JP4198731B2 - Drive device for generating reciprocating motion of driven parts of a loom in particular - Google Patents

Description

  As an example, a heald frame, a batten, and a heel, and a weft insertion element reciprocate in a conventional loom. This reciprocating motion may be a back-and-forth swing motion around a stationary horizontal axis, for example, in the case of a pressing edge with a hook, or in the case of a weft insertion element in the form of a gripper rod of a gripper loom, in a predetermined path. It may be a linear reciprocating motion. The drive action to generate these reciprocating motions is generally obtained from the main drive shaft of the loom by a cam-crank mechanism.

  The basic drawback of these known drives is that the level of efficiency is relatively low. This is because the energy that must be supplied to accelerate the mass to be reciprocated is lost over much of the subsequent deceleration. These so-called reversible drive devices are further limited in terms of their controllability for structural reasons, but can optimize the dynamic behavior of the drive devices to a very limited extent. These drawbacks become more pronounced as high-speed looms with higher efficiency are developed. Examples of this type of loom drive using a main drive shaft are just a few examples: International Patent No. WO 9831856, European Patent No. EP 1 266 988 A2, European Patent No. EP 0 741 809 B1, And the various forms of European Patent No. EP 0 514 959 B1. It is known to adjust the speed of the main drive shaft of the loom in a suitable manner during the weaving operation. This is done, for example, by adjusting or controlling the drive electric motor according to the load and / or required speed of the component to be driven during low speed operation.

  In particular, to increase the efficiency of such reversible drive solutions, to reduce the mechanical stresses of the structural elements of the drive and to improve the dynamic characteristics, energy storage devices in the form of elastic elements However, drive devices associated with reciprocating components or actuating means connected to the components to be driven have been proposed. As a result, a system capable of swinging was manufactured. Operation near the resonance point of this type of oscillating system results in a high level of efficiency. This is because essentially only the frictional losses that occur in the system during reciprocation need be dealt with. However, the advantage of this high level of efficiency is quickly lost when the frequency of the drive device performing the oscillating motion moves away from the resonance point. Examples of such a drive device that performs a back and forth swinging movement for the loom's mouth forming means are described in Japanese Patent No. 2002-022747 and German Patent No. DE 10 111 017 A1, A method and device for controlling the movement of a kite are known from German Patent DE 28 08 202 A1, and arrangements for releasing the drive mechanism, for example a loom gripper rod drive and a kite drive device are described in Germany. Known from national patent DE 33 25 591.

  Works with a more or less pre-determined path / time graph, the position of the operating point is near the resonance point of the rocking system, this position is desirable for high levels of efficiency and therefore cannot be achieved in practice, Or it is common to these drives that it can only be achieved incompletely. This is because the operating conditions vary greatly according to the technical environment purely related to weaving, such as the yarn material used, the type of weaving, etc., and the mechanical operating conditions such as operating temperature, equipment, etc. . As the distance between the operating point and the resonance point increases, the kinematic characteristics of the drive that generates the back and forth swing motion also degrades significantly. Finally, known solutions require a considerable level of structural complexity. This is associated with a corresponding spatial requirement on the loom, which in many cases cannot be met in practice.

  In practice, other machines, in particular textile machines such as flat knitting machines and straight bar knitting machines, have similar problems with respect to the mass that must be moved rapidly back and forth.

  Accordingly, it is an object of the present invention to have a high level of efficiency and good dynamic characteristics at each operating condition that may vary, particularly in a drive for generating reciprocating motion of a driven component of a loom. It is providing the drive device characterized by these.

  To achieve this object, the drive device according to the invention has the features of claim 1.

  The novel drive has a drive source that generates reciprocating motion coupled to a supported component that is moved back and forth. In principle, this drive source may be mechanical, pneumatic, hydraulic, or electromagnetic. An energy storage device for storing potential energy during at least a portion of the reciprocation of the component is associated with the driven component and / or drive source that can be reciprocated. This energy storage device may comprise mechanical storage means, for example in the form of elastic means or pneumatic and / or hydraulic storage means, or electromagnetic storage means or electromechanical storage means. This energy storage device and / or drive source can be controlled in all cases. A control device for controlling according to measured and / or predetermined parameters for the order of movement of the driven components is relevant. The measured parameter may in particular be the angle of the rotation path, the speed or acceleration of the driven component, ie the connected component.

  Therefore, the path / time graph, velocity / time graph, or acceleration / time graph of the driven component is directly adapted to the specific operating requirements even if the operating conditions change freely and / or programmatically. Can be influenced. In this way, in particular, driven means connected to the drive device by using the control device and influencing the energy storage device so that the oscillating system operates at least substantially near the resonance point. The drive that forms the rocking system can be adjusted with respect to its natural frequency.

  The present invention is free to define the motion profile or path / time graph within the maximum reversal range available for the reciprocating motion of the actuation means. A control device acting on the drive source and / or having a predetermined effect on the energy storage device completely controls the rocking system. The control device takes into account the actual data about the position, velocity and acceleration of the driven component or components connected thereto, and cooperates with its overall movement sequence. Furthermore, this includes determining the reversal point of the reciprocating movement, i.e. determining the amplitude of the rocking movement, if necessary. This amplitude can also be adjusted according to time. The energy storage device and the drive source can also be switched on and off intermittently and can be adjusted continuously over at least a portion between these two end positions. This is noticeable, for example, during starting and stopping of the loom or its individual drive. The start-up or initial state of the energy storage device (energy content at time t = 0) can be freely selected, but the above-described path / time graph, velocity / time graph or acceleration / time graph can be freely formed. Depending on the possibility, the stroke, speed and acceleration of the coupled load can be freely determined as a function of time.

  In an advantageous form in which the energy storage device comprises a permanent magnet storage means and / or an electromagnetic storage means, the permanent magnet storage means has at least two magnetic poles and is supported such that these magnetic poles are movable relative to each other, at least It can be configured such that the polarity and / or magnetic induction of one magnetic pole can be influenced by the control device. In practice, this configuration is done to provide a gap between the magnetic poles, which varies with respect to its geometric dimensions in the direction of component reversal. Thus, by correspondingly controlling the magnetic induction of at least one of the magnetic poles, the movement of the driven component connected to at least one of the magnetic poles can be influenced very sensitively. At least one of the magnetic poles may be configured to be a permanent magnet, whereas the other magnetic pole is electrically loaded by correspondingly adjusting the current within wide limits using simple means. Is excited electromagnetically by an excitation coil capable of controlling

  In addition or alternatively, the energy storage device may comprise mechanical storage means that can be influenced by the control device. These mechanical storage means may include elastic means whose elastic properties can be changed by a control device. For this purpose, the elastic means may comprise at least one elastic element whose load can be applied with respect to bending and whose effective bending length can be varied by a control device.

  In addition, or alternatively, the energy storage device may include pneumatic and / or hydraulic storage means that can be influenced by the control device. This can be done, for example, by a storage means having a space for storing the storage fluid. The space is closed by a movable wall that can be influenced by the control device.

  Various storage means (hydraulic, pneumatic, electrical, permanent magnet or electromagnet, mechanical) can be used individually or in combination with each other. The drive source may be electric, hydraulic, or pneumatic.

  Depending on the desired operating behavior of the drive, the restoring force / path characteristics of the energy storage device are linear, up, down, constant, and / or discontinuous, and at least some It can be adjusted over the part. The energy storage device may further comprise a storage means with hysteresis controlled by the control device.

  For certain drive requirements, for example, if the movement is attenuated in part of the reciprocating motion of the driven component, in particular, the attenuation may be constant, may be performed according to speed, or It may be done according to time. For this purpose, the drive device may include damping means for oscillating movements, which can be influenced by the control device.

  The drive device according to the invention can be used in particular for loom requirements where it is important to generate a reciprocating motion of the driven component. These requirements include not only the edges with grips, grippers on gripper looms, heald frames, breast beams, etc., but also on jacquard devices and when driving nap forming devices, and for example for weft insertion devices and weft brakes. It also occurs in other components that reciprocate, such as components and lip forming elements of jacquard machines. However, the novel drive can also be used for flat knitting machines, needle-felt machines and other machines and devices where similar requirements arise. Applications outside the field of textile technology are also conceivable.

  The dependent claims relate to other developments and forms of the invention.

  Several embodiments of the subject matter of the present invention are shown in the accompanying drawings.

The form of the drive device according to the reference example of the present invention shown in FIG. 1 is formed as a reversible electric drive device. This figure is purely schematic and serves in particular to explain the working principle of the invention. The device has a stationary cylindrical stator 1 which is surrounded by a concentric cylindrical hollow impeller or rotor 2 at a predetermined radial interval. The construction of the rotor is not shown in detail here. The rotor 2 is provided with magnetic poles 3 of permanent magnets on its inner wall, and these magnetic poles are arranged at a division ratio of the maximum reversal stroke of the rotor 2. With respect to the magnetic pole 3 of the permanent magnet, only two magnetic poles 3 arranged diametrically opposite one another are shown in FIG. These correspond to the reversing stroke of the rotor 2 slightly smaller than 180 °, depending on the width of the magnetic poles. The magnetic pole 3 of the permanent magnet has a substantially flat magnetic pole face 4 whose polarity is in the circumferential direction as indicated by reference numerals “N (north)” and “S (south)” in the drawing.

  The magnetic pole 5 arranged on the cylindrical stator 1 is associated with the rotor magnetic pole 3 and cooperates with the magnetic pole 3 of the permanent magnet of the rotor 2 as shown in FIG. The stator pole 5 preferably has a flat pole face 6 which, when the rotor 2 is in the corresponding position, has a large surface area on the pole face 4 of the rotor pole 3 of the permanent magnet. Over and over, the gap 9 is oriented to face, ie the pole face 6 is aligned substantially parallel to the pole face 4. The stator magnetic pole 5 is also oriented in the circumferential direction as indicated by reference numerals “N” and “S” in FIG. Instead of the stator magnetic poles 5 arranged on the diametrically opposite sides, a plurality of magnetic pole pairs of this kind can be provided.

  The stator magnetic pole 5 is not a permanent magnet but is provided with an excitation coil denoted by reference numeral 7. These coils can generate a magnetic flow that produces the polarity shown at the pole face 6 in FIG. An excitation current Ie is supplied to the excitation coil 7 through a line denoted by reference numeral 8, whereby the magnetic induction existing in the gap 9 between the magnetic pole faces 4 and 6 facing each other can be controlled.

  The rotor 2 is surrounded by a concentric cylindrical hollow outer stator 10. The stator 10 supports corresponding stator coils 11, which are shown inside the outer stator and are distributed substantially evenly over the entire circumference of the outer stator. Only a few of the stator coils are shown in FIG. The stator coil 11 cooperates with the rotor 2 like a direct current motor or an alternating current motor so that a torque whose direction and magnitude can be controlled by exciting the stator coils correspondingly can be applied to the rotor 2. . The stator current is supplied to the stator coil 11 via the line 12.

  In another aspect, another drive source connected to the rotor 2 may be provided instead of or in addition to the outer stator 10. This separate drive source is formed, for example, as a separate coaxial electric motor or the like, and can apply torque to the rotor 2 in one or the other rotational direction so as to be controlled based on time. This other drive source is generally designated by reference numeral 13. The power supply to this other drive source is indicated by a broken line, which is indicated by reference numeral 14.

  Furthermore, a sensor with reference numeral 15 is associated with the rotor 2. This sensor can be formed, for example, as a rotary resolver or encoder, and transmits electrical signals via lines 16 that are characteristic of the angular position and / or angular velocity or acceleration of the rotor 2 and / or the respective position. The sensor 15 is naturally connected to the rotor and can be connected to components driven by this rotor, and detects signals characteristic of the motion state and position of the rotor 2 indirectly rather than directly. .

  Damping means may act on the rotor 2 or a driven component connected to the rotor. The damping means is shown in the form of a friction brake device 17 in FIG. The friction brake device and the actuating cylinder 18 can be controlled by an electrical signal supplied via a line 19.

  All the components of the stator 1, 10 and the rotor 2 and the magnetic poles 3, 5 arranged in the magnetic closed circuit are manufactured from magnetic conductors and, if necessary, can be laminated in a manner known per se. May be.

  The apparatus has a central electronic control unit 20 which is program-controlled throughout and functions on the basis of a microprocessor. This control device 20 is connected to the lines 8, 12, 14, 16, 19 and in particular the excitation of the excitation coil 7 of the stator pole 5 and the excitation of the stator coil 11, the damping if applicable. The means 17, 18 and, if provided, a separate drive source 13 are controlled. As mentioned above, information about the parameters characteristic of each rotor position and / or each rotational movement of the rotor is received from the sensor 15. In another aspect, individual values can be calculated by the controller from information provided by the sensor 15, for example, angular velocity and acceleration can be obtained from the sensor 15 information regarding the rotation angle. The input unit 21 connected to the control device 20 can influence the program of the control device 20 from the outside and / or input predetermined data to the control device.

  The operation method of the driving device for performing the forward / backward rotational movement of the rotor 2 described in the above is as follows.

  The rotor 2 has a specific mass m that must be accelerated and decelerated during reversal in each movement cycle, together with the components connected to and driven by the rotor. As shown in FIG. 1, the magnetic pole surfaces 4 and 6 of the rotor magnetic pole 3 and the stator magnetic pole 5 facing each other are polarized in the same direction, so that when the rotor magnetic pole 3 moves toward the stator magnetic pole 5, rotational movement is performed. A repulsive force acting in the opposite direction is generated between the rotor magnetic poles and the stator magnetic poles 3 and 5.

  The kinetic energy stored when the rotor 2 is rotationally moved in one direction of rotation is in the form of magnetic energy in the gap 9 between the magnetic pole surfaces 4, 6 moving together when the magnetic pole surfaces 4, 6 move together. Stored. Thus, the magnetic poles 3 and 5 form an energy storage device with electromagnetic storage means. The restoring force k, which increases rapidly when the adjacent magnetic pole faces 4, 6 approach each other, changes according to the magnetic induction present in the air gap 9 and can therefore be controlled by the electrical load of the excitation coil 7 of the stator 1.

  In the case where the control device 20 causes the rotor 2 to perform a rotational swing operation by corresponding time-controlled excitation of the stator coil 11 (or drive source 13), the rotor has a natural frequency ω = √k / m. Perform rotational swing. This adjustment of the natural frequency can be performed as shown in the graph shown in FIG. 2 by adjusting the excitation of the excitation coil 7 and thus by adjusting the induction in the air gap 9 of the control device 20.

  The graph shows the path of the rotation angle ω of the rotor 2 according to time from the top. The rotation angle stroke is about 170 °, which is less than 180 ° due to the width of the magnetic pole. By specifically exciting the excitation coil 7, the rotor 2 performs a rotational swing operation at the natural frequency of measurement. This is substantially a sinusoid (see FIG. 2a)). Accordingly, the angular velocity also has a sine curve as shown in FIG. This state is applied until time t1, until which time the excitation current Ie is constant at the value Ie0, as shown in FIG.

  At time t1, the control device 20 increases the load on the excitation coil 7. That is, the excitation current increases to the value Ie1 as shown in c). Accordingly, the output of the restoring force k from the energy storage device formed by the magnetic poles 3 and 5 also changes, and as a result, the natural frequency of the system increases as shown in FIGS. A) and b). At the same time, however, the amplitude of the oscillating motion is also slightly reduced, as shown in a).

  The time t1 during which the excitation current Ie of the excitation coil 7 and thus the natural frequency of the oscillation system is adjusted depends on the requirements of the driven component, according to the program, according to position, velocity or acceleration, or The whole can be selected and / or predetermined according to time. The influence of the control on the excitation coil 7 and thus on the restoring force / path characteristics of the energy storage device formed by the magnetic poles 3, 5 also occurs in detail at the reversal point of the oscillating movement. In certain applications, it may be advantageous to change the nature of the energy storage device at specific times during backward movement and / or forward movement. Furthermore, this time may be influenced or determined by information generated by the sensor 15 or by a program, for example. Furthermore, a mechanical damping action may be introduced into the swinging motion of the rotor 2 by controlling the damping devices 17 and 18. This mechanical damping action can also be controlled by the controller 20 based on time.

  The rotor 2 can be pivoted substantially freely and then only the energy necessary to counter frictional losses is supplied via the outer stator 10 and its stator coil 11. This means that the torque applied to the rotor 2 by the stator coil 11 is effective only for a short time during the backward movement and forward movement of the rotor 2. However, in principle, the same relationship applies to applications in which the stator coil 11 and / or the drive source 13 are controlled so that the rotor 2 performs a forced swing operation.

  In any case, the control device 20 can be used to form virtually any desired path (rotation angle) / time graph for the oscillating motion of the rotor 2 and driven components coupled to the rotor, And therefore, different or changing operating states for the driven components can be taken into account in a relatively simple manner. In particular, the state at the start and end points of the rocking movement can be adjusted in an advantageous manner. The energy storage device can release or charge energy at the start and end points. This is important for starting and stopping the loom. If advantageous, the energy storage device can also be controlled to have hysteresis, ie the restoring force k follows different paths during forward movement and backward movement.

  In particular, a significant advantage of the present invention is that when performing a forced oscillating motion, the resonance can be advantageously set so that a particularly favorable kinematic movement relationship is formed with a high level of efficiency. Includes the ability to influence the natural frequency of the oscillating system described above.

  This applies to forced oscillation operations including harmonic excitation, impact excitation, periodic and aperiodic excitation, and parametric excitation oscillation operations.

  The electromagnetic energy storage device formed by the magnetic poles 3 and 5 is associated with the rotor 2 in the embodiment described above with reference to FIG. 1, but in the form schematically shown in FIG. A mechanical energy storage device for converting the kinetic energy into potential energy in a short time is provided at the reversal point of the swinging motion. This is then to accelerate the rotor 2 in each case in the other direction of movement. 1 and 3 are given the same reference numerals and will not be described again.

  In this embodiment, the rotor 2 formed in a hollow cylindrical shape supports a leaf spring 22 protruding radially from the inner wall thereof. These leaf springs form a mechanical storage means, and the four leaf springs are arranged to face each other in pairs. The number of leaf springs 22 may be selected differently. The leaf spring 22 comprises elastic steel or preferably carbon fiber material. One of these leaf springs is fixedly clamped to the rotor 2 at one end 23, and the other end is received at the clamping position of the roller pair 24. The roller pair is supported by a stationary actuator 26 by corresponding guide means 27. Actuators 26 control via line 8a to adjust roller pair 24 in the radial direction of the associated leaf spring 22 and / or to change the clamping force that the roller pair applies to each leaf spring 22 at its clamping line. It can be controlled by the device 20. During the rotational oscillation of the rotor 2 performed by the stator coil 11 or the energy source 13, the leaf spring 22 is a machine that temporarily stores the kinetic energy of the rotor 2 and the components connected to the rotor 2 in the form of potential energy. An energy storage device is formed. The actuator 26 can be used to change the clamping position of the leaf spring 22 and thus the effective bending length of the leaf spring 22. Accordingly, the elastic properties, i.e. the restoring force / path characteristics of the energy storage device, are directly affected, whereby a substantially freely controllable or programmable path (rotation angle) of the rotor 2 is produced during its oscillating motion. Obtainable. The leaf spring 22 can further be arranged on the rotor 2 out of alignment from the radial position, the leaf spring and the rotor can be formed in various thicknesses and / or widths over its length, eg fixed clamping position However, it can be formed thicker and / or wider than the area of the clamp line of the rotor 24.

  The actual configuration of the drive device according to the invention schematically shown in FIG. 3 is shown in FIGS. In these figures, the same components as those shown in FIGS. 1 and 2 are given the same reference numerals.

  In the embodiment according to FIG. 4, the cylindrical stator 1 is formed as a hollow cylindrical body, and is provided with an inner wedge tooth configuration 29 that can be fitted to the spline shaft so as not to rotate. The spline shaft is not shown in detail. The stator 1 is surrounded by a cylindrical rotor 2 at a predetermined radial interval. The rotor 2 cooperates with the stator 1 like a conventional DC motor or AC motor. The associated electromagnetic pole and / or coil is indicated generally by the reference numeral 30. This motor, generally denoted by reference numeral 31, is an external impeller motor (see German patent DE 101 11 17 A1 known per se). The rotor 2 is rotated in reverse with a predetermined amplitude relative to the stator 1 by correspondingly exciting the electromagnetically actuated winding 30 using connected reversal control means. This is indicated by a double arrow 33. A drive lever 34 is fixed to the outside of the rotor 2 and a component to be driven, in particular a joint connection position 35 of the loom, is arranged at its end.

  On the diametrically opposite side of the drive lever 34, the rotor 2 is formed with a fixed clamp 36, into which the leaf spring 22 is inserted. The leaf spring is fixedly clamped at its clamping position by a screw 37. Two reinforcing plates 38 are disposed on both sides of the leaf spring 22 in the vicinity of the clamp position. These plates protect the leaf springs from direct stress cracking at the clamping position.

  The leaf spring 22 is received near its free end in the clamping position 39 of the associated roller pair 24. The rollers of the roller pair can be adjusted by the associated adjustment device 40 in the length direction of the leaf spring 22 between the position indicated by the solid line in FIG. These adjusting devices are formed, for example, as spindle or wedge type mechanisms. The two adjusting devices 40 are controlled by electromechanical adjusting means 41 which together with these adjusting devices form the actuator 26 of FIG.

  The control device 20, not represented by the input component 21 in FIG. 1, on the one hand controls the reversing movement of the rotor 2 and thus the drive lever 34 by determining its amplitude, by means of the control means 32, In order to adjust the roller pair 24 in the direction of the double arrow 42, the adjusting means 41 acts on the adjusting device 40 of the roller pair 24. This adjustment changes the free clamp length of the leaf spring 22, thereby correspondingly changing the elastic properties of the energy storage device formed by the leaf spring 22. If necessary, the roller 24 can be braked. The braking effect can be controlled by the control device 20. In this way, a controlled damping operation can be introduced into the system, as illustrated by the damping devices 17, 18 of FIGS. The elastic properties of the leaf spring 22 are incidental and non-linear.

  The form according to FIG. 5 differs from the form of FIG. Here, the motor denoted by reference numeral 31a is configured as a so-called circle sector linear motor. The general structure and operating method of this type of fan-shaped linear motor is known, for example, from German Patent DE 198 49 728 A1, and therefore will not be described in detail. In this embodiment, the rotor 2 is rotatably supported by a roller bearing 43 on the cylindrical stator 1 in which the inner wedge tooth structure 29 of FIG. 4 is formed. The drive lever 34 of the rotor can move back and forth between an angular position indicated by a solid line and an angular position indicated by a broken line in FIG. It arrange | positions so that the electromagnetic drive winding 30a may be distributed with the form of a sector (sector). These electromagnetically driven windings are controlled using the inversion control means 32 of the driving device 20. The rotor 2 is again provided with a leaf spring 22 projecting radially in accordance with FIG. This leaf spring is received in the clamping position 39 of the associated roller pair 24. In this case, the leaf spring 22 is arranged at an angle not equal to 180 ° with respect to the drive lever 34.

  The operating method of the mechanical energy storage device formed by the leaf spring is the same as the mechanical energy storage device in the form according to FIG.

6 and 7 are formed in the same manner as described above with reference to FIGS. 4 and 5, but instead of leaf springs 22 are provided with an electromagnetic energy storage device of the same principle as in FIG. The drive device by the reference example of the done this invention is shown. Again, the same components as in FIGS. 4 and 5 are given the same reference numerals and will not be described again.

  The configuration according to FIG. 6 corresponds to the configuration according to FIG. 4 except that an elongated plate-shaped magnetic pole piece 44 is connected to the fixed clamp 36 of the impeller 2 so as to protrude radially instead of the leaf spring 22. ing. For simplicity, the sensor 15 is omitted. Using the reference number according to FIG. 1, the pole piece 44 supports a plate-like magnetic pole 3 made of a permanent magnet, with the reference number 4 being attached to the flat transverse pole surface parallel to the radial symmetry axis 45 of this magnetic pole. is there. Two stationary magnetic poles 5 excited by the excitation coil are arranged symmetrically with respect to the symmetry axis 45 of the pole piece 44. The magnetic pole surfaces of these magnetic poles 5, denoted by reference numeral 6, extend over the surface area of the magnetic pole surfaces 4, 6 at a position where the back and forth swing motion is limited as indicated by the double arrow 33 with respect to the rotational axis of the rotor 2 Inclined with respect to the rotational axis of the rotor 2 so as to form a gap 9 therebetween and be arranged facing each other. The excitation coil 7 is controlled by a drive switch 20a which forms part of the control device 20 and is controlled by this control device.

  As described above with reference to FIG. 1, the excitation coil 7 controlled by the control device 20 is generated at the magnetic pole surfaces 4 and 6 where the restoring forces necessary for the swinging motion of the rotor 2 face each other. Thus, during the reversal movement of the rotor 2, a magnetic field having the same polarity is excited so as to be generated at least intermittently. The kinetic energy of the mass m associated with the rotor 2 is stored as potential energy in the magnetic field present in the gap 9.

  The configuration according to FIG. 7 corresponds to the configuration according to FIG. 5, with the differences described above with reference to FIG. 6 that the energy storage function is performed by electromagnetic storage means. The function and structure of energy storage is the same as in the configuration according to FIG. 6, so it is sufficient to refer to them. The same components are given the same reference numbers.

  FIGS. 8 to 16 show by way of example the use of the drive device according to the invention described above for typical drive requirements on a loom. In this regard, FIG. 8 shows a cross-section of the loom and shows the movement relationship of the kite during the weft kitting operation.

  The scissors marked 50 can be pivoted between the two pivot positions shown in FIG. The left position indicates the weft punching position. Reference numeral 52 is attached to the weft yarn to be beaten on the fabric labeled 51. The warp yarns are provided with reference numeral 53, and these warp yarns are at the opening of the lacquer. A reference numeral 54 is schematically shown on the fabric expander. In order to apply the rocking motion shown in FIG. 8 to the rod 50, as shown in FIGS. 9 and 10, for example, the novel drive device shown in FIGS. 9 and 10, the same reference numerals are assigned to the same components, and these will not be described again. Only the rotor 2 in which several components are arranged is illustrated. For the sake of simplicity, the winding 30 used to connect the stator 1 and the rotor 2 is not shown.

  A clamp rail 55 having a U-shaped cross section is disposed on the lever 34 of the driving device formed on the rotor 2, and the flange 50 is directly inserted into the clamp rail. The frame of the rod 50 is releasably fixed to the clamp rail 55 by appropriate fixing means such as a clamp screw so that it can be replaced when necessary. As shown in FIG. 11, it is possible to provide a plurality of driving devices distributed over the axial length of the bag. The stator 1 of these drive devices is fixed to the inner wedge device 29 so as to be rotationally fixed to a continuous spline shaft denoted by reference numeral 56 in FIG. The outer wedge device of the spline is not shown in detail and extends over the length of the collar 50. The shaft 56 is held so as to be rotationally fixed to a machine frame not shown in detail. The number and interval of the driving devices are determined by the weaving width, that is, the length of the reed 50. Of course, the drive device may be formed according to FIG.

  FIGS. 12 to 15 illustrate the use of the drive device of the invention according to FIG. 4 as a so-called heald frame lever motor for moving the heald frame of a loom. In this connection, reference is made to German Patent DE 101 11 017 A1. This patent shows the basic structure of this type of drive for a loom cleaver.

  The heald frame labeled with reference numeral 60 is in each case connected to the drive lever 34 of the rotor 2 of the associated drive device according to FIG. 4 by at least two push / pull rods 61. Each push / pull rod 61 is connected to its drive lever 34 at 35. The rotor 2 controlled by the control device 20 performs a back-and-forth swing motion according to the bidirectional arrow 33 described with reference to FIG. 1, so that the connected heald frame 60 is formed with an opening according to the bidirectional arrow 62. Move up and down as much as you need. FIG. 12 shows the relationship when only two drive devices are connected to the heald frame 60, while FIG. 13 illustrates the relationship in a loom with a relatively large weaving width. Are evenly distributed over the length of each, each acting on the heald frame. According to FIG. 14, the driving devices for the heald frames 60 adjacent to each other can be alternately arranged on the arrangement planes on one side and the other side of the respective push / pull rods 61, but FIG. It has been shown that two placement planes can also be used. In this way, as shown in FIG. 13, the axial length of the rotor 2 and associated stator 1 can be increased beyond the limit determined by the predetermined distance measurement 63 (approximately 12 mm) of the adjacent heald frame 60. As a result, a large stroke output can be obtained.

  From FIGS. 12 to 15, the energy storage device according to the invention in connection with the rotor 2, for example in the form of the illustrated leaf spring 22 and associated clamping roller or fixed roller 24, determines the axial width of the drive device and the stator 1. It does not increase in the direction of the spline shaft 64 (see FIGS. 14 and 15) that supports and extends transversely with respect to the heald frame 60. At the same time, the accompanying drawings show that the energy storage device can be accommodated in the loom without the inconvenience of requiring additional space.

  This also applies to the basic form of the drive device according to FIG. 7, as shown below, by examining FIG. In the drawing of the drive device, in this case, the stator 1 is omitted for the purpose of simplification. The drive lever 34 to which the push / pull rod 61 is connected at 35 moves back and forth between the limit positions indicated by broken lines in FIG. One of these restriction positions corresponds to the formation of the upper opening, and the other position corresponds to the formation of the lower opening. Again, control of the energy storage device using the control device 20 can be pre-programmed and controlled as desired within a predetermined range according to the need for opening movement.

  FIG. 17 schematically shows the use of the drive device according to the invention and according to FIG. 4 for driving a gripper rod of a gripper loom. For the same components, the same reference numerals as used in FIG. 4 are used and will not be described again.

  In this case, the rotor 2 supports a lever arm 34a instead of the drive lever 34 of FIG. 4 on the side opposite to the leaf spring 22 of the energy storage device. The lever arm is formed with a toothed segment 65 coaxial with the rotation axis of the rotor. This toothed segment engages a pinion 66 of an angle gear 68 disposed on the frame portion 67. The angle gear 68 drives a drive gear 69 whose rotation axis extends at right angles to the rotation axis of the pinion 66. The tooth set of the drive gear engages with a toothed rod-like tooth device of the gripper rod 70 shown in section in FIG. Accordingly, the reciprocating motion of the toothed segment 65 causes the drive gear 69 to rotate back and forth, and thus the gripper rod 70 reciprocates at right angles to the projection plane of FIG. During this reciprocating motion, the kinetic energy of the moving mass in the region of the reversal of the motion is temporarily stored as potential energy in the leaf spring 22 as described above.

Referring to novel driving apparatus forms disclosed, the present invention has been described with respect to generation of the associated pivot or longitudinal oscillating movement about an axis of rotation, as a reference example of the present invention, for example, generates a linear reciprocating motion Can be used in the same way with a drive device. One example is schematically shown in FIG.

  The drive has a driven component that extends through an electrically driven, pneumatic, or hydraulic linear drive source 72 that is shaped substantially like a rod 71. The rod 71 performs linear back-and-forth swing movement with a predetermined amplitude. An energy storage device in the form of a cylinder 73 is arranged coaxially on both sides of the drive source 72. A piston 74 provided on the rod 71 is guided in a cylinder 73 so as to be displaceable. Both ends of the cylinder 73 are closed, and this closing is performed by screwing the cylinder cover 75 into the outer end surface of the cylinder 73. Therefore, the cylinder volume can be changed by rotating the cylinder cover 75. This is because the cylinder cover 75 forms a “movable wall” for the cylinder 73. The cylinder 73 is filled with an elastically compressible storage medium such as air or gas.

  However, so-called rheological media whose viscosity changes in an electric field can also be used as storage media. Accordingly, the cylinder 73 shown on the right side of FIG. 18 is provided with a device 76 that can generate an electric field of variable strength in a cylinder space filled with a rheological medium. The associated electric field generating circuit is provided with reference numeral 78.

  The drive device changes the characteristics of the pneumatic energy storage device according to the parameters of the reciprocating movement of the rod 71 and / or according to predetermined parameters or parameters determined by the program in a manner similar to that described with reference to FIG. It has the electric control device 20 which can do. The sensor 15 shown in FIG. 1 according to FIG. This signal includes information on the position, speed, acceleration, moving state, and the like of the rod 71.

  In the configuration according to FIG. 18, only the energy storage device shown on the right side of the drive source 72 is controlled by the control device 20. Similarly, the other cylinder 73 forming the energy storage device arranged on the left side of the drive source 72 can also be controlled correspondingly. However, if left cylinder 73 is omitted or if this cylinder is filled with a damping medium, this can also be controlled if applicable.

  19 and 20 show another possibility for a pneumatic or hydraulic hydraulic storage device in the form of a cylinder 73a closed by a movable wall, for example in the form of a membrane 75a (see FIG. 19). Is shown schematically. The cylinder is controlled by the control device 20. The membrane 75a can be varied with respect to its thickness and stiffness, as can be seen by comparing FIG. 19 and FIG.

  Finally, instead of the leaf spring 22, another structure of elastic means may be used, for example a coil spring or a torsion spring that can change its effective length or elastic properties.

It is a schematic sectional drawing of the 1st form of the drive device by the reference example of this invention which shows the working principle of the energy storage apparatus containing an electromagnetic storage means. 2 is a graph for illustrating the basic operating principle of the drive device according to FIG. 1, showing the rotation angle, the rotation speed and the excitation device current with respect to time; FIG. 2 is a schematic cross-sectional view similar to FIG. 1 of a second embodiment of the drive device according to the present invention showing the operating principle of an energy storage device including mechanical storage means. FIG. 6 is a schematic side view of a third embodiment of the drive device according to the invention with an energy storage device including mechanical storage means. It is a schematic side view of the form of the modification of the drive device by FIG. FIG. 5 is a schematic side view of the drive device according to FIG. 4 with an energy storage device including electromagnetic storage means as a reference example of the present invention . FIG. 6 is a schematic side view of the drive device according to FIG. 5 having an energy storage device including electromagnetic storage means as a reference example of the present invention . FIG. 6 is a schematic cross-sectional side view showing the movement of a kite on a loom, showing two different kite positions. FIG. 5 is a schematic side view corresponding to FIG. 4, showing the drive device according to FIG. 4 together with a loom of a loom driven by this drive device. FIG. 6 is a schematic side view corresponding to FIG. 5, showing the drive device according to FIG. 5 together with a loom of a loom driven by this drive device as a reference example of the present invention . FIG. 10 is a schematic perspective view showing the two drive devices according to FIG. 9 together with a loom of a loom driven by the drive devices. FIG. 5 is a schematic perspective view showing the two drive devices according to FIG. 4 together with the heald frame of the loom driven by this drive device. FIG. 13 is a schematic perspective view showing the same configuration as in FIG. 12, corresponding to FIG. 12, showing three driving devices according to FIG. 4 for driving the heald frame of the loom. FIG. 5 is a partial cross-sectional schematic perspective view showing a plurality of drive units according to FIG. 4 arranged in one arrangement plane for driving the heald frame of the loom. FIG. 15 is a partial cross-sectional schematic perspective view similar to FIG. 14 of the same configuration as FIG. 14 showing the drive device according to FIG. 4 in two placement planes. FIG. 6 is a schematic side view similar to FIG. 5, showing the driving device according to FIG. 5 at three different positions during the lacuna forming operation, as a reference example of the present invention, in the form for driving the heald of the loom FIG. 5 is a schematic side view of a drive device according to the invention in the same form as in FIG. 4 for driving a gripper rod of a gripper loom. FIG. 3 is a schematic side sectional view in the axial direction of a drive device according to a reference example of the invention configured to generate a linear reciprocating motion. It is a schematic sectional side view in the axial direction of a pneumatic energy storage device for a drive device according to a reference example of the present invention. FIG. 20 is a schematic side sectional view in the axial direction of a pneumatic energy storage device different from FIG. 19 for a drive device according to a reference example of the present invention.

Claims (16)

A drive device for generating reciprocating motion of the loom components (50, 60, 70), comprising a rotor (2) forming a cylindrical hollow impeller of a reversible electric drive source, said rotor ( 2) is a drive device that is connected to the components (50, 60, 70) and is driven in two opposing rotational directions;
a) elastic storage means provided in the rotor (2) for storing mechanical energy over at least a part of the reciprocating movement of the components (50, 60, 70); and b) the components ( 50, 60, 70) a control device (20) for controlling at least the elastic storage means and the reversible electric drive source according to measured and / or predetermined parameters for the movement sequence of Prepared,
c) The elastic storage means has at least one leaf spring (22), and one end of the leaf spring (22) is firmly fixed to the rotor (2), and the leaf spring ( The other end of 22) is received in an adjustable clamping position (39) of the roller pair (24);
d) comprising an adjusting device (40) controlled by the control device (20) using electromechanical adjusting means (41), said adjusting device (40) in the longitudinal direction of the leaf spring (22); Driving device characterized in that the position of the roller pair (24) is adjusted, which can influence the effective bending length of the leaf spring (22).   2. Drive device according to claim 1, characterized in that the leaf spring (22) is at least partially non-linear in spring characteristics.   The drive device according to claim 1 or 2, wherein the spring characteristic of the leaf spring (22) has a hysteresis controlled by the control device (20).   The drive device forms a rocking system with the components (50, 60, 70) connected thereto, and the natural frequency of the rocking system is influenced by the control device (20). 2. Drive device according to claim 1, characterized in that it can be varied by means of a spring (22).   The rollers of the roller pair (24) can be braked as required, and this braking operation is controlled by the control means (20) so that a controlled damping action is introduced into the drive. The drive device according to claim 1.   The hollow cylindrical rotor (2) supports a plurality of radially projecting leaf springs (22) on its inner surface, and the plurality of leaf springs are arranged to face each other and form a pair. The drive device according to claim 1, wherein the drive device is provided.   2. Drive device according to claim 1, characterized in that the leaf spring (22) extending radially outward is attached to the rotor (2).   A drive lever (34) is attached to the outside of the rotor (2), and the drive lever (34) has a connecting portion (35) of the driven parts (60, 70), and the drive lever (34). 8), a fixed clamp (36) is provided on the rotor (2) on the opposite side in the diametrical direction, and the leaf spring is inserted into the fixed clamp (36). Drive device.   9. Drive device according to claim 8, characterized in that the leaf spring (22) is clamped in a fixed position by means of a screw (37).   The drive device according to claim 1, wherein the reversible electric drive source is an outer impeller motor.   The drive device according to claim 1, wherein the reversible electric drive source is a fan-shaped linear motor.   The drive device according to any one of claims 1 to 11, wherein the drive device is at least a part of an edge drive device of a loom.   A clamp rail (55) having a U-shaped cross section is connected to the rotor (2), and a flange (50) is directly inserted into the clamp rail (55). The axial length of the flange (50) The drive device according to claim 12, wherein a plurality of the drive devices are arranged along the length.   The drive device according to any one of claims 1 to 11, wherein the drive device is at least a part of a drive mechanism of a lobe forming device of a loom.   The drive device according to claim 14, wherein the drive device is arranged in a common arrangement plane together with the other drive devices.   The drive device according to any one of claims 1 to 11, wherein the drive device is at least a part of a gripper drive device of a gripper loom.

Images