EP4245434A1 - Crawler drawing method and crawler drawing machine - Google Patents

Abstract

In order to control the result of the pulling process as optimally as possible in a crawler pulling process or in a crawler pulling machine, it may be sufficient to predict the pulling result as early as possible. For this purpose, the invention provides a crawler pulling method and a crawler pulling machine. A workpiece is pulled through a drawing die by means of a caterpillar train arranged behind the drawing die as seen in a drawing direction, which pulls a workpiece through the drawing die along a drawing line aligned parallel to the drawing direction, and two circumferential drawing chains comprising chain links, each of which rotates parallel to a drawing plane, comprises, wherein each of the pulling chains is guided around two chain wheels, the axes of which are aligned perpendicular to the pulling plane, characterized in that (i) at least one measurement variable inherent in the crawler train, the pulling force of the assemblies of the crawler train that encounter or apply it, is recorded; and/or (ii) that at least one measurement variable inherent in the track train is recorded and used to control a control variable inherent in the track train, the pulling force of the assemblies of the track train that encounter or apply the pulling force.

Description

The invention relates to a caterpillar pulling method and a caterpillar pulling machine.

As is common in the entire industrial sector, the quality of a manufactured workpiece is of particular importance. There are already different methods in the area of drawing machines to ensure the quality of the drawn material to be drawn. From the EP 0 645 200 B1 For example, drawing machines are known which measure the pulling force exerted on the drawing die by the drawn rod in order to then adjust the drawing pressure depending on the pulling force on the drawing die, so that corresponding fluctuations in the pulling force on the drawing die can be reacted to. There are also, for example, from the EP 3 071 344 B1 , drawing machines are known that use an automatic tensioning device for intermediate chains.

From the WO 2020/229457 A1 For example, drawing systems are known in which quality characteristics of the drawn material, such as a drawn rod, are controlled and used for control intervention in the drawing process.

It is the object of the present invention to control the result of the pulling process in a crawler pulling process or in a crawler pulling machine as optimally as possible.

The object of the invention is achieved by a crawler pulling method and a crawler pulling machine with the features of the independent claims. Further, possibly independent, advantageous embodiments can be found in the subclaims and the following description.

In order to control the result of a drawing process, it is not absolutely necessary that the material to be drawn has been or will be drawn as optimally as possible. Rather, it is initially sufficient if this result appears to be predictable as early as possible. On the other hand, it is understood that predicting the result of the pulling process as early as possible also makes it possible to influence the pulling process as specifically and as early as possible in order to optimize its result.

In order to control the result of the pulling process in a caterpillar pulling process or in a crawler pulling machine as optimally as possible, a caterpillar pulling process can be used to pull a workpiece through a drawing die by means of a caterpillar train arranged behind the drawing die as seen in a pulling direction, which pulls a workpiece along a path parallel to the drawing direction aligned drawing line is reshaped by the drawing die and comprises two circumferential drawing chains comprising chain links, each of which rotates parallel to a drawing plane, each of the drawing chains being guided around two chain wheels whose axes are aligned perpendicular to the drawing plane, characterized in that at least one Measurands inherent in the track train of components of the track train that encounter or apply pulling force are recorded.

It is understood that, in particular, two, three, four or more such measurement variables inherent in the caterpillar train of assemblies of the caterpillar train that meet or apply pulling force can be recorded, which means, in particular with a suitable combination of such measurement variables, that the pulling result, i.e. the result of the pulling process, can be controlled accordingly can be further optimized.

Generic caterpillar drawing processes typically work with a caterpillar train that pulls a workpiece through a drawing die.

In the present context, the terms “workpiece” and “drawn material” can be used synonymously. Both terms describe the workpiece that is pulled by the caterpillar train and formed using the drawing die, including the object on which the caterpillar drawing process is carried out.

In the present context, a “drawing die” can be understood to mean a tool that has an opening through which material, which is usually metal, is drawn. In this way, the material that is drawn through the drawing die takes the shape of the opening of the drawing die, taking into account any springback, which results in a corresponding forming process of the material and thus of the workpiece. Usually the material becomes longer and thinner at the same time. The use of a drawing die is therefore particularly suitable for drawing wires or pipes, for which the present crawler drawing process is also particularly suitable. The drawing die can also be referred to as a drawing ring, although it does not necessarily have to have a circular cross section.

Depending on the specific execution of the drawing process or drawing process, a drawing mandrel or plug can be used as an internal tool when drawing pipes or hollow rods.

In addition to the caterpillar drawing process, there are also other drawing processes in which a drawn material is pulled through a drawing die and thereby formed. For example, the drawing machine can include a drum pull or a two-slide pull.

Here, a drawing machine, and therefore also a corresponding train, such as the drum train, the two-slide train or the caterpillar train, applies a pulling force along a drawing direction, in which case the drawing die is or is arranged in such a way that the material to be drawn is drawn along a A drawing line aligned parallel to the drawing direction is drawn through the drawing die.

The crawler train generally comprises two pulling chains, with each pulling chain preferably being composed of several chain links connected to one another. Naturally, a workpiece must be gripped from at least two sides in order to be able to pull it with a certain amount of force. Therefore, two pulling chains located opposite the workpiece are usually used for the caterpillar pull. It goes without saying that belts or consecutive pulling jaws that are not connected to one another can also be used as pull chains, and that a corresponding pull will still be referred to as a caterpillar pull.

Preferably, the chain links or other drawing tools driven by the rotating chains each apply drawing forces in the drawing direction or along the drawing line by interacting frictionally or non-positively with the material to be drawn over a drawing path. The corresponding direction of force is directed by the chain links of the two drawing chains in the area of the drawing section from opposite sides onto the material to be drawn or the workpiece, whereby this direction of force can be used to define a drawing plane in which the drawing line or drawing direction then lies or to which the drawing line or the pulling direction is aligned parallel.

The pulling forces can be applied in a particularly simple structural manner by applying corresponding pressure forces to the side of the chain links facing away from the workpiece. This can be done, for example, using pressure beams or something similar.

To reduce friction, the pressure beams can carry rollers over which the chain links run. For this reason, an intermediate or idler roller chain or rotating rolling elements can also be provided, which rotate between the respective pressure bar and the chain links and transmit the contact pressure. As a rule, however, such an intermediate chain does not transmit any pulling forces, which are preferably applied via one or more chain wheels.

Each of the pulling chains is preferably guided around two chain wheels, which requires a structurally simple structure. At least one of the chain wheels or the chain wheels can grip the pulling chain, for example between the chain links or on appropriately designed gripping bolts or the like, so that a correspondingly sufficient positive connection between the chain wheels and the pulling chains is ensured so that the chain wheels can safely drive the pulling chain. It is understood that in different embodiments a different frictional interaction between one or more sprockets can also be provided here.

A structurally particularly simple implementation can be realized if the axes of the sprockets are aligned perpendicular to the drawing plane, i.e. if the sprockets themselves are arranged parallel to the drawing plane. This in particular enables the crawler train to be designed to be as compact as possible.

In the present context, “inherent to the crawler train” can preferably be understood to mean that the measured variable relates to the crawler train itself. The measurement variable inherent in the track train can thus be measured on an assembly of the track train itself, which encounters or applies a pulling force. Thus, for example, the measurement variable inherent in the caterpillar train does not describe a measurement variable recorded on the drawing die, since the drawing die is not part of the caterpillar train.

In the present context, the measurement variables inherent in the crawler train are recorded directly on assemblies of the crawler train and not in areas outside the crawler train, such as on the drawing die.

In the present context, the term “assembly that meets the drawing force” can preferably be understood as meaning any assembly that meets the drawing force that reaches the corresponding assembly via the drawing material from the drawing die. This includes in particular the pulling chains, the chain wheels, the frame of the crawler tractor and, if applicable, its drive.

In the present context, the term “assembly that applies pulling force” can be understood to mean, for example, any assembly that applies pulling forces. This particularly includes the drive of the caterpillar train. But its frame, the chain wheels and the pulling chains can also be counted among the assemblies that apply pulling forces.

As a rule, there is a balance of forces in the caterpillar train, if acceleration processes and short-term fluctuations are ignored. In this respect, every assembly that encounters pulling forces will generally also be an assembly that applies pulling forces, and vice versa.

In this respect, it is provided here that measurement variables inherent in the caterpillar train are measured on all assemblies of a caterpillar train that apply or counteract pulling forces. It has been shown that by recording precisely these measurements, the result of the drawing process can be better controlled. If the entire drawing process is designed appropriately, appropriate measurement variables can advantageously serve to make statements about the result.

It is initially irrelevant whether these statements are quantified as direct measurement results or using additional calculations and then made available for evaluation, or whether, for example, only a qualitative evaluation, such as "good" or "bad", is obtained from these statements .

During the pulling process by the tracks of a drawing machine, for example, it can happen that the two pulling chains used no longer run completely synchronously with one another. This can lead to an impairment of the quality of the drawn workpiece. By appropriately monitoring the measured variables of the crawler train's components that meet or apply pulling force, a quality check can be carried out very quickly in this regard, i.e. very quickly following the pulling process, with a suitable design.

Cumulatively or alternatively, a caterpillar pulling method can be used for pulling a workpiece through a drawing die by means of a caterpillar train arranged behind the drawing die as seen in a drawing direction, which pulls a workpiece through the drawing die in a reshaping manner along a drawing line aligned parallel to the drawing direction and two circumferential drawing chains comprising chain links, which rotate parallel to a drawing plane, each of the drawing chains being guided around two chain wheels, the axes of which are perpendicular to the Drawing plane are aligned, characterized in that at least one measurement variable inherent to the caterpillar train is recorded and used to control a manipulated variable inherent to the caterpillar train of assemblies of the caterpillar train that meet or apply pulling force in order to control the result of the pulling process in a caterpillar train pulling process or in a caterpillar train pulling machine as optimally as possible. Depending on the specific implementation, in particular the drawing result, i.e. the result of the drawing process or the drawn material, which represents the essential part of the drawing process, can be optimized if the corresponding manipulated variable or variables are controlled in a suitable manner to the measured variable or variables recorded follows.

It is understood that in particular two, three, four or more such measurement variables inherent in the caterpillar pull can be recorded, whereby, especially with a suitable combination of these measurement variables, control of the pulling result, i.e. the result of the pulling process, can be further optimized accordingly.

It is also understood that in particular two, three, four or more such manipulated variables, especially if they are suitably combined with one another and possibly combined with the measured variables in a suitable manner, can be used to determine the result of the pulling process in a caterpillar pulling process or to be controlled or optimized as optimally as possible in a crawler tractor.

In the present context, the “caterpillar train-inherent manipulated variables of assemblies of the caterpillar train that meet or apply pulling force” can be understood to mean all manipulated variables of assemblies that can be adjusted or changed in any way within the caterpillar train and that can meet or apply pulling forces. Corresponding manipulated variables can occur, for example, in the area of the pull chain, the drive or in the area of the frame. Since the pulling forces on the workpiece act via the caterpillar train into the frame on which the caterpillar train is arranged, the frame must also be considered as a component of the caterpillar train that meets or applies the pulling force.

In this way, the present crawler train pulling method can be used to provide a control and regulation system which, depending on the measured variables inherent in the crawler train, controls or regulates the manipulated variables inherent in the crawler train of assemblies of the crawler train that meet or apply pulling force. This control and regulation system can, for example, optimize the drawing chain speed control in order to enable a synchronous or differentiated speed profile of both drawing chains. Various sensors can, for example, record the control values and thus optimize the movement of the drawing chains, which can also improve the quality of the drawn material. Likewise, with a suitable design, the service life of the system can be optimized through improved settings. It is conceivable that the regulation or control can also be fully or partially automated or even manual.

By using the measured variable inherent in the crawler train to control the manipulated variable inherent in the crawler train of components of the crawler train that meet or apply pulling force, it is possible, for example, to achieve a constant torque curve for both pull chains, so that no overloading of one of the two pull chains occurs. In addition, the service life can be increased and the process of the crawler pulling method can be improved. Overall, all forces prevailing in the system can be regulated in an optimized manner.

The quality of the pulling process can also be optimized with a suitable design of the caterpillar pulling process if appropriate regulatory intervention is carried out.

As already explained above, during a pulling process by the tracks of a drawing machine, for example, it can happen that the two pulling chains used no longer run completely synchronously with one another. This can lead to an impairment of the quality of the drawn workpiece. In this regard in particular, a regulating or controlling intervention can improve quality, for example. The synchronous operation of the pulling chains can be adjusted to a limited extent, for example via the pretension of the chains. It is also already common practice in the prior art to enable the synchronization of the chains by means of mechanical synchronization of at least one gear or individual gears. Here too, targeted control or regulation intervention can be carried out if necessary. If the drawing chains run asynchronously, the quality of the drawn material can deteriorate, so that synchronization is advantageous.

Preferably, the measurement variable can be a pull chain measurement variable, since the pull chain of the caterpillar train both encounters and applies pulling forces and also represents a measurement variable inherent in the caterpillar train. The drawing chain is in direct contact with the workpiece to be drawn, so that the drawing chain measurements are directly relevant to the quality of the drawn material. In addition, the behavior of the pulling chains is a decisive factor in whether the two pulling chains continue to run synchronously with one another.

A drawing chain measurement variable is, for example, a drawing chain speed. The pull chain speed is the speed at which the pull chain moves around the sprockets or the speed at which an individual chain link of the pull chain moves. If the drawing chain speed of both drawing chains is measured, conclusions can be drawn as to whether the two drawing chains run synchronously with one another, for example if the drawing chain speed of the two drawing chains differ from one another. If this is the case, the pull chain speeds could be adjusted accordingly by a regulation and control system, so that the two pull chain speeds of the two pull chains are the same, which means that synchronous running of the pull chains can be achieved again. Since different drawing chain speeds of the two drawing chains result in asynchronous running of the drawing chains and thus a loss in quality of the drawn material, it can be particularly important to measure the drawing chain speed accordingly.

Cumulatively or alternatively, the drawing chain measurement variable can be a drawing chain tension pressure, through the measurement or monitoring of which a constant torque profile of both drawing chains can be ensured and thus overloading of a drawing chain can also be prevented. As already explained at the beginning, the drawing chain, which is guided around two chain edges, is tensioned by these chain wheels and possibly by other tensioning devices with a certain pressure, which in the present context can be referred to as the drawing chain tensioning pressure. Insufficiently tensioned drawing chains can prevent the workpiece from being pulled reliably by the drawing chains. In particular, it is conceivable that the effective circulating length of the drawing chain can be varied by varying the pull chain tensioning pressure, which then leads to different rotational speeds. In addition, comparing the drawing chain tensioning pressures of both drawing chains can be important, since different drawing chain tensioning pressures can cause the two drawing chains to no longer run synchronously with one another. By recording the drawing chain tension pressure as a drawing chain measurement variable in order to use this, if necessary, to control a control variable inherent in the track train of assemblies of the track train that respond to or apply pulling force, the quality of the drawn material can also be improved if implemented appropriately. On the other hand, it is possible to make a statement about the quality of the drawing process or the drawn material by detecting the drawing chain tension pressure.

Naturally, in a crawler pulling process, vibrations occur in all components of the crawler pulling machine, as well as in the pulling chain, which can be referred to as pulling chain vibration in the present context.

The drawing chain vibration can accordingly preferably also be a drawing chain measurement variable. This is influenced by a variety of factors, such as the speed at which the drawing takes place, the pulling forces acting, possible errors in the system or the workpiece or other influences. However, the drawing chain vibration can cause the quality of the drawn material to deteriorate if it is too high. In addition, a different pull chain vibration between the two pull chains can affect the synchronous running of the two pull chains. In theory, first of all, a pull chain vibration that is as consistent as possible between the pull chains seems particularly important for the synchronous running of the pull chains. Secondly, in theory, the absence of drawing chain vibration seems to be optimal for the quality of the drawn material. However, since a disappearing pull chain vibration does not appear to be achievable in practice, the pull chain vibration should be kept as low as possible. By recording the drawing chain measurement variable, the drawing chain vibration can be checked and used as a measure of the quality of the drawing process or the drawn material and, if necessary, used to control a control variable inherent in the track train of assemblies of the track train that meet or apply pulling force, so that the pull chain vibration can be reduced if necessary or between the drawing chains can be adjusted in order to improve the quality of the drawing material or to ensure synchronous running of the drawing chains.

Advantageously, the drawing chain measurement variable can also be a drawing chain temperature. Naturally, a caterpillar pulling process generates heat, which is caused, for example, by friction between individual elements. For example, the drawing chain temperature in the present context can also be understood as the temperature that prevails on the drawing chain or which has the chain links of the drawing chain. Since the drawing chain applies or encounters particularly high forces on the material to be drawn, the drawing chain temperature can vary and also increase proportionately during the caterpillar pulling process. Since the temperature also influences the material properties, the material properties of the drawing chain material also change as the drawing chain temperature varies. This also changes the interaction of the drawing chain with the workpiece. The properties of the drawing chain, such as its length, its inherent rigidity, its mobility and the like, can also vary with the temperature, whereby such variations can also have an influence on the drawing process and thus on the drawn workpiece or material to be drawn. As a result of a changing drawing chain temperature, the quality of the drawn material can also deteriorate or vary. In addition, the drawing chain temperature of the two drawing chains could be different, so that the interaction of the individual drawing chains with the Workpiece is different. This could result in an asynchronous run of the two drawing chains, so that recording the drawing chain temperature as a drawing chain measurement variable can be of particular importance for both the quality of the drawn material and for synchronous running of the drawing chains. The detected drawing chain temperature could then be used, for example, to control a control variable inherent in the caterpillar train of assemblies of the caterpillar train that encounter or apply pulling force, so that the drawing chain temperature is reduced, for example, or the two drawing chain temperatures of the two drawing chains are equalized.

It is advantageous if the drawing chain measurement variable is a drawing chain offset. In the present context, a “pulling chain offset” can be expressed as an offset between the two pulling chains relative to one another. For example, in theory, during the pulling process, a first chain link of the first pulling chain should be at the same height in the target direction as a second chain link of the second pulling chain. Ideally, these two exemplary chain links, which are at the same height in the target direction, should maintain the same height over the entire duration of the pulling process. In practice, however, it often happens that the two chain links that were at the same height in the pulling direction at the beginning of the pulling process are no longer at the same height, but a certain offset has occurred between these two chain links. Such an offset can be understood as a pull chain offset.

Since the drawing chain is composed of several similar chain links, the above-explained offset of the chain links used as an example also describes a pulling chain offset of the entire drawing chains relative to one another. However, since a drawing chain offset between two drawing chains during a drawing process can reduce the quality of the material to be drawn, recording the drawing chain offset as a chain measurement variable proves to be particularly advantageous, as this can be responded to. The pull chain offset can also be measured in a relatively reliable and structurally simple manner. The detected pulling chain offset can also be used, for example, to make an early statement about the quality of the pulling process or the drawn material or to appropriately control a control variable inherent in the crawler train of assemblies of the crawler train that meet or apply pulling force and into a control and regulation system for synchronization the pull chains can be used.

Alternatively or cumulatively, it can be advantageous if the measured variable is a drive train measured variable. In the present context, the “drive train” can be understood to mean any component that drives the pull chains. First The pulling chains are driven by the chain wheels. The sprockets themselves are driven by a corresponding gearbox or by a corresponding motor system, such as an electric motor or a hydraulic motor. Since any events in the drive train can have a direct or indirect effect on the drawing chain and the result of the pulling process can thereby be influenced, it is also advantageous to record at least one drive train measurement variable. This can then in turn be used, if necessary, to control a control variable inherent in the track train of assemblies of the track train that meet or apply pulling force, in order to enable automatic synchronization of the pull chains of the track train and also to optimize the quality and service life of the drawn material.

Preferably, the chain wheel torque can be recorded as a drive train measurement variable, since the chain wheel torque also directly influences the pulling force of the pulling chains with which they pull. Since the quality of the drawn material can also be influenced by this drawing force, this measured value appears to be advantageous. In this way, different sprocket torques could be determined and from this it could be determined, for example, that the pulling force of the pulling chains is currently not synchronous or that there is a risk of the workpiece slipping between the pulling chains. If necessary, this measurement variable could then be used for a control and regulation system in order to use it to control the control variable inherent in the track train of components of the track train that respond to or apply pulling force.

Cumulatively or alternatively, the drive train measurement can be a sprocket speed, since the sprocket speed influences the speed of the pull chains and a different speed of the pull chains and thus also a different sprocket speed between the pull chains can lead to difficulties, especially if the sprockets drive the same pull chain. The latter in particular can lead to undesirable elongations and compressions of the respective drawing chain, which may influence the drawing process. Different speeds of the chain wheels can also be an indication of different pulling chain speeds, which can also influence the pulling process. Accordingly, if necessary, the corresponding measured value can also be used for a controlling or regulating intervention via control variables inherent in the track train of assemblies of the track train that meet or apply pulling force.

Advantageously, the drive train measurement variable can also be a chain wheel vibration, since the vibration of the chain wheels also has an impact on the running of the pulling chains and thus also influences the quality of the drawn material. Chain vibrations naturally arise from the drive of the sprockets, the pulling process or other influences. Excessive vibrations of the sprocket can result in a loss of quality or changes in the quality of the drawn material. The vibrations could cause the grip between the drawing chain and the workpiece to suffer and, for example, the drawing chain could partially slip in relation to the workpiece, which on the one hand could damage the workpiece and on the other hand could also result in an offset between the two drawing chains. Vibrations themselves can also lead to feedback, through which vibrations are amplified and in this way the pulling process is adversely affected. Since in practice a certain vibration cannot be prevented, but rather occurs naturally, the sprocket vibration should at least be the same for the sprockets of both pulling chains or of the same magnitude so that synchronous running of the two pulling chains can be supported.

Preferably, the sprocket temperature can also be recorded as a drive train measurement variable. In the present context, the sprocket temperature describes the temperature of one or the sprockets. Particularly due to the friction of the sprockets with the drawing chains, but also due to the rotation of the sprockets and their internal flexing movement, heat can arise in the sprocket, which means that the sprocket temperature can vary accordingly during the drawing process. The temperature fluctuation of the sprockets could also be responsible for a corresponding heat transfer to or from the drawing chains, which in turn are in contact with the drawn material. Changing temperatures change the material properties, so that the sprocket temperature causes changed material properties of the sprockets and possibly also indirectly changes the material properties of the pull chains. The changed material properties also change the mechanical interaction between the materials, such as between the sprocket and the drawing chain or between the drawing chain and the workpiece. This can have an impact on the quality of the drawn material. Furthermore, the changed sprocket temperatures could cause a different expansion of the sprockets themselves, so that the radius on which the pulling chains then rotate around the respective sprocket changes and the two pulling chains are influenced differently, so that the running of the pulling chains can also be influenced. Detecting the chain wheel temperature can therefore not only be used to measure the result of the pulling process, but also to control a control variable inherent in the track train of assemblies of the track train that meet or apply pulling force, so that the chain wheel temperature is part of a control and regulation system of the Caterpillar pulling process can be used to increase the quality of the drawn material and, for example, to synchronize the pulling chains.

It can also be advantageous if the measurement variable is a frame measurement variable, since the forces that arise or occur during the pulling process are also transferred to the frame of the crawler tractor pulling machine. From these, conclusions can also be drawn about the actual drawing process, so that by recording the frame measurements, the quality of the drawn material or the result of the drawing process can also be monitored.

In particular, the actual pulling process, the drive of the pulling chains and other possible influences cause vibrations on the frame, so it is advantageous if the frame vibration is recorded as a frame measurement variable, so that conclusions about the result of the pulling process can possibly be drawn from this. Rack vibration can be measured in different areas of the rack because rack vibration in certain areas is different from rack vibration in other areas. This can also be used to draw conclusions about the drawing result. Overall, excessive frame vibration, possibly at certain frequencies, can indicate that the drawing process is not proceeding optimally and thus negatively affects the quality of the material to be drawn.

Cumulatively or alternatively, the frame measurement variable can be a vibration that is present on the frame and can be measured accordingly. The actual pulling process, the drive of the pulling chains or other influences can cause vibrations on the frame. It is natural that vibrations occur on the frame during these processes. However, these should not exceed a certain range, as this can negatively affect the quality of the drawn material, as the drawing chains may no longer be able to grip and pull the drawn material cleanly or reliably. Such a vibration can also affect the drawing die and directly influence the forming process taking place there. In addition, vibrations can have a negative impact on the overall arrangement and possibly damage elements, for example if certain assemblies vibrate at natural frequencies.

In this context, a distinction is made between oscillations and vibrations. Vibrations can be rather low frequency and affect several assemblies, such as the drive train and the frame, while vibrations are usually higher frequency, often limited to only one assembly, such as a pull chain or a sprocket, and only partially then other assemblies influence. Oscillations are also usually characterized by a significant oscillation frequency, while vibrations usually affect an entire frequency spectrum. In this respect, vibrations influence the pulling process more directly and, if in doubt, negatively, while vibrations, depending on the specific type, can possibly be influenced by events that can hardly be measured, such as a weakening chain link. This can potentially prevent adverse events, such as a breakage of the corresponding chain link. On the other hand, such vibrations can also correlate directly with properties of the drawn material, for example with its uniformity, and can be used accordingly to control the drawing result.

Preferably, the frame measurement variable can also be a contact pressure, which can influence the result of the pulling process.

In the present context, a “contact pressure” can preferably be understood as a pressure with which the drawing chains grip the drawn material or which the two drawing chains exert on the drawn material.

A certain contact pressure is necessary so that the material to be drawn or the workpiece can be pulled reliably. A contact pressure that is too high could damage the workpiece, while a contact pressure that is too low can cause the workpiece to slip between the pull chains.

For this reason, it makes sense to measure the contact pressure so that it can be monitored and, if necessary, regulated or controlled. The contact pressure can be viewed as a frame measurement variable, since on the one hand the frame has to meet the contact pressure and on the other hand the frame also has to meet or apply the pulling forces. In particular, the result of the measurement can be used to promptly determine the quality of the drawing process. Likewise, this result can also be used to control one or more control variables inherent in the track train of assemblies of the track train that meet or apply traction force or to control or regulate the contact pressure accordingly.

In particular, the contact pressure can be measured, for example, by correspondingly measuring or recording the pressure with which the drawing chain is pressed against the drawn material or against each other or with which a pressure bar is pressed against the drawing chain.

It is understood that the respective measured variables can be mutually dependent on one another or influence one another in some way. For this reason, it can be advantageous if as many drawing chain measurement variables as possible are recorded. For example, different drawing chain speeds, drawing chain tension pressures, drawing chain vibrations and drawing chain temperatures between the two drawing chains can cause the actual drawing chain offset.

Advantageously, a material speed can also be recorded as an additional measurement variable, since the result of the pulling process in a caterpillar pulling process or in a crawler pulling machine can be additionally controlled from the material speed.

In the present context, “material speed” can preferably be understood as the speed at which the workpiece or material to be drawn moves during the drawing process, whereby this speed is certainly largely determined by the drawing chains. On the other hand, slippage or tensile stresses in the workpiece can then be concluded if, for example, comparisons are made here.

The material speed can therefore also be related, for example, to the drawing chain speed or the chain wheel speed. When the workpiece is optimally pulled by the drawing chains, the speed of the drawing chains is equal to the speed of the material. If the two speeds differ from each other, the workpiece could slip through the drawing chains, since the drawing chain should actually always be in more stable contact with the workpiece when the workpiece is being pulled.

In addition, the material speed should be as constant as possible during the drawing process, since the workpiece should be pulled through the drawing die as uniformly as possible. If fluctuations in the material speed occur, for example downwards, this can indicate that the workpiece has slipped through the drawing chains and in this case the material speed has dropped briefly. In addition, the material speed can be related to a variety of other measured variables, since the material speed is influenced by or directly influences many other measured variables. For this reason, the material speed can be easily integrated as a measurement variable into a control and regulation process that records and uses the measurement variables Controlling a crawler train uses the inherent control variable of the pulling force of the caterpillar train's assemblies that encounter or apply it.

A drawing chain control variable, i.e. a control variable of a property of a drawing chain, is preferably selected as the control variable, since the drawing chain has a direct influence on the drawing process and important parameters of the drawing chain can therefore be set directly.

Advantageously, the drawing chain control variable is a drawing chain speed, since this should correspond, in particular in comparison with the drawing chain speed of the other chain, but also with the speed of the workpiece in the area of contact with the drawing chain. If the speed of a workpiece is too fast, it can also be reduced by reducing the drawing chain speed. In addition, different drawing chain speeds of the two drawing chains can ensure an asynchronous course of the two drawing chains or contribute to slipping between the drawing chains and a workpiece. Accordingly, this could be counteracted by adjusting the drawing chain speed of at least one of the two drawing chains in a suitable manner.

The drawing chain speed can also be used as a drawing chain control variable as part of a control and regulation system so that the speed of the drawing chains can be set depending on the requirements or process sequences in order to ensure that the two drawing chains run synchronously.

It is alternatively or additionally advantageous if the drawing chain control variable is a drawing chain tensioning pressure, since the tensioning pressure of the drawing chain is also of great importance for a clean pulling process of the workpiece by the drawing chains. For example, drawing chains that are too loose or not tensioned enough could cause slipping between the workpiece and the drawing chains. Likewise, the pull chain tension pressure can also have an influence on the length of the chain and its rotational speed due to the correlated pull chain tension. The pull chain tension pressure between the two pull chains should also be the same to ensure that the pull chains run as synchronously as possible. If the pull chain tensioning pressure is a pull chain manipulated variable, the pull chain tensioning pressure can be adjusted, for example, to equalize or reduce or increase the pull chain tensioning pressure of the two pull chains. In this way, you can react accordingly to a non-synchronous operation of the pulling chains or a generally unclean process of the pulling process.

Since the drive train of the pulling chains also has an influence on the pulling process, the manipulated variable can preferably also include or be a drive train manipulated variable, i.e. a manipulated variable within the drive train for the pulling chains, so that elements of the drive train can be set accordingly to drive the pulling chains. which can influence the pulling process.

Advantageously, the drive train control variable can be a chain wheel torque, whereby in particular the moment or the corresponding forces acting on the workpiece to be pulled by the pulling chains can also be influenced. The sprocket torques of the two pulling chains should be as equal as possible in order to enable the two pulling chains to run synchronously. On the other hand, other factors, such as different rotational speeds or contact pressures, can make a different adjustment of the sprocket torque appear advantageous in individual cases. If, for example, one of the chain wheel torques is smaller than the other, there is a risk that at least one of the pulling chains will slip over the workpiece to be pulled, which means that the running of the pulling chains is no longer synchronous and the quality of the workpiece also suffers. Due to the possibility of being able to set the sprocket torque as a drive train manipulated variable, the sprocket torque of at least one of the pulling chains can be regulated or controlled accordingly and changes in other parameters or measured variables can also be taken into account.

It is also advantageous if the drive train manipulated variable is a chain wheel speed. The sprocket speed initially appears to correlate directly with the speed of the pulling chains running around it or with the speed at which a workpiece to be pulled is pulled with the help of the pulling chains. For the two pulling chains to run as synchronously as possible, the sprocket speed of the two pulling chains should initially be the same. On the other hand, other factors such as different chain tensions, different diameters of the sprockets or play in the chains can also lead to deviations, so that an adjusted adjustment of the sprocket speed, taking other measured variables into account, can be advantageous.

Cumulatively or alternatively, transmission settings can also be a drive train manipulated variable. The gear settings also directly or indirectly influence the sprocket torque or sprocket speed. The gear settings can therefore have an impact on the running of the two drawing chains, such as the speed at which the drawing chains turn a workpiece or with what torque. To the In order to specifically influence the pulling process or, in particular, to optimize its result, the gearbox settings can then be adjusted. These can, for example, be controlled or regulated in order to keep the running of the two pulling chains synchronous or to keep other measured values within predetermined limits. Transmission settings can in particular be understood to mean all setting options that can be set within a transmission.

In particular, the speed of a motor drive or its drive torque can also serve as a drive train control variable. This also allows for an adjustment or control option in order to optimize the pulling process in terms of its results.

It is understood that a large number of the actuators listed above, such as the speeds of the pull chains or the sprockets or the torque of the sprockets and the drive, correlate and can or must be influenced in terms of their actual adjustment options by means of identical assemblies, depending on the specific implementation . For example, the chain wheel speed can initially be directly correlated with the rotational speed of the associated drawing chain on the one hand and the drive speed of the associated drive on the one hand. However, deviations can occur here due to varying orbital radii or fluctuations in the gear ratio, so that the associated control loops may be complexly nested, taking into account the intended measured variables and actuators and, for example, when choosing the chain wheel speed as the manipulated variable, the gear setting and the speed of the drive are required to implement this manipulated variable can be used.

It is advantageous if the manipulated variable is a frame manipulated variable, since the frame ultimately has to absorb the resulting forces during the drawing process. For example, a frame size can be a contact pressure. The contact pressure can then be adjusted according to the movement of the two pulling chains or other measured variables.

Preferably, a chain offset of the two pulling chains relative to one another can be determined from at least one of the measured variables inherent in the caterpillar pull, in order to be able to detect non-synchronous running of the two pulling chains as directly as possible. For example, instead of directly measuring the chain offset of the two drawing chains relative to each other using optical measuring means, the speeds of the two drawing chains could, for example, be compared with one another and it could be determined from this whether a corresponding chain offset of the two drawing chains occurs at different speeds. However The chain offset could also be determined from any other measurement variables inherent in the track train. A direct measurement of the chain misalignment can be carried out, for example, by comparing the runs of individual chain links by using the lagging or leading of the chain links directly as a measure of the chain misalignment. Such a chain offset can in particular also be viewed as a drawing chain measurement variable.

Cumulatively or alternatively, in order to improve the workpiece quality, slipping between the workpiece and at least one of the two pull chains can also be determined from at least one of the measured variables inherent in the caterpillar pull. For example, a different rotational speed of the two drawing chains can be an indication of slipping, since the different rotational speeds inevitably mean that one of the drawing chains or even both drawing chains do not run at the same speed as the drawn workpiece. This means that it is not necessary, for example, to detect slipping between the workpiece and at least one of the two drawing chains using optical elements that compare the movement of the pulling chains and the workpiece, but rather it can already be determined from at least one of the measurement variables inherent in the caterpillar pull that slipping between the workpiece and at least one of the two drawing chains. However, if the material speed of the workpiece is available, an immediate check for slipping can be carried out by comparing it with the drawing chain speed.

It is understood that both a chain offset of the two pulling chains relative to one another and a slipping between the workpiece and at least one of the two pulling chains can be determined by differently combined measured variables inherent in the caterpillar pull. In particular, the corresponding variable can be determined even more precisely, for example by combining several measurement variables inherent in the track train. For this purpose, the measurement variables inherent in the track pull can be combined in different ways. However, one of the measured variables inherent in the track pull would possibly be sufficient to be able to determine a corresponding chain offset or slipping. The determination of the corresponding values is possible in particular because both the measured variables inherent in the caterpillar pull and the chain offset of the two pulling chains relative to one another or slipping between the workpiece and at least one of the two pulling chains are directly related to one another. All settings of the caterpillar train may have an impact on the pulling process of the workpiece and thus on any possible chain offset or slipping between the workpiece and at least one of the two pulling chains.

Cumulatively or alternatively, in order to achieve the advantages mentioned above, wear of the pull chains can also be determined from at least one of the measured variables inherent in the caterpillar pull. This can be detected, for example, by reducing the rotational speed when the drawing chain becomes longer due to wear, or by increasing the travel for a drawing chain tensioning device. Increased slipping can also be seen as an indication in this regard. It is also conceivable to monitor vibrations, for example with regard to their frequency response, in order to draw conclusions about wear. The wear of the drawing chains can have an impact on the reliable pulling process of the workpiece by the drawing chains. Since wear of the drawing chains may be difficult to occur in a direct measurement, in particular during the pulling process, the wear of the drawing chains can also be determined from at least one of the measured variables inherent in the caterpillar pull, as explained above, so that wear can be determined at any time from the measured variables without direct measurement, for example by optical detection means, can be determined.

Preferably, at least one control variable inherent in the track train is regulated by setting at least one manipulated variable. In this way, a control and regulation system can be used that controls the most optimized drawing result possible by regulating the corresponding controlled variable by setting at least one manipulated variable. This means that the drawing result can then be controlled or optimized automatically.

In the present context, the “controlled variable” can be understood to mean, for example, a chain offset of both drawing chains relative to one another or a slipping between at least one of the two drawing chains and the workpiece or the chain tension of at least one of the two chains.

It is therefore advantageous if the chain offset of both drawing chains relative to one another or slipping between at least one of the two drawing chains and the workpiece or the chain tension of at least one of the two chains can be regulated. The control variables mentioned above are of great importance for the synchronous running of the two drawing chains and thus for maintaining the workpiece quality during drawing. Depending on these variables, at least one of the manipulated variables can then be set, whereby the above-mentioned controlled variables can be regulated.

If, for example, a chain offset of both pulling chains occurs, at least one of the manipulated variables can be changed so that the chain offset of both pulling chains to each other is minimized. Here, a chain offset of zero could be the control variable to which it is regulated accordingly, since in order for the two pulling chains to run cleanly, there should be no chain offset between the two pulling chains if possible.

Accordingly, a reaction can also be made to slipping between at least one of the two drawing chains and the workpiece and this controlled variable can be regulated by setting at least one manipulated variable. In general, slipping between at least one of the two drawing chains and the workpiece should not occur at all, so that any slipping could result in regulation of at least one manipulated variable.

The chain tension of at least one of the two chains may not have to have a generally fixed value, as this can vary depending on the process or the workpiece used. However, the chain tension can in turn be determined for the specific method for a clean drawing process, so that the chain tension can serve as a controlled variable and can be regulated by setting at least one manipulated variable in order to optimize the workpiece quality.

In order to control the result of the pulling process in a caterpillar pulling process or in a crawler pulling machine as optimally as possible, a crawler pulling machine can comprise a drawing die and a caterpillar train arranged behind the drawing die as seen in the drawing direction, which is designed to move a workpiece along a line parallel to the pulling direction To draw a drawing line through the drawing die in a forming manner, and which comprises drawing chains comprising two circumferential chain links, each of which rotates parallel to a drawing plane, each of the drawing chains being guided around two chain wheels, the axes of which are aligned perpendicular to the drawing plane, characterized in that the caterpillar pulling machine Measurand detection means for detecting at least one measurand of pulling force inherent in the caterpillar train includes assemblies of the caterpillar train that encounter or apply.

In the present context, the “measurement detection means” can be understood to mean all means that are known to a person skilled in the art, particularly in the field of measurement technology, in order to be able to measure certain physical quantities. These can be arranged or provided at appropriately suitable locations on the crawler tractor pulling machine.

Cumulatively or alternatively, a crawler pulling machine can also comprise a drawing die and one arranged behind the drawing die as viewed in the drawing direction Caterpillar train, which is set up to pull a workpiece through the drawing die along a drawing line aligned parallel to the drawing direction, and which comprises two revolving drawing chains comprising chain links, which each rotate parallel to a drawing plane, each of the drawing chains being guided around two chain wheels , the axes of which are aligned perpendicular to the pulling plane, characterized in that the caterpillar pulling machine comprises measurement variable detection means for detecting at least one measurement variable inherent in the caterpillar train as well as at least one actuator inherent in the caterpillar train of assemblies of the caterpillar train that meet or apply pulling force and a control unit which has a detection means input and an actuator output, wherein the detection means input is connected to the measured variable detection means for transmitting measured variables and the actuator output is connected to the actuator inherent in the caterpillar train in order to control the result of the pulling process in a caterpillar pulling process or in a caterpillar pulling machine as optimally as possible. Here, with a suitable design, the result of the pulling process can be optimized by controlling the actuators depending on the measured values recorded by the measured variable recording means.

It goes without saying that, in particular, two, three, four or more such measurement variable detection means can be provided, whereby, particularly with a suitable combination of these measurement variable detection means, control of the drawing result, i.e. the result of the drawing process, can be further optimized accordingly.

It is also understood that in particular two, three, four or more such actuators, in particular if they are suitably combined and possibly combined with the measurement variable detection means in a suitable manner, can be used to determine the result of the pulling process in a caterpillar pulling process or .to be controlled or optimized as optimally as possible in a crawler tractor.

In the present context, the “actuator” can be understood to mean any element of the crawler tractor that is adjustable or can be adjusted in any way. In particular, the actuator can serve to adjust or specifically vary assemblies of the caterpillar train that respond to or apply pulling force, which can, for example, also have a direct effect on the running of the pulling chains, such as the speed of the pulling chains.

In the present context, the “control unit” can be understood to mean an electronic unit that controls a specific process.

For this purpose, the control unit preferably has a detection means input, whereby measured variables that were recorded by measured variable detection means can be transferred to the control unit.

In addition, the control unit preferably comprises at least one actuator output, via which the control unit is connected to the actuator inherent in the track train in a driving manner.

It is understood that the detection means input and/or the actuator output or the detection means inputs and/or the actuator outputs can be designed in any known or conceivable form that is suitable for implementing the above-mentioned task. In particular, suitable dedicated measuring lines or control lines or even a bus system can also be provided here.

The control unit can thus record and evaluate measured variables via its detection means input. Depending on these measured variables transmitted via the detection means input, the control unit can then control the track-immanent actuators or the track-immanent actuator via the actuator output. In this way, in particular, a control system can be provided, with the actuator or actuators being controlled by the control unit depending on the measured variables. For example, the control unit regulates or controls the drawing chains in such a way that they run synchronously and thus the quality and service life of the drawn material can be optimized.

Depending on the specific implementation, the control unit can form a control loop, for example in the form of one or more classic electrical or electronic controls. It can also be advantageous to provide the control unit cumulatively or alternatively through a data processing system which implements corresponding controls through data processing simulations of such electrical or electronic controls. In particular, artificial intelligence, fuzzy logic or neural networks can also be used accordingly in the control unit.

Preferably, the measurement variable detection means are drawing chain measurement variable detection means that are able to record a wide variety of measurement variables that relate to the drawing chain. Since the pulling chains are an essential part of the crawler tractor pulling machine and are used to optimize the quality and service life of the Drawing material, in particular the drawing chains, are jointly responsible for the optimal control of the result of the pulling process in a caterpillar pulling process or in a caterpillar pulling machine, it is advantageous if all of the measured variables relating to the drawing chains can be recorded.

For example, it is advantageous if the drawing chain measurement variable detection means are drawing chain speed detection means, through which the speed of the drawing chains can be detected. In particular, if the pulling chains are to be automatically synchronized in order to have a correspondingly synchronous run, it makes sense to record the speed of the pulling chains in order to compare them with one another. If the drawing chain speeds of the two drawing chains differ from one another, it can be assumed that the two drawing chains are not running synchronously with one another. In addition, only a certain drawing chain speed can be prescribed for certain process sequences or for certain workpieces in order to ensure that the drawing process is as reliable as possible and to optimize the quality and service life of the drawn material.

Cumulatively or alternatively, the drawing chain measurement variable detection means can also be drawing chain tensioning pressure detection means that are able to detect the drawing chain tensioning pressure. The clamping pressure of the drawing chains is an important parameter of the drawing chain, which can influence the drawing process of a workpiece by the drawing chains. In particular, the drawing chain tensioning pressure of both drawing chains should also be the same to ensure that the two drawing chains run as synchronously as possible and to avoid slipping between the workpiece and the respective drawing chain. In order to monitor this accordingly, it makes sense if the pull chain tension pressure on the pull chains can be recorded, so that different pull chain tension pressures can also be counteracted if necessary.

Vibrations can naturally occur on the pulling chains of a crawler tractor during the pulling process and, if they are sufficiently high, these vibrations can also have negative effects on the quality of the material being drawn. In addition, the drawing chain vibrations can also contribute to the drawing chains running uncleanly, which can result in slipping between the drawing chains and the workpiece, for example, or the drawing chains no longer run synchronously with one another. In order to be able to monitor these vibrations accordingly, drawing chain vibration detection means prove to be particularly advantageous.

Preferably, the drawing chain measurement variable detection means can cumulatively or alternatively comprise drawing chain temperature detection means, which can measure the temperature of the drawing chains. The drawing process of the workpiece through the drawing chains creates energy in the form of heat in the drawing chains or in the workpiece due to various physical processes. Since the material properties of the drawing chain can change with increased temperatures, the behavior between the drawing chain and the workpiece can also change. Consequences could be, for example, slipping between the workpiece and at least one of the drawing chains, non-synchronous running of the drawing chains or a deterioration in the quality and service life of the drawn material. Different temperature increases between the two drawing chains also indicate that the drawing chains are running improperly or that the workpiece is being pulled improperly by the drawing chains. For this reason, it is advantageous if the drawing chain temperature can be detected and monitored by the drawing chain temperature detection means.

It is also advantageous if the drawing chain measurement variable detection means are drawing chain offset detection means. The drawing chain offset detection means are, according to the present diction, any measuring means that are in particular capable of detecting an offset between the two drawing chains. If the two pulling chains run optimally and synchronously, there is no offset between the two pulling chains during the entire pulling process. By detecting an offset between drawing chains, the drawing chain offset detection means can also determine whether the two drawing chains are no longer running synchronously with one another or whether the undesired offset between the drawing chains has occurred for some reason. Any undesirable causes for the drawing chain misalignment should advantageously be eliminated in order to optimize the quality and service life of the drawn material. It is therefore particularly useful to use the drawing chain offset detection means to detect or monitor a possible offset between the two drawing chains in order to then be able to intervene accordingly if necessary.

In order to control the result of the pulling process in a caterpillar pulling process or in a crawler pulling machine as optimally as possible, it can be particularly advantageous if the measured variable detection means include drive train measured variable detection means. The drive train forms an essential part of a crawler tractor pulling machine, since it is through the drive train that the pulling chains of the crawler tractor pulling machine can be driven in order to pull the material to be drawn or the workpiece. This means that all components of the drive train also have an impact on the drawing chains and thus on the drawing process of the workpiece by the drawing chains. Therefore it makes sense To record drive train measurement variables by the drive train measurement variable detection means in order to control the result of the pulling process in a caterpillar pulling process or in a caterpillar pulling machine as optimally as possible or, if necessary, even to intervene in a controlling or regulating manner.

Preferably, the drivetrain measurement variable detection means comprises sprocket torque detection means. The sprocket torque also has a direct effect on the forces that the drawing chain can exert on the workpiece during the pulling process, since the sprocket drives the drawing chain. If, for example, the sprocket torques of the sprockets of a pull chain are different or fluctuate differently from one another, this can be an indication of errors or inconsistencies in the pull chain circulation. On the other hand, if, for example, a sprocket torque is different to a sprocket torque of the other pulling chain, this imbalance could cause the two pulling chains to run improperly. This could, for example, result in the workpiece slipping with at least one of the two pull chains and thus also in the pull chains running non-synchronously. The quality of the drawn material can therefore also be directly affected by different sprocket torques. For this reason, it is advantageous if the sprocket torques can be detected or monitored by sprocket torque detection means. It is understood that the chain wheel torques of the two pulling chains do not necessarily have to be the same for an optimal pulling process because, for example, a particularly large and heavy workpiece could require higher torques for the chain wheel torque of the pulling chain arranged under the workpiece due to its weight. However, different sprocket torques, which should be kept at a certain level, can also be monitored particularly advantageously by the sprocket torque detection means.

Cumulatively or alternatively, the drive train measurement variable detection means can also include sprocket speed detection means, which can detect or measure the speed of the sprockets. Since the sprockets drive the pull chains, the sprocket speed is related to the pull chain speed. Since the drawing chain speeds, as already explained above, are important for the drawing result, it is also particularly advantageous if the chain wheel speed can be detected and monitored by chain speed detection means.

Cumulatively or alternatively, the drive train measurement variable detection means can also be sprocket vibration detection means, which detect vibrations on the sprockets that can naturally arise during a pulling process. These vibrations have doubts also influence the drawing process and can, for example, have negative effects on the quality and lifespan of the drawn material. Therefore, for the optimization of control of the drawing result, it is also advantageous if the vibrations on the sprocket are measured by the sprocket vibration detection means.

In order to achieve the same advantages, the drive train measurement variable detection means can cumulatively or alternatively comprise sprocket temperature detection means. As already explained above, increased temperatures have an impact on the material properties, so that excessively high temperatures of the sprocket, whereby a change in temperatures naturally occurs during the drawing process, could have negative effects on the clean running of the drawing chains or on a reliable drive of the drawing chains.

Since the pull chains should run as synchronously as possible or should be automatically synchronized, the components that drive the pull chains themselves are also of particular importance. These are drivetrain components and when drivetrain components may not function as intended, synchronization of the pull chains may also be difficult. For this reason, it is advantageous if the drive train measurement variable detection means can measure or monitor, for example, the sprocket torque, the sprocket speed, the sprocket vibration or the sprocket temperature with the above-mentioned detection means.

In addition, the measured variable recording means can also be frame measured variable recording means, since the frame is also part of a crawler tractor pulling machine and therefore, for example, forces that arise during the pulling process also act on the frame or are absorbed by the frame.

Naturally, the pulling process also creates vibrations on the frame, which should preferably not be too high, as excessive vibrations on the frame could result in an unclean pulling process. Therefore, frame vibration detection means, which can detect or monitor the said vibrations on the frame, prove to be particularly advantageous as frame measurement variable detection means. In this way, vibrations of different strengths could also be detected in different areas of the frame, which means that an imbalance in the forces acting on the frame can be concluded. This could be caused, for example, by the two pull chains not running synchronously or by defects that arise caused, so that non-synchronous running of the pull chains can be determined.

Cumulatively or alternatively, the frame measurement variable detection means can also be vibration detection means, since vibrations also naturally arise on a corresponding frame of a crawler tractor pulling machine. However, these should be of a size that does not have a negative impact on the drawing process of the workpiece by the drawing chains, so that the quality of the drawn material can be optimized. It can therefore be advantageous to detect or monitor the vibrations using the vibration detection means.

The level of contact pressure of the drawing chains on the workpiece also affects the level of forces transmitted to the frame. In order to be able to record and monitor these, contact pressure recording means can be used as frame measurement variable recording means. In particular, in order to detect synchronous running of the two drawing chains relative to one another, the contact pressures can be informative, since different strong contact pressures can lead to unclean or asynchronous running of the two drawing chains relative to one another.

The crawler tractor advantageously includes material speed detection means. The speed of the workpiece or the material to be drawn can be recorded using material speed detection means. The speed of the material is important, as stated above, as certain material speeds may be required for the drawing process, which enable a reliable drawing process. If, for example, this specific speed is to be maintained, it makes sense to record or monitor this using a material speed detection device. The material speed can also provide conclusions as to whether the material to be drawn was continuously gripped by the two drawing chains without slipping or whether, for example, slipping occurred between the material to be drawn and one of the two drawing chains. In an optimal drawing process, the material speed should be equal to the drawing chain speed, since then the drawing chain remains in the same position on the workpiece throughout and no slipping has occurred.

It is advantageous if the actuator is a pull chain control variable actuator, with which sizes of the pull chain can be changed.

For example, the drawing chain control variable actuator can be a drawing chain speed actuator, through which the speed of the drawing chains can be adjusted, such as for example, can be increased or decreased. This means that the drawing chain speed can be adjusted if necessary, which is particularly advantageous if the drawing chain speeds are to be adjusted to one another or are to be increased or reduced.

Cumulatively or alternatively, the drawing chain control variable actuator can also be a drawing chain tensioning pressure actuator, whereby the tensioning pressure of the drawing chain can be adjusted. If, for example, the drawing chain has a clamping pressure that is too high or too low and the quality of the material to be drawn may therefore be impaired, this drawing chain tensioning pressure can be adjusted by the drawing chain tensioning pressure actuator. Corresponding advantages have already been explained above in relation to a corresponding adjustment process.

Since the drawing chains are usually driven via a corresponding drive train and this can therefore be important for the synchronous running of the drawing chains or for controlling the drawing results and also for optimizing the quality of the drawn material, it is advantageous if the actuator has one Drive train manipulated variable actuator.

The drive train manipulated variable actuator can thus be a transmission setting actuator. By definition, the transmission setting actuator can be used to adjust the settings of the transmission and thus also influence the drive of the pull chains. This is particularly advantageous if the pull chain drive needs to be adjusted.

Cumulatively or alternatively, the drive train manipulated variable actuator can be a sprocket torque actuator, whereby the torque of the sprocket can be adjusted. The sprocket torque can have a direct or indirect impact on the torque or force of the pulling chains and thus also on the running of the pulling chains. In order to be able to adapt the sprocket torque accordingly, a sprocket torque actuator can preferably be provided.

A drive train manipulated variable actuator can also be a chain speed actuator. A sprocket speed actuator can adjust the sprocket speed, which generally also changes the pulling chain speed accordingly. If the speed of the pulling chains needs to be adjusted in any way, this can be done using the chain wheel speed actuator. For example, synchronization of the two pull chains with one another could be achieved by the sprocket speed of the two pull chains being the same, so that if the sprocket speeds differ, this can be adjusted accordingly by at least one sprocket speed actuator.

Preferably, the actuator is a frame control variable actuator, since the frame is also a component of the caterpillar pulling machine that applies or encounters pulling forces. The actuator can also advantageously be a contact pressure actuator, since the frame exerts the contact pressure of the two drawing chains on the workpiece and this contact pressure can be adjusted by the contact pressure actuator. Too high a contact pressure could have negative effects on the quality of the drawn material. If the contact pressure is too low, however, this could result in a lack of adhesion between the drawing chain and the workpiece, which could result in slipping between the workpiece and at least one of the two drawing chains. In order to use the optimal contact pressure, this can be adjusted accordingly using the contact pressure actuator. It goes without saying that additional frame control variable actuators, such as adjustable vibration dampers or actuators for displacing the frame or individual assemblies, can also be used advantageously.

Preferably, the caterpillar pulling machine can include chain offset determination means that use measured variables inherent in the caterpillar train. The chain offset determination means determine an offset between the two pulling chains. However, this chain offset cannot usually be measured directly, but rather via measured variables inherent in the caterpillar pull, such as the pulling chain speeds, and then determined using mathematical relationships. For example, different drawing chain speeds suggest that there is a chain offset, so that in this example the chain offset determination means determine a chain offset from the drawing chain speeds. A direct determination by comparing the times of passage of individual chain links of the two pull chains would be conceivable. However, the chain offset determination means can also determine the chain offset from any other combinations or stand-alone measured variables inherent in the caterpillar train, since the measured variables inherent in the caterpillar train are related to one another in a certain way in certain cases.

In order to determine the wear of the pull chains, wear determination means using measurement variables inherent in the caterpillar pull can be provided, whereby the wear can generally not be measured or determined directly, for example by optical means on the pull chains, but rather via the measurement variables inherent in the crawler pull. Different measurement variables inherent in the track pull or different combinations of measurement variables inherent in the track pull can be used for this purpose, as already explained above. For example, slipping between the workpiece and at least one of the two pull chains could indicate that the pull chains are correspondingly worn and that there is insufficient adhesion more is ensured between the workpiece and the drawing chain. Increased oscillations or vibrations could also be the result of greater wear.

Cumulatively or alternatively, the crawler tractor pulling machine can include slip detection means that use measured variables inherent in the crawler train. The slip detection means could, for example, compare the material speed with the drawing chain speed, which differ as soon as there is slipping between the workpieces and drawing chains. The slip detection means therefore determines a corresponding slip between the workpiece and at least one of the drawing chains and does not measure directly. For the determination, the slip detection means can use different measured variables or different combinations of measured variables.

The control unit advantageously comprises a chain offset control unit, wherein the chain offset control unit can control the chain offset, so that when a chain offset occurs, this offset can be counteracted immediately, so that the pulling chains run synchronously with one another again and there is no longer any chain offset. Automatic synchronization of the pulling chains can thus be achieved by the chain offset control unit.

Cumulatively or alternatively, the control unit can comprise a slip control unit which controls the drawing process in such a way that as soon as slipping occurs between the workpiece and at least one of the two drawing chains, this can be counteracted accordingly so that no further slipping occurs. This means that an optimal drawing process can be automatically controlled, which also optimizes the quality of the drawn material.

Cumulatively or alternatively, the control unit can comprise a chain tension control unit which accordingly controls the chain tension as soon as it is not tensioned according to the required chain tension.

It is understood that the chain offset control unit, the slip control unit or the chain tension control unit ultimately have different actuators, such as actuators for adjusting the pulling chain speed or the drive speed, actuators for varying the contact pressure and / or actuators for varying the torques of the individual sprockets or for variation the contact pressure, can control or include.

The above-mentioned control units preferably have in common that they can automatically control the corresponding variables and, for this purpose, adjust corresponding actuators depending on measured variables. In this way, a corresponding control or regulation system can be provided for an optimal pulling process.

In order to design the control unit for the process in an optimal and contemporary manner, the control unit can include a neural network, a fuzzy logic, an AI or a conventional control program for a programmable computing machine. In this way, the control unit can be optimized for its use in order to be able to react to and understand as many cases as possible regarding the measured variables. Depending on the type of control unit, the quality and lifespan of the drawn material can be further optimized. In particular, in this way, a large number of measured variables and actuators can be combined to form a very complex control loop, especially if, as already indicated above, some of the measured variables and actuators have complex relationships with one another that may not yet have been researched in detail.

It is advantageous if the caterpillar pulling machine comprises a control method for controlling the caterpillar pulling machine, wherein a pull chain offset between the pull chains can be regulated by adjusting the at least one actuator or actuators depending on the measured variable(s) inherent in the caterpillar train recorded by the measured variable detection means. In this way, the two pulling chains can be automatically synchronized with one another.

Cumulatively or alternatively, by adjusting the at least one actuator or actuators depending on the measured variable(s) inherent in the caterpillar train detected by the measured variable detection means, slipping between the workpiece and at least one drawing chain can be regulated in order to optimize the quality and service life of the drawn material.

For the sake of completeness, it should be noted that in this context the respective measured variables or manipulated variables do not necessarily have to be measured and processed in a quantified manner or controlled in a quantified manner in their actual units. Rather, it is sufficient if values that are sufficiently proportional to the measured or manipulated variables are measured, processed or used for control.

It goes without saying that the features of the solutions described above or in the claims can also be combined if necessary in order to be able to implement the advantages in a correspondingly cumulative manner.

Figur 1

eine Raupenzugziehmaschine in einer Seitenansicht;

Figur 2

Raupenzugziehmaschine nach Figur 1 in perspektivischer Ansicht; und

Figur 3

schematische Ansicht eines Regelverfahrens der Raupenzugziehmaschine nach Figuren 1 und 2.

Further advantages, objectives and properties of the present invention are explained using the following description of exemplary embodiments, which are also shown in particular in the accompanying drawing. Show in the drawing:

Figure 1

a crawler tractor in a side view;

Figure 2

Tracked tractor pulling machine Figure 1 in perspective view; and

Figure 3

Schematic view of a control process of the crawler tractor Figures 1 and 2 .

A crawler tractor 10 includes, as in the Figures 1 to 3 shown as an example, a drawing die 21 and a caterpillar train 11 arranged behind the drawing die 21 as seen in a drawing direction 30, comprising two drawing chains 12, which are parallel to a drawing plane 32, which in Figure 1 represents the drawing plane, each revolve and each include several chain links 13. Each of the two drawing chains 12 is also guided around two chain wheels 14, each of which has axes 15 that are aligned perpendicular to the drawing plane 32.

The caterpillar train 11 is set up to pull a workpiece 20 through the drawing die 21 in a forming manner along a drawing line 31 aligned parallel to the drawing direction 30. In addition, the drawing die 21 includes a motorized adjustment 22, which can adjust the drawing die 21 accordingly, whereby the forming force of the drawing material and the temperature before the drawing process on the drawing die can also be measured.

The main drive of the crawler tractor 10 or the crawler train 11 takes place via a drive 16, which in this exemplary embodiment is designed as an electric motor. In different embodiments, other types of drive, for example hydraulic, are conceivable. This is part of a drive train to drive the crawler train 11.

The drive train also includes two gears 17 between the drive 16 and the sprockets 14, so that all drive forces from the drive 16 are divided between two gears 17. A first gear 17 is operatively connected to the sprocket 14 of a first drawing chain 12, while the second gear 17 is connected to the sprockets 14 of the second drawing chain 12, so that each gear 12 ensures the drive of the sprockets 14 of each drawing chain 12. The driven sprockets 14 are also part of the drive train, just like ultimately the respective drawing chain 12, which in turn then drives the workpiece 20 together with the other drawing chain 12.

Since the pulling chains 12 each run around two chain wheels 14, the gears 17 also drive one of the two pulling chains 12, so that in the drive train of the crawler train 11 the drive 16 drives both pulling chains 12 via the gears 17 and via the chain wheels 14.

During the drawing process, each of the drawing chains 12 then grips the workpiece 20 with a certain contact pressure through its chain links 13 and thereby pulls the workpiece 20 along the drawing line 31 in the drawing direction 30, the workpiece 20 being reshaped by the drawing die 21.

In this exemplary embodiment, the chain links 13 each carry drawing tools in a manner known per se, which rest against the workpiece 20 in a drawing area (not numbered), so that a drawing force can be transmitted from the drawing chains 12 to the workpiece 20 or to the material to be drawn.

It goes without saying that in different embodiments, further drawing chains and other design deviations, such as the precise mounting of the drawing chains 12, the specific design of the gears and the like, can also be provided. In particular, in a different embodiment, it is conceivable that, for example, both chain wheels 14 of a pulling chain 12 are driven in order to influence the running of the pulling chains 12, in which case it is advantageous to suitably coordinate the torque distribution when driving these chain wheels 14 or their speed with one another .

During the pulling process, the pulling chains 12 move at a specific pulling chain speed, which is dependent on the drive 16, depending on how it drives the pulling chains 12. This drawing chain speed can be detected or measured by drawing chain speed detection means 51. The drawing chain speed detection means 51 of the present exemplary embodiment are arranged directly in the vicinity of the passing chain links 13 of the drawing chain 12. The speed can, for example, be measured specifically by an inductive excitation of magnets passing by and attached to the chain links 13. Likewise, for example, a light barrier can detect a passage of the chain links 13 in order to then determine the speed from the cycle or the passage duration. However, it is understood that the drawing chain speed detection means 51 can also be arranged elsewhere in order to measure the drawing chain speed.

Since the pulling chains 12 are driven by the chain wheels 14 or the pulling chains 12 rotate around the chain wheels 14, the pulling chain speed is also dependent on the chain wheel speed. The sprocket speed is also dependent on the drive by the gearbox 16 and on the power or speed transmission via the gearbox 17. In the present exemplary embodiment, this sprocket speed can be detected or measured via sprocket speed detection means 62, which are arranged on the gearbox 17. However, it is also conceivable that the sprocket speed detection means 62 can be arranged at another location on the drive train, such as directly on the sprocket 14, in order to measure the sprocket speed.

The pull chains 12 are also tensioned by the chain wheels 14 with a pull chain tensioning pressure. The drawing chain tension pressure can be detected or measured on the two drawing chains 12 by drawing chain tension pressure detection means 52. These are arranged in the area between the two chain wheels 14 of a drawing chain 12 on an associated drawing chain tensioning pressure actuator 92, by means of which the drawing chain tensioning pressure can be adjusted, and measure the drawing chain tensioning pressure that the drawing chain 12 exerts on the drawing chain tensioning pressure detection means 52 or on the drawing chain tensioning pressure actuator 92.

During the pulling process of the workpiece 20 by the caterpillar train 11, vibrations naturally arise on the drawing chains 12, which can be referred to as drawing chain vibrations. These can be arranged via drawing chain vibration detection means 53, which are arranged in an area through which the drawing chain 12 passes as the chain wheels 14 rotate.

The drawing chain temperature, which naturally changes during a drawing process, in particular increased, for example, can also be detected or measured by drawing chain temperature detection means 54. The drawing chain temperature detection means 54 can be arranged directly in an area between the chain wheels 14, past which the drawing chain 12 runs. It goes without saying that the drawing chain temperature detection means 54 can also be arranged at any other location in the area of the caterpillar train 11, provided that the drawing chain temperature can also be detected at this point.

It is possible for the two pull chains 12 to have a pull chain offset from one another, which can be recognized, for example, by the fact that individual chain links 13 of the pull chains 12 no longer run parallel to one another, but have an offset to one another. Such a pull chain offset can then, as in the present exemplary embodiment, can be detected by drawing chain offset detection means 55, which in the present embodiment is arranged in the area of the workpiece 20 between the two drawing chains 12, since the synchronous running of the two drawing chains 12 or the chain links 13 can be detected particularly well here. However, other measuring methods are also conceivable in order to detect a pull chain offset between the two pull chains 12. For example, an inductive excitation of magnets passing by and attached to the chain links 13, a passage of the chain links 13 detected by a light barrier can be used to determine the offset from the deviation of the passages from one another or from a change in the deviation to a change in the offset close.

When the sprockets 14 are driven, they are naturally driven with a certain torque, which can be referred to as sprocket torque. The sprocket torque describes, apart from natural vibrations of the sprockets or apart from tensions and twists of the sprockets, etc., also the moment with which the sprockets 14 drive the pulling chains 12. The sprocket torque can be detected or measured by sprocket torque detection means 61. In the present exemplary embodiment, the torque measurement is carried out, for example, via strain gauges, with the sprocket torque detection means 61 being arranged on the sprocket 14. It goes without saying that the torque can also be detected or measured, for example, in another area of the drive train, such as in the transmission 17 or between the transmission 17 and the chain wheel 14 or via other torque sensors.

The vibrations occurring on the sprocket 14 during the pulling process can also be detected as sprocket vibration via sprocket vibration detection means 63, which are arranged on the gear 17 in the present exemplary embodiment. However, the sprocket vibration detection means 63 can also be arranged directly on the sprocket 14 or another part of the drive train. In particular, the chain wheel torque detection means 61, if they are implemented, for example, by strain gauges, can also be used as chain wheel vibration detection means 63.

Temperature fluctuations also arise on the sprocket 14 itself during the pulling process, which naturally arise from the physical processes, and this sprocket temperature can be detected or determined via sprocket temperature detection means 64, which are arranged directly on the sprocket 14. It is conceivable that the chain wheel temperature detection means 64 are not arranged directly on the chain wheel 14 and can, for example, measure the chain wheel temperature without contact.

The vibrations arising during the pulling process are also transmitted to a frame 18 of the crawler train 11. These frame vibrations can be detected or measured at any point on the frame via frame vibration detection means 71. In the present exemplary embodiment, the frame vibration detection means 71 is arranged in an area between the two chain wheels 14 on a pressure bar 19 which is known per se and which exerts a contact pressure in the direction of the workpiece 20 via an intermediate chain which is also known per se and is only shown schematically and is not numbered, so that the drawing tools can grip the workpiece 20, which can also be arranged at another suitable location of the components carrying the caterpillar train 11.

The pressure bar 19 can be adjusted via pressure actuators 111 in or parallel to the drawing plane 32 with a component perpendicular to the drawing line 31 or drawing direction 30, which in this exemplary embodiment are designed as eccentric drives known per se, with which the pressure bar 19 is more comprehensive and present not separately numbered sprocket carrier in or parallel to the drawing plane 32 with a component perpendicular to the drawing line 31 or drawing direction 30 can be employed.

In addition, vibrations naturally arise on the caterpillar pulling machine 10, which in the present exemplary embodiment can be measured or detected via vibration detection means 72.

During the drawing process of the workpiece 20 by the drawing chains 12, the drawing chains 12 exert a certain contact pressure on the workpiece 20, which, as already indicated above, can be applied by the pressure bar 19 and also maintains the quality of the workpiece 20 for an operationally reliable drawing process is of importance. This contact pressure can be measured or recorded on the caterpillar train 11 via contact pressure detection means 73.

The vibration detection means 72 and the contact pressure detection means 73 are also provided on the pressure beam 19 in this exemplary embodiment, although in different embodiments they can also be provided at another suitable location.

In addition, the material speed of the workpiece 20 is measured in an area in the pulling direction 30 behind the crawler train 11 by material speed detection means 41. It is understood that the material speed can also be measured in other areas of the crawler train 11, such as in the area in which the Workpiece 20 is in contact with the drawing chains 12 or, viewed in the pulling direction 30, in front of the caterpillar train 11 or between the drawing die 21 and the caterpillar train 11.

In addition, the crawler tractor pulling machine 10 of the present exemplary embodiment has numerous options for adjusting parameters that relate to the pulling process by the crawler tractor 11 or that directly affect the crawler tractor 11.

The crawler train 11 has pull chain speed actuators 91, which can change the pull chain speed. These are in particular part of the drive 16 or the transmission 17 and are arranged within these units, so that the drawing chain speed actuators 91 are shown in the illustrations Figures 1 and 2 of the present exemplary embodiment are not shown further. For example, however, devices are also conceivable through which the running radius of the drawing chains 12 around the sprockets 14 can be modified, which, if it is a driving sprocket 14, then has a corresponding influence on the drawing chain speed, so that such a device can also be used Pull chain speed actuator 91 is to be evaluated.

As already explained above, between the chain wheels 14 there are arranged pull chain tensioning pressure actuators 92, which can press the pull chains 12 perpendicular to the pulling direction 30 into the side of the pull chains 12 facing away from the workpiece 20 in order to tension the pull chains 12 or to increase the pull chain tensioning pressure change. In the present exemplary embodiment, the drawing chain tensioning pressure detection means 52, the drawing chain vibration detection means 53 and the drawing chain temperature detection means 54 are also arranged on this drawing chain tensioning pressure actuator 92.

In addition, important parameters for driving the sprockets 14 can be changed via gear setting actuators 101, which are arranged within the gear 17. The transmission adjustment actuators 101 are also arranged within these units, so that they are shown in the illustrations Figures 1 and 2 of the present exemplary embodiment are not shown further.

The chain wheel torque or the chain wheel torques are also changed in the present exemplary embodiment via chain wheel torque actuators 102, so that, for example, the torque of the chain wheels 14 or their rotational speed can be changed as required. Likewise, the sprocket torque actuators 102 are arranged within the transmission 17, so that they are shown in the illustrations Figures 1 and 2 of the present exemplary embodiment are also not shown further.

In a similar way, the sprocket speed of the sprockets 14 can also be changed by sprocket speed actuators 103, which are also not shown in the illustrations Figures 1 and 2 can be seen separately, but are arranged in the area of the chain wheel 14 or the transmission 17 or in the area of the drive train.

In addition, the contact pressure is adjusted by the contact pressure actuator 111 already explained above, so that the pressure with which the drawing chains 12 press on the workpiece 20 can be changed.

The crawler tractor 10 of the present exemplary embodiment includes a regulation and control system, as shown schematically in the Figure 3 is shown. The drawing chain speed detection means 51, the drawing chain tension pressure detection means 52, the drawing chain vibration detection means 53, the drawing chain temperature detection means 54 and the drawing chain offset detection means 55 are summarized as drawing chain measurement variable detection means 50 and thus represent all variables which relate to the drawing chain 12 and can accordingly be included under the drawing chain measurement variable detection means 50.

In addition, the sprocket torque detection means 61, the sprocket speed detection means 62, the sprocket vibration detection means 63 and the sprocket temperature detection means 64 can be combined as drive train measurement variable detection means 60, which respectively describe measurement variables relating to the drive train.

The frame vibration detection means 71, the vibration detection means 72 and the contact pressure detection means 73 can be included under the frame measurement variable detection means 70, since these detection means detect measurement variables that are related to the frame 18.

It is understood that, in addition to the above-mentioned detection means, further detection means can also fall under the drawing chain measurement variable detection means 50, the drive train measurement variable detection means 60 or the frame measurement variable detection means 70, since it is conceivable that further physical parameters, not mentioned, on the caterpillar train 11 or on the Caterpillar pulling machine 10 can be detected, for which purpose appropriate detection means can be useful. The above-mentioned detection means 50, 60 and 70 as well as the material speed detection means 41 can be combined as a measurement variable detection means 40 for recording track-inherent measurement variables from assemblies of the caterpillar train 10 that encounter or apply the pulling force.

In addition, further detection means, such as the material speed detection means 41 provided as an example in this exemplary embodiment, can be provided.

In addition, all actuators 80 can be grouped accordingly.

Thus, drawing chain speed actuators 91 and drawing chain tensioning pressure actuators 92 are combined as drawing chain manipulated variable actuators 90.

The transmission adjustment actuators 101, the sprocket torque actuators 102 and the sprocket speed actuators 103 are collectively referred to as the powertrain actuators 100.

The contact pressure actuator 111 can also generally be described as a frame control variable actuator 110, with additional frame control variable actuators 110 being able to be provided in different embodiments, as already explained in the introduction.

The actuators 80 thus include all pull chain manipulated variable actuators 90, drive train manipulated variable actuators 100 as well as frame manipulated variable actuators 110. It is also conceivable that further actuators 80 can also be provided in order to be able to adjust any manipulated variables that can be part of the caterpillar train 11.

In the present exemplary embodiment, part of the regulation and control system is also exemplary determination means 120, which include chain offset determination means 121, wear detection means 122 and slip detection means 123. Use these, as in Figure 3 indicated, the measurement data provided by the measured variable detection means 40 and the material speed detection means 41 and, in other embodiments, further or alternating detection means, in order to determine corresponding data by carrying out suitable data links.

In addition, the entire process in this exemplary embodiment is additionally controlled via a control unit 130, which includes a chain offset control unit 133, a slip control unit 134 and a chain tension control unit 135.

In this exemplary embodiment, the control unit 130 has a determination means input 131, through which parameters are transmitted from the determination means 120, as well as an actuator output 132 in order to transmit corresponding settings or adjustments to the actuators 80.

Alternatively or cumulatively, detection means input can also be provided in the control unit 130, through which measured variables from the measured variable detection means 40 or further detection means, such as the material speed detection means 41, can be supplied to the control unit 130 in accordance with this, in order then to make corresponding settings or adjustments to the actuators 80 to be able to transfer.

The control method for controlling the crawler tractor 10 of the present embodiment as described in FIG Figure 3 is shown, regulates the chain offset between the two drawing chains 12 via the chain offset control unit 133. In addition, the slip control unit 134 regulates slipping between the workpiece 20 and at least one of the two drawing chains 12. Furthermore, the chain tension control unit 135 regulates the chain tension of the two drawing chains 12.

For this purpose, the measurement variables inherent in the track train of components of the track train that encounter or apply pulling force are recorded via the measurement variable recording means 40. From these measured variables and possibly the material speed, which is detected via the material speed detection means 41, a chain offset, wear and slipping are then determined via the determination means 120. These variables can be determined from at least one of the measured variables that are recorded by the measured variable detection means 40 or from a combination of different measured variables. This is possible because the measured variables are directly related to the chain offset, to the wear or to slipping between the workpiece 20 and the drawing chain 12. For example, a chain offset could be inferred from different drawing chain speeds between the two drawing chains 20. A high level of wear on the pull chains 20 could be determined, for example, from increased vibrations. An uneven material speed of the workpiece 40 suggests, for example, at least partial slipping between the workpiece 20 and at least one of the two drawing chains 12.

It goes without saying that all other measured variables or combinations of these can also be used to use the determining means 120 to determine a chain offset, wear or slipping.

The actuators 80 are then adjusted depending on the measured variables inherent in the track train measured by the measured variable detection means 40 and the chain offset, wear or slipping determined therefrom.

Since both a chain offset and increased wear as well as slipping between the workpiece 20 and the drawing chains 12 are undesirable, the actuators 80 will adjust the manipulated variables accordingly in order to counteract these.

For example, if a chain misalignment occurs, the drawing chain speed of at least one of the two drawing chains 12 can be adjusted so that the two drawing chains 12 run synchronously with one another again.

For example, the contact pressure could also be adjusted by the contact pressure actuator 111 in order to counteract increased wear.

Slipping between the workpiece 20 and at least one of the two drawing chains 12 can be responded to, for example, by increasing the drawing chain tensioning pressure by the drawing chain tensioning pressure actuator 92 in order to prevent corresponding slipping.

It goes without saying that various measures or adjustment options for the actuators 80 are possible in order to regulate the process accordingly.

In particular, a difference in the measured variables or the manipulated variables of the two drawing chains 12 from one another can also be important, since in particular an imbalance between the two drawing chains 20 can ensure that the two drawing chains 12 run non-synchronously.

Thus, depending on the measured variables inherent in the caterpillar train and the parameters determined therefrom by the determination means 120, the manipulated variables inherent in the caterpillar train of assemblies of the caterpillar train 11 that meet or apply pulling force can be controlled by the actuators 80 in order to automatically synchronize the pull chains 12 of the caterpillar train 11 of the caterpillar train pulling machine 10 as well as a To optimize the quality and lifespan of the drawn material.

In addition, in the control method of the present crawler tractor pulling machine 10, there is the possibility that the measured variables inherent in the caterpillar pull, which are detected by the measured variable detection means 40, of assemblies of the caterpillar train 11 that meet or apply traction force or are recorded by further detection means, such as the material speed detection means 41, are partially or entirely of an artificial intelligence , a neural network and / or a fuzzy logic in order to control the actuators 80 accordingly or just to provide suitable parameters as an indication of the quality of the pulling process, for example via a monitor, a warning system, in the event of critical deviations, or a data storage or paper printout.

Here, if necessary, the determination means 120 or the control unit 130 can be implemented in the artificial intelligence, the neural network or the fuzzy logic and do not occur independently. However, if necessary, corresponding parameters can still be output for information or control purposes.

Depending on the specific design, mixed forms between conventional control and regulation technology, computer-aided control and regulation technology as well as modern control and regulation methods, such as those that can be implemented using artificial intelligence, neural networks or fuzzy logic, can also be used.

It appears to be essential that in particular at least one assemblies or corresponding measurement variable detection means that encounter or apply the crawler pull-immanent measured variable are used as input variables or that the control of crawler-immanent actuators of the pull force that encounter or apply assemblies takes place from the detection of at least one crawler-immanent measured variable or the latter for controlling a crawler-immanent pulling force actuating variable encountering or applying assemblies of the caterpillar train 11 is used.

List of reference symbols:

10

Tracked tractor pulling machine

11

Caterpillar train

12

Pull chain

13

chain link

14

Sprocket

15

Sprocket axle 13

16

drive

17

transmission

18

frame

19

pressure beam

20

workpiece

21

drawing die

22

motor adjustment

30

Pulling direction

31

Drawing line

32

drag layer

40

Measurand recording means

41

Material speed detection means

50

Drawing chain measurement measurement means

51

Drawing chain speed detection means

52

Pull chain tension pressure detection means

53

Drawing chain vibration detection means

54

Drawing chain temperature detection means

55

Pull chain misalignment detection means

60

Powertrain measurement detection means

61

Sprocket torque detection means

62

Sprocket speed detection means

63

Sprocket vibration detection means

64

Sprocket temperature detection means

70

Rack measurement variable detection means

71

Rack vibration detection means

72

Vibration detection means

73

Contact pressure detection means

80

actuator

90

Pull chain control variable actuator

91

Pull chain speed actuator

92

Pull chain tensioning pressure actuator

100

Drive train manipulated variable actuator

101

Transmission adjustment actuator

102

Sprocket torque actuator

103

Sprocket speed actuator

110

Rack size actuator

111

Contact pressure actuator

120

means of investigation

121

Chain offset determination means

122

Wear detection means

123

Slip detection means

130

Control unit

131

Receipt of investigative resources

132

Actuator output

133

Chain offset control unit

134

Slip control unit

135

Chain tension control unit

Claims (23)

Caterpillar pulling method for pulling a workpiece (20) through a drawing die (21) by means of a caterpillar train (11) arranged behind the drawing die (21) as seen in a drawing direction (30), which pulls a workpiece (20) along a path parallel to the drawing direction (30). aligned drawing line (31) is reshaped by the drawing die (21) and comprises two circumferential drawing chains (12) comprising chain links (13), each of which rotates parallel to a drawing plane (32), each of the drawing chains (12) being surrounded by two chain wheels (14) is guided, the axes (15) of which are aligned perpendicular to the drawing plane (32), characterized in that (i) that at least one measurement variable of the crawler train's pulling force that encounters or applies the crawler train (11) is recorded; and or (ii) that at least one measurement variable inherent in the caterpillar train is recorded and used to control a control variable inherent in the caterpillar train that encounters or applies pulling force to assemblies of the caterpillar train (11). Caterpillar pulling method according to claim 1, characterized in that the measurement variable is a drawing chain measurement variable, in particular at least one of the drawing chain measurement variables of at least one of the two drawing chains (12) from the following drawing chain measurement variable group being recorded: - Pulling chain speed - Pull chain tension pressure - Pull chain vibration - Drawing chain temperature - Pull chain offset. Caterpillar pulling method according to claim 1 or 2, characterized in that the measured variable is a drive train measured variable, in particular at least one of the drive train measured variables of at least one of the two pulling chains (12) from the following drive train measured variable group being recorded: - Sprocket torque - Sprocket speed - Sprocket vibration - Sprocket temperature. Caterpillar pulling method according to one of claims 1 to 3, characterized in that the measured variable is a frame measured variable, in particular at least one frame measured variable from the following frame measured variable group being recorded: - Frame vibration - Vibration - Contact pressure. Caterpillar pulling method according to one of claims 1 to 4, characterized in that a material speed is recorded as an additional measured variable and is preferably used to control one or the control variable inherent in the caterpillar train. Caterpillar pulling method according to one of claims 1 to 5, characterized in that the manipulated variable is a pull chain manipulated variable, in particular at least one pull chain manipulated variable of at least one of the two pull chains (12) being set from the following pull chain manipulated variable group: - Pulling chain speed - Pull chain tension pressure. Caterpillar pulling method according to one of claims 1 to 6, characterized in that the manipulated variable is a drive train manipulated variable, in particular at least one drive train manipulated variable of at least one of the two pulling chains (12) being set from the following drive train manipulated variable group: - Gear settings - Sprocket torque - Sprocket speed. Caterpillar pulling method according to one of claims 1 to 7, characterized in that the manipulated variable is a frame manipulated variable, in particular a contact pressure. Caterpillar pulling method according to one of claims 1 to 8, characterized in that from at least one of the measured variables inherent in the caterpillar pull, a chain offset of the two pulling chains (12) relative to one another and/or wear of the pulling chains (12) and/or slipping between the workpiece (20) and at least one of the two pulling chains (12) can be determined. Caterpillar pulling method according to one of claims 1 to 9, characterized in that at least one control variable inherent in the caterpillar train is regulated by setting at least one manipulated variable. Caterpillar pulling method according to claim 10, characterized in that the chain offset of both pulling chains (12) relative to one another and/or slipping between at least one of the two pulling chains (12) and the workpiece (20) and/or the chain tension of at least one of the two chains are regulated. Caterpillar pulling machine (10) comprising a drawing die (21) and a caterpillar train (11) arranged behind the drawing die (21) as seen in a pulling direction (30), which is designed to move a workpiece (20) along a line parallel to the drawing direction (30). To draw a drawing line (31) through the drawing die (21) in a forming manner, and which comprises two peripheral drawing chains (12) comprising chain links (13) which rotate parallel to a drawing plane (32), each of the drawing chains (12) being extended by two Chain wheels (14) are guided, the axes (15) of which are aligned perpendicular to the drawing plane (32), characterized in that (i) that the crawler tractor pulling machine (10) comprises measurement variable detection means (40) for detecting at least one crawler train-inherent measurement variable of pulling force of assemblies of the caterpillar train (11) that encounter or apply; and or (ii) that the caterpillar pulling machine (10) comprises measurement variable detection means (40) for detecting at least one measured variable inherent in the caterpillar train and at least one actuator (80) of the crawler train (11) that encounters or applies pulling force and a control unit which has a detection means input and an actuator output , wherein the detection means input is connected to the measured variable detection means (40) for transmitting measured variables and the actuator output is connected to the actuator (80) inherent in the caterpillar train. Crawler tractor pulling machine (10) according to claim 12, characterized in that the measured variable recording means (40) comprise drawing chain measured variable recording means (50), in particular from the following drawing chain measured variable recording means group: - Drawing chain speed detection means (51) - Pull chain tension pressure detection means (52) - Drawing chain vibration detection means (53) - Drawing chain temperature detection means (54) - Drawing chain offset detection means (55) Crawler tractor pulling machine (10) according to claim 12 or 13, characterized in that the measurement variable detection means (40) comprises drive train measurement variable detection means (60), in particular from the following drive train measurement variable detection means group: - Sprocket torque detection means (61) - Sprocket speed detection means (62) - Sprocket vibration detection means (63) - Sprocket temperature detection means (64) Crawler pulling machine (10) according to one of claims 12 to 14, characterized in that the measured variable detection means (40) comprise frame measured variable detection means (70), in particular from the following frame measured variable detection means group: - Frame vibration detection means (71) - Vibration detection means (72) - Contact pressure detection means (73) Tracked pulling machine (10) according to one of claims 12 to 15, characterized by material speed detection means (41). Crawler tractor pulling machine (10) according to one of claims 12 to 16, characterized in that the actuator (80) is a pull chain manipulated variable actuator (90), in particular from the following pull chain manipulated variable actuator group: - Pull chain speed actuator (91) - Pull chain tensioning pressure actuator (92) Crawler pulling machine (10) according to one of claims 12 to 17, characterized in that the actuator (80) is a drive train manipulated variable actuator (100), in particular from the following drive train manipulated variable actuator group: - Transmission adjustment actuator (101) - Sprocket torque actuator (102) - Sprocket speed actuator (103) Crawler pulling machine (10) according to one of claims 12 to 18, characterized in that the actuator (80) is a frame control variable actuator (110), in particular a contact pressure actuator (111). Crawler pulling machine (10) according to one of claims 12 to 19, characterized in that the crawler pulling machine (10) comprises chain offset determination means (121) and/or wear detection means (122) and/or slip detection means (123) using measured variables inherent in the crawler train. Crawler pulling machine (10) according to one of claims 12 to 20, characterized in that the control unit (130) comprises a chain offset control unit (133) and/or a slip control unit (134) and/or a chain tension control unit (135). Control method for controlling a crawler tractor (10) according to one of claims 12 to 21, characterized in that the control unit (130) comprises a neural network, fuzzy logic, AI and / or a conventional control program for a programmable computing machine. Control method for controlling a caterpillar pulling machine (10) according to one of claims 12 to 21, characterized in that by setting the at least one actuator (80) or the actuators (80) as a function of the measured variables inherent in the caterpillar train detected by the measured variable detection means (40). a drawing chain offset between the drawing chains (12) and/or slipping between the workpiece (20) and at least one drawing chain (12) can be regulated.

Images