EP0687316B1 - Process and device for paralleling a transport carriage - Google Patents
Process and device for paralleling a transport carriage Download PDFInfo
- Publication number
- EP0687316B1 EP0687316B1 EP94909040A EP94909040A EP0687316B1 EP 0687316 B1 EP0687316 B1 EP 0687316B1 EP 94909040 A EP94909040 A EP 94909040A EP 94909040 A EP94909040 A EP 94909040A EP 0687316 B1 EP0687316 B1 EP 0687316B1
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- European Patent Office
- Prior art keywords
- machine
- wheels
- distance
- transporting carriage
- loom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000008569 process Effects 0.000 title claims abstract description 10
- 238000009941 weaving Methods 0.000 claims abstract description 40
- 239000004744 fabric Substances 0.000 claims abstract description 13
- 238000009940 knitting Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000002604 ultrasonography Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000011156 evaluation Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Images
Classifications
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- D—TEXTILES; PAPER
- D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
- D02H—WARPING, BEAMING OR LEASING
- D02H13/00—Details of machines of the preceding groups
- D02H13/38—Storage racks for beams
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- D—TEXTILES; PAPER
- D03—WEAVING
- D03J—AUXILIARY WEAVING APPARATUS; WEAVERS' TOOLS; SHUTTLES
- D03J1/00—Auxiliary apparatus combined with or associated with looms
- D03J1/001—Cloth or warp beam replacement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/124—Roll handlers
Definitions
- the invention relates to a method and an apparatus for parallel straightening a transport carriage for warp or fabric trees that can be positioned in front of a weaving machine, knitting machine, Raschel machine or warping machine, the chassis of which has two longitudinally spaced, steerable and optionally motor-driven wheels.
- Warp beam transport trolleys of this type are mainly used to change warp beam on weaving machines.
- the full warp beam must be picked up from the floor or a storage rack, transported to the weaving machine and positioned in front of it and hung in a warp beam bearing on the machine frame.
- the transport trolley is usually aligned and parallelized by the operator by repeated transverse and longitudinal movement of the undercarriage with respect to the weaving machine. This process is cumbersome and, depending on the skill of the operator, quite time-consuming. If the positioning is incorrect, there will always be shock loads in the bearing area of the weaving machine and the support arms as well as in the area of the protruding tube ends of the warp beams, resulting in unnecessary wear or damage.
- Goods wagon trolleys of this type are mainly used used for the change of fabric on weaving machines.
- a goods transport cart has the task of lifting a fully wound goods tree out of a weaving machine, severing the fabric web, wrapping the free end of the fabric web on an empty goods tree and inserting the empty goods tree with the wound fabric web into the weaving machine.
- the merchandise tree transport trolley is positioned in front of the relevant weaving machine in the goods movement. The positioning in the longitudinal direction can be done very precisely.
- the parallel position to the weaving machine is associated with difficulties. If the parallelism is inaccurate, there is a risk of undesired wrinkling when the new goods tree is wound up and then inserted. To prevent this, the goods trolley must be aligned parallel to the weaving machine.
- the object of the invention is to develop a method and a device with which a parallel direction of the transport carriage to the weaving machine, knitting machine, Raschel machine or warping machine is possible with simple means.
- the two motor-driven wheels oriented in the transverse direction for parallel alignment are driven in opposite directions in accordance with the distance signals or a difference signal formed from the distance signals until the transport carriage is aligned in parallel. If the chassis has sufficient lateral guidance, the trolley can then be moved in the transverse direction of the weaving machine without any further measuring process.
- the two motor-driven wheels aligned in the transverse direction can be driven for parallel straightening in accordance with the distance signals or a difference signal formed from the distance signals in the same direction at different speeds or stopped individually.
- the transverse distances between the positions fixed to the chassis and the reference surfaces fixed to the machine can be measured and according to their mutual deviation or a deviation from predetermined target values are converted into control signals for actuating drive units of the transport vehicle or the weaving machine and / or a display device.
- the distance coordinates of the transport carriage relative to the weaving machine, warp knitting machine, Raschel machine or warping machine are known throughout the transverse travel, so that these measures meet the requirements for an automatic warp and fabric change.
- energy beams in particular ultrasound or light beams, are used for contactless distance measurement from the position fixed to the chassis and reflected on the machine-fixed reference surface.
- the transport trolley according to the invention has two distance sensors which are arranged at a longitudinal distance from one another and can be aligned on reflection surfaces of the weaving machine, knitting machines, Raschel machine or warping machine, and an evaluation circuit connected to the outputs of the distance sensors for controlling drive and / or steering units of the wheels.
- the two motor-driven wheels aligned in the transverse direction can expediently be driven in opposite directions via the evaluation circuit in accordance with distance signals that can be picked up at the distance sensors or between the difference signals formed between them.
- the motor-driven wheels can be used for this Purpose also be driven in the same direction in the transverse direction with different speeds depending on the distance signals or the differential signals.
- a further advantageous embodiment of the invention provides a chassis mechanism and / or machine-fixed handling mechanism which can be controlled via the distance signals of the distance sensors, for inserting or lifting out the warp or goods tree and for controlling the drive wheels.
- the handling mechanism can have a lifting device fixed to the chassis for a warp or goods tree or a machine and / or chassis-fixed gripping and coupling device for grasping and releasing the warp and goods tree.
- the warp beam transport carriages 10 shown schematically in the drawing have an elongated chassis 16 which has two steerable and motor-driven wheels 12 and a lifting device 18 for a warp beam 20.
- two support rollers 24, which are pivotably arranged on cross arms 22 and are designed as steering rollers, are additionally provided, while in the embodiments according to FIGS. 2 and 3 on the chassis 16, an additional impeller 26 and oriented in the longitudinal direction of travel, which can be folded in the transverse direction of travel two support rollers 28 (only shown in FIG. 3) that can be lowered to the floor in the transverse direction of travel are provided.
- the wheels 12 are pivoted in the longitudinal or transverse direction of travel via a control drawbar 30 or a steering wheel.
- the actuation of the drive motors 48 of the drive wheels 12 takes place via actuation members, not shown, which are arranged on the control drawbar 30.
- the transport carriage 10 is equipped with two distance sensors 40, which are arranged at a distance from one another and are preferably designed as an ultrasound distance measuring device, the scanning beam of which is reflected back to the sensor 40 at an opposite machine-fixed reference surface 42.
- the output signals of the distance sensors 40 are evaluated in a preferably microprocessor-based evaluation circuit 44 with the formation of difference and displacement signals and converted into control signals for the drive controls 46 of the drive motors 48 assigned to the wheels 12 (FIG. 4).
- the parallel alignment with respect to the weaving machine can take place in that the wheels 12 are driven in opposite directions so that the chassis 16 rotates about the pivot point 50 into the parallel position without a longitudinal offset.
- the impeller 26 is also rotated about the pivot point 50.
- the transverse travel to the weaving machine can be carried out by driving the wheels 12 in the same direction.
- the parallel alignment can also take place in the course of transverse travel if the wheels 12 as required of the distance signals measured with the distance sensors 40 are driven in the same direction but at different speeds.
- the distance signals are evaluated in the evaluation circuit 44, if necessary with the support of a microprocessor.
- the drive energy can be metered by the operator via a control element (not shown) on the control drawbar 30, the distance sensors 40 and the evaluation circuit 44 constantly ensuring the parallel alignment by correspondingly controlling the drive motors 48.
- a distance coordinate is defined by the distance sensors 40 in the course of the transverse movement, on the basis of which path-dependent manipulations can also be carried out within the transport carriage 10 or on the weaving machine 32.
- this makes it possible to raise and lower the warp beam depending on the distance. It is also possible to stop the lateral movement depending on the distance or to switch automatically to slow travel. Finally, other movements, such as opening the bearings, uncoupling the drives, and even fully automatic manipulation when inserting and removing the warp beam can be carried out.
- infrared sensors or laser sensors can also be used for non-contact distance measurement.
- the invention relates to a method and a device for parallel straightening a positionable in front of a weaving machine 32
- Transport carriage 10 for warp or goods trees the self-propelled chassis 16 of which has two motor-driven and steerable wheels 12 arranged at a longitudinal distance from one another.
- the trolley 10 is first positioned in the warp or goods aisle relative to the weaving machine 32 in the longitudinal direction and aligned with its wheels 12 in the transverse direction.
- the transverse distances to two opposite, machine-fixed reflection surfaces 42 are then measured without contact from two chassis sensors fixed in the longitudinal distance from one another and compared with one another to form a difference signal.
- the difference signal can be optically displayed as a steering or drive instruction for a steering operation and / or can be converted as a control signal into a driving and / or steering movement of the wheels 12 while the trolley 10 is being aligned in parallel.
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Looms (AREA)
- Auxiliary Weaving Apparatuses, Weavers' Tools, And Shuttles (AREA)
- Knitting Machines (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum Parallelrichten eines vor einer Webmaschine, Wirkmachine, Raschelmaschine oder Schärmaschine positionierbaren Transportwagens für Kett- oder Warenbäume, dessen Fahrgestell zwei im Längsabstand voneinander angeordnete, lenkbare und gegebenenfalls motorisch antreibbare Räder aufweist.The invention relates to a method and an apparatus for parallel straightening a transport carriage for warp or fabric trees that can be positioned in front of a weaving machine, knitting machine, Raschel machine or warping machine, the chassis of which has two longitudinally spaced, steerable and optionally motor-driven wheels.
Kettbaum-Transportwagen dieser Art werden vor allem zum Kettbaumwechsel an Webmaschinen eingesetzt. Zu diesem Zweck muß der volle Kettbaum vom Boden oder einem Lagergestell aufgenommen, zur Webmaschine transportiert und vor dieser positioniert und in ein Kettbaumlager am Maschinenrahmen eingehängt werden. Zur Positionierung wird der Transportwagen üblicherweise vom Bediener durch mehrmaliges Quer- und Längsfahren des Fahrgestells nach Augenmaß bezüglich der Webmaschine ausgerichtet und parallelisiert. Dieser Vorgang ist umständlich und je nach Geschicklichkeit des Bedieners recht zeitaufwendig. Bei fehlerhafter Positionierung kommt es immer wieder zu Stoßbeanspruchungen im Lagerbereich der Webmaschine und der Tragarme sowie im Bereich der überstehenden Rohrenden der Kettbäume und dadurch zu einem unnötigen Verschleiß oder zu Beschädigungen.Warp beam transport trolleys of this type are mainly used to change warp beam on weaving machines. For this purpose, the full warp beam must be picked up from the floor or a storage rack, transported to the weaving machine and positioned in front of it and hung in a warp beam bearing on the machine frame. For positioning, the transport trolley is usually aligned and parallelized by the operator by repeated transverse and longitudinal movement of the undercarriage with respect to the weaving machine. This process is cumbersome and, depending on the skill of the operator, quite time-consuming. If the positioning is incorrect, there will always be shock loads in the bearing area of the weaving machine and the support arms as well as in the area of the protruding tube ends of the warp beams, resulting in unnecessary wear or damage.
Warenbaum-Transportwagen dieser Art werden vor allem zum Warenbaumwechsel an Webmaschinen eingesetzt. Ein Warenbaum-Transportwagen hat die Aufgabe, einen vollbewickelten Warenbaum aus einer Webmaschine auszuheben, die Gewebebahn durchzutrennen, das freie Ende der Gewebebahn auf einem leeren Warenbaum anzuwickeln und den leeren Warenbaum mit der angewickelten Gewebebahn in die Webmaschine einzusetzen. Zum Warenbaumwechsel wird der Warenbaum-Transportwagen im Warengang vor der betreffenden Webmaschine positioniert. Die Positionierung in Längsrichtung kann sehr genau erfolgen. Die Parallelstellung zur Webmaschine ist dagegen mit Schwierigkeiten verbunden. Bei ungenauer Parallelität besteht die Gefahr, daß es beim Anwickeln und anschließenden Einsetzen des neuen Warenbaums zu einer unerwünschten Faltenbildung kommt. Um dies zu verhindern, muß der Warenbaum-Transportwagen parallel zur Webmaschine ausgerichtet werden.Goods wagon trolleys of this type are mainly used used for the change of fabric on weaving machines. A goods transport cart has the task of lifting a fully wound goods tree out of a weaving machine, severing the fabric web, wrapping the free end of the fabric web on an empty goods tree and inserting the empty goods tree with the wound fabric web into the weaving machine. To change the merchandise tree, the merchandise tree transport trolley is positioned in front of the relevant weaving machine in the goods movement. The positioning in the longitudinal direction can be done very precisely. The parallel position to the weaving machine, however, is associated with difficulties. If the parallelism is inaccurate, there is a risk of undesired wrinkling when the new goods tree is wound up and then inserted. To prevent this, the goods trolley must be aligned parallel to the weaving machine.
Bei dem aus EP-A-296115, das als nächstliegender Stand der Technik angesehen wird, bekannten Transportwagen wird eine Trageinheit, welche dabei auf bodenfeste Formschlußmarkierungen abgesenkt wird, relativ zur Webmaschine ausgerichtet. Dieser in eine Fahr- und Trageinheit gegliederte Transportwagen weist aber eine aufwendige Konstruktion auf.In the transport trolley known from EP-A-296115, which is considered to be the closest prior art, a carrying unit, which is lowered to form-fitting markings fixed to the floor, is aligned relative to the weaving machine. However, this transport carriage, which is divided into a driving and carrying unit, has a complex construction.
Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung zu entwickeln, womit mit einfachen Mitteln eine Parallelrichtung des Transportwagens zur Webmaschine, Wirkmaschine, Raschelmaschine oder Schärmaschine möglich ist.Proceeding from this, the object of the invention is to develop a method and a device with which a parallel direction of the transport carriage to the weaving machine, knitting machine, Raschel machine or warping machine is possible with simple means.
Diese Aufgabe wird gemäß der Erfindung durch folgende Verfahrensschritte gelöst:
- Der Transportwagen wird im Kett- oder Warengang relativ zur Webmaschine in Längsrichtung positioniert und mit mindestens einem seiner lenkbaren Räder in Querfahrtrichtung zur Webmaschine, Wirkmaschine, Raschelmaschine oder Schärmaschine ausgerichtet;
- sodann werden von zwei im Längsabstand voneinander angeordneten fahrgestellfesten Positionen aus die Querabstände zu zwei gegenüberliegenden maschinenfesten Bezugsflächen berührungslos unter Bildung von Abstandssignalen gemessen und in eine Antriebs- und/oder Lenkbewegung der Räder unter Parallelrichten des Transportwagens umgesetzt.
- The transport carriage is positioned in the warp or goods aisle in the longitudinal direction relative to the weaving machine and aligned with at least one of its steerable wheels in the transverse direction of travel to the weaving machine, knitting machine, Raschel machine or warping machine;
- Then the transverse distances to two opposing machine-fixed reference surfaces are measured in a contactless manner from two positions arranged in the longitudinal distance from one another with the formation of distance signals and converted into a drive and / or steering movement of the wheels with parallel alignment of the transport carriage.
Vorteilhafterweise werden die beiden motorisch angetriebenen und in Querfahrtrichtung ausgerichteten Räder zum Parallelrichten nach Maßgabe der Abstandssignale oder eines aus den Abstandssignalen gebildeten Differenzsignals gegensinnig angetrieben, bis der Transportwagen parallelgerichtet ist. Bei ausreichender Seitenführung des Fahrgestells kann der Transportwagen im Anschluß daran ohne einen weiteren Meßvorgang in Querfahrtrichtung zur Webmaschine hin verschoben werden.Advantageously, the two motor-driven wheels oriented in the transverse direction for parallel alignment are driven in opposite directions in accordance with the distance signals or a difference signal formed from the distance signals until the transport carriage is aligned in parallel. If the chassis has sufficient lateral guidance, the trolley can then be moved in the transverse direction of the weaving machine without any further measuring process.
Alternativ dazu können die beiden motorisch angetriebenen und in Querfahrtrichtung ausgerichteten Räder zum Parallelrichten nach Maßgabe der Abstandssignale oder eines aus den Abstandssignalen gebildeten Differenzsignals gleichsinnig mit unterschiedlichen Drehzahlen angetrieben oder einzeln angehalten werden. Während der Querfahrt des Transportwagens in Richtung Webmaschine, Wirkmaschine, Raschelmachine oder Schärmaschine können dabei die Querabstände zwischen den fahrgestellfesten Positionen und den maschinenfesten Bezugsflächen gemessen und nach Maßgabe ihrer gegenseitigen Abweichung oder einer Abweichung von vorgegebenen Sollwerten in Stellsignale zur Betätigung von Antriebsaggregaten des Transportwagens oder der Webmaschine und/oder einer Anzeigevorrichtung umgesetzt werden. Durch die Abstandsmessung sind die Verfahrkoordinaten des Transportwagens gegenüber der Webmaschine, Wirkmaschinen, Raschelmaschine oder Schärmaschine während der gesamten Querfahrt bekannt, so daß mit diesen Maßnahmen die Voraussetzungen für einen automatischen Kett- und Warenbaumwechsel erfüllt sind.As an alternative to this, the two motor-driven wheels aligned in the transverse direction can be driven for parallel straightening in accordance with the distance signals or a difference signal formed from the distance signals in the same direction at different speeds or stopped individually. During the transverse travel of the transport carriage in the direction of the weaving machine, knitting machine, Raschel machine or warping machine, the transverse distances between the positions fixed to the chassis and the reference surfaces fixed to the machine can be measured and according to their mutual deviation or a deviation from predetermined target values are converted into control signals for actuating drive units of the transport vehicle or the weaving machine and / or a display device. The distance coordinates of the transport carriage relative to the weaving machine, warp knitting machine, Raschel machine or warping machine are known throughout the transverse travel, so that these measures meet the requirements for an automatic warp and fabric change.
Vorteilhafterweise werden zur berührungslosen Abstandsmessung von der fahrgestellfesten Position aus emittierte und an der maschinenfesten Bezugsfläche reflektierte Energiestrahlen, insbesondere Ultraschall- oder Lichtstrahlen verwendet.Advantageously, energy beams, in particular ultrasound or light beams, are used for contactless distance measurement from the position fixed to the chassis and reflected on the machine-fixed reference surface.
Der erfindungsgemäße Transportwagen weist zwei am Fahrgestell im Längsabstand voneinander angeordnete, auf Reflexionsflächen der Webmaschine, Wirkmaschinen, Raschelmaschine oder Schärmaschine ausrichtbare Abstandssensoren und eine mit den Ausgängen der Abstandssensoren verbundene Auswerteschaltung zur Ansteuerung von Antriebs- und/oder Lenkaggregaten der Räder auf.The transport trolley according to the invention has two distance sensors which are arranged at a longitudinal distance from one another and can be aligned on reflection surfaces of the weaving machine, knitting machines, Raschel machine or warping machine, and an evaluation circuit connected to the outputs of the distance sensors for controlling drive and / or steering units of the wheels.
Zum Parallelrichten des Transportwagens sind die beiden motorisch angetriebenen und in Querfahrtrichtung ausgerichteten Räder über die Auswerteschaltung zweckmäßig nach Maßgabe von an den Abstandssensoren abgreifbaren Abstandssignalen oder zwischen diesen gebildeten Differenzsignalen gegensinnig antreibbar. Alternativ dazu können die motorisch angetriebenen Räder zu diesem Zweck auch gleichsinnig in Querfahrtrichtung mit nach Maßgabe der Abstandssignale oder der Differenzsignale unterschiedlichen Drehzahlen antreibbar sein.For parallel alignment of the transport carriage, the two motor-driven wheels aligned in the transverse direction can expediently be driven in opposite directions via the evaluation circuit in accordance with distance signals that can be picked up at the distance sensors or between the difference signals formed between them. Alternatively, the motor-driven wheels can be used for this Purpose also be driven in the same direction in the transverse direction with different speeds depending on the distance signals or the differential signals.
Eine weitere vorteilhafte Ausgestaltung der Erfindung sieht einen über die Abstandssignale der Abstandssensoren ansteuerbaren, fahrgestell- und/oder maschinenfesten Handhabungsmechanismus zum Einlegen oder Ausheben des Kett- oder Warenbaums sowie zur Ansteuerung der Antriebsräder vor. Der Handhabungsmechanismus kann dazu eine fahrgestellfeste Hubvorrichtung für einen Kett- oder Warenbaum oder eine maschinenfeste und/oder fahrgestellfeste Greif- und Kupplungsvorrichtung zum Erfassen und Freigeben des Kett- und Warenbaums aufweisen.A further advantageous embodiment of the invention provides a chassis mechanism and / or machine-fixed handling mechanism which can be controlled via the distance signals of the distance sensors, for inserting or lifting out the warp or goods tree and for controlling the drive wheels. For this purpose, the handling mechanism can have a lifting device fixed to the chassis for a warp or goods tree or a machine and / or chassis-fixed gripping and coupling device for grasping and releasing the warp and goods tree.
Im folgenden wird die Erfindung anhand einiger in der Zeichnung in schematischer Weise dargestellter Ausführungsbeispiele näher erläutert. Es zeigen
- Fig. 1
- ein Schema eines ersten Ausführungsbeispiels eines Kettbaum-Transportwagens in Positionierstellung vor einer Webmaschine;
- Fig. 2
- ein Schema eines Kettbaum-Transportwagens beim Parallel-Ausrichten vor einer Webmaschine;
- Fig. 3
- ein Schema eines Kettbaum-Transportwagens beim Parallel-Querfahren vor einer Webmaschine;
- Fig. 4
- ein Blockschaltbild einer Vorrichtung zum Parallelrichten eines Transportwagens.
- Fig. 1
- a schematic of a first embodiment of a Kettbaum transport carriage in the positioning position in front of a weaving machine;
- Fig. 2
- a schematic of a Kettbaum transport carriage in parallel alignment in front of a weaving machine;
- Fig. 3
- a diagram of a Kettbaum transport carriage in parallel transverse travel in front of a weaving machine;
- Fig. 4
- a block diagram of a device for parallel alignment of a transport carriage.
Die in der Zeichnung schematisch dargestellten Kettbaum-Transportwagen 10 weisen ein langgestrecktes, zwei lenkbare und motorisch angetriebene Räder 12 aufweisendes Fahrgestell 16 sowie eine Hubvorrichtung 18 für einen Kettbaum 20 auf. Bei dem in Fig. 1 gezeigten Ausführungsbeispiel sind zusätzlich zwei an Querauslegern 22 schwenkbar angeordnete, als Lenkrollen ausgebildete Stützrollen 24 vorgesehen, während bei den Ausführungsbeispielen nach Fig. 2 und 3 am Fahrgestell 16 ein zusätzliches, in Längsfahrtrichtung ausgerichtetes, in Querfahrtrichtung einklappbares Laufrad 26 und zwei in Querfahrtrichtung auf den Boden absenkbare (nur in Fig. 3 eingezeichnete) Stützrollen 28 vorgesehen sind. Die Räder 12 werden über eine Steuerdeichsel 30 oder ein Lenkrad in Längs- oder Querfahrtrichtung geschwenkt. Die Betätigung der Antriebsmotoren 48 der Antriebsräder 12 erfolgt über nicht dargestellte Betätigungsorgane, die an der Steuerdeichsel 30 angeordnet sind.The warp
Zur Längspositionierung des Transportwagens 10 im Kettgang vor der Webmaschine 32 kann beispielsweise über Bodenmarkierungen 34 (Fig. 2) oder über eine am Transportwagen 10 angeordnete und auf einen Zielreflektor an der Webmaschine 32 ansprechende Reflexionslichtschranke 38 (Fig. 1) erfolgen.For longitudinal positioning of the
Zum Parallelrichten vor der Webmaschine ist der Transportwagen 10 mit zwei im Abstand voneinander angeordneten, vorzugsweise als Ultraschall-Entfernungsmeßgerät ausgebildeten Abstandssensoren 40 ausgestattet, deren Abtaststrahl jeweils an einer gegenüberliegenden maschinenfesten Bezugsfläche 42 zum Sensor 40 zurückreflektiert wird. Die Ausgangssignale der Abstandssensoren 40 werden in einer vorzugsweise mikroprozessorgestützten Auswerteschaltung 44 unter Bildung von Differenz- und Wegsignalen ausgewertet und in Steuersignale für die Antriebssteuerungen 46 der den Rädern 12 zugeordneten Antriebsmotoren 48 umgesetzt (Fig. 4).For parallel straightening in front of the weaving machine, the
Wie aus Fig. 2 zu ersehen ist, kann die Parallelausrichtung gegenüber der Webmaschine dadurch erfolgen, daß die Räder 12 so gegensinnig angetrieben werden, daß sich das Fahrgestell 16 ohne Längsversatz um den Drehpunkt 50 in die Parallellage dreht. Das Laufrad 26 wird in diesem Falle um den Drehpunkt 50 mitgedreht. Nach Erreichen der Parallellage kann nach Abheben des Laufrades 26 vom Boden und nach Absenken von nicht gezeigten Stützrollen 24 durch gleichsinnigen Antrieb der Räder 12 die Querfahrt zur Webmaschine durchgeführt werden.As can be seen from FIG. 2, the parallel alignment with respect to the weaving machine can take place in that the
Bei dem in Fig. 3 gezeigten Ausführungsbeispiel ist erkennbar, daß die Parallel-Ausrichtung auch im Zuge der Querfahrt erfolgen kann, wenn die Räder 12 nach Maßgabe der mit den Abstandssensoren 40 gemessenen Abstandssignale gleichsinnig aber mit unterschiedlicher Drehzahl angetrieben werden. Die Auswertung der Abstandssignale erfolgt in der Auswerteschaltung 44 gegebenenfalls mit Unterstützung eines Mikroprozessors. Die Antriebsenergie kann über ein nicht dargestelltes Betätigungsorgan an der Steuerdeichsel 30 vom Bediener dosiert werden, wobei die Abstandssensoren 40 und die Auswerteschaltung 44 durch entsprechende Ansteuerung der Antriebsmotoren 48 ständig für die Parallel-Ausrichtung sorgen. Durch die Abstandssensoren 40 wird im Zuge der Querbewegung eine Verfahrkoordinate definiert, aufgrund der auch wegabhängige Handhabungen innerhalb des Transportwagens 10 oder an der Webmaschine 32 vorgenommen werden können. Insbesondere ist es hierdurch möglich, den Kettbaum entfernungsabhängig zu heben und zu senken. Weiter ist ein entfernungsabhängiges Stoppen der Querfahrbewegung oder eine automatische Umschaltung auf Schleichfahrt möglich. Schließlich können auch andere Bewegungen, wie Lager öffnen, Antriebe entkuppeln bis hin zur vollautomatischen Manipulation beim Kettbaumeinlegen und -entnehmen durchgeführt werden.In the embodiment shown in Fig. 3 it can be seen that the parallel alignment can also take place in the course of transverse travel if the
Statt der vorstehend beschriebenen Ultraschallsensoren können auch Infrarotsensoren oder Lasersensoren zur berührungslosen Abstandsmessung eingesetzt werden.Instead of the ultrasonic sensors described above, infrared sensors or laser sensors can also be used for non-contact distance measurement.
Zusammenfassend ist folgendes festzustellen: Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum Parallelrichten eines vor einer Webmaschine 32 positionierbaren Transportwagens 10 für Kett- oder Warenbäume, dessen selbstfahrendes Fahrgestell 16 zwei im Längsabstand voneinander angeordnete, motorisch antreibbare und lenkbare Räder 12 aufweist. Zum Parallelrichten wird der Transportwagen 10 im Kett- oder Warengang relativ zur Webmaschine 32 zunächst in Längsrichtung positioniert und mit seinen Rädern 12 in Querfahrtrichtung ausgerichtet. Sodann werden von zwei im Längsabstand voneinander angeordneten fahrgestellfesten Abstandssensoren 40 aus die Querabstände zu zwei gegenüberliegenden, maschinenfesten Reflexionsflächen 42 berührungslos gemessen und unter Bildung eines Differenzsignals miteinander verglichen. Das Differenzsignal kann als Lenk- oder Antriebshinweis für einen Lenkvorgang optisch angezeigt und/oder als Steuersignal in eine Antriebs- und/oder Lenkbewegung der Räder 12 unter Parallelrichten des Transportwagens 10 umgesetzt werden.In summary, the following can be stated: The invention relates to a method and a device for parallel straightening a positionable in front of a weaving
Claims (14)
- A process for paralleling a transporting carriage (10) for loom or cloth beams in front of a weaving machine (32) , the undercarriage of the transporting carriage having two wheels (12) arranged at a longitudinal distance from one another, can be steered, and, if necessary, can be driven by a motor, characterised in that the transporting carriage (10) is first positioned in a longitudinal direction relative to the weaving machine (32) and is aligned with at least one of its steerable wheels (12) in a transverse travelling direction with respect to the weaving machine (32), and that the transverse distances from two oppositely lying, machine-fixed reference surfaces (42) are thereafter measured without contact by forming distance signals from two undercarriage-fixed positions (40) arranged at a longitudinal distance from one another, and are converted into a driving and/or steering movement of the wheels (12) during paralleling the transporting carriage (10).
- The process for paralleling a transporting carriage (10) for loom or warp beams, the transporting carriage being positioned in front of a knitting machine, a double-rib loom or a warping machine, the undercarriage of the transporting carriage having two wheels (12) arranged at a longitudinal distance from one another, can be steered, and, if necessary, can be driven by a motor, characterised in that the transporting carriage (10) is first positioned in longitudinal direction relative to the knitting machine, the double-rib loom or warping machine, and is aligned with at least one of its steerable wheels (12) in a transverse travelling direction with respect to the knitting machine, the double-rib loom or warping machine, and that the transverse distances from two oppositely lying, machine-fixed reference surfaces (42) are thereafter measured without contact by forming distance signals from a set of two undercarriage-fixed positions (40) arranged at a longitudinal distance from one another, and are converted into a driving and/or steering movement of the wheels (12) when paralleling the transporting carriage (10).
- The process according to Claim 1 or 2, characterised in that the two wheels, which are driven by a motor and are aligned in a transverse travelling direction, are oppositely driven in accordance with the distance signals or in accordance with a difference signal formed out of the distance signals for paralleling.
- The process according to one of the Claims 1 to 3, characterised in that the two wheels (12), which are driven by a motor and are aligned in transverse direction, are driven in the same direction at different speeds or are individually stopped in accordance with the distance signals or a difference signal formed out of the distance signals for paralleling.
- The process according to one of the Claims 1 to 4, characterised in that during the transverse travel of the transporting carriage (10) in direction of the weaving machine (32) or the knitting machine, the doublerib loom or the warping machine, the transverse distances between the undercarriage-fixed positions (40) and the machine-fixed reference surfaces (42) are measured and are converted in accordance with their reciprocal deflection or a deflection from a given desired value into adjusting signals for operating the drive units of the transporting carriage (10) and/or of the weaving machine (32) or the knitting machine, the double-rib loom or a warping machine and/or an indicating device.
- The process according to one of the Claims 1 to 5, characterised in that energy beams, which are emitted from the undercarriage-fixed position (40) and are reflected back on the machine-fixed reference surface (42), in particular ultrasound or light beams, are used for the distance measurement without contact.
- A transporting carriage for loom or cloth beams having a device for paralleling the transporting carriage, which can be positioned in front of a weaving machine (32) and has a self-propelled undercarriage, the undercarriage having wheels (12) spaced at a longitudinal distance from one another, the wheels being steerable, selectively aligned in longitudinal and in transverse travelling direction, and, if necessary, driven by a motor, characterised by two distance sensors (40) spaced at a longitudinal distance from one another on the undercarriage (16), and being aligned with reflecting surfaces (42) of the weaving machine (32) , and an evaluating circuit (44) for controlling driving and/or steering units (48) of the wheels (12), the evaluating circuit being designed for paralleling the transporting carriage and being connected to the outputs of the distance sensors.
- A transporting carriage for loom or warp beams having a device for paralleling the transporting carriage, which can be positioned in front of a knitting machine, a double-rib loom or a warping machine and has a self-propelled undercarriage, the undercarriage having wheels (12) spaced at a longitudinal distance from one another, the wheels being steerable, selectively aligned in longitudinal and in transverse travelling direction, and, if necessary, driven by a motor, characterised by two distance sensors (40) spaced at a longitudinal distance from one another on the undercarriage (16) , and can be aligned with reflecting surfaces of the knitting machine, the double-rib loom or the warping machine, and an evaluating circuit (44) for controlling driving or steering units (48) of the wheels (12), the evaluating circuit being designed for paralleling the transporting carriage and being connected to the outputs of the distance sensors.
- The transporting carriage according to Claim 7 or 8, characterised in that the two motor driven wheels (12) are aligned in a transverse travelling direction, and for paralleling are oppositely driven in accordance with distance signals or difference signals formed therebetween, which are measured by the distance sensors (40).
- The transporting carriage according to one of the Claims 7 to 9, characterised in that the two motor driven wheels (12) are aligned in a transverse travelling direction, and for paralleling are driven in the same direction with different speeds in accordance with distance signals or difference signals formed therebetween, which are measured by the distance sensors (40).
- The transporting carriage according to one of the Claims 7 to 10, characterised by an undercarriage-fixed and/or machine-fixed handling mechanism controlled through the distance signals of the distance sensors, for inserting or removing of the loom, cloth or warp beams and for controlling the driving wheels (12).
- The transporting carriage according to Claim 9, characterised in that the handling mechanism has an undercarriage-fixed lifting device for the loom, cloth or warp beam.
- The transporting carriage according to Claim 11 or 12, characterised in that the handling mechanism has a machine-fixed and/or an undercarriage-fixed gripping and coupling devices for gripping and releasing the loom, cloth or warp beam.
- The transporting carriage according to one of the Claims 7 to 13, characterised in that the distance sensors are designed as ultrasound, infrared or laser sensors.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4306493 | 1993-03-03 | ||
| DE4306493A DE4306493A1 (en) | 1993-03-03 | 1993-03-03 | Method and device for straightening a transport carriage |
| PCT/EP1994/000527 WO1994020659A2 (en) | 1993-03-03 | 1994-02-24 | Process and device for paralleling a transport carriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0687316A1 EP0687316A1 (en) | 1995-12-20 |
| EP0687316B1 true EP0687316B1 (en) | 1997-07-09 |
Family
ID=6481747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP94909040A Expired - Lifetime EP0687316B1 (en) | 1993-03-03 | 1994-02-24 | Process and device for paralleling a transport carriage |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US5826624A (en) |
| EP (1) | EP0687316B1 (en) |
| JP (1) | JPH08507834A (en) |
| BR (1) | BR9405882A (en) |
| DE (2) | DE4306493A1 (en) |
| WO (1) | WO1994020659A2 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2218182T3 (en) * | 1999-05-28 | 2004-11-16 | Lindauer Dornier Gesellschaft M.B.H | QUICK CHANGE OF CALADA FORMATION MACHINES IN LIZOS TELARS AND DEVICE FOR QUICK CHANGE. |
| JP4429465B2 (en) * | 1999-12-07 | 2010-03-10 | パナソニック株式会社 | Parts supply unit batch replacement cart |
| BE1015479A3 (en) * | 2003-04-23 | 2005-04-05 | Wiele Michel Van De Nv | Balanced bite measurement. |
| DE10329224B3 (en) * | 2003-06-28 | 2005-10-13 | Wolf Kloss | Aligning device for an optical instrument e.g. a camera has range-finding device for determining distance from an object with elements for determining two distance measurements along two different measurement axes and two display devices |
| DE102007051802B4 (en) * | 2007-10-30 | 2012-12-20 | Airbus Operations Gmbh | Stay module with an emergency exit hatch for an aircraft |
| US8985274B2 (en) * | 2012-08-13 | 2015-03-24 | Sam Carbis Asset Management, Llc | Flatbed loading system with self-aligning platforms |
| BE1022813A9 (en) * | 2015-03-12 | 2016-10-04 | Wiele Michel Van De Nv | ARRANGEMENT OF THE INTERCONNECTION OF THE WIDTHS OF A TISSUE GUIDANCE DEVICE |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0792696B2 (en) * | 1984-01-09 | 1995-10-09 | 大福機工株式会社 | Conveyor device using traversing self-propelled cart |
| US4606381A (en) * | 1984-02-16 | 1986-08-19 | Tsudakoma Kogyo Kabushiki Kaisha | Method and apparatus for automatically exchanging cloth rollers in a loom |
| JPS61259307A (en) * | 1985-04-10 | 1986-11-17 | Murata Mach Ltd | Unmanned carrier |
| DE8527486U1 (en) * | 1985-09-26 | 1986-02-06 | Hubtex Maschinenbau GmbH, 6400 Fulda | Warp beam lifting and transport trolleys |
| DE3717258A1 (en) * | 1987-05-22 | 1988-12-01 | Gebald Gregor | DEVICE FOR REPLACING THE warp beam and METHOD FOR OPERATING THE DEVICE |
| DE3876510D1 (en) * | 1987-06-16 | 1993-01-21 | Sulzer Ag | TRANSPORTATION DEVICE FOR WEAVING. |
| US4843373A (en) * | 1987-12-10 | 1989-06-27 | Rite-Hite Corporation | Loading dock signal and control system |
| DE68919785T2 (en) * | 1988-09-22 | 1995-07-06 | Tsudakoma Ind Co Ltd | Automatic tree changer for weaving machines in a weaving mill. |
| US5031666A (en) * | 1989-02-15 | 1991-07-16 | Sulzer Brothers Limited | Cloth beam changer with resilient transmission link on gripping arm |
| JP2536784B2 (en) * | 1989-05-24 | 1996-09-18 | 津田駒工業株式会社 | Delivery device for warp beam |
| JP2881889B2 (en) * | 1990-01-11 | 1999-04-12 | 富士電機株式会社 | Transfer positioning device for automatic guided vehicles |
| SU1724753A1 (en) * | 1990-04-13 | 1992-04-07 | Московский Текстильный Институт Им.А.Н.Косыгина | Device for transportation and mounting warp beam on textile machine |
| JPH0450346A (en) * | 1990-06-13 | 1992-02-19 | Toyota Autom Loom Works Ltd | Regulator and setter for weaving condition in loom |
| BE1004499A3 (en) * | 1990-06-19 | 1992-12-01 | Picanol Nv | Method and device for replacing a cloth tree at looms. |
| US5265649A (en) * | 1991-07-10 | 1993-11-30 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Cloth roll exchange apparatus for a loom |
| DE4128969A1 (en) * | 1991-08-31 | 1993-03-04 | Genkinger Hebe Foerdertech | Loom cloth-roll exchange - has journal support lifting mechanism which also operates as parallel alignment system |
-
1993
- 1993-03-03 DE DE4306493A patent/DE4306493A1/en not_active Withdrawn
-
1994
- 1994-02-24 JP JP6519525A patent/JPH08507834A/en active Pending
- 1994-02-24 US US08/522,303 patent/US5826624A/en not_active Expired - Fee Related
- 1994-02-24 EP EP94909040A patent/EP0687316B1/en not_active Expired - Lifetime
- 1994-02-24 DE DE59403314T patent/DE59403314D1/en not_active Expired - Fee Related
- 1994-02-24 WO PCT/EP1994/000527 patent/WO1994020659A2/en active IP Right Grant
- 1994-02-24 BR BR9405882A patent/BR9405882A/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| WO1994020659A3 (en) | 1994-10-13 |
| BR9405882A (en) | 1995-12-26 |
| JPH08507834A (en) | 1996-08-20 |
| WO1994020659A2 (en) | 1994-09-15 |
| US5826624A (en) | 1998-10-27 |
| DE4306493A1 (en) | 1994-09-08 |
| DE59403314D1 (en) | 1997-08-14 |
| EP0687316A1 (en) | 1995-12-20 |
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