Crawler drawing method and crawler drawing machine

Abstract

To optimally control the outcome of the pulling process in a crawler-pulling method or machine, it may be sufficient to predict the pulling result as early as possible. The invention provides a crawler-pulling method and a crawler-pulling machine for this purpose.A workpiece is drawn through a drawing die by means of a crawler train arranged behind the drawing die in a drawing direction, which draws a workpiece through the drawing die along a drawing line oriented parallel to the drawing direction, forming a shape. The crawler train comprises two circulating draw chains with chain links, each circulating parallel to a drawing plane, with each draw chain being guided around two sprockets whose axes are oriented perpendicular to the drawing plane. The crawler train is characterized in that (i) at least one crawler train-inherent measured variable, the drawing force of encountering or applying components of the crawler train, is recorded; and / or (ii) at least one crawler train-inherent measured variable is recorded and used to control a crawler train-inherent manipulated variable, the drawing force of encountering or applying components of the crawler train.

Description

[0001] The invention relates to a crawler towing method and a crawler towing machine.

[0002] As is common throughout the industrial sector, the quality of a manufactured workpiece is of particular importance. In the field of drawing machines, various methods already exist to ensure the quality of the drawn material. For example, EP 0 645 200 B1 discloses drawing machines that measure the drawing force exerted on the die by the drawn bar, and then adjust the drawing pressure accordingly, thus reacting to fluctuations in the drawing force. Other methods are also known, as described, for example, in WO 2015 / 075695 A1 and EP 3 071 344 B1. , Drawing machines are known that use an automatic tensioning device for intermediate chains.

[0003] For example, WO 2020 / 229457 A1 discloses drawing machines in which quality characteristics of the drawn material, such as a drawn bar, are monitored and used for control intervention in the drawing process. US 3,150,437 discloses a drawing machine in which the contact pressure of a drawing chain pressing against the respective workpiece is measured and controlled.

[0004] The object of the present invention is to control the result of the pulling process in a crawler pulling method or in a crawler pulling machine as optimally as possible.

[0005] The object of the invention is achieved by a crawler-pulling method and a crawler-pulling machine with the features of the independent claims. Further advantageous embodiments are found in the dependent claims and the following description.

[0006] To control the outcome of a drawing process, it is not absolutely necessary that the material being drawn is, or is being, drawn in the most optimal way. Rather, it is sufficient if this outcome appears predictable as early as possible. Conversely, it goes without saying that predicting the outcome of the drawing process as early as possible also makes it possible to intervene in the drawing process as precisely and promptly as possible in order to optimize its result.

[0007] To optimally control the result of the drawing process in a crawler drawing process or crawler drawing machine, a crawler drawing process for drawing a workpiece through a drawing die by means of a crawler train arranged behind the drawing die in a drawing direction, which draws a workpiece along a drawing line parallel to the drawing direction, forming it through the drawing die and comprising two circulating drawing chains with chain links, each of which circulates parallel to a drawing plane, wherein each of the drawing chains is guided around two sprockets whose axes are oriented perpendicular to the drawing plane, is characterized in that at least one crawler train-inherent measured parameter of the crawler train's components that encounter or apply the drawing force is recorded.

[0008] It is understood that, in particular, two, three, four or more such crawler-inherent measured variables of the crawler-driven components that counteract or apply the pulling force can be recorded, whereby, especially with a suitable combination of such measured variables, control of the pulling result, i.e. the result of the pulling process, can be further optimized accordingly.

[0009] Traditional caterpillar-drawing processes typically use a caterpillar train that pulls a workpiece through a drawing die.

[0010] In this context, the terms "workpiece" and "drawing material" can be used synonymously. Both terms describe the workpiece that is pulled by the caterpillar train and shaped by means of the drawing die, i.e., also the object on which the caterpillar train drawing process is carried out.

[0011] In this context, a "drawing die" can be understood as a tool with an opening through which material, usually metal, is drawn. The material being drawn through the die, taking into account any springback, assumes the shape of the die's opening, thus forming the material and consequently the workpiece. Typically, the material becomes both longer and thinner. Therefore, drawing dies are particularly well-suited for drawing wires or tubes, for which the present caterpillar-drawing process is especially appropriate. The drawing die can also be referred to as a drawing ring, although it does not necessarily have to have a perfectly circular cross-section.

[0012] Depending on the specific design of the drawing process, a drawing mandrel or plug may be used as an internal tool when drawing pipes or hollow rods.

[0013] In addition to the crawler-drawn drawing process, there are other drawing processes in which a workpiece is pulled through a drawing die and thereby shaped. For example, the drawing machine can include a drum drawing or a two-slide drawing.

[0014] In this process, a drawing machine, and thus also a corresponding train, such as the drum train, the two-slide train or the crawler train, applies a drawing force along a drawing direction, whereby the drawing die is arranged in such a way that the material to be drawn is pulled through the drawing die along a drawing line parallel to the drawing direction.

[0015] The crawler train typically comprises two pull chains, each preferably consisting of several interconnected chain links. Naturally, a workpiece must be gripped from at least two sides to be pulled with sufficient force. Therefore, the crawler train usually uses two pull chains positioned opposite the workpiece.

[0016] Preferably, the chain links or other drawing tools driven by the circulating chains each apply drawing forces in the drawing direction or along the drawing line by interacting with the workpiece via friction or force engagement over a drawing section. The corresponding force direction is applied by the chain links of the two drawing chains from opposite sides of the drawing section towards the workpiece, whereby this force direction can define a drawing plane in which the drawing line or drawing direction lies or to which the drawing line or drawing direction is aligned parallel.

[0017] The pulling forces can be applied in a particularly simple way by applying corresponding pressure forces to the side of the chain links facing away from the workpiece. This can be done, for example, using pressure bars or similar devices.

[0018] To reduce friction, the pressure bars can be fitted with rollers over which the chain links run. Similarly, for this reason, an intermediate or follower roller chain or circulating rolling elements can be provided, which run between the respective pressure bar and the chain links and transmit the contact forces. As a rule, however, such an intermediate chain does not transmit any pulling forces, which are preferably applied via one or more sprockets.

[0019] Each of the pull chains is guided around two sprockets, resulting in a simple structural design. At least one of the sprockets, or both sprockets, can engage the pull chain, for example, between the chain links or on appropriately designed gripping pins or similar devices, ensuring a sufficiently strong positive connection between the sprockets and the pull chain so that the sprockets can reliably drive the pull chain. It is understood that in alternative embodiments, a different driving interaction between one or more sprockets may be provided.

[0020] A particularly simple design can be achieved if the axes of the sprockets are aligned perpendicular to the pulling plane, i.e., if the sprockets themselves are arranged parallel to the pulling plane. This allows, in particular, for the most compact design possible of the crawler track.

[0021] In this context, "crawler-inherent" means that the measured quantity relates to the crawler itself. The crawler-inherent measured quantity can therefore be measured on a component of the crawler itself that encounters or applies a pulling force. Thus, the crawler-inherent measured quantity does not describe a quantity measured on the drawing die, for example, since the drawing die is not part of the crawler.

[0022] In the present context, the measurement parameters inherent to the crawler train are thus recorded directly on the crawler train's components and not in areas outside the crawler train, such as at the drawing block.

[0023] In the present context, the term "assembly that withstands the drawing force" can preferably be understood to mean any assembly that withstands the drawing force transmitted from the die to the corresponding assembly via the workpiece. This includes, in particular, the drawing chains, the sprockets, the frame of the crawler train, and, where applicable, its drive system.

[0024] In this context, the term "traction force-generating assembly" can refer to any assembly that generates pulling forces. This includes, in particular, the drive system of the crawler tractor. However, its frame, sprockets, and pulling chains can also be considered assemblies that generate pulling forces.

[0025] Generally, a balance of forces prevails within the track system, disregarding acceleration processes and short-term fluctuations. Therefore, as a rule, every component that encounters tensile forces will also be a component that exerts tensile forces, and vice versa.

[0026] Therefore, it is planned that parameters inherent to the crawler system will be measured on all components of the crawler system that apply or withstand pulling forces. It has been found that recording precisely these parameters allows for better control of the pulling process's outcome. With a suitable design of the entire pulling process, these parameters can advantageously serve to make predictions about the result.

[0027] In this context, it is initially irrelevant whether these statements are quantified as direct measurement results or by means of supplementary calculations and then made available for evaluation, or whether, for example, only a qualitative evaluation such as "good" or "bad" is derived from these statements.

[0028] During the drawing process by the crawler train of a drawing machine, it can happen, for example, that the two drawing chains used no longer run completely synchronously. This can lead to a reduction in the quality of the drawn workpiece. By appropriately monitoring the crawler train's inherent parameters and the components of the crawler train that resist or apply the drawing force, a quality check can be carried out very promptly, i.e., very shortly after the drawing process, if the design is suitable.

[0029] Alternatively or cumulatively, a crawler-drawing method for drawing a workpiece through a drawing die can be characterized by a crawler train arranged behind the drawing die in a drawing direction, which draws a workpiece along a drawing line parallel to the drawing direction, forming it through the drawing die and comprising two circulating draw chains with chain links, each of which circulates parallel to a drawing plane, wherein each of the draw chains is guided around two sprockets whose axes are oriented perpendicular to the drawing plane, in that at least one draw chain measurement variable and / or drive train measurement variable is acquired as a crawler-inherent measurement variable and is used to control a crawler-inherent manipulated variable of components of the crawler train that encounter or apply the drawing force, in order to control the result of the drawing process in a crawler-drawing method or in a crawler-drawing machine as optimally as possible.Depending on the specific implementation, this can also optimize the drawing result, i.e., the result of the drawing process or the drawn material, which represents the essential part of the drawing process, if the control of the corresponding manipulated variable or variables follows the measured variable(s) in a suitable manner.

[0030] It is understood that, in particular, two, three, four or more such caterpillar-inherent measured variables can be recorded, whereby, especially with a suitable combination of these measured variables, control of the drawing result, i.e. the result of the drawing process, can be further optimized accordingly.

[0031] It is also understood that two, three, four or more such control variables, especially if they are suitably combined with each other and possibly combined with the measured variables in a suitable manner, can be used to control or optimize the result of the pulling process in a crawler pulling process or in a crawler pulling machine as optimally as possible.

[0032] In this context, the term "crawler-inherent control variables of components of the crawler that counteract or apply pulling forces" can be understood to encompass all control variables of components within the crawler that can be adjusted or changed in any way and that are capable of counteracting or applying pulling forces. Such control variables can occur, for example, in the area of ​​the pull chain, the drive system, or the frame. Since the pulling forces on the workpiece act via the crawler and into the frame on which the crawler is mounted, the frame must also be considered a component of the crawler that counteracts or applies pulling forces.

[0033] In this way, the present crawler-type towing method provides a control system that, depending on the measured parameters inherent to the crawler, controls the control variables of the crawler's components that resist or apply the pulling force. This control system can, for example, optimize the speed control of the pulling chains to enable a synchronous or differentiated speed profile for both pulling chains. Various sensors can, for instance, record the control values ​​and thus optimize the movement of the pulling chains, which can also improve the quality of the material being pulled. Likewise, with suitable design, the service life of the system can be optimized through improved settings. It is conceivable that the control system could also be fully or partially automated, or even manual.

[0034] By effectively utilizing the crawler's inherent measurement parameter to control the crawler's inherent manifold control variable of the crawler's components that resist or apply the pulling force, a constant torque profile for both pulling chains can be achieved, preventing overloading of either chain. Furthermore, the service life can be increased and the crawler's pulling process improved. Overall, all forces within the system can be optimally controlled.

[0035] The quality of the pulling process can also be optimized with a suitable design of the crawler pulling method, if appropriate regulatory interventions are made.

[0036] As explained above, during a drawing process using the crawler of a drawing machine, it can happen that the two drawing chains no longer run perfectly synchronously. This can impair the quality of the drawn workpiece. In this respect, in particular, a control intervention can improve the quality. The synchronous running of the drawing chains can be adjusted to a limited extent, for example, by adjusting the chain tension. It is also common practice in the prior art to enable the synchronization of the chains by mechanically synchronizing at least one gearbox or individual gears. Here, too, targeted control intervention is possible if necessary. An asynchronous running of the drawing chains can correspondingly degrade the quality of the drawn material, so synchronization is therefore advantageous.

[0037] According to an alternative version of the invention, the measured variable can be a draw chain measurement, since the draw chain of the crawler tractor both encounters and applies drawing forces and also represents a measurement inherent to the crawler tractor. The draw chain is in direct contact with the workpiece being pulled, so the draw chain measurements are directly relevant to the quality of the workpiece being pulled. Furthermore, the behavior of the draw chains is a key factor in determining whether the two draw chains continue to run synchronously with each other.

[0038] One example of a chain drive measurement parameter is chain drive speed. Chain drive speed refers to the speed at which the chain moves around the sprockets, or the speed at which an individual chain link of the chain moves. Measuring the chain drive speed of both chains allows conclusions to be drawn as to whether the two chains are running synchronously, as would be the case if their speeds differ. If this is the case, the chain drive speeds could be adjusted by a control system or the track-based pulling method so that the speeds of both chains are equal, thus restoring synchronous operation.Since different drawing chain speeds of the two drawing chains result in asynchronous running of the drawing chains and thus a loss of quality of the drawn material, it can be of particular importance to measure the drawing chain speed accordingly.

[0039] Alternatively, or cumulatively, the draw chain measurement parameter can be the draw chain tension pressure. Measuring and monitoring this pressure ensures a constant torque profile for both draw chains, thus preventing overloading of either chain. As explained earlier, the draw chain, which is guided around two sprockets, is tensioned by these sprockets and, if applicable, by other tensioning devices, with a specific pressure, which in this context can be referred to as the draw chain tension pressure. Insufficiently tensioned draw chains can prevent a reliable drawing process of the workpiece. In particular, it is conceivable that varying the draw chain tension pressure can change the effective circumferential length of the draw chain, which then leads to different rotational speeds.Furthermore, comparing the tension pressures of both draw chains can be important, as differing tension pressures can cause the two draw chains to run out of sync. By recording the tension pressure as a measured variable, and potentially using it to control a control variable inherent to the crawler, such as components that resist or apply the pulling force, the quality of the material being drawn can be improved if implemented appropriately. Conversely, it is also possible to draw conclusions about the quality of the drawing process or the material being drawn simply from recording the tension pressure.

[0040] Naturally, vibrations occur in all assemblies of the crawler towing machine during a crawler towing process, including in the towing chain, which can be referred to as towing chain vibration in this context.

[0041] Drawing chain vibration can therefore also be a preferred measurement parameter. This is influenced by a multitude of factors, such as the drawing speed, the applied drawing forces, potential defects in the system or workpiece, and other influences. However, excessive drawing chain vibration can lead to a deterioration in the quality of the drawn part. Furthermore, differing drawing chain vibrations between the two drawing chains can affect their synchronous operation. In theory, firstly, a near-perfect match in drawing chain vibration between the two chains appears particularly important for synchronous operation. Secondly, in theory, a complete absence of drawing chain vibration seems optimal for the quality of the drawn part.Since virtually zero chain vibration is practically unattainable, chain vibration should be kept as low as possible. By measuring the chain vibration, it can be monitored and used as a measure of the quality of the pulling process or the material being pulled. It can also be used to control a control variable inherent to the crawler, such as those used to counteract or apply the pulling force. This allows the chain vibration to be reduced or equalized between the chains, thereby improving the quality of the material being pulled and ensuring synchronous operation of the chains.

[0042] Advantageously, the measured value for the drawing chain can also be its temperature. Naturally, heat is generated during a caterpillar drawing process, for example, through friction between individual elements. Thus, the drawing chain temperature in this context can be understood as the temperature prevailing on the drawing chain or the temperature of its links. Since the drawing chain exerts or is subjected to particularly high forces on the workpiece, its temperature can vary and increase considerably during the process. Because temperature also affects material properties, the material properties of the drawing chain change with varying temperatures. Consequently, the interaction between the drawing chain and the workpiece also changes.The properties of the drawing chain, such as its length, stiffness, flexibility, and similar characteristics, can also vary with temperature. Such variations can influence the drawing process and thus the quality of the drawn workpiece. A changing drawing chain temperature can therefore also negatively affect or alter the quality of the drawn product. Furthermore, the temperatures of the two drawing chains could differ, resulting in different interactions between them and the workpiece. This could lead to asynchronous operation of the two drawing chains, making the measurement of the drawing chain temperature a crucial parameter for both the quality of the drawn product and the synchronous operation of the drawing chains.The recorded drag chain temperature could then be used, for example, to control a crawler-inherent control variable of drag force-compensating or -applying assemblies of the crawler, so that the drag chain temperature is reduced or the two drag chain temperatures of the two drag chains equalize.

[0043] It is advantageous if the drawing chain measurement parameter is a drawing chain offset. In this context, a "drawing chain offset" can be expressed as an offset between the two drawing chains. For example, in theory, during the drawing process, the first link of the first drawing chain should be at the same height as the second link of the second drawing chain in the drawing direction. Ideally, these two exemplary chain links, which are at the same height in the drawing direction, should maintain this same height throughout the entire drawing process. In practice, however, it often happens that the two chain links, which were at the same height at the beginning of the drawing process, are no longer at the same height, but rather have a certain offset between them. Such an offset can accordingly be understood as a drawing chain offset.

[0044] Since the drawing chain is composed of several identical chain links, the offset of the exemplary chain links described above also describes an offset of the entire drawing chain relative to each other. Because an offset between two drawing chains during a drawing process can reduce the quality of the drawn material, measuring this offset as a chain parameter proves particularly advantageous, as it allows for corrective action. Furthermore, the offset can be measured with reasonable operational reliability and in a structurally simple manner. The measured offset can also be used, for example, to make an early assessment of the quality of the drawing process or the drawn material.to control a crawler-inherent control variable of the crawler-driven assemblies that encounter or apply the pulling force, and to be used in a control and regulation system for synchronizing the pulling chains.

[0045] Alternatively or additionally, the measured variable can be a drivetrain variable. In this context, "drivetrain" can be understood as any component that contributes to driving the draw chains. The draw chains are initially driven by the sprockets. The sprockets themselves are driven by a corresponding gearbox or motor, such as an electric motor or a hydraulic motor. Since any events in the drivetrain can directly or indirectly affect the draw chain and thus influence the outcome of the draw process, it is also advantageous to record at least one drivetrain variable. This variable can then, in turn, potentially...to control a crawler-inherent control variable of the crawler-driven components that counteract or apply the pulling force, in order to enable automatic synchronization of the crawler-driven pulling chains and also to optimize the quality and service life of the pulled material.

[0046] Preferably, the sprocket torque can be measured as a drive train parameter, since the sprocket torque directly influences the pulling force of the pulling chains. Because this pulling force itself can also affect the quality of the workpiece being pulled, this measurement appears particularly advantageous. Thus, different sprocket torques could be determined, and from this, it could be established, for example, that the pulling force of the pulling chains is not synchronized or that there is a risk of the workpiece slipping between the pulling chains. This measurement could then potentially be used for a control system to control the inherent control variable of the crawler's components that encounter or apply the pulling force.

[0047] Alternatively or cumulatively, the drivetrain measurement parameter can be the sprocket speed, as the sprocket speed influences the speed of the pull chains. Different pull chain speeds, and thus different sprocket speeds between the pull chains, can lead to problems, especially if the sprockets are driving the same pull chain. The latter, in particular, can lead to undesirable elongation and compression of the respective pull chain, which may affect the pulling process. Different sprocket speeds can also indicate different pull chain speeds, which can likewise affect the pulling process. Accordingly, the corresponding measurement can also be used for controlling or regulating the pull force-response components of the crawler, via control variables inherent to the crawler system.

[0048] Advantageously, the drive train measurement parameter can also be sprocket vibration, as sprocket vibration also affects the movement of the drawing chains and thus the quality of the drawn product. Chain vibrations naturally arise from the drive of the sprockets, the drawing process itself, and other influences. Excessive sprocket vibrations can lead to quality losses or changes in the quality of the drawn product. The vibrations could compromise the grip between the drawing chain and the workpiece, causing the drawing chain to slip on the workpiece, potentially damaging the workpiece and resulting in misalignment between the two drawing chains. Furthermore, vibrations themselves can generate feedback, amplifying oscillations and thus negatively impacting the drawing process.Since a certain amount of vibration cannot be prevented in practice, but is naturally present, the sprocket vibration should at least be the same or of the same order of magnitude for the sprockets of both draw chains, so that synchronous running of the two draw chains can be supported.

[0049] Preferably, the sprocket temperature can also be measured as a drivetrain parameter. In this context, the sprocket temperature describes the temperature of one or more sprockets. Heat can be generated in the sprocket, particularly through friction between the sprockets and the drawing chains, but also through the rotation of the sprockets and their internal flexing motion. This can cause the sprocket temperature to vary during the drawing process. The temperature fluctuation of the sprockets could also be responsible for a corresponding heat transfer to and from the drawing chains, which are in contact with the workpiece. Changing temperatures alter the material properties, so the sprocket temperature leads to changes in the material properties of the sprockets and potentially also indirectly to changes in the material properties of the drawing chains.The altered material properties also change the mechanical interaction between the materials, such as between the sprocket and the drawing chain, or between the drawing chain and the workpiece. This can affect the quality of the drawn part. Furthermore, the altered sprocket temperatures could cause different expansion rates of the sprockets themselves, thus changing the radius on which the drawing chains rotate around the respective sprocket. This can affect the two drawing chains differently, and consequently, their running behavior.Accordingly, measuring the sprocket temperature can be used not only to measure the result of the pulling process, but also to control a crawler-inherent control variable of components of the crawler that resist or apply the pulling force, so that the sprocket temperature can be part of a control and regulation system of the crawler pulling process in order to increase the quality of the material being pulled and, for example, to synchronize the pulling chains.

[0050] It can also be advantageous to record at least one inherent measurement parameter of the crawler system: the pulling force of the crawler's components that encounter or exert it. This parameter is a frame measurement, since the forces generated or occurring during the pulling process are also transferred to the frame of the crawler pulling machine. From these measurements, conclusions can be drawn about the actual pulling process, so that by recording the frame measurements, the quality of the material being pulled or the result of the pulling process can also be monitored.

[0051] Vibrations are generated on the frame, particularly by the actual drawing process, the drive of the drawing chains, and other potential influences. Therefore, it is advantageous to measure frame vibration as a parameter, as this can potentially provide insights into the drawing process's outcome. Frame vibration can be measured in different areas of the frame because it varies between different sections. This, too, can potentially lead to conclusions about the drawing result. Furthermore, excessive frame vibration, especially at specific frequencies, can indicate that the drawing process is not running optimally and thus negatively impacts the quality of the drawn product.

[0052] Alternatively, or cumulatively, the frame measurement can be a vibration present in the frame, which can then be measured. Vibrations can arise in the frame due to the actual drawing process, the drive of the drawing chains, or other influences. It is natural that vibrations occur in the frame during these processes. However, these vibrations should not exceed a certain range, as this can negatively affect the quality of the drawn part, since the drawing chains may no longer be able to grip and draw the part cleanly or reliably. Such vibrations can also travel to the drawing die and directly affect the forming process taking place there. Furthermore, vibrations can have negative effects on the overall assembly and potentially damage components, for example, if certain assemblies vibrate at their natural frequencies.

[0053] In this context, a distinction is made between oscillations and vibrations. Oscillations tend to be low-frequency and affect multiple components, such as the drive train and the frame, while vibrations are generally higher-frequency, often limited to a single component, such as a drawing chain or a sprocket, and only partially affect other components. Oscillations are also typically characterized by a significant oscillation frequency, whereas vibrations usually affect an entire frequency spectrum. Therefore, oscillations tend to have a more direct and potentially detrimental effect on the drawing process, while vibrations, depending on their specific nature, can be influenced by events that are difficult to measure, such as a weakening chain link.This can potentially prevent adverse events, such as a breakage of the corresponding chain link. On the other hand, such vibrations can also correlate directly with properties of the drawn material, such as its uniformity, and thus be used to control the drawing result.

[0054] Preferably, the frame measurement can also be a contact pressure that can influence the result of the drawing process.

[0055] In the present context, "contact pressure" can preferably be understood as a pressure with which the pulling chains grip the workpiece or which the two pulling chains exert on the workpiece.

[0056] A certain amount of contact pressure is necessary to ensure that the workpiece can be drawn reliably. Excessive contact pressure could damage the workpiece, while insufficient pressure can cause it to slip between the drawing chains.

[0057] For this reason, it is useful to measure the contact pressure, allowing it to be monitored and, if necessary, regulated or controlled. The contact pressure can be considered a frame parameter, as the frame must withstand both the contact pressure and the pulling forces. In particular, the measurement result can be used to determine the quality of the pulling process in a timely manner. This result can also be used to control one or more control variables inherent to the crawler system, such as those of components that withstand or apply pulling forces, and to control or regulate the contact pressure accordingly.

[0058] In particular, the contact pressure can be measured, for example, by measuring or recording the pressure with which the drawing chain is pressed against the workpiece or against each other, or with which a pressure bar is pressed against the drawing chain.

[0059] It is understood that the respective measured variables are mutually dependent and can influence each other in some way. For this reason, it can be advantageous to record as many drawing chain parameters as possible. For example, differences in drawing chain speeds, tension pressures, vibrations, and temperatures between the two drawing chains can cause the actual chain misalignment.

[0060] Advantageously, a material speed can also be recorded as an additional measurement parameter, since the result of the drawing process in a crawler drawing process or in a crawler drawing machine can be additionally controlled from the material speed.

[0061] In this context, "material speed" preferably refers to the speed at which the workpiece or drawn material moves during the drawing process, a speed which is certainly largely determined by the drawing chains. On the other hand, slippage or tensile stresses in the workpiece can then be inferred, for example, by drawing comparisons.

[0062] The material speed can therefore also be related to, for example, the speed of the drawing chain or the sprocket rotation. In an optimal drawing process of the workpiece through the drawing chains, the speed of the drawing chains equals the speed of the material. Should the two speeds differ, the workpiece could slip through the drawing chains, since the drawing chain should ideally maintain stable contact with the workpiece at all times during the drawing process.

[0063] Furthermore, the material speed should be as constant as possible during the drawing process, as the workpiece should be drawn through the die with as much uniformity as possible. Fluctuations in the material speed, for example a decrease, can indicate that the workpiece has slipped through the drawing chains, causing a brief drop in material speed. Moreover, material speed can be related to a multitude of other measured variables, as it is influenced by or directly affects many other parameters. For this reason, material speed, as a measured variable, can be readily integrated into a control process that acquires the measured variables and uses them to control the drawing force of components of the crawler, a control variable inherent to the crawler.

[0064] Preferably, a draw chain control variable, i.e., a control variable of a property of a draw chain, is chosen as the control variable, since the draw chain has a direct influence on the draw process and thus important parameters of the draw chain can be set directly.

[0065] Advantageously, the draw chain setting parameter is a draw chain speed, as this should correspond to the draw chain speed of the other chain, and also to the speed of the workpiece in the area of ​​contact with the draw chain. If the speed of a workpiece is too high, it can be reduced by decreasing the draw chain speed. Furthermore, differing draw chain speeds of the two draw chains can cause asynchronous operation of the two draw chains or contribute to slippage between the draw chains and a workpiece. This can be counteracted by appropriately adjusting the draw chain speed of at least one of the two draw chains.

[0066] The drawing chain speed can also be used as a drawing chain control variable as part of a control system, so that the speed of the drawing chains can be set according to requirements or process sequences, in order to ensure synchronous running of the two drawing chains.

[0067] It is advantageous, either alternately or additionally, if the draw chain adjustment parameter is a draw chain tension pressure, as the tension pressure of the draw chain is also crucial for a smooth drawing process of the workpiece through the draw chains. Draw chains that are too loose or insufficiently tensioned could, for example, cause slippage between the workpiece and the draw chains. Similarly, the draw chain tension pressure, through its correlated tension, can also influence the chain length and its rotational speed. Furthermore, the draw chain tension pressure between the two draw chains should be equal for the most synchronous operation possible. If the draw chain tension pressure is an adjustment parameter, it can be set, for example, to equalize, decrease, or increase the tension pressure of the two draw chains. This prevents non-synchronous operation of the draw chains.A generally unclean drawing process should be addressed accordingly.

[0068] Since the drive train of the drawing chains also has an influence on the drawing process, the manipulated variable can preferably also include or be a drive train manipulated variable, i.e., a manipulated variable within the drive train for the drawing chains, so that elements of the drive train for driving the drawing chains can be positioned accordingly, thereby influencing the drawing process.

[0069] Advantageously, the drive train control variable can be a sprocket torque, which in turn allows the torque and corresponding forces exerted by the pulling chains on the workpiece to be pulled to be influenced. Ideally, the sprocket torques of the two pulling chains should be as equal as possible to ensure synchronous operation. However, other factors, such as different rotational speeds or contact pressures, may make a different sprocket torque setting advantageous in specific cases. If, for example, one of the sprocket torques is lower than the other, there is a risk that at least one of the pulling chains will slip on the workpiece, resulting in unsynchronized operation and negatively impacting workpiece quality.By being able to set the sprocket torque as a drive train control variable, the sprocket torque of at least one of the pull chains can be regulated or controlled accordingly, thus also taking into account changes in other parameters or measured variables.

[0070] It is also advantageous if the drive train control variable is a sprocket speed. The sprocket speed initially appears to correlate directly with the speed of the pulling chains running around it, or with the speed at which a workpiece is pulled by the pulling chains. For the most synchronous operation of the two pulling chains, the sprocket speed of both chains should therefore initially be the same. On the other hand, other factors, such as different chain tensions, different sprocket diameters, or even play in the chains, can lead to deviations, so adjusting the sprocket speed, taking other measured parameters into account, can be beneficial.

[0071] Alternatively, or cumulatively, gearbox settings can also be a drivetrain control variable. Gearbox settings directly or indirectly influence the sprocket torque and / or sprocket speed. Therefore, gearbox settings can affect the operation of the two drawing chains, such as the speed at which the drawing chains rotate a workpiece or the torque with which they do so. To specifically influence the drawing process and, in particular, to optimize its outcome, the gearbox settings can be adjusted. These can be controlled or regulated, for example, to keep the operation of the two drawing chains synchronized or to maintain other measured values ​​within predefined limits. Gearbox settings can be understood to encompass all adjustable options that can be set within a gearbox.

[0072] The rotational speed or torque of a motor drive can also serve as a control variable for the drive system. This also allows for adjustment or control to optimize the drawing process with regard to its outcome.

[0073] It is understood that many of the aforementioned actuators, such as the rotational speeds of the draw chains or sprockets, or the torque of the sprockets and the drive, are correlated and, depending on the specific implementation, can or must be influenced by identical assemblies with regard to their actual adjustment capabilities. For example, the sprocket rotational speed can initially be directly correlated with the rotational speed of the associated draw chain on the one hand, and the drive speed of the associated drive on the other.However, deviations can occur due to varying radii of rotation or fluctuations in the gear ratio, so that the associated control loops may be complexly nested, taking into account the intended measured variables and actuators, and, for example, when choosing the sprocket speed as the manipulated variable, the gear setting and the speed of the drive are used to realize this manipulated variable.

[0074] It is advantageous if the control variable is a frame control variable, since the frame must ultimately absorb the forces generated during the drawing process. For example, a frame control variable could be a contact pressure. The contact pressure can then be adjusted according to the movement of the two drawing chains or other measured variables.

[0075] Preferably, a chain offset between the two puller tracks can be determined from at least one of the track-inherent measurement parameters in order to detect a non-synchronous running of the two puller tracks as directly as possible. Instead of, for example, directly measuring the chain offset between the two puller tracks using optical measuring devices, the speeds of the two puller tracks could be compared to determine whether a corresponding chain offset occurs at different speeds. However, the chain offset could also be determined from any other track-inherent measurement parameters. A direct measurement of the chain offset can, for example, be achieved by comparing the passages of individual track links, using the lagging or leading of the track links directly as a measure of the chain offset.Such a chain offset can also be considered a measurement parameter for draw chains.

[0076] Alternatively, or cumulatively, to improve workpiece quality, slippage between the workpiece and at least one of the two draw chains can be detected from at least one of the inherent parameters of the conveyor system. For example, a difference in the rotational speed of the two draw chains can indicate slippage, as the different rotational speeds necessarily mean that one or even both draw chains are not running at the same speed as the workpiece being pulled. Therefore, it is not necessary to detect slippage between the workpiece and at least one of the two draw chains using optical elements that compare the movement of the draw chains and the workpiece; rather, it can already be determined from at least one of the inherent parameters of the conveyor system that slippage is occurring between the workpiece and at least one of the two draw chains.However, if the material speed of the workpiece is known, a direct check for slippage can be carried out by comparing it with the speed of the drawing chain.

[0077] It is understood that both chain misalignment between the two draw chains and slippage between the workpiece and at least one of the two draw chains can be determined by various combinations of intrinsic gauge parameters. In particular, the corresponding parameter can be determined even more precisely by combining several intrinsic gauge parameters. These parameters can be combined in different ways. However, in some cases, even a single intrinsic gauge parameter might be sufficient to determine the corresponding chain misalignment or slippage. Determining the relevant values ​​is particularly feasible because the intrinsic gauge parameters, the chain misalignment between the two draw chains, and slippage between the workpiece and at least one of the draw chains are all directly related.All settings of the crawler train may have an impact on the pulling process of the workpiece and thus on any chain misalignment or slippage that may occur between the workpiece and at least one of the two pulling chains.

[0078] Alternatively, or cumulatively, to achieve the aforementioned advantages, wear of the drawing chains can also be determined from at least one of the crawler-driven measurement parameters. This can be detected, for example, by a decrease in the rotational speed when the drawing chain lengthens due to wear, or by an increase in the travel distance of a drawing chain tensioning device. Increased slippage can also be considered an indicator. It is also conceivable to monitor vibrations, for example, with regard to their frequency response, in order to infer wear in this way. Wear of the drawing chains can affect the reliable drawing process of the workpiece by the drawing chains.Since wear of the pulling chains may be difficult to measure directly, especially during the pulling process, the wear of the pulling chains can also be determined from at least one of the crawler-inherent measured variables, as explained above, so that wear can be determined at any time from the measured variables without direct measurement, for example by optical detection means.

[0079] Preferably, at least one control variable inherent to the caterpillar train is regulated by adjusting at least one manipulated variable. In this way, a control system can be used that aims for the most optimized pulling result by regulating the corresponding control variable through the adjustment of at least one manipulated variable. Thus, the pulling result can then be automatically controlled and optimized.

[0080] In the present context, the "controlled variable" can be understood to mean, for example, a chain offset between the two draw chains or a slippage between at least one of the two draw chains and the workpiece or the chain tension of at least one of the two chains.

[0081] Therefore, it is advantageous if the chain offset of the two drawing chains relative to each other, slippage between at least one of the two drawing chains and the workpiece, or the chain tension of at least one of the two chains can be controlled. The aforementioned control variables are of great importance for the synchronous operation of the two drawing chains and thus for maintaining workpiece quality during drawing. Depending on these variables, at least one of the manipulated variables can then be set, thereby controlling the aforementioned control variables.

[0082] If, for example, a chain offset occurs between the two draw chains, at least one of the control variables can be changed so that the chain offset between the two draw chains is minimized. Here, a chain offset of zero could be the controlled variable, since for smooth operation of the two draw chains, there should ideally be no chain offset between them.

[0083] Accordingly, the system can react to slippage between at least one of the two pull chains and the workpiece, and this controlled variable can be regulated by adjusting at least one manipulated variable. Generally, slippage between at least one of the two pull chains and the workpiece should not occur at all, so any slippage could result in the regulation of at least one manipulated variable.

[0084] The chain tension of at least one of the two chains may not need to have a generally fixed value, as it can vary depending on the process and the workpiece used. However, the chain tension can be defined for the specific process to ensure a clean drawing operation, so that the chain tension can serve as a control variable and be regulated by adjusting at least one control variable to optimize workpiece quality.

[0085] To optimally control the result of the drawing process in a crawler drawing process or in a crawler drawing machine, a crawler drawing machine can comprise a drawing die and a crawler train arranged behind the drawing die in the drawing direction, which is designed to draw a workpiece through the drawing die along a drawing line aligned parallel to the drawing direction, and which includes two circulating chain links that each circulate parallel to a drawing plane, with each of the chain links being guided around two sprockets whose axes are aligned perpendicular to the drawing plane, in that the crawler drawing machine includes measuring means for recording at least one crawler train-inherent measured variable, the drawing force of components of the crawler train encountering or applying it.

[0086] In this context, "measuring devices" can be understood to mean all means known to a person skilled in the art, particularly in the field of metrology, for measuring specific physical quantities. These can be arranged or provided at appropriately suitable locations on the crawler tractor.

[0087] Alternatively or cumulatively, a crawler-drawing machine comprising a drawing die and a crawler train arranged behind the drawing die in the drawing direction, which is configured to draw a workpiece through the drawing die along a drawing line aligned parallel to the drawing direction, and which comprises two circulating drawing chains comprising chain links, each circulating parallel to a drawing plane, wherein each of the drawing chains is guided around two sprockets whose axes are aligned perpendicular to the drawing plane, may also be characterized in that the crawler-drawing machine comprises measuring means for acquiring at least one measured variable inherent to the crawler train, as well as at least one actuator inherent to the crawler train of assemblies of the crawler train that counteract or apply the drawing force, and a control unit which has a measuring means input and an actuator output.The input of the measuring device is connected to the measuring device for transmitting measured values, and the output of the actuator is connected to the actuator inherent to the crawler, in order to control the result of the pulling process as optimally as possible in a crawler pulling process or on a crawler pulling machine. With a suitable design, the result of the pulling process can be optimized by controlling the actuators depending on the measured values ​​acquired by the measuring device.

[0088] It is understood that, in particular, two, three, four or more such measurement devices may be provided, whereby, especially with a suitable combination of these measurement devices, control of the drawing result, i.e. the result of the drawing process, can be further optimized accordingly.

[0089] It is also understood that, in particular, two, three, four or more such actuators, especially if they are suitably combined and possibly combined with the measuring means in a suitable manner, can be used to control or optimize the result of the pulling process in a crawler pulling process or in a crawler pulling machine as optimally as possible.

[0090] In this context, the term "actuator" can be understood as any element of the crawler tractor that is adjustable or can be adjusted in some way. In particular, the actuator can serve to position or selectively vary the components of the crawler tractor that resist or apply the pulling force, which can, for example, have a direct impact on the movement of the pulling tracks, such as their speed.

[0091] In this context, the term "control unit" can be understood as an electronic unit that controls a specific process.

[0092] For this purpose, the control unit preferably has a sensor input, which allows measured variables acquired by sensor sensing devices to be transferred to the control unit.

[0093] Furthermore, the control unit preferably includes at least one actuator output, via which the control unit is connected to the actuator inherent in the crawler train.

[0094] It is understood that the sensor input and / or the actuator output(s) can be configured in virtually any known or conceivable form suitable for performing the aforementioned task. In particular, dedicated measuring lines or control lines, or even a bus system, may be provided.

[0095] The control unit can thus acquire and evaluate measured values ​​via its input. Depending on these measured values ​​transmitted via the input, the control unit can then actuate the crawler-integrated actuator(s) via the actuator output. This enables, in particular, a control system whereby the actuator(s) are controlled by the control unit based on the measured values. For example, the control unit regulates the drawing chains to ensure synchronous operation, thereby optimizing the quality and service life of the drawn material.

[0096] Depending on the specific implementation, the control unit can, for example, form a control loop using one or more classic electrical or electronic controls. It can also be advantageous to provide the control unit cumulatively or alternatively via a data processing system that implements the corresponding controls through data-processing simulations of such electrical or electronic controls. In particular, artificial intelligence, fuzzy logic, or neural networks can also be used within the control unit.

[0097] Preferably, the measurement devices are draw chain measurement devices capable of capturing a wide variety of measurements relating to the draw chain. Since the draw chains are an essential component of the crawler puller and are particularly responsible for optimizing the quality and service life of the material being pulled, and contribute to achieving the best possible control of the drawing process in a crawler puller or machine, it is advantageous if all measurements relating to the draw chains can be captured.

[0098] For example, it is advantageous if the drawing chain measurement devices are also drawing chain speed measurement devices, allowing the speed of the drawing chains to be recorded. Particularly when the drawing chains are to be automatically synchronized to ensure synchronous operation, it is useful to record the speed of the drawing chains, especially for comparison purposes. If the drawing chain speeds of two drawing chains differ, it can be assumed that the two drawing chains are not running synchronously. Furthermore, a specific drawing chain speed may be prescribed for certain processes or workpieces to guarantee the most reliable drawing process possible and to optimize the quality and service life of the drawn part.

[0099] Alternatively, or cumulatively, the measuring devices for the drawing chain can also be measuring devices for the drawing chain tension pressure, capable of detecting the tension pressure. The tension pressure of the drawing chains is an important parameter that can influence the drawing process of a workpiece. In particular, the tension pressure of both drawing chains should be the same to ensure synchronous operation and prevent slippage between the workpiece and the respective drawing chain. To monitor this, it is advantageous to be able to detect the tension pressure at the drawing chains themselves, thus enabling corrective action to be taken if there are any differences in tension pressure.

[0100] Vibrations can naturally occur on the draw chains of a crawler draw machine during the drawing process, and these vibrations, if sufficiently high, can negatively impact the quality of the drawn material. Furthermore, the draw chain vibrations can contribute to uneven running of the draw chains, which can lead to slippage between the draw chains and the workpiece, or to the draw chains no longer running synchronously. Draw chain vibration monitoring devices prove particularly advantageous for monitoring these vibrations.

[0101] Preferably, the drawing chain measurement devices can cumulatively or alternatively include drawing chain temperature measurement devices capable of measuring the temperature of the drawing chains. During the drawing process of the workpiece through the drawing chains, energy in the form of heat is generated in the drawing chains or the workpiece due to various physical processes. Since the material properties of the drawing chain can change with increased temperatures, the interaction between the drawing chain and the workpiece can also change. Consequences could include, for example, slippage between the workpiece and at least one of the drawing chains, asynchronous running of the drawing chains, or a deterioration in the quality and service life of the drawn part. Different temperature increases between the two drawing chains also indicate uneven running of the drawing chains or an uneven drawing process of the workpiece through the drawing chains.For this reason, it is advantageous if the drawing chain temperature can be detected and monitored by the drawing chain temperature detection means.

[0102] It is also advantageous if the drawing chain measurement devices are drawing chain offset measurement devices. Drawing chain offset measurement devices, as defined here, are any measuring devices that are particularly capable of detecting an offset between the two drawing chains. With optimal and synchronous operation of the two drawing chains, there is no offset between them during the entire drawing process. Therefore, by detecting an offset between the drawing chains, the drawing chain offset measurement devices can also determine whether the two drawing chains are no longer running synchronously or whether the undesired offset between the drawing chains has occurred for any reason. Any undesirable causes of the drawing chain offset should advantageously be eliminated in order to optimize the quality and service life of the drawn material.Therefore, it is particularly useful to use the pull chain offset detection devices to detect or monitor any possible offset between the two pull chains, in order to be able to intervene accordingly if necessary.

[0103] To optimally control the pulling process in a crawler-type pulling machine, it can be particularly advantageous to include drivetrain measurement devices. The drivetrain is an essential component of a crawler-type pulling machine, as it is what powers the pulling chains, enabling the machine to pull the workpiece. Therefore, all drivetrain components affect the pulling chains and, consequently, the pulling process. Consequently, it is also beneficial to acquire drivetrain measurements using drivetrain measurement devices to optimally control the pulling process in a crawler-type pulling machine and, if necessary, to intervene in a controlling or regulating manner.

[0104] Preferably, the drive train measurement means include sprocket torque measurement means. The sprocket torque also directly affects the forces that the drawing chain can exert on the workpiece during the drawing process, since the sprocket drives the drawing chain. For example, if the sprocket torques of the sprockets of a drawing chain differ or fluctuate differently from each other, this can indicate errors or inconsistencies in the drawing chain's operation. Conversely, if, for example, one sprocket torque differs from the other, this imbalance could cause the two drawing chains to run unevenly. This could, for example, result in the workpiece slipping with at least one of the two drawing chains and thus also in the asynchronous operation of the drawing chains.Thus, the quality of the drawn workpiece can be directly affected by differing sprocket torques. For this reason, it is advantageous if the sprocket torques can be detected and monitored using sprocket torque sensors. It goes without saying that the sprocket torques of the two drawing chains do not necessarily have to be identical for an optimal drawing process, because, for example, a particularly large and heavy workpiece might require higher torques for the sprocket of the drawing chain located beneath it due to its weight. However, even differing sprocket torques, which should ideally be maintained at a certain level, can be particularly effectively monitored using sprocket torque sensors.

[0105] Alternatively or cumulatively, the powertrain measurement devices can also include sprocket speed sensors, which can detect and measure the rotational speed of the sprockets. Since the sprockets drive the drawing chains, the sprocket speed is related to the drawing chain speed. As the drawing chain speeds, as explained above, are not negligible for the drawing result, it is particularly advantageous if the sprocket speed can be detected and monitored by chain speed sensors.

[0106] Alternatively or additionally, the powertrain measurement devices can also be sprocket vibration sensors, which detect vibrations at the sprockets that can naturally occur during a drawing process. These vibrations can also influence the drawing process and, for example, negatively affect the quality and service life of the drawn part. Therefore, for optimizing and controlling the drawing result, it is also advantageous if the vibrations at the sprocket are measured by sprocket vibration sensors.

[0107] To achieve the same benefits, the drivetrain measurement devices can cumulatively or alternatively include sprocket temperature sensors. As explained above, elevated temperatures affect material properties, so excessively high sprocket temperatures—which naturally change during the drawing process—could negatively impact the smooth running of the drawing chains and / or the reliable operation of the drawing chains.

[0108] Since the draw chains should run as synchronously as possible, or be automatically synchronized, the components that drive the draw chains themselves are of particular importance. These are components of the drive train, and if drive train components malfunction, synchronizing the draw chains can be difficult. Therefore, it is advantageous if the drive train measurement devices can measure or monitor parameters such as sprocket torque, sprocket speed, sprocket vibration, and sprocket temperature.

[0109] Furthermore, the measurement devices can also be frame measurement devices, since the frame is also part of a crawler tractor and thus forces acting on or being absorbed by the frame during the pulling process also occur.

[0110] Naturally, vibrations occur in the frame during the drawing process. These vibrations should preferably not be too high, as excessive vibrations could lead to an inaccurate drawing process. Therefore, frame vibration sensors are particularly advantageous as measurement devices for the frame, as they can detect and monitor these vibrations. This allows for the detection of vibrations of varying intensity in different areas of the frame, indicating an imbalance in the forces acting upon it. Such imbalances could be caused, for example, by asynchronous operation of the two drawing chains or by defects, thus enabling the detection of asynchronous operation of the drawing chains.

[0111] Alternatively, or cumulatively, the frame measurement devices can also be vibration measurement devices, since vibrations naturally occur on the frame of a crawler-type drawing machine. However, these vibrations should be within a range that does not negatively affect the drawing process of the workpiece by the drawing chains, thus optimizing the quality of the drawn product. Therefore, it can be advantageous to detect and monitor the vibrations using vibration measurement devices.

[0112] The pressure exerted by the drawing chains on the workpiece also affects the forces transmitted to the frame. To measure and monitor these forces, pressure sensors can be used as frame measurement devices. In particular, the pressure readings can be informative for ensuring the synchronous operation of the two drawing chains, as differing pressure levels can lead to uneven or asynchronous operation of the two chains.

[0113] Advantageously, the crawler-type drawing machine includes material speed sensors. These sensors allow the speed of the workpiece or the material being drawn to be measured. As explained above, the material speed is important because specific material speeds may be required for the drawing process to ensure reliable operation. If, for example, a specific speed needs to be maintained, it is useful to measure and monitor it using a material speed sensor. The material speed can also provide information about whether the material being drawn has been gripped by the two drawing chains without slippage, or whether, for example, slippage has occurred between the material and one of the chains.For an optimal drawing process, the material speed should be equal to the drawing chain speed, so that the drawing chain remains in the same position on the workpiece throughout and no slippage has occurred.

[0114] It is advantageous if the actuator is a draw chain actuator, which allows the sizes of the draw chain to be changed.

[0115] For example, the draw chain variable actuator can be a draw chain speed actuator, which allows the speed of the draw chains to be set, such as increased or decreased. This allows the draw chain speed to be adjusted as needed, which is particularly advantageous when the draw chain speeds need to be aligned, increased, or decreased.

[0116] Alternatively, or cumulatively, the draw chain adjustment element can also function as a draw chain tension pressure adjustment element, allowing the tension pressure of the draw chain to be set. For example, if the draw chain has too high or too low a tension pressure, potentially affecting the quality of the drawn material, this tension pressure can be adjusted using the draw chain tension pressure adjustment element. The corresponding advantages have already been explained above in relation to a similar adjustment process.

[0117] Since the drawing chains are usually driven by a corresponding drive train, and this is therefore important for synchronous running of the drawing chains, for controlling the drawing result, and also for optimizing the quality of the drawn material, it is advantageous if the actuator is a drive train actuator.

[0118] The drivetrain actuator can thus be a gearbox adjustment actuator. By definition, a gearbox adjustment actuator allows adjustments to the gearbox settings and therefore also influences the drive of the draw chains. This is particularly advantageous when the drive of the draw chains needs to be adjusted.

[0119] Alternatively or cumulatively, the drive train actuator can be a sprocket torque actuator, allowing the sprocket torque to be adjusted. The sprocket torque can directly or indirectly affect the torque or force of the drive chains and thus also their running. Therefore, a sprocket torque actuator can preferably be provided to adjust the sprocket torque accordingly.

[0120] A drivetrain actuator can also be a sprocket speed actuator. A sprocket speed actuator can adjust the sprocket speed, which typically also directly changes the drive chain speed. Therefore, if the speed of the drive chains needs to be adjusted in any way, this can be done using the sprocket speed actuator. For example, synchronization of the two drive chains could be achieved by ensuring that their sprocket speeds are the same, so that if they differ, the speed can be adjusted accordingly by at least one sprocket speed actuator.

[0121] Preferably, the actuator is a frame-adjustable actuator, since the frame is also a component of the crawler-type drawing machine that applies or counteracts drawing forces. Advantageously, the actuator can also be a contact pressure actuator, as the frame exerts the contact pressure of the two drawing chains on the workpiece, and this contact pressure can be adjusted by the contact pressure actuator. Excessive contact pressure could negatively affect the quality of the drawn material. Conversely, insufficient contact pressure could result in inadequate adhesion between the drawing chain and the workpiece, potentially leading to slippage between the workpiece and at least one of the two drawing chains. To achieve the optimal contact pressure, it can be adjusted accordingly by the contact pressure actuator. It is understood that, if necessary,Other frame adjustment elements, such as adjustable vibration dampers or actuators for relocating the frame or individual assemblies, can also be used to advantage in this way.

[0122] Preferably, the crawler towing machine can include chain offset determination devices that utilize crawler-inherent measurement parameters. These devices determine the offset between the two pulling chains. This offset, however, cannot usually be measured directly, but rather via crawler-inherent measurement parameters, such as the pulling chain speeds, and then determined through mathematical relationships. For example, different pulling chain speeds indicate the presence of a chain offset, so in this example, the chain offset determination devices calculate the offset from the pulling chain speeds. A direct determination by comparing the transit times of individual chain links of the two pulling chains would also be conceivable. However, the chain offset determination devices can also calculate the offset from any other combination or...The chain offset can be determined from the isolated track-inherent measurements, since the track-inherent measurements are related to each other in certain cases in a specific way.

[0123] To determine the wear of the draw chains, wear detection devices utilizing inherent measurement parameters of the draw chain can be employed. Wear is generally not measured directly, for example, by optical means on the draw chains, but rather via these inherent measurement parameters. Various inherent measurement parameters or combinations thereof can be used for this purpose, as explained above. For example, slippage between the workpiece and at least one of the two draw chains could indicate that the draw chains are worn and no longer provide sufficient adhesion between the workpiece and the draw chain. Increased vibrations could also be a consequence of increased wear.

[0124] Alternatively or cumulatively, the crawler-type drag machine can include slip detection devices that utilize crawler-inherent measurement parameters. These slip detection devices could, for example, compare the material velocity with the drag chain velocity, which differ as soon as slippage occurs between the workpieces and the drag chains. Thus, the slip detection device detects corresponding slippage between the workpiece and at least one of the drag chains without directly measuring it. For this determination, the slip detection devices can use different measurement parameters or different combinations of measurement parameters.

[0125] Advantageously, the control unit includes a chain offset control unit, which can control the chain offset so that if a chain offset occurs, it can be immediately counteracted, ensuring that the draw chains run synchronously again and that no chain offset remains. Thus, automatic synchronization of the draw chains by the chain offset control unit can be achieved.

[0126] Alternatively or cumulatively, the control unit can include a sliding control unit that regulates the drawing process in such a way that as soon as slippage occurs between the workpiece and at least one of the two drawing chains, it can be counteracted accordingly, preventing further slippage. This allows for automatic control of an optimal drawing process, which also optimizes the quality of the drawn part.

[0127] Alternatively or cumulatively, the control unit can include a chain tension control unit that controls the chain tension accordingly as soon as it is not tensioned according to the required chain tension.

[0128] It is understood that the chain offset control unit, the slip control unit or the chain tension control unit can ultimately control or include different actuators, such as actuators for adjusting the pulling chain speed or the drive speed, actuators for varying the contact pressure and / or actuators for varying the torques of the individual sprockets or for varying the contact pressure.

[0129] The aforementioned control units preferably have in common that they can automatically control the relevant quantities and adjust corresponding actuators depending on measured variables. In this way, a suitable control system for an optimal drawing process can be provided.

[0130] To design the control unit for the process optimally and in a modern way, it can incorporate a neural network, fuzzy logic, AI, or a conventional control program for a programmable logic controller. This allows the control unit to be optimized for its application, enabling it to respond to and understand as many possible scenarios regarding the measured variables as possible. Depending on the type of control unit, the quality and lifespan of the drawn product can be further optimized. In particular, a large number of measured variables and actuators can be combined into a highly complex control loop, especially when, as mentioned above, some of the measured variables and actuators are interconnected in complex and potentially not yet fully understood relationships.

[0131] It is advantageous if the crawler tractor includes a control procedure for regulating the crawler tractor, whereby a pull chain offset between the pull chains can be controlled by adjusting the at least one actuator or actuators depending on the crawler tractor's inherent measured variables detected by the measuring means. In this way, automatic synchronization of the two pull chains can be achieved.

[0132] Cumulatively or alternatively, by adjusting at least one actuator or actuators depending on the caterpillar-inherent measured variables detected by the measuring means, slippage between the workpiece and at least one drawing chain can be controlled in order to optimize the quality and service life of the drawn material.

[0133] For the sake of completeness, it should be noted that in the present context, the respective measured variables or manipulated variables do not necessarily have to be measured and processed quantified, nor do they necessarily have to be controlled in their actual units. Rather, it is sufficient if values ​​proportional to the measured variables or manipulated variables are measured, processed, or used for control to a sufficient degree.

[0134] It is understood that the features of the solutions described above or in the claims can also be combined, if necessary, in order to implement the advantages cumulatively.

[0135] Further advantages, objectives, and features of the present invention are explained with reference to the following description of exemplary embodiments, which are also illustrated in the accompanying drawing. The drawing shows: Figure 1: A crawler tractor in a side view; Figure 2: The crawler tractor after Figure 1 in perspective view; and Figure 3 a schematic view of a control procedure of the crawler tractor according to Figures 1 and 2 .

[0136] A crawler tractor 10 comprises, as in the Figures 1 to 3 As an example, a drawing die 21 and a crawler train 11 arranged behind the drawing die 21 in a drawing direction 30, comprising two drawing chains 12 parallel to a drawing plane 32, which is in Figure 1 The drawing plane is represented, each chain circulates around and each includes several chain links 13. Each of the two draw chains 12 is also guided around two sprockets 14, each of which has axles 15 that are oriented perpendicular to the drawing plane 32.

[0137] The crawler train 11 is designed to draw a workpiece 20 along a drawing line 31 parallel to the drawing direction 30 through the drawing die 21, thereby forming it. The drawing die 21 also includes a motorized adjustment 22, which can adjust the drawing die 21 accordingly, and the forming force of the drawing material as well as the temperature at the drawing die can be measured before the drawing process.

[0138] The main drive of the crawler tractor 10 or the crawler tractor 11 is provided by a drive 16, which in this embodiment is an electric motor. In differing embodiments, other drive types, for example hydraulic, are conceivable. This drive is part of a drive train for powering the crawler tractor 11.

[0139] The drive train also includes two gearboxes 17 between the drive 16 and the sprockets 14, so that all drive forces from the drive 16 are distributed between the two gearboxes 17. A first gearbox 17 is operatively connected to the sprocket 14 of a first draw chain 12, while the second gearbox 17 is connected to the sprockets 14 of the second draw chain 12, so that each gearbox 17 drives the sprockets 14 of one draw chain 12. The driven sprockets 14 are also part of the drive train, as is ultimately the respective draw chain 12, which in turn, together with the other draw chain 12, drives the workpiece 20.

[0140] Since the pull chains 12 each run around two sprockets 14, the gearboxes 17 each drive one of the two pull chains 12, so that in the drive train of the crawler train 11 the drive 16 drives both pull chains 12 via the gearboxes 17 and via the sprockets 14.

[0141] During the drawing process, each of the drawing chains 12 grips the workpiece 20 with a certain contact pressure through its chain links 13 and thereby pulls the workpiece 20 along the drawing line 31 in the drawing direction 30, whereby the workpiece 20 is reshaped by the drawing die 21.

[0142] In this embodiment, the chain links 13 each carry drawing tools in a manner known per se, which are in contact with the workpiece 20 in a drawing area (not numbered), so that a drawing force can be transferred from the drawing chains 12 to the workpiece 20 or to the material being drawn.

[0143] It is understood that in differing embodiments, further draw chains and other design variations, such as the precise bearing arrangement of the draw chains 12, the specific design of the gearboxes, and similar features, may be provided. In particular, in a differing embodiment, it is conceivable that, for example, both sprockets 14 of a draw chain 12 are driven in order to influence the movement of the draw chains 12, in which case it is advantageous to appropriately coordinate the torque distribution of the drive of these sprockets 14 and / or their rotational speed.

[0144] During the drawing process, the drawing chains 12 move at a specific speed, which depends on the drive 16 and how it drives the drawing chains 12. This drawing chain speed can be detected or measured by drawing chain speed sensing means 51. In the present embodiment, the drawing chain speed sensing means 51 are arranged directly in the vicinity of the passing chain links 13 of the drawing chain 12. The speed can be measured, for example, by inductively exciting magnets attached to the passing chain links 13. Similarly, a light barrier can detect the passage of the chain links 13, and the speed can then be deduced from the cycle time or the duration of the passage. It is understood, however, that the drawing chain speed sensing means 51 can also be arranged elsewhere to measure the drawing chain speed.

[0145] Since the draw chains 12 are driven by the sprockets 14, or rather, since the draw chains 12 rotate around the sprockets 14, the draw chain speed also depends on the sprocket speed. The sprocket speed, in turn, depends on the drive by the gearbox 17 and on the power and speed transmission via the gearbox 17. In the present embodiment, this sprocket speed can be detected or measured by sprocket speed sensing means 62, which are arranged on the gearbox 17. However, it is also conceivable that the sprocket speed sensing means 62 could be arranged at another point in the drive train, such as directly on the sprocket 14, in order to measure the sprocket speed.

[0146] The draw chains 12 are furthermore tensioned by the sprockets 14 with a draw chain tension pressure. This draw chain tension pressure can be detected or measured on both draw chains 12 by draw chain tension pressure sensing means 52. These are arranged in the area between the two sprockets 14 of a draw chain 12, each on a corresponding draw chain tension pressure adjusting element 92, by means of which the draw chain tension pressure can be set. The draw chain tension measuring means 52, and the draw chain tension pressure adjusting element 92, measures the draw chain tension pressure exerted by the draw chain 12 on the draw chain tension pressure sensing means 52 and on the draw chain tension pressure adjusting element 92, respectively.

[0147] During the pulling process of the workpiece 20 by the crawler train 11, vibrations naturally occur on the drawing chains 12, which can be described as drawing chain vibrations. These can be detected by means of drawing chain vibration detection devices 53, which are arranged in an area that the drawing chain 12 passes through as the sprockets 14 rotate.

[0148] The temperature of the drawing chain, which naturally changes during a drawing process, and in particular increases, can also be detected or measured by drawing chain temperature sensing devices 54. These devices can be arranged directly in the area between the sprockets 14, over which the drawing chain 12 passes. It is understood, however, that the drawing chain temperature sensing devices 54 can also be arranged at any other location within the area of ​​the crawler train 11, provided that the drawing chain temperature can be detected at that location.

[0149] It is possible that the two draw chains 12 exhibit a draw chain offset relative to each other, which can be recognized, for example, by the fact that individual chain links 13 of the draw chains 12 no longer run parallel to each other, but are offset from each other. Such a draw chain offset can then be detected, as in the present embodiment, by draw chain offset detection means 55, which in the present embodiment is arranged in the area of ​​the workpiece 20 between the two draw chains 12, since the synchronous running of the two draw chains 12 or the chain links 13 can be detected particularly well here. However, other measuring methods are also conceivable for detecting a draw chain offset between the two draw chains 12. For example, inductive excitation of passing magnets attached to the chain links 13 can be used.A passage of the chain links 13 detected by a light barrier can be used to infer the offset from the deviation of the passages from each other, or a change in the deviation from a change in the offset.

[0150] When the sprockets 14 are driven, they are naturally driven with a specific torque, which can be referred to as sprocket torque. Apart from natural vibrations of the sprockets, as well as tension and twisting of the sprockets, etc., the sprocket torque also describes the torque with which the sprockets 14 drive the drive chains 12. The sprocket torque can be detected or measured by sprocket torque sensing means 61. In the present embodiment, the torque measurement is carried out using strain gauges, with the sprocket torque sensing means 61 being arranged on the sprocket 14. It is understood that the torque can also be detected or measured, for example, in another area of ​​the drive train, such as in the gearbox 17, between the gearbox 17 and the sprocket 14, or via other torque sensors.

[0151] The vibrations generated at the sprocket 14 during the pulling process can also be detected as sprocket vibration via sprocket vibration sensing means 63, which in the present embodiment are arranged on the gearbox 17. However, the sprocket vibration sensing means 63 can also be arranged directly on the sprocket 14 or another part of the drive train. In particular, the sprocket torque sensing means 61, if implemented, for example, by strain gauges, can also be used as sprocket vibration sensing means 63.

[0152] Temperature fluctuations also occur at the sprocket 14 itself during the drawing process, which naturally arise from the physical processes. These sprocket temperatures can be detected or determined by sprocket temperature sensors 64, which are arranged directly on the sprocket 14. It is also conceivable that the sprocket temperature sensors 64 are not arranged directly on the sprocket 14 and can, for example, measure the sprocket temperature without contact.

[0153] The vibrations generated during the drawing process are also transmitted to a frame 18 of the crawler train 11. These frame vibrations can be detected or measured at any point on the frame by means of frame vibration detection means 71. In the present embodiment, the frame vibration detection means 71 is arranged in an area between the two sprockets 14 on a known pressure bar 19, which exerts a contact pressure in the direction of the workpiece 20 via an intermediate chain, also known but shown only schematically and not numbered, so that the drawing tools can grip the workpiece 20, which may also be arranged at another suitable point on the crawler train 11 supporting components.

[0154] The pressure bar 19 can be adjusted in or parallel to the drawing plane 32 with a component perpendicular to the drawing line 31 or drawing direction 30 via pressure actuating elements 111, which in this embodiment are designed as eccentric drives known per se, with which a sprocket carrier encompassing the pressure bar 19 and not separately numbered here can be adjusted in or parallel to the drawing plane 32 with a component perpendicular to the drawing line 31 or drawing direction 30.

[0155] In addition, vibrations naturally occur on the crawler tractor 10, which in the present embodiment can be measured or detected via vibration detection means 72.

[0156] During the drawing process of the workpiece 20 by the drawing chains 12, the drawing chains 12 exert a specific contact pressure on the workpiece 20, which, as already indicated above, can be applied by the pressure bar 19 and is also important for a reliable drawing process and for maintaining the quality of the workpiece 20. This contact pressure can be measured or recorded by means of contact pressure sensing means 73 on the crawler train 11.

[0157] In this embodiment, the vibration detection means 72 and the contact pressure detection means 73 are also provided on the pressure bar 19, although in different embodiments they may also be provided at another suitable location.

[0158] Furthermore, the material velocity of the workpiece 20 is measured in an area behind the crawler 11 in the drawing direction 30 by material velocity measuring means 41. It is understood that the material velocity can also be measured in other areas of the crawler 11, such as in the area where the workpiece 20 is in contact with the drawing chains 12, or in front of the crawler 11 in the drawing direction 30, or between the drawing die 21 and the crawler 11.

[0159] Furthermore, the crawler puller 10 of the present embodiment has numerous possibilities to adjust parameters that directly affect the pulling process by the crawler 11 or the crawler 11 itself.

[0160] The crawler train thus has 11 track speed actuators 91, which can change the track speed. These are in particular part of the drive 16 or the gearbox 17 and are arranged within these units, so that the track speed actuators 91 are shown in the illustrations according to Figures 1 and 2 The present embodiment is not shown in detail. However, for example, devices are also conceivable by which the running radius of the draw chains 12 around the sprockets 14 can be modified, which, if it is a driving sprocket 14, then has a corresponding influence on the draw chain speed, so that such a device can also be considered a draw chain speed actuator 91.

[0161] Between the sprockets 14, as already explained above, draw chain tensioning pressure actuators 92 are arranged, which can press the draw chains 12 perpendicular to the drawing direction 30 into the side of the draw chains 12 facing away from the workpiece 20 in order to tension the draw chains 12 or to change the draw chain tensioning pressure. In the present embodiment, the draw chain tensioning pressure sensing means 52, the draw chain vibration sensing means 53 and the draw chain temperature sensing means 54 are also arranged on this draw chain tensioning pressure actuator 92.

[0162] Furthermore, important parameters for driving the sprockets 14 can be changed via gear adjustment actuators 101, which are arranged within the gearbox 17. The gear adjustment actuators 101 are also arranged within these units, so that they are shown in the illustrations according to Figures 1 and 2 The present embodiment is not shown in further detail.

[0163] In the present embodiment, the sprocket torque(s) are also changed by means of sprocket torque actuators 102, so that, for example, the torque of the sprockets 14 or their rotational speed can be changed as required. Likewise, the sprocket torque actuators 102 are arranged within the gearbox 17, as shown in the illustrations. Figures 1 and 2 which are also not shown in more detail in the present embodiment.

[0164] Similarly, the sprocket speed of the sprockets 14 can also be changed by means of sprocket speed actuators 103, which are also not shown in the illustrations of the Figures 1 and 2 are separately identifiable, but are located in the area of ​​the sprocket 14 or the gearbox 17 or in the area of ​​the drive train.

[0165] In addition, the contact pressure actuator 111, which has already been explained above, is used to adjust the contact pressure, so that the pressure with which the draw chains 12 press on the workpiece 20 can be changed.

[0166] The crawler tractor 10 of the present embodiment comprises a control and regulation system as schematically shown in the Figure 3 The drawing chain speed measuring means 51, the drawing chain tension pressure measuring means 52, the drawing chain vibration measuring means 53, the drawing chain temperature measuring means 54 and the drawing chain offset measuring means 55 are summarized as drawing chain measurement measuring means 50 and thus represent all quantities that relate to the drawing chain 12 and can accordingly be included under the drawing chain measurement measuring means 50.

[0167] Furthermore, the sprocket torque measuring means 61, the sprocket speed measuring means 62, the sprocket vibration measuring means 63 and the sprocket temperature measuring means 64 can be combined as drive train measurement measuring means 60, each of which describes measurement variables relating to the drive train.

[0168] Frame measurement means 70 can include the frame vibration measurement means 71, the vibration measurement means 72 and the contact pressure measurement means 73, since these measurement means record measured quantities that are related to the frame 18.

[0169] It is understood that, in addition to the aforementioned measurement devices, further measurement devices may also fall under the categories of chain measurement devices 50, drive train measurement devices 60, or frame measurement devices 70, since it is conceivable that further, unmentioned physical parameters can be measured on the crawler train 11 or on the crawler train pulling machine 10, for which appropriate measurement devices may then be useful. The aforementioned measurement devices 50, 60, and 70, as well as the material velocity measurement devices 41, can be collectively summarized as measurement devices 40 for measuring parameters inherent to the crawler train from the assemblies of the crawler train 11 that encounter or apply the pulling force.

[0170] In addition, further detection means, such as the material velocity detection means 41 provided as an example in this embodiment, may be provided.

[0171] In addition, all actuators 80 can be grouped accordingly.

[0172] Thus, draw chain speed actuators 91 and draw chain tension pressure actuators 92 are combined as draw chain variable actuators 90.

[0173] The transmission setting actuators 101, the sprocket torque actuators 102 and the sprocket speed actuators 103 are collectively referred to as drive train variable actuators 100.

[0174] The contact pressure actuator 111 can also generally be described as a frame adjustment actuator 110, whereby in different embodiments further frame adjustment actuators 110 may be provided, as already explained in the introduction.

[0175] The actuators 80 thus include all track chain actuators 90, drive train actuators 100, and frame actuators 110. It is also conceivable that further actuators 80 may be provided to adjust any actuators that may be part of the crawler train 11.

[0176] In the present embodiment, the control and regulation system also includes, by way of example, detection means 120, which comprise chain offset detection means 121, wear detection means 122, and slip detection means 123. These utilize, as in Figure 3 indicated, the measurement data provided by the measurement means 40 and the material velocity means 41, and, in other embodiments, further or alternating measurement means, in order to determine corresponding data by carrying out suitable data links.

[0177] In addition, the entire process in this embodiment is additionally controlled by a control unit 130, which includes a chain offset control unit 133, a slip control unit 134 and a chain tension control unit 135.

[0178] In this embodiment, the control unit 130 has a detection means input 131, through which parameters from the detection means 120 are transmitted, as well as an actuator output 132 to transmit corresponding settings or adjustments to the actuators 80.

[0179] Alternatively or cumulatively, a sensor input can also be provided at the control unit 130, through which measured variables from the sensor 40 or other sensor devices, such as the material velocity sensor 41, can be supplied to the control unit 130 in order to then transmit corresponding settings or adjustments to the actuators 80.

[0180] The control method for controlling the crawler tractor 10 of the present embodiment, as described in the Figure 3 As shown, the chain offset control unit 133 regulates the chain offset between the two draw chains 12. In addition, the slip control unit 134 regulates slippage between the workpiece 20 and at least one of the two draw chains 12. Furthermore, the chain tension control unit 135 regulates the chain tension of the two draw chains 12.

[0181] For this purpose, the crawler-inherent measured variables of the crawler's components that encounter or apply the pulling force are recorded via the measuring instruments 40. From these measured variables and, if applicable, the material velocity, which is recorded via the material velocity measuring instruments 41, chain offset, wear, and slippage are then determined using the measuring instruments 120. These variables can be determined from at least one of the measured variables recorded by the measuring instruments 40 or from a combination of different measured variables. This is possible because the measured variables are directly related to the chain offset, wear, or slippage between the workpiece 20 and the pull chain 12. For example, a chain offset could be inferred from different pull chain speeds between the two pull chains 12.High wear on the drawing chains 12 could, for example, be determined by increased vibrations. Uneven material speed of the workpiece 20 suggests, for example, at least partial slippage between the workpiece 20 and at least one of the two drawing chains 12.

[0182] It goes without saying that all other measured variables or combinations thereof can also be used to determine chain misalignment, wear or slippage using the measuring instruments 120.

[0183] Depending on the crawler-inherent measured variables measured by the measuring means 40 and the chain offset, wear or slippage determined from them, the actuators 80 are then adjusted.

[0184] Since chain misalignment, increased wear, and slippage between workpiece 20 and the pull chains 12 are undesirable, the actuators 80 will adjust the control parameters accordingly to counteract these effects.

[0185] For example, if a chain misalignment occurs, the speed of at least one of the two draw chains 12 can be adjusted so that the two draw chains 12 run synchronously with each other again.

[0186] The contact pressure could also be adjusted, for example, by the contact pressure actuator 111 to counteract increased wear.

[0187] Slippage between the workpiece 20 and at least one of the two draw chains 12 can be prevented, for example, by increasing the draw chain tension pressure by means of the draw chain tensioning pressure actuator 92.

[0188] It is understood that various measures or adjustment options for the actuators 80 are possible in order to regulate the process accordingly.

[0189] In this context, a difference in the measured variables or the control variables of the two drawing chains 12 can be particularly important, since in particular an imbalance between the two drawing chains 12 can cause a non-synchronous running of the two drawing chains 12.

[0190] Thus, depending on the crawler-inherent measured variables and the parameters determined therefrom by the measuring means 120, the crawler-inherent control variables of the pulling force-countering or -applying assemblies of the crawler 11 can be controlled by the actuators 80 in order to achieve automatic synchronization of the pulling chains 12 of the crawler 11 of the crawler pulling machine 10 as well as optimization of the quality and service life of the pulled material.

[0191] Furthermore, the control procedure of the present crawler-drawn machine 10 offers the possibility that the crawler-inherent measured variables of the crawler-drawn components 11 that encounter or apply the pulling force, as measured by the measuring means 40, or measured variables as measured by other measuring means, such as the material velocity measuring means 41, may be partially or completely fed to an artificial intelligence, a neural network and / or a fuzzy logic in order to control the actuators 80 accordingly or simply to output suitable parameters as a statement about the quality of the drawing process, for example via a monitor, a warming system in case of critical deviations, or a data storage device or paper printout.

[0192] In this context, the investigative tools 120 or the control unit 130 may be implemented in artificial intelligence, a neural network, or fuzzy logic and may not function independently. However, corresponding parameters may still be output for informational or control purposes.

[0193] Depending on the specific design, hybrid forms between conventional control and regulation technology, computer-aided control and regulation technology, and modern control and regulation methods, such as those that can be implemented through artificial intelligence, neural networks, or fuzzy logic, can be used.

[0194] It appears essential that, in particular, at least one crawler-inherent measured variable, the pulling force of encountering or applying assemblies, or corresponding measuring variable acquisition means, are used as input variables, or that the control of crawler-inherent actuators, the pulling force of encountering or applying assemblies, is based on the acquisition of at least one crawler-inherent measured variable, or that the latter is used to control a crawler-inherent manipulated variable, the pulling force of encountering or applying assemblies of the crawler 11. Reference symbol list:

[0195] 10 Crawler puller 11 Crawler puller 12 Pulling chain 13 Chain link 14 Sprocket 15 Sprocket axle 14 16 Drive 17 Gearbox 18 Frame 19 Pressure bar 20 Workpiece 21 Draw die 22 Motorized adjustment 30 Pulling direction 31 Pulling line 32 Pulling lift 40 Measurement device 41 Material speed measurement device 50 Pulling chain measurement device 51 Pulling chain speed measurement device 52 Pulling chain tension pressure measurement device 53 Pulling chain vibration measurement device 54 Pulling chain temperature measurement device 55 Pulling chain offset measurement device 60 Drive train measurement device 61 Sprocket torque measurement device 62 Sprocket speed measurement device 63 Sprocket vibration measurement device 64 Sprocket temperature measurement device 70 Frame measurement device 71 Frame vibration device 72 Vibration device 73 Contact pressure device 80 Actuator 90 Draw chain variable actuator 91 Draw chain speed actuator 92 Draw chain tension pressure actuator100 Drivetrain variable actuator 101 Gearbox adjustment actuator 102 Sprocket torque actuator 103 Sprocket speed actuator 110 Frame variable actuator 111 Contact pressure actuator 120 Detection device 121 Chain offset detection device 122 Wear detection device 123 Slip detection device 130 Control unit 131 Detection device input 132 Actuator output 133 Chain offset control unit 134 Slip control unit 135 Chain tension control unit

Claims

1. Caterpillar drawing method for drawing a workpiece (20) through a drawing die (21) by means of a caterpillar draw device (11), which is arranged behind the drawing die (21) as seen in a drawing direction (30) and draws a workpiece (20) along a drawing line (31) oriented parallelly to the drawing direction (30) under reshaping by the drawing die (21) and which comprises two circulating drawing chains (12), which comprise chain links (13) and which each circulate parallelly to a drawing plane (32), wherein each of the drawing chains (12) is guided around two chainwheels (14) the axes (15) of which are oriented perpendicularly to the drawing plane (32), characterised in that i) at least one measurement variable, which is intrinsic to the caterpillar draw device and which is a drawing chain measurement variable and / or a drive train measurement variable, of subassemblies, which oppose or apply drawing force, of the caterpillar draw device (11) is detected; and / or (ii) at least one measurement variable, which is intrinsic to the caterpillar draw device and which is a drawing chain measurement variable and / or a drive train measurement variable is detected and is used for controlling a setting variable, which is intrinsic to the caterpillar draw device, of subassemblies, which oppose or apply drawing force, of the caterpillar draw device (11).

2. Caterpillar drawing method according to claim 1, characterised in that at least one of the drawing chain measurement variables of at least one of the two drawing chains (12) from the following drawing chain measurement variable group is detected: - drawing chain speed - drawing chain clamping pressure - drawing chain vibration - drawing chain temperature - drawing chain offset.

3. Caterpillar drawing method according to claim 1 or 2, characterised in that at least one of the drive train measurement variables of at least one of the two drawing chains (12) from the following drive train measurement variable group is detected: - chainwheel torque - chainwheel rotational speed - chainwheel vibration - chainwheel temperature.

4. Caterpillar drawing method according to any one of claims 1 to 3, characterised in that at least one measurement variable, which is intrinsic to the caterpillar draw device and which is a chassis measurement variable, of subassemblies, which oppose or apply drawing force, of the caterpillar draw device (11) is detected, wherein at least one chassis measurement variable from, in particular, the following chassis measurement variable group is detected: - chassis vibration - oscillation - pressing pressure.

5. Caterpillar drawing method according to any one of claims 1 to 4, characterised in that a material speed is detected as additional measurement variable and is preferably used for control of a or the setting variable intrinsic to the caterpillar draw device.

6. Caterpillar drawing method according to any one of claims 1 to 5, characterised in that the setting variable is a drawing chain setting variable, wherein at least one drawing chain setting variable of at least one of the two drawing chains (12) is provided from, in particular, the following drawing chain setting variable group: - drawing chain speed - drawing chain clamping pressure.

7. Caterpillar drawing method according to any one of claims 1 to 6, characterised in that the setting variable is a drive train setting variable, wherein at least one drive train setting variable of at least one of the two drawing chains (12) is provided from, in particular, the following drive train setting variable group: - transmission settings - chainwheel torque - chainwheel rotational speed.

8. Caterpillar drawing method according to any one of claims 1 to 7, characterised in that the setting variable is a chassis setting variable, particularly a pressing pressure.

9. Caterpillar drawing method according to any one of claims 1 to 8, characterised in that a chain offset of the two drawing chains (12) relative to one another and / or wear of the drawing chains (12) and / or slippage between the workpiece (20) and at least one of the two drawing chains (12) is or are determined from at least one of the measurement variables intrinsic to the caterpillar draw device.

10. Caterpillar drawing method according to any one of claims 1 to 9, characterised in that at least one regulating variable intrinsic to the caterpillar draw device is regulated by setting at least one setting variable.

11. Caterpillar drawing method according to claim 10, characterised in that the chain offset of the two drawing chains (12) relative to one another and / or slippage between at least one of the two drawing chains (12) and the workpiece (20) and / or the chain tension of at least one of the two chains is or are regulated.

12. Caterpillar drawing machine (10) comprising a drawing die (21) and a caterpillar draw device (11), which is arranged behind the drawing die (21) as seen in a drawing direction (30) and equipped for the purpose of drawing a workpiece (20) along a drawing line (31) oriented parallelly to the drawing direction (30) under reshaping by the drawing die (21) and which comprises two circulating drawing chains (12), which comprise chain links (13) and which each circulate parallelly to a drawing plane (32), wherein each of the drawing chains (12) is guided around two chainwheels (14), the axes (15) of which are oriented perpendicularly to the drawing plane (32), characterised in that (i) the caterpillar drawing machine (10) comprises measurement variable detecting means (40), which comprises drawing chain measurement variable detecting means (50) and / or drive train measurement variable drawing means (60), for detecting at least one drawing chain measurement variable and / or drive train measurement variable as a measurement variable, which is intrinsic to the caterpillar draw device, of subassemblies, which oppose or apply drawing force, of the caterpillar draw device ( 11 ); and / or (ii) the caterpillar drawing machine (10) comprises measurement variable detecting means (40), which comprises drawing chain measurement variable detecting means (50) and / or drive train measurement variable detecting means (60), for detecting at least one drawing chain measurement variable and / or drive train measurement variable as a measurement variable intrinsic to the caterpillar draw device as well as at least one setting element (80), which is intrinsic to the caterpillar draw device, of subassemblies, which oppose or apply drawing force, of the caterpillar draw device (11) and a control unit comprising a detecting means input and a setting element output, wherein the detecting means input is connected with the measurement variable detecting means (40) for transmission of measurement variables and the setting element output is connected with the setting element (80), which is intrinsic to the caterpillar draw device, for control thereof.

13. Caterpillar drawing machine (10) according to claim 12, characterised in that the measurement variable detecting means (40) comprise drawing chain measurement variable detecting means (50) from the following drawing chain measurement variable detecting means group: - drawing chain speed detecting means (51) - drawing chain clamping pressure detecting means (52) - drawing chain vibration detecting means (53) - drawing chain temperature detecting means (54) - drawing chain offset detecting means (55)14. Caterpillar drawing machine (10) according to claim 12 or 13, characterised in that the measurement variable detecting means (40) comprise drive train measurement variable detecting means (60) from the following drive train measurement variable detecting means group: - chainwheel torque detecting means (61) - chainwheel rotational speed detecting means (62) - chainwheel vibration detecting means (63) - chainwheel temperature detecting means (64)15. Caterpillar drawing machine (10) according to any one of claims 12 to 14, characterised in that the measurement variable detecting means (40) comprise chassis measurement variable detecting means (70), in particular from the following chassis measurement variable detecting means group: - chassis vibration detecting means (71) - oscillation detecting means (72) - pressing pressure detecting means (73)16. Caterpillar drawing machine (10) according to any one of claims 12 to 15, characterised by material speed detecting means (41).

17. Caterpillar drawing machine according to any one of claims 12 to 16, characterised in that the setting element (80) is a drawing chain setting variable setting element (90), particularly from the following drawing chain setting variable setting element group: - drawing chain speed setting element (91) - drawing chain clamping pressure setting element (92)18. Caterpillar drawing machine according to any one of claims 12 to 17, characterised in that the setting element (80) is a drive train setting variable setting element (100), particularly from the following drive train setting variable setting element group: - setting element (101) for transmission setting - setting element (102) for chainwheel torque - setting element (103) for chainwheel rotational speed.

19. Caterpillar drawing machine (10) according to any one of claims 12 to 18, characterised in that the setting element (80) is a chassis setting variable setting element (110), particularly a pressing pressure setting element (111).

20. Caterpillar drawing machine (10) according to any one of claims 12 to 19, characterised in that the caterpillar drawing machine (10) comprises chain offset detecting means (121) and / or wear detecting means (122) and / or slippage detecting means (123) which uses or use measurement variables intrinsic to the caterpillar draw device.

21. Caterpillar drawing machine (10) according to any one of claims 12 to 20, characterised in that the control unit (130) comprises a chain offset control unit (133) and / or a slippage control unit (134) and / or a chain tension control unit (135).

22. Regulating method for regulating a caterpillar drawing machine (10) according to any one of claims 12 to 21, characterised in that the control unit (31) comprises a neural network, fuzzy logic, artificial intelligence and / or a conventional control program for a programmable computing machine.

23. Regulating method for regulating a caterpillar drawing machine (10) according to any one of claims 12 to 21, characterised in that a drawing chain offset between the chains (12) and / or slippage between the workpiece (20) and at least one drawing chain (12) is or are regulated by setting the at least one setting element (80) or the setting elements (80) in dependence on the measurement variable or variables detected by the measurement variable detecting means (40) and intrinsic to the caterpillar draw device.

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