EP0415156B1 - Method and apparatus to operate a bale opening machine - Google Patents

Description

The present invention relates to a method for operating a bale removal machine with a removal member, in which the height profile of a row of bales is determined by means of at least one sensor directed at the bale surface and used to control the position of the removal member during the subsequent bale removal, and a device for carrying out this method .

A method or a device of this type has already been described in DE-PS 31 53 246. In the known device, three sensors in the form of optical proximity switches are attached to the boom carrying the removal member. This is moved manually over the first bale in the row of bales. After pressing a start button, the boom drops. As soon as the first sensor emits a signal, the current meter reading is transferred to a memory. The same thing happens for every additional sensor. When the last sensor has also given its signal, the downward movement is stopped, the tower with the boom starts to move along the row of bales at a slow speed and the boom is adjusted to the measurement determined by the first responsive sensor plus a certain one Amount raised. When it arrives there, the boom drops again and the height is determined as above.

In the manner described, a large number of measured values are obtained, from which an average value is formed, which is used for the further processing process. The fact that the boom with the removal member constantly moves up and down when carrying out the measurements means that a relatively large amount of time is lost for the one-time determination of the height profile of the bale row. Furthermore, the writing does not describe how to carry out the actual ablation based on the mean value, which is probably due to a later movement of the boom along the row of bales. A preselected infeed is presumably based on the mean value, ie the boom with removal device is lowered by a pre-determined amount below the mean value and the removal is carried out with this fixed infeed. The aim of this first pass is to bring the row of bales to a uniform height so that subsequent removal operations can always be carried out with fixed delivery depths. This procedure does not take into account the different hardness of the different bales or the different components of the bale row. A similar bale removal machine of the same type is known from DE-A-31 35 272.

European application 85 115 579 (publication number 193 647) of the present applicant describes a method for removing fiber flakes from textile fiber bales, in which the infeed for each removal movement along the row of bales is selected according to the bale hardness in the different areas of the bale. This version takes into account the fact that bales have a different density, ie hardness, and in such a way that the hardness in the upper and lower area of the bale is lower than in the middle area, so that the infeed depth in the upper and lower area may be greater than in middle range. However, this document also does not describe the determination of the hardness of the bales. In practice, however, this is of greater importance, at least if you always want to operate a bale removal machine at the upper limits of performance in order to economically maintain maximum production. You can work with empirical values for the hardness of the individual bales, but in many cases this is not very accurate. For example, when creating a row of bales from bales of different origins (called components), some of the higher bales of a component are manually removed and placed on lower bales of the same component. This falsifies the assumed hardness distribution for the individual bales. Furthermore, bales of different provenances come from different areas by definition, they are therefore pressed together with different systems and have different fiber properties, so that the hardness distribution of the bales of different origins is also different.

Another proposal for a bale removal machine, which takes into account the different density of the bales in different working zones, can be found in DE-OS 32 45 506.

In this proposal, the conceptual division of the bales into superimposed layers of different densities is carried out before the bale is removed, depending on the type of fibers involved, their origin, etc., and it is possible from the start to provide more than the three layers shown in the example shown. The selected number of layers with different degrees of density corresponds to the number of detectors to be mounted on the guide rail, the mutual spacing of the detectors, preferably implemented as microswitches, corresponding to the thickness of the individual fiber material layers. This means, as can be seen in the corresponding document, that the detectors are position sensors which are arranged in such a way that they determine the previously defined, successively vertical working zones on the bales for the movable carriage of the bale removal machine.

The object of the present invention is to improve the method or the device of the type mentioned at the outset in such a way that overall one can work more economically, taking into account the hardness of the individual bales or components of the bale row, this hardness preferably already during the Determination of the height profile should be determined at the same time.

To achieve this object, it is provided according to the invention that the received signal of the preferably optical, acoustic or radar wave sensor is processed to obtain a signal corresponding to the bale hardness, and that the infeed and possibly also the penetration depth of the removal member is controlled or regulated in accordance with this hardness signal .

Instead of using a proximity sensor, the invention therefore works with a measuring sensor, which is also attached to the boom or the tower supporting the boom and is moved over the bale row at a uniform height during the height sensing. The signals thus generated are then also evaluated according to the invention for determining the bale hardness in the surface area immediately below the measuring sensor, in which case the infeed can also be determined precisely using this relatively precise information, with a view to the desire to achieve the highest possible production or maintain. Not only the infeed, i.e. the amount by which the entire removal member is moved down for the next processing of the row of bales, but also the depth of penetration of the removal member, i.e. the amount by which the working elements, for example teeth of the removal member, move through the assigned grate stretching depends on the hardness of the bale to be removed, so that the present invention makes it possible to optimally adapt both the infeed and the penetration depth to the respective bale hardness.

At this point it should be emphasized that the detectors of DE-A-32 45 506 do not generate any signals which are processed into bale hardness signals of the respective layers of the bale, since these are pure position sensors. Such processing would also not be possible.

There are various ways of processing the sensor signal into a hardness signal. If the hardness of the surface areas of the bale is high, the sound energy density recovered is greater than if it were a softer bale surface. The hardness of the surface area can thus be derived from the amplitude of the received signal, the decrease in amplitude having to be taken into account with increasing distance between the measuring sensor and the bale surface.

According to the invention, however, the hardness signal is preferably determined from the fluctuations, in particular from the amplitude fluctuations of the sensor signals. This can take place, for example, in that the hardness signal is determined by summing the deviations of the sensor signal from the mean value of this signal which are provided with positive signs. Also generally applicable mathematical algorithms are known which make it possible to obtain the mean amplitude fluctuations of the sensor signals from these signals, the sensor signal being sampled at a frequency higher than the fundamental frequency of the signal, ie the fundamental frequency of the fluctuating or sensor signals.

At least when using an ultrasonic-based distance measuring sensor, the bale surface is scanned at various successive points. This is necessary because the time interval between successive measurements must be chosen to be long enough to take into account the transit time of the ultrasound signal and the transit time of the electronic signals. There must also be a certain safety margin between successive measurements so that the ultrasonic vibrations of one measurement can subside before the next measurement is made.

If one considers the cotton surface as a sine, a measurement value would have to be recorded more often than every 1 cm in order to be able to reconstruct the surface.

In practice, however, it is sufficient to get a statement about the surface properties using just a few measurements (for reasons of statistical distribution and the measurement method used).

One preferably proceeds according to claim 3.

The hardness can be determined separately for each bale or for each component of the bale row. Thus, in the subsequent processing of the bales, a different infeed depth or reach-through depth can be selected for each bale or for each component. The transfer of parts of one bale to another bale does not lead to any particular disruption to the working process, since the hardness of the bale surface is always measured up to date. In contrast to the above-mentioned method according to DE-PS 31 53 246, both the height profile and the hardness profile can be determined according to the invention with each pass.

Basically, there is the possibility of determining the height profile of the row of bales during an empty run of the removal member above the row of bales. This method is less complex than in the prior art, since constant up and down movements of the boom are not required, which can save control effort and time.

In the case of bale removal machines, in which bale rows are arranged on both sides of the bale removal machine, it is also possible to determine the height profile and the hardness profile of the one bale row while the other bale row is being removed.

In this method, the height profile scanned during a first pass of the removal member along a row of bales is preferably read into a computer which, on the basis of this height profile and the calculated hardness profile, calculates a delivery profile which changes over the length of the row of bales and in which the production takes into account the desired mixing ratio the provenance of the individual bales is kept almost at a maximum.

The computer is preferably programmed in such a way that, in the case of several passes, it endeavors to remove all bales in accordance with the hardness measured and the desired mixing ratio in such a way that at the end of the removal the whole row is removed without any significant bale residues. Such a method facilitates the subsequent installation of a new row of bales and simplifies the subsequent removal of the new row of bales; this avoids unnecessary restrictions on the height and hardness of the new bale row.

The computer works in such a way that with each pass it always strives for a depth of infeed or a depth of infeed profile that is increasingly approximated to a horizontal line. To achieve this, of course, certain small losses in production must be accepted. However, these are overall less than the losses that occur without the inventive method.

A further increase in the utilization of the bale removal machine can be achieved in that the removal of the bale row already takes place in the first pass with simultaneous detection of the height profile, the removal member being constantly adjusted to the bale height in the first pass.

The determination of the height of the bale simultaneously with the detachment of fiber flakes from the bale surface is known per se from DE-PS 33 35 793. For this purpose, however, two sensors are used there, which are arranged at different heights and parallel to the surface of the bale row. These sensors neither allow a very precise determination of the height profile of the fiber bales nor a determination of the hardness of the bales.

By removing the row of bales during the first pass, there is no empty time for scanning the height profile without simultaneously removing fiber flakes. Although the removal device is constantly adjusted to the bale height during the first pass in order to avoid that sudden height steps lead to an overload of the removal machine, it is possible to determine optimal passage height curves for subsequent passes, taking into account the height profile determined with this first pass and the corresponding hardness profile. on the one hand to achieve an almost maximum production and on the other hand in the last Passage to be at a minimum height.

In order to specify and adhere to the setpoint for the flake flow of the removal machine, which at the same time represents an exact measure for the production of the bale removal machine, the procedure according to the invention is preferably such that the actual value of the flake flow is determined on the basis of the infeed depth and the respective hardness signal and the infeed depth in order to comply with the specified value or a maximum flocculation is regulated. In this method, the actual value of the flake flow corresponds to the product of the infeed depth with the hardness signal, whereby of course geometric constants, such as the width of the bale row and the speed of movement of the bale removal machine along the bale row, must be taken into account.

By choosing the feed depth according to the bale hardness present in each case by means of the invention, the accuracy of the fiber mixture resulting from the various components is improved, particularly in those spinning mills in which the mixing ratios are primarily determined by the work of the bale removal machine.

The method according to the invention also offers the possibility of determining the beginning or the end of the bale row and, if appropriate, the presence and the length of gaps between the bales of the row by means of the sensor signal. At the beginning and at the end of a row of bales or in gaps, the sensor signal is reflected from the ground or from the bale carrier, which is at a known distance from the measuring sensor and can therefore be easily recognized by the sensor signal. Furthermore, the ground or a bale carrier are very hard objects compared to the bales, so that the amplitude fluctuations of the Sensor signal are low, whereby the presence of the soil or the bale carrier and also the vertical bale boundaries can or can be determined from the sensor signal.

At least in the case of acoustic measuring sensors, even a very hard object such as the floor or a bale carrier leads to a double signal, since the acoustic signal emitted by the measuring sensor reflects with relatively small losses on the floor or on the carrier, reflects again on the measuring sensor or on the boom and then is received again by the measuring sensor after being reflected again on the ground. The double signal, i.e. the reception signal after the first reflection and the reception signal after the second reflection on the ground represent a special identifier for the ground or bale carrier.

In order to bring the height profile or the hardness profile into line with the position of the removal member along the row of bales, the method according to the invention is preferably characterized in such a way that a signal proportional to the travel path of the removal member along the row of bales is generated and used by the computer when calculating the height profile or the infeed depth profile or the hardness profile is taken into account.

The corresponding signal, which is proportional to the travel path of the removal member, can be generated by the drive itself in the case of a form-fitting and slip-free drive of the tower along the row of bales, for example by means of chains and sprockets. For example, a gear wheel or a perforated disk can be coupled to the shaft of the drive motor for the travel movement, the gear wheel or the perforated disk serving as a counting wheel and functioning together with an initiator as a pulse generator, the pulses of which are fed to the microprocessor via a line. These Then impulses indicate the path of the removal device, ie they are proportional to it. The microprocessor or the controller is thus informed at all times of the exact position of the removal member in the longitudinal direction of the bale removal machine.

In the case of bale removal machines that run on wheels where there is a risk of slippage, the necessary signals can be reliably determined by means of a path determination device that is independent of the slippage. For example, known guideway measuring devices in the form of magnetic strips and linear measuring devices, such as are used in the guides of machine tools, can be used here.

Such known magnetic stripe or linear measuring devices are, however, relatively complex, so that their use in bale removal machines in which the tower can be moved over a considerable distance, for example 20 m or more, can lead to considerable costs. It is therefore a further object of the present application to provide a guideway measuring device, in particular for a bale removal machine, which determines the current longitudinal position of the movable part, for example the tower, on the bale removal machine independently of any slippage of the drive system, the guideway measuring device being robust, reliable, maintenance-free and should be inexpensive and insensitive to dirt and interference.

To achieve this object, the present invention provides a travel path measuring device, in particular for a bale removal machine with a non-slip-free drive system and with a mobile tower which can be moved along a row of bales by means of the drive system, characterized by an elongated part which extends along the row of bales and which is either fixedly arranged or connected to the tower and moves with it, by a scanning device which, depending on the arrangement of the elongated part, either along the mobile tower or at a specific point the bale row is arranged, the elongated part scans slip-free during the movement of the tower and every time the tower emits a pulse, and by a counting device which counts the pulses and generates a signal proportional to the route.

In one embodiment, the elongated part consists of a rail and the scanning device consists of a wheel which, arranged on the tower, rolls along the rail without slippage, a pulse generator for delivering pulses being coupled to the wheel. Under certain circumstances it is sufficient to provide a simple wheel with rubber tires for the slip-free scanning of the rail, since the rubber wheel does not have to transmit any significant torques and is therefore not subject to slip. This simple design has the particular advantage that it is very inexpensive to manufacture. However, if one has to fear that slippage could also occur here, for example due to dimensional tolerances of the rail, the rail can be designed as a toothed rack and the wheel as a toothed wheel meshing with it.

Another possibility is to form the elongated part by a chain which is attached to the tower and can be deflected around deflection devices at both ends of the bale row during a circular movement caused by the movement of the tower along the row of bales. Hereby, a scanning device is used, which is formed by a chain wheel which can be driven by the chain, a pulse generator for delivering pulses with the a fixed point of the row of bales arranged sprocket is coupled. A very economical arrangement is achieved if the chain wheel is formed by one of the deflection devices.

Another possibility is to form the elongated part by means of a structure having regularly repeating narrower and wider areas, for example by means of a perforated rail or a tightly tensioned chain or an elongated structure having teeth and gaps, this structure being provided by a light barrier or inductive scanning device, or can be scanned by a mechanical switch device whose receiving circuit emits the pulses. An elongated structure of this type, which modulates the output signal of the scanning device, can in particular extend along the flock transport channel (suction channel) of a bale removal machine and be fastened thereon. Such attachment of the elongated structure saves space and is generally possible, without causing disturbing restrictions, with respect to the other necessary parts of a bale removal machine. In particular, a travel path measuring device according to the invention can be retrofitted to an existing bale removal machine in this way.

A particularly preferred embodiment of the travel path measuring device according to the invention is characterized in that the repetition length of the structure is relatively large, for example more than about 10 cm, and that at a known, preferably constant driving speed, longitudinal measurements in the area between two successive pulses can be carried out by an interpolating device. By using a structure with a relatively large repetition length, this structure can be produced very inexpensively, but the invention makes it possible Measurement of length units that are much smaller than the repetition length.

In order to monitor the accuracy or validity of the individual measurements, a device monitoring the time interval between the pulses is preferably provided. If, for example, the tower runs at a known constant speed along the row of bales, this monitoring device must determine the same time interval between two successive pulses. If the device determines that this time interval is not constant, then it is known that the validity of interpolated longitudinal measurements between the two points of the structure which generated the assigned impulses is suspect. You can therefore ignore these values or weight them differently depending on the intended use of the measurements so that the inaccuracy is taken into account. A device of this type has the advantage that the measurement can be carried out again with the expected accuracy with the next pulses, since the rigid assignment between the pulses and the parts of the structure generating the pulses limits the extent of the incorrect measurements which occur due to interpolation errors.

Even if the bale removal machine is accelerated or braked or moves along the bale row at a slower speed in certain sections of the bale row, these speed changes can be taken into account by the interpolating device, so that precise interpolated longitudinal measurements are possible even during these operating phases.

It is particularly advantageous if the counting device and / or the interpolating device and / or the monitoring device is formed by a microprocessor or are. The counting, interpolating and monitoring functions can then be implemented by appropriate programming of the microprocessor, preferably the microprocessor which is responsible for controlling the entire bale removal machine, the available information being able to be evaluated in the best possible way. For example, an interpolation device implemented by the microprocessor will always know whether acceleration or deceleration of the tower movement has been initiated and take these different operating states into account when carrying out the interpolation.

Particularly preferred devices for carrying out the operating method of a bale removal machine according to the invention can be found in claims 15 to 18.

Fig. 1

eine Endansicht einer Ballenabtragungsmaschine am Anfang einer Ballenreihe,

Fig. 2

eine Seitenansicht an der Ballenreihe der Fig. 1 im Bereich der erfindungsgemäßen Ballenabtragmaschine,

Fig. 3

eine Draufsicht auf die Ballenabtragmaschine der Fig. 1,

Fig. 4A

eine graphische Darstellung eines Sensorsignals bei der Abtastung des Höhenprofils der Ballenreihe der Fig. 2,

Fig. 4B

das aus dem Sensorsignal der Fig. 4A gewonnene Höhenprofil,

Fig. 4C

das aus dem Sensorsignal der Fig. 4A gewonnene Härteprofil,

Fig. 4D

das aus dem Härteprofil der Fig. 4C ermittelte Zustellungsprofil,

Fig. 4E

das aus dem Härteprofil der Fig. 4C ermittelte Durchgrifftiefenprofil,

Fig. 5

ein stark schematisiertes Blockdiagramm zur Erläuterung der Signalauswertung bei einer Ballenabtragungsmaschine gemäß Fig. 1,

Fig. 6

eine schematische Darstellung der sukzessiven Abtragung der Ballenreihe der Fig. 2,

Fig. 7

eine schematische Darstellung eines alternativen Verfahrens zur sukzessiven Abtragung einer Ballenreihe,

Fig. 8

eine schematische Darstellung einer schlupffreien Längsmeßeinrichtung, bestehend aus einer Schiene und einem Rad,

Fig. 9

eine schematische Darstellung einer ähnlichen Ausführungsform wie die in der Fig. 8, bei der jedoch die Schiene als Zahnstange und das Rad als Zahnrad ausgebildet ist,

Fig. 10

eine alternative Ausführung einer schlupffreien Längsmeßeinrichtung, bestehend aus einer am Turm der Ballenabtragmaschine befestigten umlaufenden Kette,

Fig. 11

eine perspektivische Darstellung einer im Vergleich zu Fig. 1 abgewandelten Ausführung einer Lochschiene in einer schlupffreien Längsmeßeinrichtung, wobei auch die Verwendung von mechanischen Schaltern für die schlupffreie Längsmessung gezeigt ist, und

Fig. 12

eine weitere erfindungsgemäße schlupffreie Längsmeßeinrichtung mit einer länglichen Meßstruktur, bestehend aus Zähnen und Lücken.

The invention is explained in more detail below using an exemplary embodiment and with reference to the drawing, in which:

Fig. 1

an end view of a bale removal machine at the beginning of a row of bales,

Fig. 2

1 in the area of the bale removal machine according to the invention,

Fig. 3

2 shows a plan view of the bale removal machine from FIG. 1,

Figure 4A

2 shows a graphic representation of a sensor signal during the scanning of the height profile of the bale row of FIG. 2,

Figure 4B

that obtained from the sensor signal of FIG. 4A Height profile,

Figure 4C

the hardness profile obtained from the sensor signal of FIG. 4A,

Figure 4D

the infeed profile determined from the hardness profile of FIG. 4C,

Figure 4E

the penetration depth profile determined from the hardness profile of FIG. 4C,

Fig. 5

2 shows a highly schematic block diagram to explain the signal evaluation in a bale removal machine according to FIG. 1,

Fig. 6

2 shows a schematic illustration of the gradual removal of the row of bales from FIG. 2,

Fig. 7

1 shows a schematic representation of an alternative method for the successive removal of a row of bales,

Fig. 8

1 shows a schematic illustration of a slip-free longitudinal measuring device, consisting of a rail and a wheel,

Fig. 9

8 shows a schematic representation of an embodiment similar to that in FIG. 8, but in which the rail is designed as a toothed rack and the wheel as a toothed wheel,

Fig. 10

an alternative embodiment of a non-slip longitudinal measuring device, consisting of a rotating chain attached to the tower of the bale removal machine,

Fig. 11

a perspective view of a modified in comparison to Fig. 1 version of a perforated rail in a non-slip longitudinal measuring device, the use of mechanical switches for the non-slip longitudinal measurement is shown, and

Fig. 12

another slip-free longitudinal measuring device according to the invention with an elongated measuring structure consisting of teeth and gaps.

As shown primarily in FIG. 1, a machine 1 for removing fiber flakes comprises a removal member 2, a machine frame 3 and a flake transport 4.

The removal member 2 itself comprises a boom or a housing construction 5, in which a rotating removal roller 6 is drivably mounted. By means of this housing construction 5, the fiber flakes removed from the fiber bales 7 by the removal roller 6 are further picked up and further conveyed into the flake transport 4 by ways not shown.

The housing construction 5 can be moved up and down in the direction of the arrow A by means of rollers 9 rotatably fastened to it and guided in guide rails 8 of the machine frame 3. In the figure, however, only one pair of rollers and only one rail 8 is shown; the rollers and rails provided on the opposite side in the same way are not visible.

Furthermore, the housing construction 5 has a driver 10 which is firmly connected to a chain 11 of a chain drive 12.

The chain drive 12 further comprises an upper, rotatable mounted sprocket 13 for the deflection of the chain 11 and a lower sprocket 14 for driving this chain 11. The lower sprocket 14 is rotatably mounted on a drive shaft 15 of a transmission 16. An electric motor 17 connected thereto, which is designed as a stop motor, serves as the power source for the transmission.

The chain drive 12, the transmission 16 and the electric motor 17 are referred to as a whole as a lifting device.

On the upper shaft end 18 of the motor 17 in FIG. 1, a gear 19 is rotatably mounted, which functions as a counting wheel together with an initiator 20 as a pulse generator, the pulses of which are fed to a microprocessor 22 via a line 21, which is particularly the case in FIG is shown. The initiator 20 is commercially available and emits a pulse for each tooth of the gear 19 passing by. The initiator 20 is provided to be stationary.

An upper limit switch 23 and a lower limit switch 24 are provided on the machine frame 3 for scanning the upper and lower end positions of the removal member.

The upper limit switch 23 is actuated by an upper surface 25 and the lower limit switch 24 by a lower surface 26 of the driver 10. The upper limit switch 23 inputs its pulse via a line 27 and the lower limit switch 24 via a line 28 into the microprocessor 22.

A distance measuring sensor 30 is attached to the front side, ie the right side of the boom in FIG. 2. This consists of combined transmitter / receiver units and works in the present example on an ultrasound basis. This distance measuring sensor can be, for example, a sensor of the Siemens type Act Sonar / Bero 3RG6044 / 3 MMOO. However, it can also be a sensor that works with a different measuring principle, for example an optical sensor or a sensor that works with radar waves. The measuring beam 31 is directed onto the surface 32 of the bale row 7, ie perpendicular to it, the measuring beam detecting a 15 to 20 cm wide strip of the surface which, as shown in FIG. 3, is arranged approximately in the middle of the bale row. However, it is also possible to provide a plurality of distance measuring sensors which are intended to detect different stripe areas on the surface. If necessary, mean values for the bale height and hardness can be generated from the signals from several sensors. The distance signal generated in the receiver part of the distance measuring sensor is fed to the microprocessor 22 via a line 33.

Another line 34 connects the electric motor 17 to the microprocessor 22.

The machine frame 3 is arranged by means of wheels 35 fastened to it and drivable on rails 36, which are fastened on the spinning floor 37, along the fiber bale row 7 (not shown) and can be moved over the flock transport 4. Since the wheels 35 are not slip-free working elements, a special device is provided in this example to determine the exact longitudinal position of the tower 3 along the bale row 7. This is the light barrier 38, which consists of transmitter and receiver parts which are arranged on opposite sides on a perforated rail 39. The perforated rail 39 has a plurality of holes at the same distance from one another, the light barrier emitting a signal pulse as it passes through each hole, which is fed to the microprocessor 22 via the line 41. From these signals, as well as from signals which indicate the direction of travel of the tower along the row of bales, which can be removed, for example, on the drive motor for the longitudinal movement, the microprocessor 22 is able to determine the exact position of the tower along the row of bales.

Below the cantilever 5 there is also a grate 40 with individual grate bars 42 located between the individual toothed disks 81 of the removal roller 6. Such grate bars are well known and are described, for example, in the German patent applications P 38 20 427.4 and P 38 27 517.1 of the applicant.

As can be seen from FIG. 2, the bale row in the present example comprises five bales 43 to 47, which have different heights, the highest bale 47 on the right side of FIG. 2 and the lowest bale 43 on the left side of FIG 2 is arranged. The bales 44 and 45 are of the same height and somewhat higher than the bale 43 and the bale 46 has a height which lies between those of the bales 45 and 47. Moreover, for the purpose of this illustration, a gap 48 is shown between the bales 45 and 46, so that vertical bale boundaries 49 to 52 are provided at the beginning of the bale row, on both sides of the gap 48 and at the end of the bale row 7.

Fig. 3 shows that a similar bale row can be arranged on the other side of the bale removal machine, provided that the tower 3 is a rotatable tower that can also work on the second side of the bale row.

Reference number 30.1 also makes it clear here that a height sensor can also be arranged on the side of the tower opposite the boom 5, so that during the removal of fiber flakes from the one in FIG. 3 lower row with the sensor 30.1 the height profile and also the hardness profile of the bales of the upper row can be determined in a time-saving manner.

4A shows the distance measurement signal of the measurement sensor 30 (or 30.1) during a measurement run above the row of the bales set up. The measuring sensor 30 determines the distance to the opposite surface by measuring the transit times of ultrasonic waves from it to the opposite surface (floor 37 or bale surface 32 and back. In this measuring process, the cantilever with sensor 30 is in this example at a constant height H above the 4 and the output signal of the distance measuring sensor is subtracted from this height H, so that the fluctuating signal of Fig. 4A finally represents the height of the bale surface above the ground. However, it is not absolutely necessary that the measuring process with a constant height of the boom above of the ground is carried out since the height of the boom is known per se due to the signal transmitter 20, so that even with a changing height of the boom the heights of the bales above the floor 37 can always be determined from the distance measurement signals by the computer 22. In other words can the sensor 30 easily Determine the height profile of the bales to be removed at the end of the bale removal. 30.2 denotes a further sensor corresponding to sensor 30, which can measure the height profile after removal.

FIG. 4A is drawn on the same scale as FIG. 2, so that the association between the individual bales and the amplitude of the output signal of the distance measuring sensor 30 (or 30.1, 30.2) can be clearly seen.

First of all, on the left side of FIG. 4A, the distance measuring sensor is located at the height H above the ground, and the actual output signal of the measuring sensor indicates the height H. However, the output signal is subtracted from the height H, so the output signal of the sensor 30 corrected in this way begins in the region 53 at 0 (H-H = 0). Since the floor 37 can be described as sound-hard and therefore reflects back a higher proportion of the beam impinging on it, a safe distance measurement takes place, and the measurement signal and therefore also the corrected measurement signal has no or only very small fluctuations in the region 53. At 49.1, the beam from the sensor 32 now reaches the vertical bale boundary 49, as a result of which the distance between the sensor 32 and the reflecting surface, here the surface of the bale 43, is suddenly shortened and the overall amplitude of the signal increases. Since the surface 43.1 of the bale 43 is sound-soft and is also a rough surface, the signal from the distance sensor exhibits large fluctuations with a relatively high frequency. The amplitude fluctuations are not caused solely by fluctuations in the roughness of the surface of the bale 43, but rather by the fact that the measurement sensor always tries to deliver a clear measurement result and, due to the imprecise reflection of the sound beam on the sound-free surface of the bale 43, always delivers fluctuating measurement results. These fluctuations take place at a frequency which is far higher than indicated in FIG. 4A purely for the sake of illustration.

At 54, the measuring beam from the sensor 30 has reached the boundary between the bale 43 and the bale 44 and there is an amplitude jump upwards, while the signal itself has similar amplitude fluctuations as with the bale 43. It can be seen that the transition to the same high bale 45 the mean value of the signal remains approximately the same as for bale 44, however the amplitudes of the fluctuations are somewhat smaller. These smaller fluctuations, for example at 45.1, indicate that the upper surface area of the Bale 45 is harder than the corresponding areas of bales 43 and 44. After passing bale 45, the beam from sensor 30 strikes vertical bale boundary 50.1, ie the sensor measures the distance between it and ground 37 again, which is why the amplitude of the received signal falls back to zero at 57, ie to a level which corresponds to level 53. After the gap 48 has passed, ie at the vertical bale boundary 51.1, the amplitude of the height signal rises again to a mean value that is even higher than the corresponding mean value of the signal in the area of the bale 45. Here too, the signal shows considerable Amplitude fluctuations 46.1, which indicate that the bale 46 is also relatively soft here. At 58 the boundary between the bale 46 and the bale 47 has been reached and the amplitude of the distance sensor rises again, which is also correct because the bale 47 is the highest of the bale row 7. At the end of the bale row, the amplitude of the height signal lowers again at the vertical bale boundary 52, which is identified by 52.1 in FIG. 4a.

The computer 22 determines an average value from the distance signal of FIG. 4a and the result of this averaging is shown in FIG. 4b. Averaging using a computer is very well known in itself, which is why this is not described separately here. It can be seen that the mean signal represents a very good reproduction of the height profile of the bale row 7 in FIG. 2, which is also intended.

The distance signal is also further processed by the computer 22 in order to obtain the hardness profile according to FIG. 4C. This evaluation is carried out in such a way that the algebraic sum of the amplitude fluctuations from the mean is determined in a number of adjacent areas and then the reciprocal ones Values are formed. These reciprocal values then represent the hardness of the individual areas. It can be seen that in areas 53, 57 and 59, where the distance measurement signal shows hardly any fluctuations, since the floor 37 reflects well, this is determined as a hard object, which is why the hardness signal is applied these points have a high amplitude 53.3, 57.3 and 59.3. The bales 43 and 44 and 46 have roughly the same hardness and, as already explained, this hardness is low, which is why the hardness is relatively low in the corresponding areas 43.3, 44.3, 46.3 of the hardness profile according to FIG. 4C. In contrast, the bales 45 and 47 have a greater hardness, which is comparatively high in both cases, which is why in these areas 45.3 and 47.3 the hardness signal has a higher amplitude.

Since the hardness of the bale in the surface area is directly proportional to the density in these areas and the machine can reach a feed depth, i.e. Removal depth, to be set according to the reciprocal of the hardness, the infeed depth profile according to FIG. 4D is determined by the computer 22, taking into account the intended constants. It can be seen that for the bale areas 43.4, 44.4 the infeed is the same size (because the hardness is the same size) and has a relatively high amount of 10 mm. The delivery depth at 46.4 is also the same for bale 46. In contrast, the infeed depth in areas 45.4 and 47.4 is reduced to around 5 mm, since the surfaces of these bales are harder. The infeed depth profile of FIG. 4D also includes areas 53.4, 57.4 and 59.4 where the infeed is zero because the floor is very hard and, in addition, no material is to be removed from the floor.

From the mean value of the height profile according to FIG. 4B and the infeed depth profile according to FIG. 4D or can be seen from the receive a control command for driving the motor 17 according to corresponding values in order to set the desired height of the removal member when removing each bale of the row of bales. This means that the infeed depth is subtracted point by point from the height. In areas where the infeed depth is zero, the same height of the removal member is maintained.

It may well make sense to extend the penetration depth of the removal member 6, i.e. the distance between the radially lowermost points of the toothed disks 81 and the grate bars 42 should also be set according to the hardness of the bales, whereby the penetration depth should be smaller for harder bales and the penetration depth may be higher for softer bales. The corresponding penetration depth profile for the bale row of FIG. 2 is shown in FIG. 4E, the individual segments of the profile having been brought into line with the individual bales by means of the numbering of the bale row and the addition .5.

For a better explanation of the operation of the computer 22 in connection with the determination of the height profile, the hardness profile, the infeed depth profile and the penetration depth profile, reference is now made to FIG. 5. The signals for the vertical position of the removal member or the boom 5 are, as already described, determined by the computer on the basis of the signals on the lines 27, 28 and 21, and the computer sends control commands for the height of the removal member to the motor 17 Line 34. The signals from the longitudinal sensor 38 are read into the computer via line 41. If necessary, more values can be extrapolled to achieve a finer resolution. The sensor system is activated by the computer in each case when the longitudinal sensor signal is either read in or when the value is extracted in advance in order to store the measured value immediately returned by the sensor. The distance measuring sensor 30 carries out distance measurements at regularly repeated time intervals and temporarily stores these dimensions in a buffer memory 60. The computer 22 reads the stored values at times at times which are determined by the signals from the longitudinal sensor 38 via the line 33. From the values read in the computer, the latter then determines the height profile 4B by averaging, the hardness profile 4C by the algebraic addition of the amplitude fluctuations, the infeed depth profile from the reciprocal values of the hardness profile and the penetration depth profile in accordance with the hardness profile and on the basis of constants recorded in the computer. The profiles themselves are then stored in memories of the computer 22 and can be called up permanently if desired.

6 finally shows how the height profile of the bale row 7 from FIG. 2 is removed by successive work. In Fig. 6, it is assumed that one ablates simultaneously with the dimension of the height profile and first tries to maintain a constant ablation height so that the computer can correctly record data in any case. This first pass is identified by 62. The constant removal depth is chosen so low that the removal machine cannot be overloaded.

The computer then determines the desired infeed depth for each bale during the next pass and checks whether the height profile is changed in an undesirable manner if these infeed depths are observed, so that larger vertical jumps occur. If this is not the case, the row of bales is removed according to the calculated infeed depth according to lines 63 ... 67. If, however, larger jumps appear, the maximum is removed from the higher points and something from the other areas less so that the height profile gradually becomes smoother. The goal is to reach a horizontal line 68 at the lower end of the bale at the end passage so that all bales or bale remnants are of the same height, which ensures a good prerequisite for the removal of the next row of bales to be set up.

A simplified embodiment of the machine is also conceivable. For reasons of drive technology, it is not possible to keep the height adjustment motor and the lateral feed in operation at the same time (see Fig. 7). In the first pass (reference numeral 70), the removal member is gradually brought up to the surface of the bale. In the second pass (reference numeral 71) and possibly in the third pass (reference numeral 72), the removal device is now set to a constant height, the value of which is calculated by the computer in such a way that on the one hand a maximum removal depth is not exceeded, but on the other hand the production is already possible is held high. As a disadvantage, however, a small production loss can be accepted in this area. However, the bale group is leveled at the latest from the sixth pass (reference number 75). It is therefore no longer necessary to switch off the feed motor in order to change the height of the removal member.

Whether this method can be used depends in part on whether the mixing ratios of the fibers are determined by the bale removal machine itself or whether the individual components are removed separately and led to individual mixing shafts, with the mixing ratios of the flakes ultimately being in the mixing station and not be determined by the flake removal. If there are improper bale heights that in no way allow convergent removal, this can be done by Computers are displayed, which prompts the operator to manually remove or / or relocate the bales to create more favorable conditions.

As mentioned previously, a measuring system is preferred which ensures a slip-free measurement of the longitudinal position of the tower along the row of bales, regardless of whether slip occurs during operation of the tower when the tower is being driven. Up to now, only a light barrier 38, which cooperates with a perforated rail 39, is mentioned as a concrete embodiment. Another possibility is shown in FIG. 8. Here, the rail 39 has been replaced by a rail 39.1 with an I-shaped cross section. On a leg 80 of the machine frame 3 which points vertically downwards, namely on the leg which carries the wheels 35, the rail 39.1 is fixedly attached to two flanges 82 and 84, for example by welding, in which a likewise vertically extending shaft is located in these flanges 86 is rotatably mounted. A non-rotatable rubber wheel 88 is located on the shaft, which is pressed lightly against the longitudinal side 89 of one leg of the I-shaped rail 39.1. When the tower moves vertically to the plane of FIG. 8, the rubber wheel 88 therefore rolls on the longitudinal edge 89 and thus leads to a slip-free rotary movement of the shaft 86. At the upper end of the shaft 86 there is a perforated disk 90, ie a disk with a Row of holes in its circumferential area, so that a rotation of the rubber wheel drives to a rotation of the perforated disc 90, which is also connected to the shaft 86 in a rotationally fixed manner. A light barrier 38.1 with transmitter and receiver parts encompasses the peripheral area of the perforated disk 90 and thus generates a pulse sequence corresponding to the sequence of holes and webs in the perforated disk when the perforated disk rotates on the shaft 86. This pulse sequence is fed to the microprocessor 22 via line 41.1 and processed there, corresponding to signal 41 in FIGS. 1 to 5.

If a certain amount of slippage is to be expected in the embodiment according to FIG. 8, for example due to manufacturing tolerances or insufficient guidance of the tower along the row of bales (adequate guidance of the tower along the row of bales and the transverse direction is normally due to the cooperation between the wheels 35 and the rails 36), one can, as shown in FIG. 9, choose a somewhat modified embodiment in which the rubber wheel 88 is replaced by a gear 88.2. The gear then meshes with a row of teeth 94 on the rail 39.2. In other words, the rail 39.2 is designed as a rack. According to the embodiment according to FIG. 8, the gear 88.2 is rotatably attached to the shaft 86.2, which drives the perforated disk 90.2, which is also non-rotatably connected thereto. Again in accordance with FIG. 8, a light barrier 38.2 generates a pulse sequence which is applied to the microprocessor 22 via the line 41.2.

Another possibility of the slip-free longitudinal measurement is shown in FIG. 10. 10 shows a side view of a bale removal machine, in which the tower 3 runs between two end positions 96 and 98. As in the previous examples, the tower is driven by the wheels 35. Above the floor 37 there is a revolving chain 100 which is attached to the tower 3 at one point and runs at both ends via respective deflection wheels 102, 104. The deflection gear 102 is rotatably mounted on a shaft 106 which is rotatably mounted in a C-shaped receptacle 108. In a corresponding manner, the deflection gear 104 is rotatably mounted on a shaft 110 which is rotatably mounted in a receptacle 112. To show that the chain is very long, it is in the 10 interrupted at a point 100.1. 8 and 9 there is a perforated disk 90.3 on the shaft 106, which is fixed to the shaft 106 in a rotationally fixed manner. Inside the C-shaped receptacle 108 there is a light barrier 38.3 which, when the perforated disk rotates, supplies a pulse train via line 41.3 to the microprocessor 22. It can be seen that when the tower 3 moves along the row of bales, the corresponding movement of the chain leads to a rotary movement of the shaft 106, this rotary movement being determined without slippage by the light barrier 38.3.

FIG. 11 shows a further embodiment in which a perforated rail 39.4 is fastened to the fiber suction channel 4 via brackets 114. Circular holes 116 are arranged in the perforated rail 39.4 at a constant distance L. Since this fiber suction channel is very long, only its beginning is shown in FIG. 11. This figure also shows a hint of a displaceable cover 4.1 of the fiber suction channel, which ensures in a manner known per se that the fiber suction channel is closed, except where the tower feeds the removed fiber flakes into the channel. 11, an inductive proximity switch 38.4 is provided for scanning the row of holes 116, which is fastened to the machine frame 3 of the bale removal machine and thus with the tower of the bale removal machine along the perforated rail 39.4, i.e. is moved along the row of bales. Each time the inductive proximity switch passes one of the holes 116, it generates a pulse, and this pulse train is applied to the microprocessor 22 via line 41.4 in accordance with the other embodiments.

Fig. 11 also shows an alternative embodiment in which a rod 118 with a regular, ie depressions 120 having a constant spacing are also fastened to the brackets 114. Above the rod, which is square in cross section, there is a mechanical button 122 which is fastened to the machine frame 3 of the tower of the bale removal machine and thus moves with it along the rod 118 and along the row of bales. The mechanical pushbutton 122 has a plunger with a hemispherical end (not shown), which is pressed into the respective depression each time as it passes through the depressions 120 and is then pushed out again due to the relative movement and hemispherical surface. Every time the plunger moves into a recess, a mechanical switching process is triggered, which moves electrical switching contacts and applies a corresponding pulse train to the microprocessor 22 via the line 41.5.

Finally, FIG. 12 shows an even simpler arrangement, in which rectangular sheet metal parts 124 are welded onto the fiber suction channel 4 at regular intervals at 126, so that the sheet metal parts form teeth 128 and gaps 130 therebetween. Although the teeth and gaps are the same width in this drawing, this is not mandatory. On the machine frame 3 of the tower (not shown in FIG. 12), a scanning device 39.6 designed as a light barrier is fastened via a C-shaped holder 132, the light barrier here also consisting of transmitting and receiving parts and due to the light beam extending between these two parts the relative movement through the vertical edges of the teeth 128 is periodically interrupted and released again. This produces a pulse train which is applied to the microprocessor 22 via line 41.6 as before.

All versions have in common that the computer too knows in which direction the tower is moving, for example due to the drive signals applied to the drive motor. The microprocessor is thus able to determine the longitudinal position of the bale removal machine along the tower, depending on the direction in which it is moving, by adding or subtracting the incoming pulses. It can also be advantageous to attach a special label at the beginning and end of the row of bales so that these locations are correctly marked. Such markings can also be formed by special training of the rows of holes or the rows of teeth themselves. For example, two adjacent holes can be formed into a longitudinal hole at both ends of the perforated rail, as a result of which the output signal of the corresponding scanning device is at a constant level and no longer switches on and off, as during a movement along the row of bales.

As mentioned earlier, the structure formed by the row of teeth or holes can have a very coarse catch, the longitudinal measurement being carried out in areas between the individual markings by interpolation. This method is shown schematically in FIG. 5. The box 140 represents an interpolating device, which consists of the signals read in via the line 41, 41.1, 41.2, 41.3, 41.4, 41.5 or 41.6 and the information available in the computer 22 about the speed or acceleration or deceleration of the movement of the tower along the bale row divides the time intervals between subsequent pulses so that the resulting time signals also serve as a measure of the longitudinal position of the tower along the bale row. If the speed of the movement is constant, the time intervals must be divided into constant units.

For example, if the speed of movement is 1 m / sec and the holes of the rail are 20 cm apart, signals 41 are generated via line 41 with a time interval between the individual pulses of 0.2 sec. At constant speed, a time unit of 0.01 sec therefore corresponds to 0.01 m = 1 cm. Thus, for example, sensor measurements can be carried out after every cm feed if the interpolating device sends read pulses via the counting device 144 and the line 33 to the measuring sensor 30 after each pulse from the line 41-41.6 at intervals of 0.01 sec.

Furthermore, the computer 22 can have a monitoring device 142 which checks that, when the next pulse arrives via the line 41-41.6, the longitudinal position calculated by the interpolating device corresponds to the position correctly marked by these pulses. If this is not the case, the longitudinal positions calculated between the last two pulses from line 41-41.6 are to be regarded as faulty and should therefore be ignored. Box 144 shows the counting device, which counts the pulses via line 41-41.6 and / or from interpolating device 142 and thereby generates a signal proportional to the travel path. Here, the interpolator 140, the monitor 142 and the counter 144 are integrated in the computer 22, i.e. implemented in software. However, they can also represent separate units, i.e. can be realized as hardware.

Claims (23)

1. A method for operating a bale take-off machine (1) with a take-off member (2) in which the height profile of a row of bales (7) is determined by means of at least one sensor (30, 30.1, 30.2) facing the bale surface (32) and is used for controlling the position of the bale take-off member (2) during the subsequent bale take-off, characterized in that the received signal (Fig. 4a) of the sensor (30, 30.1, 30.2) preferably operating optically, acoustically or with radar waves for obtaining a signal (Fig. 4C) representative of the bale hardness is processed and that the feed (Fig. 4D) and, optionally, also the penetration depth (Fig. 4E) of the take off member (2) is controlled of regulated according to said hardness signal.
2. A method as claimed in claim 1, characterized in that the hardness signal is determined from the fluctuations of the sensor signal (Fig. 4A), for example in such a way that the hardness signal is determined by adding up the deviations of the sensor signal which are provided with a positive sign from the mean value of said signal, with optionally the sensor signal being scanned, preferably with a frequency which is higher than the double basic frequency of the signal.
3. A method as claimed in claim 2, characterized in that a sensor (30, 30.1, 30.2) is used which is started periodically for example and transmits directly the momentary measured value in digitized form to the computer (22), which will then store it in an array.
4. A method as claimed in one of the claims 1 to 3, characterized in that the hardness is determined separately for each bale (43 to 47) or for each component of the row of bales (7).
5. A method as claimed in one of the preceding claims, characterized in that the height profile (Fig. 4b) of the row of bales (7) is determined during an empty run of the bale take-off member above the row of bales.
6. A method as claimed in one of the preceding claims 1 to 4, in which rows of bales (7) are arranged on either side of a bale take-off machine (1), characterized in that the height profile (Fig. 4B) of the one row of bales (7) is determined during the take-off of the other row of bales (7).
7. A method as claimed in one of the preceding claims 1 to 6, characterized in that the height profile (Fig. 4A) scanned during the first passage of the take-off member (2) along a row of bales is read into a computer (22) which calculates from said height profile (Fig. 4B) and from the calculated hardness profile (Fig. 4C) a feed profile (Fig. 4D) changing over the length of the row of bales (7), in which the production is kept close to a maximum by taking into account the desired mixing ratio of the origins of the individual bales (43 to 47).
8. A method as claimed in claim 7, characterized in that the computer (22) is programmed in order to strive during several passages to take off all bales (43 to 47) according to the respectively measured hardnesses and the desired mixing ratios in such a way that at the end of the take-off the entire row (7) has been taken off without any substantial bale residues, with the computer (22) preferably striving towards a feed depth or a feed depth profile during each passage which is increasingly approximated towards a horizontal line.
9. A method as claimed in one of the claims 7 or 8, characterized in that the take-off of the row of bales (7) occurs already during the first passage with simultaneous detection of the height profile (Fig. 4B), with the take-off member (2) being subsequently controlled constantly or step-by-step during the first passage according to the bale height.
10. A method as claimed in claim 9, characterized in that the computer (22) determines the optimal passage height curves (62 to 67; 70 to 75) for subsequent passages in order to always achieve, on the one hand, an approximately maximum production and to arrive, on the other hand, during the last passage at a minimal height (68).
11. A method as claimed in one of the claims 7 to 10, characterized in that a scheduled value can be predetermined for the stream of flocks of the take-off machine, that the actual value of the flock stream is determined as a result of the feed depth (Fig. 4D) and the respective hardness signal (Fig. 4C), and the feed depth is regulated for maintaining the predetermined or maximum flock stream.
12. A method as claimed in one of the preceding claims, characterized in that the beginning (49) or the end (52) of the bale row (7) and, optionally, the existence and the length of gaps(48) between the bales (43 to 47) of the row (7) are determined by the sensor signal (Fig. 4A).
13. A method as claimed in one of the preceding claims, characterized in that a signal (41) proportional to the path of movement of the take-off member (2) along the row of bales is produced and is taken into account by the computer (22) in the calculation of the height profile (Fig. 4B) or the feed depth profile (Fig. 4D) or the hardness profile (Fig. 4C).
14. A method for operating a bale take-off machine with a take-off member (2) in which the height profile of a row of bales (7) is determined by means of at least one sensor (30, 30.1, 30.2) facing the bale surface and is used for controlling the position of the bale take-off member (2) during the subsequent bale take-off, characterized in that for the determination of the height profile a distance measuring sensor (30, 30.1, 30.2) is used, in particular a sensor operating optically, acoustically or with radar waves, which sensor measures the distance between itself and the bale surface (32) or the floor (37) directly.
15. A method as claimed in one of the claims 1 to 14, characterized in that the take-off member (2) is guided in follow-up operation step by step in the first passage over the bale surface (32) during the take-off of a row of bales (7), that in the second passage and, optionally, also in a third passage the take-off member (2) is set to a constant height whose value is calculated by the computer (22) in such a way that, on the one hand, a maximum take-off depth is not exceeded and, on the other hand, the production is still kept as high as possible and that preferably levelling out is made not later than during the fourth passage towards the bale group.
16. An apparatus for operating a bale take-off machine (1) with a take-off member (2) for taking off at least one row of bales (7), with a device (22) controlling or regulating the level of the take-off member and with at least one sensor (30, 30.1, 30.2) determining the height profile (Fig. 4B) of the row of bales (7) and facing the surface of the row of bales, characterized in that the sensor or each sensor is a distance measuring sensor (30, 30.1, 30.2), in particular a sensor operating optically, acoustically or with radar waves, which measures the distance to the bale surface (32) or, at the beginning (49) and at the end (52) of the bale row (7) or in gaps (48) between the bale row, the distance to the floor (37) or to a bale carrier, with a device (22) being provided which determines the hardness of the individual bales (43 to 47) in the zone of the bale surface (32) by means of the distance signals (Fig. 4A) of the distance measuring sensor (30, 30.1, 30.2).
17. An apparatus as claimed in claim 16, characterized in that a device (22) is provided which controls the feed (Fig. 4D) of the take-off member (2) according to the determined bale hardness (Fig. 4C) and/or that a device (22) is provided which controls the penetration depth (Fig. 4E) of the take-off member (2) according to the determined bale hardness (Fig. 4C), with the distance measuring sensor (30, 30.1) preferably being attached to the extension arm (5) carrying the take-off member (2) before said take-off member (2) in the take-off direction and optionally several distance measuring sensors operating mutually parallel being attached to the extension arm (5) carrying the take-off member (2) before said take-off member (2) in the take-off direction, with optionally a further distance measuring sensor (30.2) being attached to the rear side of the extension arm (5) carrying the take-off member (2).
18. An apparatus as claimed in claim 16, wherein the take-off member (2) is carried by a movable and rotatable tower (3) which is provided for taking off the rows of bales (7) arranged on either side of the path of movement, characterized in that the distance measuring sensor (30.1) is arranged on the side of the tower (3) which is opposite of the take-off member.
19. An apparatus as claimed in one of the preceding claims 16 to 18, characterized by a position measuring sensor (38, 38.1, 38.2, 38.3, 38.4, 38.6) which determines the longitudinal position of the take-off member along the row of bales and is connected to the computer (22).
20. An apparatus as claimed in one of the claims 16 to 19, with a driving path measuring device for use with the bale take-off machine, which is provided with a non-slip-free drive system and a drivable tower (3) which is movable by means of the drive system along the row of bales (7), characterized by a longitudinal element (39.1; 39.2; 100; 39.4; 4, 124) which extends along the row of bales (7) and which is either fixedly arranged or is connected with the tower (3) and moves with it, by a scanning device (38.1; 38.2; 38.3; 38.4; 38.6) which depending on the arrangement of the longitudinal element is arranged either on the movable tower or at a certain position along the row of bales and scans the longitudinal element (39.1; 39.2; 100; 39.4; 4, 124) either during the travelling movement of the tower in a slip-free manner and emits an impulse each time when the tower (3) covers a certain step, and by a counter device (144) which counts the pulses and generates a signal proportional to the path travelled.
21. An apparatus as claimed in claim 20, characterized in that the longitudinal element is a rail (39.1; 39.2) and the scanning device is a wheel (88, 88.2) which, arranged on the tower (3), rolls off in a slip-free manner along the rail and that a pulse generator (90, 90.2) is coupled with the wheel for emitting pulses, with the rail preferably being arranged as toothed rod (39.2) and the wheel preferably being arranged as a toothed wheel (88.2) combing said rod.
22. An apparatus as claimed in claim 20, characterized in that the longitudinal element is formed by a chain (100) which is attached to the tower (3) and is deflectable at either end of the row of bales (7) by means of deflection devices (102, 104) during a circulating movement caused by the movement of the tower along the row of bales (7), that the scanning device is formed by a chain wheel (102) drivable by the chain, and that a pulse generator (90.3) for emitting pulses is coupled with the chain wheel (102) arranged at a fixed position of the row of bales (7), with the chain wheel preferably forming one of the deflection devices (102, 104).
23. An apparatus as claimed in claim 20, characterized in that the longitudinal element is formed by a regularly repeated structure comprising regularly repetitive, narrower and wider zones, e.g. by a perforated rail (39.4) or a rigidly tensioned chain or a longitudinal object (4, 124) comprising teeth (128) and gaps (130) and that the structure can be scanned by a light barrier (132, 38.6) or an inductive scanning device whose receiving circuits emit the pulses, with a longitudinal structure (4, 124) preferably extending along the flock conveying duct (4) (suction duct) and being attached thereto, preferably that the repetitive length of the structure is relatively large, e.g more than 10 cm, and that during a known, preferably constant driving speed longitudinal measurements can be carried out in the zone between two successive pulses by an interpolating device, and optionally that a device is provided which monitors the time interval between between the pulses, with the counter device (144) and/or the interpolating device (140) and/or the monitoring device (142) favourably being formed by a microprocessor (22).

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