EP0754253A1

EP0754253A1 - Device for providing a synchronized drive to several combing-machine spindles

Info

Publication number: EP0754253A1
Application number: EP95915748A
Authority: EP
Inventors: Peter-Klaus Budig; Andreas Eckstein; Andreas Hermeyer; Helmut Schnabel
Original assignee: SPINNEREIMASCHINENBAU LEISNIG GmbH
Current assignee: SPINNEREIMASCHINENBAU LEISNIG GmbH
Priority date: 1994-04-07
Filing date: 1995-04-03
Publication date: 1997-01-22
Also published as: WO1995027817A1

Abstract

The invention concerns a device for providing a synchronized drive to several spindles in a combing machine with several individual electric drives whose position and rotational-speed control signals are supplied by an electronic control unit through power converters. The aim of the invention is to provide several drives, subject to high dynamic loads, in which the forces due to acceleration are coordinated. This is achieved by designing the drive device with a first drive motor (10), having an actual-position sensor, for the driven assembly (1) which is intended for operation under high dynamic loads and has a torque curve characteristic of the machine. In addition, a drive motor (20, 30, 40) is associated with each of a first group of additional driven assemblies (2, 3, 4) of the combing machine, the motors being fitted with field-oriented control which assigns target position-control values, derived from the actual-position signals from the first drive motor (10), to each drive motor (2, 3, 4), the rotational speed of the first drive motor (10) being adjustable as a function of position-dependent torque values.

Description

Arrangement for the synchronized driving of several axes on combing machines

The invention relates to an arrangement for the synchronized driving of several axes on combing machines with several electrical individual drives, which receive control information on position and speed values from an electronic control unit via converters.

It is known in principle to provide individual drives on textile machines as well, for driving cyclically vibrating elements with a relatively high cycle frequency.

Such drives are driven in a controlled manner with regard to their movement program and execute the specified program with high precision and feedback.

Such drives include through EP 0360 064 AI and EP 374 723 A2 also known on combing machines with a vibrating pliers unit.

On these machines it has been proposed to drive the positionally stable tear-off rollers and the feed rollers by means of individual drives.

These individual drives are controlled by angular position signals from the main shaft and synchronized with their rotary movement.

With the control devices for drive motors which are commercially available today and to which position programs are specified, it is possible to have the individual drives follow a predetermined size very precisely. On combing machines, but especially wool combing machines, a large number of individual units are still to be driven, which can only be driven with complicated mechanical gears with regard to their movement play due to the occurring mass forces with the required high precision.

These are, for example, gear transmissions with eccentric / Egyptian wheels, these are planetary transmissions of the most complicated form with oscillating drive members and the like.

Because of the accelerations occurring, these gears must be made very stable. There is only a very limited space available for your accommodation. The gears of individual assemblies often interlock. They overlap and are difficult or impossible to reach for the maintenance staff.

It is therefore necessary to equip the majority of the drives for individual assemblies of the combing machine with the state of the drive technology achieved, with position-controlled or -controlled motors.

It has been shown, however, that if all units follow a given law of motion, the deflections and bearing play of the remaining gear elements under the acting acceleration forces have such negative effects that synchronous cooperation of all working elements at normal speeds is not guaranteed.

Depending on the set and reached speed of the individual drives, accidents and destruction occurred at the most varied points on the machine. The object of the invention is to propose a drive arrangement for combing machines which is suitable for coordinating a large number of individual drives on the machine in such a way that overloads caused by acceleration and incorrect coordination are largely avoided.

The synchronicity of all drives should be maintained to the extent necessary. The effort to implement this task should be low. The total energy requirement for the control and operation of the individual drives should not exceed an acceptable level.

According to the invention, this object is achieved by the arrangement defined in claim 1. The total load on the network and the important units of the machine is reduced to a reasonable level by the rotational speed, which is adapted to the torque curve within each cycle of a drive characteristic of the machine and the use of its actual position values for the synchronous control of the other drives reduced.

Surprisingly, tests have shown that even in the usual speed ranges, breakdowns of precisely interacting units of the machine could be avoided with certainty if the average speed of the first drive was increased by the amount of elasticity.

With the design of the first drive motor as a motor with elastic torque characteristic according to claim 2 and its control, without internal speed control, an optimal drive behavior of all individual drives is achieved at the lowest cost. The resultant inertia forces are reduced to a minimum, particularly on position-controlled servo drives.

All drives follow a so-called soft drive movement at the usual speeds.

By designing the drive according to claim 3, load peaks of other position-controlled drives can also be used for the design of the guide speed.

It is also possible to specify different torque-speed ratios than the corresponding characteristic of the first drive motor allows.

The assignment of the first drive motor according to claim 4 and 5 has proven itself on combing machines in a special way.

It is particularly advantageous to choose a module for this so-called master drive that still has a relatively large number of oscillating drives, which are derived in a conventional manner from coordinated curve shapes from an eccentric shaft and on the acceleration and deceleration conditions characteristic of the machine work with considerable mass forces.

Due to the elastic or the elastically controlled drive of this extremely loaded unit, the programs of the positionally controlled assemblies are also traced back to the laws of motion, which the mechanical elements can easily follow there.

The selection of the drives of the first group according to claim 6 leads to an optimal cost for the drive arrangement with a precise execution of the drive movement. With the design of the individual drives according to claim 7, the drive concept of the machine is completed in a simple manner. Extensive drive optimizations are achieved.

The coupling of the round comb roller with the relatively light comb roller and its synchronous drive with discontinuous circumferential speed on the one hand ensures the saving of an individual drive and on the other hand a particularly effective drive movement of the comb roller.

The drive of the take-off rollers shown avoids an oscillating movement of large masses.

The vibratory drive for the conveyor belt via crank and position-controlled motor allows the movement form to be optimally adapted to the other moving combing elements involved.

With the use of a second group of speed-controlled motors according to claims 8 and 9, a complex optimization of the combing machine is achieved.

The current state of drive technology is used consistently for the realization of all drives of the combing machine.

A central setting of all machine parameters is possible. The invention will be explained in more detail below with the aid of an exemplary embodiment. The accompanying drawings show:

1 shows a greatly simplified cross section through the machine with the schematic assignment of the individual drives,

Fig. 2 is a schematic representation of the path-time diagrams of the drive movements of individual units, the average torque and speed curve of the first drive motor and

3 shows a schematic representation of the control system of the machine in a block diagram.

The combing machine has the basic structure of a wool combing machine.

In this wool combing machine, fleece layers are fed from a fleece roll, which is supported on and driven by winding rolls, to an essentially positionally stable pliers 11.

These pliers 11 each provide a fiber beard in a rhythmic sequence and clamps it at its feed end.

This fiber beard is combed by a disc comb rotating circular comb 2. After combing, this is lifted out of the combing zone by the so-called underslider 13 (part of the pliers 11), is placed with its free end onto the returned end of the already combed fleece, and is drawn into the nip of the take-off rollers 3. A vibrating driven comb 12 engages in the rear end of the fiber beard. The take-off rollers 3 pull the fibers of the fiber beard through the needles of the fixed comb 12 and detach it from the supplied fleece.

After completion of this process, a new fiber beard is brought into combing position via the feed rollers 5 and the moving elements of the tongs 11 and the feed apparatus 14 and the process is repeated.

The take-off rollers 3 are driven for this purpose with a pilgrim step movement.

A brush roller 8 is assigned to the circular comb 2 and removes the combed short fibers from the clothing of the circular comb 2. This brush roller 8 is in turn cleaned by the comb roller 21, which may interact with a chipper or scraper and with a stream of suction air.

The soldered fleece is fed from the take-off rollers 3 to a funnel via the conveyor belt 31, which is called a manchon or trolley on these machines. The conveyor belt is also driven with a pilgrim step movement.

The aforementioned funnel combines the fleece in connection with a pair of delivery rollers 6 to form a sliver.

This fiber sliver is fed to a rotating mechanism 7 by means of guide rollers, with the aid of which the fiber sliver is deposited cycloidally or in another manner in a storage container (can).

In such a machine, it is necessary to secure the combing process, the take-off rollers 3 with their bearings and with them the endless conveyor belt 31 with its guidance in the rhythm of the combing process swinging to the clamping point of the pliers 11 and to move away from it.

For these extremely complicated movements of the individual elements, motors 10, 20, 30, 40 that are controlled in a synchronized manner are provided according to the invention.

These motors 10, 20, 30, 40 must be designed in such a way that they can control the specified laws of motion in synchronized position at comb numbers of 200 to 250 per minute.

Under the conditions of the combing machine, the following concept is proposed for the individual motor drives:

The movements of the pliers 11, the oscillating movement of the lower slide 13, the oscillating movement of the feed unit 14, and the oscillating movement of the fixed comb 12 are controlled by an eccentric shaft 1 which, in a manner known per se, cam mechanisms, multi-unit coupling mechanisms and / or pinions are assigned for the named work elements.

This complex of working elements is driven via the eccentric shaft 1 by a first drive motor 10, which can be referred to as a master drive.

In the given example, this first drive motor 10 is an asynchronous motor with an inclined speed-torque characteristic.

This first drive motor 10 is assigned actuating means for specifying a specific speed. According to a first example, these adjusting means give the motor a certain voltage at which a certain average speed is set.

A controller for securing the predetermined working speed is not provided.

The actual speed 17 (diagram n 1 - in FIG. 2) is established on the basis of the respectively acting torque 16 (diagram OMEGA 1 in FIG. 2) according to the torque-speed characteristic of the first drive motor 10.

The instantaneous expansion number 17 is therefore essentially directly dependent on the particular torque 16 to be applied.

The basic curve of the torque of this first drive motor 10 compensates - at least partially - with the acceleration and deceleration curve caused by it, the torque curve of the circular comb 2, the take-off rollers 3 and the oscillating movement of the conveyor belt 31.

As a result of this fact, the eccentric shaft 1 driven in this way, pulsed with red, with its actual position values removed, is predestined for the sequence of the programs for the motor 20 of the rotary chamber 2, the motor 30 for the To control the drive of the take-off rollers 3 and the motor 40 for the vibratory drive 4 of the conveyor belt 31 (carriage).

These motors 20, 30, 40 which are synchronously tracked to the first drive motor are preferably provided with a field-oriented controlled synchronous control which, based on the current actual position values of the first drive motor 10, modified nominal position values for each of these motors 20, 30 , 40 provides. A drive concept designed in this way ensures that the individual working elements in synchronous operation reliably follow the specified movement path synchronously, even with a high number of combing cycles.

The following assignments of remaining mechanical transmission elements are preferably defined for these drives, which are tracked correctly.

The circular comb 2 is directly coupled to the comb roller 21 via gear wheels or toothed belts. The motor 20 is preferably arranged within the circular comb. This saves mass transfer elements.

It performs a pulsating rotary movement within each cycle. Compare curve 22 in Fig. 2. The speed of the circular comb 2 fluctuates within a revolution by a factor of 2.25 on both sides of an imaginary average speed.

The take-off rollers 3 are driven by a fixedly mounted motor 30. Its rotational movement is transmitted via the imaginary pole (four-link mechanism 41, 42, 45,) of the oscillating movement of the lower feed roller 3, which has its bearing on the coupling 45, to the take-off roller 3 via a toothed belt gear 32.

The conveyor belt 31 is also guided on the coupling 45. This unit is called the "wagon". At the coupling, the rotary movement of the lower take-off roller 3 is continued with known means on the roller combinations arranged there.

The vibratory drive 4 for the conveyor belt 31 on the coupling 45 (the carriage) is preferably generated via a crank drive 43, 44, 46, 47. With a simple, non-illustrated crank arm drive, the necessary rest phase can be achieved by periodically adjusting the speed of the motor 40 - similar to the drive for the circular comb 2.

As already mentioned, these three drives mentioned are tracked to the first drive motor 10 depending on the respective technological program.

The drives of this first group are equipped with a so-called feedback. This means that the manipulated variables executed by the motors 20, 30, 40 are detected, compared with the specified target variables and the motors are caused to make a corrective movement.

Each of these individual drives can be assigned a control unit 91 which has memories for movement programs which are repeated in each comb play.

In this way, the bus between the host computer 90 and the control unit 91 is largely relieved.

For the drive of the generally uniform drives for the feed rollers 5, for the feed rollers 6 as well as for the drive of the rotating mechanism 7 and the drive of the comb roller 8, speed-controllable motors 50, 60, 70, 80 are used.

For their synchronous control, the actual position values of the first drive motor 10 are recorded and converted by the master computer 90 or decentralized control units 91 into desired speed values for the drive units mentioned. 12

The motors used for the individual drives can have a very different design.

It is favorable if the first drive motor 10 for driving the eccentric shaft 1 follows a clearly inclined torque-speed characteristic curve with increasing speed.

Field-oriented, position-controlled synchronous motors 20, 30, 40 (servomotors) are preferably used for the design of the position-controlled drives, which must be designed as drives that are subject to very high dynamic loads.

The drive motors 50, 60, 70, 80 of the third group are simpler and less expensive in their drive concept. It is important for their selection that they follow the speed of the main shaft with given gear ratio or gear ratio within acceptable tolerances.

The overall electrical diagram of the motor assignment is shown schematically in FIG. 3. In the example described so far, the first drive motor 10 has a falling torque-speed characteristic which almost automatically adjusts the speed to the level of the torques.

This form of adaptation can also be replaced by a program that may have been determined empirically.

With this program, influences that result from the movement sequence of the position-controlled, tracked motors 20, 30, 40 can be taken into account and an optimal design of the accelerations of all drives can be realized. It is also possible here to choose the factor of the proportionality between torque and speed, or angular velocity, in a different form than the characteristic of the first drive motor 10.

Tests have shown that it is not important to reduce the speed to a certain, absolute value.

Rather, the acceleration and deceleration conditions leading to the new speed and their mutual superimposition in the drives of the combing machine have a positive effect.

For example, a deceleration of the first drive motor 10 will automatically lead to a deceleration of the tracked drives.

Their technological acceleration compared to other elements will lead to significantly lower absolute acceleration values due to the overlay with the deceleration of the leading movement.

From Fig. 2 it can be seen, for example, that in the area in which the pliers 11 closes (diagram Sll left section) and applying great forces the fiber beard.

In the same phase, feed apparatus 14 and fixed comb 12 are heavily loaded. This fact leads to a delay in the rotary movement of the first drive motor 10. This delay is also followed by the motor 20 of the circular comb 2.

The circular comb 2 is accelerated in this phase according to curve 22 (diagram S2) for technological reasons in a maximum manner compared to other elements involved in the combing process. The superimposition of the deceleration of the basic movement with the technologically induced acceleration of the working element - here circular comb 2 - leads to significantly lower, absolute accelerations from the working elements.

A similar process can be seen after the round combing has been completed. The large number of movements to be carried out very quickly when putting on, fixed combing and tearing off the round-combed fiber beard and when providing a new fiber beard in the area of the forceps unit 11, for which the eccentric shaft 1 is responsible for driving, again lead to a high torque. The speed of the first drive motor 10 is delayed again.

The motor 20 also follows this deceleration. The extreme deceleration which the circular comb 2 must carry out from a technological point of view at this point is significantly reduced in its absolute value.

The tests carried out have shown that the desired effects described above actually occur. Significant increases in speed are possible.

However, a precise definition of the mutual relationships is not always possible. The large number of processes running parallel to one another and the mutual influences, which are not exactly defined in every case, do not yet allow an exact interpretation of the causes of the positive effects.

However, it is certain that the deceleration and acceleration processes which follow the variable torque in a combing play are the most important cause for the avoidance of sudden movement sequences on the working elements. In addition to the advantages described at the outset, the overall drive concept also offers new possibilities for arbitrarily adapting the forms of movement of certain work elements to specific textile-technological conditions.

By storing a number of predetermined program sequences for certain textile materials in a central program memory (for example, the host computer 90), the combing process can be optimized in a fraction of a second, if necessary by pressing a button or by using sensors that are used in a targeted manner Adjust conditions.

A very decisive advantage of this drive arrangement is that the noise pollution caused by the large number of mechanical gears can be restricted in an extremely extreme way.

This new drive arrangement also has advantages in terms of maximum working speed on the basis of the reduced masses to be moved, which adhere to the mechanical gears.

In total, it will be practically possible to increase the working speed of the combing machines in the order of 25 to 30%.

List of the reference symbols used:

1 eccentric shaft

10 drive motor (master drive)

11 pliers

111 pliers movement

12 fixed comb

13 slider

14 feeder

15 guide shaft

16 torque-angle curve

17 Speed-angle curve

2 round comb

20 motor (position controlled)

21 brush roller

22 Weg-Winke1 curve

3 take-off roller

30 motor (position controlled)

31 treadmill

32 toothed belt transmissions

33 Way-Winke1 curve

4 vibratory drive

40 motor (position controlled)

41 swingarm

42 swingarm

43 crank

44 paddock

45 paddocks

46 swingarm

47 swingarm 5 feed roller

50 motor (speed controlled)

6 delivery roller

60 motor (speed controlled)

7 slewing gear

70 motor (speed controlled)

8 comb roller

80 motor (speed controlled)

9 host computers

91 control unit

Angle of rotation S 2 way - round comb, circumference S 3 way - take-off roller, circumference S 11 way - pliers, closing movement

... 1 torque, first drive motor n 1 speed, first drive motor

Claims

claims

1. Arrangement for synchronized driving of multiple axes on combing machines

- with several electric individual drives,

- - by an electronic control unit

Converters receive positioning information on position and speed values, characterized in that for a highly loaded, highly dynamically driven unit (1) with a torque characteristic characteristic of the machine, a first drive motor (10) with actual position. Value provider is provided

that at least a first group of further units (2, 3, 4) of the combing machine is assigned one drive motor (20, 30, 40) per unit (2, 3, 4), each of which is equipped with a field-oriented controlled control system that operates on assigns manipulated variables as target position values to the drive motor (2, 3, 4) on the basis of the current actual position values of the first drive (10), and

that the speed of the first drive motor (10) can be changed as a function of position-related torque quantities.

2. Arrangement according to claim 1, characterized in that the first drive motor (1) has a torque-speed characteristic with falling tendency.

3. Arrangement according to claim 1 or 2, characterized gekenn¬ characterized in that the first drive motor (10) is assigned a position-dependent speed control.

4. Arrangement according to one of claims 1 to 3, characterized in that the first drive motor (10) of the eccentric shaft (1) is assigned to a group of oscillating drives.

5. Arrangement according to one of claims 1 to 3 and 4, characterized in that the eccentric shaft (1) cams for the movements

- the elements of the pliers (11),

- The elements of the feeding apparatus (14),

- the bottom slide (13) and

- The fixed comb (12).

6. Arrangement according to one of claims 1 to 3 and 4, characterized in that the first group of position-controlled motors (20, 30, 40) comprises:

- the pulsating circular comb (2),

- The take-off rollers (3) and driven in the pilgrim step

- The vibratory drive (4) of the car (conveyor belt 31).

7. Arrangement according to one of claims 1 to 6, characterized in that the motor (20) for the circular comb (2) is arranged within the circular comb (2) and the brush roller (21) is drive-connected to the circular comb that the Motor (30) for the take-off rollers (3) in

Area of an oscillating pole of the lower take-off roller (3) is arranged and transmits its drive movement via a toothed belt gear (32) to the lower take-off rollers (3) and that the motor (40) for the vibratory drive of the conveyor belt (31) via a crank-driven coupling gear ( 43, 46, 47, 44) with which one of the rockers (41, 42) of the rocker guide is connected.

8. Arrangement according to one of claims 1 to 7, characterized in that a further group of speed-controlled motors (50, 60, 70, 80) is provided on the comber for driving further units (5, 6, 7, 8), whose target speed values are derived from the current actual position values of the first drive motor (10).

9. Arrangement according to one of claims 1 to 8, characterized in that the further group of speed-controlled motors (50, 60, 70, 80) comprises

- a motor (50) for the feed rollers (5),

- a motor (60) for the delivery rollers (6)

- A motor (70) for the slewing gear (7) and

- A motor (80) for driving the comb roller (8) associated with the circular comb (2) and the brush roller (21).