Method and device for determining motion parameters of a gripper

Abstract

The invention relates to a method and a device for determining a motion parameter of a gripper (3, 5) in a gripper weaving machine, wherein the gripper (3, 5) can be driven to move back and forth by using a transmission member (31, 32), wherein a drive element (12, 26) rotating together with a drive shaft (7) of the gripper weaving machine is drivingly coupled to the transmission member (31, 32) via a transmission mechanism (24, 25), wherein the transmission member (31, 32) can be driven by the drive element (12, 26) to oscillate between end transmission member positions, and wherein an oscillation amplitude of the transmission member (31, 32) can be adjusted by setting the transmission mechanism (24, 25), and wherein the method comprises the steps of determining a change (ΔΘ1, ΔΘ2) of an angular position of the drive element (12, 26) when moving the transmission member (31, 32) through a defined range (Δα), and determining the oscillation amplitude of the transmission member (31, 32) based on the determined change (ΔΘ1, ΔΘ2) of the angular position of the drive element (12, 26).

Description

Technical Field

[0001] This invention relates to a method and apparatus for determining motion parameters of a projectile in a projectile loom. The invention also relates to a computer program product comprising instructions that, when executed by a computer, cause the computer to perform a method for determining motion parameters of a projectile in a projectile loom. Furthermore, the invention relates to a data processing apparatus comprising a processor unit adapted to perform a method for determining motion parameters of a projectile in a projectile loom. Background Technology

[0002] As is well known, a rapier loom typically comprises two rapiers: one called the traction rapier, which transports the weft yarn from one end of the loom to a changing position located at or near the middle of the loom, and the other called the receiving rapier, which receives the weft yarn from the traction rapier at the changing position and transports the weft yarn to the other end of the loom. Each rapier is fixed to a rapier, which is driven by a rapier drive wheel. Known rapiers can be flexible rapier belts or rigid rapier bars.

[0003] It is also known, for example, as shown in DE 103 46 227 or WO 2011 / 120820, that each rapier shuttle is fixed to a rapier such as a rapier belt, wherein the rapier drive wheel is driven to move back and forth, thereby causing an oscillating motion using a transmission component such as a gear segment, which is drivenly coupled to a drive element via a transmission mechanism such as a crank mechanism, the drive element rotating together with the drive shaft of the rapier loom, wherein the crank mechanism is fixed to the drive element in an adjustable eccentric position using a fastening unit, wherein the gear segment is driven by the drive element to oscillate about the axis of the gear segment, and wherein the oscillation amplitude of the gear segment can be set by changing the adjustable eccentric position in order to adjust the travel of the rapier shuttle.

[0004] US 5,853,032 discloses another transmission mechanism for causing the oscillating motion of a gear segment that drives a rapier drive wheel, wherein, when the oscillation amplitude is set, one of the two end positions of the oscillation is held in a position associated with the transition position of the swashplate driven by the rapier drive wheel.

[0005] EP 565885 A illustrates another transmission mechanism for inducing oscillating motion of a transmission component (such as a gear segment for driving a rapier drive wheel), wherein the oscillation amplitude of the transmission component is settable. This transmission mechanism includes a cam mechanism for driving the transmission component via a crank mechanism.

[0006] US 4052906 or WO 2005 / 078317 discloses another transmission mechanism for causing oscillating motion of a transmission component (such as a slider for driving a rapier drive wheel), wherein the oscillation amplitude of the transmission component is settable. The transmission mechanism includes a crank mechanism and a threaded spindle driven by the crank mechanism for reciprocatingly driving the transmission component.

[0007] DE 100 33 641 A1 also shows a crank mechanism for causing the oscillating motion of a gear segment that drives a rapier drive wheel, wherein, in order to set the oscillation amplitude of the gear segment, the connecting rod of the crank mechanism is connected to the gear segment at an adjustable position by means of an adjusting device equipped with a scale. Summary of the Invention

[0008] The object of this invention is to provide a method and apparatus for determining the motion parameters of a rapier shuttle in a rapier loom. Another object of this invention is to provide a computer program product and a data processing apparatus for determining the motion parameters of a rapier shuttle in a rapier loom.

[0009] According to a first aspect, a method is provided for determining motion parameters of a rapier shuttle in a rapier loom, wherein the rapier shuttle can be driven to move back and forth by using a transmission member, wherein a drive element rotating together with the drive shaft of the rapier loom is driven to the transmission member via a transmission mechanism, wherein the transmission member can be driven by the drive element to oscillate between positions of an end transmission member, and wherein the oscillation amplitude of the transmission member can be adjusted by setting the transmission mechanism, and wherein the method includes the steps of: determining a change in the angular position of the drive element when the transmission member moves through a defined range; and determining the oscillation amplitude of the transmission member based on the determined change in the angular position of the drive element.

[0010] In the context of this application, the term "limited range" is used to describe: the range through which a transmission component is moved when it moves in one direction between two different transmission component positions, and the range through which a transmission component is moved when it moves back and forth from one transmission component position and returns to that transmission component position or any other transmission component position.

[0011] Throughout this specification and the appended claims, the indefinite articles “a” or “an” mean “one or more”. Reference to “first element” does not imply the existence of a “second element.” Furthermore, the expressions “first” and “second” are used only to distinguish one element from another, and not to indicate any order of these elements.

[0012] The transmission component is connected to the rapier drive wheel, and there is a fixed transmission ratio between the movement of the transmission component and the movement of the rapier drive wheel. The inventors have discovered a determinable relationship between the motion parameters of the shuttle and the transmission ratio of the transmission mechanism. This determinable relationship is independent of any individually chosen end position of the shuttle. Furthermore, it has been discovered that when this transmission ratio is determined based on the change in the angular position of the drive element as the transmission component moves through a defined range, the transmission ratio can be determined in a manner independent of any phase shift between the movement of the transmission component and the drive shaft of the loom.

[0013] Those skilled in the art will understand that in order to determine the motion parameters of the skein shuttle based on the change in the angular position of the determined drive element, other parameters, such as fixed relationships, must be considered, particularly the fixed transmission ratio between the transmission components and the skein drive wheel used to move the skein shuttle. In one embodiment, these other parameters remain constant when setting the motion parameters, particularly when setting the skein shuttle's travel distance by adjusting the oscillation amplitude of the transmission components.

[0014] The advantage of this invention is that it allows for the determination of the oscillation amplitude of the drive mechanism for the rapier shuttle when the rapier is disengaged from the transmission component, or even when the rapier is absent from the rapier loom. Accurate determination of the oscillation amplitude of the drive mechanism also allows for the determination of the rapier shuttle's motion configuration and maximizes the weaving speed of the rapier loom, since the weaving speed is primarily limited by the rapier shuttle's motion configuration, which is defined by motion parameters such as the shuttle's travel distance, speed, and / or acceleration. These motion parameters depend on the oscillation amplitude of the transmission component and, therefore, also on the rapier shuttle's travel distance.

[0015] The permissible weaving speed of a rapier loom, as well as the rapier's movement speed, travel distance, and acceleration, can all be determined based on information about the angular position of the transmission components relative to the drive element. This information can be calculated based on the geometric parameters of the transmission mechanism. Alternatively, this information can be stored in memory for different oscillation amplitudes of the transmission components. In an alternative embodiment, information about the relationship between the rapier's motion parameters, the weaving speed of the rapier loom, and the transmission ratio—the ratio between the rotational motion of the drive element rotating with the drive shaft and the motion of the transmission component oscillating between the positions of the end transmission components—can be stored in memory for different oscillation amplitudes of the transmission components, particularly for different travel distances of the rapier. If the transmission mechanism is a crank mechanism with a crank fixed in an adjustable eccentric position relative to the drive element, the transmission ratio can be determined from the eccentric position of the crank relative to the drive element, the dimensions of the various components of the transmission mechanism, and other geometric parameters. This information can be stored in the memory of a processor unit. In one embodiment, a method for determining the rapier's motion parameters includes the step of accessing the memory.

[0016] In one embodiment, a mark is provided on the transmission component to mark the boundary of a defined area, and a sensor device is provided, which is fixedly arranged in a position opposite to the transmission component and adapted to sense the presence or absence of the mark. Specifically, in one embodiment, the presence of the mark is identified by means of the sensor device when the transmission component arrives at or passes a position in which the mark is within the sensing area of ​​the sensor device, and / or the absence of the mark is identified when the transmission component passes through or leaves the position in which the mark is within the sensing area of ​​the sensor device. This allows the angular position of the drive element to be captured when the presence or absence of the mark is sensed.

[0017] In an advantageous embodiment, a first mark for marking a first boundary of a defined range is provided on the transmission component, and a second mark for marking a second boundary of a defined range is provided on the transmission component, wherein the method includes: moving the transmission component such that the first mark and the second mark each pass through a sensor device fixedly arranged in a position opposite to the transmission component; capturing a first angular position of a drive element when the first mark passes through the sensor device; capturing a second angular position of the drive element when the second mark passes through the sensor device; and determining a change in the angular position of the drive element based on the captured first angular position and the captured second angular position, wherein, in particular, the first angular position and the second angular position of the drive element are captured when the transmission component is moved in one direction.

[0018] When two or more markers are provided and the angular position of the drive element is captured as the markers pass the sensor device, the oscillation amplitude of the drive element and the travel of the shuttle can be determined when the drive element is moved in only one direction, wherein this determination is independent of any phase shift between the oscillation motion of the drive element and the rotation of the loom's drive shaft. However, in another embodiment, the drive element is moved in opposite directions when two of the markers pass the sensor device and the first and second positions are captured.

[0019] In an alternative embodiment, the method for determining the oscillation amplitude of the transmission component and also determining the travel distance of the shuttle includes moving the transmission component back and forth such that a marker passes twice through a sensor device fixedly arranged in a position opposite to the transmission component. The method further includes: capturing a first angular position of the drive element when the marker moves past the sensor device in a first direction; and capturing a second angular position of the drive element when the marker moves past the sensor device in a second direction opposite to the first direction; and determining a change in the angular position of the drive element based on the captured first and second angular positions. In other words, the defined range is determined by a selected position due to the fact that the transmission component is moved past the selected position into an end position and back from the end position through the selected position.

[0020] In another alternative embodiment, the defined range of the transmission component is determined by a selected position marked with a marker and a reference position of the transmission component associated with a reference angular position of the drive element. This reference position is identical for all settings of the oscillation amplitude of the transmission component and is known in advance. In this case, the variation in the angular position of the drive element can be determined based on a captured angular position of the drive element as the marker passes the sensor device and the reference angular position of the drive element. However, when both angular positions of the drive element are captured, the determination of the oscillation amplitude of the transmission component, as well as the travel of the shuttle, is independent of any phase shift between the oscillation motion of the transmission component and the rotation of the loom drive shaft, which would affect the reference angular position.

[0021] In one embodiment, the change in the angular position of the drive element is determined based on the captured first angular position, the captured second angular position, and information stored regarding the angular position of the transmission component relative to the drive element for different travels of the slide shuttle. The information regarding the angular position of the transmission component relative to the drive element can be predetermined for different travels of the slide shuttle based on information about the dimensions and other geometric parameters of the crank mechanism components. For example, this information is stored in the memory of the processor unit.

[0022] According to another embodiment, a shuttle position sensor device is used to capture a selected shuttle position of a shuttle driven by a transmission component. In one embodiment, the shuttle position sensor device is adapted and arranged to directly capture the shuttle position. For this purpose, in one embodiment, the shuttle position sensor device, particularly a proximity sensor device, is mounted in a stationary position near the shuttle path, for example, mounted in a rapier guide, to detect when the shuttle is in a defined position relative to the fabric and relative to a drive element that rotates with the drive shaft of the loom. In other embodiments, the shuttle position sensor device is adapted and arranged to indirectly capture the shuttle position by capturing the position of an element driven to the shuttle, for example, by capturing the angular position of the rapier drive wheel. In one embodiment, the actual shuttle position is determined using the captured selected shuttle position, the angular position of the drive element when the selected shuttle position is captured, and the shuttle's travel distance.

[0023] According to a second aspect, an apparatus is provided for determining motion parameters of a rapier shuttle in a rapier loom, wherein the rapier shuttle can be driven to move back and forth by using a transmission member, wherein a drive element rotating together with the drive shaft of the rapier loom is driven to the transmission member via a transmission mechanism, wherein the transmission member can be driven by the drive element to oscillate between positions of an end transmission member, and wherein the oscillation amplitude of the transmission member can be adjusted by setting the transmission mechanism, and wherein the apparatus includes a processor unit adapted to: determine a change in the angular position of the drive element when the transmission member moves through a defined range; and determine the oscillation amplitude of the transmission member based on the determined change in the angular position of the drive element.

[0024] In one embodiment, the device includes a first mark provided on a transmission member for marking a first boundary of a defined range, a second mark provided on a transmission member for marking a second boundary of a defined range, and a sensor device fixedly arranged in a position opposite to the transmission member, wherein the processor unit is adapted to: capture a first angular position of a drive element when the first mark moves past the sensor device in a first direction, and capture a second angular position of the drive element when the second mark moves past the sensor device in the direction or in a direction opposite to the direction, and determine a change in the angular position of the drive element based on the captured first angular position and the captured second angular position.

[0025] In one embodiment, the distance between the first and second markers is maximized, taking into account at least a small amplitude of movement of the transmission component. In other words, the distance between the first and second markers is chosen to be as large as possible to accurately determine the change in the angular position of the drive element, but such that for the smallest possible amplitude, both markers remain within the range of movement of the transmission component. In other embodiments, particularly where the position of one end of the transmission component remains constant when the amplitude changes, only one of the first and second markers is used to determine the oscillation amplitude of the transmission component.

[0026] According to another embodiment, the device includes a marker provided on a transmission member for marking the boundary of a defined range, and a sensor device fixedly arranged in a position opposite to the transmission member, wherein the processor unit is adapted to: capture a first angular position of a drive element when the marker moves past the sensor device in a first direction, and capture a second angular position of the drive element when the marker moves past the sensor device in a second direction opposite to the first direction, and determine a change in the angular position of the drive element based on the captured first angular position and the captured second angular position of the drive element.

[0027] In one embodiment, the processor unit includes a memory storing information about the angular position of the transmission component relative to the drive element for different travel distances of the shuttle, wherein the processor unit is adapted to determine changes in the angular position of the drive element based on a captured first angular position, a captured second angular position, and the stored information. In one embodiment, the memory forms a physical entity together with the processor unit. In other embodiments, the memory is a separate unit.

[0028] In one embodiment, the sensor device for detecting the marks is a magnetic proximity sensor device, wherein the first mark and the second mark are magnets. According to a particular embodiment, the sensor device is a proximity sensor device, specifically selected from the group consisting of capacitive proximity sensor devices, inductive proximity sensors, and optical proximity sensor devices, wherein the first mark and the second mark are selected from the group consisting of recesses, cutouts, and protrusions. Such capacitive proximity sensor devices, such inductive proximity sensors, or such optical proximity sensor devices are inexpensive devices that can be fixed to the frame of the loom's shuttle drive system during the manufacturing stage, thereby ensuring that the sensor device is correctly installed. For example, the proximity sensor device may be a Hall sensor.

[0029] In an advantageous embodiment, the transmission component is a gear segment that rotates back and forth about its axis to oscillate between positions of the end-transmission component, wherein the defined range is a defined angular range through which the gear segment can rotate. Such a gear segment is a stable element that moves about its axis in a plane and is unaffected by vibration. This allows for accurate detection of each mark by a sensor device.

[0030] In one embodiment, when the transmission component is a gear segment, the edges of the markings, particularly the edges of the first and second markings, extend radially relative to the gear segment axis. This arrangement ensures that even if there is a small misalignment of the sensor device in the radial direction, the sensor device can always provide a signal when the gear segment extends at an angular position.

[0031] In another embodiment, a shuttle position sensor device is provided for capturing a selected shuttle position of a shuttle driven by a transmission component, wherein a processor unit is adapted to determine the actual shuttle position using the captured selected shuttle position, the angular position of the drive element when the selected shuttle position is captured, and the oscillation amplitude of the transmission component (particularly the shuttle's travel distance).

[0032] According to a third aspect, a computer program product including instructions is provided, which, when executed by a computer, cause the computer to perform the method as described above.

[0033] According to a fourth aspect, a data processing apparatus is provided, including a processor unit adapted to perform the methods described above.

[0034] According to a fifth aspect, a loom is provided having the data processing apparatus and / or the apparatus described above. Attached Figure Description

[0035] In the following, embodiments of the invention will be described in detail with reference to the accompanying drawings. Throughout the drawings, the same or similar elements will be indicated by the same reference numerals. In the drawings:

[0036] Figure 1 The perspective view shows the drive system for moving the traction shuttle and receiving shuttle back and forth on the loom.

[0037] Figure 2 Shown in perspective Figure 1 The first drive mechanism of the drive system.

[0038] Figure 3 It shows Figure 2 It is part of the first drive mechanism of the drive system.

[0039] Figure 4 Shown in side view Figure 1The first drive mechanism of the drive system.

[0040] Figure 5 Showing more details Figure 2 It is part of the drive mechanism.

[0041] Figure 6 The details of where to stay are shown in more detail. Figure 4 The brake used in the drive mechanism.

[0042] Figure 7 The diagram shows the angular position of the transmission component relative to the drive element at different amplitudes.

[0043] Figure 8 The diagram shows the angular position of the transmission component relative to the drive element at different amplitudes. Figure 7 Alternative solutions.

[0044] Figure 9 A perspective view showing the loom Figure 1 The drive system.

[0045] Figure 10 The first corner position of the drive shaft is shown. Figure 9 The drive system.

[0046] Figure 11 The second corner position of the drive shaft is shown. Figure 9 The drive system. Detailed Implementation

[0047] Figure 1 A drive system 1 is shown for reciprocating movement of the traction shuttle 3 fixed to the first rapier 2 and the receiving shuttle 5 fixed to the second rapier 4. The traction shuttle 3 and the receiving shuttle 5 are also collectively referred to as shuttles, or individually as shuttles. The rapiers 2 and 4 can be flexible shuttle belts, or more rigid shuttle rods, or any other type of rapier to be used in a shuttle loom.

[0048] Drive system 1 can be used in looms, particularly rapier looms. In rapier looms, as explained in the applicant's WO2011 / 120820, the traction rapier 3 and the receiving rapier 5 are intended to move into and out of the shed formed by the warp plane, which converges at the position of the weft bend in the fabric. To move the rapiers 3 and 5 into and out of the shed, drive system 1 includes a first drive mechanism 10 and a second drive mechanism 11. The first drive mechanism 10 drives a first rapier drive wheel 14 for the first rapier 2, and the second drive mechanism 11 drives a second rapier drive wheel 15 for the second rapier 4. The oscillation of the first rapier drive wheel 14 and the oscillation of the second rapier drive wheel 15 respectively allow the traction rapier 3 and the receiving rapier 5 to reciprocate between an outer reversing point located outside the shed and an inner reversing point located inside the shed.

[0049] The first drive mechanism 10 and the second drive mechanism 11 each include drive elements 12 and 26 in the form of gears, transmission mechanisms 24 and 25, transmission components 31 and 32 in the form of gear segments 22 and 47, and rapier drive wheels 14 and 15. Figure 1 In one embodiment, transmission mechanisms 24 and 25 are crank mechanisms, and gear segments 22 and 47 are driving rapier drive wheels 14 and 15.

[0050] Figure 1 The drive system 1 shown includes a drive motor 6 with a drive shaft 7. The drive motor 6 can drive a first drive element 12 to rotate in one direction via a first gear 8 connected to the drive shaft 7 and an intermediate second gear 9. The first drive element 12 is connected to a second drive element 26 via a shaft 54, which is also referred to as the spindle of the loom. The first drive mechanism 10 is driven by the drive motor 6 via gears 8 and 9, while the second drive mechanism 11 is driven by the drive motor 6 via gears 8 and 9, the drive element 12, and the shaft 54.

[0051] In other embodiments, two synchronous and different drive motors are provided, each driving an associated drive element 12, 26.

[0052] Drive elements 12 and 26 are driven by drive motor 6 to rotate together with the loom shaft 54, i.e., drive elements 12 and 26 are driven to complete one full rotation in each weaving cycle. In one embodiment, the rotation of drive elements 12 and 26 is phase-shifted, such that the traction shuttle 3 and / or receiving shuttle 5 reach the inner and outer reversing points at 0° and 180° slightly earlier or later than the shaft 54.

[0053] The first driving element 12 is drivenly connected to the first transmission component 31 via the first transmission mechanism 24, which drives the rapier drive wheel 14. For example... Figure 1As shown, the first transmission component 31 is a gear segment 22, which can be driven by the first drive element 12 to oscillate about the gear segment axis 45. The first transmission component 31 drives the first rapier drive wheel 14 for pulling the skeletal shuttle 3 via the transmission device 18, so that the first rapier drive wheel 14 oscillates about its axis of rotation 48.

[0054] Similarly, the second drive element 26 is drivenly connected to the second transmission component 32 via the second transmission mechanism 25, which drives the rapier drive wheel 14. The second transmission component 32 is a gear segment 47, which can be driven by the second drive element 26 to oscillate about the gear segment axis 51. The second transmission component 32 drives the second rapier drive wheel 15 for receiving the rapier shuttle 5 via the transmission device 27, causing the second rapier drive wheel 15 to oscillate about its axis of rotation 49.

[0055] In the illustrated embodiment, an angle sensor 55 is used to capture the angular position of the drive element 12, such as an encoder provided on the drive shaft 7, for example, an encoder capable of generating 360 signals for each rotation of the drive shaft 7 used to drive the loom. The angle sensor 55 can be connected to, for example, an encoder that generates 360 signals for each rotation of the drive shaft 7 used to drive the loom. Figure 2 The processor unit 61 is schematically shown. Alternatively or additionally, an angle sensor may also be provided on the shaft 54 ​​of the shuttle loom.

[0056] The first drive mechanism 10 is in Figures 2 to 6 This is shown in more detail below. Figure 2 Also shown are the rapier guide 37 arranged near the shed and the rapier guide 38 arranged near the rapier drive wheel 14.

[0057] As in Figures 2 to 5 As best seen in the illustrated embodiment, the transmission mechanism 24 includes a crank 13 connected to the drive element 12, a fork element 16 rotatably mounted to the crank 13, and a cross element 17 rotatably mounted to the fork element 16. The transmission component 31 is a gear segment 22, which is fixedly connected to the cross element 17 and swings together with the cross element 17 about the gear segment axis 45.

[0058] As described above, the transmission component 31 drives the rapier drive wheel 14 for the rapier shuttle 3 via a transmission device 18. In the illustrated embodiment, the transmission device 18 is a gear transmission device. In this way, the transmission component 31 is connected to the rapier drive wheel 14, so that the rapier drive wheel 14 can move together with or synchronously with the transmission component 31; in other words, a fixed transmission ratio exists between the movement of the transmission component 31 and the movement of the rapier drive wheel 14. For example, in... Figure 6 As best viewed in the image, the rapier drive wheel 14 is detachably secured to the transmission device 18 by a fastening device 35. For example... Figures 2 to 4 and Figures 2 to 4As shown, the fastening device 35 includes a disc 90, and the rapier drive wheel 14 is secured by bolts 91 (only when...). Figure 4 (As shown in the diagram) It is fixed to the disc 90. The disc 90 can be fixed to the shaft 50 at any angular position of the rapier drive wheel 14 using a pressure ring 88 and bolts 92. In this way, the disc 90 to which the rapier drive wheel 14 is attached is pressed between the shaft 50 and the pressure ring 88. When the bolts 92 are loosened, the disc 90 with the rapier drive wheel 14 can rotate along the shaft 50, making it possible to adjust the angular position of the rapier drive wheel 14 relative to the shaft 50.

[0059] like Figure 5 and Figure 4 As shown, in the illustrated embodiment, crank 13 is movably mounted to drive element 12 via bearing half 19, which cooperates with a corresponding portion of crank 13. Crank 13 is movable relative to drive element 12 and is fastened or fixed to drive element 12 in various eccentric positions. Crank 13 drives fork element 16, wherein crank 13 and fork element 16 are rotatably mounted relative to each other via shaft 23 having axis 43. Cross element 17 is driven by fork element 16 via shaft 20 having axis 44, as... Figure 2 As shown, the shaft 20 is mounted in the fork-shaped element 16, wherein the fork-shaped element 16 and the cross-shaped element 17 are rotatably mounted relative to each other via the shaft 20. The cross-shaped element 17 is rotatably mounted together with the transmission component 31 about the shaft 21, which has an axis 45 called the gear segment axis 45, wherein the shaft 21 is arranged laterally relative to the shaft 20. The shaft 21 is rotatably mounted relative to the frame 42 of the drive mechanism 10, as... Figure 9 As shown, the cross-shaped element 17 and the frame 42 are rotatably mounted relative to each other via a shaft 21.

[0060] In the illustrated embodiment, the frame 42 of the drive mechanism 10 can be fixedly attached to the intermediate frame 41, which is attached to the side frame 40 of the loom (e.g., ...). Figure 4 (As shown). In the drive mechanism 10, the axes 43, 44, and 45 of each shaft 23, 20, and 21 all pass through a common point 36, as shown. Figure 5 As shown in the image.

[0061] Crank 13 is fastened or fixed to bearing half 19 of drive element 12 by means of fastening unit 28, for example, fastening unit 28 includes wedge 29, wedge 29 by means of one or more fastening elements 34 (e.g. Figure 1The two bolts (best shown in the diagram) are clamped between the walls of the crank 13 and the bearing half 19. For example, the side of the crank 13 opposite to the side on which the wedge 29 acts directly abuts against the side wall of the bearing half 19, which is opposite to the side wall on which the wedge 29 acts. In the illustrated embodiment, the bearing half 19 has a circular curvature about axis 45. After the fastening element 34 is released, the crank 13 can be positioned relative to the drive element 12 about axis 45 (see [image / description]). Figure 2 The rotation changes the eccentric position, thereby adjusting the oscillation amplitude of the gear segment forming the transmission component 31 during operation, and thus adjusting the travel of the shuttle 3, which is driven back and forth by the transmission component 31. Optionally, a counterweight 33 can be fixed along the bearing half 19. The drive element 12, having the bearing half 19 and the fastening unit 28, can also be implemented as disclosed in the applicant's WO 2011 / 120820. The fastening element 34 can be loosened to release the transmission mechanism 24 from the drive element 12, and can be tightened to secure the transmission mechanism 24 to the drive element 12.

[0062] like Figure 3 and Figure 4 As shown, a brake 30 is provided, adapted to retain gear segment 22 after the fastening element 34 is released. The brake 30 is mounted to a support 89, which is attached to the frame 42 by bolts 93. The brake 30 allows the transmission component 31 to be held in a selected transmission component position and allows the drive element 12 to be moved relative to the transmission component 31 to adjust the eccentric position of the crank 13 relative to the drive element 12, wherein by moving the drive element 12 about its axis of rotation 46, the crank 13 is moved within the bearing half 19, and the transmission mechanism 24 performs constrained movement. Preferably, the drive element 12 is moved by actuating the drive motor 6. In this embodiment, as... Figure 6 As shown, the shaft 50 of the rapier drive wheel 14 is provided with a gear 52 of the transmission device 18. A brake 30 acts on the shaft 50 of the rapier drive wheel 14 and brakes the gear segment 22 forming the transmission component 31 via the gear 52 of the transmission device 18. Figure 6 As shown, brake 30 acts on shaft 50 of rapier drive wheel 14. This provides the advantage that a large braking force can be applied on gear segment 22 due to the gear ratio of transmission 18.

[0063] In this embodiment, such as Figure 6As shown, brake 30 includes an actuator 53 having a cylinder 80 and a plunger 81. A brake shoe 58 is provided at the distal end of the plunger 81, and a spring 85 is provided between the plunger 81 and the brake shoe 58. Furthermore, brake 30 includes a brake shoe 59 provided on a shaft 50, which, when the actuator 53 is activated, particularly when the plunger 81 moves along... Figure 3 When moving in the direction of arrow B, brake shoe 59 can cooperate with brake shoe 58. To activate actuator 53, compressed fluid (e.g., oil) can be supplied via supply conduit 87 (only when...). Figure 2 (Shown in the image) A supply is made to cylinder 80 to move brake shoe 58 toward brake shoe 59, so that shaft 50 can be braked by brake 30 or held in place. In one example, a first detector (not shown) may be provided to detect whether plunger 81 is inactive, and a second detector (not shown) may be provided to detect whether plunger 81 is active, thereby detecting whether brake shoes 58, 59 are in contact with each other to hold shaft 50. Shaft 50 is supported in frame 42 via bearings 83, 84. Cylinder 80 may be provided in support member 89, which is secured to frame 42 by bolts 93.

[0064] As in Figure 4 The diagram schematically illustrates a device 60 for determining motion parameters, such as the travel distance of the shuttle 3 in a rapier loom. This device 60 determines the motion parameters of the shuttle 3 based on the oscillation amplitude of the transmission member 31 that drives the shuttle 3. The oscillation amplitude of the transmission member 31 defines the oscillation amplitude of the rapier drive wheel 14, and thus defines the travel distance of the shuttle 3. Using the device 60, the oscillation amplitude of the transmission member 31 is determined according to the transmission ratio between the drive element 12 and the transmission member 31. This transmission ratio can be determined based on the change in the angular position of the drive element 12 when the transmission member 31 moves through a defined range Δα, particularly when the transmission member 31 is in a rapier loom... Figure 7 The motion shown in the figure passes through gear segment 22 with a defined angular range Δα.

[0065] For this purpose, the device 60 includes a processor unit 61 adapted to determine the change in the angular position of the drive element 12 as the transmission member 31 moves through a defined range Δα, and adapted to determine the travel distance of the shuttle 3 based on the determined change in the angular position of the drive element 12. The processor unit 61 includes a memory 65 storing information about the position of the transmission member 31 for different travel distances of the shuttle 3, i.e., information about the angular position of the transmission member relative to the drive element 12 for different travel distances of the shuttle 3, wherein the processor unit 61 is adapted to select a selected transmission member position based on the stored information. The processor unit 61 can perform the same determination as described above for the first drive mechanism 10 relative to the second drive mechanism 11. In the illustrated embodiment, the device 60 also includes a sensor device 64, which is described in more detail below. The processor unit 61 is connected to the sensor device 64, for example, via a wire 66.

[0066] In order to determine the change in the angular position of the drive element 12, in the illustrated embodiment, the angular position of the drive element 12, particularly the first angular position and the second angular position of the drive element 12, can be captured using an angle sensor 55 that is also connected to the processor unit 61.

[0067] Figure 7Two curves, 70 and 71, schematically illustrate the angular position Θ of the transmission member position (particularly the angular position α of the gear segment 22) relative to the drive element 12 for two different amplitudes and therefore two different strokes of the shuttle 31. The first curve 70, in solid line, shows the angular position Θ of the transmission member position relative to the drive element 12 for the first stroke (particularly the small stroke), while the second curve 71, in dashed line, shows the angular position Θ of the transmission member position relative to the drive element 12 for the second stroke (particularly the large stroke). In each case, the transmission member 31 is driven to oscillate between two end transmission member positions, which are different for the small and large strokes. In the illustrated embodiment, the movement from one end transmission member position to the other for the small and large strokes includes the movement of the transmission member 31 through a defined range Δα, which has a first boundary α1 and a second boundary α2. The first boundary α1 and the second boundary α2 are indicated by two horizontal lines 72 and 73 associated with the positions of marks 62 and 63 on the transmission component 31, as explained in more detail below. As will be understood, when the transmission component 31 moves through a defined range Δα, the change in angular position ΔΘ1 of the drive element 12 during the first stroke of the shuttle 3 is greater than the change in angular position ΔΘ2 during the second stroke of the shuttle 3. Furthermore, based on the information regarding the changes in angular position ΔΘ1 and ΔΘ2, the movement amplitude of the transmission component 31 can be determined using the geometric formulas and dimensions of the drive mechanism 10, and thus the stroke of the shuttle 3 can be determined. It should be understood that... Figures 2 to 4 The curves shown are for illustrative purposes only, and each curve is related to the eccentric position of crank 13 relative to drive element 12.

[0068] like Figure 4 As shown, in the illustrated embodiment, device 60 includes two markings 62 and 63 provided on gear segment 22 and a sensor device 64, which is fixedly arranged in a position opposite to gear segment 22 and adapted to sense the presence or absence of markings 62 and 63. Sensor device 64 is attached to support member 89, which is attached to frame 42. Sensor device 64 may be a proximity sensor device, specifically selected from the group consisting of capacitive proximity sensors, inductive proximity sensors, and optical proximity sensors. The first marking 62 and the second marking 63 may be selected from the group consisting of recesses, cutouts, or protrusions. Figure 4In the example shown, the edges of the first mark 62 and the second mark 63 extend radially relative to the axis 45, for example, along radial lines 67 and 68. The first mark 62 and the second mark 63 are arranged at a relatively large distance from each other and at a large distance from the axis 45, which facilitates accurate determination of changes in the angular position of the drive element 12.

[0069] In the illustrated embodiment, sensor device 64 is a proximity switch, and markers 62 and 63 are protrusions provided on the gear segment 22 near the toothed portion of gear segment 22. Sensor device 64 can be adapted to measure a rising edge when one of the two markers 62 and 63 moves into the sensing area of ​​sensor device 64 and / or measure a falling edge when one of the two markers 62 and 63 moves out of the sensing area of ​​sensor device 64.

[0070] The two markings 62 and 63 define the defined range Δα of the transmission component 31, in particular Figure 4 In the embodiment, the gear segment 22 has a defined angular range Δα. In other words, the first mark 62 and the second mark 63 each mark the boundary of the defined range Δα of the transmission component 31. Figure 7 In the example shown, the angular range Δα is limited between radial lines 67 and 68.

[0071] In one embodiment, the drive element 12 is moved to drive the transmission member 31 coupled to the drive element 12 in one direction, such that the first mark 62 and the second mark 63 each pass through the sensor device 64, which is arranged in a suitable position fixed to the frame 42 and opposite to the transmission member 31. The sensor device 64 captures a first angular position of the drive element 12 when the first mark 62 passes through the sensor device 64 and a second angular position of the drive element 12 when the second mark 63 passes through the sensor device 64, and determines the change in the angular position of the drive element 12 from the captured first and second angular positions. The drive element 12 is driven by a drive motor 6 of the loom, which is controlled by a processor unit 61. The fact that the sensor device 64 senses the passing of the first mark 62 and the second mark 63 as the transmission member 31 rotates in the same direction provides the advantage that an accurate angular difference between the captured first and second angular positions can be determined.

[0072] In a rapier loom, drive mechanisms 10 and 11 for rapiers 3 and 5 are driven by drive shaft 7, and the motion configuration of rapiers 3 and 5 can be defined as a function of the angular position of drive shaft 7. This motion configuration defines the motion speed and acceleration of rapiers 3 and 5. This acceleration generates forces in drive mechanisms 10 and 11 and at rapiers 2 and 4 carrying rapiers 3 and 5. These forces include inertial forces and frictional forces between rapiers 2 and 4 carrying rapiers 3 and 5 and the rapier guides of the loom. These forces and motion speeds of rapiers 3 and 5 define the loads on the drive elements and bearings of the drive mechanisms, as well as the wear on the guide surfaces. To reduce these forces and loads, the weaving speed can be limited. If the motion configuration of rapiers 3 and 5 is known, the maximum weaving speed of the loom over the expected lifespan of the loom components can be calculated. To determine the motion configuration of the shuttles 3 and 5, the geometric formulas and dimensions of the drive mechanisms 10 and 11 can be used, as well as the changes in the angular positions of the drive elements 12 and 26 when the transmission components 31 and 32 move through a defined range Δα. In the case that the drive mechanisms 10 and 11 shown in the figure have only one degree of freedom, especially the eccentric position of the crank 13 relative to the drive elements 12 and 26, the motion configuration can be determined based on the results of a finite number of measurements, and therefore can also be determined based on the motion stroke of the shuttles 3 and 5.

[0073] For example, such as Figure 1 As shown, where the drive element 12 moves through 180°, for the first eccentric position of the crank 13 relative to the drive element 12 associated with curve 70, when the first mark 62 of the first boundary α1 of the marked range Δα passes the sensor device 64, the first angular position of the drive element 12, located at the intersection 74 of curve 70 and horizontal line 72, can be captured. And when the second mark 63 of the second boundary α2 of the marked range ΔΔ passes the sensor device 64, the second angular position of the drive element 12, located at the intersection 75 of curve 70 and horizontal line 73, can be captured. The change in angular position ΔΘ1 can be determined based on the captured first and second angular positions of the drive element 12. Similarly, for the second eccentric position of the crank 13 relative to the drive element 12 associated with curve 71, the first and second angular positions of the drive element 12, located at the intersections 76 and 77 of curve 71 and horizontal lines 72 and 73, can be captured. Preferably, the positions of the horizontal lines 72 and 73 are chosen such that when the curvature of the curves 70 and 71 is almost linear, the curves 70 and 71 pass through the horizontal lines 72 and 73.

[0074] The travel distances of shuttles 3 and 5 can be determined based on the changes in the angular position ΔΘ1 and ΔΘ2 of the drive element 12 as the transmission components 31 and 32 move through a defined range Δα; in other words, based on the angular distances between intersection points 74 and 75 and between intersection points 77 and 78. For each weaving speed of the shuttle loom, the motion configuration of shuttles 3 and 5, particularly their speeds and associated accelerations, can also be determined based on the changes in the angular position ΔΘ1 and ΔΘ2 of the drive element 12 as the transmission components 31 and 32 move through a defined range Δα. Furthermore, the average speed, maximum or minimum speed, maximum or minimum acceleration, and other motion parameters can be determined.

[0075] The average speed of shuttles 3 and 5 is related to the travel of shuttles 3 and 5 and the speed of drive element 12 of shuttle loom, while the actual speed and maximum speed of shuttles 3 and 5 can also be determined based on information about the element dimensions of transmission mechanisms 10 and 11.

[0076] According to one embodiment, the weaving speed of the rapier loom can be selected or set based on the allowable movement speeds of rapiers 3 and 5. The maximum allowable movement speeds of rapiers 3 and 5 are also related to the allowable acceleration caused by rapiers 3 and 5. The speed of the rapier loom can be increased or decreased so that the maximum allowable speeds of rapiers 3 and 5 are not exceeded during weaving. This provides the advantage that the weaving speed of the rapier loom can be set as high as possible while avoiding exceeding the maximum allowable values ​​for the motion parameters of rapiers 3 and 5 (e.g., the movement speed or acceleration of rapiers 3 and 5). For example, for a movement stroke of 800 mm and such... Figure 8 The transmission mechanism shown allows the maximum loom speed to be limited to 820 RPM, while for a travel of 1110 mm, the maximum weaving speed must be limited to 700 RPM.

[0077] According to different embodiments, the drive element 12 is moved to a gear segment 22 driven back and forth to the drive element 12, such that at least one of the first mark 62 and the second mark 63 passes the sensor device 64 twice, wherein a first angular position of the drive element 12 is captured when the first mark 62 or the second mark 63 moves past the sensor device 64 in a first direction, and a second angular position of the drive element 12 is captured when the first mark 62 or the second mark 63 moves past the sensor device 64 in a second direction opposite to the first direction, and the change in the angular position of the drive element 12 is determined based on the captured first angular position and the captured second angular position.

[0078] For example, such as Figure 2As shown, where the drive element 12 moves 360°, for the first eccentric position of the crank 13 relative to the drive element 12 associated with curve 70, the first angular position of the drive element 12 can be captured at the intersection 74 of curve 70 and horizontal line 72 when the first marker 62 moves past the sensor device 64 in the first direction. The second angular position of the drive element 12 can be captured at the intersection 79 of curve 70 and horizontal line 72 when the first marker 62 moves past the sensor device 64 in the opposite second direction. Similarly, for the second eccentric position of the crank 13 relative to the drive element 12, intersections 76 and 78 can be determined.

[0079] In both embodiments, the determination of the change in the angular position of the drive element 12 is independent of the phase shift between the transmission component 31 and the drive element 12, and in particular, independent of the phase shift between the transmission component 31 and the drive shaft 7 of the loom.

[0080] like Figure 6 As shown, a shuttle position sensor device 56 may also be provided for sensing the passage of a region of the rapier drive wheel 14 along the sensor device 56. The shuttle position sensor device 56, particularly a proximity sensor device, is mounted in a stationary position near the rapier drive wheel 14. When the position of the shuttle 5 relative to the rapier drive wheel 14 is known, the shuttle position sensor device 56 allows determination of when the shuttle 5 is in a defined position relative to the shed or fabric and relative to the drive element 12 that rotates with the loom's drive shaft 7. Using such a shuttle position sensor device 56 allows determination of the phase shift between the angular position of the loom's drive shaft 7 and the angular position of the rapier drive wheel 14 that drives the shuttle 5, which also defines the position of the shuttle 5 relative to the shed. For example, a processor unit 61 is connected to the shuttle position sensor device 56 via a wire 69.

[0081] In addition to or as an alternative to the shuttle position sensor device 56, another shuttle position sensor device 57 may be provided for sensing the passage of the shuttle 5 along the shuttle position sensor device 57. This shuttle position sensor device 57 may be a sensor device as known from US 4,127,150, mounted near the shuttle path, for example in the area of ​​the rapier guide 37 arranged near the shed. The shuttle position sensor device 57 allows determination of when the shuttle 5 is in a defined position relative to the shed or the fabric and relative to the drive element 12 that rotates with the drive shaft 7 of the loom. The shuttle position sensor device 57 may be connected to the processor unit 61 via a wire 69.

[0082] To adjust the travel of shuttles 3 and 5, in one embodiment, the actual travel of shuttles 3 and 5 is first determined. This can be done according to the method described above for determining the travel of shuttles 3 and 5. For this purpose, in one embodiment, shuttles 3 and 5 are disconnected from transmission components 31 and 32 to prevent movement of shuttles 3 and 5 when determining the travel. To disconnect, fastening device 35 is loosened, for example by loosening bolts 92 (e.g., those used to attach rapier drive wheels 14 and 15 to shaft 50). Figure 2 As shown, the rapier drive wheels 14 and 15 can be disengaged from the transmission devices 18 and 27. Therefore, the shuttles 3 and 5 will not move during the adjustment of the travel stroke, and thus will not be damaged during this period.

[0083] For example, when the shuttles 3 and 5 are outside the shed, or when the shuttles 3 and 5 are inside the fixed rapier guide 37 (e.g.) Figure 2 As shown in the diagram, shuttles 3 and 5 are disconnected. In an alternative embodiment, rapiers 2 and 4 with shuttles 3 and 5 can be completely removed from the loom, as shown in the diagram. Figure 9 As shown in the diagram. After disengaging the shuttles 3 and 5, the drive motor 6 can be activated to move the drive elements 12 and 26, which drive the transmission components 31 and 32 to rotate about axes 45 and 51, specifically, drive the gear segments 22 and 47 to rotate about axes 45 and 51. The transmission components 31 and 32 are then driven to perform rotational motion in one direction, with both markers 62 and 63 passing the sensor device 64. When the transmission component 31 of the first drive mechanism 10 moves, for example by an angle sensor 55 connected to the processor unit 61, the first angular position of the drive element 12 when the first marker 62 passes the sensor device 64 and the second angular position of the drive element 12 when the second marker 63 passes the sensor device 64 are captured. The actual travel distance can be determined based on the change in the angular position of the drive element 12 between the positions associated with the markers 62 and 63 caused by the movement of the transmission component 31. The same determination can be performed on the second drive mechanism 11. In the following description, the actual travel distance is referred to as the first travel distance. The desired range of motion after adjusting the range of motion is called the second range of motion.

[0084] In order to adjust the motion stroke of the traction shuttle 3 from the first motion stroke to the second motion stroke, relative motion between the drive element 12 and the crank 13 is required to change the eccentric position of the crank 13 relative to the drive element 12. In the following text, the eccentric position associated with the first motion stroke is referred to as the first eccentric position, and the eccentric position associated with the second motion stroke is referred to as the second eccentric position.

[0085] To change the eccentric position and thus adjust the travel, the transmission component position is next selected, and the transmission component 31 is moved to the selected transmission component position by moving the drive element 12 to a first angular position associated with the selected transmission component position for the first travel of the shuttle 3. The drive element 12 can be moved to the first angular position by actuating the drive motor 6. During this movement, in the first eccentric position, the crank mechanism 24 remains fixed to the drive element 12. The first angular position of the drive element 12 is... Figure 2 As shown, and selected to allow the operator access to the fastening element 34 of the fastening unit 28, for example, via an encloseable opening 39 in the intermediate frame 41, which is arranged in the frame 42 of the drive mechanism 10 (only in...). Figure 9 (shown in the diagram) and between the side frame 40 of the loom. The selected transmission component position is chosen such that when the drive shaft 7 is at the 0° position for beating, the first angular position and the second angular position of the drive element 12 are, for example, between 10° and 70° of the drive shaft 7, and in particular, between 30° and 60° of the drive shaft 7.

[0086] When the travel distance is increased, for example from 1000mm to 1100mm, and the drive elements 12 and 26 are in the weft insertion position at 0°, the selected transmission component position can be chosen at a first angular position of the drive elements 12 and 26, for example, at a 30° position. The drive elements 12 and 26 are moved to 30°, which is also the first angular position associated with the selected transmission component position for the first travel distance of the shuttles 3 and 5. Then, the processor unit 61 determines the second angular position associated with the selected transmission component position for the second travel distance of the shuttles 3 and 5 based on stored information about the dimensions of the transmission mechanisms 24 and 25 and the travel distance of the shuttles 3 and 5, wherein the travel distance of the shuttles 3 and 5 is determined by the transmission ratio, and in particular by the current eccentric position of the crank 13 relative to the drive elements 12 and 26. For example, based on the stored information, the processor unit 61 can determine that the second angular position is 55°. After the fastening unit 28 is released, and while the transmission components 31 and 32 are held in their transmission component positions by the brake 30, the drive elements 12 and 26 can be moved to 55°. During this movement, the eccentric position of the transmission mechanisms 24 and 25 relative to the drive elements 12 and 26 will change; specifically, the crank 13 will move along the bearing half 19, and the drive elements 12 and 26 will reach a second angular position associated with the selected transmission component position for the second stroke of the shuttles 3 and 5. The fastening unit 28 can then be fastened again, and the brake 30 can be deactivated.

[0087] When the travel distance needs to be reduced, for example from 1000mm to 920mm, when the drive elements 12, 26 are at the 0° position during weft insertion, the selected transmission component position can be chosen at the first angular position of the drive elements 12, 26, for example, at the 60° position of the drive elements 12, 16. The drive elements 12, 26 are moved to 60°, which is also the first angular position associated with the selected transmission component position for the first travel distance of the shuttles 3, 5. Then, the processor unit 61 determines the second angular position associated with the selected transmission component position for the second travel distance of the shuttles 3, 5 based on stored information about the dimensions of the transmission mechanisms 24, 25 and the travel distance of the shuttles 3, 5, where the second travel distance of the shuttles 3, 5 is determined by the transmission ratio, and in particular by the current eccentric position of the crank 13 relative to the drive elements 12, 26. For example, based on the stored information, the processor unit 61 can determine that the second angular position is 38°. After the fastening unit 28 is released, and while the transmission components 31 and 32 are held in their transmission component positions by the brake 30, the drive elements 12 and 26 can be moved to 38°. During this movement, the eccentric position of the transmission mechanisms 24 and 25 relative to the drive elements 12 and 26 will change; specifically, the crank 13 will move along the bearing half 19, and the drive elements 12 and 26 will reach a second angular position associated with the selected transmission component position for the second stroke of the shuttles 3 and 5. The fastening unit 28 can then be fastened again, and the brake 30 can be deactivated.

[0088] In the two examples above, the first angular position and the second angular position of the drive elements 12 and 26 will be maintained between 30° and 60°, so that the fastening unit 28 remains accessible to the operator manually in the first angular position and the second angular position of the drive elements 12 and 26.

[0089] When the drive element 12 is in the first angular position and the transmission component 31 (specifically, gear segment 22) is in the following position... Figure 10 and Figure 2 When the selected transmission component position is shown, the brake 30 (e.g.) Figure 3 , Figure 6 and Figure 4 (As shown) is activated to hold the transmission component 31 in the selected transmission component position. Then, one or more fastening elements 34 are released while the brake 30 holds the transmission component 31 in the selected transmission component position.

[0090] After one or more fastening elements 34 are released and while the transmission component 31 is held in place by the brake 30, the drive element 12 is driven to rotate about its axis of rotation 46 (see...). Figure 10 ) to perform rotational motion, such asFigure 11 As indicated by arrow R, and moved relative to transmission component 31 as... Figure 1 The second angular position shown is associated with a selected transmission component position for the second stroke of the shuttle 3. Preferably, the drive element 12 is moved from the first angular position to the second angular position by actuating the drive motor 6, causing the crank 13 to be moved along the bearing half 19. For different eccentric positions of the crank 13 relative to the drive element 12, and particularly for different strokes of the shuttle 3, the first and second angular positions are determined based on information stored in the memory 65 regarding the angular position of the transmission component 31 relative to the drive element 12.

[0091] Due to the rotational movement of the drive element 12, the crank 13 is moved relative to the drive element 12, wherein this movement is constrained by the crank mechanism 24 and the bearing half 19, such that the crank 13 is moved relative to the drive element 12 along the bearing half 19 from a first eccentric position to a second eccentric position. Therefore, after the drive element 12 reaches the second angular position, one or more fastening elements 34 can be fastened to secure the crank 13 relative to the drive element 12 in the second eccentric position. During the fastening of the fastening elements 34, the drive motor 6 can be controlled to maintain its angular position, or alternatively, by means of a brake 86 mounted on the drive motor 6. Figure 10 (As shown) it remains in its angular position. When crank 13 is tightened to drive element 12, brake 30 can be deactivated. In one embodiment, the method for determining the motion stroke as described above can be performed to check whether the second motion stroke is set correctly. If the set second motion stroke is incorrect, the motion stroke setting can be repeated. When the rapier shuttle 3 is reconnected to drive element 31, the operation of the loom can begin with the adjusted motion stroke of the rapier shuttle 3.

[0092] Selecting a first corner position and a second corner position allows an operator to manually access one or more fastening elements 34 of the fastening unit 28 via an enclosed opening 39 in the intermediate frame 41. In an alternative embodiment, the fastening unit 28 may be provided with an actuator and fastening elements 34 that can be driven by the actuator, such as an actuator like a hydraulic cylinder or a controllable electric motor, so that the fastening unit 28 can be automatically fastened or loosened via a processor unit 61 that controls the actuator.

[0093] When a large movement range adjustment is necessary, the movement range can be adjusted in multiple repetitions by repeating the above method several times, so that the operator can always access one or more fastening elements 34 during each repetition.

[0094] If the shuttles 3 and 5 are disconnected from the transmission components 31 and 32, for example, before moving the transmission components 31 and 32 to the selected transmission component position, after moving the drive elements 12 and 26 relative to the transmission components 31 and 32 to the second corner position, and before starting the loom, and where applicable, after the last repetition of the above method, the shuttles 3 and 5 are reconnected to the transmission components 31 and 32.

[0095] In one embodiment, drive elements 12, 26 can be driven by drive motor 6 under the control of processor unit 61 to move drive elements 12, 26 to an angular position associated with the end position of shuttles 3, 5 in the middle of the loom, for example, when shaft 54 ​​is in the 180° position. Shuttles 3, 5, mounted to rapiers 2, 4, can then be coupled to transmission components 31, 32 via rapier drive wheels 14, 15 through fastening device 35, while shuttles 3, 5 are in the said end position and drive elements 12, 26 are in the said associated angular position. This allows the movement of shuttles 3, 5 to be synchronized with the movement of drive elements 12, 26; in other words, it allows setting the phase shift between the movement of shuttles 3, 5 and the movement of drive elements 12, 26, so that optimal movement of shuttles 3, 5 can be obtained, specifically, the optimal movement determined by processor unit 61, which is related to the eccentric position of crank 13 relative to drive element 12. The motion of shuttles 3 and 5 is determined by motion parameters such as motion stroke, motion speed and / or motion acceleration, which can be determined when, for example, motion stroke and weaving speed are known.

[0096] like Figure 11 and Figure 2 As shown, when the method for adjusting the travel of the shuttle 3 is performed, by moving the drive element 12, specifically by driving the drive element 12 with the drive motor 6, the first transmission component 31 and the cross-shaped element 17 are held in place by the brake 30 and do not move, while the crank 13 and the fork-shaped element 16 move due to the rotational movement of the drive element 12, and the crank 13 is allowed to move relative to the drive element 12 along the bearing half 19 when the fastening element 34 is released.

[0097] In the illustrated embodiment, processor unit 61 (see...) ​The processor unit 61 is adapted to: determine a first angular position of the drive element 12 associated with a selected transmission position of the transmission component 31 and a second angular position of the drive element 12 associated with the selected transmission position of the transmission component 31; move the transmission component 31 to the selected transmission position by moving the drive element 12 to the first angular position, preferably by actuating the drive motor 6; activate the brake 30 to hold the transmission component 31 in the selected transmission position; and move the drive element 12 relative to the transmission component 31 to the second angular position while holding the transmission component 31 in the selected transmission position and while releasing the crank mechanism 24 from the drive element 12, preferably by actuating the drive motor 6. The processor unit 61 may determine the first angular position and the second angular position based on the respective geometry and dimensions of the drive mechanism 10 or the drive mechanism 11.

[0098] The loosening and tightening of the fastening element 34 can be performed manually by the operator. In this case, a selected transmission component position is chosen for adjusting the motion stroke so as to ensure good accessibility for loosening and tightening the fastening element 34 when the drive element 12 is in the first angular position and the second angular position.

[0099] For this purpose, processor unit 61 is adapted to select the transmission component positions where transmission components 31, 32 (particularly gear segments 22, 47) must be held in place, and is adapted to determine a first angular position of drive elements 12, 26 associated with the selected transmission component position for a first stroke and a second angular position of drive elements 12, 26 associated with the selected transmission component position for a second stroke, wherein processor unit 61 is adapted to select the selected transmission component position such that fastening element 34 is accessible in the first and second angular positions of drive elements 12, 26.

[0100] The processor unit 61 is also adapted to: determine the travel distance of the shuttles 3 and 5 by determining the changes in angular positions ΔΘ1 and ΔΘ2 of the drive elements 12 and 26 when the transmission components 31 and 32 move through a defined range Δα; and to determine the travel distance of the shuttles 3 and 5 based on the determined changes in angular positions ΔΘ1 and ΔΘ2 of the drive elements 12 and 26. The geometric formulas and dimensions of the drive mechanisms 10 and 11 are used to determine the travel distance of the shuttle 3.

[0101] In an alternative embodiment, transmission components 31 and 32 are drivably connected to the rapier drive wheels 14 and 15 and moved through a defined range to determine the motion parameters of the scissor shuttles 3 and 5. These transmission components 31 and 32 are either gears 52 of the transmission device 18 or shafts 50 drivably connected to the rapier drive wheels 14 and 15. The defined range through which the gear 52 or shaft 50 moves can be determined by an angle sensor that senses the angular position of the gear 52 or shaft 50. This defined range is fixedly related to the angular position of the gear segment 22 of the transmission device 18.

[0102] The processor unit 61 is also adapted to: determine the movement speed of the shuttles 3 and 5 by determining the changes in angular positions ΔΘ1 and ΔΘ2 of the drive elements 12 and 26 when the shuttles 3 and 5 are moved through a defined range (specifically, by moving the transmission components 31 and 32 through a defined range Δα); and to determine the movement speed of the shuttles 3 and 5 based on the determined changes in angular positions ΔΘ1 and ΔΘ2 of the drive elements 12 and 26 and the movement speed of the drive elements 12 and 26. The geometric formulas and dimensions of the drive mechanisms 10 and 11 are used to determine the travel distance and / or movement speed of the shuttles 3 and 5. The processor unit 61 can also control the movement speed of the loom, specifically, the movement speed of the drive elements 12 and 26, in order to optimize or maximize the movement speed of the loom in conjunction with the travel distance of the shuttles 3 and 5.

[0103] The method for determining the motion parameters of the rapiers 3 and 5 in a rapier loom can be performed when the drive motor 6 is moving at a low speed or during the weaving process when the drive motor 6 is moving at the weaving speed.

[0104] By controlling the motion parameters of the rapier loom, such as the travel distance and speed of rapier 3 and 5, or the speed of the drive elements 12 and 26, the motion speed of the rapier loom can be optimized in conjunction with the travel distance of rapier 3 and 5. This allows the motion speed of a loom weaving fabrics with a smaller width to be increased relative to the motion speed of a loom weaving fabrics with a larger width, especially when the travel distance of rapier 3 and 5 is less than its maximum travel distance.

[0105] Width reduction can be performed on each side of the loom. The width reduction on the side of the traction shuttle 3 can differ from the width reduction on the side of the receiving shuttle 5, for example, when weaving fabrics with a small weaving width that are not located in the center of the loom. In this case, the travel strokes of the two shuttles 3 and 5 can be different, and the maximum speed of the loom can be limited by the travel stroke of the shuttles 3 and 5 moving at their maximum travel stroke.

[0106] The transmission mechanisms 10, 11, transmission components 31, 32, and bearing half 19 are not limited to the embodiments shown above and in the figures. In an alternative embodiment, the transmission component includes an oscillating slider that drives the rapier drive wheel, as known from US 4052906, which moves linearly back and forth between end-transmission component positions, wherein the slider movement passes through a defined range that defines a linear range. In this embodiment, the slider may be provided with a mark, or the slider may be provided with a first mark and a second mark for marking the boundary of the defined range, and a sensor device is fixedly arranged in a position opposite the slider for sensing the presence or absence of one or more marks. In yet another embodiment, the transmission mechanism may be a crank mechanism, wherein the bearing half is a linearly extending bearing half known from US 4052906. In yet another alternative embodiment, the transmission mechanism may be a combination of a cam mechanism and a crank mechanism known from EP 565885A.

[0107] Since the motion configuration of shuttles 3 and 5 relative to the drive shaft 7 of the loom, defined by their motion parameters, is known, the maximum weaving speed can also be determined to avoid overloading the components of the drive system 1. When the travel distance of shuttles 3 and 5 and the weaving speed of the loom are known, the motion configuration and other motion parameters of shuttles 3 and 5 can be determined using the geometric formulas and dimensions of drive mechanisms 10 and 11.

Claims

1. A method for determining the motion parameters of the rapier shuttles (3, 5) in a rapier shuttle loom, wherein, The method is characterized by the following steps: the shuttle (3, 5) can be driven to move back and forth by using transmission components (31, 32), wherein the drive elements (12, 26) rotating together with the drive shaft (7) of the shuttle loom are driven to the transmission components (31, 32) via transmission mechanisms (24, 25), wherein the transmission components (31, 32) can be driven by the drive elements (12, 26) to oscillate between the positions of the end transmission components, and wherein the oscillation amplitude of the transmission components (31, 32) can be adjusted by setting the transmission mechanisms (24, 25).

2. The method according to claim 1, characterized in that, A first mark (62) for marking a first boundary (α1) of the defined range (Δα) is provided on the transmission components (31, 32), and a second mark (63) for marking a second boundary (α2) of the defined range (Δα) is provided on the transmission components (31, 32), wherein the method includes: moving the transmission components (31, 32) such that the first mark (62) and the second mark (63) each pass a sensor device (64), the sensor device (64) being fixedly arranged in a position opposite to the transmission components (31, 32); when the first mark ( 62) When passing the sensor device (64), the first angular position of the drive element (12, 26) is captured, and when the second mark (63) passes the sensor device (64), the second angular position of the drive element (12, 26) is captured; and based on the captured first angular position and the captured second angular position, the change (ΔΘ1, ΔΘ2) of the angular position of the drive element (12, 26) is determined, wherein the first angular position and the second angular position of the drive element (12, 26) are captured when the transmission component (31, 32) is moved in one direction.

3. The method according to claim 1, characterized in that, The method includes providing a mark on the transmission components (31, 32) for marking the boundary of the defined range (Δα), the method comprising: moving the transmission components (31, 32) back and forth such that the mark passes the sensor device (64), the sensor device (64) being fixedly arranged in a position opposite to the transmission components (31, 32), capturing a first angular position of the drive element (12, 26) when the mark moves past the sensor device (64) in a first direction, capturing a second angular position of the drive element (12, 26) when the mark moves past the sensor device (64) in a second direction opposite to the first direction, and determining a change in the angular position (ΔΘ1, ΔΘ2) of the drive element (12, 26) based on the captured first angular position and the captured second angular position.

4. The method according to claim 2 or 3, characterized in that, Based on the first angular position of the captured drive element (12, 26), the second angular position of the captured drive element (12, 26), and the information stored about the angular position of the transmission component relative to the drive element (12, 26) for different motion strokes of the shuttle (3, 5), the changes in the angular position of the drive element (12, 26) (ΔΘ1, ΔΘ2) are determined.

5. The method according to claim 1 or 2, characterized in that, A selected shuttle position of the shuttle (3, 5) driven by the transmission components (31, 32) is captured by using shuttle position sensor devices (56, 57), wherein the actual shuttle position of the shuttle (3, 5) is determined by using the captured selected shuttle position, the angular position of the drive element (12, 26) when the selected shuttle position is captured, and the determined travel distance of the shuttle (3, 5).

6. The method according to claim 1 or 2, characterized in that, The method includes the step of accessing a memory (65) wherein information about the relationship between motion parameters of the shuttle (3, 5), the weaving speed of the loom, and the transmission ratio is stored in the memory (65) for different oscillation amplitudes of the transmission components (31, 32), the transmission ratio being the ratio between the rotational motion of the drive element (12, 26) rotating together with the drive shaft (7) and the motion of the transmission components (31, 32) oscillating between the positions of the end transmission components.

7. The method according to claim 1 or 2, characterized in that, The method includes the step of accessing a memory (65) wherein the memory (65) stores information about the relationship between motion parameters of the shuttle (3, 5), the weaving speed of the loom, and the transmission ratio for different oscillation amplitudes of the transmission components (31, 32) and different motion strokes of the shuttle (3, 5), the transmission ratio being the ratio between the rotational motion of the drive element (12, 26) rotating together with the drive shaft (7) and the motion of the transmission components (31, 32) oscillating between the positions of the end transmission components.

8. An apparatus for determining the motion parameters of a rapier shuttle (3, 5) in a rapier shuttle loom, wherein, The shuttle (3, 5) can be driven to move back and forth by using transmission components (31, 32), wherein drive elements (12, 26) that rotate together with the drive shaft (7) of the shuttle loom are driven to the transmission components (31, 32) via transmission mechanisms (24, 25), wherein the transmission components (31, 32) can be driven by the drive elements (12, 26) to swing between the positions of the end transmission components, and wherein the swing amplitude of the transmission components (31, 32) can be set by... The device (60) is characterized in that it includes a processor unit (61) adapted to: determine the change in angular position (ΔΘ1, ΔΘ2) of the drive element (12, 26) when the transmission component (31, 32) moves through a defined range (Δα); and determine the swing amplitude of the transmission component (31, 32) based on the determined change in angular position (ΔΘ1, ΔΘ2) of the drive element (12, 26).

9. The apparatus according to claim 8, characterized in that, The device (60) includes a first mark (62) provided on the transmission member (31) for marking a first boundary of the defined range (Δα), a second mark (63) provided on the transmission member (31) for marking a second boundary of the defined range (Δα), and a sensor device (64) fixedly arranged in a position opposite to the transmission member (31), wherein the processor unit (61) is adapted to: capture a first angular position of the drive element (12) when the first mark (62) passes the sensor device (64); and capture a second angular position of the drive element (12) when the second mark (63) passes the sensor device (64); and determine the change in angular position (ΔΘ1, ΔΘ2) of the drive element (12) based on the captured first angular position and the captured second angular position of the drive element (12, 26).

10. The apparatus according to claim 8, characterized in that, The device (60) includes a marker provided on the transmission members (31, 32) for marking the boundary of the defined range (Δα) and a sensor device (64) fixedly arranged in a position opposite to the transmission members (31, 32), wherein the processor unit (61) is adapted to: capture a first angular position of the drive element (12, 26) when the marker moves past the sensor device (64) in a first direction; and capture a second angular position of the drive element (12, 26) when the marker moves past the sensor device (64) in a second direction opposite to the first direction; and determine the change in angular position (ΔΘ1, ΔΘ2) of the drive element (12, 26) based on the captured first angular position and the captured second angular position of the drive element (12, 26).

11. The apparatus according to claim 9 or 10, characterized in that, The processor unit (61) includes a memory (65) storing information about the angular position of the transmission component relative to the drive element (12) for different strokes of the shuttle (3, 5), wherein the processor unit (61) is adapted to determine the change (ΔΘ1, ΔΘ2) of the angular position of the drive element (12) based on the captured first angular position of the drive element (12), the captured second angular position of the drive element (12) and the stored information.

12. The apparatus according to claim 9 or 10, characterized in that, The transmission components (31, 32) are gear segments that rotate back and forth about the axes (45, 51) of the transmission components (31, 32) to oscillate between the positions of the end transmission components, wherein the defined range (Δα) is the defined angular range (Δα) through which the gear segment can rotate.

13. The apparatus according to claim 12, characterized in that, The edge of the mark extends radially relative to the axis (45, 51) of the transmission components (31, 32).

14. The apparatus according to claim 9, characterized in that, The transmission components (31, 32) are gear segments that rotate back and forth about the axes (45, 51) of the transmission components (31, 32) to oscillate between the positions of the end transmission components, wherein the defined range (Δα) is the defined angular range (Δα) through which the gear segment can rotate. The edges of the first mark (62) and the second mark (63) extend radially relative to the axes (45, 51) of the transmission components (31, 32).

15. The apparatus according to claim 9 or 10, characterized in that, A shuttle position sensor device (56, 57) is provided for capturing a selected shuttle position of the shuttle (3, 5) driven by the transmission components (31, 32), wherein the processor unit (61) is adapted to determine the actual shuttle position of the shuttle (3, 5) by using the captured selected shuttle position, the angular position of the drive element (12, 26) when the selected shuttle position is captured, and the swing amplitude of the transmission components (31, 32).

16. The apparatus according to claim 9 or 10, characterized in that, A shuttle position sensor device (56, 57) is provided for capturing a selected shuttle position of the shuttle (3, 5) driven by the transmission components (31, 32), wherein the processor unit (61) is adapted to determine the actual shuttle position of the shuttle (3, 5) by using the captured selected shuttle position, the angular position of the drive element (12, 26) when the selected shuttle position is captured, the swing amplitude of the transmission components (31, 32) and the travel distance of the shuttle (3, 5).

17. A computer program product for use with a rapier loom including rapier shuttles (3, 5), wherein, The shuttle (3, 5) can be driven to move back and forth by using transmission components (31, 32), wherein drive elements (12, 26) that rotate together with the drive shaft (7) of the shuttle loom are driven to the transmission components (31, 32) via transmission mechanisms (24, 25), wherein the transmission components (31, 32) can be driven by the drive elements (12, 26) to swing between the positions of the end transmission components, and wherein the swing amplitude of the transmission components (31, 32) can be controlled by setting... The computer program product includes instructions that, when executed by a computer, cause the computer to: determine the change in angular position (ΔΘ1, ΔΘ2) of the drive element (12, 26) when the transmission components (31, 32) move through a defined range (Δα); and determine the swing amplitude of the transmission components (31, 32) based on the determined change in angular position (ΔΘ1, ΔΘ2) of the drive element (12, 26).

18. A data processing apparatus for use with a rapier loom including rapier shuttles (3, 5), wherein, The shuttle (3, 5) can be driven to move back and forth by using transmission components (31, 32), wherein drive elements (12, 26) that rotate together with the drive shaft (7) of the shuttle loom are driven to the transmission components (31, 32) via transmission mechanisms (24, 25), wherein the transmission components (31, 32) can be driven by the drive elements (12, 26) to swing between the positions of the end transmission components, and wherein the swing amplitude of the transmission components (31, 32) can be controlled by... The transmission mechanism (24, 25) is configured for adjustment. The data processing device includes a processor unit (61) adapted to: determine the change (ΔΘ1, ΔΘ2) in the angular position of the drive element (12, 26) when the transmission component (31, 32) moves through a defined range (Δα); and determine the swing amplitude of the transmission component (31, 32) based on the determined change (ΔΘ1, ΔΘ2) in the angular position of the drive element (12, 26).

19. A loom having a data processing device according to claim 18 and / or a device according to any one of claims 8 to 16.

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