EP0687316A1 - Process and device for paralleling a transport carriage - Google Patents

Process and device for paralleling a transport carriage

Info

Publication number
EP0687316A1
EP0687316A1 EP94909040A EP94909040A EP0687316A1 EP 0687316 A1 EP0687316 A1 EP 0687316A1 EP 94909040 A EP94909040 A EP 94909040A EP 94909040 A EP94909040 A EP 94909040A EP 0687316 A1 EP0687316 A1 EP 0687316A1
Authority
EP
European Patent Office
Prior art keywords
wheels
chassis
distance
machine
driven
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP94909040A
Other languages
German (de)
French (fr)
Other versions
EP0687316B1 (en
Inventor
Helmut Graser
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GENKINGER HEBE- und FOERDERTECHNIK GmbH
GENKINGER HEBE FOERDERTECH
Original Assignee
GENKINGER HEBE- und FOERDERTECHNIK GmbH
GENKINGER HEBE FOERDERTECH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GENKINGER HEBE- und FOERDERTECHNIK GmbH, GENKINGER HEBE FOERDERTECH filed Critical GENKINGER HEBE- und FOERDERTECHNIK GmbH
Publication of EP0687316A1 publication Critical patent/EP0687316A1/en
Application granted granted Critical
Publication of EP0687316B1 publication Critical patent/EP0687316B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02H—WARPING, BEAMING OR LEASING
    • D02H13/00—Details of machines of the preceding groups
    • D02H13/38—Storage racks for beams
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03J—AUXILIARY WEAVING APPARATUS; WEAVERS' TOOLS; SHUTTLES
    • D03J1/00—Auxiliary apparatus combined with or associated with looms
    • D03J1/001—Cloth or warp beam replacement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/124—Roll handlers

Definitions

  • the invention relates to a method and a device for parallel straightening a transport carriage for warp or fabric trees that can be positioned in front of a weaving machine, the chassis of which has two longitudinally spaced, steerable and optionally motor-driven wheels.
  • Warp beam transport trolleys of this type are mainly used to change warp beam on weaving machines.
  • the full warp beam must be picked up from the floor or a storage frame, transported to the weaving machine and positioned in front of it and hung in a warp beam bearing on the machine frame.
  • the transport trolley is usually aligned and parallelized by the operator by repeated transverse and longitudinal movement of the chassis according to the eye with respect to the weaving machine. This process is cumbersome and, depending on the skill of the operator, is quite time-consuming. In the event of incorrect positioning, there are repeated stresses in the bearing area of the weaving machine and the support arms as well as in the area of the projecting tube ends of the warp beams, which leads to unnecessary wear or damage.
  • Goods wagon trolleys of this type are mainly used for the change of fabric on weaving machines.
  • a goods transport trolley has the task of lifting a fully wound goods tree out of a weaving machine, severing the fabric web, winding the free end of the fabric web on an empty goods tree and inserting the empty goods tree with the wound fabric web into the weaving machine.
  • the goods tree transport trolley is positioned in the goods passage in front of the weaving machine in question. The positioning in the longitudinal direction can be done very precisely.
  • the parallel position to the weaving machine on the other hand, is associated with difficulties. If the parallelism is inaccurate, there is a risk that undesired wrinkling will occur when the new goods tree is rolled up and then inserted. In order to prevent this, the goods tree transport trolley must be aligned parallel to the weaving machine.
  • the invention is based on the object of developing a method and a device with which a parallel direction of the transport carriage to the weaving machine is possible with simple means.
  • the transport carriage is positioned in the warp or goods aisle relative to the weaving machine in the longitudinal direction and aligned with at least one of its steerable wheels in the transverse direction of the weaving machine; Then the transverse distances to two opposing machine-fixed reference surfaces are measured in a contact-free manner from two positions arranged at a longitudinal distance from one another with the formation of distance signals and converted into a drive and / or steering movement of the wheels with the transport carriage parallelized.
  • the two motor-driven wheels oriented in the transverse direction for parallel alignment are driven in opposite directions in accordance with the distance signals or a difference signal formed from the distance signals until the trolley is aligned in parallel. If the chassis has sufficient lateral guidance, the trolley can then be moved in the transverse direction of the weaving machine without any further measuring process.
  • the two motor-driven wheels aligned in the transverse direction can be driven in parallel in the same direction at different speeds for parallel straightening in accordance with the distance signals or a difference signal formed from the distance signals, or stopped individually.
  • the transverse distances between the positions fixed to the chassis and the reference surfaces fixed to the machine can be measured and according to their mutual deviation or a deviation from predetermined target values are converted into control signals for actuating drive units of the transport vehicle or the weaving machine and / or a display device. Due to the distance measurement, the travel coordinates of the transport carriage relative to the weaving machine are known during the entire transverse travel, so that these measures meet the requirements for an automatic warp and fabric change.
  • energy beams in particular ultrasound or light beams, are used for non-contact distance measurement from the position fixed to the chassis and reflected on the machine-fixed reference surface.
  • the device for carrying out the method according to the invention has two distance sensors which are arranged at a longitudinal distance from one another and can be aligned on reflection surfaces of the weaving machine and one with. display and / or evaluation circuit connected to the distance sensors for displaying the difference between the measured distance values and / or for controlling drive and / or steering units of the wheels.
  • the two motor-driven wheels oriented in the transverse direction can expediently be driven in opposite directions via the evaluation circuit in accordance with distance signals that can be picked up at the distance sensors or between the difference signals formed between them.
  • the motor-driven wheels can be used for this Purpose can also be driven in the same direction in the transverse direction with different speeds according to the distance signals or the differential signals.
  • a further advantageous embodiment of the invention provides a handling mechanism that can be controlled via the distance signals of the distance sensors, chassis and / or machine-fixed, for inserting or lifting out the warp or goods tree and for controlling the drive wheels.
  • the handling mechanism can have a lifting device fixed to the chassis for a warp or goods tree or a machine-fixed and / or chassis-fixed gripping and coupling device for detecting and releasing the warp and goods tree.
  • the invention can also be used to align transport trolleys in front of knitting machines, Raschel machines or clippers.
  • FIG. 1 shows a diagram of a first exemplary embodiment of a warp beam transport carriage in the positioning position in front of a weaving machine
  • FIG. 2 shows a diagram of a warp beam transport trolley in parallel alignment in front of a weaving machine
  • 3 shows a diagram of a Kettbaum transport carriage in parallel transverse travel in front of a weaving machine
  • FIG. 4 shows a block diagram of a device for parallel alignment of a transport carriage.
  • the warp beam transport carriages 10 shown schematically in the drawing have an elongated chassis 16, which has two steerable and motor-driven wheels 12, and a lifting device 18 for a warp beam 20.
  • two support rollers 24, which are pivotably arranged on cross arms 22 and are designed as steering rollers, are additionally provided, while in the exemplary embodiments according to FIGS. 2 and 3 on the chassis 16 an additional, aligned in the longitudinal direction of travel, In the cross-travel direction folding wheel 26 and two in the cross-travel direction lowerable to the floor (only shown in Fig. 3) support rollers 28 are provided.
  • the wheels 12 are pivoted in the longitudinal or transverse direction of travel via a control drawbar 30 or a steering wheel.
  • the actuation of the drive motors 48 of the drive wheels 12 takes place via actuation members, not shown, which are arranged on the control drawbar 30.
  • the transport carriage 10 is equipped with two distance sensors 40 which are arranged at a distance from one another and are preferably designed as an ultrasound distance measuring device, the scanning beam of which is reflected back to the sensor 40 at an opposite machine-fixed reference surface 42.
  • the output signals of the distance sensors 40 are evaluated in a preferably microprocessor-based evaluation circuit 44 to form differential and path signals and converted into control signals for the drive controls 46 of the drive motors 48 assigned to the wheels 12 (FIG. 4).
  • the parallel alignment with respect to the weaving machine can take place in that the wheels 12 are driven in opposite directions so that the chassis 16 rotates about the pivot point 50 into the parallel position without a longitudinal offset.
  • the impeller 26 is also rotated about the pivot point 50.
  • the transverse travel to the weaving machine can be carried out by driving the wheels 12 in the same direction.
  • the parallel alignment can also take place in the course of transverse travel if the wheels 12 are in accordance with the requirements of the distance signals measured with the distance sensors 40 are driven in the same direction but at different speeds.
  • the distance signals are evaluated in the evaluation circuit 44, if necessary with the support of a microprocessor.
  • the drive energy can be metered by the operator via a control element (not shown) on the control drawbar 30, the distance sensors 40 and the evaluation circuit 44 constantly ensuring the parallel alignment by correspondingly controlling the drive motors 48.
  • a distance coordinate is defined by the distance sensors 40 in the course of the transverse movement, on the basis of which path-dependent manipulations can also be carried out within the transport carriage 10 or on the weaving machine 32.
  • this makes it possible to raise and lower the warp beam depending on the distance. Furthermore, a distance-dependent stopping of the transverse travel movement or an automatic switchover to slow travel is possible. Finally, other movements, such as opening the bearings, uncoupling the drives, and even fully automatic manipulation when inserting and removing the warp beam can be carried out.
  • infrared sensors or laser sensors can also be used for non-contact distance measurement.
  • the invention relates to a method and a device for parallel straightening a position in front of a weaving machine 32.
  • Transportable trolley 10 for warp or goods trees the self-propelled chassis 16 of which has two motor-driven and steerable wheels 12 arranged at a longitudinal distance from one another.
  • the trolley 10 is first positioned in the warp or goods aisle relative to the weaving machine 32 in the longitudinal direction and aligned with its wheels 12 in the transverse direction of travel. Then the transverse distances to two opposite, machine-fixed reflection surfaces 42 are measured in a contactless manner from two chassis sensors fixed in the longitudinal distance from one another and compared with one another to form a difference signal.
  • the difference signal can be optically displayed as a steering or drive instruction for a steering operation and / or can be converted as a control signal into a driving and / or steering movement of the wheels 12 with the trolley 10 parallelized.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Looms (AREA)
  • Auxiliary Weaving Apparatuses, Weavers' Tools, And Shuttles (AREA)
  • Knitting Machines (AREA)

Abstract

A process and device are disclosed for paralleling a yarn or cloth roller transport carriage (10) which may be positionable in front of a mechanical weaving loom (32). The automobile carriage body (169) has two motor-driven, steerable driving wheels (12) which are mutually spaced apart in the longitudinal direction. In order to parallel the transport carriage (10), the carriage is at first positioned in the longitudinal direction in the yarn or cloth feeding path with respect to the weaving loom (32), then its driving wheels (12) are turned transversely to the moving direction. The transverse distances between two distance sensors (40) fixed to the carriage body and mutually spaced apart in the longitudinal direction on the one hand and two opposite reflecting surfaces (42) fixed to the loom on the other hand are measured without contact and compared in order to generate a difference signal. The difference signal may be optically displayed as a steering or driving indication and/or may be converted into a control signal for driving and/or steering the driving wheels (12) so as to parallel the transport carriage (10).

Description

Verfahren und Vorrichtung zum Parallelrichten eines TransportwagensMethod and device for straightening a transport vehicle
Beschreibungdescription
Die Erfindung betrifft ein Verfahren und eine Vorrich¬ tung zum Parallelrichten eines vor einer Webmaschine positionierbaren Transportwagens für Kett- oder Waren¬ bäume, dessen Fahrgestell zwei im Längsabstand vonein¬ ander angeordnete, lenkbare und gegebenenfalls moto¬ risch antreibbare Räder aufweist.The invention relates to a method and a device for parallel straightening a transport carriage for warp or fabric trees that can be positioned in front of a weaving machine, the chassis of which has two longitudinally spaced, steerable and optionally motor-driven wheels.
Kettbaum-Transportwagen dieser Art werden vor allem zum Kettbaumwechsel an Webmaschinen eingesetzt. Zu diesem Zweck muß der volle Kettbaum vom Boden oder einem La¬ gergestell aufgenommen, zur Webmaschine transportiert und vor dieser positioniert und in ein Kettbaumlager am Maschinenrahmen eingehängt werden. Zur Positionierung wird der Transportwagen üblicherweise vom Bediener durch mehrmaliges Quer- und Längsfahren des Fahrge¬ stells nach Augenmaß bezüglich der Webmaschine ausge¬ richtet und parallelisiert. Dieser Vorgang ist umständ¬ lich und je nach Geschicklichkeit des Bedieners recht zeitaufwendig. Bei fehlerhafter Positionierung kommt es immer wieder zu Stoßbeanspruchungen im Lagerbereich der Webmaschine und der Tragarme sowie im Bereich der über¬ stehenden Rohrenden der Kettbäume und dadurch zu einem unnötigen Verschleiß oder zu Beschädigungen.Warp beam transport trolleys of this type are mainly used to change warp beam on weaving machines. For this purpose, the full warp beam must be picked up from the floor or a storage frame, transported to the weaving machine and positioned in front of it and hung in a warp beam bearing on the machine frame. For positioning, the transport trolley is usually aligned and parallelized by the operator by repeated transverse and longitudinal movement of the chassis according to the eye with respect to the weaving machine. This process is cumbersome and, depending on the skill of the operator, is quite time-consuming. In the event of incorrect positioning, there are repeated stresses in the bearing area of the weaving machine and the support arms as well as in the area of the projecting tube ends of the warp beams, which leads to unnecessary wear or damage.
Warenbaum-Transportwagen dieser Art werden vor allem zum Warenbaumwechsel an Webmaschinen eingesetzt. Ein Warenbaum-Transportwagen hat die Aufgabe, einen vollbe¬ wickelten Warenbaum aus einer Webmaschine auszuheben, die Gewebebahn durchzutrennen, das freie Ende der Gewe¬ bebahn auf einem leeren Warenbaum anzuwickeln und den leeren Warenbaum mit der angewickelten Gewebebahn in die Webmaschine einzusetzen. Zum Warenbaumwechsel wird der Warenbaum-Transportwagen im Warengang vor der be¬ treffenden Webmaschine positioniert. Die Positionierung in Längsrichtung kann sehr genau erfolgen. Die Parallel¬ stellung zur Webmaschine ist dagegen mit Schwierigkei¬ ten verbunden. Bei ungenauer Parallelität besteht die Gefahr, daß es beim Anwickeln und anschließenden Ein¬ setzen des neuen Warenbaums zu einer unerwünschten Fal¬ tenbildung kommt. Um dies zu verhindern, muß der Waren¬ baum-Transportwagen parallel zur Webmaschine ausgerich¬ tet werden.Goods wagon trolleys of this type are mainly used for the change of fabric on weaving machines. A goods transport trolley has the task of lifting a fully wound goods tree out of a weaving machine, severing the fabric web, winding the free end of the fabric web on an empty goods tree and inserting the empty goods tree with the wound fabric web into the weaving machine. To change the goods tree, the goods tree transport trolley is positioned in the goods passage in front of the weaving machine in question. The positioning in the longitudinal direction can be done very precisely. The parallel position to the weaving machine, on the other hand, is associated with difficulties. If the parallelism is inaccurate, there is a risk that undesired wrinkling will occur when the new goods tree is rolled up and then inserted. In order to prevent this, the goods tree transport trolley must be aligned parallel to the weaving machine.
Ausgehend hiervon liegt der Erfindung die Aufgabe zu¬ grunde, ein Verfahren und eine Vorrichtung zu entwickeln, womit mit einfachen Mitteln eine Parallelrichtung des Transportwagens zur Webmaschine möglich ist.Proceeding from this, the invention is based on the object of developing a method and a device with which a parallel direction of the transport carriage to the weaving machine is possible with simple means.
Diese Aufgabe wird gemäß der Erfindung durch folgende Verfahrensschritte gelöst:According to the invention, this object is achieved by the following method steps:
- Der Transportwagen wird im Kett- oder Warengang rela¬ tiv zur Webmaschine in Längsrichtung positioniert und mit mindestens einem seiner lenkbaren Räder in Quer¬ fahrtrichtung zur Webmaschine ausgerichtet; - sodann werden von zwei im Längsabstand voneinander angeordneten fahrgestellfesten Positionen aus die Querabstände zu zwei gegenüberliegenden maschinenfe- sten Bezugsflächen berührungslos unter Bildung von Abstandssignalen gemessen und in eine Antriebs¬ und/oder Lenkbewegung der Räder unter Parallelrichten des Transportwagens umgesetzt.The transport carriage is positioned in the warp or goods aisle relative to the weaving machine in the longitudinal direction and aligned with at least one of its steerable wheels in the transverse direction of the weaving machine; Then the transverse distances to two opposing machine-fixed reference surfaces are measured in a contact-free manner from two positions arranged at a longitudinal distance from one another with the formation of distance signals and converted into a drive and / or steering movement of the wheels with the transport carriage parallelized.
Vorteilhafterweise werden die beiden motorisch ange¬ triebenen und in Querfahrtrichtung ausgerichteten Räder zum Parallelrichten nach Maßgabe der Abstandssignale oder eines aus den Abstandssignalen gebildeten Diffe¬ renzsignals gegensinnig angetrieben, bis der Transport¬ wagen parallelgerichtet ist. Bei ausreichender Seiten¬ führung des Fahrgestells kann der Transportwagen im An¬ schluß daran ohne einen weiteren Meßvorgang in Quer¬ fahrtrichtung zur Webmaschine hin verschoben werden.Advantageously, the two motor-driven wheels oriented in the transverse direction for parallel alignment are driven in opposite directions in accordance with the distance signals or a difference signal formed from the distance signals until the trolley is aligned in parallel. If the chassis has sufficient lateral guidance, the trolley can then be moved in the transverse direction of the weaving machine without any further measuring process.
Alternativ dazu können die beiden motorisch angetriebe¬ nen und in Querfahrtrichtung ausgerichteten Räder zum Parallelrichten nach Maßgabe der Abstandssignale oder eines aus den Abstandssignalen gebildeten Differenz¬ signals gleichsinnig mit unterschiedlichen Drehzahlen angetrieben oder einzeln angehalten werden. Während der Querfahrt des Transportwagens in Richtung Webmaschine können dabei die Querabstände zwischen den fahrgestell¬ festen Positionen und den maschinenfesten Bezugsflächen gemessen und nach Maßgabe ihrer gegenseitigen Abwei¬ chung oder einer Abweichung von vorgegebenen Sollwerten in Stellsignale zur Betätigung von Antriebsaggregaten des Transportwagens oder der Webmaschine und/oder einer Anzeigevorrichtung umgesetzt werden. Durch die Abstands- essung sind die Verfahrkoordinaten des Transportwagens gegenüber der Webmaschine während der gesamten Quer¬ fahrt bekannt, so daß mit diesen Maßnahmen die Voraus¬ setzungen für einen automatischen Kett- und Warenbaum¬ wechsel erfüllt sind.Alternatively, the two motor-driven wheels aligned in the transverse direction can be driven in parallel in the same direction at different speeds for parallel straightening in accordance with the distance signals or a difference signal formed from the distance signals, or stopped individually. During the transverse travel of the transport carriage in the direction of the weaving machine, the transverse distances between the positions fixed to the chassis and the reference surfaces fixed to the machine can be measured and according to their mutual deviation or a deviation from predetermined target values are converted into control signals for actuating drive units of the transport vehicle or the weaving machine and / or a display device. Due to the distance measurement, the travel coordinates of the transport carriage relative to the weaving machine are known during the entire transverse travel, so that these measures meet the requirements for an automatic warp and fabric change.
Vorteilhafterweise werden zur berührungslosen Abstands¬ messung von der fahrgestellfesten Position aus emittier¬ te und an der maschinenfesten Bezugsfläche reflektierte Energiestrahlen, insbesondere Ultraschall- oder Licht¬ strahlen verwendet.Advantageously, energy beams, in particular ultrasound or light beams, are used for non-contact distance measurement from the position fixed to the chassis and reflected on the machine-fixed reference surface.
Die Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens weist zwei am Fahrgestell im Längsabstand voneinander angeordnete, auf Reflexionsflächen der Web¬ maschine ausrichtbare Abstandssensoren und eine mit. den Abstandssensoren verbundene Anzeige- und/oder Auswerte¬ schaltung zur Anzeige der Differenz zwischen den gemes¬ senen Abstandswerten und/oder zur Ansteuerung von An¬ triebs- und/oder Lenkaggregaten der Räder auf. Zum Par¬ allelrichten des Transportwagens sind die beiden moto¬ risch angetriebenen und in Querfahrtrichtung ausgerich¬ teten Räder über die Auswerteschaltung zweckmäßig nach Maßgabe von an den Abstandssensoren abgreifbaren Ab¬ standssignalen oder zwischen diesen gebildeten Diffe¬ renzsignalen gegensinnig antreibbar. Alternativ dazu können die motorisch angetriebenen Räder zu diesem Zweck auch gleichsinnig in Querfahrtrichtung mit nach Maßgabe der Abstandssignale oder der Differenzsignale unterschiedlichen Drehzahlen antreibbar sein.The device for carrying out the method according to the invention has two distance sensors which are arranged at a longitudinal distance from one another and can be aligned on reflection surfaces of the weaving machine and one with. display and / or evaluation circuit connected to the distance sensors for displaying the difference between the measured distance values and / or for controlling drive and / or steering units of the wheels. For parallel alignment of the transport vehicle, the two motor-driven wheels oriented in the transverse direction can expediently be driven in opposite directions via the evaluation circuit in accordance with distance signals that can be picked up at the distance sensors or between the difference signals formed between them. Alternatively, the motor-driven wheels can be used for this Purpose can also be driven in the same direction in the transverse direction with different speeds according to the distance signals or the differential signals.
Eine weitere vorteilhafte Ausgestaltung der Erfindung sieht einen über die Abstandssignale der Abstandssenso¬ ren ansteuerbaren, fahrgestell- und/oder maschinenfe¬ sten Handhabungsmechanismus zum Einlegen oder Ausheben des Kett- oder Warenbaums sowie zur Ansteuerung der An¬ triebsräder vor. Der Handhabungsmechanismus kann dazu eine fahrgestellfeste Hubvorrichtung für einen Kett¬ oder Warenbaum oder eine maschinenfeste und/oder fahr¬ gestellfeste Greif- und Kupplungsvorrichtung zum Erfas¬ sen und Freigeben des Kett- und Warenbaums aufweisen.A further advantageous embodiment of the invention provides a handling mechanism that can be controlled via the distance signals of the distance sensors, chassis and / or machine-fixed, for inserting or lifting out the warp or goods tree and for controlling the drive wheels. For this purpose, the handling mechanism can have a lifting device fixed to the chassis for a warp or goods tree or a machine-fixed and / or chassis-fixed gripping and coupling device for detecting and releasing the warp and goods tree.
Die Erfindung kann in gleicher Weise auch zum Parallel¬ richten von Transportwagen vor Wirkmaschinen, Raschel¬ maschinen oder Schermaschinen eingesetzt werden.In the same way, the invention can also be used to align transport trolleys in front of knitting machines, Raschel machines or clippers.
Im folgenden wird die Erfindung anhand einiger in der Zeichnung in schematischer Weise dargestellter Ausfüh¬ rungsbeispiele näher erläutert. Es zeigenIn the following, the invention is explained in more detail with reference to some exemplary embodiments shown schematically in the drawing. Show it
Fig. 1 ein Schema eines ersten Ausführungsbeispiels eines Kettbaum-Transportwagens in Positionier¬ stellung vor einer Webmaschine;1 shows a diagram of a first exemplary embodiment of a warp beam transport carriage in the positioning position in front of a weaving machine;
Fig. 2 ein Schema eines Kettbaum-Transportwagens beim Parallel-Ausrichten vor einer Webmaschine; Fig. 3 ein Schema eines Kettbaum-Transportwagens beim Parallel-Querfahren vor einer Webmaschine;2 shows a diagram of a warp beam transport trolley in parallel alignment in front of a weaving machine; 3 shows a diagram of a Kettbaum transport carriage in parallel transverse travel in front of a weaving machine;
Fig. 4 ein Blockschaltbild einer Vorrichtung zum Par¬ allelrichten eines Transportwagens.4 shows a block diagram of a device for parallel alignment of a transport carriage.
Die in der Zeichnung schematisch dargestellten Kett¬ baum-Transportwagen 10 weisen ein langgestrecktes, zwei lenkbare und motorisch angetriebene Räder 12 aufweisen¬ des Fahrgestell 16 sowie eine Hubvorrichtung 18 für ei¬ nen Kettbaum 20 auf. Bei dem in Fig. 1 gezeigten Aus¬ führungsbeispiel sind zusätzlich zwei an Querauslegern 22 schwenkbar angeordnete, als Lenkrollen ausgebildete Stützrollen 24 vorgesehen, während bei den Ausführungs¬ beispielen nach Fig. 2 und 3 am Fahrgestell 16 ein zu¬ sätzliches, in Längsfahrtrichtung ausgerichtetes, in Querfahrtrichtung einklappbares Laufrad 26 und zwei in Querfahrtrichtung auf den Boden absenkbare (nur in Fig. 3 eingezeichnete) Stützrollen 28 vorgesehen sind. Die Räder 12 werden über eine Steuerdeichsel 30 oder ein Lenkrad in Längs- oder Querfahrtrichtung geschwenkt. Die Betätigung der Antriebsmotoren 48 der Antriebsräder 12 erfolgt über nicht dargestellte Betätigungsorgane, die an der Steuerdeichsel 30 angeordnet sind.The warp beam transport carriages 10 shown schematically in the drawing have an elongated chassis 16, which has two steerable and motor-driven wheels 12, and a lifting device 18 for a warp beam 20. In the exemplary embodiment shown in FIG. 1, two support rollers 24, which are pivotably arranged on cross arms 22 and are designed as steering rollers, are additionally provided, while in the exemplary embodiments according to FIGS. 2 and 3 on the chassis 16 an additional, aligned in the longitudinal direction of travel, In the cross-travel direction folding wheel 26 and two in the cross-travel direction lowerable to the floor (only shown in Fig. 3) support rollers 28 are provided. The wheels 12 are pivoted in the longitudinal or transverse direction of travel via a control drawbar 30 or a steering wheel. The actuation of the drive motors 48 of the drive wheels 12 takes place via actuation members, not shown, which are arranged on the control drawbar 30.
Zur Längspositionierung des Transportwagens 10 im Kett¬ gang vor der Webmaschine 32 kann beispielsweise über Bodenmarkierungen 34 (Fig. 2) oder über eine am Trans¬ portwagen 10 angeordnete und auf einen Zielreflektor an der Webmaschine 32 ansprechende Reflexionslichtschranke 38 (Fig . 1 ) erfolgen .For longitudinal positioning of the transport carriage 10 in the warp gear in front of the weaving machine 32, for example via floor markings 34 (FIG. 2) or via a reflection light barrier arranged on the transport carriage 10 and responding to a target reflector on the weaving machine 32 38 (Fig. 1).
Zum Parallelrichten vor der Webmaschine ist der Trans¬ portwagen 10 mit zwei im Abstand voneinander angeordne¬ ten, vorzugsweise als Ultraschall-Entfernungsmeßgerät ausgebildeten Abstandssensoren 40 ausgestattet, deren Abtaststrahl jeweils an einer gegenüberliegenden ma¬ schinenfesten Bezugsfläche 42 zum Sensor 40 zurückre¬ flektiert wird. Die Ausgangssignale der Abstandssenso¬ ren 40 werden in einer vorzugsweise mikroprozessorge¬ stützten Auswerteschaltung 44 unter Bildung von Diffe¬ renz- und Wegsignalen ausgewertet und in Steuersignale für die Antriebssteuerungen 46 der den Rädern 12 zuge¬ ordneten Antriebsmotoren 48 umgesetzt (Fig. 4) .For parallel straightening in front of the weaving machine, the transport carriage 10 is equipped with two distance sensors 40 which are arranged at a distance from one another and are preferably designed as an ultrasound distance measuring device, the scanning beam of which is reflected back to the sensor 40 at an opposite machine-fixed reference surface 42. The output signals of the distance sensors 40 are evaluated in a preferably microprocessor-based evaluation circuit 44 to form differential and path signals and converted into control signals for the drive controls 46 of the drive motors 48 assigned to the wheels 12 (FIG. 4).
Wie aus Fig. 2 zu ersehen ist, kann die Parallelaus¬ richtung gegenüber der Webmaschine dadurch erfolgen, daß die Räder 12 so gegensinnig angetrieben werden, daß sich das Fahrgestell 16 ohne Längsversatz um den Dreh¬ punkt 50 in die Parallellage dreht. Das Laufrad 26 wird in diesem Falle um den Drehpunkt 50 mitgedreht. Nach Erreichen der Parallellage kann nach Abheben des Lauf¬ rades 26 vom Boden und nach Absenken von nicht gezeig¬ ten Stützrollen 24 durch gleichsinnigen Antrieb der Rä¬ der 12 die Querfahrt zur Webmaschine durchgeführt wer¬ den.As can be seen from FIG. 2, the parallel alignment with respect to the weaving machine can take place in that the wheels 12 are driven in opposite directions so that the chassis 16 rotates about the pivot point 50 into the parallel position without a longitudinal offset. In this case, the impeller 26 is also rotated about the pivot point 50. After reaching the parallel position, after lifting the impeller 26 from the ground and after lowering the support rollers 24 (not shown), the transverse travel to the weaving machine can be carried out by driving the wheels 12 in the same direction.
Bei dem in Fig. 3 gezeigten Ausführungsbeispiel ist er¬ kennbar, daß die Parallel-Ausrichtung auch im Zuge der Querfahrt erfolgen kann, wenn die Räder 12 nach Maßgabe der mit den Abstandssensoren 40 gemessenen Abstandssig¬ nale gleichsinnig aber mit unterschiedlicher Drehzahl angetrieben werden. Die Auswertung der Abstandssignale erfolgt in der Auswerteschaltung 44 gegebenenfalls mit Unterstützung eines Mikroprozessors. Die Antriebsener¬ gie kann über ein nicht dargestelltes Betätigungsorgan an der Steuerdeichsel 30 vom Bediener dosiert werden, wobei die Abstandssensoren 40 und die Auswerteschaltung 44 durch entsprechende Ansteuerung der Antriebsmotoren 48 ständig für die Parallel-Ausrichtung sorgen. Durch die Abstandssensoren 40 wird im Zuge der Querbewegung eine Verfahrkoordinate definiert, aufgrund der auch wegabhängige Handhabungen innerhalb des Transportwagens 10 oder an der Webmaschine 32 vorgenommen werden kön¬ nen. Insbesondere ist es hierdurch möglich, den Kett¬ baum entfernungsabhängig zu heben und zu senken. Weiter ist ein entfernungsabhängiges Stoppen der Querfahrbewe¬ gung oder eine automatische Umschaltung auf Schleich¬ fahrt möglich. Schließlich können auch andere Bewegun¬ gen, wie Lager öffnen, Antriebe entkuppeln bis hin zur vollautomatischen Manipulation beim Kettbaumeinlegen und -entnehmen durchgeführt werden.In the exemplary embodiment shown in FIG. 3, it can be seen that the parallel alignment can also take place in the course of transverse travel if the wheels 12 are in accordance with the requirements of the distance signals measured with the distance sensors 40 are driven in the same direction but at different speeds. The distance signals are evaluated in the evaluation circuit 44, if necessary with the support of a microprocessor. The drive energy can be metered by the operator via a control element (not shown) on the control drawbar 30, the distance sensors 40 and the evaluation circuit 44 constantly ensuring the parallel alignment by correspondingly controlling the drive motors 48. A distance coordinate is defined by the distance sensors 40 in the course of the transverse movement, on the basis of which path-dependent manipulations can also be carried out within the transport carriage 10 or on the weaving machine 32. In particular, this makes it possible to raise and lower the warp beam depending on the distance. Furthermore, a distance-dependent stopping of the transverse travel movement or an automatic switchover to slow travel is possible. Finally, other movements, such as opening the bearings, uncoupling the drives, and even fully automatic manipulation when inserting and removing the warp beam can be carried out.
Statt der vorstehend beschriebenen Ultraschallsensoren können auch Infrarotsensoren oder Lasersensoren zur be¬ rührungslosen Abstandsmessung eingesetzt werden.Instead of the ultrasonic sensors described above, infrared sensors or laser sensors can also be used for non-contact distance measurement.
Zusammenfassend ist folgendes festzustellen: Die Erfin¬ dung betrifft ein Verfahren und eine Vorrichtung zum Parallelrichten eines vor einer Webmaschine 32 positio- nierbaren Transportwagens 10 für Kett- oder Warenbäume, dessen selbstfahrendes Fahrgestell 16 zwei im Längsab¬ stand voneinander angeordnete, motorisch antreibbare und lenkbare Räder 12 aufweist. Zum Parallelrichten wird der Transportwagen 10 im Kett- oder Warengang re¬ lativ zur Webmaschine 32 zunächst in Längsrichtung po¬ sitioniert und mit seinen Rädern 12 in Querfahrtrich¬ tung ausgerichtet. Sodann werden von zwei im Längsab¬ stand voneinander angeordneten fahrgestellfesten Ab¬ standssensoren 40 aus die Querabstände zu zwei gegen¬ überliegenden, maschinenfesten Reflexionsflächen 42 berührungslos gemessen und unter Bildung eines Diffe¬ renzsignals miteinander verglichen. Das Differenzsignal kann als Lenk- oder Antriebshinweis für einen Lenkvor¬ gang optisch angezeigt und/oder als Steuersignal in ei¬ ne Antriebs- und/oder Lenkbewegung der Räder 12 unter Parallelrichten des Transportwagens 10 umgesetzt wer¬ den. In summary, the following can be stated: The invention relates to a method and a device for parallel straightening a position in front of a weaving machine 32. Transportable trolley 10 for warp or goods trees, the self-propelled chassis 16 of which has two motor-driven and steerable wheels 12 arranged at a longitudinal distance from one another. For parallel straightening, the trolley 10 is first positioned in the warp or goods aisle relative to the weaving machine 32 in the longitudinal direction and aligned with its wheels 12 in the transverse direction of travel. Then the transverse distances to two opposite, machine-fixed reflection surfaces 42 are measured in a contactless manner from two chassis sensors fixed in the longitudinal distance from one another and compared with one another to form a difference signal. The difference signal can be optically displayed as a steering or drive instruction for a steering operation and / or can be converted as a control signal into a driving and / or steering movement of the wheels 12 with the trolley 10 parallelized.

Claims

Patentansprüche Claims
1. Verfahren zum Parallelrichten eines vor einer Web¬ maschine (32) positionierbaren Transportwagens (10) für Kett- oder Warenbäume, dessen Fahrgestell zwei im Längsabstand voneinander angeordnete, lenkbare und gegebenenfalls motorisch antreibbare Räder (12) aufweist, dadurch gekennzeichnet, daß der Transport¬ wagen (10) relativ zur Webmaschine (32) in Längs¬ richtung positioniert und mit mindestens einem sei¬ ner lenkbaren Räder (12) in Querfahrtrichtung zur Webmaschine (32) ausgerichtet wird, daß sodann von zwei im Längsabstand voneinander angeordneten, fahr¬ gestellfesten Positionen (Abstandssensoren 40) aus die Querabstände zu zwei gegenüberliegenden, ma¬ schinenfesten Bezugsflächen (42) berührungslos un¬ ter Bildung von Abstandssignalen gemessen und in eine Antriebs- und/oder Lenkbewegung der Räder (12) unter Parallelrichten des Transportwagens (10) um¬ gesetzt werden.1. A method for parallel alignment of a transport carriage (10) which can be positioned in front of a weaving machine (32) for warp or goods trees, the chassis of which has two longitudinally spaced, steerable and optionally motor-driven wheels (12), characterized in that the transport ¬ carriage (10) positioned relative to the weaving machine (32) in the longitudinal direction and aligned with at least one steerable wheels (12) in the transverse direction of the weaving machine (32), that of two chassis spaced apart from each other Positions (distance sensors 40) from the transverse distances to two opposite, machine-fixed reference surfaces (42) are measured without contact, forming distance signals, and converted into a drive and / or steering movement of the wheels (12) with the transport carriage (10) parallelized be set.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die beiden motorisch angetriebenen und in Quer¬ fahrtrichtung ausgerichteten Räder (12) zum Paral¬ lelrichten nach Maßgabe der Abstandssignale oder nach Maßgabe eines aus den Abstandssignalen gebil¬ deten Differenzsignals gegensinnig angetrieben wer¬ den.2. The method according to claim 1, characterized in that the two motor-driven and aligned in the transverse direction wheels (12) for parallel alignment according to the distance signals or according to a difference signal formed from the distance signals who are driven in opposite directions.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekenn- zeichnet, daß die beiden motorisch angetriebenen und in Querfahrtrichtung ausgerichteten Räder (12) zum Parallelrichten nach Maßgabe der Abstandssigna¬ le oder eines aus den Abstandssignalen gebildeten Differenzsignals gleichsinnig mit unterschiedlichen Drehzahlen angetrieben oder einzeln angehalten wer¬ den.3. The method according to claim 1 or 2, characterized in is characterized in that the two motor-driven wheels (12) aligned in the transverse direction for parallel alignment in accordance with the distance signals or a difference signal formed from the distance signals are driven in the same direction at different speeds or stopped individually.
Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß während der Querfahrt des Trans¬ portwagens (10) in Richtung Webmaschine (32) die Querabstände zwischen den fahrgestellfesten Posi¬ tionen (40) und den maschinenfesten Bezugsflächen (42) gemessen und nach Maßgabe ihrer gegenseitigen Abweichung oder einer Abweichung von vorgegebenen Sollwerten in Stellsignale zur Betätigung von An¬ triebsaggregaten des Transportwagens (10) und/oder der Webmaschine (32) und/oder einer Anzeigevorrich¬ tung umgesetzt werden.Method according to one of claims 1 to 3, characterized in that during the transverse travel of the transport carriage (10) in the direction of the weaving machine (32) the transverse distances between the positions (40) fixed to the chassis and the reference surfaces (42) fixed to the machine are measured and adjusted Depending on their mutual deviation or a deviation from predetermined target values, they are converted into actuating signals for actuating drive units of the transport carriage (10) and / or the weaving machine (32) and / or a display device.
Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß zur berührungslosen Abstands¬ messung von der fahrgestellfesten Position (40) emittierte und an der maschinenfesten Bezugsfläche (42) zurückreflektierte Energiestrahlen, insbeson¬ dere Ultraschall- oder Lichtstrahlen verwendet wer¬ den.Method according to one of Claims 1 to 4, characterized in that energy beams, in particular ultrasound or light beams, are used for the contactless distance measurement from the position (40) fixed to the chassis and reflected back on the machine-fixed reference surface (42).
Vorrichtung zum Parallelrichten eines vor einer Webmaschine (32) positionierbaren, ein selbstfah- rendes Fahrgestell aufweisenden Transportwagens für Kett- oder Warenbäume, dessen Fahrgestell im Längs¬ abstand voneinander angeordnete, lenkbare, wahlwei¬ se in Längs- und in Querfahrtrichtung ausrichtbare, gegebenenfalls motorisch antreibbare Räder (12) aufweist, gekennzeichnet durch zwei am Fahrgestell (16) im Längsabstand voneinander angeordnete, auf Reflexionsflächen (42) der Webmaschine (32) aus¬ richtbare Abstandssensoren (40) und eine mit den Ausgängen der Abstandssensoren verbundene Auswerte¬ schaltung (44) zur Ansteuerung von Antriebs- oder Lenkaggregaten (48) der Räder (12) .Device for parallel straightening a self-propelled Transport vehicle having a chassis for warp or goods trees, the chassis of which has steerable, steerable, optionally adjustable in longitudinal and transverse directions, optionally motor-driven wheels (12), characterized by two on the chassis (16) in the Distance sensors (40) arranged longitudinally apart from one another, which can be aligned on reflection surfaces (42) of the weaving machine (32), and an evaluation circuit (44) connected to the outputs of the distance sensors for controlling drive or steering units (48) of the wheels (12) .
Vorrichtung nach Anspruch 6, dadurch gekennzeich¬ net, daß die beiden motorisch angetriebenen und in Querfahrtrichtung ausgerichteten Räder (12) zum Parallelrichten nach Maßgabe von an den Abstands¬ sensoren (40) abgreifbaren Abstandssignalen oder zwischen diesen gebildeten Differenzsignalen gegen¬ sinnig antreibbar sind.Apparatus according to claim 6, characterized gekennzeich¬ net that the two motor-driven and aligned in the transverse direction of the wheels (12) for parallel straightening according to the distance signals tapped at the distance sensors (40) or difference signals formed between them can be driven in opposite directions.
Vorrichtung nach Anspruch 6 oder 7, dadurch gekenn¬ zeichnet, daß die beiden motorisch angetriebenen und in Querfahrtrichtung ausgerichteten Räder (12) zum Parallelrichten nach Maßgabe von an den Ab¬ standssensoren (40) abgreifbaren Abstandssignalen oder zwischen diesen gebildeten Differenzsignalen gleichsinnig mit unterschiedlichen Drehzahlen an¬ treibbar sind. Apparatus according to claim 6 or 7, characterized gekenn¬ characterized in that the two motor-driven and aligned in the transverse direction wheels (12) for parallel straightening in accordance with distance signals tapped at the distance sensors (40) or difference signals formed between them in the same direction at different speeds ¬ are drivable.
9. Vorrichtung nach einem der Ansprüche 6 bis 8, ge¬ kennzeichnet durch einen über die Abstandssignale der Abstandssensoren ansteuerbaren, fahrgestell- und/oder maschinenfesten Handhabungs echanismus zum Einlegen oder Ausheben des Kett- oder Warenbaums sowie zur Ansteuerung der Antriebsräder (12) .9. Device according to one of claims 6 to 8, ge indicates by a controllable via the distance signals of the distance sensors, chassis and / or machine-fixed handling mechanism for inserting or lifting the warp or goods tree and for controlling the drive wheels (12).
10. Vorrichtung nach Anspruch 9, dadurch gekennzeich¬ net, daß der Handhabungsmechanismus eine fahrge- stellfeste Hubvorrichtung für den Kett- oder Waren¬ baum aufweist.10. The device according to claim 9, characterized gekennzeich¬ net that the handling mechanism has a chassis-fixed lifting device for the warp or Waren¬ tree.
11. Vorrichtung nach Anspruch 9 oder 10, dadurch ge¬ kennzeichnet, daß der Handhabungsmechanismus ma¬ schinenfeste und/oder fahrgestellfeste Greif- und Kupplungsvorrichtungen zum Erfassen und Freigeben des Kett- oder Warenbaums aufweist.11. The device according to claim 9 or 10, characterized ge indicates that the handling mechanism has machine-fixed and / or chassis-fixed gripping and coupling devices for detecting and releasing the warp or goods tree.
12. Vorrichtung nach einem der Ansprüche 6 bis 11, da¬ durch gekennzeichnet, daß die Abstandssensoren als Ultraschall-, Infrarot- oder Lasersensoren ausge¬ bildet sind.12. The device according to one of claims 6 to 11, characterized in that the distance sensors are formed as ultrasound, infrared or laser sensors.
13. Verwendung des Verfahrens nach einem der Ansprüche 1 bis 5 und der Vorrichtung nach einem der Ansprü¬ che 6 bis 12 zum Parallelrichten eines Kettbaum¬ oder Scherbaum-Transportwagenε vor einer Wirkma¬ schine, Raschelmaschine oder Schermaschine. 13. Use of the method according to one of claims 1 to 5 and the device according to one of claims 6 to 12 for parallel straightening a warp beam or shear beam transport wagon in front of a knitting machine, Raschel machine or clipper.
EP94909040A 1993-03-03 1994-02-24 Process and device for paralleling a transport carriage Expired - Lifetime EP0687316B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE4306493A DE4306493A1 (en) 1993-03-03 1993-03-03 Method and device for straightening a transport carriage
DE4306493 1993-03-03
PCT/EP1994/000527 WO1994020659A2 (en) 1993-03-03 1994-02-24 Process and device for paralleling a transport carriage

Publications (2)

Publication Number Publication Date
EP0687316A1 true EP0687316A1 (en) 1995-12-20
EP0687316B1 EP0687316B1 (en) 1997-07-09

Family

ID=6481747

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94909040A Expired - Lifetime EP0687316B1 (en) 1993-03-03 1994-02-24 Process and device for paralleling a transport carriage

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US (1) US5826624A (en)
EP (1) EP0687316B1 (en)
JP (1) JPH08507834A (en)
BR (1) BR9405882A (en)
DE (2) DE4306493A1 (en)
WO (1) WO1994020659A2 (en)

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Also Published As

Publication number Publication date
JPH08507834A (en) 1996-08-20
BR9405882A (en) 1995-12-26
EP0687316B1 (en) 1997-07-09
DE59403314D1 (en) 1997-08-14
WO1994020659A2 (en) 1994-09-15
WO1994020659A3 (en) 1994-10-13
US5826624A (en) 1998-10-27
DE4306493A1 (en) 1994-09-08

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