EP0350446A1 - Terry fabric making process and loom with pile-forming devices - Google Patents

Abstract

To operate the terry weaving machine, one or more pile formation members are operated by separate drives in individual wefts, freely controllable and operated at the weaving machine speed. This means that any terry rhythms can be generated in any order, without switching off the machine and replacing mechanical control devices. The pile height can also be varied as required. The terry weaving machine has at least one servo motor (36, 37) as a separate drive. The servo motor, which is controlled by means of a control-regulation circuit (88), drives the pile-forming member (4, 6, 11) via a reduction gear (62, 63) and transmission elements (27, 101). The servo motor can preferably be brushless and electronically commutated and have a rotor with low inertia and with permanent magnets of high field strength. New types of pile patterning are achieved, as well as an increase in weaving performance, efficiency and fabric quality.

Description

The invention relates to a method for operating a terry loom with pile forming elements and a terry loom to carry out the method. In previous terry weaving machines, the terry rhythm or the type of terry used to weave is determined by mechanical control devices such as control cams, change wheels and adjustment levers. To change the terry type, the control devices have to be replaced, which is very complex and leads to production interruptions. It is usually also not possible to change the type of terry without switching off the weaving machine. The change from terry to smooth weaving requires a mechanical coupling device, which suddenly switches the entire terry device on or off within one revolution. Especially when switched on, blows occur, which are increasingly difficult to cope with increasing weaving machine speeds and lead to ever higher wear. Sporadic changes to the mechanically fixed terry type, such as an additional cloth binding weft for a 3-shot product to reinforce a transition, in turn require additional mechanical changeover devices.

The pile height of previous terry weaving machines can only be changed within very narrow limits. There are machines with two pile heights, but switching from deep pile to deep pile is again mechanically complex. A continuous change or adjustment of the pile height in order to achieve a precisely specified constant fabric weight and to be able to keep it as precisely as possible over a long period of time is only possible very slowly and to a limited extent. And this also requires additional mechanical means, such as in US Pat. No. 4,294,290 and the corresponding Swiss Pat. No. 633,837. All of this results in a mechanically determined limit for terry weaving, both in terms of patterning and in terms of machine performance and fabric quality.

It is therefore an object of the present invention to provide a terry toweling method and a terry weaving machine according to the method, which allow these mechanical limits to be overcome and which also allow general automation of terry weaving. The method should be usable in all types of pile production, in particular in the control of the weaving shop and in the fabric control, and the weaving machine should be able to carry out all the terry rhythms known to date in any sequence without switching off and replacing mechanical parts. In addition, new types of pile patterning are also to be achieved. Several pile heights should be possible and the pile height should be continuously and as quickly as possible. Finally, an increase in weaving performance, efficiency and fabric quality should also be achieved.

In terms of the method, this task is solved in the operation of a terry weaving machine with pile formation organs in that one or more pile formation organs are actuated by one or more separate drives and are controlled individually and individually. So this can, though not mechanically driven by the main loom motor, carried out at full loom speed.

This means that it is no longer necessary to weave in a mechanically determined terry rhythm (e.g. 3-shot or 4-shot groups), but any terry rhythm can be formed by individual weft control of the pile-forming organs and also changed in any sequence. The same applies to the pile height: This can be controlled as desired, e.g. several pile heights with rapid or continuous change between the different pile heights, wavy or sawtooth pile height course, etc.

The separate drive, and thus the pile-forming elements, can be actuated by a sequence of freely programmable pulses which are matched to the weaving machine cycles and the operating mode of the weaving machine. This also enables general optimization and automation of terry weaving.

This pulse sequence can be matched to the specialist movement in such a way that in addition to the terry movements, a specialist compensation of the warp tension is also generated.

A terry weaving machine for carrying out the method is characterized by at least one servo motor as a separate drive, which is coupled to at least one pile-forming element via a reduction gear and / or transmission elements, and where the servo motor is connected to a control and regulation circuit with a control input and can be freely controlled in individual shots . Preferably, the servo motor can be electronically commutated and brushless, and a low inertia rotor with high permanent magnets Have field strength. This design results in a particularly highly dynamic drive, with high peak and continuous outputs with relatively low, to be managed thermal power losses. As a result, the method according to the invention can be carried out with particularly high precision and at high speeds and weaving capacities.

Further advantageous designs, as described in the subclaims, can have servomotors with rare earth magnets and in particular with magnets made of Nd-Fe-B connections. Their particularly high field strengths, both in absolute terms and in relation to their weight, lead to particularly high engine outputs and weaving machine speeds. A further increase in performance can be achieved in a simple manner by cooling the servomotor stator.

The terry weaving machine according to the invention can have any desired pile formation elements. The pile formation organ can be directly drivable, e.g. a pendulum roller with which the pile warp tension is modulated and can be reduced to an almost arbitrarily low value, especially during the full stop, in order to achieve the highest fabric quality.

Or the pile formation element can also be driven in a basic movement by the main loom motor and this basic movement can only be additionally modulated or controlled by the servo motor. For example, in a terry weaving machine with a weaving shop control system, a weaving shop can be provided as a pile-forming element with a partial partial stop, only the shortening of the loading path being controlled by the servo motor.

In terry weaving machines with fabric control, the fabric control elements, such as a spanning tree and a breast tree, can be controlled by one or more servomotors. In a particularly simple embodiment, the spanning tree and the breast tree can be connected to a coupling member as a pile-forming member.

The pile formation member can also be driven symmetrically on both side cheeks of the weaving machine by one servo motor, preferably both servo motors being driven and controlled synchronously by only one motor controller. This results in absolutely symmetrical pile pictures even with large weaving widths.

A reduction gear with a primary element of low mass inertia on the motor shaft allows the high dynamics of the servo motor to be transmitted down to the pile forming element.

A plurality of control inputs, measuring inputs and / or data outputs of the control and regulation circuit as well as an assigned computer unit can be provided, bidirectional communication with the weaving machine being possible. This results in an even more universal control and regulation of the terry weaving machine and at the same time operating data for further processing and optimization of fabric quality, machine performance and efficiency can be prepared and delivered.

In principle, several pile forming elements, each with one or two servo motors, can be controlled independently of the same control and regulation circuit, so that each pile forming element can be optimally adjusted independently to the desired weaving result.

However, in addition to the pile forming elements and their servo drives, there can also be a warp tension element with one assigned further servo motor can be provided, the control of this servo motor being matched to the specialist movement. This means that the basic chain tension can also be influenced and optimized.

The invention is explained in more detail below on the basis of exemplary embodiments in conjunction with the drawings.

• Fig. 1 eine erfindungsgemässe Frottierwebmaschine mit Webladensteuerung;
• Fig. 2 eine Webladensteuerung mit Servomotor und Knickhebel nach Fig. 1;
• Fig. 3 a,b,c die Webladensteuerung von Fig. 2 in ver­schiedenen Positionen und Betriebszuständen;
• Fig. 4 ein Schaltschema einer erfindungsgemässen Frottierwebmaschine mit einer Steuerungs­Regelungsschaltung;
• Fig. 5 eine servomotorbetriebene Florpendelwalze;
• Fig. 6 a,b,c einen Verlauf von Vorlagsdistanz-Verstellung, Verstell- und Haltemomenten der Frottier­elemente und Florkettspannung über mehrere Webmaschinenzyklen und für verschiedene Frottierbetriebsarten;
• Fig. 7 eine Webladensteuerung mit Steuerscheibe;
• Fig. 8 eine Webladensteuerung mit Planetengetriebe;
• Fig. 9 eine Frottierwebmaschine mit Gewebesteuerung und Kopplungsorgan;
• Fig. 10 eine Gewebesteuerung nach Fig. 9 mit ein oder zwei Servomotoren;
• Fig. 11 ein weiteres Beispiel einer Gewebesteuerung;
• Fig. 12 Beispiele variierter Florhöhenverläufe.

It shows:

• 1 shows a terry weaving machine according to the invention with a shop control;
• Fig. 2 is a shop control with servo motor and articulated lever according to Fig. 1;
• 3 a, b, c the weaving shop control of FIG. 2 in different positions and operating states;
• Fig. 4 is a circuit diagram of a terry loom according to the invention with a control-control circuit;
• Fig. 5 shows a servo-powered pile pendulum roller;
• 6 a, b, c show a course of the feed distance adjustment, adjustment and holding moments of the terry elements and pile warp tension over several weaving machine cycles and for different terry operating modes;
• Fig. 7 a shop control with control disc;
• Fig. 8 is a shop control with planetary gear;
• 9 shows a terry weaving machine with fabric control and coupling element;
• 10 shows a fabric control according to FIG. 9 with one or two servomotors;
• 11 shows another example of tissue control;
• Fig. 12 Examples of varied pile height profiles.

1 shows a terry weaving machine according to the invention with a weaving shop control shown in more detail in FIG. 2. The basic chain 7 runs from a basic warp beam 1 via a tensioning beam 4 to the shed 9. The fabric 10 is drawn off onto a fabric beam 3 via a breast beam 6 and a take-off roller. The pile chain 8 is guided from the pile warp beam 2 to the shed 9 via a pendulum roller 66. A reed 12 of the sley 11 is driven by a main loom drive axis 13 via complementary curves 14 and a roller lever 17 with rollers 16. The roller lever 17 and the sley 11 rotate about the loading tube axis 18. A sliding block guide 27 is articulated on the roller lever 17 as a control lever, which can be moved by a servo motor 36 with a pinion 33 via a toothing 32. The sliding block guide 27 rotates about a fixed bearing 29 in the weaving machine housing and it guides a sliding block 28 along a guide line 31. The sliding block 28 is articulated centrally on an articulated lever 19. One end 21 of the articulated lever is connected to the roller lever 17, the other end 23 is fixedly connected to the loading tube axis 18 and thus to the sley 11 via a loading lever 26.

The servo motor 36 has a cooling device 61, in which case a fan supplies cooling air along the stator housing of the servo motor provided with cooling ribs.

The mode of operation of the weaving shop control from FIG. 2 is explained in more detail with reference to FIGS. 3a, b, c. 3a, the centers 21, 22, 23 of the articulated lever 19 lie on a straight line 24. The movement of the roller lever 17 is then transmitted completely and unchanged to the sley 11. For this purpose, the sliding block guide line 31 must run in the radius to the pivot point of the roller lever 17 or to the loading tube axis 18. The servo motor 36 has previously moved the sliding block guide 27 into this position.

3b shows the charging position at the rear. The articulated lever 19 is still stretched, but the sliding block guide 27 was rotated downward by the servo motor about the axis of rotation 29 in the direction 34, so that the sliding block guide line 31 now runs correspondingly steeper. 3c, the roller lever 17 is again rotated further into the same stop position (as in FIG. 3a). Due to the steeper course of the sliding block guide line 31, the articulated lever 19 has now been kinked and there is a shortening of the loading stroke and thus a partial stop in which the reed 11 is set back by a reference distance S (also called a suggested distance) compared to the full stop in FIG. 3a. Via the movement of the sliding block guide 27, the servo motor 36 can thus be used to control and set any desired feed distance S in any rhythm, and also as fast as desired. This is not possible with previous terry weaving machines, because there the pile formation elements, such as the shop control gear with roller lever, articulated lever and sliding block guide, have to be actuated via an additional complex and complicated mechanism with cams, rods and couplings, which is only possible within narrow limits and with a fixed terry rhythm (3-shot or 4-shot) is possible. In contrast, the terry control according to the invention with servo motor and reduction gear not only solves the new task of the universal Terrycloth control, it also avoids the previously required large outlay on expensive, wear-prone mechanical control elements. For example, the holding torque at the blade stop no longer has to be absorbed by additional mechanical locking devices, since this is again supplied by the same servo motor 36. Further important features of the devices according to the invention lie in their substantially lower mass inertias and also in the avoidance of sudden stresses such as those encountered in previous terry weaving machines, for example when terry operation is switched on during the transition from smooth to terry fabrics. occur when the entire mechanical terry control has to be engaged precisely and suddenly.

The servo motor has a low inertia rotor with permanent magnets of high field strength, i.e. high remanence and high demagnetizing field strength. The low inertia of the rotor enables high dynamics and high field strengths result in high motor torques and outputs, which together result in a high weaving machine speed. Advantageous magnetic materials are rare earth magnets such as SmCo compounds and especially Nd-Fe-B compounds. The use of permanent magnets on the rotor of the servo motor creates ohmic losses only on the stator and not on the rotor of the motor. The resulting heat loss can be dissipated easily and to a greater extent, e.g. by means of air or water cooling of the stator. This enables a further increase in the performance of the servo motor also with regard to overload peaks, especially when using neodymium magnets.

Like the rotor of the servo motor, reduction gears and transmission elements are designed for the lowest possible inertia losses. This is shown in FIG. 2 two-stage reduction gear with a light spur gear 62 on the axis of the servo motor, which as a primary element with low mass inertia quickly reduces the motor speed, e.g. by a factor of 3 to 5. Overall, the motor power share, which accelerates the moving parts, from the motor rotor to the reduction gear , Transmission elements up to pile formation organs is required, kept as low as possible and thus enables the desired very high weaving machine speeds.

4 shows a circuit diagram of a terry loom according to the invention. A control regulation circuit 88 consists of a terry control 74 which controls a motor controller 76. The motor controller 76 drives the servomotor 36 via a power unit 77 connected to a supply 73. The motor controller 76 is connected to a motor angle sensor 79 for the purpose of synchronization. With the terry control 74, a plurality of servomotors 36, 37 can also be controlled independently for the actuation of a plurality of pile formation members (76, 77, 79 each a and b). This enables control of the feed distance (and thus the pile height) in very small steps of, for example, only 0.1 mm. The terry control 74 is connected to the weaving machine bus 82 and to a weaving machine crank angle sensor 81 for absolute synchronization of the motor control with the weaving machine, for forward and backward running. Coordination with the warp let 84, the dobby machine control 86 and the other weaving machine functions such as fabric take-off and color changer control also takes place via the weaving machine bus 82. A display and operating unit 87 as well as various measurement inputs 83 and data outputs 90 are also connected to the weaving machine bus 82. This enables bidirectional communication between the weaver and the Terry control enables, as well as a link to a central control system.

The control control circuit 88 also includes a computer unit with memory. This allows terry patterns with a repeat N to be generated, saved and called up in single-shot order. Each weft or weaving cycle Z = 1, 2, 3 ... N is assigned a template distance SZ: Sl, S2, S3 ... SN. A full stop, like smooth weaving, corresponds to the original distance S = 0, which also eliminates the previous mechanical terry-cloth on / off couplings. Such a terry repeat N can be of any size. A simple three-shot group like curve A in FIG. 6 then results in N = 3, Z = 1, 2, 3, S = S1, S1, 0. New pile patterns, as shown in FIG extend a terry repeat N of hundreds or thousands of wefts, with any variation of terry rhythms and pile height.

By using a pile warp length measuring sensor 52 (FIG. 1), which is connected to the control and regulating circuit 88, a desired predetermined cloth weight can be achieved very precisely and automatically. For this purpose, the control and regulation circuit continuously determines the measured pile warp length consumption per shot, compares this with the specified target value and regulates any deviations that occur immediately and in invisible small steps by changing the feed distance. This means that fluctuations in the weight of the fabric can be eliminated and costs can be saved accordingly.

In the example of Fig. 2, the controlled sley as a pile-forming element is driven in its basic movement by the main loom motor, while the servomotor is only one Modulation of this basic movement, ie a desired feed distance and thus the pile height, is controlled.

In contrast, in the example of FIG. 5, a pile pendulum roller 66 as a secondary pile formation member is, however, driven directly by a second servo motor 37.

The pile pendulum roller has the task of delivering the pile chain correspondingly quickly and with the least possible tension during the almost sudden pushing open of the pile when the primary pile forming element Weblade is fully attached. To do this, the pile pendulum roller must move very quickly, without delay and easily. On the other hand, however, a minimal pile warp tension must be maintained during the rest of the time in order to ensure undisturbed warp feed without thread crossings. With previous spring-loaded pendulum roller systems, these conflicting requirements can only be met to a very limited extent (FIG. 6c). 5, these opposing requirements can now be met and optimal warp tension profiles can be controlled for any operating modes and terry systems (FIG. 6). An additional servo motor 37 drives a pendulum roller 66 via a pinion 62, an intermediate stage 63 and a toothed segment 64. This consists of a rigid support roller 67, a light pendulum tube 69 and connecting supports 68. This results in a low inertia of the pendulum roller system 66. An additional, adjustable biasing spring 71 and a damper 72 can also be provided acting on the pendulum roller 66. The additional servo motor 37 is also controlled by the terry control 74 (FIG. 4), but it has its own motor control 76b, 77b, 79b.

On the basis of the schematic representations of FIGS. 6a, b, c, the mode of operation of the servomotor-controlled terry elements weaving drawer (FIG. 2) and pile pendulum roller (FIG. 5) is further explained. 6a shows the time course of the feed distance S across several weaving machine cycles Z. 6b shows the profile of the corresponding motor torques M for adjusting the reference distance (adjusting torque V) or the holding torques H to be applied at the loading stop. 6c shows the course of the pile warp tensions F. Curves A, B, C show three examples of different terry operating modes. To match it

the curves A: a three-shot terry rhythm with a reference distance S1,
curves B: a three-shot terry rhythm with reduced first template distance S2 and a slightly modified second template distance S3 compared to S1,
the curves C: a four-shot terry rhythm with two partial stops with a larger original distance S4 and two full stops.

Since the pile height increases essentially proportionally to the feed distance S, curve B thus corresponds to a slightly reduced pile height compared to curve A. With the shortened partial stop S3 at the first presentation shot, pile loops can fall through on the wrong side of a delicate fabric, for example, and thus better fabric quality can be achieved. Curve C shows a significantly larger pile height, corresponding to S4, and the two full stops 3 and 4 after the two partial stops 1 and 2 result in firmly integrated pile loops. The rounded course of the adjustment torques V of the servo motor in FIG. 6b can be controlled so that no hard blows occur, while the approximately rectangular holding torques H which have to be applied during the loading stops, Show moment jumps. The adjustment torques of the two sub-steps in the first and second cycle of curve B are correspondingly smaller than the adjustment torque in the only adjustment step of curve A. The holding torques can be absorbed by the servo motor or by a self-locking design of the reduction gear (32, 33). The pile chain tensions F of FIG. 6c show a very similar course for all three examples A, B, C. The pile pendulum roller is controlled by the servo motor in such a way that the pile warp tension F is currently reduced to an almost arbitrarily small value F1 of a few grams during the pile opening 91. The pile height can also be influenced by varying F1. Between the pile-open phases 91, the tension is brought to a higher, substantially constant value F2, which can be optimally adapted to the yarn and the operating parameters. While the curves A, B, C generated according to the invention have an optimal warp force curve, this is not possible with previous pendulum rollers, according to curve D. The minimum warping force F1 and the optimal phase position and pulse shape with respect to pole extension 91 cannot be achieved there.

FIG. 7 shows a weaving shop control with a control disk 101, a crank rocker 96, rollers 97a, 97b and a sliding block 98 articulated thereon, and a bracket 99 with sliding block guide. As in FIG. 2, the loading drive again takes place via a roller lever 17 running on complementary curves, to which the rocker arm 96 is articulated. Their rollers 97a, b run on the control disk on a radial part 102a, b or on a non-radial curve part 103a, b. The sliding block 98 articulated on the rocker rocker 96 is thus moved in accordance with the position of the rollers 97a, b on the control disk 101. About the tab 99, which is firmly connected to the sley 11, the position of the sliding block on the drawer. Depending on the position of the control disk 101, a reference distance setting is thus generated on the reed 12 by means of a rocker and sliding block. The radial part 102a, b of the control disk corresponds to the full stop (template distance equal to zero) and with the curve part 103a, b any desired template distance greater than zero can be set up to the maximum template distance. The drive in turn takes place from a servo motor via a reduction gear on a toothing 104 of the control disk. An advantage of this design is that the holding torques at the loading stop must largely be absorbed by bearing forces of the control disc and not by the servo motor or the reduction gear.

8 has a planetary gear 110. The roller lever 17 is connected to the outer wheel 111 of the planetary gear. The planet gears 112 lie on a planet carrier 113, which also has an arm 116 with teeth. The arm 116 is driven by the servo motor 36 in the manner already described. The inner wheel 114 of the planetary gear is firmly connected to the sley 11.

When the servo motor 36 and planet carrier 113 are stationary, the sley is driven by the complementary curves 14 in a basic movement. With each weaving cycle, however, the sley must reach the loading position at the back (as in Fig. 3b), and the servomotor must always move to the corresponding end position. This end position of the servo motor only corresponds exactly to a certain feed distance of, for example, 10 mm. For every other reference distance including the full stop, the servomotor must be adjusted back and forth for each cycle. This is not necessary in the examples according to FIGS. 2 and 7: Curve C of FIG. 6a, for example, only requires a back and forth adjustment in four cycles. It is also less favorable here that the holding torques have to be supported on the toothing of the planetary gear, but on the other hand there may be advantages from the compact design.

9 shows a terry weaving machine with fabric control, in which the fabric control elements, here a tension tree 4 and a breast tree 6 as pile formation elements, are controlled by one or more servomotors 36, 38. In contrast to FIG. 2, the basic warp beam 1 is arranged at the top and the pile warp beam 2 is arranged at the bottom for the purpose of easy interchangeability. In the fabric control, the looping is carried out by periodic horizontal movements of the fabric by means of the breast beam 6 and spreader 128, whereby the fabric edge around the fabric stroke is pulled away from the reed attachment point. The reed movement remains unchanged. The resulting pile height is essentially proportional to the tissue stroke (in analogy to the template distance for sheet control). When the full stop is reached, the base chain 7 is pulled back to the sheet attachment point by the breast beam with a spreader and tension roller 4, while at the same time the pile chain 8 must not be pulled back by the light pile tensioning beam 117. For this reason, the pile chain may in turn only have a very low tension F during the sling open at full stop. Subsequently, the base chain 7 and pile chain 8 must be advanced rapidly together by the fabric stroke corresponding to a desired pile height until the next partial stop. For this purpose, the two tensioning trees 4 and 117 have to release the corresponding chains 7 and 8 just as quickly and at the same time ensure the necessary chain tension values. This rapid warp feed by a precisely defined fabric stroke of, for example, 20 mm (corresponding to the rapid adjustment of the feed distance in the shop control in FIG. 6a) again takes place in less than a weaving cycle. As already explained for the weaving shop control, this results in conflicting requirements for both warp tensions in the different phases (fabric feed after full stop, fabric retraction before full stop and normal warp let-off speed in between) in order to achieve optimal weaving properties and fabric qualities.

These conflicting requirements for the basic and pile chain tensions can only be met very inadequately here with the previous spring-loaded spanning tree systems. The embodiment according to FIGS. 9 and 10 can largely meet these requirements. For this purpose, it has a coupling member 119 which connects the breast beam 6 and the spreader 128 to the tensioning roller 4. The coupling member 119, in the form of a frame, consists of side beams 120a, b, cross bars 123 and truss struts 124. The side beams 120 run on guide rollers 121, 122 and are articulated at the front end in a bearing 133 to a two-armed lever 131. The lever 131 with a pivot 132 actuates with its upper arm the coupling frame 119 and the pile-forming organs breast tree 6 and spreader 128. The lower lever arm ends in a toothing 136, via which the drive by means of servo motor 36 takes place. The coupling frame 119 can be driven laterally on one side, with a lever 131 and a servo motor 36, or in the middle. As a result of the central drive, asymmetrical twists, which can cause asymmetrical pile formation, can be avoided. An advantageous, even more powerful design can also have two servomotors 38a, 38b, which are each arranged on a side cheek 134a, b of the weaving machine and each have a lever 131a, b, the side supports 120a, b or the coupling frame 119 and thus the breast beam 6 and tension roller 4 drive synchronously. Then both servomotors 38a, b can be operated by only one motor controller 76 and one power unit 77. In addition, the pile tensioning tree 117, as a secondary pile formation member, as described in FIG. 5, can be controlled by the terry control 74 by an additional independent servo motor 37. In this case, the terry control 74 then controls three servo motors: the two synchronized 38a, 38b of the coupling frame 119 and the independent servo motor 37 of the pile tensioning tree 117.

In addition to the control of a servo motor with a pile formation element for the actual pile formation, an additional movement can also be superimposed on the latter, since the servo motor can be controlled as desired via the control and regulation circuit. For example, the pile formation movement of the servo motor 37 and pile tensioning tree 117 are also superimposed on a shed compensation movement which compensates for the warp length changes when the shed is changed.

In the case of the basic chain 7, compartment compensation can be achieved in various ways, for example by means of a deflection roller 126 with a spring element 127. However, spring elements can also be attached to the tensioning roller 4 or on the coupling frame 119 for compartment compensation. Or an additional chain tensioning element 53 can be provided with an additional servo motor, e.g. a warp tensioning roller, which is moved up and down in direction 54, and thereby generates a shed compensation, or can even modulate an optimal time profile of the basic chain tension.

Through the coupling frame 119, the warping forces 137 or 138 acting on the tensioning roller 4 or on the breast beam 6 with the spreader 128 are mutually supported, so that practically none resulting from the servo motor 36 Warp force component more must be absorbed or overcome. As a result, even wide fabrics with high warping forces can still be processed with sufficiently small, highly dynamic servomotors of, for example, two to three KW output. And very high weaving performance can also be achieved. As the example without a coupling frame of FIG. 11 shows, the terry toweling elements can also be operated separately by one servomotor each. The breast boom 6 is driven as before by the lever 131 from the servo motor 36, while the tension roller 4 is operated by a lever 140 from a separately controlled servo motor 37. The warping forces 137 and 138 are preferably absorbed here by pretensioning springs 141 and 142, which act on the levers 131, 140. The springs 141 and 142 are set in such a way that average warp force values at an average fabric stroke are just compensated by their spring forces. When the tensioning roller 4 is actuated, the specialist compensation is also integrated here.

12 shows examples of pile height profiles varied according to the invention. For example, the pile height L can be controlled in a sawtooth-like manner (145), undulating (146) or in combination (147). Stair-like (148) and interval-like (149) pile patterns are also possible.

Or, for example, double-pile carpet weaving machines could combine high-pile, cut-open velor areas with non-cut, deep-pile pile areas.

The method according to the invention and the corresponding weaving machines effectively open up two new degrees of freedom for terry weaving, which previous terry weaving machines do not have:

The arbitrary, free variation of terry rhythms and the arbitrary variation of the pile height. As explained, this can also be automated.

Claims (20)

1. A method for operating a terry weaving machine with pile formation elements, characterized in that one or more pile formation elements are actuated by one or more separate drives and are controlled individually and in a weft manner. 2. The method according to claim 1, characterized in that the separate drives and thus the pile forming members are actuated by a sequence of freely programmable pulses which are matched to the weaving machine cycles and the operating mode of the weaving machine. 3. The method according to claim 2, characterized in that the separate drive and the pile-forming members (4, 66) are actuated by a pulse sequence which is matched to the specialist movement so that in addition to the terry movements, a specialist compensation of the warp tension is also generated. 4. terry weaving machine with pile forming elements for carrying out the method according to claim 1, characterized by at least one servo motor (36, 37, 38) as a separate drive which via a reduction gear (62, 63, 64, 104) and / or transmission elements (19, 27 , 96, 98, 101, 119, 131) is coupled to at least one pile forming element (4, 6, 11, 66, 117), and where the servomotor is connected to a control and regulation circuit (88) with a control input (89) and can be controlled individually in individual shots. 5. terry loom according to claim 4, characterized by an electronically commutated, brushless Servo motor, which has a low inertia rotor with permanent magnets of high field strength. 6. terry loom according to claim 5, characterized in that the servo motor (36, 37, 38) has rare earth magnets. 7. terry loom according to claim 5, characterized in that the magnets consist of Nd-Fe-B connections. 8. terry loom according to claim 5, characterized in that the servo motor has a cooled stator (61). 9. terry loom according to claim 4, characterized in that the pile formation member (66) is directly driven only coupled to the servo motor. 10. terry weaving machine according to claim 4, characterized in that the pile formation member (11) can be driven in a basic movement by the weaving machine main motor, this basic movement being additionally modulatable or controllable by the servomotor. 11. terry loom according to claim 4, characterized in that a reduction gear is provided with a primary element (62) low mass inertia, which is connected to the motor shaft. 12. terry loom according to claim 4, characterized in that a plurality of control inputs (87, 89), measuring inputs (83, 85) and / or data outputs (87, 90) of the control and regulation circuit and an associated computer unit are provided, one bidirectional communication with the weaving machine is made possible. 13. terry weaving machine according to claim 4 with weaving control, characterized in that a weaving drawer (11) with variable partial stop is provided as the pile-forming member, the shortening of the loading path being controllable by the servo motor. 14. terry loom according to claim 13, characterized in that the loom control has a control disc (101) with a radial part (102) and a curve part (103). 15. terry weaving machine according to claim 4 with fabric control, characterized in that fabric control elements such as a tensioning tree (4) and a breast tree (6) as pile formation elements can be controlled by one or more servomotors (36, 37, 38). 16. terry weaving machine according to claim 15, characterized in that the tensioning tree (4) and the breast tree (6) are connected as a pile forming member with a coupling member (119). 17. terry weaving machine according to claim 4, characterized in that a pendulum roller (66) can be driven as a pile forming member by an additional servo motor (37) and thereby the pile warp tension (F) can be modulated and, in particular, can be reduced to a very low value at the moment of full weft. 18. terry loom according to claim 4, characterized in that the pile formation member on both side cheeks (134a, 134b) of the loom by one each Servo motor (38a, 38b) can be driven symmetrically, preferably both servo motors are driven and controlled synchronously by only one motor controller (76). 19. terry weaving machine according to claim 4, characterized in that a pile warp length sensor (52) is provided and connected to the control and regulation circuit (88), a setpoint for the pile warp length consumption per weft being specified. 20. terry loom according to claim 4, characterized in that in addition to the pile forming members and their servo drives, a warp tension member (53) with an associated further servo motor is provided, the control of this servo motor being matched to the specialist movement.

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