EP0687316B1 - Process and device for paralleling a transport carriage - Google Patents

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

The invention relates to a method and an apparatus for parallel straightening a transport carriage for warp or fabric trees that can be positioned in front of a weaving machine, knitting machine, Raschel machine or warping 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. For this purpose, the full warp beam must be picked up from the floor or a storage rack, 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 undercarriage with respect to the weaving machine. This process is cumbersome and, depending on the skill of the operator, quite time-consuming. If the positioning is incorrect, there will always be shock loads in the bearing area of the weaving machine and the support arms as well as in the area of the protruding tube ends of the warp beams, resulting in unnecessary wear or damage.

Goods wagon trolleys of this type are mainly used used for the change of fabric on weaving machines. A goods transport cart has the task of lifting a fully wound goods tree out of a weaving machine, severing the fabric web, wrapping 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 merchandise tree, the merchandise tree transport trolley is positioned in front of the relevant weaving machine in the goods movement. The positioning in the longitudinal direction can be done very precisely. The parallel position to the weaving machine, however, is associated with difficulties. If the parallelism is inaccurate, there is a risk of undesired wrinkling when the new goods tree is wound up and then inserted. To prevent this, the goods trolley must be aligned parallel to the weaving machine.

In the transport trolley known from EP-A-296115, which is considered to be the closest prior art, a carrying unit, which is lowered to form-fitting markings fixed to the floor, is aligned relative to the weaving machine. However, this transport carriage, which is divided into a driving and carrying unit, has a complex construction.

Proceeding from this, the object of the invention is to develop a method and a device with which a parallel direction of the transport carriage to the weaving machine, knitting machine, Raschel machine or warping machine is possible with simple means.

• Der Transportwagen wird im Kett- oder Warengang relativ zur Webmaschine in Längsrichtung positioniert und mit mindestens einem seiner lenkbaren Räder in Querfahrtrichtung zur Webmaschine, Wirkmaschine, Raschelmaschine oder Schärmaschine ausgerichtet;
• sodann werden von zwei im Längsabstand voneinander angeordneten fahrgestellfesten Positionen aus die Querabstände zu zwei gegenüberliegenden maschinenfesten Bezugsflächen berührungslos unter Bildung von Abstandssignalen gemessen und in eine Antriebs- und/oder Lenkbewegung der Räder unter Parallelrichten des Transportwagens umgesetzt.

According to the invention, this object is achieved by the following method steps:

• The transport carriage is positioned in the warp or goods aisle in the longitudinal direction relative to the weaving machine and aligned with at least one of its steerable wheels in the transverse direction of travel to the weaving machine, knitting machine, Raschel machine or warping machine;
• Then the transverse distances to two opposing machine-fixed reference surfaces are measured in a contactless manner from two positions arranged in the longitudinal distance from one another with the formation of distance signals and converted into a drive and / or steering movement of the wheels with parallel alignment of the transport carriage.

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 transport carriage 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.

As an alternative to this, the two motor-driven wheels aligned in the transverse direction can be driven for parallel straightening in accordance with the distance signals or a difference signal formed from the distance signals in the same direction at different speeds or stopped individually. During the transverse travel of the transport carriage in the direction of the weaving machine, knitting machine, Raschel machine or warping 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. The distance coordinates of the transport carriage relative to the weaving machine, warp knitting machine, Raschel machine or warping machine are known throughout the transverse travel, so that these measures meet the requirements for an automatic warp and fabric change.

Advantageously, energy beams, in particular ultrasound or light beams, are used for contactless distance measurement from the position fixed to the chassis and reflected on the machine-fixed reference surface.

The transport trolley 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, knitting machines, Raschel machine or warping machine, and an evaluation circuit connected to the outputs of the distance sensors for controlling drive and / or steering units of the wheels.

For parallel alignment of the transport carriage, the two motor-driven wheels aligned 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 also be driven in the same direction in the transverse direction with different speeds depending on the distance signals or the differential signals.

A further advantageous embodiment of the invention provides a chassis mechanism and / or machine-fixed handling mechanism which can be controlled via the distance signals of the distance sensors, 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 and / or chassis-fixed gripping and coupling device for grasping and releasing the warp and goods tree.

Fig. 1

ein Schema eines ersten Ausführungsbeispiels eines Kettbaum-Transportwagens in Positionierstellung vor einer Webmaschine;

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;

Fig. 4

ein Blockschaltbild einer Vorrichtung zum Parallelrichten eines Transportwagens.

In the following, the invention will be explained in more detail with reference to some exemplary embodiments shown schematically in the drawing. Show it

Fig. 1

a schematic of a first embodiment of a Kettbaum transport carriage in the positioning position in front of a weaving machine;

Fig. 2

a schematic of a Kettbaum transport carriage in parallel alignment in front of a weaving machine;

Fig. 3

a diagram of a Kettbaum transport carriage in parallel transverse travel in front of a weaving machine;

Fig. 4

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. In the 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 embodiments according to FIGS. 2 and 3 on the chassis 16, an additional impeller 26 and oriented in the longitudinal direction of travel, which can be folded in the transverse direction of travel two support rollers 28 (only shown in FIG. 3) that can be lowered to the floor in the transverse direction of travel 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.

For longitudinal positioning of the transport carriage 10 in the warp run 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).

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 with the formation of difference and displacement signals and converted into control signals for the drive controls 46 of the drive motors 48 assigned to the wheels 12 (FIG. 4).

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.

In the 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 as required 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. It is also possible to stop the lateral movement depending on the distance or to switch automatically to slow travel. 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.

Instead of the ultrasonic sensors described above, infrared sensors or laser sensors can also be used for non-contact distance measurement.

In summary, the following can be stated: The invention relates to a method and a device for parallel straightening a positionable in front of a weaving machine 32 Transport carriage 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. The transverse distances to two opposite, machine-fixed reflection surfaces 42 are then measured without contact 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 while the trolley 10 is being aligned in parallel.

Claims (14)

1. A process for paralleling a transporting carriage (10) for loom or cloth beams in front of a weaving machine (32) , the undercarriage of the transporting carriage having two wheels (12) arranged at a longitudinal distance from one another, can be steered, and, if necessary, can be driven by a motor, characterised in that the transporting carriage (10) is first positioned in a longitudinal direction relative to the weaving machine (32) and is aligned with at least one of its steerable wheels (12) in a transverse travelling direction with respect to the weaving machine (32), and that the transverse distances from two oppositely lying, machine-fixed reference surfaces (42) are thereafter measured without contact by forming distance signals from two undercarriage-fixed positions (40) arranged at a longitudinal distance from one another, and are converted into a driving and/or steering movement of the wheels (12) during paralleling the transporting carriage (10).
2. The process for paralleling a transporting carriage (10) for loom or warp beams, the transporting carriage being positioned in front of a knitting machine, a double-rib loom or a warping machine, the undercarriage of the transporting carriage having two wheels (12) arranged at a longitudinal distance from one another, can be steered, and, if necessary, can be driven by a motor, characterised in that the transporting carriage (10) is first positioned in longitudinal direction relative to the knitting machine, the double-rib loom or warping machine, and is aligned with at least one of its steerable wheels (12) in a transverse travelling direction with respect to the knitting machine, the double-rib loom or warping machine, and that the transverse distances from two oppositely lying, machine-fixed reference surfaces (42) are thereafter measured without contact by forming distance signals from a set of two undercarriage-fixed positions (40) arranged at a longitudinal distance from one another, and are converted into a driving and/or steering movement of the wheels (12) when paralleling the transporting carriage (10).
3. The process according to Claim 1 or 2, characterised in that the two wheels, which are driven by a motor and are aligned in a transverse travelling direction, are oppositely driven in accordance with the distance signals or in accordance with a difference signal formed out of the distance signals for paralleling.
4. The process according to one of the Claims 1 to 3, characterised in that the two wheels (12), which are driven by a motor and are aligned in transverse direction, are driven in the same direction at different speeds or are individually stopped in accordance with the distance signals or a difference signal formed out of the distance signals for paralleling.
5. The process according to one of the Claims 1 to 4, characterised in that during the transverse travel of the transporting carriage (10) in direction of the weaving machine (32) or the knitting machine, the doublerib loom or the warping machine, the transverse distances between the undercarriage-fixed positions (40) and the machine-fixed reference surfaces (42) are measured and are converted in accordance with their reciprocal deflection or a deflection from a given desired value into adjusting signals for operating the drive units of the transporting carriage (10) and/or of the weaving machine (32) or the knitting machine, the double-rib loom or a warping machine and/or an indicating device.
6. The process according to one of the Claims 1 to 5, characterised in that energy beams, which are emitted from the undercarriage-fixed position (40) and are reflected back on the machine-fixed reference surface (42), in particular ultrasound or light beams, are used for the distance measurement without contact.
7. A transporting carriage for loom or cloth beams having a device for paralleling the transporting carriage, which can be positioned in front of a weaving machine (32) and has a self-propelled undercarriage, the undercarriage having wheels (12) spaced at a longitudinal distance from one another, the wheels being steerable, selectively aligned in longitudinal and in transverse travelling direction, and, if necessary, driven by a motor, characterised by two distance sensors (40) spaced at a longitudinal distance from one another on the undercarriage (16), and being aligned with reflecting surfaces (42) of the weaving machine (32) , and an evaluating circuit (44) for controlling driving and/or steering units (48) of the wheels (12), the evaluating circuit being designed for paralleling the transporting carriage and being connected to the outputs of the distance sensors.
8. A transporting carriage for loom or warp beams having a device for paralleling the transporting carriage, which can be positioned in front of a knitting machine, a double-rib loom or a warping machine and has a self-propelled undercarriage, the undercarriage having wheels (12) spaced at a longitudinal distance from one another, the wheels being steerable, selectively aligned in longitudinal and in transverse travelling direction, and, if necessary, driven by a motor, characterised by two distance sensors (40) spaced at a longitudinal distance from one another on the undercarriage (16) , and can be aligned with reflecting surfaces of the knitting machine, the double-rib loom or the warping machine, and an evaluating circuit (44) for controlling driving or steering units (48) of the wheels (12), the evaluating circuit being designed for paralleling the transporting carriage and being connected to the outputs of the distance sensors.
9. The transporting carriage according to Claim 7 or 8, characterised in that the two motor driven wheels (12) are aligned in a transverse travelling direction, and for paralleling are oppositely driven in accordance with distance signals or difference signals formed therebetween, which are measured by the distance sensors (40).
10. The transporting carriage according to one of the Claims 7 to 9, characterised in that the two motor driven wheels (12) are aligned in a transverse travelling direction, and for paralleling are driven in the same direction with different speeds in accordance with distance signals or difference signals formed therebetween, which are measured by the distance sensors (40).
11. The transporting carriage according to one of the Claims 7 to 10, characterised by an undercarriage-fixed and/or machine-fixed handling mechanism controlled through the distance signals of the distance sensors, for inserting or removing of the loom, cloth or warp beams and for controlling the driving wheels (12).
12. The transporting carriage according to Claim 9, characterised in that the handling mechanism has an undercarriage-fixed lifting device for the loom, cloth or warp beam.
13. The transporting carriage according to Claim 11 or 12, characterised in that the handling mechanism has a machine-fixed and/or an undercarriage-fixed gripping and coupling devices for gripping and releasing the loom, cloth or warp beam.
14. The transporting carriage according to one of the Claims 7 to 13, characterised in that the distance sensors are designed as ultrasound, infrared or laser sensors.

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