Self-propelled transport vehicle for transporting receiving container for sliver and can device having receiving container

Abstract

The invention relates to a self-propelled transport vehicle (3) for transporting a receiving container (2; 2 ') for a sliver above a base surface (4) between a sliver-dispensing textile machine and a sliver-feeding textile machine; 102, 104; 202), the transport vehicle (3) having a running gear (24) with a plurality of running wheels (6, 7, 8, 9), a transport vehicle body (25) supported by the running gear (24), a transport vehicle body (20) which is arranged on the transport vehicle body (25) and on which the receiving container (2; 102, 104; 202) for transporting the receiving container (2; 102, 104; 202) on the transport vehicle body (25), and an on-board electrical system (23) arranged on the transport vehicle body (25), said system having an electrical energy store (28), an electrical drive unit (32) and a control unit (42), characterized in that the transport vehicle (3) is dimensioned in such a way that the receiving container (2; 102, 104; in an assembled state in which the receiving container (2) is placed on the transport surface (26) and fastened to the transport vehicle body (25), the container bottom (13) of the receiving container (2) completely covers the chassis (24), the transport vehicle body (25), the electric drive unit (32) and the electric energy store (28). The invention further relates to a can device (1; 100, 100; 200), comprising a self-propelled transport vehicle (3) and a receiving container (2; 102, 104; 202) for a vehicle.

Description

Technical Field

[0001] The present invention relates to a self-propelled transport vehicle for transporting or carrying a receiving container for fiber strips between a textile machine that delivers fiber strips and a textile machine that feeds fiber strips above a base surface, 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 the receiving container, fasteners 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 electric energy storage device, an electric drive unit, and a control unit. 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 a spinning mill, which are still mainly transported manually between the individual textile machines. This is associated with 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] DE 35321721 discloses a transport system for spinning cans with transport carriages which follow induction coils placed in the spinning mill floor.

[0004] 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.

[0005] DE 3621370A1 discloses an automatically controlled transport trolley, comprising a travel frame with an electric motor for travel drive and four running wheels, which are located on two turned travel axes. The transport trolley has a loading and unloading device for spinning cans in the form of a gripper arranged on the travel frame. This gripper has two horizontal telescopic cylinders and can be moved outside the transport trolley so that the can to be transported can can be gripped and pulled onto the transport surface of the transport trolley equipped with roller guides. The gripper also has a pressure cylinder to surround the can from the outside, wherein the clamping part of the gripper is bent opposite to the round surface of the can. During transportation, the can is placed between the running wheels.

[0006] Another self-propelled transport vehicle for transporting spinning cans is known from CN 113668102A. The transport vehicle has a base, which is mounted on a travel structure equipped with a stepper motor. The base is equipped with a can placement area that is driven in a rotatable manner, on which the spinning can can be mounted and rotated around the can axis when necessary. The can placement area is surrounded by an annular edge of the base, and a support structure extends vertically from the edge. A mechanical arm with left and right side arms is provided at the upper end of the support structure. The two side arms form a hoop-like structure for fixing and receiving the spinning can. The left and right side arms are respectively provided with a control circuit, and both control circuits are connected to a controller, which controls the reception and placement of the spinning can through the mechanical arm. In addition, the mechanical arm adopts six degrees of freedom, including an arm, an elbow and a hand connected in sequence, and can be flexibly adjusted to receive and place the spinning can as required. It is considered disadvantageous that in the known system, the spinning can must be placed high before it can be loaded onto the transport trolley or unloaded from the transport trolley again. Furthermore, such transport carriages require actuators and various separate components for loading and unloading and for fixing the cans on the transport carriage, which increases the manufacturing costs. In order to reduce costs, however, automatic transport carriages are known, which can transport a plurality of cans simultaneously, as shown in EP 0877107 B2. However, such transport systems are only suitable for applications in which the textile machine has a large number of similar working positions, as is the case with roving frames or open-end spinning machines.

[0007] Another AGV is known from US 2020 / 0306905 A1, in which the cans to be transported are moved on respective rollers. To this end, the AGV approaches the cans standing on a base surface, grips the cans and carries them. The AGV thus operates next to the cans like a human operator. Summary of the invention

[0008] 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 more cost-effectively. 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 more cost-effectively.

[0009] This object is achieved by a self-propelled transport vehicle of the type mentioned at the outset in that the transport vehicle is dimensioned such that in the assembled state in which the receiving container is in contact with the transport surface and fastened to the transport vehicle, the receiving container completely covers the chassis, the transport vehicle body and the electrical drive unit.

[0010] In other words, the size of the transport vehicle is determined relative to the receiving container or the transport vehicle is provided with 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 inner diameter of the inner space surrounded by the receiving container to be transported is preferably a minimum of 350 mm and a maximum of 1200 mm. The functional area of ​​the transport vehicle is the ground area of ​​the base surface covered by the transport vehicle during operation. The structural dimensions of the transport vehicle are determined in this way so that when the receiving container is in contact with the transport surface and is fastened or assembled on the transport vehicle (= assembled state) by means of fastening elements, the transport vehicle is at least substantially located below the receiving container. "At least substantially" here should include: in the assembled state, the transport vehicle is almost completely arranged below the receiving container, wherein only individual components, especially components of the on-board power system, may extend out of the receiving container at the side, if there is a technical need for this. However, in principle, the entire transport vehicle can also be completely covered by the receiving container. Therefore, in the assembled state, the travel mechanism, the electric 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 vehicle is designed to transport only one single receiving container. Advantageously, the transport vehicle is protected by the receiving container as much as possible 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 vehicle in the assembled state are the same as those of the standard cans that can be moved manually. This has the advantage that, by using the transport vehicle, self-propelled spinning cans can be provided, which can be used in the spinning mill without structural adjustments to adapt to existing textile machines. In the assembled state, the transport vehicle travels through the working area of ​​the textile machine like a conventional manually movable spinning can, such as the filling position or the like at the can changer, and can therefore also be used in the working area to perform various movements. For example, the transport vehicle can rotate together on the can turntable of the textile machine, or the transport vehicle can rotate under the coiling disc of the textile machine due to its driven travel mechanism.

[0011] If spatial indications such as "up", "down", "above" and "below" are used, only the relative arrangement of the relevant components with respect to each other is described. These indications refer to a transport vehicle that is placed on a base surface with running wheels. The vertical axis of the transport vehicle is perpendicular to the base surface. The base surface can be the floor of a hall in a spinning mill where textile machines can be placed, a fixed ramp for eliminating height differences, the floor of a can changer of a textile machine, etc. The textile machine that hands over or feeds fibers can be, for example, a spinning preparation machine, such as a drawing frame, a carding machine, a combing machine, a lap machine, etc. and / or a spinning machine, such as a rotor spinning machine, an air spinning machine, a roving machine, etc. According to one embodiment, the transport surface can define a support plane. The transport vehicle preferably has no components that extend beyond the transport surface and extend beyond the support plane. The transport surface is preferably located in the support plane, and the support plane can be oriented parallel to the base surface. In other words, the transport vehicle does not have any components, assemblies, etc. that pass through the support plane from below (i.e. from the running mechanism) through the side of the transport surface upward or extend beyond the support plane. In this way, there are no interfering components such as edges, brackets, rods, handling devices, etc., laterally or externally of the transport surface, thereby making assembly possible in a simple manner. In particular, laterally of the transport surface is to be understood as radially externally of the transport surface with reference to the vertical axis of the transport vehicle. Fastening elements can be provided within the transport surface, i.e. the surface that is in contact with the receiving container in the assembled state, which fastening elements can in principle protrude from the support surface, such as bolts, screws or the like.

[0012] The transport surface can also be constructed on the upper side of the transport vehicle body facing away from the base surface. In addition, the transport surface can be arranged above the traveling wheel in the vertical direction of the transport vehicle. In particular, the transport vehicle ends with the transport surface upward. Therefore, the transport surface can be the surface of the transport vehicle, on which the receiving container is placed in the assembled state. The transport area of ​​the transport vehicle is less than or at most equal to the placement area of ​​the receiving container. When the receiving container is constructed as a "round can", the placement surface is round and is correspondingly rectangular in the case of a "rectangular can". The shape of the transport surface can correspond to the shape of the placement surface, wherein another shape is also possible in principle and may sometimes also be preferred. The transport surface can, for example, be a polygon with a triangle, a square, a pentagon, a hexagon, a heptagon, an octagon or more than an octagon, a star or a similar shape, or it can also be a circle, a ring, a rectangle, etc. The weight of the transport vehicle can be reduced in this way. The transport surface can be a continuous (i.e., uninterrupted) surface or formed by a plurality of independent surfaces spaced apart from each other.

[0013] The transport vehicle body can have a seat plate, wherein the upper side of the seat plate facing away from the running mechanism can include a transport surface. The transport surface extends in particular to the outer edge of the seat plate and the seat plate can extend over the entire upper side of the seat plate. Therefore, in the assembled state, the seat plate belonging to the transport vehicle body is also completely covered by the receiving container. The seat plate is preferably a rigid plate and can be a continuous closed plate, or it can also have holes, gaps, recesses, etc. In particular, the seat plate is molded on the transport vehicle body or removably fastened. Through the removable design, the seat plate can be replaced with seat plates of different sizes in a simple manner so that the transport vehicle is ready for transporting larger or smaller receiving containers. In particular, the fastening elements on the transport vehicle side are constructed on the seat plate.

[0014] The fastening element is preferably designed to securely connect the transport vehicle to a specific receiving container. Therefore, it cannot be replaced during operation. In other words, whether the receiving container is filled with fiber strips or empty, the receiving container remains connected to the transport vehicle. As a result, the transport vehicle does not require a device for loading and unloading the receiving container. Therefore, the transport vehicle has very few components and is generally low-cost and easy to maintain. Preferably, separation is only required when the transport vehicle fails or for maintenance purposes, so that another transport vehicle can be equipped with the receiving container when necessary, and vice versa. In particular, the fastening elements on the transport vehicle side can cooperate with the fastening elements on the container side in the assembled state. For this purpose, fasteners that can be manually disassembled (such as threaded connections) are particularly suitable.

[0015] According to the first embodiment, the fastening elements can be arranged on the transport vehicle body and preferably on the seat plate so that these fastening elements are covered by the receiving container in the assembled state. In this way, an invisible fastening method can be provided. The fastening elements on the transport vehicle side can be, for example, holes configured on the transport vehicle body, especially on the seat plate, which cooperate with the fastening elements (such as bolts and nuts) on the container side. These holes can be oriented parallel to the vertical axis so that the receiving container can be placed on the transport vehicle from above in a simple manner and fastened to the transport vehicle body. The nut can be screwed on the bolt protruding through the hole from below. The fastening elements on the transport vehicle side can be arranged in the support plane unfolded by the transport surface or further retreated. Similarly, the fastening elements on the transport vehicle side can be bolts, which extend upward from the transport vehicle body, especially the seat plate, to the transport surface. These bolts can be oriented parallel to the vertical axis so that the receiving container can be placed on the transport vehicle from above in a simple manner and fastened to the transport vehicle body. For this purpose, the receiving container has holes aligned with the bolts so that the receiving container placed on the transport surface can be fastened relative to the base plate, for example by means of nuts. Conventional spinning cans can also be retrofitted in this way by adding holes in the can base for fastening elements on the transport vehicle side.

[0016] According to a second embodiment, which can be an alternative to the first embodiment, some fastening elements on the transport vehicle side can protrude from the side of the transport vehicle body, or more precisely, can be oriented radially to the vertical axis. These fastening elements can be, for example, integrally formed rods, in particular with threaded sections, or bolts, in particular bolts, which are inserted after the receiving container is placed, and which can cooperate with fastening elements on the container side, which can be, for example, recesses (such as round drill holes or slots) formed in the side walls of the receiving container, or grooves open at the bottom. The receiving container can thus be placed on the transport vehicle from above in a simple manner and fastened to the transport vehicle by means of nuts screwed onto the bolts. The nuts can be screwed onto the bolts protruding through the recesses from the outside.

[0017] The fastening element on the transport vehicle side can realize the centering of the receiving container on the transport vehicle, so that the container axis of the receiving container to be transported or carried and the vertical axis or yaw axis fixed on the transport vehicle can coincide. The yaw axis particularly extends through the center or the center of gravity of the surface of the seat plate. In addition, the seat plate has a surrounding surface surrounding the yaw axis, which is designed to be exposed radially outward. In this way, the seat plate does not protrude radially from the receiving container in the assembled state, but is completely covered by the receiving container. Therefore, the size of the seat plate can be determined so that the surrounding surface ends flush with the side wall of the receiving container in the assembled state or is radially retreated relative to the side wall of the receiving container. In the latter case, the receiving container can be buckled onto the transport vehicle similarly from above in the assembled state. According to an embodiment, the fastening element on the transport vehicle side includes a through hole constructed in the seat plate, which extends parallel to the vertical axis. Then, with the help of a nut screwed onto the bolt, the receiving container and the transport vehicle body, especially the seat plate, can be tightened relative to each other. According to another embodiment, the fastening element on the transport trolley side can be arranged on a circumferential surface of the seat pan extending about the vertical axis of the transport trolley.

[0018] In addition, it can be provided that at least two of the traveling wheels are configured as fixed wheels, which are aligned with the longitudinal direction of the transport vehicle and have a rotation axis fixed relative to the transport vehicle body. The fixed wheel cannot therefore turn, but is always aligned with the longitudinal direction. The fixed wheel is preferably arranged on the transport vehicle body in a non-sprung manner. 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, and both can be at least roughly the same size in principle. The yaw axis can be perpendicular to the imaginary straight line. The yaw axis is a vertical axis around which the transport vehicle rotates when dispatching on the base surface. If the yaw axis is perpendicular to the imaginary straight line, the yaw axis intersects the imaginary straight line at right angles. When the receiving container has a cylindrical cross-section, the two rotation axes can be arranged so that the imaginary straight line is on the diagonal of the receiving container. Therefore, the imaginary straight line can be in a middle plane perpendicular to the longitudinal direction. Therefore, the transport vehicle can rotate in situ, or rotate around its yaw axis.

[0019] Furthermore, at least one of the traveling wheels can be designed as a support wheel, which is designed to be pivotable about a pivot axis. The at least one support wheel can preferably be freely rotatable about its pivot axis, which can be oriented parallel to the vertical axis of the transport vehicle. In order to prevent the transport vehicle from tipping over, the at least one support wheel can be arranged transversely between the two fixed wheels. In particular, the at least one support wheel is supported on a front section or a rear section of the transport vehicle body at a distance from the transverse axis of the fixed wheels in the longitudinal direction.

[0020] In a design with a plurality of such support wheels, the support wheels are preferably arranged spaced apart from one another in the transverse direction of the transport vehicle so that a free strip extending in the longitudinal direction of the transport vehicle is provided between the travel wheels and is not affected by the travel wheels. Such a strip can act as a functional section on which components of the onboard electrical system can be arranged. The functional section extends in particular over the entire longitudinal extension of the seat plate and / or the transport vehicle body.

[0021] The traveling wheels can be arranged directly on the transport vehicle body in particular. When the transport vehicle is traveling on the ground, all the traveling wheels are preferably in contact with the base surface. In principle, the three-point support using three traveling wheels (especially two fixed wheels and one supporting wheel) is advantageous in terms of the stability of the transport vehicle on the base surface. However, it has been confirmed that it is advantageous for the transport vehicle to be able to turn around on the spot due to the site conditions and the large number of cans in the spinning mill. This is achieved by arranging the fixed wheels and two supporting wheels in the longitudinal center with reference to the proposed method. The travel mechanism is preferably designed as a four-wheeler. The first supporting wheel can be arranged on the front section and the second supporting wheel can be arranged on the rear section. Another advantage is that the transport vehicle can travel particularly well and without tipping on inclined ground such as ramps in addition to flat ground. It is in line with the purpose that at least one of the two supporting wheels is spring-supported on the transport vehicle body. In particular, only the rear supporting wheel, or the second supporting wheel arranged in the rear section, is spring-type. This prevents the transport vehicle from rocking when traveling on inclined surfaces, when traveling over uneven surfaces, and when starting and braking.

[0022] In addition, it can be provided that the drive unit is connected to at least one driving of the traveling wheel. The at least one supporting wheel or multiple supporting wheels can be non-driven and can rotate freely around respective pivot axes. Other driving concepts are equally conceivable and achievable. For example, in a four-wheeled traveling mechanism, one of the two fixed wheels and the two supporting wheels can be non-driven and the other supporting wheel, especially the front supporting wheel, can be driven. In a three-wheeled traveling mechanism, the two fixed wheels can be non-driven and the only supporting wheel is driven, or vice versa. In this case, the two fixed wheels are arranged on the transport vehicle body eccentrically (i.e., more forward or more backward) with respect to the longitudinal direction. The only supporting wheel can be arranged in front or in the back accordingly, i.e., arranged in front of or behind the fixed wheel in the longitudinal direction.

[0023] The drive unit can have an electric motor for each driven traveling wheel. These electric motors can be wheel motors in particular. They are characterized by small structural dimensions and provide driving force and load capacity sufficient for use in the transport vehicle. These wheel motors can be equipped with a single-stage or two-stage transmission mechanism respectively. In particular, each wheel motor has a housing, in which the motor and other optional components, such as a transmission mechanism, a driven shaft together with bearings, can be arranged. The wheel motor can be integrated in the fixed wheel. The wheel motor can be supported on the transport vehicle body. Advantageously, the transport vehicle does not require an additional transmission mechanism, which makes it less expensive and easier to maintain. In addition, the structural space saved between the fixed wheels acts as a functional section, on which components of the on-board power system can be arranged. Instead of the advantageous embodiment with two electric motors, the drive unit can also have an electric motor with a transmission mechanism to drive the fixed wheel.

[0024] The transport vehicle can be turned by changing the speed ratio and / or the direction of rotation (same direction, opposite direction) between the two electric motors. In order to drive the transport vehicle and turn it in a simple way, the drive unit can be connected to the two fixed wheel drives. The steering movement can be specified by changing the speed of the fixed wheels. Preferably, the two electric motors are each connected to a servo converter, which supplies the current required for movement to the corresponding electric motor. During reverse control, the transport vehicle can rotate in place. In particular, when there are two driven traveling wheels, a bidirectional converter can be provided instead of a single servo converter, or a multidirectional converter can be provided when there are three driven traveling wheels. Instead of a servo converter, a frequency converter or other methods for achieving a specified speed can also be used, as long as each electric motor is individually subjected to speed specification and speed control.

[0025] In a preferred manner, the on-board power system can have a reading unit, which is configured to detect the guide elements arranged on the base surface. The travel path between the textile machines can be always specified by means of the guide elements. The reading unit can be arranged on the functional section of the transport vehicle body, which is constructed between two travel wheels, especially two fixed wheels, which are spaced apart in the transverse direction of the transport vehicle. Thus, at least a part of the travel wheels, especially the fixed wheels, is avoided as much as possible from rolling over the guide elements arranged on the base surface, thereby protecting them from excessive wear. At least one support wheel or all support wheels are also preferably arranged outside the functional section. Therefore, the functional section is not constructed with travel wheels at all. By connecting the reading unit to the control unit, the transport vehicle has low-cost but sufficient on-board intelligence for the automated operation of the transport vehicle, or the control of the transport vehicle. The information detected by the reading unit can be transmitted to the control unit so that the transport vehicle is moved along the statically arranged guide elements by controlling the drive unit. As a result, the transport vehicle can follow defined driving routes in a cost-effective and safe manner, which can be defined between the textile machines and can also define, for example, access to parking areas, charging stations for charging energy storage devices, etc.

[0026] The reading unit preferably comprises a magnetic tape reading device, which is configured for contactless detection of the direction of the guide element designed as a magnetic tape. Thus, the transport vehicle can be guided in a simple and cost-effective manner. In principle, it is also conceivable and achievable that the magnetic tape reading device (which can also be referred to as a magnetic scanner) is configured for detecting individual magnetic points, which are arranged on the base surface, for example, in a grid or in the form of dots and lines at specific spacings. Compared with the induction coils known from the prior art, the magnetic guide element has the advantage that no power supply is required. In addition, it has been shown that with the help of magnetic tapes, the transport vehicle can also be guided over metal base surfaces (such as ramps with metal guide rails). Alternatively, in principle, optical solutions are also conceivable, in which the reading unit has an optical scanner, but these solutions are easily contaminated and can only be used to a limited extent for guiding the transport vehicle due to the dust burden in the spinning mill. Other common sensors, such as infrared sensors or ultrasonic sensors, are conceivable and achievable, but are sometimes too costly and complex to implement.

[0027] The tape reader (which can also be configured for magnetic grid points) is preferably arranged at the front end of the transport vehicle body in the main driving direction (forward driving) above the base surface. The tape reader is arranged in particular at the end of the front section facing away from the rear section. The width of the tape reader, or the extension in the transverse direction of the transport vehicle, can preferably be between 50 mm and 200 mm. Therefore, the tape reader can have a plurality of sensors, in particular arranged side by side in the transverse direction, whereby the transport vehicle can also accurately follow the tape laid in a curve. The detection range of the sensor of the tape reader can be directed toward the base surface. The detection range of the tape reader can be widened in a funnel-like manner towards the base surface, so that the range that can be detected on the bottom surface can be greater than the extension of the tape reader. The distance of the tape reader relative to the base surface (or the wheel support plane extending from the fixed wheel) can be between 20 mm and 50 mm. This ensures sufficient ground clearance, whereby the transport vehicle can be moved safely and without interference over the base surface and accurate guidance of the transport vehicle along the tape is achieved. The tape reader can be provided as a device with analog output signals or as a device with digital output signals. Digital implementation is cheaper than analog implementation and has proven to be sufficient to guide a self-propelled transport vehicle even though the deviation of the tape reader or its sensor from the center of the tape (so-called "center deviation") is only expressed as discrete numbers. In analog implementation, the output voltage is proportional to the center deviation.

[0028] In addition, the reading unit has an RFID tag reading device, which is configured to read out information of a guide element designed as an RFID tag. As a result, the transport vehicle can be guided in a simple and low-cost manner. "Radio Frequency Identification" technology (RFID for short) allows contactless transmission of data stored on an RFID tag or a transponder. With the help of an RFID tag reading device (also referred to as an RFID reading device), for example, address information can be read from the RFID tag and transmitted to the control unit. The RFID tag reading device can be arranged on the lower side of the transport vehicle so as to be kept as close as possible above the base surface. In addition, in the longitudinal direction of the transport vehicle, the RFID tag reading device can be arranged at least approximately centrally between the front end and the rear end of the transport vehicle body, and is further preferably arranged in the area of ​​the yaw axis or around the yaw axis. By this, the transport vehicle can rotate in situ on or above the RFID tag without the RFID tag reading device losing contact with the RFID tag.

[0029] The reading unit preferably comprises a tape reading device and an RFID tag reading device. The RFID tags can be arranged, for example, at the intersections where a plurality of tapes meet. This allows the control unit to identify the intersections in a cost-effective manner. It is thus possible for the transport vehicle to, for example, turn or drive in a straight line at the intersections. RFID tags can also be provided as road signs between the intersections in order to identify the arrival at or passing of a specific intermediate point. RFID tags can also be provided at the ends of the tapes in order, for example, to indicate parking lots, charging stations, etc.

[0030] In an advantageous embodiment, the control unit comprises a storage medium on which an application program or a similar program can be stored. In this way, control commands can be stored which are executed by the transport vehicle when the guide element is detected. In this way, the transport vehicle can, for example, travel along the guide element along a preset path in order to transport the receiving container to be transported from the textile machine that delivers the fiber strip to the textile machine that feeds the fiber strip, or vice versa.

[0031] In addition, the transport vehicle can have a receiver to obtain control instructions from a higher-level main control device. The main control device can assume the vehicle control of a large number of transport vehicles in the spinning mill. In principle, this main control device can also be connected to the textile machine so that the transport vehicle can be deployed according to demand. For example, the main control device can require the transport vehicle to turn, drive straight or turn around at the intersection, and the transport vehicle identifies these intersections by reading the RFID tag. In addition, the transport vehicle can have a transmitter to transmit various information to the higher-level main control device. This information can, for example, contain the position data of the transport vehicle. In this case, the position data does not have to be real-time data. More precisely, for a low-cost implementation, it is sufficient to transmit the read address data to the main control device when driving over the RFID tag. Other information can include driving speed, the state of the energy storage device, the loss of the magnetic strip, the overtemperature record, the fault in the individual control and drive elements, the current consumption of the electric motor and the relevant torque for determining the circuit blockage, the charging contact connection established, and so on. To monitor the state of the energy store, the onboard power system may include a battery management system, which can use the following information: charging state or progress of the energy store when charging, integrity state, battery temperature, current discharge power, current charging power, faults, etc. The transport vehicle preferably includes a wireless module (especially a WLAN device) in which a receiver and a transmitter are combined, or at least one wireless antenna for this purpose.

[0032] In an advantageous manner, the on-board power system is also covered by the receiving container in the assembled state, wherein, in the case of technical requirements, the individual components can also be arranged outside the area covered by the receiving container. One such component can be, for example, a wireless module to improve the quality of the wireless connection with a higher-level main control device. In addition, one such component can be a charging interface for charging the energy storage device, which needs to be accessible from the outside to simplify the automatic docking of the transport vehicle to the external charging station. However, the charging interface can also be arranged in the area covered by the receiving container and in particular on the lower side of the transport vehicle. In this way, the transport vehicle can "roll over" the connection contacts of the charging interface to charge. Similarly, inductive charging of the energy storage device can be set. In addition, the on-board power system can have a safety device for collision recognition, wherein the individual components are outside the covered area to identify collisions with obstacles. For example, a touch sensor mechanism can be integrated in a bumper arranged on a receiving container or a transport vehicle, which is connected to a control unit. As a result, the control unit can stop the transport vehicle when a collision is recognized, and report the triggering of the safety device to a higher-level main control device if necessary.

[0033] In order to protect the on-board power system from external influences, it can be arranged on the lower side of the transport vehicle body facing away from the transport surface. In addition, in the assembled state, the components of the transport vehicle covered by the receiving container can be arranged on the lower side of the seat plate. In addition, the bottom guard plate arranged on the transport vehicle body can protect the on-board power system from below. Components that are outside the receiving container or extend from the side of the receiving container in the assembled state are preferably arranged in an electrical housing carried by the running gear and / or on the gas housing. In the electrical housing, the charging interface can be arranged to be accessible from the outside. In addition, an on / off switch that is therefore accessible from the outside can be arranged on the electrical housing so that the power supply of the on-board power system can be manually interrupted.

[0034] 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 main body of the transport vehicle, wherein the receiving container completely covers the running mechanism, the main body of the transport vehicle, the electric drive unit and the energy storage device. The advantages obtained by the can device according to the invention are the same as the advantages 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.

[0035] 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.

[0036] 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.

[0037] 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 area of ​​the transport vehicle and preferably outside the functional sections and in particular next to the on-board power system. For example, dirt can be discharged in the pivot area of ​​the support wheel. In principle, however, it is also conceivable to isolate the filling space from the technical space as dust-proof as possible in order to keep the transport vehicle 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.

[0038] 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.

[0039] In a preferred manner, the transporter is at least substantially installed in the technical space. At least substantially, it should include: on the one hand, as described above, each component can protrude laterally from the receiving container, and on the other hand, the travel wheel protrudes on the lower side of the receiving container to achieve sufficient ground clearance. The structural height of the transporter 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 the assembled state, the transporter can protrude at least 10 mm and at most 40 mm on 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 transporter. 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 support structure, especially the container bottom, also ends flush with the lower side of the receiving container, like the case of the sleeve. The receiving container is thus manufactured at low cost. 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The preferred embodiments are described below with reference to the accompanying drawings.

[0041] 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;

[0042] Figure 2 Show Figure 1 A rear view of the can device;

[0043] Figure 3 Show Figure 1 A simplified cross-sectional view of a can device;

[0044] Figure 4 Show Figure 1 a cross-sectional view of a receiving container;

[0045] Figure 5 Show Figure 1 a bottom view of a receiving container;

[0046] 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;

[0047] 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;

[0048] Figure 8 Show Figure 1 A cross-sectional view of a transport vehicle, wherein the transport vehicle is shown on a base surface;

[0049] Fig. 9 Show Figure 1 A schematic diagram of an onboard power system of a transport vehicle;

[0050] 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;

[0051] 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;

[0052] Fig.12 Show Fig.11 A can device, the can device is located on an arc section of the travel path;

[0053] 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;

[0054] Fig.14 Show Fig.13 A can device, the can device is in a right-turning state above the intersection;

[0055] Fig.15 Shows the 90 degree right turn above the intersection Fig.14 The can device;

[0056] Fig.16 A cross-sectional view of a can arrangement according to a second embodiment of the invention is shown, wherein the can arrangement is modularly constructed and has a further receiving container according to the invention and a further transport vehicle according to the invention for transporting the receiving container above a base surface;

[0057] Fig.17 Show Fig.16 a cross-sectional view of a receiving container;

[0058] Fig.18 Show Fig.16 a bottom view of a receiving container;

[0059] Fig.19 A simplified sectional view of a can device according to a third embodiment of the invention is shown, wherein the can device is modularly constructed and has a further receiving container according to the invention and a further transport vehicle according to the invention for transporting the receiving container above a base surface;

[0060] Fig. 20 A simplified sectional view of a can arrangement according to a fourth embodiment of the invention is shown. DETAILED DESCRIPTION

[0061] 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.

[0062] 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 the guide elements 5 can be placed and then epoxy resin or the like can be poured.

[0063] 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.

[0064] 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.

[0065] 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 3 Specifically, 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.

[0066] 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 can sink toward the container bottom 13 due to the weight of the fiber strands that increase during coiling. A container opening 17 is formed on the container bottom 10, 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 inserted into the technical space 16.

[0067] 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.

[0068] 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 described in accordance with Figure 5 as visible in the bottom view.

[0069] 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 , a rear view of the can device 1 is shown, 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 beyond the bumper 19. Alternatively, if the receiving container 2 is designed in a sleeve-like manner, wherein the container bottom 10 of the receiving container 2 is flush with the container bottom 13, the bumper 19 can also be arranged on the transport trolley 3. Fig.19 This alternative implementation is shown in FIG. 1 and discussed in detail later.

[0070] 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 of the transport vehicle that are arranged in or on the electrical housing 22 are located outside the covered area or protrude from this area.

[0071] 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 capable of contacting 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 .

[0072] 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.

[0073] 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 side 30 that is concavely molded. The curvature of the end side 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 side 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 .

[0074] 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 configured 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.

[0075] 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 .

[0076] 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.

[0077] 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.

[0078] The reading unit 45 comprises a 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 tape reader 47, which can also be called 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 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 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 extending 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.

[0079] In addition, the reading unit 45 has an RFID tag reading device 48, which is configured to read out information of the guide element 5 designed as an RFID tag 5.2. The RFID tag reading device 48 can also be called an RFID reading device. The RFID tag reading device 48 is arranged below the seat plate 27 and is located on a frame 49 fastened to the seat plate 27 so that the RFID tag reading device 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 reading device 48 in the vertical direction Z. With the help of the RFID tag reading device 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. In order to protect the on-board power system 23, a bottom guard plate 50 is arranged from below, which is arranged on the transport vehicle body 25 and can have a gap 51 in the area of ​​the RFID tag reading device 48.

[0080] exist Figure 7 It can be seen that the travel wheels 8, 9 designed as support wheels are arranged between the two fixed wheels 6, 7 in the transverse direction Y and are arranged eccentrically, or supported on the transport vehicle body 25. Their transverse spacing with respect to the longitudinal axis L of the transport vehicle is, for example, about 90 mm in each case, so that the two support 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 support wheels 8, 9, which is therefore independent of the travel 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 support wheels 8, 9 can also be arranged centrally, that is, on the longitudinal axis L of the transport vehicle.

[0081] The support wheels 8, 9 are each pivotably held on the transport vehicle body 25 about a respective pivot axis A8, A9, which is oriented parallel to the vertical axis Z. The support wheels 8, 9 are freely pivotable about the pivot axes A8, A9, so that they can pivot through 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. In order to improve the stability of the transport vehicle 3, the support wheels 8, 9 can be arranged as far as possible outside the transport vehicle body 25, and as Figure 3 The dotted line 57 is only shown as an example, lying on an imaginary circular line. However, in principle, the support wheels 8, 9 can also be arranged at different distances from the middle plane E3, in which the two rotation axes 33, 34 lie. Advantageously, the center of gravity of the transport vehicle 3 lies in the middle plane E3, in which the transport vehicle transverse axis Q also extends.

[0082] The overall height H3 of the transport carriage 3 is, for example, 140 mm here. The transport carriage 3 ends at the transport surface 26. The overall height H3 is therefore determined by the distance between the transport surface 26 and the base surface 4 or the wheel contact plane E24.

[0083] The transport vehicle 3 thus has such a compact design that, in the assembled state, it at least substantially disappears beneath the receiving container 2 or its container bottom 13. Only individual components, in particular components of the onboard electrical system 23, may project laterally beyond the container bottom 13, as there is a technical need for this. This may 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. In the assembled state, the chassis 24, the electric drive unit 32, the electrical energy storage device and the transport surface 26 are therefore completely covered. In addition, as shown in FIG. Figures 1 to 8 As 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.

[0084] Furthermore, the onboard electrical system 23 can have a safety device 52 for collision detection. The safety device can have components located outside the area covered by the receiving container 2 in order to be able to detect a collision with an obstacle as early as possible. For example, a touch sensor 53 can be integrated in the bumper 19, which is connected to the control unit 42 in order to stop the transport vehicle 3 when a collision is detected. The bumper 19 is designed in a C-shape here and the electrical housing 22 protrudes radially outward between the two ring ends 20. Therefore, the end side 30 of the electrical housing 22 can be used to make another can abut against its side wall ("can to can" principle) in order to move another can. The safety device 52 can include a safety relay 54 in order to monitor whether there is a connection between the touch sensor 53 and the control unit 42. Thus, the touch sensor 53 can be, for example, a closer (normally open contact) that closes in the event of a collision. For this purpose, the bumper 19 is preferably made of a flexible material so that the normally open contact is closed, especially when the bumper is elastically compressed. For example, the touch sensor 53 has two lines, one of which is connected to the negative pole of the energy store 28 and the other is connected to the positive pole of the energy store 28. However, in principle, a normally closed contact can also be used instead of a low-cost normally open contact.

[0085] For safety reasons, it can be provided that the drive unit 32 is designed to enable the transport vehicle 3 to travel at a maximum travel speed of 0.5 m / s over the base surface 4, further preferably at a maximum travel speed of 0.3 m / s. In addition, the drive unit 32 can be designed to enable a maximum travel speed of a total weight of 200 kg.

[0086] exist Figure 6 and Figure 7 It can be seen that the area of ​​the seat plate 27 is smaller than the area of ​​the container bottom 13. The seat plate 27 can be polygonal in a top view and is only designed as an octagon here by way of example, i.e. with eight corners and eight sides. In the four corner regions formed opposite the circular container bottom 13, in which the container bottom 13 protrudes from the seat plate 13, holes can be formed in the container bottom 13 (not shown), through which smaller strip residues or other dirt accumulated in the filling space 15 can fall downward through the technical space 16 and float onto the base surface 4. In this case, the holes are preferably formed between the corresponding fixing wheels 6, 7 and the functional section 14.

[0087] 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.

[0088] Along Fig.10When 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.

[0089] exist Fig.11 In 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.

[0090] 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.

[0091] exist Fig.14In the situation shown in FIG. 4 , the control unit 42 specifies a left turn in order to turn at the intersection 55. The control unit 42 turns the transport vehicle 3 at the intersection 55 by controlling the electric motors 38, 39 at opposite speeds. The left electric motor 38 turns the left fixed wheel 6 backwards and the right electric motor 39 turns the right fixed wheel 7 forwards. The transport vehicle 3 turns in place about its yaw axis A3 and thus remains 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 turning process.

[0092] After the 90-degree turn, the transport vehicle 3 follows the magnetic tape strip 5.1d in the main travel direction F until it reaches another RFID tag. In addition to the 90-degree turn shown here, any other angle of rotation is also possible. At the end of the travel path there may be textile machines, charging stations, can magazines, etc., which can be marked with RFID tags.

[0093] 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.

[0094] Fig.16 A can arrangement 100 according to a second embodiment is shown in FIG. Figures 1 to 15 The same or modified details are provided in the same Figures 1 to 15 The difference lies in the way in which the receiving container 102, which is designed here, for example, with a rectangular cross section, is fastened to the transport vehicle 3. Fig.16 The assembled state is shown in Fig.17 and Fig.18 Detailed description is given in relation to the receiving container 102 according to the invention of the can arrangement 100 .

[0095] The receiving container 102 has, like a conventional "rectangular can", a filling bottom 101 which can be guided in a vertically movable manner along the side wall 12 and on which the fiber strand can be placed in a loop. Fig.17 It can be seen that the receiving container 102 includes container-side fastening elements 111.1, which are designed here as closed holes, in particular circular holes in the side wall 12 of the receiving container due to the bumper 9. In addition, Fig.18As can be seen in the figure, the support structure 13 inside the receiving container 102 here comprises, for example, support beams 13.1, 13.2, which divide the interior space into a filling space 15 open upward and a technical space 16 open downward. In the assembled state, the support structure 13 is in contact with a transport surface 26 at the upper side of a seat plate 27 of the transport vehicle 3. In addition to the horizontal transport surface 26, the receiving container 102 is also in contact with a flange 103 oriented parallel to the yaw axis A3, which is formed on the seat plate 27 and protrudes downward from the seat plate, as shown in FIG. Fig.16 . In the flange 103, fastening elements 111.2 on the transport vehicle side are formed in the form of through holes, which are aligned with the holes 111.1 on the container side in the assembled state. In order to fasten the side wall 12 relative to the flange 103, bolts are provided, which pass through the holes 111.1, 111.2, wherein nuts 111.3, 111.4 can be screwed onto these bolts on both sides. Alternatively, for example, the bolts can be screwed into the flange 103.

[0096] Fig.19 A can arrangement 200 according to a third embodiment is shown, which is similar to Figures 1 to 15 or Figures 16 to 18 The same or modified details are provided in the same Figures 1 to 15 or Figures 16 to 18 The same reference numerals are used in the examples. The difference lies in the embodiment of the receiving container 202 which is designed here, for example, with a circular cross section. Fig.19 The assembled state is shown in FIG.

[0097] The receiving container 202 has a sleeve-like basic shape, wherein the container bottom 13 is flush with the underside of the receiving container 202. Therefore, the receiving container 202 has no technical space in which the transport vehicle 3 can be inserted. Rather, the receiving container 202 lies flat on the seat plate 27 of the transport vehicle 3. Figure 3 In the first embodiment shown in FIG. 1 , the fastening means 11 is concealed by the receiving container 2. The container-side fastening elements 11.1 are here also designed as screws, for example, which are oriented parallel to the container axis A2 and pass through the fastening elements on the transport vehicle side in the form of through-holes formed in the base plate 27 and in particular in the region of the transport surface 26. Nuts 11.3 are screwed onto the screws 11.1 on the underside of the base plate 27 in order to tighten the container bottom 13 relative to the base plate 27.

[0098] In addition, Fig.19As can be seen in the figure, the bumper 19 can be arranged on the transport vehicle 3. For this purpose, the transport vehicle 3 can have a flange 103 oriented parallel to the yaw axis A3, which can be formed on the seat plate 27 and can extend downward from the seat plate. The bumper 19 can be fastened to the flange 103 from the outside. A touch sensor 53 connected to the control unit 42 can also be integrated in the bumper 19 for detecting a collision.

[0099] Fig. 20 A can arrangement 200 according to a fourth embodiment is shown, which is similar to Figures 1 to 19 The same or modified details are provided in the same Figures 1 to 15 or Figures 16 to 18 or Fig.19 The difference lies in the embodiment of the fastener 11.

[0100] The fastening element 11 is concealed by the receiving container 2, so that an invisible fastening method is also provided here. The fastening elements 11.2 on the transport vehicle side are also configured as bolts, for example, which are oriented parallel to the container axis A2 and pass through the fastening elements 11.1 on the container side, which are in the form of through holes configured in the support structure 13 (here, the container bottom). In the filling space 15 of the receiving container 202, a filling bottom 101 (also called a disk) that can move along the container axis A2 is arranged in a manner known per se, which is supported by a spring 104 on the upper side of the support structure 13. When the fiber strands are coiled in the receiving container 2, the filling disk 101 sinks toward the support structure 13 as the fiber strand column increases and clamps the spring 104. In the clamped state of the spring 104, a structural space for the compressed spring 104 is left between the support structure 13 and the filling bottom 101, which can also be used for fastening the receiving container 2 on the transport vehicle 3. For this purpose, nuts 11 . 3 can be screwed onto the protruding fastening elements 11 . 1 , here bolts, on the transport vehicle side in order to fasten the support structure 13 relative to the seat plate 27 .

[0101] Reference numerals list

[0102] 1, 100, 200 drum device 37 rear edge

[0103] 2, 102, 202 receiving container 38 electric motor

[0104] 3 transport vehicle 39 electric motor

[0105] 4 base surface 40 shell support

[0106] 5-guide element 41 bidirectional converter

[0107] 6 traveling wheels, or fixed wheels 42 control unit

[0108] 7 Travel wheel, or outer edge of fixed wheel 43

[0109] 8 travel wheels, or support wheels 44 wireless modules

[0110] 9 travel wheel, or support wheel 45 reading unit

[0111] 10 container bottom side 46 functional section

[0112] 11, 111 Fastener 47 Magnetic tape reading device

[0113] 12 side wall 48 RFID tag reading device

[0114] 13 support structure 49 rack

[0115] 14 filling port 50 bottom guard plate

[0116] 15 fill space 51 gap

[0117] 16 technical space 52 safety devices

[0118] 17 container mouth 53 touch sensor mechanism

[0119] 18 Bottom side 54 safety relay

[0120] 19 bumper 55 intersection

[0121] 20 ring end 56 surrounding surface

[0122] 21 wall opening 57 round line

[0123] 22 Electrical housing 101 fills the bottom

[0124] 23 On-board power system 103 flange

[0125] 24 Traveling mechanism 104 Spring

[0126] 25 Axis line of the transport vehicle body

[0127] 26 Transverse extension of transport surface B, or width

[0128] 27 Seat plate D diameter or diagonal

[0129] 28 Energy storage device E plane

[0130] 29 Charging port F Main driving direction

[0131] 30 The vertical extension length of the end side H, or height

[0132] 31 On / off switch L Longitudinal axis of transport vehicle

[0133] 32 drive unit S spacing

[0134] 33 Rotation axis Q Transverse axis of transport vehicle

[0135] 34 Rotation axis X longitudinal

[0136] 35 front section Y transverse

[0137] 36 rear section Z vertical direction

Claims

1. A self-propelled transport vehicle (3) for transporting a receiving container (2; 102; 202) for fiber strips over a base surface (4) between a textile machine that delivers fiber strips and a textile machine that feeds fiber strips, wherein: The transport vehicle (3) comprises a running gear (24) with a plurality of running wheels (6, 7, 8, 9), 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; 102; 202), fastening elements (11.2) for fastening the receiving container (2; 102; 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 device (28), an electric drive unit (32) and a control unit (42), characterized in that the dimensions of the transport vehicle (3) are determined in the following manner: in the assembled state in which the receiving container (2; 102; 202) is in contact with the transport surface (26) and is fastened to the transport vehicle body (25), the receiving container (2) completely covers the running gear (24), the transport vehicle body (25), the electric drive unit (32) and the electric energy storage device (28).

2. The self-propelled transport vehicle (3) according to claim 1, characterized in that: The transport surface (26) defines a support plane (E26), wherein the transport vehicle (3) has no components outside the transport surface (26) that protrude beyond the support plane (E26).

3. The self-propelled transport vehicle (3) according to claim 1 or 2, characterized in that: The transport vehicle (3) ends at the transport surface (26) at the top.

4. The self-propelled transport vehicle (3) according to any one of claims 1 to 3, characterized in that: The fastening elements (11.2) are arranged on the transport vehicle body (25) in such a way that they are covered by the receiving container (2) in the assembled state.

5. The self-propelled transport vehicle (3) according to any one of claims 1 to 4, characterized in that: The transport vehicle body (25) has a seat plate (27) on which the fastening elements (11.2) are arranged, wherein an upper side of the seat plate (27) facing away from the chassis (24) contains the transport surface (26).

6. The self-propelled transport vehicle (3) according to any one of claims 1 to 5, characterized in that: At least two of the plurality of traveling wheels (6, 7) are configured as fixed wheels, which are aligned with the longitudinal direction (X) of the transport vehicle (3) and have a rotation axis (33, 34) fixed relative to the transport vehicle body (25), and at least one of the plurality of traveling wheels (8, 9) is configured as a supporting wheel, which is designed to be pivotable about a pivot axis (A8, A9).

7. The self-propelled transport vehicle (3) according to claim 6, characterized in that: The rotation axes (33, 34) are located on an imaginary straight line perpendicular to a yaw axis (A3) of the transport vehicle (3).

8. The self-propelled transport vehicle (3) according to claim 6 or 7, 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.

9. The self-propelled transport vehicle (3) according to any one of claims 1 to 8, characterized in that: The on-board power system (23) has a reading unit (45) which is configured to detect a number of guide elements (5) arranged on the base surface (4), wherein the reading unit (45) is arranged on a functional section (46) of the transport vehicle body (25), wherein the functional section (46) is constructed in the transverse direction (Y) of the running mechanism (24) between two travel wheels (6, 7) which are spaced apart from each other in the transverse direction (Y).

10. The self-propelled transport vehicle (3) according to claim 9, characterized in that: The reading unit (45) comprises a tape reading device (47) and an RFID tag reading device (48), wherein the tape reading device is configured to detect the direction of the guide elements (5) designed as tapes (5.1), and the RFID tag reading device is configured to read out the information of the guide elements (5) designed as RFID tags (5.2).

11. The self-propelled transport vehicle (3) according to claim 10, characterized in that: The tape reading device (47) is arranged at the front end of the transport vehicle body (25) in the longitudinal direction (X), and the RFID tag reading device (48) is centrally arranged between the front end and the rear end of the transport vehicle body (25) in the longitudinal direction (X).

12. The self-propelled transport vehicle (3) according to any one of claims 9 to 11, characterized in that A charging interface (29) for charging the energy store (28) is arranged on the functional section (46), wherein the charging interface (29) is arranged outside the receiving container (2; 102; 202) or projects laterally from the receiving container in the assembled state.

13. The self-propelled transport vehicle (3) according to any one of claims 9 to 12, characterized in that: The at least one supporting wheel (8, 9) is arranged outside the functional section (46).

14. The self-propelled transport vehicle (3) according to any one of claims 1 to 13, characterized in that The on-board power system (23) is arranged on the lower side of the transport vehicle body (25) facing away from the transport surface (26).

15. A can device (1; 100; 200) having a receiving container (2; 102; 202) 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 (3) is constructed according to one of claims 1 to 14, and the receiving container (2; 102; 202) is in contact with the transport surface (26) of the transport vehicle (3) and is fastened to the transport vehicle body (25), wherein the receiving container (2; 102; 202) completely covers the traveling mechanism (24), the transport vehicle body (25), the electric drive unit (32) and the electric energy storage device (28).

16. The can device (1; 100) according to claim 15, characterized in that The receiving container (2; 102) has a retracted support structure (13) which is in contact with a transport surface (26), wherein the support structure (13) divides an inner space of the receiving container (2; 102) 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.

17. The can device (1; 100; 200) according to claim 15 or 16, characterized in that The receiving container (2; 102; 202) and the transport vehicle (3) are fastened to each other by means of fasteners (11), wherein the fasteners (11) are completely covered by the receiving container (2; 202), or fasteners (111.2) on the transport vehicle side protrude outward from the receiving container (102) through fasteners (111.1) on the container side, and the fasteners on the container side are constructed in the side walls (12) of the receiving container (102) that define the filling space (15).

Images