Self-propelled transport vehicle for transporting receiving containers for slivers and can device

Abstract

The invention relates to a self-propelled transport vehicle (3) for transporting a receiving container (2) for a sliver above a base surface (4) between a sliver-dispensing textile machine and a sliver-feeding textile machine, the transport vehicle (3) has a running gear (24) with a plurality of running wheels, a transport vehicle body (25) which is supported by the running gear (24) and has a transport surface (26) for receiving the containers (2), and a transport device (30) for transporting the containers (2; the invention relates to a transport vehicle (1) comprising a transport vehicle body (25), a fastening element (11.2) for fastening the transport vehicle (2, 202) to the transport vehicle body (25), and an on-board electrical system (23) arranged on the transport vehicle body (25), said on-board electrical system having an electrical energy store (28), an electrical drive unit (32) and a control unit (42), the traveling wheels having two fixed wheels (6, 7) aligned in the longitudinal direction (L) of the transport vehicle, said fixed wheels having a fixed axis of rotation (33, 34) relative to the transport vehicle body (25), the invention is characterized in that the running wheel comprises at least one spring-type support wheel (9), which is supported by a spring device (65; 70) is supported on the transport vehicle body (25) and is configured to be freely pivotable about a pivot axis (A9). The invention also relates to a can device (1) having a receiving container (2) for a sliver and a self-propelled transport vehicle (3).

Description

Technical Field

[0001] The present invention relates to a self-propelled transport vehicle for transporting a receiving container for fiber strips above a base surface between a textile machine that delivers the fiber strips and a textile machine that feeds the fiber strips, wherein the transport vehicle has a travel mechanism with a plurality of running wheels, a transport vehicle body supported by the travel mechanism and having a transport surface for receiving the container, a fastening element for fastening the receiving container to the transport vehicle body, and an on-board power system arranged on the transport vehicle body, the on-board power system having an energy storage device, an electric drive unit and a control unit, wherein the running wheels have two fixed wheels aligned in the longitudinal direction of the transport vehicle, and the fixed wheels have a rotation axis fixed relative to the transport vehicle body. The present invention also relates to a can device having a receiving container for fiber strips and a self-propelled transport vehicle. Background Art

[0002] Typically, several hundred spinning cans (also called fiber cans or cans for short) are used in spinning mills, which are still mainly moved manually between the individual textile machines. This requires a high level of personnel input. In order to reduce the personnel input, efforts have been made for decades to automate the can transport.

[0003] CN 212685777U discloses a self-propelled transport vehicle, a so-called automatic guided vehicle (AGV for short), which automatically carries and transports spinning cans. This transport vehicle has an adjustable clamping device that can be adapted to different can sizes. The can is placed on the transport vehicle by a transfer device and fixed by clamping devices attached to the can from the outside. After the transport vehicle has transported and unloaded the can again, the transport vehicle is ready for transporting the next can. Summary of the invention

[0004] The object of the present invention is to provide a self-propelled transport vehicle which can be better integrated into the continuous operation of a spinning mill and which can be manufactured at low cost and is easy to maintain. The object of the present invention is also to provide a can device which can be better integrated into the continuous operation of a spinning mill and which can be manufactured at low cost and is easy to maintain.

[0005] This object is achieved by a self-propelled transport vehicle of the type mentioned at the outset in that the travel wheels comprise at least one sprung support wheel which is supported on the transport vehicle body by means of a spring device and is designed to be freely pivotable about a pivot axis.

[0006] In the context of this description, for the sake of simplicity, the expression "at least one spring-loaded support wheel" is often used instead of "at least one spring-loaded support wheel". Of course, this does not exclude that the travel wheel may include more than one spring-loaded support wheel. If the exact number of spring-loaded support wheels is important, for example exactly one, two or more than two, this will be indicated accordingly.

[0007] The advantage is that a self-propelled transport vehicle designed for transporting a receiving container can be integrated into the continuous operation of a spinning mill like a conventional spinning can. Therefore, there is no need to modify or otherwise adjust the mechanical equipment of the spinning mill, thereby making the self-propelled transport vehicle better integrated into the continuous operation of the spinning mill. The spring device (spring part for short) is part of the travel mechanism. The spring device bears the weight of the structure and should ensure that the structure, especially the receiving container that may be filled with fiber strips to be carried, remains stable and some stimulations brought by the base surface are not directly transmitted to the structure. With the help of spring-type support wheels, the transport vehicle can also travel on inclined raised or lowered surfaces under load, such as the slope on the can changer of a textile machine. Through the spring-type support wheels, the running wheels also maintain contact with the ground even on an inclined base surface. In addition, the free pivotability of the spring-type support wheels also allows 360-degree pivoting movement, so that the support wheels can follow any driving direction of the transport vehicle without hindrance. Therefore, the spring-type support wheels provide a simple possibility for improving the stability of the transport vehicle in a low-cost and easy-to-maintain manner.

[0008] When the transport vehicle rolls over the ground, the spring device allows all the traveling wheels to come into contact with the base surface. For example, the spring device may include a spiral spring and, if necessary, a wheel guide, such as a wheel guide damper. Alternatively or additionally, the spring device may have at least one torsion spring, in particular a spring with legs. This may be a spatially wound bending spring made of spring wire, which may have a cylindrical spring body. Legs may be connected to the spring body, wherein the wheel axle of the support wheel may be supported on a first leg and the transport vehicle body may be supported on a second leg. The spring device may include a double-leg spring, which may consist of two torsion springs or springs with legs connected to each other.

[0009] The fixed wheels cannot be turned and are preferably always aligned in the longitudinal direction of the transport vehicle. In particular, the fixed wheels are arranged on the transport vehicle body in a non-sprung manner. Within the scope of this specification, "non-sprung" should preferably be understood as being unable to move in the longitudinal direction of the transport vehicle. The rotation axes of the two fixed wheels can be on an imaginary straight line. The imaginary straight line divides the transport vehicle body into a front section and a rear section in the longitudinal direction of the transport vehicle. The two sections can be at least approximately the same size. In addition, it can be provided that the yaw axis of the transport vehicle intersects the imaginary straight line vertically. The yaw axis can also be referred to as the vertical axis of the transport vehicle and is the axis around which the transport vehicle rotates when it is maneuvered on the base surface. The yaw axis is preferably centered between the two fixed wheels. Therefore, the transport vehicle can rotate in situ. In particular, the yaw axis passes through the center of the transport vehicle body.

[0010] In addition, the drive unit can be connected to at least one of the traveling wheels. Through the spring-type support wheel, even if the ground is uneven and the surface is inclined (for example, the surface of a ramp or the like), it is ensured that the traveling wheel always keeps in contact with the ground, so that at least one driven traveling wheel can transfer the driving power generated by the drive unit to the ground. Preferably, the drive unit is connected to the two fixed wheels. In particular, the drive unit can have an electric motor, in particular a wheel-side motor for each fixed wheel. By changing the speed ratio and / or the direction of rotation (same direction, opposite direction) between the two electric motors, the transport vehicle can be turned in a simple manner. The spring-type support wheel follows the travel path through its free pivotability. Preferably, the two electric motors are connected to each a servo converter, and the servo converter supplies the current required for the movement to the corresponding electric motor. During reverse control, the transport vehicle can rotate in situ. In particular, when there are two driven traveling wheels, instead of a single servo converter, a bidirectional converter can also be provided, or when there are three driven traveling wheels, a multidirectional converter can be provided. Instead of a servo converter, a frequency converter or other means for achieving a set speed can also be used, as long as each electric motor is individually subjected to or performs the speed setting and speed control. It is also advantageous that the transport vehicle does not require an additional transmission, which makes it more cost-effective and easier to maintain. Instead of the advantageous embodiment with two electric motors, the drive unit can also have an electric motor with a transmission that drives two fixed wheels.

[0011] In an extension, the pivot axis of the spring-loaded support wheel can be oriented parallel to the yaw axis. The transport carriage can thus be rotated in situ, or about its yaw axis. The transport carriage can thus be rotated in a space-saving manner, preferably without being swiveled outwards, and can be rotated in situ, for example, below the coiling disk of a textile machine that delivers the fiber sliver.

[0012] In particular, the spring-loaded support wheels support the rear section of the transport vehicle body, so that the transport vehicle can better travel on slopes that eliminate height differences. When the transport vehicle moves forward, the rear section is at the rear, or more precisely, trails the front section of the transport vehicle body.

[0013] In addition, it can be provided that the traveling wheel includes at least one other supporting wheel, which is designed to be freely pivotable around another pivot axis. The at least one other supporting wheel can be supported on the transport vehicle body in a spring-like or non-sprung manner. The at least one other supporting wheel can support the front section in a non-sprung manner. Through the support of the rear section by the spring-like supporting wheel and the support of the front section by the non-sprung supporting wheel, in addition to flat ground, the transport vehicle can also travel particularly well and without tipping on inclined ground such as ramps. In addition, it is avoided that the transport vehicle shakes when traveling on an inclined surface, when traveling over an uneven place of the base surface, and when starting and braking. Alternatively, the at least one other supporting wheel can also support the front section by another spring device, which can be said to be a spring-like supporting wheel.

[0014] In particular, the spring-type support wheel and the at least one other support wheel are also collectively referred to as support wheels, and the pivot axes of the two are parallel to each other and further preferably parallel to the yaw axis orientation. It has been confirmed that it is advantageous for the transport vehicle to be able to turn around in situ due to the site conditions and the large number of cans in the spinning mill. This can be achieved in a simple manner by arranging the fixed wheel together with the two support wheels with reference to the longitudinal center. The running mechanism is preferably designed as four wheels or six wheels. Because in order to further improve stability, the traveling wheel can also include four of the support wheels, so that the transport vehicle can include a total of six of the traveling wheels. In particular, the traveling wheel can include two spring-type support wheels and two non-spring-type support wheels in addition to the two fixed wheels. The spring-type support wheel can support the rear section of the transport vehicle body. The non-spring-type support wheel can support the front section of the transport vehicle body. In principle, the three-point support using three traveling wheels (especially two fixed wheels and one spring-type support wheel) is advantageous in terms of the stability of the transport vehicle on the base surface.

[0015] According to one embodiment, the support wheel and at least one other support wheel can be spaced apart from each other in the transverse direction of the transport vehicle. In particular, the support wheel can be arranged between two fixed wheels in the transverse direction of the transport vehicle, so that the support wheel rolls outside the lane of the fixed wheels above the base surface. In addition, a functional section without a traveling wheel can be constructed between the support wheels, and the functional section extends in the longitudinal direction of the transport vehicle. Components of the on-board power system can be arranged on the functional section. In particular, the functional section extends over the entire longitudinal extension length of the transport vehicle body. In a preferred manner, the on-board power system can have a reading unit, which is configured to detect the guide element arranged on the base surface. The travel path between the textile machines can be always specified by means of the guide element. The reading unit can be arranged on the functional section without a traveling wheel of the transport vehicle body. Thus, it is possible to avoid the traveling wheel rolling over the guide element when rolling over the base surface, thereby protecting them from excessive wear.

[0016] In another embodiment, the size of the transport vehicle can be determined so that in the assembled state where the receiving container contacts the transport surface and is fastened to the transport vehicle body, the receiving container completely covers the running mechanism, the electric drive unit and the electric energy storage device. In addition, the size of the transport vehicle can be determined so that in the assembled state, the receiving container completely covers the transport vehicle body. In other words, the size of the transport vehicle is determined relative to the receiving container or the transport vehicle has an extension length perpendicular to the vertical axis of the transport vehicle, so that the area requirement or functional area of ​​the transport vehicle during operation is at least substantially limited to the size of the placement surface or cross section of the receiving container. The placement surface of the receiving container separated from the transport vehicle is understood to be the ground of the base surface required for the receiving container in the placed state, regardless of whether the receiving container is in contact with the base surface. The functional area of ​​the transport vehicle is the ground area of ​​the base surface covered by the transport vehicle during operation. The structural size of the transport vehicle is determined so that when the receiving container contacts the transport surface and is fastened or assembled on the transport vehicle (= assembled state) by means of a fastening element, the transport vehicle is at least substantially located below the receiving container. "At least substantially" should include here that in the assembled state, the transport trolley is almost completely arranged under the receiving container, wherein only individual components, in particular components of the on-board electrical system, may protrude from the receiving container at the sides if there is a technical need for this. However, in principle, the entire transport trolley can also be completely covered by the receiving container. Therefore, in the assembled state, the running gear, the electrical drive unit and the transport surface are located below the receiving container, that is, they are covered by the receiving container from above in a top view. Therefore, the transport trolley is designed to transport only a single receiving container. Advantageously, the transport trolley is protected as much as possible by the receiving container in the assembled state. The small area requirement also leads to the following advantages: the area requirement and the preferred structural height occupied by the transport trolley in the assembled state are the same as those of a standard can that can be moved manually. This has the advantage that, by using a transport trolley, self-propelled spinning cans can be provided, which can be used in spinning mills without structural adjustments to adapt to existing textile machines.

[0017] In particular, the transport surface can define a support plane. The transport vehicle preferably has no components outside the transport surface that extend beyond the support plane. Advantageously, therefore, no components extend upwards from the support plane through the side of the transport surface from below (i.e. from the running gear). In particular, "on the side of the transport surface" is to be understood as radially outside the transport surface with reference to the vertical axis of the transport vehicle. In this way, the transport vehicle has no interfering components on the side of the transport surface, such as edges, brackets, rods, loading and unloading devices, etc., so that the receiving container to be transported can be placed on the transport vehicle in a simple manner in the assembled state. The transport surface is preferably located in the support plane, which can be oriented parallel to the base surface. Fastening elements can be provided inside the transport surface, i.e. the surface in contact with the receiving container in the assembled state, which fastening elements can in principle extend beyond the support plane, such as bolts, screws or similar elements.

[0018] Thus, in the assembled state, the transport carriage can be moved through the working area of ​​the textile machine, such as the filling position at the can changer or the like, like a conventional manually moved spinning can, and can thus also be used in the working area to perform various movements. For example, the transport carriage can be rotated together with the can turntable of the textile machine, or the transport carriage can be rotated by itself under the winding disk of the textile machine via its drivable chassis.

[0019] Another solution to the aforementioned task is a can device having a receiving container for the fiber strip and the aforementioned self-propelled transport vehicle, which is used to transport or carry the receiving container above a base surface between the textile machine that hands over the fiber strip and the textile machine that feeds the fiber strip. This can device can also be called a "self-propelled can". The receiving container is in contact with the transport surface of the self-propelled transport vehicle and is fastened to the body of the transport vehicle, wherein the receiving container completely covers the travel mechanism, the electric drive unit and the energy storage device. The advantages obtained by the can device according to the invention are the same as those described in conjunction with the transport vehicle according to the invention, so that reference is briefly made to the above description here. It should be understood here that all the embodiments of the transport vehicle mentioned can be converted to the can device and vice versa.

[0020] Furthermore, the receiving container can also completely cover the transport vehicle body. This simplifies the handling of the can arrangement in the daily operation of the spinning mill, since the can arrangement only takes up the space required for a conventional spinning can.

[0021] The can device is modular in design and comprises a self-propelled transport trolley and a receiving container as modules. The modular structure allows the production costs to be reduced, since the transport trolley and the receiving container can be manufactured separately, even by different manufacturers. The transport trolley is "married" to a receiving can and remains permanently connected to it (= assembled state). Preferably, it only needs to be separated in the event of a malfunction of the transport trolley or for maintenance purposes. The purpose of this permanent connection is to be able to omit the operation of loading and unloading the receiving container from the transport trolley, which is considered a disadvantage. Fastening the receiving container to the transport trolley is preferably an assembly step to be performed manually, but in principle it can also be performed by an industrial robot.

[0022] The placement surface of the receiving container can be given by side walls extending in the circumferential direction around the axis of the container. The placement area can be equal to the cross-sectional area of ​​the receiving container. The area requirement of the transport vehicle is at least essentially limited to the size of the placement surface of the receiving container, whereby the can device corresponds as much as possible externally to conventional spinning cans (also called "standard cans") with rollers fastened on the bottom side. The can device preferably has the dimensions of the standard can to be replaced. Therefore, the can device can be moved into the working area of ​​the textile machine like a standard can, such as a filling position at a can changer or a similar position, and can therefore also be used in the working area to perform various movements. Therefore, there is no need to adjust the can device to adapt to the textile machine due to the change from a standard can to a self-propelled can device.

[0023] The receiving container contacts the transport surface of the transport vehicle, which is at most equal to, preferably less than, the placement surface of the receiving container. Preferably, the transport vehicle carries the receiving container, which is spaced apart from the fixed base surface accordingly. The transport surface can be designed to extend perpendicularly to the vertical axis, radially to the vertical axis and / or obliquely, or conically. In a preferred manner, the receiving container has a fixed support structure, which contacts the transport surface. The support structure can be built-in, that is, in the inner space surrounded by the side walls of the receiving container, and can be retreated relative to the lower edge of the receiving container, that is, retreated toward the filling port above the receiving container. The support structure can include a fixed container bottom, which divides the inner space of the receiving container into a filling space that is open upwards for receiving the fiber strips and a technical space that is open downwards in which the transport vehicle is loaded. Thereby, the receiving container is similar to being buckled onto the transport vehicle from above. In the filling space, a particularly spring-loaded disc can be arranged in a known manner, which sinks toward the bottom of the container due to the weight of the fiber strip column increased when it is placed in a circle. The lower side of the container bottom can be in contact with the transport surface in the can device, especially directly in contact. In particular, the receiving container can be supported on the transport surface by the container bottom. The support structure can also have one or more beams, pillars, edges, etc. and can be constructed as a beam-shaped, mesh-shaped or annular support surface. In particular, when the transport surface is radially oriented to the vertical axis, the receiving container can be in contact with the transport surface with its container bottom and clamped relative to the transport surface by means of fasteners, thereby eliminating the need for other support structures. However, the support structure can, for example, include an annular rod in the receiving container, which is supported on the horizontal section of the transport surface so that it can better withstand gravity. Therefore, the support structure does not have to provide dustproof isolation between the filling space and the technical space. More precisely, the advantage is that the smaller strip residues or other dirt accumulated in the filling space can fall down through the technical space and float onto the base surface. If the support structure includes a container bottom that can be constructed as a disc in principle, the container bottom can have at least one hole and further preferably have a plurality of eccentric holes. The holes in the bottom of the container or the recesses in the support structure can be positioned in such a way that dirt falls out in the radially outer edge region of the transport vehicle and preferably outside the functional sections and in particular next to the on-board electrical system. For example, dirt can be discharged in the pivot area of ​​the spring-type support wheels or the support wheels. In principle, however, it is also conceivable to isolate the filling space from the technical space as dust-proof as possible so that the transport vehicle is as free of fiber strand residues as possible. Instead of the fixed container bottom that is usually used in round cans, the receiving container can also have a filling bottom and a support structure, which is often used in rectangular cans and is adjustable in height. The seat plate can be adapted to the cross-section of the inner space of the rectangular can.If the receiving container has the shape of a "rectangular can", a device can be provided for discharging dirt that falls out of the filling space, which is arranged below the movable bottom and guides the dirt laterally into the outer edge area, from where it can then fall onto the base surface.

[0024] In particular, the receiving container and the transport vehicle can be connected to each other by means of fasteners, wherein the fasteners include fastening elements on the transport vehicle side and fastening elements on the container side. According to a first embodiment, the fasteners can be completely covered by the receiving container. Therefore, these fasteners cannot be accessed from the outside when the self-propelled can device is in operation, as in the case of an invisible fastening method, unless the can device is inverted. The fastening elements on the container side can be completely arranged in the technical space and can extend into the technical space parallel to the container axis of the receiving container. The fastening elements on the container side (such as bolts, threaded pins, etc.) can be arranged, in particular molded on the lower side of the support structure. These fastening elements can be inserted into the fastening elements on the transport vehicle side, for example through holes, and then fixed. Preferably, nuts are provided, which are screwed onto the fastening elements on the container side in order to tighten the support structure and the transport vehicle body, for example its seat plate relative to each other. In addition, the fastening elements on the transport vehicle side can be, for example, bolts, threaded pins, etc., which protrude upward from the transport surface on the transport vehicle body, especially on the seat plate, and extend into corresponding holes in the receiving container or pass through these holes. In this way, an invisible fastening method is also provided. According to a second embodiment (which can be used as a supplement or alternative to the first embodiment), the fasteners on the transport vehicle side can extend radially from the vertical axis on the transport vehicle body. This can be, for example, rods, bolts, threaded pins, etc., which extend through the gaps in the side walls of the receiving container. The side walls and the transport surface can be tightened relative to each other by means of nuts. It is also applicable to these embodiments that, in the assembled state, the container axis of the receiving container can coincide with the vertical axis or the yaw axis of the transport vehicle.

[0025] In a preferred manner, the transport trolley is at least substantially installed in the technical space. At least substantially, it should include: on the one hand, as described above, the individual components can protrude laterally from the receiving container, and on the other hand, the travel wheels protrude on the lower side of the receiving container to achieve sufficient ground clearance. The structural height of the transport trolley can be at least 50 mm and at most 260 mm. The structural height can be determined by the spacing between the wheel support plane and the support plane unfolded by the transport surface. In particular, the transport trolley does not have components in the support plane outside the transport surface. In the assembled state, the transport trolley can protrude at least 10 mm and at most 40 mm from the lower side of the receiving container. The depth or extension length of the technical space in the vertical direction can be at least 60 mm and at most 220 mm. Therefore, on the one hand, the depth of the technical space is sufficient to accommodate the transport trolley. On the other hand, the filling volume of the receiving container is only slightly reduced. Therefore, the height of the self-propelled can device can be equal to the height of the standard can, so that this can device can be used without the need to adjust the operation to adapt to the textile machine. Alternatively, the supporting structure, in particular the container bottom, can also end flush with the underside of the receiving container, as in the case of a sleeve. This allows the receiving container to be manufactured cost-effectively. Since such a receiving container has no technical space, a circumferential flange is arranged on the side of the transport vehicle body to protect the transport vehicle, which flange can be flush with the side wall of the receiving container in the assembled state.

[0026] Advantageously, the onboard power system is also covered by the receiving container, wherein there may be technical requirements that individual components are also arranged outside the area covered by the receiving container. One such component may be, for example, a wireless module in order to improve the quality of the wireless connection to a higher-level main control device.

[0027] In particular, the receiving container has an upwardly open filling opening for the fiber strand. When the receiving container is configured as a "round can", the placement surface is round and is correspondingly designed as a rectangle in the case of a "rectangular can". BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The following is a description of preferred embodiments with reference to the accompanying drawings.

[0029] Figure 1 A front view of a can arrangement according to a first embodiment of the invention arranged on a base surface is shown, wherein the can arrangement is modularly constructed and has a receiving container according to the invention and a transport vehicle according to the invention for transporting the receiving container above the base surface;

[0030] Figure 2 Show Figure 1 A rear view of the can device;

[0031] Figure 3 Show Figure 1A simplified cross-sectional view of a can device;

[0032] Figure 4 Show Figure 1 a cross-sectional view of a receiving container;

[0033] Figure 5 Show Figure 1 a bottom view of a receiving container;

[0034] Figure 6 Show Figure 1 A top view of a transport vehicle, wherein only the bottom of the receiving container is indicated by dotted lines in order to indicate the size ratio;

[0035] Figure 7 Show Figure 1 A bottom view of a transport vehicle of FIG. 1 , wherein only the bottom of the receiving container is indicated by dotted lines in order to indicate the size ratio;

[0036] Figure 8 Show Figure 1 A cross-sectional view of a transport vehicle, wherein the transport vehicle is shown on a base surface;

[0037] Fig. 9 Show Figure 1 A schematic diagram of an onboard power system of a transport vehicle;

[0038] Fig.10 Shown in bottom view Figure 1 A can device, the can device is located on a straight section of the travel path, and the straight section of the travel path is represented by a dotted line;

[0039] Fig.11 Show Fig.10 A can device, the can device is located on a straight section of the travel path at a point before the arc section of the travel path;

[0040] Fig.12 Show Fig.11 A can device, the can device is located on an arc section of the travel path;

[0041] Fig.13 Shown in bottom view Figure 1 A can device, the can device is located on a straight line segment of the travel path at a point before an intersection of the travel path, the intersection being indicated by a dotted line;

[0042] Fig.14 Show Fig.13 A can device, the can device is in a right-turning state above the intersection;

[0043] Fig.15 Shows the 90 degree right turn above the intersection Fig.14 The can device;

[0044] Fig.16 A perspective side view shows an embodiment of a sprung support wheel of a transport vehicle according to the invention;

[0045] Fig.17 A sectional view shows an alternative embodiment of a sprung support wheel of a transport vehicle according to the invention. DETAILED DESCRIPTION

[0046] exist Figures 1 to 3 A can device 1 according to one embodiment of the invention is shown. The can device 1, which can also be called a self-propelled can, is modularly constructed and has a receiving container 2 according to the invention for the fiber strip as a first module and a self-propelled transport vehicle 3 according to the invention as a second module, which is used to transport the receiving container 2 above a base surface 4.

[0047] During operation, the can device 1 moves back and forth between textile machines (not shown) on a base surface 4 in order to transport the fiber strip from the textile machine that delivers the fiber strip to the textile machine that feeds the fiber strip. For this purpose, the transport vehicle 3 can follow a number of guide elements 5 arranged on the base surface 4, which define the travel path in the spinning mill. Figures 1 to 3 As shown in , these guide elements 5 can be mounted on the surface of the base surface 4, in particular glued or embedded in the base surface 4. For example, slits and / or other shapes of recesses can be formed in the base surface 4, into which these guide elements 5 can be placed and then epoxy resin or the like can be poured.

[0048] Figures 1 to 3 In order to indicate the orientation of the can arrangement 1 in space, the longitudinal direction X, the transverse direction Y and the vertical direction Z are indicated, which are defined in a Cartesian coordinate system assigned to the can arrangement 1 and are indicated by corresponding arrows. When the can arrangement 1 stands or moves on the base surface 4, the vertical direction Z can be perpendicular to the bottom plane extending from the base surface 4. The terms "lower", "below", "upper" or "above" refer here to the spatial designation of the can arrangement 1 placed on the base surface 4.

[0049] The transport trolley 3 is inserted into the receiving container 2 from below, wherein the running wheels 6, 7, 8, 9 of the transport trolley protrude from the container bottom 10 of the receiving container 2. For sufficient clearance from the ground, the distance S2 of the receiving container 2 from the base surface 4 is between 10 mm and 50 mm, wherein a distance S2 of approximately 20 mm achieves particularly good results.

[0050] The receiving container 2 is in principle detachable, but is permanently connected to the transport vehicle 3. This state can also be called the "assembled state" and is Figures 1 to 3Specifically, fasteners 11 are provided which are not accessible from the outside unless the can device 1 is turned upside down. In this regard, the fasteners 11 may also be referred to as "built-in fasteners" which provide an invisible fastening means.

[0051] exist Figure 4 and Figure 5 Detailed description is given in the figure of the receiving container 2 according to the present invention. The receiving container has a cylindrical side wall 12, which extends coaxially with the container axis A2, which extends parallel to the vertical axis Z. The inner diameter D2 of the inner space surrounded by the side wall 12 is at least 350 mm and at most 1200 mm, and here is 500 mm by way of example. In addition, the receiving container 2 has a supporting structure 13, which is configured as a fixed container bottom in the form of a circular plate, the outer diameter of which is at least substantially equal to the inner diameter D2. The supporting structure 13 (also referred to as the container bottom) is set back and fixedly connected to the side wall 12. "Set back" here means that the container bottom 13 is offset away from the lower side 10 of the container toward the upper side of the receiving container 2 provided with the filling port 14. Thereby, the container bottom 13 divides the inner space into a filling space 15 open upwardly and a technical space 16 open downwardly. The fiber strips can be filled into the filling space 15 through the filling port 14 in a manner known per se and taken out from the filling space again. In the filling space, for example, a disk known per se (not shown) can be arranged, which disk can be spring-loaded, for example, and due to the weight of the fiber strands that increase during coiling, it will sink toward the container bottom 13. On the container bottom 10, a container opening 17 is formed, which can be aligned parallel to the filling opening 14 and through which the transport vehicle 3 can be inserted from below into the technical space 16. The inner diameter of the container opening 17 can be equal to the inner diameter D2 of the interior space, wherein the inner diameter can also be smaller in principle, as long as the transport vehicle 3 can still be placed in the technical space 16.

[0052] The extension length H16 of the technical space 16 in the vertical direction Z is, for example, 50 mm at a minimum and 260 mm at a maximum, and here is 110 mm by way of example. The extension length H15 of the filling space 15 in the vertical direction Z is, for example, 400 mm at a minimum and 1500 mm at a maximum, and here is 1200 mm by way of example. The filling volume of the filling space 15 is therefore about 339 liters here.

[0053] In the assembled state, the receiving container 2 is supported with its container bottom 13 on the transport vehicle 3. In order to fasten the receiving container 2 to the transport vehicle 3, the fastening means 11 comprises container-side fastening elements 11.1, which have, for example, bolts 11.1 oriented parallel to the container axis A2, onto which nuts 11.3 can be screwed. The bolts 11.1 (here, for example, four) can be integrally formed on the bottom underside 18 of the container bottom 13 facing the technical space 16, in particular welded thereto, as in accordance with Figure 5 as visible in the bottom view.

[0054] Furthermore, a bumper 19 is arranged on the receiving container 2. The bumper is arranged on the outer side of the side wall 12 in the circumferential direction around the container axis A2. Figure 5 It can also be seen that the bumper 19 has a C-shaped open annular shape with two ring ends 20. A wall opening 21 is formed in the side wall 12 between the two ring ends 20, which is located on the back side of the receiving container 2. Figure 2 1 shows a rear view of the can device 1, from which it can be seen that the electrical housing 22 of the transport trolley 3 passes through the wall opening 21 and protrudes laterally from the bumper 19. Alternatively, if the receiving container 2 is designed in the form of a sleeve, wherein the container bottom 10 of the receiving container 2 is flush with the container bottom 13, then the bumper 19 can also be arranged on the transport trolley 3. This alternative embodiment is shown in FIG. 19 and will be discussed in detail later.

[0055] exist Figures 6 to 8 The transport vehicle 3 according to the invention is shown in detail in FIG. Figure 6 and Figure 7 The circular contour of the container bottom 13 is drawn in dashed lines only to illustrate that the transport vehicle 3 is substantially covered by the receiving container 2 (more precisely, the container bottom 13) in the assembled state. It can be seen that only the electrical housing 22 of the transport vehicle 3 and some components of the onboard electrical system 23 arranged in or on the electrical housing 22 are located outside the covered area or protrude from this area.

[0056] Specifically, the transport vehicle 3 comprises a running gear 24 having four running wheels 6, 7, 8, 9, a transport vehicle body 25 supported by the running gear 24, a transport surface 26 that can be in contact with the container bottom 13 of the receiving container 2, and an on-board power system 23 arranged on the transport vehicle body 25. In addition, the transport vehicle body 25 has a rigid seat plate 27, wherein the upper side of the seat plate facing away from the running gear 24 contains the transport surface 26. The seat plate 27 has a surrounding surface 56 surrounding the yaw axis A3, which is designed to be exposed radially outward and defines the outer edge 43 of the seat plate 27. The transport surface 26 extends to the outer edge 43 of the seat plate 27. The transport surface 26 is in a support plane E26, which is parallel to the longitudinal direction X and the transverse direction Y and perpendicular to the yaw axis A3 of the transport vehicle 3. The yaw axis A3 is equivalent to the vertical axis of the transport vehicle. Advantageously, the yaw axis A3 extends through the center or center of gravity of the transport vehicle 3. The on-board electrical system 23 is arranged completely below the support plane 26 .

[0057] In order to fasten the receiving container 2 to the transport vehicle 3, the fastening means 11 also comprises fastening elements 11.2 on the transport vehicle side, which cooperate with the fastening elements 11.1 on the container side or are oriented relative to each other in such a way that in the assembled state, the container axis A2 of the receiving container 2 coincides with the vehicle-fixed yaw axis A3 of the transport vehicle 3. The fastening elements 11.2 on the transport vehicle side can comprise through-holes, which are formed in the base plate 27 and in particular in the region of the transport surface 26, and into which the bolts 11.1 on the container side can be inserted. In the assembled state, the bolts 11.1 are inserted into the through-holes 11.2 and the nuts 11.3 are screwed onto the bolts 11.1 from below in order to fasten the container bottom 13 and the base plate 27 relative to each other.

[0058] On-board power system 23 Fig. 9. It has an electrical energy storage device 28, in particular a battery, which is fixedly mounted in the transport vehicle 3, and a charging interface 29 for charging the energy storage device 28 at an external charging station. It goes without saying that the energy storage device 28 can be replaced in the event of a fault. The charging interface 29 can be arranged in the electrical housing 22 so as to be accessible from the outside. The electrical housing 22 is fixed to the transport vehicle body 25 and can be made of a shape-stable plastic. The electrical housing 22 preferably has an end face 30 that is concavely molded. The curvature of the end face 30 is at least approximately the same as the curvature of the side wall 12. If the can device 1 is in contact with another can device 1 or a standard can, this is very advantageous because the other can can be placed against the curved end face 30. For example, if the can device 1 moves relative to another can (the "can to can" principle), this can be the case in a can changer. Furthermore, an on / off switch 31 accessible from the outside may be arranged on the electrical housing 22 in order to be able to manually interrupt the power supply between the energy store 28 and other components of the onboard electrical system 23 .

[0059] Furthermore, the onboard electrical system 23 comprises an electric drive unit 32, which is here exemplarily connected to the travel wheels 6, 7 in a driving manner. The two travel wheels 6, 7 are designed as fixed wheels, which are aligned in the longitudinal direction X and are arranged spaced apart from each other in the transverse direction Y. They have fixed rotation axes 33, 34 relative to the transport vehicle body 25, and both are located on an imaginary straight line perpendicular to the yaw axis A3 of the running gear 3. Figure 6 and Figure 7 As can be seen in FIG. 1 , the imaginary straight line and the diagonal line D2 of the container bottom 13 represented by the dotted line are parallel to each other and are in a common plane. The imaginary straight line divides the transport vehicle body 25 into a front section 35 and a rear section 36 in the longitudinal direction X. The two sections 35 and 36 can be of the same size, so that the imaginary straight line is in the middle plane E3 where the transport vehicle transverse axis Y and the yaw axis A3 are unfolded. The transport vehicle body 25 can be constructed symmetrically to the middle plane E3. The electrical housing 22 is fixed to the rear section 36 and protrudes from the rear edge 37 of the transport vehicle body 25.

[0060] The drive unit 32 has an electric motor 38, 39, in particular a wheel motor, for each fixed wheel 6, 7. The electric motors 38, 39 configured as wheel motors can be integrated into the fixed wheels 6, 7. The electric motors 38, 39 are arranged on the housing pillars 40 extending from the seat plate 27 of the transport vehicle body 25, so that the fixed wheels 6, 7 remain behind the support plane E26. In addition, the drive unit 32 has a servo converter for each electric motor 38, 39, which are structurally combined into a two-way converter 41 here. Instead of the servo converter, a frequency converter or other methods for realizing the specified speed of the electric motors 38, 39 can also be used. The two-way converter 41 is connected to the two electric motors 38, 39 and the electric energy storage device 28. With the help of the two-way converter 41, the two electric motors 38, 39 can be operated in the same direction or in the opposite direction and at the same or different speeds. Thus, the transport vehicle 3 can turn and can also rotate in situ during reverse control, or rotate around the yaw axis A3. In order to control the electric motors 38 , 39 , the bidirectional converter 41 is connected to a control unit 42 of the onboard electrical system 23 .

[0061] The control unit 42 is a programmable controller with a programmable storage medium, configured to control the transport vehicle 3. It is exemplarily constructed as a single device here and is installed in a control housing. The control housing is fastened to the transport vehicle body 25, in particular to the lower side of the seat plate 27. In order to monitor the energy storage device 28, the on-board power system 23 can have a battery management system. For this purpose, the control unit 42 can be connected to the energy storage device 28. In order to communicate with a higher-level main control device, a textile machine or a mobile device (smartphone, tablet computer, etc.), the control unit 42 can be connected to a wireless module 44, which can be installed in the electrical housing 22.

[0062] Furthermore, the onboard power system 23 has a reading unit, which is configured to detect the guide element 5 arranged on the base surface. The reading unit 45 is preferably arranged only on a functional section 46 of the transport vehicle body 25, which is configured between the two fixed wheels 6, 7 in the transverse direction Y. The functional section 46 has a width B46, or an extension in the transverse direction Y, of at least 250 millimeters and a maximum of 1200 millimeters, and extends in the longitudinal direction X through the front section 35 and the rear section 36. The transport vehicle 3 is thereby dimensioned for the transport of the receiving container 2, which is configured here as a "round can". In order to be able to be mounted on the receiving container 2, which is configured as a "rectangular can", the dimensions of the transport vehicle 3 are correspondingly reduced. The functional section 46 can then also have a width of at least 150 millimeters and at most 1200 millimeters.

[0063] The reading unit 45 comprises a magnetic tape reader 47, which is configured for contactless detection of the direction of the guide element 5 designed as a magnetic tape 5.1. The magnetic tape reader 47, which can also be referred to as a magnetic scanner, is arranged at the front end of the transport vehicle body 25 in the main driving direction (forward driving) or in the longitudinal direction X. The magnetic tape reader 47 has a sensor housing, in which a plurality of sensors (e.g. eight) are arranged at intervals in the transverse direction Y. The width of the sensor housing, or the extension length in the transverse direction Y, can be between 50 mm and 200 mm. The distance between the sensor and the base surface, or the distance from the wheel support plane E24 unfolded from the fixed wheels 6, 7, which coincides with the bottom surface plane when driving over the base surface 4, can be between 20 mm and 50 mm. The width of the magnetic strip can be between 6 mm and 50 mm. In addition, the reading unit 45 has an RFID tag reader 48, which is configured for reading out the information of the guide element 5 designed as an RFID tag 5.2. The RFID tag reader 48 can also be referred to as an RFID reading device. The RFID tag reader 48 is arranged below the seat plate 27, on a frame (49) fastened to the seat plate 27, so that the RFID tag reader 48 is kept close to the base surface 4, especially the guide element 5.2, when the transport vehicle 3 is running. The frame 49 surrounds the energy storage device 28 here, so that the energy storage device is arranged between the seat plate 27 and the RFID tag reader 48 in the vertical direction Z.

[0064] With the aid of the RFID tag reader 48, for example, address information can be read from the RFID tag 5.2 and transmitted to the control unit 42. The RFID tag 5.2 is usually less than 50 mm in diameter. To protect the onboard power system 23, an underbody guard 50 is arranged from below, which is arranged on the transport vehicle body 25 and may have a gap 51 in the area of ​​the RFID tag reader 48.

[0065] The structural height H3 of the transport trolley 3 is, for example, 140 millimeters here. The transport trolley 3 ends at the transport surface 26 upwards. The structural height H3 is therefore determined by the distance between the transport surface 26 and the base surface 4 or the wheel support plane E24. The transport trolley 3 therefore has such a compact structural form that in the assembled state it at least substantially disappears under the receiving container 2 or its container bottom 13. Only individual components, in particular components of the on-board electrical system 23, may protrude laterally from the container bottom 13, as there is a technical need for this. This can be, for example, a charging interface 29, an on / off switch 31 and a wireless module 44, which are arranged in or on the electrical housing 22. Therefore, in the assembled state, the running gear 24, the electric drive unit 32, the electrical energy storage device and the transport surface 26 are completely covered. In addition, as shown in FIG. Figures 1 to 8As can be seen in the figure, the receiving container 2 or its container bottom 13 can also completely cover the seat plate 27 and the fastening element 11 and at least substantially cover the onboard power system 23. In particular, the control unit 42 and the reading unit 45 can be covered by the onboard power system 23.

[0066] In addition, Figure 7 It can be seen that the running wheels 8, 9 are also arranged in the transverse direction Y between the two fixed wheels 6, 7 and are arranged eccentrically with respect to the longitudinal axis L of the transport vehicle and supported on the transport vehicle body 25. Therefore, the running wheels 8, 9 roll over the base surface outside the path of the fixed wheels 6, 7. Their transverse spacing with respect to the longitudinal axis L of the transport vehicle is, for example, about 90 mm in each case here, so that the two running wheels 8, 9 have a spacing of about 180 mm relative to each other in the transverse direction Y. A functional section 46 is formed between the running wheels 8, 9, which is therefore independent of the running wheels 6, 7, 8, 9, in order to protect the guide element 5 during the operation of the can device 1. In principle, however, the running wheels 8, 9 can also be arranged centrally, that is, on the longitudinal axis L of the transport vehicle.

[0067] The traveling wheels 8, 9 are designed as support wheels, which can be pivotally held on the transport vehicle body 25 about respective pivot axes A8, A9, which are oriented parallel to the vertical axis Z. The support wheels 8, 9 can be freely pivoted about the pivot axes A8, A9, so that they can pivot 360 degrees or more. The support wheel 8, which can also be referred to as the front support wheel, is supported on the front section 35, and the support wheel 9, which can also be referred to as the rear support wheel, is supported on the rear section 36. The front support wheel 8 is non-sprung and the rear support wheel 9 is sprung on the transport vehicle body 25. The spring part of the sprung support wheel 9 thus provides a suspension on the transport vehicle body 25 or a support for the transport vehicle body 25 that is movable parallel to the vertical axis of the transport vehicle. In order to improve the stability of the transport vehicle 3, the support wheels 8, 9 can be arranged as far as possible on the outside of the transport vehicle body 25, and as Figure 3 As shown only by the dotted line 57 in the figure, they are located on an imaginary circular line. However, in principle, the support wheels 8 and 9 can also be arranged at different distances from the middle plane E3, and the two rotation axes 33 and 34 are located in this middle plane. Advantageously, the center of gravity of the transport vehicle 3 is located in the middle plane E3, and the transport vehicle transverse axis Q also extends in this middle plane, or the center of gravity is at least as close to the yaw axis A3 as possible. This improves the stability of the can device 1 when it rotates in situ. In order to further improve the stability, two additional support wheels (not shown) can be provided. For example, a second non-sprung support wheel can be arranged on the front section 35 and a second sprung support wheel can be arranged on the rear section 36. The two additional support wheels can be arranged on the imaginary circular line and on the extension of the corresponding support wheels 8 and 9.

[0068] exist Fig.16 , a spring-type support wheel 9 is shown, which, like the non-sprung support wheel 8, also has a running roller 64, which is rotatably supported about a rotation axis 68 oriented perpendicular to the pivot axis A9. The running roller 64 of the spring-type support wheel 9 is supported on the transport vehicle body 25 by a spring device 65. Therefore, the spring device 65 can realize the movable suspension of the running roller 64 on the transport vehicle body 25 parallel to the vertical axis of the transport vehicle, or the movable support of the running roller on the transport vehicle body 25 parallel to the vertical axis of the transport vehicle. A bearing 67 (for example, a pressure bearing) and a fixing plate 66 are arranged between the transport vehicle body 25 and the spring device 65, and the support wheel 9 is fastened (for example, fixed with screws) to the transport vehicle body 25 by means of the fixing plate. The support wheel 9, in particular the running roller 64 supported on the transport vehicle body 25 by the spring device 65, can be freely pivoted about the pivot axis A9 by means of the bearing 67.

[0069] exist Fig.17 An alternative to the spring-type support wheel 9 is shown in longitudinal section. Fig.16 The spring device 70 has a spring damping element 71 with a coil spring 72 and a piston 73. Therefore, the spring device 70 can also realize the movable suspension of the travel roller 64 on the transport vehicle body 25 parallel to the vertical axis of the transport vehicle, or the movable support of the travel roller 64 on the transport vehicle body 25 parallel to the vertical axis of the transport vehicle. The travel roller 64 of the support wheel 9 that can freely pivot about the pivot axis A9 is rotatably supported about the rotation axis 68 oriented perpendicular to the pivot axis A9.

[0070] exist Figures 10 to 15 1 shows different situations that may occur during the operation of the can device 1 or the transport carriage 3 when traveling along the guide elements 5 on the base surface 4. In order to better illustrate the travel characteristics of the transport carriage 3, the underside of the transport carriage 3 is shown from a perspective from below through the base surface 4, which is shown transparently for the purpose of illustration. The guide elements 5 arranged on the base surface 4 are shown with dashed lines.

[0071] Along Fig.10 When traveling in the main direction of travel (forward travel) indicated by the arrow F in the figure, the transport vehicle 3 follows the magnetic tape strip 5.1. To this end, the control unit 42 controls the electric motors 38, 39 with the aid of signals received from the magnetic strip reader 47 located in front in the main direction of travel F, so that the magnetic tape strip 5.1 is kept centered between the two fixed wheels 6, 7. When traveling in a straight line, the two electric motors 38, 39 run in the same direction and at the same speed. The support wheels 8, 9 are also aligned in the main direction of travel F.

[0072] exist Fig.11In FIG. 4 , the transport vehicle 3 approaches the right curve indicated by the magnetic tape strip 5, wherein the transport vehicle 3 is still traveling in a straight line. As soon as the magnetic tape strip 5.1 leaves the center of the sensor range of the magnetic tape reader 47 (center deviation), the sensor occupancy image changes. Fig.12 It can be seen that the tape strip 5.1 has now moved into the detection range of the sensor of the tape reading device 47, which is arranged toward the inside of the curve. With the help of the sensor occupancy image that changes during travel, the control unit 41 can determine to what extent a readjustment is required in order to keep the transport vehicle 3 as centered as possible above the tape. This is achieved by adjusting the rotation speeds of the electric motors 38, 39 relative to each other. The further the tape strip 5.1 is from the center, the greater the speed difference needs to be. The freely pivotable support wheels 8, 9 follow the direction of travel. The steering of the transport vehicle 3 is therefore achieved only by changing the rotation speed of the electric motors 38, 39.

[0073] exist Fig.13 In the figure, the transport vehicle 3 approaches an intersection 55, for example, where four paths meet, which are specified by four magnetic tape strips 5.1a, b, c, d. An RFID tag 5.2 is arranged at the center of the intersection 55, which is spaced apart from the magnetic tape strip 5.1. Address information is stored in the RFID tag 5.2, which makes the intersection 55 uniquely identifiable. The transport vehicle 3 will continue to travel in a straight line until the RFID tag reader 48 detects the RFID tag 5.2. In order to prevent the control unit 42 from searching for the magnetic tape strip 5.1 by turning movement due to the spacing between the magnetic tape strip 5.1a and the RFID tag 5.2, a delay (delay) can be stored in the control unit 42, which is long enough (for example, 1-2 seconds) so that the transport vehicle 3 continues to travel in a straight line until the RFID tag reader 48 detects the RFID tag 5.2. The read RFID data is transmitted to the control unit 42. A fixed route can be stored there. Similarly, the control unit 42 can also communicate with a higher-level main control device and obtain the current driving instructions, so that the transport vehicle 3 can be controlled according to demand.

[0074] exist Fig.14In the situation shown in the figure, the control unit 42 specifies a left turn in order to turn at the intersection 55. The control unit 42 rotates the transport vehicle 3 at the intersection 55 by operating the electric motors 38 and 39 at opposite speeds. The electric motor 38 on the left turns the fixed wheel 6 on the left backward and the electric motor 39 on the right turns the fixed wheel 7 on the right forward. The transport vehicle 3 rotates in situ around its yaw axis A3 and is therefore kept above the center of the intersection 55. The RFID tag reading device 48 keeps the RFID tag 5.2 within the detection range or below it during the entire rotation process. After performing a 90-degree turn, the transport vehicle 3 follows the magnetic tape strip 5.1d in the main driving direction F until it reaches another RFID tag. In addition to the 90-degree turn shown here, any other rotation angle is also possible. At the end of the driving path, there may be textile machines, charging positions, can stores, etc., which can be marked with RFID tags.

[0075] The advantage of the above-described arrangement of the tape strips 5.1a ... 5.1d at a distance from each other at the intersection 55 is that the path specified by the guide element 5 can be passed in both directions. If this is not desired, for example because a specific path direction needs to be specified to prevent collisions (such as in the case of a one-way street), a continuous tape strip can also be arranged at the intersection 55, which tape strip, for example, extends without interruption through the tape strips 5.1a and 5.1c. The RFID tag 5.2 can then be mounted on the tape strips 5.1a, 5.1c.

[0076] When the transport vehicle 3 or the can device 15 travels up a slope (not shown), the spring part of the rear sprung support wheel 9 can be compressed. As a result, the driven fixed wheels 6, 7 remain in contact with the ground, so that inclined surfaces can also be driven independently.

[0077] Reference numerals list

[0078] 1 drum device 44 wireless modules

[0079] 2 receiving container 45 reading unit

[0080] 3 Transporter 46 Functional Section

[0081] 4-base 47 tape reading device

[0082] 5 guide element 48 RFID tag reading device

[0083] 6 traveling wheels, or fixed wheels 49 racks

[0084] 7 traveling wheels, or fixed wheels 50 bottom guard plate

[0085] 8 travel wheels, or support wheels 51 gap

[0086] 9 Travel wheels, or support wheels 52 Safety devices

[0087] 10 Container bottom side 53 touch sensor mechanism

[0088] 11 Fasteners 54 Safety relays

[0089] 12 side wall 55 intersection

[0090] 13 support structure 56 surrounding surface

[0091] 14 filling port 57 round wire

[0092] 15 filling space 64 travel roller

[0093] 16 Technical Space 65 Spring Device

[0094] 17 container mouth 66 fixed plate

[0095] 18 Bottom lower side 67 bearing

[0096] 19 bumper 68 rotation axis

[0097] 20 ring end 69 double leg spring

[0098] 21 wall opening 70 spring device

[0099] 22 electrical housing 71 spring damping element

[0100] 23 On-board power system 72 Coil spring

[0101] 24 Traveling mechanism 73 Piston

[0102] 25 Transport vehicle body

[0103] 26 Transportation

[0104] 27 Seat Plate

[0105] 28 Energy storage device

[0106] 29 Charging port

[0107] 30 End face

[0108] 31 On / Off switch

[0109] 32 drive unit A axis

[0110] 33 The horizontal extension length or width of the rotation axis B

[0111] 34Diameter or diagonal of the axis of rotation D

[0112] 35 front section E plane

[0113] 36 Rear section F Main driving direction

[0114] 37 The vertical extension length of the rear edge H, or the height

[0115] 38 Electric Motor L Transporter Longitudinal Axis

[0116] 39 Electric motor S spacing

[0117] 40 Shell support Q transport vehicle horizontal axis

[0118] 41 double converter X vertical

[0119] 42 Control unit Y horizontal

[0120] 43 outer edge Z vertical direction

Claims

1. A self-propelled transport vehicle (3) for transporting a receiving container (2) for fiber slivers over a base surface (4) between a textile machine that delivers the fiber slivers and a textile machine that feeds the fiber slivers, wherein: The transport vehicle (3) comprises a running gear (24) with a plurality of running wheels, a transport vehicle body (25) supported by the running gear (24), the transport vehicle body (25) having a transport surface (26) for the receiving container (2), a number of fastening elements (11.2) for fastening the receiving container (2; 202) to the transport vehicle body (25), and an on-board power system (23) arranged on the transport vehicle body (25), the on-board power system having an electric energy storage The invention relates to a transport vehicle having a plurality of moving wheels, wherein the moving wheels have two fixed wheels (6, 7) aligned in the longitudinal direction (L) of the transport vehicle, and the fixed wheels have a rotation axis (33, 34) fixed relative to the transport vehicle body (25), and the moving wheels include at least one spring-type support wheel (9), which is supported on the transport vehicle body (25) by a spring device (65; 70) and is configured to be freely pivotable about a pivot axis (A9).

2. The self-propelled transport vehicle (3) according to claim 1, characterized in that: An imaginary straight line connected to the rotation axes (33, 34) of the fixed wheels (6, 7) divides the transport vehicle body (25) into a front section (35) and a rear section (36) in the longitudinal direction (L) of the transport vehicle.

3. The self-propelled transport vehicle (3) according to claim 2, characterized in that: A yaw axis (A3) of the transport vehicle (3) intersects the imaginary straight line perpendicularly.

4. The self-propelled transport vehicle (3) according to claim 2 or 3, characterized in that: The at least one sprung support wheel (9) supports the rear section (36) of the transport vehicle body (25).

5. The self-propelled transport vehicle (3) according to any one of claims 2 to 4, characterized in that: The travel wheels comprise at least one further support wheel (8) which is designed to be freely pivotable about a further pivot axis (A8), wherein the at least one further support wheel (8) supports the front section.

6. The self-propelled transport vehicle (3) according to claim 5, characterized in that: The at least one further supporting wheel (8) supports the front section (35) in a non-sprung manner.

7. The self-propelled transport vehicle (3) according to claim 5, characterized in that: The at least one further supporting wheel (8) supports the front section (35) via a further spring device.

8. The self-propelled transport vehicle (3) according to any one of claims 5 to 7, characterized in that The at least one spring-loaded support wheel (9) and the at least one further support wheel (8) are spaced apart from one another in the transverse direction (Q) of the transport vehicle, wherein a functional section (46) without a travel wheel is constructed between the at least one spring-loaded support wheel (9) and the at least one further support wheel (8), the functional section extending in the longitudinal direction (L) of the transport vehicle.

9. The self-propelled transport vehicle (3) according to claim 8, characterized in that: A reading unit (45) is arranged on the functional section (46) of the transport vehicle body (25), and is used to detect a guide element (5) arranged on a base surface (4).

10. The self-propelled transport vehicle (3) according to any one of claims 1 to 9, characterized in that: The drive unit (32) is drive-connected to the two fixed wheels (6, 7), and each fixed wheel (6, 7) has an electric motor (38, 39), in particular a wheel motor.

11. The self-propelled transport vehicle (3) according to any one of claims 1 to 10, characterized in that: The dimensions of the transport vehicle (3) are determined in such a way that in the assembled state in which the receiving container (2) is in contact with the transport surface (26) and fastened to the transport vehicle body (25), the receiving container (2) completely covers the chassis (24), the electric drive unit (32) and the electric energy storage device (28).

12. The self-propelled transport vehicle (3) according to any one of claims 1 to 11, characterized in that The transport surface (26) defines a support plane (E26), wherein the transport vehicle (3) has no components that protrude beyond the transport surface (26) and beyond the support plane (E26).

13. A can device (1) having a receiving container (2) for a fiber strip and a self-propelled transport vehicle (3) for transporting the receiving container (2) over a base surface (4) between a textile machine that delivers the fiber strip and a textile machine that feeds the fiber strip, characterized in that: The self-propelled transport vehicle is designed according to one of claims 1 to 12, wherein the receiving container (2) is in contact with the transport surface (26) of the transport vehicle (3) and is fastened to the transport vehicle body (25).

14. The can device according to claim 13, characterized in that The receiving container (2) has a retracted support structure (13) which is in contact with the transport surface (26), wherein the support structure (13) divides an inner space of the receiving container (2) into an upwardly open filling space (15) for receiving the fiber strips and a downwardly open technical space (16) in which the transport vehicle (3) is loaded.

15. The can device according to claim 13 or 14, characterized in that The receiving container (2) completely covers the chassis (24), the electric drive unit (32) and the electric energy storage device (28).

Images