is above a lower threshold that is lower than the configured pushing force value and below an upper threshold that is higher than the configured pushing force value. The lower and upper thresholds may be configured in the control unit 10. The control unit 10 may be configured with more than one configured pushing force value. The thresholds may be relative thresholds, such as a percentage above and/or below the configured value. Alternatively, the thresholds may be absolute values. The configured pushing force value to use may be selected by the control unit 10 and/or an operator, e.g., depending on the cable and/or hose 2a, such as the dimension, stiffness, flexibility, and/or strength of the cable and/or hose 2a.
When determined that the current pushing force value is not within the threshold of the configured pushing force value, the control unit 10 may determine the one or more parameters such that the pushing force of the cable and/or hose 2a is increased, reduced and/or released.
For example, when the pushing force provided onto the cable and/or hose 2a located on the cable and/or hose drum 2 is too low, such as the current pushing force value is below the lower threshold, the one or more parameters may be determined such that the pushing force provided onto the cable and/or hose 2a is increased. As another example, when the pushing force provided onto the cable and/or hose 2a is too high, such as the current pushing force value is above the upper threshold, the one or more parameters may be determined such that the pushing force provided onto the cable and/or hose 2a is reduced and/or released. Releasing the pushing force provided onto the cable and/or hose 2a may e.g., mean that no pushing force is applied to the cable and/or hose 2a. This may e.g., be the case when the configured pushing force value is zero, i.e. , no pushing force is to be provided to the cable and/or hose 2a by the cable and/or hose protection assembly 4. This enables the control unit 10 to control the pushing force provided onto the cable and/or hose 2a, since by applying the one or more parameters to the cable and/or hose protection assembly 4, the cable and/or hose protection assembly 4 may provide a pushing force onto the cable and/or hose 2a according to the applied one or more parameters. Action 604
The control unit 10 controls the pushing force by applying the determined one or more parameters to the cable and/or hose protection assembly 4.
In some embodiments, controlling the pushing force provided onto the cable and/or hose 2a may comprise any one out of: Increasing the pushing force provided onto the cable and/or hose 2a, reducing the pushing force provided onto the cable and/or hose 2a, or releasing the pushing force provided onto the cable and/or hose 2a. As mentioned above, the control unit 10 may increase the pushing force provided onto the cable and/or hose 2a when the current pushing force is too low, such as when the current pushing force is below the lower threshold. Correspondingly, the control unit 10 may decrease the pushing force provided onto the cable and/or hose 2a when the current pushing force is too high, such as when the current pushing force is above the upper threshold. Further, also as mentioned above, the control unit 10 may release the pushing force provided onto the cable and/or hose 2a, e.g., when the configured pushing force value is zero.
Fig. 7 depicts a schematic view of the mining and/or construction machine 20 according to example of embodiments of the present invention. In Fig. 7, the mining and/or construction machine 20 is depicted as a drill rig. This should not be seen as limiting to the scope, but is merely shown as an example of a mining and/or construction machine 20. The mining and/or construction machine 20 may be any other type of mining and/or construction machine 20. The mining and/or construction machine 20 comprises the cable and/or hose protection system 1 according to examples of embodiments herein. The cable and/or hose protection system 1 comprises the cable and/or hose drum 2, the cable and/or hose 2a and the cable and/or hose protection assembly 4. In this example, the cable and/or hose protection system 1 comprises two cable and/or hose protection assemblies 4. The cable and/or hose drum 2 is mounted on the frame structure 3 which is mounted on the machine 20. The mining and/or construction machine 20 in this example further comprises the control unit 10 and the one or more sensors 5. The one or more sensors 5 may be configured to provide sensor data to the control unit 10. In other examples, the mining and/or construction machine 20 does not comprise the control unit 10 and/or the one or more sensors 5.
Fig. 8a discloses an example configuration of the control unit 10 configured to control the pushing force directed at the cable and/or hose 2a arranged be to wound onto or unwound from the cable and/or hose drum 2 mounted on the frame structure 3. The pushing force is adapted to be provided by the cable and/or hose protection assembly 4 arranged to be fastened to the frame structure 3. The control unit 10 comprises a memory 860 operable to store instructions and processing circuitry 850 operable to execute the instructions.
The control unit 10 may comprise an input and output interface 800 configured to communicate with, e.g., the one or more sensors 5.
Fig. 8b also discloses an example configuration of processing circuitry for a control unit 10, e.g., the processing circuitry 850 disclosed in Fig. 8a. The processing circuitry may comprise a determining unit 810, a monitoring unit 820, a controlling unit 830 and an obtaining unit 840 configured to perform the methods above.
The embodiments herein may be implemented through the processing circuitry 850 in the control unit 10 depicted in Figure 8a, together with respective computer program code for performing the functions and actions of the embodiments herein. The processing circuitry 850 may comprise one or more processors and one or more memory units. The memory units may be the memory 860. The program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code for performing the embodiments herein when being loaded into the control unit 10. One such carrier may be in the form of a CD ROM disc, a USB flash drive, and/or an Over-the-Air (OTA) carrier. It is however feasible with other data carriers such as a memory stick. The computer program code may furthermore be provided as pure program code on a server and downloaded to the control unit 10.
The memory 860 of the control unit 10 may further comprise one or more memory units. The memory 860 is configured to store instructions executable by the processing circuitry 850. The memory 860 is arranged to be used to store e.g., information, messages, indications, configurations, parameters, sensor data, characteristics, thresholds, pushing force values, rotational torques, measurements, locations, positions, and applications to perform the methods herein when being executed in executed in the control unit 10.
The control unit 10 and/or the processing circuitry 850 is configured to control the pushing force directed at the cable and/or hose 2a arranged be to wound onto or unwound from the cable and/or hose drum 2 mounted on the frame structure 3. The pushing force is adapted to be provided by a cable and/or hose protection assembly 4 arranged to be fastened to the frame structure 3. The control unit 10 and/or the processing circuitry 850 monitors sensor data adapted to be obtained from one or more sensors 5. The sensor data is adapted to be related to one or more characteristics associated to any one or more out the cable and/or hose protection assembly 4, the cable and/or hose drum 2 and the cable and/or hose 2a.
The control unit 10 and/or the processing circuitry 850 determines based on the one or more characteristics, one or more parameters for controlling the pushing force.
The control unit 10 and/or the processing circuitry 850 controls the pushing force by applying the determined one or more parameters to the cable and/or hose protection assembly 4.
In some embodiments, a computer program 870 comprises instructions, which when executed by the processing circuitry 850, e.g., of the respective at least one processor of the processing circuitry 850, cause the processing circuitry 850 of the control unit 10 to perform the actions above.
In some embodiments, a respective carrier 880 comprises the respective computer program 870, wherein the carrier 880 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.
Those skilled in the art will appreciate that the units in the control unit 10 described above may refer to a combination of analogue and digital circuits, and/or one or more processors configured with software and/or firmware, e.g., stored in the control unit 10, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip (SoC).
It will be appreciated that the foregoing description and the accompanying drawings represent non-limiting examples of the methods and apparatus taught herein. As such, the apparatus and techniques taught herein are not limited by the foregoing description and accompanying drawings. Instead, the embodiments herein are limited only by the following claims and their legal equivalents.

Claims

1 . A cable and/or hose protection system (1), the system (1) comprising: a cable and/or hose drum (2) mounted on a frame structure (3), a cable and/or hose (2a) arranged to wound onto or unwound from the cable and/or hose drum (2), at least one cable and/or hose protection assembly (4) comprising a roller (4a), the at least one cable and/or hose protection assembly (4) arranged to be fastened to the frame structure (3), wherein the cable and/or hose protection assembly (4) is arranged such that the roller (4a) is in contact with a part of the cable and/or hose (2a) that is located on the cable and/or hose drum (2) such that the roller (4a) provides a pushing force onto the cable and/or hose (2a).
2. The system (1) according to claim 1 , wherein the pushing force is in a direction such the cable and/or hose (2a) is prohibited from raising up from the cable and/or hose drum (2).
3. The system (1) according to any of claims 1-2, wherein the pushing force is any one or more out of: spring controlled, hydraulically controlled, and electrically controlled.
4. The system (1) according to any of claims 1-3, wherein the pushing force is adjustable.
5. The system (1) according to any of claims 1-4, wherein the system (1) further comprises one or more sensors (5), wherein the one or more sensors are configured to provide sensor data associated to any one or more out of: an amount of cable and/or hose (2a) currently wound onto the cable and/or hose drum (2), a rotational speed of the cable and/or hose drum (2), a position of the cable protection assembly (4), a pushing force value currently provided onto the cable and/or hose (2a) by the roller (4a).
6. The system (1) according to claim 5, wherein the pushing force is adjusted based on the sensor data.
7. The system (1) according to any of claims 1-6, wherein the cable and/or hose protection assembly (4) further comprises at least one arm (4b), wherein the roller is fastened to a first end (4b’) of the at least one arm (4b).
8. The system (1) according to claim 7, wherein a second end (4b”) of the at least one arm (4b) is fastened to the frame structure (3) such that the cable and/or hose protection assembly (4) is movable towards and/or away from the cable and/or hose drum (2).
9. A method performed by a control unit (10) for controlling a pushing force directed at a cable and/or hose (2a) arranged to wound onto or unwound from the cable and/or hose drum (2) mounted on a frame structure (3), wherein the pushing force is provided by a cable and/or hose protection assembly (4) arranged to be fastened to the frame structure (3), wherein the cable and/or hose (2), the cable and/or hose drum (2), the frame structure (3) and the cable and/or hose protection assembly (4) are comprised in a cable and/or hose protection system according to claim 1 , the method comprising: monitoring (602) sensor data obtained from one or more sensors (5), wherein the sensor data is related to one or more characteristics associated to any one or more out the cable and/or hose protection assembly (4), the cable and/or hose drum (2) and the cable and/or hose (2a), determining (603) based on the one or more characteristics, one or more parameters for controlling the pushing force, and controlling (604) the pushing force by applying the determined one or more parameters to the cable and/or hose protection assembly (4).
10. The method according to claim 9, wherein controlling (604) the pushing force comprises any one out of:
- increasing the pushing force,
- reducing pushing force, or - releasing pushing force.
11. The method according to any of claims 9-10, wherein controlling (604) the pushing force comprises adjusting the position of the cable and/or hose protection assembly (4).
12. The method according to any of claims 9-11 , wherein determining (603) the one or more parameters comprises determining a current pushing force value, and comparing the current pushing force value with a configured pushing force value, and determining whether current pushing force value is within a threshold of the configured pushing force value.
13. The method according to claim 12, wherein when determined that the current pushing force value is not within the threshold of the configured pushing force value, determining the one or more parameters such that the pushing force is increased, reduced and/or released.
14. A computer program (870) comprising instructions, which when executed by a processing circuitry (850), causes the processing circuitry (850) to perform actions according to any of the claims 9-13.
15. A control unit (10) configured to control a pushing force directed at a cable and/or hose (2a) arranged be to wound onto or unwound from a cable and/or hose drum (2) mounted on a frame structure (3), wherein the pushing force is adapted to be provided by a cable and/or hose protection assembly (4) arranged to be fastened to the frame structure (3), wherein the cable and/or hose (2), the cable and/or hose drum (2), the frame structure (3) and the cable and/or hose protection assembly (4) are adapted to be comprised in a cable and/or hose protection system according to claim 1 , the control unit (10) further being configured to: monitor sensor data adapted to be obtained from one or more sensors (5), wherein the sensor data is adapted to be related to one or more characteristics associated to any one or more out the cable and/or hose protection assembly (4), the cable and/or hose drum (2) and the cable and/or hose (2a), determine based on the one or more characteristics, one or more parameters for controlling the pushing force, and control the pushing force by applying the determined one or more parameters to the cable and/or hose protection assembly (4).
16. The control unit (10) according to claim 15, wherein the control unit (10) is further configured to perform the method according to any of claims 10-13.
17. A mining and/or construction machine (20) comprising a cable and/or hose protection system (1) according to claim 1.
18. The mining and/or construction machine (20) according to claim 17, wherein the mining and/or construction machine (20) further comprises a control unit (10) according to claim 15 and one or more sensors (5) configured to provide sensor data to the control unit (10).
PCT/SE2023/051187 2023-11-24 2023-11-24 System, machine, control unit, computer program and method for protecting a cable and/or hose Pending WO2025110909A1 (en)

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PCT/SE2023/051187 WO2025110909A1 (en) 2023-11-24 2023-11-24 System, machine, control unit, computer program and method for protecting a cable and/or hose

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PCT/SE2023/051187 WO2025110909A1 (en) 2023-11-24 2023-11-24 System, machine, control unit, computer program and method for protecting a cable and/or hose

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2976017A (en) * 1958-07-07 1961-03-21 Le Bus Royalty Company Pressure bar for cable spooling drums
US4721285A (en) * 1986-09-23 1988-01-26 Mcmichael Robert G Cable drive system including apparatus for controlling normal force applied to cable
FR2726321A1 (en) * 1994-11-02 1996-05-03 Inst Francais Du Petrole DEVICE FOR STORING AND HANDLING A ROD IN COMPOSITE MATERIAL
US5669575A (en) * 1995-11-29 1997-09-23 The United States Of America As Represented By The Secretary Of The Navy Apparatus for controlling a cable on a take-up drum
US20220185620A1 (en) * 2019-03-27 2022-06-16 Movecat GmbH Winch comprising a winding device
WO2023080851A1 (en) * 2021-11-08 2023-05-11 Pisek - Vitli Krpan, D.O.O. A system for ensuring a constant tractive force of a winch

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2976017A (en) * 1958-07-07 1961-03-21 Le Bus Royalty Company Pressure bar for cable spooling drums
US4721285A (en) * 1986-09-23 1988-01-26 Mcmichael Robert G Cable drive system including apparatus for controlling normal force applied to cable
FR2726321A1 (en) * 1994-11-02 1996-05-03 Inst Francais Du Petrole DEVICE FOR STORING AND HANDLING A ROD IN COMPOSITE MATERIAL
US5669575A (en) * 1995-11-29 1997-09-23 The United States Of America As Represented By The Secretary Of The Navy Apparatus for controlling a cable on a take-up drum
US20220185620A1 (en) * 2019-03-27 2022-06-16 Movecat GmbH Winch comprising a winding device
WO2023080851A1 (en) * 2021-11-08 2023-05-11 Pisek - Vitli Krpan, D.O.O. A system for ensuring a constant tractive force of a winch

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